From 9cc5f06f785a33252c36034a6ae0fe0a52498637 Mon Sep 17 00:00:00 2001
From: Josephus Paye II <j.paye96@gmail.com>
Date: Thu, 18 May 2017 22:24:57 +1000
Subject: [PATCH 01/17] Initial work on Configuration

- Includes a basic working Tree component for browsing configuration files
---
 src/client/components/app/style.css           |  4 ++
 src/client/components/configuration/style.css | 48 +++++++++++++
 .../components/configuration/tree/file.svg    |  3 +
 .../configuration/tree/folder-open.svg        |  3 +
 .../components/configuration/tree/folder.svg  |  3 +
 .../components/configuration/tree/style.css   | 49 +++++++++++++
 .../components/configuration/tree/tree.tsx    | 68 ++++++++++++++++++
 .../components/configuration/tree_store.tsx   | 39 ++++++++++
 src/client/components/configuration/view.tsx  | 71 +++++++++++++++++++
 src/client/components/navigation/view.tsx     |  1 +
 src/client/index.tsx                          |  2 +
 11 files changed, 291 insertions(+)
 create mode 100644 src/client/components/configuration/style.css
 create mode 100644 src/client/components/configuration/tree/file.svg
 create mode 100644 src/client/components/configuration/tree/folder-open.svg
 create mode 100644 src/client/components/configuration/tree/folder.svg
 create mode 100644 src/client/components/configuration/tree/style.css
 create mode 100644 src/client/components/configuration/tree/tree.tsx
 create mode 100644 src/client/components/configuration/tree_store.tsx
 create mode 100644 src/client/components/configuration/view.tsx

diff --git a/src/client/components/app/style.css b/src/client/components/app/style.css
index a144dafe..56a9d081 100644
--- a/src/client/components/app/style.css
+++ b/src/client/components/app/style.css
@@ -1,5 +1,9 @@
 @import url('https://fonts.googleapis.com/css?family=Open+Sans:300,400,500');
 
+* {
+	box-sizing: border-box;
+}
+
 html,
 body {
 	margin: 0;
diff --git a/src/client/components/configuration/style.css b/src/client/components/configuration/style.css
new file mode 100644
index 00000000..5666d7c0
--- /dev/null
+++ b/src/client/components/configuration/style.css
@@ -0,0 +1,48 @@
+.configuration {
+	flex-grow: 1;
+	flex-shrink: 1;
+	display: flex;
+	flex-direction: column;
+    font-weight: normal;
+}
+
+.configuration__header {
+	height: 61px;
+    border-bottom: 1px solid #DDD;
+    display: flex;
+    align-items: center;
+    padding: 8px;
+    flex-shrink: 0;
+}
+
+.configuration__headerTitle {
+    margin: 0;
+    padding: 0;
+    font-size: 18px;
+}
+
+.configuration__body {
+	flex-grow: 1;
+    display: flex;
+}
+
+.configuration__sidebar {
+    width: 256px;
+    border-right: 1px solid #DDD;
+}
+
+.configuration__sidebarHeader {
+    background-color: #EEE;
+    padding: 4px 8px;
+    border-bottom: 1px solid #DDD;
+    font-weight: bold;
+}
+
+.configuration__content {
+    flex-grow: 1;
+}
+
+.configuration__contentPlaceholder {
+    padding-top: 32px;
+    text-align: center;
+}
diff --git a/src/client/components/configuration/tree/file.svg b/src/client/components/configuration/tree/file.svg
new file mode 100644
index 00000000..06bbcc51
--- /dev/null
+++ b/src/client/components/configuration/tree/file.svg
@@ -0,0 +1,3 @@
+<svg width="16" height="16" fill="#999" viewBox="0 0 24 24">
+    <path d="M13,9H18.5L13,3.5V9M6,2H14L20,8V20A2,2 0 0,1 18,22H6C4.89,22 4,21.1 4,20V4C4,2.89 4.89,2 6,2M11,4H6V20H11L18,20V11H11V4Z" />
+</svg>
\ No newline at end of file
diff --git a/src/client/components/configuration/tree/folder-open.svg b/src/client/components/configuration/tree/folder-open.svg
new file mode 100644
index 00000000..05ad2689
--- /dev/null
+++ b/src/client/components/configuration/tree/folder-open.svg
@@ -0,0 +1,3 @@
+<svg width="16" height="16" fill="#999" viewBox="0 0 24 24">
+    <path d="M20,18H4V8H20M20,6H12L10,4H4C2.89,4 2,4.89 2,6V18A2,2 0 0,0 4,20H20A2,2 0 0,0 22,18V8C22,6.89 21.1,6 20,6Z" />
+</svg>
\ No newline at end of file
diff --git a/src/client/components/configuration/tree/folder.svg b/src/client/components/configuration/tree/folder.svg
new file mode 100644
index 00000000..d7d70dfa
--- /dev/null
+++ b/src/client/components/configuration/tree/folder.svg
@@ -0,0 +1,3 @@
+<svg width="16" height="16" fill="#999" viewBox="0 0 24 24">
+    <path d="M10,4H4C2.89,4 2,4.89 2,6V18A2,2 0 0,0 4,20H20A2,2 0 0,0 22,18V8C22,6.89 21.1,6 20,6H12L10,4Z" />
+</svg>
\ No newline at end of file
diff --git a/src/client/components/configuration/tree/style.css b/src/client/components/configuration/tree/style.css
new file mode 100644
index 00000000..54540364
--- /dev/null
+++ b/src/client/components/configuration/tree/style.css
@@ -0,0 +1,49 @@
+.treenode {
+    display: flex;
+    flex-direction: column;
+}
+
+.treenode__header {
+    display: flex;
+    align-items: center;
+    height: 28px;
+    padding: 4px 8px;
+    cursor: pointer;
+    user-select: none;
+}
+
+.treenode__header:hover {
+    background-color: #EEE;
+    color: #1976D2;
+}
+
+.treenode__icon {
+    margin-right: 4px;
+}
+
+.treenode__icon svg {
+    display: block;
+    width: 18px;
+    height: 18px;
+}
+
+.treenode__label {
+    flex-grow: 1;
+}
+
+.treenode__children {
+    display: none;
+}
+
+.treenode--expanded > .treenode__children {
+    display: block;
+}
+
+.treenode--selected > .treenode__header {
+    color: white;
+    background-color: #2196F3;
+}
+
+.treenode--selected > .treenode__header svg {
+    fill: rgba(255, 255, 255, 0.75);
+}
diff --git a/src/client/components/configuration/tree/tree.tsx b/src/client/components/configuration/tree/tree.tsx
new file mode 100644
index 00000000..df44dd25
--- /dev/null
+++ b/src/client/components/configuration/tree/tree.tsx
@@ -0,0 +1,68 @@
+import * as classnames from 'classnames'
+import { observer } from 'mobx-react'
+import * as React from 'react'
+
+import FileIcon from './file.svg'
+import FolderIconOpen from './folder-open.svg'
+import FolderIcon from './folder.svg'
+import * as style from './style.css'
+
+export interface Node {
+  label: string,
+  expanded: boolean,
+  leaf: boolean,
+  selected: boolean,
+  children?: Node[]
+}
+
+export interface TreeProps {
+  data: Node,
+  level?: number,
+  onClick(node: Node): void
+}
+
+@observer
+export class Tree extends React.Component<TreeProps, any> {
+  constructor(props: any, context: any) {
+    super(props, context)
+    this.onClick = this.onClick.bind(this)
+  }
+
+  public render(): JSX.Element {
+    const children = this.props.data.children || []
+    const hasChildren = children.length > 0
+    const level = this.props.level || 0
+    const classes = classnames(
+      style.treenode,
+      { [style['treenode--expanded']]: this.props.data.expanded },
+      { [style['treenode--selected']]: this.props.data.selected },
+    )
+    const headerInlineStyle = { paddingLeft: 8 + (level * 22) + 'px' }
+
+    return (
+      <div className={classes}>
+        <div className={style.treenode__header} onClick={this.onClick} style={headerInlineStyle}>
+          <div className={style.treenode__icon}>
+            {
+              hasChildren ?
+                (this.props.data.expanded ? <FolderIconOpen /> : <FolderIcon />) :
+                <FileIcon />
+            }
+          </div>
+
+          <div className={style.treenode__label}>{ this.props.data.label }</div>
+        </div>
+
+        <div className={style.treenode__children}>
+          { children.map((child, i) => <Tree key={i} data={child} level={level + 1} onClick={this.props.onClick} />) }
+        </div>
+      </div>
+    )
+  }
+
+  private onClick = (e: any) => {
+    this.props.onClick(this.props.data)
+  }
+}
+
+export default Tree
diff --git a/src/client/components/configuration/tree_store.tsx b/src/client/components/configuration/tree_store.tsx
new file mode 100644
index 00000000..71ace886
--- /dev/null
+++ b/src/client/components/configuration/tree_store.tsx
@@ -0,0 +1,39 @@
+import { action, observable } from 'mobx'
+import { Node } from './tree/tree'
+
+export default class TreeStore {
+  @observable
+  public data: Node
+
+  @observable
+  public selectedNode: Node
+
+  constructor(data: Node) {
+    this.data = data
+    this.onNodeClick = this.onNodeClick.bind(this)
+  }
+
+  @action
+  public onNodeClick(node: Node): void {
+    if (node.leaf) {
+      this.selectNode(node)
+    } else {
+      this.toggleExpansion(node)
+    }
+  }
+
+  @action
+  public toggleExpansion(node: Node) {
+    node.expanded = !node.expanded
+  }
+
+  @action
+  public selectNode(node: Node) {
+    if (this.selectedNode) {
+      this.selectedNode.selected = false
+    }
+
+    node.selected = true
+    this.selectedNode = node
+  }
+}
diff --git a/src/client/components/configuration/view.tsx b/src/client/components/configuration/view.tsx
new file mode 100644
index 00000000..2606619a
--- /dev/null
+++ b/src/client/components/configuration/view.tsx
@@ -0,0 +1,71 @@
+import * as React from 'react'
+import * as style from './style.css'
+import { Node, Tree } from './tree/tree'
+import TreeStore from './tree_store'
+
+const store = new TreeStore({
+    label: 'root',
+    expanded: true,
+    leaf: false,
+    selected: false,
+    children: [
+        {
+            label: 'parent',
+            expanded: false,
+            leaf: false,
+            selected: false,
+            children: [
+                { label: 'child1', expanded: false, leaf: true, selected: false },
+                { label: 'child2', expanded: false, leaf: true, selected: false },
+            ],
+        },
+        {
+            label: 'parent',
+            expanded: false,
+            leaf: false,
+            selected: false,
+            children: [
+                {
+                    label: 'nested parent',
+                    expanded: false,
+                    leaf: false,
+                    selected: false,
+                    children: [
+                        { label: 'nested child 1', expanded: false, leaf: true, selected: false },
+                        { label: 'nested child 2', expanded: false, leaf: true, selected: false },
+                    ],
+                },
+            ],
+        },
+        {
+            label: 'Some file here',
+            expanded: true,
+            leaf: true,
+            selected: false,
+            children: [] as Node[],
+        },
+    ],
+})
+
+export const Configuration = () => (
+  <div className={style.configuration}>
+    <div className={style.configuration__header}>
+      <h1 className={style.configuration__headerTitle}>Configuration</h1>
+    </div>
+
+    <div className={style.configuration__body}>
+      <div className={style.configuration__sidebar}>
+        <div className={style.configuration__sidebarHeader}>Files</div>
+        <Tree onClick={store.onNodeClick} data={store.data} />
+      </div>
+
+      <div className={style.configuration__content}>
+        <div className={style.configuration__contentPlaceholder}>
+          Select a file to edit
+        </div>
+      </div>
+    </div>
+  </div>
+)
+
+export default Configuration
diff --git a/src/client/components/navigation/view.tsx b/src/client/components/navigation/view.tsx
index cf103d2e..4a22f532 100644
--- a/src/client/components/navigation/view.tsx
+++ b/src/client/components/navigation/view.tsx
@@ -43,6 +43,7 @@ export const NavigationView = () => (
         <NavigationItemView url='/classifier' Icon={CubeIcon}>Classifier</NavigationItemView>
         <NavigationItemView url='/subsumption' Icon={OrderingIcon}>Subsumption</NavigationItemView>
         <NavigationItemView url='/gamestate' Icon={ControllerIcon}>GameState</NavigationItemView>
+        <NavigationItemView url='/configuration' Icon={ControllerIcon}>Configuration</NavigationItemView>
       </ul>
     </header>
 )
diff --git a/src/client/index.tsx b/src/client/index.tsx
index 2ab0c02e..50d87165 100644
--- a/src/client/index.tsx
+++ b/src/client/index.tsx
@@ -8,6 +8,7 @@ import * as io from 'socket.io-client'
 import { AppView } from './components/app/view'
 import { Chart } from './components/chart/view'
 import { Classifier } from './components/classifier/view'
+import { Configuration } from './components/configuration/view'
 import { Dashboard } from './components/dashboard/view'
 import { GameState } from './components/game_state/view'
 import { RobotModel } from './components/localisation/darwin_robot/model'
@@ -96,6 +97,7 @@ ReactDOM.render(
           <Route path='/classifier' component={Classifier}/>
           <Route path='/subsumption' component={Subsumption}/>
           <Route path='/gamestate' component={GameState}/>
+          <Route path='/configuration' component={Configuration}/>
         </Route>
       </Router>
     </Provider >,

From 1f61d48a9517cab937e61fdaaf0c4c47bde6dc58 Mon Sep 17 00:00:00 2001
From: Josephus Paye II <j.paye96@gmail.com>
Date: Fri, 19 May 2017 11:44:16 +1000
Subject: [PATCH 02/17] Convert indents to 2-spaces

---
 src/client/components/configuration/style.css | 96 +++++++++----------
 .../components/configuration/tree/style.css   | 40 ++++----
 2 files changed, 68 insertions(+), 68 deletions(-)

diff --git a/src/client/components/configuration/style.css b/src/client/components/configuration/style.css
index 5666d7c0..7bdfeb56 100644
--- a/src/client/components/configuration/style.css
+++ b/src/client/components/configuration/style.css
@@ -1,48 +1,48 @@
-.configuration {
-	flex-grow: 1;
-	flex-shrink: 1;
-	display: flex;
-	flex-direction: column;
-    font-weight: normal;
-}
-
-.configuration__header {
-	height: 61px;
-    border-bottom: 1px solid #DDD;
-    display: flex;
-    align-items: center;
-    padding: 8px;
-    flex-shrink: 0;
-}
-
-.configuration__headerTitle {
-    margin: 0;
-    padding: 0;
-    font-size: 18px;
-}
-
-.configuration__body {
-	flex-grow: 1;
-    display: flex;
-}
-
-.configuration__sidebar {
-    width: 256px;
-    border-right: 1px solid #DDD;
-}
-
-.configuration__sidebarHeader {
-    background-color: #EEE;
-    padding: 4px 8px;
-    border-bottom: 1px solid #DDD;
-    font-weight: bold;
-}
-
-.configuration__content {
-    flex-grow: 1;
-}
-
-.configuration__contentPlaceholder {
-    padding-top: 32px;
-    text-align: center;
-}
+.configuration {
+  flex-grow: 1;
+  flex-shrink: 1;
+  display: flex;
+  flex-direction: column;
+  font-weight: normal;
+}
+
+.configuration__header {
+  height: 61px;
+  border-bottom: 1px solid #DDD;
+  display: flex;
+  align-items: center;
+  padding: 8px;
+  flex-shrink: 0;
+}
+
+.configuration__headerTitle {
+  margin: 0;
+  padding: 0;
+  font-size: 18px;
+}
+
+.configuration__body {
+  flex-grow: 1;
+  display: flex;
+}
+
+.configuration__sidebar {
+  width: 256px;
+  border-right: 1px solid #DDD;
+}
+
+.configuration__sidebarHeader {
+  background-color: #EEE;
+  padding: 4px 8px;
+  border-bottom: 1px solid #DDD;
+  font-weight: bold;
+}
+
+.configuration__content {
+  flex-grow: 1;
+}
+
+.configuration__contentPlaceholder {
+  padding-top: 32px;
+  text-align: center;
+}
diff --git a/src/client/components/configuration/tree/style.css b/src/client/components/configuration/tree/style.css
index 54540364..c99e6ba4 100644
--- a/src/client/components/configuration/tree/style.css
+++ b/src/client/components/configuration/tree/style.css
@@ -1,49 +1,49 @@
 .treenode {
-    display: flex;
-    flex-direction: column;
+  display: flex;
+  flex-direction: column;
 }
 
 .treenode__header {
-    display: flex;
-    align-items: center;
-    height: 28px;
-    padding: 4px 8px;
-    cursor: pointer;
-    user-select: none;
+  display: flex;
+  align-items: center;
+  height: 28px;
+  padding: 4px 8px;
+  cursor: pointer;
+  user-select: none;
 }
 
 .treenode__header:hover {
-    background-color: #EEE;
-    color: #1976D2;
+  background-color: #EEE;
+  color: #1976D2;
 }
 
 .treenode__icon {
-    margin-right: 4px;
+  margin-right: 4px;
 }
 
 .treenode__icon svg {
-    display: block;
-    width: 18px;
-    height: 18px;
+  display: block;
+  width: 18px;
+  height: 18px;
 }
 
 .treenode__label {
-    flex-grow: 1;
+  flex-grow: 1;
 }
 
 .treenode__children {
-    display: none;
+  display: none;
 }
 
 .treenode--expanded > .treenode__children {
-    display: block;
+  display: block;
 }
 
 .treenode--selected > .treenode__header {
-    color: white;
-    background-color: #2196F3;
+  color: white;
+  background-color: #2196F3;
 }
 
 .treenode--selected > .treenode__header svg {
-    fill: rgba(255, 255, 255, 0.75);
+  fill: rgba(255, 255, 255, 0.75);
 }

From a097af5b8fc06d122ce915b3b276f7ea9a21a312 Mon Sep 17 00:00:00 2001
From: Josephus Paye II <j.paye96@gmail.com>
Date: Fri, 19 May 2017 11:45:25 +1000
Subject: [PATCH 03/17] Add trailing newline to SVG files, use 2 space indents

---
 src/client/components/configuration/tree/file.svg        | 4 ++--
 src/client/components/configuration/tree/folder-open.svg | 4 ++--
 src/client/components/configuration/tree/folder.svg      | 4 ++--
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/client/components/configuration/tree/file.svg b/src/client/components/configuration/tree/file.svg
index 06bbcc51..8f19e81a 100644
--- a/src/client/components/configuration/tree/file.svg
+++ b/src/client/components/configuration/tree/file.svg
@@ -1,3 +1,3 @@
 <svg width="16" height="16" fill="#999" viewBox="0 0 24 24">
-    <path d="M13,9H18.5L13,3.5V9M6,2H14L20,8V20A2,2 0 0,1 18,22H6C4.89,22 4,21.1 4,20V4C4,2.89 4.89,2 6,2M11,4H6V20H11L18,20V11H11V4Z" />
-</svg>
\ No newline at end of file
+  <path d="M13,9H18.5L13,3.5V9M6,2H14L20,8V20A2,2 0 0,1 18,22H6C4.89,22 4,21.1 4,20V4C4,2.89 4.89,2 6,2M11,4H6V20H11L18,20V11H11V4Z" />
+</svg>
diff --git a/src/client/components/configuration/tree/folder-open.svg b/src/client/components/configuration/tree/folder-open.svg
index 05ad2689..6b4b5d8e 100644
--- a/src/client/components/configuration/tree/folder-open.svg
+++ b/src/client/components/configuration/tree/folder-open.svg
@@ -1,3 +1,3 @@
 <svg width="16" height="16" fill="#999" viewBox="0 0 24 24">
-    <path d="M20,18H4V8H20M20,6H12L10,4H4C2.89,4 2,4.89 2,6V18A2,2 0 0,0 4,20H20A2,2 0 0,0 22,18V8C22,6.89 21.1,6 20,6Z" />
-</svg>
\ No newline at end of file
+  <path d="M20,18H4V8H20M20,6H12L10,4H4C2.89,4 2,4.89 2,6V18A2,2 0 0,0 4,20H20A2,2 0 0,0 22,18V8C22,6.89 21.1,6 20,6Z" />
+</svg>
diff --git a/src/client/components/configuration/tree/folder.svg b/src/client/components/configuration/tree/folder.svg
index d7d70dfa..fc84416d 100644
--- a/src/client/components/configuration/tree/folder.svg
+++ b/src/client/components/configuration/tree/folder.svg
@@ -1,3 +1,3 @@
 <svg width="16" height="16" fill="#999" viewBox="0 0 24 24">
-    <path d="M10,4H4C2.89,4 2,4.89 2,6V18A2,2 0 0,0 4,20H20A2,2 0 0,0 22,18V8C22,6.89 21.1,6 20,6H12L10,4Z" />
-</svg>
\ No newline at end of file
+  <path d="M10,4H4C2.89,4 2,4.89 2,6V18A2,2 0 0,0 4,20H20A2,2 0 0,0 22,18V8C22,6.89 21.1,6 20,6H12L10,4Z" />
+</svg>

From ead72c5d7b3b9eadba79c5457342e857368e2c2a Mon Sep 17 00:00:00 2001
From: Josephus Paye II <j.paye96@gmail.com>
Date: Fri, 19 May 2017 11:53:23 +1000
Subject: [PATCH 04/17] Remove trailing commas from interfaces

---
 src/client/components/configuration/tree/tree.tsx | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/client/components/configuration/tree/tree.tsx b/src/client/components/configuration/tree/tree.tsx
index df44dd25..550d6c89 100644
--- a/src/client/components/configuration/tree/tree.tsx
+++ b/src/client/components/configuration/tree/tree.tsx
@@ -8,16 +8,16 @@ import FolderIcon from './folder.svg'
 import * as style from './style.css'
 
 export interface Node {
-  label: string,
-  expanded: boolean,
-  leaf: boolean,
-  selected: boolean,
+  label: string
+  expanded: boolean
+  leaf: boolean
+  selected: boolean
   children?: Node[]
 }
 
 export interface TreeProps {
-  data: Node,
-  level?: number,
+  data: Node
+  level?: number
   onClick(node: Node): void
 }
 

From 58266010424514ede012ba8ec08ce4decb669dc6 Mon Sep 17 00:00:00 2001
From: Josephus Paye II <j.paye96@gmail.com>
Date: Fri, 19 May 2017 11:59:10 +1000
Subject: [PATCH 05/17] Remove default exports

---
 src/client/components/configuration/tree/tree.tsx  | 2 --
 src/client/components/configuration/tree_store.tsx | 2 +-
 src/client/components/configuration/view.tsx       | 4 +---
 3 files changed, 2 insertions(+), 6 deletions(-)

diff --git a/src/client/components/configuration/tree/tree.tsx b/src/client/components/configuration/tree/tree.tsx
index 550d6c89..70e2ce24 100644
--- a/src/client/components/configuration/tree/tree.tsx
+++ b/src/client/components/configuration/tree/tree.tsx
@@ -64,5 +64,3 @@ export class Tree extends React.Component<TreeProps, any> {
     this.props.onClick(this.props.data)
   }
 }
-
-export default Tree
diff --git a/src/client/components/configuration/tree_store.tsx b/src/client/components/configuration/tree_store.tsx
index 71ace886..117e3242 100644
--- a/src/client/components/configuration/tree_store.tsx
+++ b/src/client/components/configuration/tree_store.tsx
@@ -1,7 +1,7 @@
 import { action, observable } from 'mobx'
 import { Node } from './tree/tree'
 
-export default class TreeStore {
+export class TreeStore {
   @observable
   public data: Node
 
diff --git a/src/client/components/configuration/view.tsx b/src/client/components/configuration/view.tsx
index 2606619a..d1ed333a 100644
--- a/src/client/components/configuration/view.tsx
+++ b/src/client/components/configuration/view.tsx
@@ -1,7 +1,7 @@
 import * as React from 'react'
 import * as style from './style.css'
 import { Node, Tree } from './tree/tree'
-import TreeStore from './tree_store'
+import { TreeStore } from './tree_store'
 
 const store = new TreeStore({
     label: 'root',
@@ -67,5 +67,3 @@ export const Configuration = () => (
     </div>
   </div>
 )
-
-export default Configuration

From b1018052b329b4648d57c26c280a2291019de626 Mon Sep 17 00:00:00 2001
From: Josephus Paye II <j.paye96@gmail.com>
Date: Wed, 24 May 2017 16:31:36 +1000
Subject: [PATCH 06/17] Remove unnecessary tree constructor, render children
 only when expanded

---
 .../components/configuration/tree/style.css       | 12 ++----------
 src/client/components/configuration/tree/tree.tsx | 15 ++++++---------
 2 files changed, 8 insertions(+), 19 deletions(-)

diff --git a/src/client/components/configuration/tree/style.css b/src/client/components/configuration/tree/style.css
index c99e6ba4..1854a5ef 100644
--- a/src/client/components/configuration/tree/style.css
+++ b/src/client/components/configuration/tree/style.css
@@ -31,19 +31,11 @@
   flex-grow: 1;
 }
 
-.treenode__children {
-  display: none;
-}
-
-.treenode--expanded > .treenode__children {
-  display: block;
-}
-
-.treenode--selected > .treenode__header {
+.treenode--selected .treenode__header {
   color: white;
   background-color: #2196F3;
 }
 
-.treenode--selected > .treenode__header svg {
+.treenode--selected .treenode__header svg {
   fill: rgba(255, 255, 255, 0.75);
 }
diff --git a/src/client/components/configuration/tree/tree.tsx b/src/client/components/configuration/tree/tree.tsx
index 70e2ce24..7a2f0bfc 100644
--- a/src/client/components/configuration/tree/tree.tsx
+++ b/src/client/components/configuration/tree/tree.tsx
@@ -22,12 +22,7 @@ export interface TreeProps {
 }
 
 @observer
-export class Tree extends React.Component<TreeProps, any> {
-  constructor(props: any, context: any) {
-    super(props, context)
-    this.onClick = this.onClick.bind(this)
-  }
-
+export class Tree extends React.Component<TreeProps, void> {
   public render(): JSX.Element {
     const children = this.props.data.children || []
     const hasChildren = children.length > 0
@@ -53,9 +48,11 @@ export class Tree extends React.Component<TreeProps, any> {
           <div className={style.treenode__label}>{ this.props.data.label }</div>
         </div>
 
-        <div className={style.treenode__children}>
-          { children.map((child, i) => <Tree key={i} data={child} level={level + 1} onClick={this.props.onClick} />) }
-        </div>
+        {this.props.data.expanded &&
+          <div className={style.treenode__children}>
+            { children.map((child, i) => <Tree key={i} data={child} level={level + 1} onClick={this.props.onClick} />) }
+          </div>
+        }
       </div>
     )
   }

From 5188eaca99d6c02b39ca355157a003743c16a762 Mon Sep 17 00:00:00 2001
From: Josephus Paye II <j.paye96@gmail.com>
Date: Wed, 24 May 2017 17:20:52 +1000
Subject: [PATCH 07/17] Rename tree_store to tree_model

---
 src/client/components/configuration/tree/tree.tsx               | 1 -
 .../components/configuration/{tree_store.tsx => tree_model.tsx} | 2 +-
 2 files changed, 1 insertion(+), 2 deletions(-)
 rename src/client/components/configuration/{tree_store.tsx => tree_model.tsx} (96%)

diff --git a/src/client/components/configuration/tree/tree.tsx b/src/client/components/configuration/tree/tree.tsx
index 7a2f0bfc..74808959 100644
--- a/src/client/components/configuration/tree/tree.tsx
+++ b/src/client/components/configuration/tree/tree.tsx
@@ -29,7 +29,6 @@ export class Tree extends React.Component<TreeProps, void> {
     const level = this.props.level || 0
     const classes = classnames(
       style.treenode,
-      { [style['treenode--expanded']]: this.props.data.expanded },
       { [style['treenode--selected']]: this.props.data.selected },
     )
     const headerInlineStyle = { paddingLeft: 8 + (level * 22) + 'px' }
diff --git a/src/client/components/configuration/tree_store.tsx b/src/client/components/configuration/tree_model.tsx
similarity index 96%
rename from src/client/components/configuration/tree_store.tsx
rename to src/client/components/configuration/tree_model.tsx
index 117e3242..abeb4f03 100644
--- a/src/client/components/configuration/tree_store.tsx
+++ b/src/client/components/configuration/tree_model.tsx
@@ -1,7 +1,7 @@
 import { action, observable } from 'mobx'
 import { Node } from './tree/tree'
 
-export class TreeStore {
+export class TreeModel {
   @observable
   public data: Node
 

From 3e28be43f7630c09a2953874731be23de45d2361 Mon Sep 17 00:00:00 2001
From: Josephus Paye II <j.paye96@gmail.com>
Date: Wed, 24 May 2017 17:25:11 +1000
Subject: [PATCH 08/17] Extract sidebar wrapper to standalone panel component

---
 .../components/configuration/panel/panel.tsx  | 25 +++++++++++++++++++
 .../components/configuration/panel/style.css  | 21 ++++++++++++++++
 src/client/components/configuration/style.css |  7 ------
 src/client/components/configuration/view.tsx  | 13 +++++-----
 4 files changed, 53 insertions(+), 13 deletions(-)
 create mode 100644 src/client/components/configuration/panel/panel.tsx
 create mode 100644 src/client/components/configuration/panel/style.css

diff --git a/src/client/components/configuration/panel/panel.tsx b/src/client/components/configuration/panel/panel.tsx
new file mode 100644
index 00000000..8705197d
--- /dev/null
+++ b/src/client/components/configuration/panel/panel.tsx
@@ -0,0 +1,25 @@
+import * as React from 'react'
+import * as style from './style.css'
+
+export interface PanelProps {
+  title: string
+  className?: string
+}
+
+export class Panel extends React.Component<PanelProps, void> {
+  public static defaultProps: Partial<PanelProps> = {
+    className: '',
+  }
+
+  public render(): JSX.Element {
+    return (
+      <div className={style.panel + ' ' + this.props.className}>
+        <div className={style.panel__header}>
+          <div className={style.panel__title}>{ this.props.title }</div>
+        </div>
+
+        <div className={style.panel__body}>{ this.props.children }</div>
+      </div>
+    )
+  }
+}
diff --git a/src/client/components/configuration/panel/style.css b/src/client/components/configuration/panel/style.css
new file mode 100644
index 00000000..97422687
--- /dev/null
+++ b/src/client/components/configuration/panel/style.css
@@ -0,0 +1,21 @@
+.panel {
+  display: flex;
+  flex-direction: column;
+}
+
+.panel__header {
+  background-color: #EEE;
+  border-bottom: 1px solid #DDD;
+  padding: 4px 8px;
+  flex-shrink: 0;
+}
+
+.panel__title {
+  font-size: 14px;
+  font-weight: bold;
+}
+
+.panel__body {
+  flex-grow: 1;
+  overflow: auto;
+}
diff --git a/src/client/components/configuration/style.css b/src/client/components/configuration/style.css
index 7bdfeb56..173170da 100644
--- a/src/client/components/configuration/style.css
+++ b/src/client/components/configuration/style.css
@@ -31,13 +31,6 @@
   border-right: 1px solid #DDD;
 }
 
-.configuration__sidebarHeader {
-  background-color: #EEE;
-  padding: 4px 8px;
-  border-bottom: 1px solid #DDD;
-  font-weight: bold;
-}
-
 .configuration__content {
   flex-grow: 1;
 }
diff --git a/src/client/components/configuration/view.tsx b/src/client/components/configuration/view.tsx
index d1ed333a..1a8e6b2b 100644
--- a/src/client/components/configuration/view.tsx
+++ b/src/client/components/configuration/view.tsx
@@ -1,9 +1,11 @@
 import * as React from 'react'
 import * as style from './style.css'
+
+import { Panel } from './panel/panel'
 import { Node, Tree } from './tree/tree'
-import { TreeStore } from './tree_store'
+import { TreeModel } from './tree_model'
 
-const store = new TreeStore({
+const model = new TreeModel({
     label: 'root',
     expanded: true,
     leaf: false,
@@ -54,10 +56,9 @@ export const Configuration = () => (
     </div>
 
     <div className={style.configuration__body}>
-      <div className={style.configuration__sidebar}>
-        <div className={style.configuration__sidebarHeader}>Files</div>
-        <Tree onClick={store.onNodeClick} data={store.data} />
-      </div>
+      <Panel title='Files' className={style.configuration__sidebar}>
+        <Tree onClick={model.onNodeClick} data={model.data} />
+      </Panel>
 
       <div className={style.configuration__content}>
         <div className={style.configuration__contentPlaceholder}>

From e01ab49b8cbdd7cddabf38f3c3cfb0e0de2fd638 Mon Sep 17 00:00:00 2001
From: Josephus Paye II <j.paye96@gmail.com>
Date: Wed, 24 May 2017 18:10:59 +1000
Subject: [PATCH 09/17] Extract view wrapper (and header) to dedicated view
 component

---
 src/client/components/configuration/style.css | 20 ---------
 src/client/components/configuration/view.tsx  | 23 ++++-------
 .../components/configuration/view/style.css   | 33 +++++++++++++++
 .../components/configuration/view/view.tsx    | 41 +++++++++++++++++++
 4 files changed, 83 insertions(+), 34 deletions(-)
 create mode 100644 src/client/components/configuration/view/style.css
 create mode 100644 src/client/components/configuration/view/view.tsx

diff --git a/src/client/components/configuration/style.css b/src/client/components/configuration/style.css
index 173170da..89dfd204 100644
--- a/src/client/components/configuration/style.css
+++ b/src/client/components/configuration/style.css
@@ -1,28 +1,8 @@
 .configuration {
-  flex-grow: 1;
-  flex-shrink: 1;
-  display: flex;
-  flex-direction: column;
   font-weight: normal;
 }
 
-.configuration__header {
-  height: 61px;
-  border-bottom: 1px solid #DDD;
-  display: flex;
-  align-items: center;
-  padding: 8px;
-  flex-shrink: 0;
-}
-
-.configuration__headerTitle {
-  margin: 0;
-  padding: 0;
-  font-size: 18px;
-}
-
 .configuration__body {
-  flex-grow: 1;
   display: flex;
 }
 
diff --git a/src/client/components/configuration/view.tsx b/src/client/components/configuration/view.tsx
index 1a8e6b2b..f712fbe7 100644
--- a/src/client/components/configuration/view.tsx
+++ b/src/client/components/configuration/view.tsx
@@ -4,6 +4,7 @@ import * as style from './style.css'
 import { Panel } from './panel/panel'
 import { Node, Tree } from './tree/tree'
 import { TreeModel } from './tree_model'
+import { View } from './view/view'
 
 const model = new TreeModel({
     label: 'root',
@@ -50,21 +51,15 @@ const model = new TreeModel({
 })
 
 export const Configuration = () => (
-  <div className={style.configuration}>
-    <div className={style.configuration__header}>
-      <h1 className={style.configuration__headerTitle}>Configuration</h1>
-    </div>
-
-    <div className={style.configuration__body}>
-      <Panel title='Files' className={style.configuration__sidebar}>
-        <Tree onClick={model.onNodeClick} data={model.data} />
-      </Panel>
+  <View title='Configuration' className={style.configuration} bodyClassName={style.configuration__body}>
+    <Panel title='Files' className={style.configuration__sidebar}>
+      <Tree onClick={model.onNodeClick} data={model.data} />
+    </Panel>
 
-      <div className={style.configuration__content}>
-        <div className={style.configuration__contentPlaceholder}>
-          Select a file to edit
-        </div>
+    <div className={style.configuration__content}>
+      <div className={style.configuration__contentPlaceholder}>
+        Select a file to edit
       </div>
     </div>
-  </div>
+  </View>
 )
diff --git a/src/client/components/configuration/view/style.css b/src/client/components/configuration/view/style.css
new file mode 100644
index 00000000..13132967
--- /dev/null
+++ b/src/client/components/configuration/view/style.css
@@ -0,0 +1,33 @@
+.view {
+  display: flex;
+  flex-direction: column;
+  flex-grow: 1;
+  flex-shrink: 1;
+}
+
+.view__header {
+  align-items: center;
+  border-bottom: 1px solid #DDD;
+  display: flex;
+  flex-shrink: 0;
+  height: 61px;
+  padding: 0 8px;
+}
+
+.view__title {
+  font-size: 18px;
+  margin-right: 12px;
+}
+
+.view__leftMenu {
+
+}
+
+.view__rightMenu {
+  margin-left: auto;
+}
+
+.view__body {
+  flex-grow: 1;
+  position: relative;
+}
diff --git a/src/client/components/configuration/view/view.tsx b/src/client/components/configuration/view/view.tsx
new file mode 100644
index 00000000..8178f58e
--- /dev/null
+++ b/src/client/components/configuration/view/view.tsx
@@ -0,0 +1,41 @@
+import * as React from 'react'
+import * as style from './style.css'
+
+export interface ViewProps {
+  title: string
+  className?: string
+  headerClassName?: string
+  bodyClassName?: string
+  leftMenu?: JSX.Element
+  rightMenu?: JSX.Element
+}
+
+export class View extends React.Component<ViewProps, void> {
+  public static defaultProps: Partial<ViewProps> = {
+    className: '',
+    headerClassName: '',
+    bodyClassName: '',
+  }
+
+  public render(): JSX.Element {
+    return (
+      <div className={style.view + ' ' + this.props.className}>
+        <div className={style.view__header + ' ' + this.props.headerClassName}>
+          <div className={style.view__title}>{ this.props.title }</div>
+
+          { this.props.leftMenu !== undefined &&
+            <div className={style.view__leftMenu}>{ this.props.leftMenu }</div>
+          }
+
+          { this.props.rightMenu !== undefined &&
+            <div className={style.view__rightMenu}>{ this.props.rightMenu }</div>
+          }
+        </div>
+
+        <div className={style.view__body + ' ' + this.props.bodyClassName}>
+          { this.props.children }
+        </div>
+      </div>
+    )
+  }
+}

From ab6b8a78fa7b002c226c019995f6967882a10a3a Mon Sep 17 00:00:00 2001
From: Josephus Paye II <j.paye96@gmail.com>
Date: Wed, 24 May 2017 20:12:18 +1000
Subject: [PATCH 10/17] Add controller and model, move sample data to separate
 file

---
 .../components/configuration/controller.ts    | 39 +++++++++
 src/client/components/configuration/data.ts   | 65 ++++++++++++++
 src/client/components/configuration/model.ts  | 18 ++++
 .../components/configuration/tree_model.tsx   | 39 ---------
 src/client/components/configuration/view.tsx  | 87 +++++++------------
 src/client/index.tsx                          | 27 +++---
 6 files changed, 170 insertions(+), 105 deletions(-)
 create mode 100644 src/client/components/configuration/controller.ts
 create mode 100644 src/client/components/configuration/data.ts
 create mode 100644 src/client/components/configuration/model.ts
 delete mode 100644 src/client/components/configuration/tree_model.tsx

diff --git a/src/client/components/configuration/controller.ts b/src/client/components/configuration/controller.ts
new file mode 100644
index 00000000..18e3ef6b
--- /dev/null
+++ b/src/client/components/configuration/controller.ts
@@ -0,0 +1,39 @@
+import { action, observable } from 'mobx'
+import { ConfigurationModel } from './model'
+import { Node } from './tree/tree'
+
+export class ConfigurationController {
+  private model: ConfigurationModel
+
+  constructor(opts: { model: ConfigurationModel }) {
+    Object.assign(this, opts)
+  }
+
+  public static of(opts: { model: ConfigurationModel }) {
+    return new ConfigurationController(opts)
+  }
+
+  @action
+  public onNodeClick = (node: Node): void => {
+    if (node.leaf) {
+      this.selectNode(node)
+    } else {
+      this.toggleNodeExpansion(node)
+    }
+  }
+
+  @action
+  public selectNode = (node: Node) => {
+    if (this.model.selectedFile) {
+      this.model.selectedFile.selected = false
+    }
+
+    node.selected = true
+    this.model.selectedFile = node
+  }
+
+  @action
+  public toggleNodeExpansion = (node: Node) => {
+    node.expanded = !node.expanded
+  }
+}
diff --git a/src/client/components/configuration/data.ts b/src/client/components/configuration/data.ts
new file mode 100644
index 00000000..39d57fee
--- /dev/null
+++ b/src/client/components/configuration/data.ts
@@ -0,0 +1,65 @@
+import { Node } from './tree/tree'
+
+export const configurationData = {
+  label: 'root',
+  expanded: true,
+  leaf: false,
+  selected: false,
+  children: [
+    {
+      label: 'parent',
+      expanded: false,
+      leaf: false,
+      selected: false,
+      children: [
+        {
+          label: 'child1',
+          expanded: false,
+          leaf: true,
+          selected: false,
+        },
+        {
+          label: 'child2',
+          expanded: false,
+          leaf: true,
+          selected: false,
+        },
+      ],
+    },
+    {
+      label: 'parent',
+      expanded: false,
+      leaf: false,
+      selected: false,
+      children: [
+        {
+          label: 'nested parent',
+          expanded: false,
+          leaf: false,
+          selected: false,
+          children: [
+            {
+              label: 'nested child 1',
+              expanded: false,
+              leaf: true,
+              selected: false,
+            },
+            {
+              label: 'nested child 2',
+              expanded: false,
+              leaf: true,
+              selected: false,
+            },
+          ],
+        },
+      ],
+    },
+    {
+      label: 'Some file here',
+      expanded: true,
+      leaf: true,
+      selected: false,
+      children: [] as Node[],
+    },
+  ],
+}
diff --git a/src/client/components/configuration/model.ts b/src/client/components/configuration/model.ts
new file mode 100644
index 00000000..13e85d0b
--- /dev/null
+++ b/src/client/components/configuration/model.ts
@@ -0,0 +1,18 @@
+import { action, observable } from 'mobx'
+import { Node } from './tree/tree'
+
+export class ConfigurationModel {
+  @observable
+  public files: Node
+
+  @observable
+  public selectedFile: Node
+
+  constructor(opts: { files: Node }) {
+    Object.assign(this, opts)
+  }
+
+  public static of(opts: { files: Node }) {
+    return new ConfigurationModel(opts)
+  }
+}
diff --git a/src/client/components/configuration/tree_model.tsx b/src/client/components/configuration/tree_model.tsx
deleted file mode 100644
index abeb4f03..00000000
--- a/src/client/components/configuration/tree_model.tsx
+++ /dev/null
@@ -1,39 +0,0 @@
-import { action, observable } from 'mobx'
-import { Node } from './tree/tree'
-
-export class TreeModel {
-  @observable
-  public data: Node
-
-  @observable
-  public selectedNode: Node
-
-  constructor(data: Node) {
-    this.data = data
-    this.onNodeClick = this.onNodeClick.bind(this)
-  }
-
-  @action
-  public onNodeClick(node: Node): void {
-    if (node.leaf) {
-      this.selectNode(node)
-    } else {
-      this.toggleExpansion(node)
-    }
-  }
-
-  @action
-  public toggleExpansion(node: Node) {
-    node.expanded = !node.expanded
-  }
-
-  @action
-  public selectNode(node: Node) {
-    if (this.selectedNode) {
-      this.selectedNode.selected = false
-    }
-
-    node.selected = true
-    this.selectedNode = node
-  }
-}
diff --git a/src/client/components/configuration/view.tsx b/src/client/components/configuration/view.tsx
index f712fbe7..3ee60000 100644
--- a/src/client/components/configuration/view.tsx
+++ b/src/client/components/configuration/view.tsx
@@ -1,65 +1,40 @@
 import * as React from 'react'
 import * as style from './style.css'
 
+import { ConfigurationController } from './controller'
+import { ConfigurationModel } from './model'
 import { Panel } from './panel/panel'
 import { Node, Tree } from './tree/tree'
-import { TreeModel } from './tree_model'
 import { View } from './view/view'
 
-const model = new TreeModel({
-    label: 'root',
-    expanded: true,
-    leaf: false,
-    selected: false,
-    children: [
-        {
-            label: 'parent',
-            expanded: false,
-            leaf: false,
-            selected: false,
-            children: [
-                { label: 'child1', expanded: false, leaf: true, selected: false },
-                { label: 'child2', expanded: false, leaf: true, selected: false },
-            ],
-        },
-        {
-            label: 'parent',
-            expanded: false,
-            leaf: false,
-            selected: false,
-            children: [
-                {
-                    label: 'nested parent',
-                    expanded: false,
-                    leaf: false,
-                    selected: false,
-                    children: [
-                        { label: 'nested child 1', expanded: false, leaf: true, selected: false },
-                        { label: 'nested child 2', expanded: false, leaf: true, selected: false },
-                    ],
-                },
-            ],
-        },
-        {
-            label: 'Some file here',
-            expanded: true,
-            leaf: true,
-            selected: false,
-            children: [] as Node[],
-        },
-    ],
-})
+interface ConfigurationViewProps {
+  controller: ConfigurationController
+  model: ConfigurationModel
+}
 
-export const Configuration = () => (
-  <View title='Configuration' className={style.configuration} bodyClassName={style.configuration__body}>
-    <Panel title='Files' className={style.configuration__sidebar}>
-      <Tree onClick={model.onNodeClick} data={model.data} />
-    </Panel>
+export class ConfigurationView extends React.Component<ConfigurationViewProps, void> {
+  private model: ConfigurationModel
+  private controller: ConfigurationController
 
-    <div className={style.configuration__content}>
-      <div className={style.configuration__contentPlaceholder}>
-        Select a file to edit
-      </div>
-    </div>
-  </View>
-)
+  public constructor(props: ConfigurationViewProps, context: any) {
+    super(props, context)
+    this.model = this.props.model
+    this.controller = this.props.controller
+  }
+
+  public render(): JSX.Element {
+    return (
+      <View title='Configuration' className={style.configuration} bodyClassName={style.configuration__body}>
+        <Panel title='Files' className={style.configuration__sidebar}>
+          <Tree onClick={this.controller.onNodeClick} data={this.model.files} />
+        </Panel>
+
+        <div className={style.configuration__content}>
+          <div className={style.configuration__contentPlaceholder}>
+            Select a file to edit
+          </div>
+        </div>
+      </View>
+    )
+  }
+}
diff --git a/src/client/index.tsx b/src/client/index.tsx
index c9ec1df9..baee794b 100644
--- a/src/client/index.tsx
+++ b/src/client/index.tsx
@@ -8,7 +8,10 @@ import * as io from 'socket.io-client'
 import { AppView } from './components/app/view'
 import { Chart } from './components/chart/view'
 import { Classifier } from './components/classifier/view'
-import { Configuration } from './components/configuration/view'
+import { ConfigurationController } from './components/configuration/controller'
+import { configurationData } from './components/configuration/data'
+import { ConfigurationModel } from './components/configuration/model'
+import { ConfigurationView } from './components/configuration/view'
 import { Dashboard } from './components/dashboard/view'
 import { GameState } from './components/game_state/view'
 import { RobotModel } from './components/localisation/darwin_robot/model'
@@ -23,18 +26,19 @@ import { Vision } from './components/vision/view'
 // enable MobX strict mode
 useStrict(true)
 
-const stores = {
+const models = {
   localisationStore: LocalisationModel.of(),
+  configurationModel: ConfigurationModel.of({ files: configurationData }),
 }
 
 runInAction(() => {
-  stores.localisationStore.camera.position.set(0, 0.2, 0.5)
+  models.localisationStore.camera.position.set(0, 0.2, 0.5)
 
   const colors = [undefined, 'magenta', undefined, 'blue', undefined, 'cyan', undefined, 'red']
   const numRobots = 8
   new Array(numRobots).fill(0).map((_, id) => {
     const robot = RobotModel.of({ id, name: `Robot ${id + 1}`, color: colors[id] || undefined, heading: 0 })
-    stores.localisationStore.robots.push(robot)
+    models.localisationStore.robots.push(robot)
     return robot
   })
 })
@@ -42,8 +46,8 @@ runInAction(() => {
 requestAnimationFrame(function update() {
   requestAnimationFrame(update)
   runInAction(() => {
-    const numRobots = stores.localisationStore.robots.length;
-    stores.localisationStore.robots.forEach((robot, i) => {
+    const numRobots = models.localisationStore.robots.length
+    models.localisationStore.robots.forEach((robot, i) => {
 
       const angle = i * (2 * Math.PI) / numRobots + Date.now() / 4E3
       const distance = Math.cos(Date.now() / 1E3 + 4 * i) * 0.3 + 1
@@ -80,15 +84,15 @@ io.connect(document.location.origin)
 
 // render react DOM
 ReactDOM.render(
-    <Provider {...stores} >
+    <Provider {...models} >
       <Router history={browserHistory}>
         <Route path='/' component={AppView}>
           <IndexRoute component={Dashboard}/>
           <Route path='/localisation' component={() => {
             const presenter = LocalisationPresenter.of({
-              model: stores.localisationStore,
+              model: models.localisationStore,
             })
-            return <LocalisationView presenter={presenter} localisationStore={stores.localisationStore}/>
+            return <LocalisationView presenter={presenter} localisationStore={models.localisationStore}/>
           }}/>
           <Route path='/vision' component={Vision}/>
           <Route path='/chart' component={Chart}/>
@@ -97,7 +101,10 @@ ReactDOM.render(
           <Route path='/classifier' component={Classifier}/>
           <Route path='/subsumption' component={Subsumption}/>
           <Route path='/gamestate' component={GameState}/>
-          <Route path='/configuration' component={Configuration}/>
+          <Route path='/configuration' component={() => {
+            const controller = ConfigurationController.of({ model: models.configurationModel })
+            return <ConfigurationView controller={controller} model={models.configurationModel} />
+          }} />
         </Route>
       </Router>
     </Provider >,

From 6e431aca1c27000b468e78422d82fdb037bd99cf Mon Sep 17 00:00:00 2001
From: Josephus Paye II <j.paye96@gmail.com>
Date: Wed, 24 May 2017 20:24:28 +1000
Subject: [PATCH 11/17] Use ul/li tags for tree

- Also use the sidebar color for hover and selected states
---
 .../components/configuration/tree/style.css   |  7 ++--
 .../components/configuration/tree/tree.tsx    | 34 +++++++++----------
 2 files changed, 22 insertions(+), 19 deletions(-)

diff --git a/src/client/components/configuration/tree/style.css b/src/client/components/configuration/tree/style.css
index 1854a5ef..8ee65e9d 100644
--- a/src/client/components/configuration/tree/style.css
+++ b/src/client/components/configuration/tree/style.css
@@ -1,6 +1,9 @@
 .treenode {
   display: flex;
   flex-direction: column;
+  list-style-type: none;
+  margin: 0;
+  padding: 0;
 }
 
 .treenode__header {
@@ -14,7 +17,7 @@
 
 .treenode__header:hover {
   background-color: #EEE;
-  color: #1976D2;
+  color: #1197d3;
 }
 
 .treenode__icon {
@@ -33,7 +36,7 @@
 
 .treenode--selected .treenode__header {
   color: white;
-  background-color: #2196F3;
+  background-color: #1197d3;
 }
 
 .treenode--selected .treenode__header svg {
diff --git a/src/client/components/configuration/tree/tree.tsx b/src/client/components/configuration/tree/tree.tsx
index 74808959..527e7374 100644
--- a/src/client/components/configuration/tree/tree.tsx
+++ b/src/client/components/configuration/tree/tree.tsx
@@ -34,25 +34,25 @@ export class Tree extends React.Component<TreeProps, void> {
     const headerInlineStyle = { paddingLeft: 8 + (level * 22) + 'px' }
 
     return (
-      <div className={classes}>
-        <div className={style.treenode__header} onClick={this.onClick} style={headerInlineStyle}>
-          <div className={style.treenode__icon}>
-            {
-              hasChildren ?
-                (this.props.data.expanded ? <FolderIconOpen /> : <FolderIcon />) :
-                <FileIcon />
-            }
+      <ul className={classes}>
+        <li>
+          <div className={style.treenode__header} onClick={this.onClick} style={headerInlineStyle}>
+            <div className={style.treenode__icon}>
+              {
+                hasChildren ?
+                  (this.props.data.expanded ? <FolderIconOpen /> : <FolderIcon />) :
+                  <FileIcon />
+              }
+            </div>
+
+            <div className={style.treenode__label}>{ this.props.data.label }</div>
           </div>
 
-          <div className={style.treenode__label}>{ this.props.data.label }</div>
-        </div>
-
-        {this.props.data.expanded &&
-          <div className={style.treenode__children}>
-            { children.map((child, i) => <Tree key={i} data={child} level={level + 1} onClick={this.props.onClick} />) }
-          </div>
-        }
-      </div>
+          {this.props.data.expanded &&
+            children.map((child, i) => <Tree key={i} data={child} level={level + 1} onClick={this.props.onClick} />)
+          }
+        </li>
+      </ul>
     )
   }
 

From 833fe7a3de8f0f4977d30ec2b31a97396ba621a5 Mon Sep 17 00:00:00 2001
From: Josephus Paye II <j.paye96@gmail.com>
Date: Wed, 24 May 2017 20:31:42 +1000
Subject: [PATCH 12/17] Add comment about inline paddingLeft

---
 src/client/components/configuration/tree/tree.tsx | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/src/client/components/configuration/tree/tree.tsx b/src/client/components/configuration/tree/tree.tsx
index 527e7374..e48474d7 100644
--- a/src/client/components/configuration/tree/tree.tsx
+++ b/src/client/components/configuration/tree/tree.tsx
@@ -31,6 +31,9 @@ export class Tree extends React.Component<TreeProps, void> {
       style.treenode,
       { [style['treenode--selected']]: this.props.data.selected },
     )
+
+    // We're using inline padding-left to indent so that the hover and selected indicators
+    // are full width. Indentation is the default 8px plus the level's indent of 22px.
     const headerInlineStyle = { paddingLeft: 8 + (level * 22) + 'px' }
 
     return (

From 9d6f6a4452ffabf1cb90c239dfaf5cfcfdd881c4 Mon Sep 17 00:00:00 2001
From: Josephus Paye II <j.paye96@gmail.com>
Date: Wed, 24 May 2017 20:33:49 +1000
Subject: [PATCH 13/17] Tweak indentation comment

---
 src/client/components/configuration/tree/tree.tsx | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/client/components/configuration/tree/tree.tsx b/src/client/components/configuration/tree/tree.tsx
index e48474d7..b1bb9091 100644
--- a/src/client/components/configuration/tree/tree.tsx
+++ b/src/client/components/configuration/tree/tree.tsx
@@ -32,8 +32,8 @@ export class Tree extends React.Component<TreeProps, void> {
       { [style['treenode--selected']]: this.props.data.selected },
     )
 
-    // We're using inline padding-left to indent so that the hover and selected indicators
-    // are full width. Indentation is the default 8px plus the level's indent of 22px.
+    // We're using inline paddingLeft to indent so that the hover and selected background indicators
+    // are full width. Padding is the default 8px plus each level's indent of 22px.
     const headerInlineStyle = { paddingLeft: 8 + (level * 22) + 'px' }
 
     return (

From 76087a8e84794fdf6ea7df0894a9c7fe15fde21b Mon Sep 17 00:00:00 2001
From: Josephus Paye II <j.paye96@gmail.com>
Date: Tue, 20 Jun 2017 13:45:59 +1000
Subject: [PATCH 14/17] Merge origin/master

---
 .travis.yml                                   |    24 +
 Procfile                                      |     2 +-
 __mocks__/mock.frag                           |     0
 __mocks__/mock.vert                           |     0
 declarations/shader-loader.d.ts               |     9 +
 jest.config.js                                |     4 +-
 nodemon.json                                  |     1 +
 package.json                                  |    25 +-
 src/assets/index.html                         |     8 +-
 src/client/components/app/view.tsx            |    12 +-
 src/client/components/chart/view.tsx          |     2 +-
 src/client/components/classifier/view.tsx     |     2 +-
 src/client/components/dashboard/view.tsx      |     2 +-
 src/client/components/game_state/view.tsx     |     2 +-
 .../components/localisation/controller.ts     |   272 +
 .../darwin_robot/body/config/body.json        |  5626 +-
 .../darwin_robot/head/config/camera.json      |   274 +-
 .../darwin_robot/head/config/eye_led.json     |  1086 +-
 .../darwin_robot/head/config/head.json        |  5216 +-
 .../darwin_robot/head/config/head_led.json    |   202 +-
 .../darwin_robot/head/config/neck.json        |  1882 +-
 .../left_arm/config/left_lower_arm.json       |  5536 +-
 .../left_arm/config/left_shoulder.json        |  2090 +-
 .../left_arm/config/left_upper_arm.json       |  2490 +-
 .../darwin_robot/left_arm/view_model.ts       |     4 +-
 .../left_leg/config/left_ankle.json           |  1846 +-
 .../left_leg/config/left_foot.json            |  1960 +-
 .../left_leg/config/left_lower_leg.json       |  2044 +-
 .../left_leg/config/left_pelvis.json          |  1842 +-
 .../left_leg/config/left_pelvis_y.json        |  1870 +-
 .../left_leg/config/left_upper_leg.json       |  3076 +-
 .../localisation/darwin_robot/model.ts        |     2 +-
 .../right_arm/config/right_lower_arm.json     |  5536 +-
 .../right_arm/config/right_shoulder.json      |  2090 +-
 .../right_arm/config/right_upper_arm.json     |  2490 +-
 .../darwin_robot/right_arm/view_model.ts      |     6 +-
 .../right_leg/config/right_ankle.json         |  1842 +-
 .../right_leg/config/right_foot.json          |  1960 +-
 .../right_leg/config/right_lower_leg.json     |  2044 +-
 .../right_leg/config/right_pelvis.json        |  1842 +-
 .../right_leg/config/right_pelvis_y.json      |  1870 +-
 .../right_leg/config/right_upper_leg.json     |  3076 +-
 .../localisation/field/view_model.ts          |    10 +-
 src/client/components/localisation/model.ts   |    13 +-
 src/client/components/localisation/network.ts |    45 +
 .../components/localisation/skybox/model.ts   |    30 +
 .../localisation/skybox/skybox.frag           |   100 +
 .../localisation/skybox/skybox.vert           |    69 +
 .../localisation/skybox/view_model.ts         |   100 +
 src/client/components/localisation/style.css  |    88 +-
 .../localisation/tests/controller.tests.ts    |    36 +
 src/client/components/localisation/view.tsx   |    93 +-
 .../components/localisation/view_model.ts     |     8 +
 src/client/components/menu_bar/style.css      |     4 +
 src/client/components/menu_bar/view.tsx       |    13 +
 .../components/navigation/icons/chart.svg     |     3 +-
 .../navigation/icons/controller.svg           |     3 +-
 .../components/navigation/icons/cube.svg      |     4 +-
 .../components/navigation/icons/eye.svg       |     3 +-
 .../components/navigation/icons/map.svg       |     8 +-
 .../components/navigation/icons/nuclear.svg   |     4 +-
 .../components/navigation/icons/ordering.svg  |     3 +-
 .../components/navigation/icons/scatter.svg   |     3 +-
 .../navigation/icons/speedometer.svg          |     6 +-
 src/client/components/navigation/style.css    |    67 +-
 src/client/components/nuclear/view.tsx        |     2 +-
 src/client/components/scatter_plot/view.tsx   |     2 +-
 src/client/components/subsumption/view.tsx    |     2 +-
 src/client/components/vision/view.tsx         |     2 +-
 src/client/inversify.config.ts                |    18 +
 src/client/network/global_network.ts          |    71 +
 src/client/network/message_type_names.ts      |    50 +
 src/client/network/network.ts                 |    36 +
 src/client/network/raw_socket.ts              |    41 +
 .../network/tests/global_network.tests.ts     |    56 +
 src/client/network/tests/network.tests.ts     |    29 +
 src/server/app/client.ts                      |    73 +
 src/server/app/robot.ts                       |    15 +
 src/server/app/server.ts                      |    60 +
 src/server/dev.ts                             |    36 +-
 src/server/inversify.config.ts                |    27 +
 src/server/prod.ts                            |    32 +-
 src/server/time/clock.ts                      |     8 +
 src/server/time/node_clock.ts                 |    25 +
 .../common/testing/create_mock_instance.ts    |    25 +
 src/shared/proto/Matrix.proto                 |   105 +
 src/shared/proto/Neutron.proto                |    15 +
 src/shared/proto/Vector.proto                 |    93 +
 .../proto/google/protobuf/duration.proto      |   117 +
 .../proto/google/protobuf/timestamp.proto     |   133 +
 src/shared/proto/message/Geometry.proto       |    51 +
 src/shared/proto/message/audio/Beat.proto     |    29 +
 .../proto/message/behaviour/Behaviour.proto   |    45 +
 .../proto/message/behaviour/FieldTarget.proto |    33 +
 .../message/behaviour/FixedWalkCommand.proto  |    44 +
 .../proto/message/behaviour/KickPlan.proto    |    37 +
 src/shared/proto/message/behaviour/Look.proto |    46 +
 .../message/behaviour/MotionCommand.proto     |    45 +
 src/shared/proto/message/behaviour/Nod.proto  |    25 +
 .../message/behaviour/ServoCommand.proto      |    32 +
 .../behaviour/SoccerObjectPriority.proto      |    39 +
 .../proto/message/behaviour/Subsumption.proto |    57 +
 .../proto/message/behaviour/WalkPath.proto    |    39 +
 .../message/input/CameraParameters.proto      |    31 +
 .../proto/message/input/GameEvents.proto      |   106 +
 .../proto/message/input/GameState.proto       |    86 +
 src/shared/proto/message/input/Image.proto    |    34 +
 .../proto/message/input/ImageFragment.proto   |    33 +
 .../proto/message/input/MotionCapture.proto   |    91 +
 .../message/input/PostureRecognition.proto    |    33 +
 .../message/input/PresenceUserState.proto     |    30 +
 .../proto/message/input/PushDetection.proto   |    25 +
 src/shared/proto/message/input/Sensors.proto  |    86 +
 .../proto/message/input/SoundChunk.proto      |    52 +
 .../message/localisation/FieldObject.proto    |    52 +
 .../message/localisation/Localisation.proto   |    50 +
 .../localisation/ResetRobotHypotheses.proto   |    36 +
 .../message/localisation/SideChecker.proto    |    23 +
 .../proto/message/motion/BalanceCommand.proto |    36 +
 .../proto/message/motion/DiveCommand.proto    |    29 +
 .../message/motion/FootMotionCommand.proto    |    54 +
 .../message/motion/FootPlacementCommand.proto |    42 +
 .../proto/message/motion/GetupCommand.proto   |    24 +
 .../proto/message/motion/HeadCommand.proto    |    37 +
 .../proto/message/motion/KickCommand.proto    |    64 +
 .../message/motion/KinematicsModels.proto     |   118 +
 .../proto/message/motion/ServoTarget.proto    |    36 +
 .../message/motion/TorsoMotionCommand.proto   |    38 +
 .../proto/message/motion/WalkCommand.proto    |    47 +
 src/shared/proto/message/output/Say.proto     |    30 +
 .../platform/darwin/DarwinSensors.proto       |   150 +
 .../research/AutoClassifierPixels.proto       |    26 +
 .../scriptoptimizer/OptimizeScript.proto      |    41 +
 .../OptimizeScriptResult.proto                |    31 +
 .../message/support/FieldDescription.proto    |    55 +
 .../proto/message/support/GlobalConfig.proto  |    27 +
 .../message/support/SaveConfiguration.proto   |    26 +
 .../message/support/ServoHealthTestData.proto |    57 +
 .../message/support/nubugger/Command.proto    |    26 +
 .../message/support/nubugger/DataPoint.proto  |    44 +
 .../support/nubugger/DrawObjects.proto        |    71 +
 .../message/support/nubugger/Overview.proto   |    67 +
 .../proto/message/support/nubugger/Ping.proto |    26 +
 .../support/nubugger/ReactionHandles.proto    |    31 +
 .../support/nuclear/ReactionStatistics.proto  |    35 +
 .../message/support/optimisation/DOpE.proto   |    42 +
 .../support/optimisation/Episode.proto        |    38 +
 .../support/optimisation/Estimate.proto       |    36 +
 .../support/optimisation/OptimiserTypes.proto |    38 +
 .../message/vision/ClassifiedImage.proto      |    83 +
 .../proto/message/vision/LookUpTable.proto    |    31 +
 .../message/vision/LookUpTableDiff.proto      |    32 +
 .../proto/message/vision/VisionObjects.proto  |   128 +
 src/shared/proto/messages.d.ts                | 32813 +++++++++
 src/shared/proto/messages.js                  | 60347 ++++++++++++++++
 src/simulators/flat_map.ts                    |     8 +
 src/simulators/nodemon.json                   |     5 +
 src/simulators/nuclearnet/fake_nuclearnet.ts  |    69 +
 .../nuclearnet/fake_nuclearnet_server.ts      |    36 +
 .../nuclearnet/tests/fake_nuclearnet.tests.ts |    91 +
 src/simulators/robot_simulator.ts             |    78 +
 src/simulators/sensor_data_simulator.ts       |    46 +
 src/simulators/simulate.ts                    |    44 +
 src/simulators/simulator.ts                   |     9 +
 tsconfig.json                                 |     1 +
 tslint.json                                   |   110 +-
 webpack.config.ts                             |     6 +
 yarn.lock                                     |   156 +-
 168 files changed, 128636 insertions(+), 30122 deletions(-)
 create mode 100644 __mocks__/mock.frag
 create mode 100644 __mocks__/mock.vert
 create mode 100644 declarations/shader-loader.d.ts
 create mode 100644 src/client/components/localisation/controller.ts
 create mode 100644 src/client/components/localisation/network.ts
 create mode 100644 src/client/components/localisation/skybox/model.ts
 create mode 100644 src/client/components/localisation/skybox/skybox.frag
 create mode 100644 src/client/components/localisation/skybox/skybox.vert
 create mode 100644 src/client/components/localisation/skybox/view_model.ts
 create mode 100644 src/client/components/localisation/tests/controller.tests.ts
 create mode 100644 src/client/components/menu_bar/style.css
 create mode 100644 src/client/components/menu_bar/view.tsx
 create mode 100644 src/client/inversify.config.ts
 create mode 100644 src/client/network/global_network.ts
 create mode 100644 src/client/network/message_type_names.ts
 create mode 100644 src/client/network/network.ts
 create mode 100644 src/client/network/raw_socket.ts
 create mode 100644 src/client/network/tests/global_network.tests.ts
 create mode 100644 src/client/network/tests/network.tests.ts
 create mode 100644 src/server/app/client.ts
 create mode 100644 src/server/app/robot.ts
 create mode 100644 src/server/app/server.ts
 create mode 100644 src/server/inversify.config.ts
 create mode 100644 src/server/time/clock.ts
 create mode 100644 src/server/time/node_clock.ts
 create mode 100644 src/shared/common/testing/create_mock_instance.ts
 create mode 100644 src/shared/proto/Matrix.proto
 create mode 100644 src/shared/proto/Neutron.proto
 create mode 100644 src/shared/proto/Vector.proto
 create mode 100644 src/shared/proto/google/protobuf/duration.proto
 create mode 100644 src/shared/proto/google/protobuf/timestamp.proto
 create mode 100644 src/shared/proto/message/Geometry.proto
 create mode 100644 src/shared/proto/message/audio/Beat.proto
 create mode 100644 src/shared/proto/message/behaviour/Behaviour.proto
 create mode 100644 src/shared/proto/message/behaviour/FieldTarget.proto
 create mode 100644 src/shared/proto/message/behaviour/FixedWalkCommand.proto
 create mode 100644 src/shared/proto/message/behaviour/KickPlan.proto
 create mode 100644 src/shared/proto/message/behaviour/Look.proto
 create mode 100644 src/shared/proto/message/behaviour/MotionCommand.proto
 create mode 100644 src/shared/proto/message/behaviour/Nod.proto
 create mode 100644 src/shared/proto/message/behaviour/ServoCommand.proto
 create mode 100644 src/shared/proto/message/behaviour/SoccerObjectPriority.proto
 create mode 100644 src/shared/proto/message/behaviour/Subsumption.proto
 create mode 100644 src/shared/proto/message/behaviour/WalkPath.proto
 create mode 100644 src/shared/proto/message/input/CameraParameters.proto
 create mode 100644 src/shared/proto/message/input/GameEvents.proto
 create mode 100644 src/shared/proto/message/input/GameState.proto
 create mode 100644 src/shared/proto/message/input/Image.proto
 create mode 100644 src/shared/proto/message/input/ImageFragment.proto
 create mode 100644 src/shared/proto/message/input/MotionCapture.proto
 create mode 100644 src/shared/proto/message/input/PostureRecognition.proto
 create mode 100644 src/shared/proto/message/input/PresenceUserState.proto
 create mode 100644 src/shared/proto/message/input/PushDetection.proto
 create mode 100644 src/shared/proto/message/input/Sensors.proto
 create mode 100644 src/shared/proto/message/input/SoundChunk.proto
 create mode 100644 src/shared/proto/message/localisation/FieldObject.proto
 create mode 100644 src/shared/proto/message/localisation/Localisation.proto
 create mode 100644 src/shared/proto/message/localisation/ResetRobotHypotheses.proto
 create mode 100644 src/shared/proto/message/localisation/SideChecker.proto
 create mode 100644 src/shared/proto/message/motion/BalanceCommand.proto
 create mode 100644 src/shared/proto/message/motion/DiveCommand.proto
 create mode 100644 src/shared/proto/message/motion/FootMotionCommand.proto
 create mode 100644 src/shared/proto/message/motion/FootPlacementCommand.proto
 create mode 100644 src/shared/proto/message/motion/GetupCommand.proto
 create mode 100644 src/shared/proto/message/motion/HeadCommand.proto
 create mode 100644 src/shared/proto/message/motion/KickCommand.proto
 create mode 100644 src/shared/proto/message/motion/KinematicsModels.proto
 create mode 100644 src/shared/proto/message/motion/ServoTarget.proto
 create mode 100644 src/shared/proto/message/motion/TorsoMotionCommand.proto
 create mode 100644 src/shared/proto/message/motion/WalkCommand.proto
 create mode 100644 src/shared/proto/message/output/Say.proto
 create mode 100644 src/shared/proto/message/platform/darwin/DarwinSensors.proto
 create mode 100644 src/shared/proto/message/research/AutoClassifierPixels.proto
 create mode 100644 src/shared/proto/message/research/scriptoptimizer/OptimizeScript.proto
 create mode 100644 src/shared/proto/message/research/scriptoptimizer/OptimizeScriptResult.proto
 create mode 100644 src/shared/proto/message/support/FieldDescription.proto
 create mode 100644 src/shared/proto/message/support/GlobalConfig.proto
 create mode 100644 src/shared/proto/message/support/SaveConfiguration.proto
 create mode 100644 src/shared/proto/message/support/ServoHealthTestData.proto
 create mode 100644 src/shared/proto/message/support/nubugger/Command.proto
 create mode 100644 src/shared/proto/message/support/nubugger/DataPoint.proto
 create mode 100644 src/shared/proto/message/support/nubugger/DrawObjects.proto
 create mode 100644 src/shared/proto/message/support/nubugger/Overview.proto
 create mode 100644 src/shared/proto/message/support/nubugger/Ping.proto
 create mode 100644 src/shared/proto/message/support/nubugger/ReactionHandles.proto
 create mode 100644 src/shared/proto/message/support/nuclear/ReactionStatistics.proto
 create mode 100644 src/shared/proto/message/support/optimisation/DOpE.proto
 create mode 100644 src/shared/proto/message/support/optimisation/Episode.proto
 create mode 100644 src/shared/proto/message/support/optimisation/Estimate.proto
 create mode 100644 src/shared/proto/message/support/optimisation/OptimiserTypes.proto
 create mode 100644 src/shared/proto/message/vision/ClassifiedImage.proto
 create mode 100644 src/shared/proto/message/vision/LookUpTable.proto
 create mode 100644 src/shared/proto/message/vision/LookUpTableDiff.proto
 create mode 100644 src/shared/proto/message/vision/VisionObjects.proto
 create mode 100644 src/shared/proto/messages.d.ts
 create mode 100644 src/shared/proto/messages.js
 create mode 100644 src/simulators/flat_map.ts
 create mode 100644 src/simulators/nodemon.json
 create mode 100644 src/simulators/nuclearnet/fake_nuclearnet.ts
 create mode 100644 src/simulators/nuclearnet/fake_nuclearnet_server.ts
 create mode 100644 src/simulators/nuclearnet/tests/fake_nuclearnet.tests.ts
 create mode 100644 src/simulators/robot_simulator.ts
 create mode 100644 src/simulators/sensor_data_simulator.ts
 create mode 100644 src/simulators/simulate.ts
 create mode 100644 src/simulators/simulator.ts

diff --git a/.travis.yml b/.travis.yml
index ec181ec1..b0486324 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -1,10 +1,34 @@
 language: node_js
 dist: trusty
 node_js:
+  - '4'
+  - '5'
+  - '6'
   - '7'
+  - '8'
+
+# Cache yarn and node_modules to speed up the build
+cache:
+  yarn: true
+  directories:
+    - node_modules
+
+# We need to set this so our compiler is g++-4.9 for NUClearNet.js
+env:
+  - CXX=g++-4.9
+addons:
+  apt:
+    sources:
+      - ubuntu-toolchain-r-test
+    packages:
+      - g++-4.9
+
+# Only build the master branch, PRs will build also due to settings in the web ui
 branches:
   only:
     - 'master'
+
+# Don't spam people with emails
 notifications:
   email: false
   slack:
diff --git a/Procfile b/Procfile
index 6992d93e..67bfb418 100644
--- a/Procfile
+++ b/Procfile
@@ -1 +1 @@
-web: yarn run prod
+web: yarn run prod:sim
diff --git a/__mocks__/mock.frag b/__mocks__/mock.frag
new file mode 100644
index 00000000..e69de29b
diff --git a/__mocks__/mock.vert b/__mocks__/mock.vert
new file mode 100644
index 00000000..e69de29b
diff --git a/declarations/shader-loader.d.ts b/declarations/shader-loader.d.ts
new file mode 100644
index 00000000..85b47e2d
--- /dev/null
+++ b/declarations/shader-loader.d.ts
@@ -0,0 +1,9 @@
+declare module "*.vert" {
+  const content: any;
+  export default content;
+}
+
+declare module "*.frag" {
+  const content: any;
+  export default content;
+}
diff --git a/jest.config.js b/jest.config.js
index f765e74c..3dae1c32 100644
--- a/jest.config.js
+++ b/jest.config.js
@@ -21,7 +21,9 @@ module.exports = {
     'tsx'
   ],
   moduleNameMapper: {
-    '\\.(css)$': 'identity-obj-proxy'
+    '\\.(css)$': 'identity-obj-proxy',
+    '\\.(vert)$': '<rootDir>/__mocks__/mock.vert',
+    '\\.(frag)$': '<rootDir>/__mocks__/mock.frag'
   },
   roots: [
     '<rootDir>/src'
diff --git a/nodemon.json b/nodemon.json
index d9e06919..cd7a64c1 100644
--- a/nodemon.json
+++ b/nodemon.json
@@ -1,5 +1,6 @@
 {
   "verbose": true,
+  "watch": "src",
   "ignore": ["*.tests.ts", "src/client"],
   "execMap": {
     "ts": "ts-node"
diff --git a/package.json b/package.json
index a3c3776d..36121905 100644
--- a/package.json
+++ b/package.json
@@ -2,23 +2,29 @@
   "name": "NUsight",
   "version": "2.0.0",
   "private": true,
+  "engines": {
+    "node": ">=4.X.X"
+  },
   "description": "",
-  "main": "index.js",
   "scripts": {
     "test": "jest",
     "test:ci": "yarn test -- --ci",
     "test:watch": "yarn test -- --watch",
     "coverage": "yarn test -- --coverage",
     "coverage:ci": "yarn test:ci -- --coverage",
-    "tslint": "tslint -c tslint.json 'src/**/*.ts'",
-    "tslint:fix": "tslint -c tslint.json 'src/**/*.ts' --fix",
+    "tslint": "tslint -c tslint.json 'src/**/*.ts{,x}' --exclude 'src/shared/proto/**'",
+    "tslint:fix": "tslint -c tslint.json 'src/**/*.ts{,x}' --exclude 'src/shared/proto/**' --fix",
     "start": "nodemon ./src/server/dev.ts",
+    "start:sim": "nodemon ./src/server/dev.ts --with-simulators",
+    "simulate": "nodemon ./src/simulators/simulate.ts",
     "prod": "ts-node -F ./src/server/prod.ts",
+    "prod:sim": "ts-node -F ./src/server/prod.ts --with-simulators",
     "build": "yarn clean:build && webpack -p --progress --colors",
     "clean": "yarn clean:build && yarn clean:coverage",
     "clean:build": "rimraf build",
     "clean:coverage": "rimraf coverage",
-    "heroku-postbuild": "yarn build"
+    "heroku-postbuild": "yarn build",
+    "prepush": "yarn tslint"
   },
   "license": "MIT",
   "devDependencies": {
@@ -30,6 +36,7 @@
     "@types/extract-text-webpack-plugin": "^2.0.1",
     "@types/html-webpack-plugin": "^2.28.0",
     "@types/jest": "^19.2.3",
+    "@types/minimist": "^1.2.0",
     "@types/node": "^7.0.14",
     "@types/react": "^15.0.12",
     "@types/react-dom": "^0.14.23",
@@ -54,6 +61,7 @@
     "file-loader": "^0.10.0",
     "html-loader": "^0.4.4",
     "html-webpack-plugin": "^2.28.0",
+    "husky": "^0.13.3",
     "identity-obj-proxy": "^3.0.0",
     "jest": "^20.0.1",
     "jest-css-modules": "^1.1.0",
@@ -65,6 +73,7 @@
     "postcss-loader": "^1.3.1",
     "postcss-reporter": "^3.0.0",
     "postcss-url": "^5.1.2",
+    "raw-loader": "^0.5.1",
     "react-hot-loader": "^1.3.1",
     "react-svg-loader": "^1.1.1",
     "rimraf": "^2.6.1",
@@ -74,6 +83,7 @@
     "ts-jest": "^20.0.3",
     "ts-node": "^3.0.2",
     "tslint": "^5.2.0",
+    "tslint-eslint-rules": "^4.1.1",
     "typescript": "^2.2.1",
     "url-loader": "^0.5.7",
     "webpack": "^2.2.1",
@@ -86,13 +96,18 @@
     "compression": "^1.6.2",
     "connect-history-api-fallback": "^1.3.0",
     "express": "^4.15.2",
+    "inversify": "^4.1.0",
+    "inversify-inject-decorators": "^3.0.1",
+    "minimist": "^1.2.0",
     "mobx": "^3.1.0",
     "mobx-react": "^4.1.0",
     "mobx-react-router": "^3.1.2",
-    "nuclearnet.js": "^0.1.0",
+    "nuclearnet.js": "^1.0.5",
+    "protobufjs": "^6.7.3",
     "react": "^15.4.2",
     "react-dom": "^15.4.2",
     "react-router": "^3.0.2",
+    "reflect-metadata": "^0.1.10",
     "serve-favicon": "^2.4.2",
     "socket.io": "^1.7.3",
     "socket.io-client": "^1.7.3",
diff --git a/src/assets/index.html b/src/assets/index.html
index 3c242dd8..a2171b64 100644
--- a/src/assets/index.html
+++ b/src/assets/index.html
@@ -1,11 +1,11 @@
 <!DOCTYPE html>
 <html>
 <head>
-	<meta charset="utf-8">
-	<title>NUsight2</title>
-	<meta name="viewport" content="width=device-width, initial-scale=1">
+  <meta charset="utf-8">
+  <title>NUsight2</title>
+  <meta name="viewport" content="width=device-width, initial-scale=1">
 </head>
 <body>
-	<div id="root"></div>
+<div id="root"></div>
 </body>
 </html>
diff --git a/src/client/components/app/view.tsx b/src/client/components/app/view.tsx
index 7063d788..efc5589f 100644
--- a/src/client/components/app/view.tsx
+++ b/src/client/components/app/view.tsx
@@ -5,14 +5,14 @@ import * as style from './style.css'
 export class AppView extends React.Component<any, any> {
   public render() {
     return (
-        <div className={style.app}>
-          <NavigationView />
-          <div className={style.app__container}>
-            <div className={style.app__content}>
-              {this.props.children}
-            </div>
+      <div className={style.app}>
+        <NavigationView />
+        <div className={style.app__container}>
+          <div className={style.app__content}>
+            {this.props.children}
           </div>
         </div>
+      </div>
     )
   }
 }
diff --git a/src/client/components/chart/view.tsx b/src/client/components/chart/view.tsx
index e0b64240..f4d39c09 100644
--- a/src/client/components/chart/view.tsx
+++ b/src/client/components/chart/view.tsx
@@ -1,5 +1,5 @@
 import * as React from 'react'
 
 export const Chart = () => (
-    <h1>Chart</h1>
+  <h1>Chart</h1>
 )
diff --git a/src/client/components/classifier/view.tsx b/src/client/components/classifier/view.tsx
index 9f5c88f5..b604c161 100644
--- a/src/client/components/classifier/view.tsx
+++ b/src/client/components/classifier/view.tsx
@@ -1,5 +1,5 @@
 import * as React from 'react'
 
 export const Classifier = () => (
-    <h1>Classifier</h1>
+  <h1>Classifier</h1>
 )
diff --git a/src/client/components/dashboard/view.tsx b/src/client/components/dashboard/view.tsx
index 0fed7f98..5f573e5a 100644
--- a/src/client/components/dashboard/view.tsx
+++ b/src/client/components/dashboard/view.tsx
@@ -1,5 +1,5 @@
 import * as React from 'react'
 
 export const Dashboard = () => (
-    <h1>Dashboard</h1>
+  <h1>Dashboard</h1>
 )
diff --git a/src/client/components/game_state/view.tsx b/src/client/components/game_state/view.tsx
index 9285c01b..b607250a 100644
--- a/src/client/components/game_state/view.tsx
+++ b/src/client/components/game_state/view.tsx
@@ -1,5 +1,5 @@
 import * as React from 'react'
 
 export const GameState = () => (
-    <h1>GameState</h1>
+  <h1>GameState</h1>
 )
diff --git a/src/client/components/localisation/controller.ts b/src/client/components/localisation/controller.ts
new file mode 100644
index 00000000..f77824a8
--- /dev/null
+++ b/src/client/components/localisation/controller.ts
@@ -0,0 +1,272 @@
+import { injectable } from 'inversify'
+import { action } from 'mobx'
+import * as THREE from 'three'
+import { HIP_TO_FOOT } from './darwin_robot/view_model'
+import { KeyCode } from './keycodes'
+import { LocalisationModel } from './model'
+import { Vector3 } from './model'
+import { ViewMode } from './model'
+
+interface KeyModifiers {
+  shiftKey: boolean
+  ctrlKey: boolean
+}
+
+@injectable()
+export class LocalisationController {
+  @action
+  public onAnimationFrame(model: LocalisationModel, time: number) {
+    model.time.time = time / 1000
+    this.updatePosition(model)
+  }
+
+  @action
+  public onLeftClick(model: LocalisationModel, requestPointerLock: () => void) {
+    if (!model.locked) {
+      requestPointerLock()
+    } else {
+      model.target = this.getNextTarget(model)
+    }
+  }
+
+  @action
+  public onRightClick(model: LocalisationModel) {
+    if (model.locked) {
+      model.target = this.getPreviousTarget(model)
+    }
+  }
+
+  @action
+  public onHawkEyeClick(model: LocalisationModel) {
+    model.controls.pitch = -Math.PI / 2
+    model.controls.yaw = 0
+    model.camera.position.set(0, 5, 0)
+    model.viewMode = ViewMode.FreeCamera
+    this.updatePosition(model)
+  }
+
+  @action
+  public onPointerLockChange(model: LocalisationModel, locked: boolean): void {
+    model.locked = locked
+  }
+
+  @action
+  public onMouseMove(model: LocalisationModel, movementX: number, movementY: number): void {
+    if (!model.locked || model.viewMode === ViewMode.FirstPerson) {
+      return
+    }
+
+    const pitch = Math.max(-Math.PI / 2, Math.min(Math.PI / 2, model.controls.pitch - movementY / 200))
+    model.controls.pitch = pitch
+    model.controls.yaw = model.controls.yaw - movementX / 200
+  }
+
+  @action
+  public onWheel(model: LocalisationModel, deltaY: number): void {
+    const newDistance = model.camera.distance + deltaY / 200
+    model.camera.distance = Math.min(10, Math.max(0.1, newDistance))
+  }
+
+  @action
+  public onKeyDown(model: LocalisationModel, key: KeyCode, modifiers: KeyModifiers): void {
+    if (model.locked) {
+      switch (key) {
+        case KeyCode.W:
+          model.controls.forward = true
+          return
+        case KeyCode.A:
+          model.controls.left = true
+          return
+        case KeyCode.S:
+          model.controls.back = true
+          return
+        case KeyCode.D:
+          model.controls.right = true
+          return
+        case KeyCode.R:
+          model.controls.up = true
+          return
+        case KeyCode.F:
+          model.controls.down = true
+          return
+        case KeyCode.Space:
+          model.viewMode = this.getNextViewMode(model)
+
+          // TODO (Annable): move this somewhere.
+          if (model.viewMode === ViewMode.FreeCamera) {
+            model.controls.pitch = model.camera.pitch
+            model.controls.yaw = model.camera.yaw
+          } else if (model.viewMode === ViewMode.FirstPerson) {
+            model.controls.pitch = 0
+            model.controls.yaw = 0
+          }
+
+          this.updatePosition(model)
+          return
+        case KeyCode.Enter:
+          if (modifiers.shiftKey) {
+            model.target = this.getPreviousTarget(model)
+          } else {
+            model.target = this.getNextTarget(model)
+          }
+          return
+      }
+    }
+  }
+
+  @action
+  public onKeyUp(model: LocalisationModel, key: KeyCode): void {
+    if (model.locked) {
+      switch (key) {
+        case KeyCode.W:
+          model.controls.forward = false
+          return
+        case KeyCode.A:
+          model.controls.left = false
+          return
+        case KeyCode.S:
+          model.controls.back = false
+          return
+        case KeyCode.D:
+          model.controls.right = false
+          return
+        case KeyCode.R:
+          model.controls.up = false
+          return
+        case KeyCode.F:
+          model.controls.down = false
+          return
+      }
+    }
+  }
+
+  private updatePosition(model: LocalisationModel) {
+    switch (model.viewMode) {
+      case ViewMode.FreeCamera:
+        this.updatePositionNoClip(model)
+        return
+      case ViewMode.FirstPerson:
+        this.updatePositionFirstPerson(model)
+        return
+      case ViewMode.ThirdPerson:
+        this.updatePositionThirdPerson(model)
+        return
+      default:
+        throw new Error(`No view behaviour defined for ${model.viewMode}`)
+    }
+  }
+
+  private updatePositionNoClip(model: LocalisationModel) {
+    const delta = model.time.timeSinceLastRender
+    const movement = Vector3.of()
+    const movementSpeed = 1
+    const actualSpeed = delta * movementSpeed
+
+    if (model.controls.forward) {
+      movement.z = movement.z - actualSpeed
+    }
+
+    if (model.controls.back) {
+      movement.z = movement.z + actualSpeed
+    }
+
+    if (model.controls.left) {
+      movement.x = movement.x - actualSpeed
+    }
+
+    if (model.controls.right) {
+      movement.x = movement.x + actualSpeed
+    }
+
+    // TODO (Annable): remove THREE dependency from controller.
+    const temp = new THREE.Vector3(movement.x, movement.y, movement.z)
+    temp.applyEuler(new THREE.Euler(model.controls.pitch, model.controls.yaw, 0, 'YXZ'))
+    movement.set(temp.x, temp.y, temp.z)
+
+    // Apply up/down after rotation to keep movement vertical.
+    if (model.controls.up) {
+      movement.y = movement.y + actualSpeed
+    }
+
+    if (model.controls.down) {
+      movement.y = movement.y - actualSpeed
+    }
+
+    model.camera.pitch = model.controls.pitch
+    model.camera.yaw = model.controls.yaw
+
+    model.camera.position.add(movement)
+  }
+
+  private updatePositionFirstPerson(model: LocalisationModel) {
+    if (model.robots.length === 0) {
+      return
+    }
+
+    if (!model.target) {
+      // TODO (Annable): Handle no robots.
+      model.target = model.robots[0]
+    }
+
+    const target = model.target
+
+    // This camera position hack will not work with orientation/head movement.
+    // TODO (Annable): Sync camera position/rotation properly using kinematic chain.
+    model.camera.position.set(target.position.x - 0.001, target.position.y + 0.4, target.position.z)
+    model.camera.yaw = target.heading + Math.PI // TODO (Annable): Find why offset by PI is needed.
+    model.camera.pitch = 0
+  }
+
+  private updatePositionThirdPerson(model: LocalisationModel) {
+    if (model.robots.length === 0) {
+      return
+    }
+
+    if (!model.target) {
+      // TODO: Handle no robots.
+      model.target = model.robots[0]
+    }
+
+    const target = model.target
+
+    const distance = model.camera.distance
+
+    const targetPosition = new Vector3(target.position.x, target.position.y + HIP_TO_FOOT, target.position.z)
+
+    const yaw = model.controls.yaw
+    const pitch = -model.controls.pitch + Math.PI / 2
+    const offset = new Vector3(
+      Math.sin(pitch) * Math.cos(yaw),
+      Math.cos(pitch),
+      Math.sin(pitch) * Math.sin(yaw),
+    ).multiplyScalar(distance)
+    const cameraPosition = targetPosition.clone().add(offset)
+
+    model.camera.position.copy(cameraPosition)
+    model.camera.pitch = pitch - Math.PI / 2
+    model.camera.yaw = -yaw + Math.PI / 2
+  }
+
+  private getNextViewMode(model: LocalisationModel) {
+    switch (model.viewMode) {
+      case ViewMode.FreeCamera:
+        return ViewMode.FirstPerson
+      case ViewMode.FirstPerson:
+        return ViewMode.ThirdPerson
+      case ViewMode.ThirdPerson:
+        return ViewMode.FreeCamera
+      default:
+        throw new Error(`No next view mode defined for ${model.viewMode}`)
+    }
+  }
+
+  private getNextTarget(model: LocalisationModel) {
+    const targetIndex = model.robots.findIndex(robot => robot === model.target)
+    return model.robots[targetIndex + 1] || model.robots[0]
+  }
+
+  private getPreviousTarget(model: LocalisationModel) {
+    const targetIndex = model.robots.findIndex(robot => robot === model.target)
+    return model.robots[targetIndex - 1] || model.robots[model.robots.length - 1]
+  }
+}
diff --git a/src/client/components/localisation/darwin_robot/body/config/body.json b/src/client/components/localisation/darwin_robot/body/config/body.json
index 2c65ea5e..4e041518 100644
--- a/src/client/components/localisation/darwin_robot/body/config/body.json
+++ b/src/client/components/localisation/darwin_robot/body/config/body.json
@@ -1,2815 +1,2815 @@
 {
-	"metadata": {
-		"formatVersion": 3,
-		"materials": 1
-	},
-	"materials": [
-		{
-			"DbgColor": 15658734,
-			"DbgIndex": 0,
-			"DbgName": "Plastic",
-			"colorDiffuse": [
-				0.301961,
-				0.301961,
-				0.301961
-			],
-			"colorSpecular": [
-				0.401201,
-				0.401201,
-				0.401201
-			],
-			"shading": "Lambert",
-			"specularCoef": 50,
-			"opacity": 1.0,
-			"vertexColors": false
-		}
-	],
-	"normals": [],
-	"colors": [],
-	"uvs": [],
-	"morphTargets": [],
-	"vertices": [
-		0.0189393,
-		-0.0980656,
-		0.0268584,
-		-0.0189393,
-		-0.0980656,
-		0.0268584,
-		0.0329651,
-		-0.0785909,
-		0.032466,
-		-0.0329651,
-		-0.0785909,
-		0.032466,
-		0,
-		-0.0980656,
-		0.0268584,
-		0,
-		-0.0785909,
-		0.032466,
-		0,
-		-0.0684064,
-		0.034421,
-		0,
-		-0.0628994,
-		0.0351729,
-		0,
-		-0.048721,
-		0.0357745,
-		0,
-		-0.0344986,
-		0.0356692,
-		0,
-		-0.0215196,
-		0.0332293,
-		0,
-		0.0056817,
-		0.0204932,
-		0,
-		0.0192564,
-		0.0114116,
-		0,
-		-0.0980656,
-		0.0228699,
-		0.0191471,
-		-0.0980656,
-		0.0228699,
-		-0.0191471,
-		-0.0980656,
-		0.0228699,
-		0.0472058,
-		-0.0628994,
-		0.0351729,
-		-0.0472058,
-		-0.0628994,
-		0.0351729,
-		0.0481432,
-		-0.0508762,
-		0.0356895,
-		-0.0481432,
-		-0.0508762,
-		0.0356895,
-		0.048433,
-		-0.0344986,
-		0.0356692,
-		-0.048433,
-		-0.0344986,
-		0.0356692,
-		0.048433,
-		-0.0215196,
-		0.0332293,
-		-0.048433,
-		-0.0215196,
-		0.0332293,
-		0.048433,
-		-0.0079189,
-		0.0277709,
-		-0.048433,
-		-0.0079189,
-		0.0277709,
-		0.048433,
-		0.0056817,
-		0.0204932,
-		-0.048433,
-		0.0056817,
-		0.0204932,
-		0.048433,
-		0.0192564,
-		0.0114116,
-		-0.048433,
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index 6ffd8205..381254cc 100644
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+++ b/src/client/components/localisation/darwin_robot/head/config/camera.json
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index 7d18a671..d28d6ef4 100644
--- a/src/client/components/localisation/darwin_robot/head/config/eye_led.json
+++ b/src/client/components/localisation/darwin_robot/head/config/eye_led.json
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diff --git a/src/client/components/localisation/darwin_robot/head/config/head.json b/src/client/components/localisation/darwin_robot/head/config/head.json
index a6b44ac0..c49eb455 100644
--- a/src/client/components/localisation/darwin_robot/head/config/head.json
+++ b/src/client/components/localisation/darwin_robot/head/config/head.json
@@ -1,2610 +1,2610 @@
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index fbe67559..8bcd8827 100644
--- a/src/client/components/localisation/darwin_robot/head/config/head_led.json
+++ b/src/client/components/localisation/darwin_robot/head/config/head_led.json
@@ -1,103 +1,103 @@
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+++ b/src/client/components/localisation/darwin_robot/head/config/neck.json
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diff --git a/src/client/components/localisation/darwin_robot/left_arm/config/left_lower_arm.json b/src/client/components/localisation/darwin_robot/left_arm/config/left_lower_arm.json
index 4507b2d6..2b0bd216 100644
--- a/src/client/components/localisation/darwin_robot/left_arm/config/left_lower_arm.json
+++ b/src/client/components/localisation/darwin_robot/left_arm/config/left_lower_arm.json
@@ -1,2770 +1,2770 @@
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diff --git a/src/client/components/localisation/darwin_robot/left_arm/config/left_shoulder.json b/src/client/components/localisation/darwin_robot/left_arm/config/left_shoulder.json
index 12f9014d..426f43f4 100644
--- a/src/client/components/localisation/darwin_robot/left_arm/config/left_shoulder.json
+++ b/src/client/components/localisation/darwin_robot/left_arm/config/left_shoulder.json
@@ -1,1047 +1,1047 @@
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diff --git a/src/client/components/localisation/darwin_robot/left_arm/config/left_upper_arm.json b/src/client/components/localisation/darwin_robot/left_arm/config/left_upper_arm.json
index 2e78f3ef..84959a5d 100644
--- a/src/client/components/localisation/darwin_robot/left_arm/config/left_upper_arm.json
+++ b/src/client/components/localisation/darwin_robot/left_arm/config/left_upper_arm.json
@@ -1,1247 +1,1247 @@
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 }
diff --git a/src/client/components/localisation/darwin_robot/left_arm/view_model.ts b/src/client/components/localisation/darwin_robot/left_arm/view_model.ts
index 99c4e56c..336b4b41 100644
--- a/src/client/components/localisation/darwin_robot/left_arm/view_model.ts
+++ b/src/client/components/localisation/darwin_robot/left_arm/view_model.ts
@@ -29,7 +29,7 @@ export class LeftArmViewModel {
     const { geometry, materials } = this.leftShoulderGeometryAndMaterial
     const mesh = new Mesh(geometry, new MultiMaterial(materials))
     mesh.position.set(0.082, 0, 0)
-    mesh.rotation.set(-this.model.motors.leftShoulderPitch.angle, 0, 0)
+    mesh.rotation.set(this.model.motors.leftShoulderPitch.angle - Math.PI / 2, 0, 0)
     mesh.add(this.leftUpperArm)
     return mesh
   }
@@ -49,7 +49,7 @@ export class LeftArmViewModel {
     const { geometry, materials } = this.leftLowerArmGeometryAndMaterial
     const mesh = new Mesh(geometry, new MultiMaterial(materials))
     mesh.position.set(0, -0.06, 0.016)
-    mesh.rotation.set(-this.model.motors.leftElbow.angle, 0, 0)
+    mesh.rotation.set(this.model.motors.leftElbow.angle, 0, 0)
     return mesh
   }
 
diff --git a/src/client/components/localisation/darwin_robot/left_leg/config/left_ankle.json b/src/client/components/localisation/darwin_robot/left_leg/config/left_ankle.json
index c52476df..c2f68ea1 100644
--- a/src/client/components/localisation/darwin_robot/left_leg/config/left_ankle.json
+++ b/src/client/components/localisation/darwin_robot/left_leg/config/left_ankle.json
@@ -1,925 +1,925 @@
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diff --git a/src/client/components/localisation/darwin_robot/left_leg/config/left_foot.json b/src/client/components/localisation/darwin_robot/left_leg/config/left_foot.json
index 972e0469..5b34e195 100644
--- a/src/client/components/localisation/darwin_robot/left_leg/config/left_foot.json
+++ b/src/client/components/localisation/darwin_robot/left_leg/config/left_foot.json
@@ -1,982 +1,982 @@
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diff --git a/src/client/components/localisation/darwin_robot/left_leg/config/left_lower_leg.json b/src/client/components/localisation/darwin_robot/left_leg/config/left_lower_leg.json
index c56b548c..63fbe394 100644
--- a/src/client/components/localisation/darwin_robot/left_leg/config/left_lower_leg.json
+++ b/src/client/components/localisation/darwin_robot/left_leg/config/left_lower_leg.json
@@ -1,1024 +1,1024 @@
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diff --git a/src/client/components/localisation/darwin_robot/left_leg/config/left_pelvis.json b/src/client/components/localisation/darwin_robot/left_leg/config/left_pelvis.json
index 41e54ac5..4ed61e4f 100644
--- a/src/client/components/localisation/darwin_robot/left_leg/config/left_pelvis.json
+++ b/src/client/components/localisation/darwin_robot/left_leg/config/left_pelvis.json
@@ -1,923 +1,923 @@
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diff --git a/src/client/components/localisation/darwin_robot/left_leg/config/left_pelvis_y.json b/src/client/components/localisation/darwin_robot/left_leg/config/left_pelvis_y.json
index 144c4ad2..d6376a35 100644
--- a/src/client/components/localisation/darwin_robot/left_leg/config/left_pelvis_y.json
+++ b/src/client/components/localisation/darwin_robot/left_leg/config/left_pelvis_y.json
@@ -1,937 +1,937 @@
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diff --git a/src/client/components/localisation/darwin_robot/left_leg/config/left_upper_leg.json b/src/client/components/localisation/darwin_robot/left_leg/config/left_upper_leg.json
index 890b3b5c..97665155 100644
--- a/src/client/components/localisation/darwin_robot/left_leg/config/left_upper_leg.json
+++ b/src/client/components/localisation/darwin_robot/left_leg/config/left_upper_leg.json
@@ -1,1540 +1,1540 @@
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+    2,
+    10,
+    2,
+    14,
+    1,
+    2,
+    3,
+    4,
+    8,
+    1,
+    2,
+    3,
+    8,
+    12,
+    1,
+    2,
+    12,
+    2,
+    3,
+    1,
+    2,
+    12,
+    14,
+    2,
+    1,
+    2,
+    8,
+    4,
+    6,
+    1,
+    2,
+    8,
+    6,
+    10,
+    1,
+    2,
+    14,
+    12,
+    8,
+    1,
+    2,
+    14,
+    8,
+    10,
+    1,
+    2,
+    11,
+    9,
+    13,
+    1,
+    2,
+    11,
+    13,
+    15,
+    1
+  ]
 }
diff --git a/src/client/components/localisation/darwin_robot/model.ts b/src/client/components/localisation/darwin_robot/model.ts
index ae1b61d0..ba26ba41 100644
--- a/src/client/components/localisation/darwin_robot/model.ts
+++ b/src/client/components/localisation/darwin_robot/model.ts
@@ -13,7 +13,7 @@ export class RobotModel {
     Object.assign(this, opts)
   }
 
-  public static of(opts: { id: number, name: string, color?: string, heading: number}) {
+  public static of(opts: { id: number, name: string, color?: string, heading: number }) {
     return new RobotModel({
       ...opts,
       position: Vector3.of(),
diff --git a/src/client/components/localisation/darwin_robot/right_arm/config/right_lower_arm.json b/src/client/components/localisation/darwin_robot/right_arm/config/right_lower_arm.json
index b318af26..d92a6923 100644
--- a/src/client/components/localisation/darwin_robot/right_arm/config/right_lower_arm.json
+++ b/src/client/components/localisation/darwin_robot/right_arm/config/right_lower_arm.json
@@ -1,2770 +1,2770 @@
 {
-	"metadata": {
-		"formatVersion": 3
-	},
-	"materials": [
-		{
-			"DbgColor": 15658734,
-			"DbgIndex": 0,
-			"DbgName": "Plastic",
-			"colorDiffuse": [
-				0.301961,
-				0.301961,
-				0.301961
-			],
-			"colorSpecular": [
-				0.401201,
-				0.401201,
-				0.401201
-			],
-			"shading": "Lambert",
-			"specularCoef": 50,
-			"opacity": 1.0,
-			"vertexColors": false
-		},
-		{
-			"DbgColor": 15658734,
-			"DbgIndex": 1,
-			"DbgName": "Metal",
-			"colorDiffuse": [
-				0.7,
-				0.7,
-				0.7
-			],
-			"colorSpecular": [
-				0.168737,
-				0.168737,
-				0.168737
-			],
-			"shading": "Lambert",
-			"specularCoef": 50,
-			"opacity": 1.0,
-			"vertexColors": false
-		}
-	],
-	"normals": [],
-	"colors": [],
-	"uvs": [],
-	"vertices": [
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diff --git a/src/client/components/localisation/darwin_robot/right_arm/config/right_shoulder.json b/src/client/components/localisation/darwin_robot/right_arm/config/right_shoulder.json
index fe7a6a50..a5495659 100644
--- a/src/client/components/localisation/darwin_robot/right_arm/config/right_shoulder.json
+++ b/src/client/components/localisation/darwin_robot/right_arm/config/right_shoulder.json
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diff --git a/src/client/components/localisation/darwin_robot/right_arm/config/right_upper_arm.json b/src/client/components/localisation/darwin_robot/right_arm/config/right_upper_arm.json
index 51e8b3da..cd31d410 100644
--- a/src/client/components/localisation/darwin_robot/right_arm/config/right_upper_arm.json
+++ b/src/client/components/localisation/darwin_robot/right_arm/config/right_upper_arm.json
@@ -1,1247 +1,1247 @@
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 }
diff --git a/src/client/components/localisation/darwin_robot/right_arm/view_model.ts b/src/client/components/localisation/darwin_robot/right_arm/view_model.ts
index 5a1ab461..4b96ac53 100644
--- a/src/client/components/localisation/darwin_robot/right_arm/view_model.ts
+++ b/src/client/components/localisation/darwin_robot/right_arm/view_model.ts
@@ -29,7 +29,7 @@ export class RightArmViewModel {
     const { geometry, materials } = this.rightShoulderGeometryAndMaterial
     const mesh = new Mesh(geometry, new MultiMaterial(materials))
     mesh.position.set(-0.082, 0, 0)
-    mesh.rotation.set(-this.model.motors.rightShoulderPitch.angle, 0, 0)
+    mesh.rotation.set(this.model.motors.rightShoulderPitch.angle - Math.PI / 2, 0, 0)
     mesh.add(this.rightUpperArm)
     return mesh
   }
@@ -39,7 +39,7 @@ export class RightArmViewModel {
     const { geometry, materials } = this.rightUpperArmGeometryAndMaterial
     const mesh = new Mesh(geometry, new MultiMaterial(materials))
     mesh.position.set(0, -0.016, 0)
-    mesh.rotation.set(0, 0, -this.model.motors.rightShoulderRoll.angle)
+    mesh.rotation.set(0, 0, this.model.motors.rightShoulderRoll.angle)
     mesh.add(this.rightLowerArm)
     return mesh
   }
@@ -49,7 +49,7 @@ export class RightArmViewModel {
     const { geometry, materials } = this.rightLowerArmGeometryAndMaterial
     const mesh = new Mesh(geometry, new MultiMaterial(materials))
     mesh.position.set(0, -0.06, 0.016)
-    mesh.rotation.set(-this.model.motors.rightElbow.angle, 0, 0)
+    mesh.rotation.set(this.model.motors.rightElbow.angle, 0, 0)
     return mesh
   }
 
diff --git a/src/client/components/localisation/darwin_robot/right_leg/config/right_ankle.json b/src/client/components/localisation/darwin_robot/right_leg/config/right_ankle.json
index a198f914..3c910cea 100644
--- a/src/client/components/localisation/darwin_robot/right_leg/config/right_ankle.json
+++ b/src/client/components/localisation/darwin_robot/right_leg/config/right_ankle.json
@@ -1,923 +1,923 @@
 {
-	"metadata": {
-		"formatVersion": 3
-	},
-	"materials": [
-		{
-			"DbgColor": 15658734,
-			"DbgIndex": 0,
-			"DbgName": "ServoMaterial",
-			"colorDiffuse": [
-				0.14,
-				0.14,
-				0.14
-			],
-			"colorSpecular": [
-				0.168737,
-				0.168737,
-				0.168737
-			],
-			"shading": "Lambert",
-			"specularCoef": 50,
-			"opacity": 1.0,
-			"vertexColors": false
-		}
-	],
-	"normals": [],
-	"colors": [],
-	"uvs": [],
-	"vertices": [
-		-0.0180496,
-		-0.0121957,
-		0.0214751,
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diff --git a/src/client/components/localisation/darwin_robot/right_leg/config/right_foot.json b/src/client/components/localisation/darwin_robot/right_leg/config/right_foot.json
index 0fa60dc0..2bacbeae 100644
--- a/src/client/components/localisation/darwin_robot/right_leg/config/right_foot.json
+++ b/src/client/components/localisation/darwin_robot/right_leg/config/right_foot.json
@@ -1,982 +1,982 @@
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diff --git a/src/client/components/localisation/darwin_robot/right_leg/config/right_lower_leg.json b/src/client/components/localisation/darwin_robot/right_leg/config/right_lower_leg.json
index 2e2fb74e..138941b0 100644
--- a/src/client/components/localisation/darwin_robot/right_leg/config/right_lower_leg.json
+++ b/src/client/components/localisation/darwin_robot/right_leg/config/right_lower_leg.json
@@ -1,1024 +1,1024 @@
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diff --git a/src/client/components/localisation/darwin_robot/right_leg/config/right_pelvis.json b/src/client/components/localisation/darwin_robot/right_leg/config/right_pelvis.json
index 7815fc74..584cdf48 100644
--- a/src/client/components/localisation/darwin_robot/right_leg/config/right_pelvis.json
+++ b/src/client/components/localisation/darwin_robot/right_leg/config/right_pelvis.json
@@ -1,923 +1,923 @@
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diff --git a/src/client/components/localisation/darwin_robot/right_leg/config/right_pelvis_y.json b/src/client/components/localisation/darwin_robot/right_leg/config/right_pelvis_y.json
index 738d741b..cc7a41dc 100644
--- a/src/client/components/localisation/darwin_robot/right_leg/config/right_pelvis_y.json
+++ b/src/client/components/localisation/darwin_robot/right_leg/config/right_pelvis_y.json
@@ -1,937 +1,937 @@
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diff --git a/src/client/components/localisation/darwin_robot/right_leg/config/right_upper_leg.json b/src/client/components/localisation/darwin_robot/right_leg/config/right_upper_leg.json
index f892ff0f..2aabfef7 100644
--- a/src/client/components/localisation/darwin_robot/right_leg/config/right_upper_leg.json
+++ b/src/client/components/localisation/darwin_robot/right_leg/config/right_upper_leg.json
@@ -1,1540 +1,1540 @@
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 }
diff --git a/src/client/components/localisation/field/view_model.ts b/src/client/components/localisation/field/view_model.ts
index 8cd48bb2..32debc91 100644
--- a/src/client/components/localisation/field/view_model.ts
+++ b/src/client/components/localisation/field/view_model.ts
@@ -33,8 +33,8 @@ export class FieldViewModel {
   @computed
   private get groundGeometry() {
     const geometry = new PlaneGeometry(
-        this.model.dimensions.fieldLength + this.model.dimensions.borderStripMinWidth * 2,
-        this.model.dimensions.fieldWidth + this.model.dimensions.borderStripMinWidth * 2,
+      this.model.dimensions.fieldLength + this.model.dimensions.borderStripMinWidth * 2,
+      this.model.dimensions.fieldWidth + this.model.dimensions.borderStripMinWidth * 2,
     )
     geometry.applyMatrix(new Matrix4().makeRotationX(-Math.PI / 2))
     return geometry
@@ -80,9 +80,9 @@ export class FieldViewModel {
   @computed
   private get centerCircle() {
     return new RingGeometry(
-        (this.model.dimensions.centerCircleDiameter - this.model.dimensions.lineWidth) * 0.5,
-        (this.model.dimensions.centerCircleDiameter + this.model.dimensions.lineWidth) * 0.5,
-        128,
+      (this.model.dimensions.centerCircleDiameter - this.model.dimensions.lineWidth) * 0.5,
+      (this.model.dimensions.centerCircleDiameter + this.model.dimensions.lineWidth) * 0.5,
+      128,
     )
   }
 
diff --git a/src/client/components/localisation/model.ts b/src/client/components/localisation/model.ts
index 83c9ddfd..3d9133af 100644
--- a/src/client/components/localisation/model.ts
+++ b/src/client/components/localisation/model.ts
@@ -1,7 +1,9 @@
+import { injectable } from 'inversify'
 import { action, observable } from 'mobx'
 import { computed } from 'mobx'
 import { RobotModel } from './darwin_robot/model'
 import { FieldModel } from './field/model'
+import { SkyboxModel } from './skybox/model'
 
 export class TimeModel {
   @observable public time: number // seconds
@@ -24,15 +26,17 @@ export class TimeModel {
 }
 
 export enum ViewMode {
-  NO_CLIP,
-  FIRST_PERSON,
-  THIRD_PERSON,
+  FreeCamera,
+  FirstPerson,
+  ThirdPerson,
 }
 
+@injectable()
 export class LocalisationModel {
   @observable public aspect: number
   @observable public robots: RobotModel[]
   @observable public field: FieldModel
+  @observable public skybox: SkyboxModel
   @observable public camera: CameraModel
   @observable public locked: boolean
   @observable public controls: ControlsModel
@@ -49,10 +53,11 @@ export class LocalisationModel {
       aspect: 300 / 150,
       robots: [],
       field: FieldModel.of(),
+      skybox: SkyboxModel.of(),
       camera: CameraModel.of(),
       locked: false,
       controls: ControlsModel.of(),
-      viewMode: ViewMode.NO_CLIP,
+      viewMode: ViewMode.FreeCamera,
       time: TimeModel.of(),
     })
   }
diff --git a/src/client/components/localisation/network.ts b/src/client/components/localisation/network.ts
new file mode 100644
index 00000000..0a80e5aa
--- /dev/null
+++ b/src/client/components/localisation/network.ts
@@ -0,0 +1,45 @@
+import { inject } from 'inversify'
+import { injectable } from 'inversify'
+import { action } from 'mobx'
+import { message } from '../../../shared/proto/messages'
+import { Network } from '../../network/network'
+import { LocalisationModel } from './model'
+import Sensors = message.input.Sensors
+
+@injectable()
+export class LocalisationNetwork {
+  public constructor(@inject(Network) private network: Network,
+                     @inject(LocalisationModel) private model: LocalisationModel) {
+    this.network.on(Sensors, this.onSensors)
+  }
+
+  public destroy() {
+    this.network.off()
+  }
+
+  @action
+  private onSensors = (sensors: Sensors) => {
+    // TODO (Annable): Remove hardcoded values.
+    const robot = this.model.robots[0]
+    robot.motors.rightShoulderPitch.angle = Number(sensors.servo[0].presentPosition)
+    robot.motors.leftShoulderPitch.angle = Number(sensors.servo[1].presentPosition)
+    robot.motors.rightShoulderRoll.angle = Number(sensors.servo[2].presentPosition)
+    robot.motors.leftShoulderRoll.angle = Number(sensors.servo[3].presentPosition)
+    robot.motors.rightElbow.angle = Number(sensors.servo[4].presentPosition)
+    robot.motors.leftElbow.angle = Number(sensors.servo[5].presentPosition)
+    robot.motors.rightHipYaw.angle = Number(sensors.servo[6].presentPosition)
+    robot.motors.leftHipYaw.angle = Number(sensors.servo[7].presentPosition)
+    robot.motors.rightHipRoll.angle = Number(sensors.servo[8].presentPosition)
+    robot.motors.leftHipRoll.angle = Number(sensors.servo[9].presentPosition)
+    robot.motors.rightHipPitch.angle = Number(sensors.servo[10].presentPosition)
+    robot.motors.leftHipPitch.angle = Number(sensors.servo[11].presentPosition)
+    robot.motors.rightKnee.angle = Number(sensors.servo[12].presentPosition)
+    robot.motors.leftKnee.angle = Number(sensors.servo[13].presentPosition)
+    robot.motors.rightAnklePitch.angle = Number(sensors.servo[14].presentPosition)
+    robot.motors.leftAnklePitch.angle = Number(sensors.servo[15].presentPosition)
+    robot.motors.rightAnkleRoll.angle = Number(sensors.servo[16].presentPosition)
+    robot.motors.leftAnkleRoll.angle = Number(sensors.servo[17].presentPosition)
+    robot.motors.headPan.angle = Number(sensors.servo[18].presentPosition)
+    robot.motors.headTilt.angle = Number(sensors.servo[19].presentPosition)
+  }
+}
diff --git a/src/client/components/localisation/skybox/model.ts b/src/client/components/localisation/skybox/model.ts
new file mode 100644
index 00000000..057a117a
--- /dev/null
+++ b/src/client/components/localisation/skybox/model.ts
@@ -0,0 +1,30 @@
+import { observable } from 'mobx'
+
+export class SkyboxModel {
+
+  @observable public turbidity: number
+  @observable public rayleigh: number
+  @observable public mieCoefficient: number
+  @observable public mieDirectionalG: number // default 0.8
+  @observable public luminance: number
+  @observable public inclination: number // elevation / inclination
+  @observable public azimuth: number // Facing front,
+  @observable public showSun: boolean
+
+  public constructor(opts: SkyboxModel) {
+    Object.assign(this, opts)
+  }
+
+  public static of() {
+    return new SkyboxModel({
+      turbidity: 10,
+      rayleigh: 2,
+      mieCoefficient: 0.005,
+      mieDirectionalG: 0.53, // default 0.8
+      luminance: 0.5,
+      inclination: 0.49, // elevation / inclination
+      azimuth: 0.25, // Facing front,
+      showSun: false,
+    })
+  }
+}
diff --git a/src/client/components/localisation/skybox/skybox.frag b/src/client/components/localisation/skybox/skybox.frag
new file mode 100644
index 00000000..72d2a4b8
--- /dev/null
+++ b/src/client/components/localisation/skybox/skybox.frag
@@ -0,0 +1,100 @@
+// https://github.com/mrdoob/three.js/blob/dev/examples/js/SkyShader.js
+varying vec3 vWorldPosition;
+varying vec3 vSunDirection;
+varying float vSunfade;
+varying vec3 vBetaR;
+varying vec3 vBetaM;
+varying float vSunE;
+
+uniform float luminance;
+uniform float mieDirectionalG;
+
+const vec3 cameraPos = vec3( 0.0, 0.0, 0.0 );
+
+// constants for atmospheric scattering
+const float pi = 3.141592653589793238462643383279502884197169;
+
+const float n = 1.0003; // refractive index of air
+const float N = 2.545E25; // number of molecules per unit volume for air at
+// 288.15K and 1013mb (sea level -45 celsius)
+
+// optical length at zenith for molecules
+const float rayleighZenithLength = 8.4E3;
+const float mieZenithLength = 1.25E3;
+const vec3 up = vec3( 0.0, 1.0, 0.0 );
+// 66 arc seconds -> degrees, and the cosine of that
+const float sunAngularDiameterCos = 0.999956676946448443553574619906976478926848692873900859324;
+
+// 3.0 / ( 16.0 * pi )
+const float THREE_OVER_SIXTEENPI = 0.05968310365946075;
+// 1.0 / ( 4.0 * pi )
+const float ONE_OVER_FOURPI = 0.07957747154594767;
+
+float rayleighPhase( float cosTheta ) {
+  return THREE_OVER_SIXTEENPI * ( 1.0 + pow( cosTheta, 2.0 ) );
+}
+
+float hgPhase( float cosTheta, float g ) {
+  float g2 = pow( g, 2.0 );
+  float inverse = 1.0 / pow( 1.0 - 2.0 * g * cosTheta + g2, 1.5 );
+  return ONE_OVER_FOURPI * ( ( 1.0 - g2 ) * inverse );
+}
+
+// Filmic ToneMapping http://filmicgames.com/archives/75
+const float A = 0.15;
+const float B = 0.50;
+const float C = 0.10;
+const float D = 0.20;
+const float E = 0.02;
+const float F = 0.30;
+
+const float whiteScale = 1.0748724675633854; // 1.0 / Uncharted2Tonemap(1000.0)
+
+vec3 Uncharted2Tonemap( vec3 x ) {
+  return ( ( x * ( A * x + C * B ) + D * E ) / ( x * ( A * x + B ) + D * F ) ) - E / F;
+}
+
+void main() {
+  // optical length
+  // cutoff angle at 90 to avoid singularity in next formula.
+  float zenithAngle = acos( max( 0.0, dot( up, normalize( vWorldPosition - cameraPos ) ) ) );
+  float inverse = 1.0 / ( cos( zenithAngle ) + 0.15 * pow( 93.885 - (( zenithAngle * 180.0 ) / pi ), -1.253 ));
+  float sR = rayleighZenithLength * inverse;
+  float sM = mieZenithLength * inverse;
+
+  // combined extinction factor
+  vec3 Fex = exp( -( vBetaR * sR + vBetaM * sM ) );
+
+  // in scattering
+  float cosTheta = dot( normalize( vWorldPosition - cameraPos ), vSunDirection );
+
+  float rPhase = rayleighPhase( cosTheta * 0.5 + 0.5 );
+  vec3 betaRTheta = vBetaR * rPhase;
+
+  float mPhase = hgPhase( cosTheta, mieDirectionalG );
+  vec3 betaMTheta = vBetaM * mPhase;
+
+  vec3 Lin = pow( vSunE * ( ( betaRTheta + betaMTheta ) / ( vBetaR + vBetaM ) ) * ( 1.0 - Fex ), vec3( 1.5 ) );
+  Lin *= mix( vec3( 1.0 ), pow( vSunE * ( ( betaRTheta + betaMTheta ) / ( vBetaR + vBetaM ) ) * Fex, vec3( 1.0 / 2.0 ) ), clamp( pow( 1.0 - dot( up, vSunDirection ), 5.0 ), 0.0, 1.0 ) );
+
+  // nightsky
+  vec3 direction = normalize( vWorldPosition - cameraPos );
+  float theta = acos( direction.y ); // elevation --> y-axis, [-pi/2, pi/2]
+  float phi = atan( direction.z, direction.x ); // azimuth --> x-axis [-pi/2, pi/2]
+  vec2 uv = vec2( phi, theta ) / vec2( 2.0 * pi, pi ) + vec2( 0.5, 0.0 );
+  vec3 L0 = vec3( 0.1 ) * Fex;
+
+  // composition + solar disc
+  float sundisk = smoothstep( sunAngularDiameterCos, sunAngularDiameterCos + 0.00002, cosTheta );
+  L0 += ( vSunE * 19000.0 * Fex ) * sundisk;
+
+  vec3 texColor = ( Lin + L0 ) * 0.04 + vec3( 0.0, 0.0003, 0.00075 );
+
+  vec3 curr = Uncharted2Tonemap( ( log2( 2.0 / pow( luminance, 4.0 ) ) ) * texColor );
+  vec3 color = curr * whiteScale;
+
+  vec3 retColor = pow( color, vec3( 1.0 / ( 1.2 + ( 1.2 * vSunfade ) ) ) );
+
+  gl_FragColor = vec4( retColor, 1.0 );
+
+}
diff --git a/src/client/components/localisation/skybox/skybox.vert b/src/client/components/localisation/skybox/skybox.vert
new file mode 100644
index 00000000..13eec38b
--- /dev/null
+++ b/src/client/components/localisation/skybox/skybox.vert
@@ -0,0 +1,69 @@
+// https://github.com/mrdoob/three.js/blob/dev/examples/js/SkyShader.js
+uniform vec3 sunPosition;
+uniform float rayleigh;
+uniform float turbidity;
+uniform float mieCoefficient;
+
+varying vec3 vWorldPosition;
+varying vec3 vSunDirection;
+varying float vSunfade;
+varying vec3 vBetaR;
+varying vec3 vBetaM;
+varying float vSunE;
+
+const vec3 up = vec3( 0.0, 1.0, 0.0 );
+
+// constants for atmospheric scattering
+const float e = 2.71828182845904523536028747135266249775724709369995957;
+const float pi = 3.141592653589793238462643383279502884197169;
+
+// wavelength of used primaries, according to preetham
+const vec3 lambda = vec3( 680E-9, 550E-9, 450E-9 );
+// this pre-calcuation replaces older TotalRayleigh(vec3 lambda) function:
+// (8.0 * pow(pi, 3.0) * pow(pow(n, 2.0) - 1.0, 2.0) * (6.0 + 3.0 * pn)) /
+// (3.0 * N * pow(lambda, vec3(4.0)) * (6.0 - 7.0 * pn))
+const vec3 totalRayleigh = vec3( 5.804542996261093E-6, 1.3562911419845635E-5, 3.0265902468824876E-5 );
+
+// mie stuff
+// K coefficient for the primaries
+const float v = 4.0;
+const vec3 K = vec3( 0.686, 0.678, 0.666 );
+// MieConst = pi * pow( ( 2.0 * pi ) / lambda, vec3( v - 2.0 ) ) * K
+const vec3 MieConst = vec3( 1.8399918514433978E14, 2.7798023919660528E14, 4.0790479543861094E14 );
+
+// earth shadow hack
+// cutoffAngle = pi / 1.95;
+const float cutoffAngle = 1.6110731556870734;
+const float steepness = 1.5;
+const float EE = 1000.0;
+
+float sunIntensity( float zenithAngleCos ) {
+  zenithAngleCos = clamp( zenithAngleCos, -1.0, 1.0 );
+  return EE * max( 0.0, 1.0 - pow( e, -( ( cutoffAngle - acos( zenithAngleCos ) ) / steepness ) ) );
+}
+
+vec3 totalMie( float T ) {
+  float c = ( 0.2 * T ) * 10E-18;
+  return 0.434 * c * MieConst;
+}
+void main() {
+  vec4 worldPosition = modelMatrix * vec4( position, 1.0 );
+  vWorldPosition = worldPosition.xyz;
+
+  gl_Position = projectionMatrix * modelViewMatrix * vec4( position, 1.0 );
+
+  vSunDirection = normalize( sunPosition );
+
+  vSunE = sunIntensity( dot( vSunDirection, up ) );
+
+  vSunfade = 1.0 - clamp( 1.0 - exp( ( sunPosition.y / 450000.0 ) ), 0.0, 1.0 );
+
+  float rayleighCoefficient = rayleigh - ( 1.0 * ( 1.0 - vSunfade ) );
+
+  // extinction (absorbtion + out scattering)
+  // rayleigh coefficients
+  vBetaR = totalRayleigh * rayleighCoefficient;
+
+  // mie coefficients
+  vBetaM = totalMie( turbidity ) * mieCoefficient;
+}
diff --git a/src/client/components/localisation/skybox/view_model.ts b/src/client/components/localisation/skybox/view_model.ts
new file mode 100644
index 00000000..6fa2ce91
--- /dev/null
+++ b/src/client/components/localisation/skybox/view_model.ts
@@ -0,0 +1,100 @@
+import { createTransformer } from 'mobx'
+import { computed } from 'mobx'
+import { BackSide } from 'three'
+import { Mesh } from 'three'
+import { SphereBufferGeometry } from 'three'
+import { MeshBasicMaterial } from 'three'
+import { Object3D } from 'three'
+import { PlaneBufferGeometry } from 'three'
+import { ShaderMaterial } from 'three'
+import { Vector3 } from 'three'
+import { SkyboxModel } from './model'
+import * as SkyboxFrag from './skybox.frag'
+import * as SkyboxVert from './skybox.vert'
+
+export class SkyboxViewModel {
+
+  public constructor(private model: SkyboxModel) {
+  }
+
+  public static of = createTransformer((model: SkyboxModel): SkyboxViewModel => {
+    return new SkyboxViewModel(model)
+  })
+
+  @computed
+  public get skybox() {
+    // reference: http://threejs.org/examples/#webgl_shaders_sky
+    const skybox = new Object3D()
+
+    skybox.add(this.sky)
+    skybox.add(this.ground)
+
+    if (this.model.showSun) {
+      skybox.add(this.sun)
+    }
+
+    return skybox
+  }
+
+  @computed
+  private get sky() {
+    const geo = new SphereBufferGeometry(40, 32, 15)
+    const mat = new ShaderMaterial({
+      fragmentShader: String(SkyboxFrag),
+      vertexShader: String(SkyboxVert),
+      uniforms: {
+        luminance: { value: this.model.luminance },
+        turbidity: { value: this.model.turbidity },
+        rayleigh: { value: this.model.rayleigh },
+        mieCoefficient: { value: this.model.mieCoefficient },
+        mieDirectionalG: { value: this.model.mieDirectionalG },
+        sunPosition: { value: this.sunPosition },
+      },
+      side: BackSide,
+    })
+
+    const mesh = new Mesh(geo, mat)
+    mesh.name = 'skyboxSky'
+
+    return mesh
+  }
+
+  @computed
+  private get ground() {
+    const groundGeo = new PlaneBufferGeometry(40, 40)
+    const groundMat = new MeshBasicMaterial({ color: 0x613610 })
+    const ground = new Mesh(groundGeo, groundMat)
+    ground.name = 'skyboxGround'
+    ground.position.y = -0.01
+    ground.rotation.x = -Math.PI / 2
+
+    return ground
+  }
+
+  @computed
+  private get sun() {
+    const sunSphere = new Mesh(
+      new SphereBufferGeometry(40, 16, 8),
+      new MeshBasicMaterial({ color: 0xffffff }),
+    )
+
+    sunSphere.name = 'skyboxSun'
+    sunSphere.position.copy(this.sunPosition)
+
+    return sunSphere
+  }
+
+  @computed
+  private get sunPosition(): Vector3 {
+    const position = new Vector3()
+    const distance = 40
+    const theta = Math.PI * (this.model.inclination - 0.5)
+    const phi = 2 * Math.PI * (this.model.azimuth - 0.5)
+
+    position.x = distance * Math.cos(phi)
+    position.y = distance * Math.sin(phi) * Math.sin(theta)
+    position.z = distance * Math.sin(phi) * Math.cos(theta)
+
+    return position
+  }
+}
diff --git a/src/client/components/localisation/style.css b/src/client/components/localisation/style.css
index e6c324ff..7c9888b3 100644
--- a/src/client/components/localisation/style.css
+++ b/src/client/components/localisation/style.css
@@ -1,45 +1,45 @@
 .localisation {
-	flex-grow: 1;
-	flex-shrink: 1;
-	display: flex;
-	flex-direction: column;
-	position: relative;
+  flex-grow: 1;
+  flex-shrink: 1;
+  display: flex;
+  flex-direction: column;
+  position: relative;
 }
 
 .localisation__menu {
-	list-style-type: none;
-	margin: 0;
-	padding: 0;
-	height: 60px;
-	display: flex;
-	align-items: stretch;
+  list-style-type: none;
+  margin: 0;
+  padding: 0;
+  height: inherit;
+  display: flex;
+  align-items: stretch;
 }
 
 .localisation__menuItem {
-	display: flex;
-	margin: 0;
-	padding: 0;
+  display: flex;
+  margin: 0;
+  padding: 0;
 }
 
 .localisation__menuButton {
-	background-color: transparent;
-	color: #000;
-	padding: 16px;
-	font-size: 0.8rem;
-	border: 1px solid transparent;
-	cursor: pointer;
-	transition: background-color 0.3s, border 0.3s;
+  background-color: transparent;
+  color: #000;
+  padding: 16px;
+  font-size: 0.8rem;
+  border: 1px solid transparent;
+  cursor: pointer;
+  transition: background-color 0.3s, border 0.3s;
 }
 
 .localisation__menuButton:hover {
-	background-color: #f9f9f9;
-	border: 1px solid rgba(0, 0, 0, 0.2);
+  background-color: #f9f9f9;
+  border: 1px solid rgba(0, 0, 0, 0.2);
 }
 
 .localisation__menuButton:focus,
 .localisation__menuButton:active {
-	outline: none;
-	border: 1px solid rgba(0, 0, 0, 0.4);
+  outline: none;
+  border: 1px solid rgba(0, 0, 0, 0.4);
 }
 
 .localisation__canvasContainer {
@@ -54,32 +54,32 @@
 }
 
 .localisation__status {
-	background-color: rgba(0, 0, 0, 0.3);
-	border-radius: 6px;
-	color: white;
-	padding: 16px;
-	text-align: center;
-	position: absolute;
-	bottom: 8px;
-	left: 8px;
-	right: 8px;
-	font-size: 1.1rem;
-	font-weight: bold;
-	display: flex;
-	justify-content: space-between;
-	flex-basis: 0;
+  background-color: rgba(0, 0, 0, 0.3);
+  border-radius: 6px;
+  color: white;
+  padding: 16px;
+  text-align: center;
+  position: absolute;
+  bottom: 8px;
+  left: 8px;
+  right: 8px;
+  font-size: 1.1rem;
+  font-weight: bold;
+  display: flex;
+  justify-content: space-between;
+  flex-basis: 0;
 }
 
 .localisation__info {
-	text-align: left;
-	width: 33%;
+  text-align: left;
+  width: 33%;
 }
 
 .localisation__target {
-	width: 33%;
+  width: 33%;
 }
 
 .localisation__viewMode {
-	text-align: right;
-	width: 33%;
+  text-align: right;
+  width: 33%;
 }
diff --git a/src/client/components/localisation/tests/controller.tests.ts b/src/client/components/localisation/tests/controller.tests.ts
new file mode 100644
index 00000000..d0b3971c
--- /dev/null
+++ b/src/client/components/localisation/tests/controller.tests.ts
@@ -0,0 +1,36 @@
+import 'reflect-metadata'
+import { LocalisationController } from '../controller'
+import { LocalisationModel } from '../model'
+import { ViewMode } from '../model'
+
+describe('LocalisationController', () => {
+  let controller: LocalisationController
+  let model: LocalisationModel
+
+  beforeEach(() => {
+    model = LocalisationModel.of()
+    controller = new LocalisationController()
+  })
+
+  describe('clicking the hawk eye button', () => {
+    beforeEach(() => {
+      controller.onHawkEyeClick(model)
+    })
+
+    it('resets yaw to 0', () => {
+      expect(model.camera.yaw).toEqual(0)
+    })
+
+    it('resets pitch to looking vertically down', () => {
+      expect(model.camera.pitch).toEqual(-Math.PI / 2)
+    })
+
+    it('moves camera above the field', () => {
+      expect(model.camera.position).toEqual({ x: 0, y: 5, z: 0 })
+    })
+
+    it('resets viewing mode to no clip', () => {
+      expect(model.viewMode).toEqual(ViewMode.FreeCamera)
+    })
+  })
+})
diff --git a/src/client/components/localisation/view.tsx b/src/client/components/localisation/view.tsx
index 83d4a628..e65bd526 100644
--- a/src/client/components/localisation/view.tsx
+++ b/src/client/components/localisation/view.tsx
@@ -1,25 +1,31 @@
-import { autorun, IReactionDisposer } from 'mobx'
+import { autorun } from 'mobx'
 import { runInAction } from 'mobx'
-import { inject, observer } from 'mobx-react'
+import { IReactionDisposer } from 'mobx'
+import { observer } from 'mobx-react'
 import * as React from 'react'
+import { HTMLProps } from 'react'
 import { WebGLRenderer } from 'three'
+import { MenuBar } from '../menu_bar/view'
+import { LocalisationController } from './controller'
 import { LocalisationModel } from './model'
 import { ViewMode } from './model'
+import { LocalisationNetwork } from './network'
 import * as style from './style.css'
 import { LocalisationViewModel } from './view_model'
 
-@inject('localisationStore')
+interface LocalisationViewProps extends HTMLProps<JSX.Element> {
+  controller: LocalisationController
+  model: LocalisationModel
+  network: LocalisationNetwork
+}
+
 @observer
-export class LocalisationView extends React.Component<any, any> {
+export class LocalisationView extends React.Component<LocalisationViewProps, void> {
   private canvas: HTMLCanvasElement
   private renderer: WebGLRenderer
   private stopAutorun: IReactionDisposer
   private rafId: number
 
-  constructor(props: any, context: any) {
-    super(props, context)
-  }
-
   public componentDidMount(): void {
     this.renderer = new WebGLRenderer({
       canvas: this.canvas,
@@ -44,20 +50,20 @@ export class LocalisationView extends React.Component<any, any> {
     document.removeEventListener('keyup', this.onKeyUp, false)
     document.removeEventListener('wheel', this.onWheel, false)
     cancelAnimationFrame(this.rafId)
+    this.props.network.destroy()
   }
 
   public render(): JSX.Element {
-    const model = this.props.localisationStore as LocalisationModel
     return (
-        <div className={style.localisation}>
-          <MenuBar onHawkEyeClick={this.onHawkEyeClick}/>
-          <div className={style.localisation__canvasContainer}>
-            <canvas className={style.localisation__canvas} ref={canvas => {
-              this.canvas = canvas
-            }}/>
-          </div>
-          <StatusBar model={model}/>
+      <div className={style.localisation}>
+        <LocalisationMenuBar onHawkEyeClick={this.onHawkEyeClick}/>
+        <div className={style.localisation__canvasContainer}>
+          <canvas className={style.localisation__canvas} ref={canvas => {
+            this.canvas = canvas
+          }}/>
         </div>
+        <StatusBar model={this.props.model}/>
+      </div>
     )
   }
 
@@ -67,73 +73,74 @@ export class LocalisationView extends React.Component<any, any> {
 
   private onAnimationFrame = (time: number) => {
     this.rafId = requestAnimationFrame(this.onAnimationFrame)
-    this.props.presenter.onAnimationFrame(time)
+    this.props.controller.onAnimationFrame(this.props.model, time)
   }
 
   private renderScene(): void {
     const canvas = this.canvas
-    const model = this.props.localisationStore
 
     if (canvas.width !== canvas.clientWidth || canvas.height !== canvas.clientHeight) {
       this.renderer.setSize(canvas.clientWidth, canvas.clientHeight, false)
-      runInAction(() => model.aspect = canvas.clientWidth / canvas.clientHeight)
+      runInAction(() => this.props.model.aspect = canvas.clientWidth / canvas.clientHeight)
     }
 
-    const viewModel = LocalisationViewModel.of(model)
+    const viewModel = LocalisationViewModel.of(this.props.model)
 
     this.renderer.render(viewModel.scene, viewModel.camera)
 
-    runInAction(() => model.time.lastRenderTime = model.time.time)
+    runInAction(() => this.props.model.time.lastRenderTime = this.props.model.time.time)
   }
 
   private onClick = (e: MouseEvent) => {
     if (e.button === 0) {
-      this.props.presenter.onLeftClick(this)
+      this.props.controller.onLeftClick(this.props.model, () => this.requestPointerLock())
     } else if (e.button === 2) {
-      this.props.presenter.onRightClick(this)
+      this.props.controller.onRightClick(this.props.model)
     }
   }
 
   private onPointerLockChange = () => {
-    this.props.presenter.onPointerLockChange(document.pointerLockElement === this.canvas)
+    this.props.controller.onPointerLockChange(this.props.model, document.pointerLockElement === this.canvas)
   }
 
   private onMouseMove = (e: MouseEvent) => {
-    this.props.presenter.onMouseMove(e.movementX, e.movementY)
+    this.props.controller.onMouseMove(this.props.model, e.movementX, e.movementY)
   }
 
   private onKeyDown = (e: KeyboardEvent) => {
-    this.props.presenter.onKeyDown(e.keyCode, {
+    this.props.controller.onKeyDown(this.props.model, e.keyCode, {
       shiftKey: e.shiftKey,
       ctrlKey: e.ctrlKey,
     })
   }
 
   private onKeyUp = (e: KeyboardEvent) => {
-    this.props.presenter.onKeyUp(e.keyCode)
+    this.props.controller.onKeyUp(this.props.model, e.keyCode)
   }
 
   private onHawkEyeClick = () => {
-    this.props.presenter.onHawkEyeClick()
+    this.props.controller.onHawkEyeClick(this.props.model)
   }
 
   private onWheel = (e: WheelEvent) => {
     e.preventDefault()
-    this.props.presenter.onWheel(e.deltaY)
+    this.props.controller.onWheel(this.props.model, e.deltaY)
   }
 }
 
-interface MenuBarProps {
+interface LocalisationMenuBarProps {
   onHawkEyeClick(): void
 }
 
-const MenuBar = observer((props: MenuBarProps) => {
+const LocalisationMenuBar = observer((props: LocalisationMenuBarProps) => {
   return (
+    <MenuBar>
       <ul className={style.localisation__menu}>
         <li className={style.localisation__menuItem}>
           <button className={style.localisation__menuButton} onClick={props.onHawkEyeClick}>Hawk Eye</button>
         </li>
       </ul>
+    </MenuBar>
   )
 })
 
@@ -142,24 +149,26 @@ interface StatusBarProps {
 }
 
 const StatusBar = observer((props: StatusBarProps) => {
-  const target = props.model.viewMode !== ViewMode.NO_CLIP && props.model.target ? props.model.target.name : 'No Target'
+  const target = props.model.viewMode !== ViewMode.FreeCamera && props.model.target
+    ? props.model.target.name
+    : 'No Target'
   return (
-      <div className={style.localisation__status}>
-        <span className={style.localisation__info}>&#160;</span>
-        <span
-            className={style.localisation__target}>{target}</span>
-        <span className={style.localisation__viewMode}>{viewModeString(props.model.viewMode)}</span>
-      </div>
+    <div className={style.localisation__status}>
+      <span className={style.localisation__info}>&#160;</span>
+      <span
+        className={style.localisation__target}>{target}</span>
+      <span className={style.localisation__viewMode}>{viewModeString(props.model.viewMode)}</span>
+    </div>
   )
 })
 
 function viewModeString(viewMode: ViewMode) {
   switch (viewMode) {
-    case ViewMode.NO_CLIP:
+    case ViewMode.FreeCamera:
       return 'Free Camera'
-    case ViewMode.FIRST_PERSON:
+    case ViewMode.FirstPerson:
       return 'First Person'
-    case ViewMode.THIRD_PERSON:
+    case ViewMode.ThirdPerson:
       return 'Third Person'
     default:
       throw new Error(`No string defined for view mode ${viewMode}`)
diff --git a/src/client/components/localisation/view_model.ts b/src/client/components/localisation/view_model.ts
index df04eaee..37ca216a 100644
--- a/src/client/components/localisation/view_model.ts
+++ b/src/client/components/localisation/view_model.ts
@@ -8,6 +8,7 @@ import { Object3D } from 'three'
 import { RobotViewModel } from './darwin_robot/view_model'
 import { FieldViewModel } from './field/view_model'
 import { LocalisationModel } from './model'
+import { SkyboxViewModel } from './skybox/view_model'
 
 export class LocalisationViewModel {
   public constructor(private model: LocalisationModel) {
@@ -21,7 +22,9 @@ export class LocalisationViewModel {
   public get scene(): Scene {
     const scene = new Scene()
     this.robots.forEach(robot => scene.add(robot))
+
     scene.add(this.field)
+    scene.add(this.skybox)
     scene.add(this.hemisphereLight)
     scene.add(this.pointLight)
     return scene
@@ -50,6 +53,11 @@ export class LocalisationViewModel {
     return new HemisphereLight('#fff', '#fff', 0.6)
   }
 
+  @computed
+  private get skybox() {
+    return SkyboxViewModel.of(this.model.skybox).skybox
+  }
+
   @computed
   private get pointLight() {
     const light = new PointLight('#fff')
diff --git a/src/client/components/menu_bar/style.css b/src/client/components/menu_bar/style.css
new file mode 100644
index 00000000..da79edec
--- /dev/null
+++ b/src/client/components/menu_bar/style.css
@@ -0,0 +1,4 @@
+.menuBar {
+  display: flex;
+  height: 60px;
+}
diff --git a/src/client/components/menu_bar/view.tsx b/src/client/components/menu_bar/view.tsx
new file mode 100644
index 00000000..059fcfe3
--- /dev/null
+++ b/src/client/components/menu_bar/view.tsx
@@ -0,0 +1,13 @@
+import * as React from 'react'
+import { HTMLProps } from 'react'
+import * as style from './style.css'
+
+export type MenuBarProps = HTMLProps<JSX.Element>
+
+export const MenuBar = (props: MenuBarProps) => {
+  return (
+    <div className={style.menuBar}>
+      {props.children}
+    </div>
+  )
+}
diff --git a/src/client/components/navigation/icons/chart.svg b/src/client/components/navigation/icons/chart.svg
index 10840fa4..071d9a22 100644
--- a/src/client/components/navigation/icons/chart.svg
+++ b/src/client/components/navigation/icons/chart.svg
@@ -1,3 +1,4 @@
 <svg height="32" viewBox="0 0 32 32" width="32" xmlns="http://www.w3.org/2000/svg" fill="#fff">
-    <path d="M2 30h30v2H0V0h4v2H2v4h2v2H2v4h2v2H2v4h2v2H2v4h2v2H2v4zm22.916-16.962C24.801 14.805 24.656 17 24 17c-1.17 0-1.49-.636-2.051-2.316C21.43 13.129 20.721 11 18 11c-2.848 0-3.451 3.633-3.985 6.836C13.631 20.137 13.155 23 12 23c-2.041 0-2.996-5.371-3-9H7c0 1.125.142 11 5 11 2.849 0 3.452-3.631 3.986-6.837C16.371 15.862 16.846 13 18 13c1.17 0 1.49.635 2.051 2.315C20.571 16.871 21.28 19 24 19c2.529 0 2.726-2.966 2.912-5.828C27.226 8.387 27.773 5 32 5V3c-6.428 0-6.822 6.042-7.084 10.038z"/>
+  <path
+    d="M2 30h30v2H0V0h4v2H2v4h2v2H2v4h2v2H2v4h2v2H2v4h2v2H2v4zm22.916-16.962C24.801 14.805 24.656 17 24 17c-1.17 0-1.49-.636-2.051-2.316C21.43 13.129 20.721 11 18 11c-2.848 0-3.451 3.633-3.985 6.836C13.631 20.137 13.155 23 12 23c-2.041 0-2.996-5.371-3-9H7c0 1.125.142 11 5 11 2.849 0 3.452-3.631 3.986-6.837C16.371 15.862 16.846 13 18 13c1.17 0 1.49.635 2.051 2.315C20.571 16.871 21.28 19 24 19c2.529 0 2.726-2.966 2.912-5.828C27.226 8.387 27.773 5 32 5V3c-6.428 0-6.822 6.042-7.084 10.038z"/>
 </svg>
diff --git a/src/client/components/navigation/icons/controller.svg b/src/client/components/navigation/icons/controller.svg
index 5e73adab..37403cfd 100644
--- a/src/client/components/navigation/icons/controller.svg
+++ b/src/client/components/navigation/icons/controller.svg
@@ -1,3 +1,4 @@
 <svg height="512" viewBox="0 0 512 512" width="512" xmlns="http://www.w3.org/2000/svg" fill="#fff">
-    <path d="M377.8 100.1C332.9 86.8 318.8 112 256 112s-76.9-25.3-121.8-11.9c-44.9 13.3-67.3 60.4-88.5 148.8-21.2 88.5-17.3 152.4 7.7 164.3 25 11.9 53.2-15.4 80.1-49.1C155.3 337.7 166.2 336 256 336c89.7 0 99 .7 122.5 28.1 26.9 33.7 55.1 61 80.1 49.1 25-11.9 28.9-75.8 7.7-164.3-21.2-88.4-43.7-135.4-88.5-148.8zM128.2 263.7c-21.7 0-39.3-17.7-39.3-39.6 0-21.8 17.6-39.6 39.3-39.6 21.7 0 39.3 17.8 39.3 39.6s-17.6 39.6-39.3 39.6zm181.5-20.1c-10.6 0-19.3-8.7-19.3-19.4s8.7-19.4 19.3-19.4c10.7 0 19.4 8.7 19.4 19.4-.1 10.7-8.7 19.4-19.4 19.4zm42.2 42.4c-10.6 0-19.3-8.7-19.3-19.4 0-10.8 8.7-19.4 19.3-19.4 10.7 0 19.4 8.7 19.4 19.4 0 10.8-8.7 19.4-19.4 19.4zm0-84.9c-10.6 0-19.3-8.7-19.3-19.4s8.7-19.4 19.3-19.4c10.7 0 19.4 8.7 19.4 19.4s-8.7 19.4-19.4 19.4zm42.3 42.5c-10.7 0-19.3-8.7-19.3-19.4s8.7-19.4 19.3-19.4c10.6 0 19.3 8.7 19.3 19.4s-8.6 19.4-19.3 19.4z"/>
+  <path
+    d="M377.8 100.1C332.9 86.8 318.8 112 256 112s-76.9-25.3-121.8-11.9c-44.9 13.3-67.3 60.4-88.5 148.8-21.2 88.5-17.3 152.4 7.7 164.3 25 11.9 53.2-15.4 80.1-49.1C155.3 337.7 166.2 336 256 336c89.7 0 99 .7 122.5 28.1 26.9 33.7 55.1 61 80.1 49.1 25-11.9 28.9-75.8 7.7-164.3-21.2-88.4-43.7-135.4-88.5-148.8zM128.2 263.7c-21.7 0-39.3-17.7-39.3-39.6 0-21.8 17.6-39.6 39.3-39.6 21.7 0 39.3 17.8 39.3 39.6s-17.6 39.6-39.3 39.6zm181.5-20.1c-10.6 0-19.3-8.7-19.3-19.4s8.7-19.4 19.3-19.4c10.7 0 19.4 8.7 19.4 19.4-.1 10.7-8.7 19.4-19.4 19.4zm42.2 42.4c-10.6 0-19.3-8.7-19.3-19.4 0-10.8 8.7-19.4 19.3-19.4 10.7 0 19.4 8.7 19.4 19.4 0 10.8-8.7 19.4-19.4 19.4zm0-84.9c-10.6 0-19.3-8.7-19.3-19.4s8.7-19.4 19.3-19.4c10.7 0 19.4 8.7 19.4 19.4s-8.7 19.4-19.4 19.4zm42.3 42.5c-10.7 0-19.3-8.7-19.3-19.4s8.7-19.4 19.3-19.4c10.6 0 19.3 8.7 19.3 19.4s-8.6 19.4-19.3 19.4z"/>
 </svg>
diff --git a/src/client/components/navigation/icons/cube.svg b/src/client/components/navigation/icons/cube.svg
index a00f1752..cba13dd8 100644
--- a/src/client/components/navigation/icons/cube.svg
+++ b/src/client/components/navigation/icons/cube.svg
@@ -1,5 +1,5 @@
 <svg viewBox="0 0 48 48" xmlns="http://www.w3.org/2000/svg" stroke="#fff" fill="none" stroke-linecap="round"
      stroke-linejoin="round" stroke-width="2">
-    <path d="M1 13h34v34H1z"/>
-    <path d="M13 1h34v34H13zM1 13.11L13.11 1M34.89 13.11L47 1M34.89 47L47 34.89M1 47l12.11-12.11"/>
+  <path d="M1 13h34v34H1z"/>
+  <path d="M13 1h34v34H13zM1 13.11L13.11 1M34.89 13.11L47 1M34.89 47L47 34.89M1 47l12.11-12.11"/>
 </svg>
diff --git a/src/client/components/navigation/icons/eye.svg b/src/client/components/navigation/icons/eye.svg
index 2f3cd1cf..f9898165 100644
--- a/src/client/components/navigation/icons/eye.svg
+++ b/src/client/components/navigation/icons/eye.svg
@@ -1,4 +1,5 @@
 <svg height="141.732" viewBox="-0.709 -32.081 141.732 141.732" width="141.732" xmlns="http://www.w3.org/2000/svg"
      fill="#fff">
-    <path d="M89.668 38.786c0-10.773-8.731-19.512-19.51-19.512S50.646 28.01 50.646 38.786c0 10.774 8.732 19.511 19.512 19.511 10.776 0 19.51-8.736 19.51-19.511m38.684-.059c-13.315 17.599-34.426 28.972-58.193 28.972-23.77 0-44.879-11.373-58.194-28.972C25.279 21.129 46.389 9.756 70.158 9.756s44.878 11.373 58.194 28.971m11.962.033C125.666 15.478 99.725 0 70.158 0S14.648 15.478 0 38.76c14.648 23.312 40.591 38.81 70.158 38.81s55.508-15.498 70.156-38.81"/>
+  <path
+    d="M89.668 38.786c0-10.773-8.731-19.512-19.51-19.512S50.646 28.01 50.646 38.786c0 10.774 8.732 19.511 19.512 19.511 10.776 0 19.51-8.736 19.51-19.511m38.684-.059c-13.315 17.599-34.426 28.972-58.193 28.972-23.77 0-44.879-11.373-58.194-28.972C25.279 21.129 46.389 9.756 70.158 9.756s44.878 11.373 58.194 28.971m11.962.033C125.666 15.478 99.725 0 70.158 0S14.648 15.478 0 38.76c14.648 23.312 40.591 38.81 70.158 38.81s55.508-15.498 70.156-38.81"/>
 </svg>
diff --git a/src/client/components/navigation/icons/map.svg b/src/client/components/navigation/icons/map.svg
index 9c97a76e..cb6e15c8 100644
--- a/src/client/components/navigation/icons/map.svg
+++ b/src/client/components/navigation/icons/map.svg
@@ -1,7 +1,7 @@
 <svg viewBox="0 0 32 32" xmlns="http://www.w3.org/2000/svg" fill="none" stroke="#fff" stroke-linejoin="round"
      stroke-width="2">
-    <path d="M21 2L11 6 1 2v24l10 4 10-4 10 4V6L21 2zM16 16a4 4 0 0 1-8 0M16 16a4 4 0 0 1 8 0"/>
-    <circle cx="8" cy="12" r="1"/>
-    <circle cx="24" cy="20" r="1"/>
-    <path d="M11 30v-5M21 7V2"/>
+  <path d="M21 2L11 6 1 2v24l10 4 10-4 10 4V6L21 2zM16 16a4 4 0 0 1-8 0M16 16a4 4 0 0 1 8 0"/>
+  <circle cx="8" cy="12" r="1"/>
+  <circle cx="24" cy="20" r="1"/>
+  <path d="M11 30v-5M21 7V2"/>
 </svg>
diff --git a/src/client/components/navigation/icons/nuclear.svg b/src/client/components/navigation/icons/nuclear.svg
index 0c679b57..138bc3b1 100644
--- a/src/client/components/navigation/icons/nuclear.svg
+++ b/src/client/components/navigation/icons/nuclear.svg
@@ -1,4 +1,4 @@
 <svg height="177" viewBox="37 38 95.6 95.7" width="176" xmlns="http://www.w3.org/2000/svg">
-    <path fill="#fff"
-          d="M36.2 87c0 26.4 21.4 47.8 47.8 47.8s47.8-21.4 47.8-47.8S110.4 39.2 84 39.2c-26.3 0-47.8 21.4-47.8 47.8zm39.2-.3c0-4.8 3.9-8.6 8.6-8.6 4.8 0 8.6 3.9 8.6 8.6 0 4.8-3.9 8.6-8.6 8.6-4.7.1-8.6-3.8-8.6-8.6zm-32.1-2.6c.8-12.4 7.2-24.2 18.2-31.5l12.4 21.5c-3.1 2.5-5.1 6.1-5.8 9.9H43.3v.1zm59 39.2c-11.7 5.9-25.1 5.5-36.2.1l12.4-21.6c3.6 1.3 7.6 1.3 11.3-.1l12.5 21.6zm17.2-57c3.3 5.6 5 11.7 5.4 17.8H100c-.3-1.9-.9-3.7-2-5.5-1-1.7-2.2-3.1-3.6-4.3l12.5-21.6c5 3.5 9.3 8 12.6 13.6z"/>
+  <path fill="#fff"
+        d="M36.2 87c0 26.4 21.4 47.8 47.8 47.8s47.8-21.4 47.8-47.8S110.4 39.2 84 39.2c-26.3 0-47.8 21.4-47.8 47.8zm39.2-.3c0-4.8 3.9-8.6 8.6-8.6 4.8 0 8.6 3.9 8.6 8.6 0 4.8-3.9 8.6-8.6 8.6-4.7.1-8.6-3.8-8.6-8.6zm-32.1-2.6c.8-12.4 7.2-24.2 18.2-31.5l12.4 21.5c-3.1 2.5-5.1 6.1-5.8 9.9H43.3v.1zm59 39.2c-11.7 5.9-25.1 5.5-36.2.1l12.4-21.6c3.6 1.3 7.6 1.3 11.3-.1l12.5 21.6zm17.2-57c3.3 5.6 5 11.7 5.4 17.8H100c-.3-1.9-.9-3.7-2-5.5-1-1.7-2.2-3.1-3.6-4.3l12.5-21.6c5 3.5 9.3 8 12.6 13.6z"/>
 </svg>
diff --git a/src/client/components/navigation/icons/ordering.svg b/src/client/components/navigation/icons/ordering.svg
index 914b8635..d1f38dce 100644
--- a/src/client/components/navigation/icons/ordering.svg
+++ b/src/client/components/navigation/icons/ordering.svg
@@ -1,3 +1,4 @@
 <svg height="24" viewBox="0 0 24 24" width="24" xmlns="http://www.w3.org/2000/svg" fill="#fff">
-    <path d="M12.9 0H1.1C.5 0 0 .5 0 1.1v1.8C0 3.5.5 4 1.1 4h11.8c.6 0 1.1-.5 1.1-1.1V1.1c0-.6-.5-1.1-1.1-1.1zm.1 3H1V1h12v2zM12.9 10H1.1c-.6 0-1.1.5-1.1 1.1v1.8c0 .6.5 1.1 1.1 1.1h11.8c.6 0 1.1-.5 1.1-1.1v-1.8c0-.6-.5-1.1-1.1-1.1zm.1 3H1v-2h12v2zM12.9 20H1.1c-.6 0-1.1.5-1.1 1.1v1.8c0 .6.5 1.1 1.1 1.1h11.8c.6 0 1.1-.5 1.1-1.1v-1.8c0-.6-.5-1.1-1.1-1.1zm.1 3H1v-2h12v2zM12.9 5H1.1C.5 5 0 5.5 0 6.1v1.8C0 8.5.5 9 1.1 9h11.8c.6 0 1.1-.5 1.1-1.1V6.1c0-.6-.5-1.1-1.1-1.1zm.1 3H1V6h12v2zM12.9 15H1.1c-.6 0-1.1.5-1.1 1.1v1.8c0 .6.5 1.1 1.1 1.1h11.8c.6 0 1.1-.5 1.1-1.1v-1.8c0-.6-.5-1.1-1.1-1.1zm.1 3H1v-2h12v2zM20.7 6.3c-.4-.4-1.1-.4-1.5 0l-2.9 2.9c-.4.4-.4 1.1 0 1.5.4.4 1.1.4 1.5 0L20 8.5l2.2 2.2c.4.4 1.1.4 1.5 0 .4-.4.4-1.1 0-1.5l-3-2.9zM19.3 17.7c.4.4 1.1.4 1.5 0l2.9-2.9c.4-.4.4-1.1 0-1.5s-1.1-.4-1.5 0L20 15.5l-2.2-2.2c-.4-.4-1.1-.4-1.5 0-.4.4-.4 1.1 0 1.5l3 2.9z"/>
+  <path
+    d="M12.9 0H1.1C.5 0 0 .5 0 1.1v1.8C0 3.5.5 4 1.1 4h11.8c.6 0 1.1-.5 1.1-1.1V1.1c0-.6-.5-1.1-1.1-1.1zm.1 3H1V1h12v2zM12.9 10H1.1c-.6 0-1.1.5-1.1 1.1v1.8c0 .6.5 1.1 1.1 1.1h11.8c.6 0 1.1-.5 1.1-1.1v-1.8c0-.6-.5-1.1-1.1-1.1zm.1 3H1v-2h12v2zM12.9 20H1.1c-.6 0-1.1.5-1.1 1.1v1.8c0 .6.5 1.1 1.1 1.1h11.8c.6 0 1.1-.5 1.1-1.1v-1.8c0-.6-.5-1.1-1.1-1.1zm.1 3H1v-2h12v2zM12.9 5H1.1C.5 5 0 5.5 0 6.1v1.8C0 8.5.5 9 1.1 9h11.8c.6 0 1.1-.5 1.1-1.1V6.1c0-.6-.5-1.1-1.1-1.1zm.1 3H1V6h12v2zM12.9 15H1.1c-.6 0-1.1.5-1.1 1.1v1.8c0 .6.5 1.1 1.1 1.1h11.8c.6 0 1.1-.5 1.1-1.1v-1.8c0-.6-.5-1.1-1.1-1.1zm.1 3H1v-2h12v2zM20.7 6.3c-.4-.4-1.1-.4-1.5 0l-2.9 2.9c-.4.4-.4 1.1 0 1.5.4.4 1.1.4 1.5 0L20 8.5l2.2 2.2c.4.4 1.1.4 1.5 0 .4-.4.4-1.1 0-1.5l-3-2.9zM19.3 17.7c.4.4 1.1.4 1.5 0l2.9-2.9c.4-.4.4-1.1 0-1.5s-1.1-.4-1.5 0L20 15.5l-2.2-2.2c-.4-.4-1.1-.4-1.5 0-.4.4-.4 1.1 0 1.5l3 2.9z"/>
 </svg>
diff --git a/src/client/components/navigation/icons/scatter.svg b/src/client/components/navigation/icons/scatter.svg
index 06aade19..35533eb1 100644
--- a/src/client/components/navigation/icons/scatter.svg
+++ b/src/client/components/navigation/icons/scatter.svg
@@ -1,3 +1,4 @@
 <svg height="32" viewBox="0 0 32 32" width="32" xmlns="http://www.w3.org/2000/svg" fill="#fff">
-    <path d="M32 30v2H0V0h4v2H2v4h2v2H2v4h2v2H2v4h2v2H2v4h2v2H2v4h30zM9 26c1.656 0 3-1.344 3-3a2.97 2.97 0 0 0-.56-1.733l3.824-3.823c.49.348 1.087.559 1.734.559.816 0 1.555-.328 2.096-.858l3.301 2.399a2.966 2.966 0 0 0-.396 1.459 3.001 3.001 0 0 0 6 0 2.99 2.99 0 0 0-1.578-2.627l3.018-12.063 1.934.483L30 2.002l-3.467 3.584 1.936.482-2.996 11.979C25.32 18.024 25.162 18 25 18a2.97 2.97 0 0 0-1.979.763l-3.348-2.434c.201-.403.324-.85.324-1.329a3.001 3.001 0 0 0-6 0c0 .647.21 1.242.559 1.734l-3.824 3.823a2.977 2.977 0 0 0-1.733-.56A3 3 0 1 0 9 26z"/>
+  <path
+    d="M32 30v2H0V0h4v2H2v4h2v2H2v4h2v2H2v4h2v2H2v4h2v2H2v4h30zM9 26c1.656 0 3-1.344 3-3a2.97 2.97 0 0 0-.56-1.733l3.824-3.823c.49.348 1.087.559 1.734.559.816 0 1.555-.328 2.096-.858l3.301 2.399a2.966 2.966 0 0 0-.396 1.459 3.001 3.001 0 0 0 6 0 2.99 2.99 0 0 0-1.578-2.627l3.018-12.063 1.934.483L30 2.002l-3.467 3.584 1.936.482-2.996 11.979C25.32 18.024 25.162 18 25 18a2.97 2.97 0 0 0-1.979.763l-3.348-2.434c.201-.403.324-.85.324-1.329a3.001 3.001 0 0 0-6 0c0 .647.21 1.242.559 1.734l-3.824 3.823a2.977 2.977 0 0 0-1.733-.56A3 3 0 1 0 9 26z"/>
 </svg>
diff --git a/src/client/components/navigation/icons/speedometer.svg b/src/client/components/navigation/icons/speedometer.svg
index c7920e11..c91fad05 100644
--- a/src/client/components/navigation/icons/speedometer.svg
+++ b/src/client/components/navigation/icons/speedometer.svg
@@ -1,4 +1,6 @@
 <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 428.948 428.948" fill="#fff">
-    <path d="M221.988 280.48c9.664 0 17.516-7.889 17.516-17.563 0-9.653-7.852-17.487-17.516-17.487l-79.361-58.371 61.844 76.985c.574 9.164 8.209 16.436 17.517 16.436zM127.008 332.197h174.933v41.513H127.008z"/>
-    <path d="M366.13 118.057c-40.51-40.509-94.369-62.818-151.656-62.818-57.288 0-111.148 22.309-151.657 62.818S0 212.425 0 269.713c0 36.99 9.319 72.539 26.816 103.997h40.086l29.319-16.929-12.948-22.428-37.7 21.768c-13.319-25.932-20.843-55.307-20.843-86.408 0-5.504.25-10.951.711-16.338l44.952 7.926 4.497-25.504-45.481-8.019c8.127-35.883 26.451-67.937 51.755-92.948l30.815 36.725 19.839-16.646-31.049-37.002c28.471-21.379 63.128-34.938 100.757-37.485v49.117h25.896V80.422c37.629 2.549 72.286 16.107 100.758 37.486l-31.05 37.001 19.838 16.646 30.816-36.726c25.303 25.012 43.627 57.066 51.754 92.948l-45.48 8.021 4.498 25.502 44.949-7.927c.461 5.388.711 10.834.711 16.338 0 31.103-7.521 60.479-20.842 86.409l-37.701-21.766-12.947 22.427 29.318 16.927h40.088c17.498-31.458 26.816-67.007 26.816-103.997.001-57.287-22.31-111.147-62.818-151.654z"/>
+  <path
+    d="M221.988 280.48c9.664 0 17.516-7.889 17.516-17.563 0-9.653-7.852-17.487-17.516-17.487l-79.361-58.371 61.844 76.985c.574 9.164 8.209 16.436 17.517 16.436zM127.008 332.197h174.933v41.513H127.008z"/>
+  <path
+    d="M366.13 118.057c-40.51-40.509-94.369-62.818-151.656-62.818-57.288 0-111.148 22.309-151.657 62.818S0 212.425 0 269.713c0 36.99 9.319 72.539 26.816 103.997h40.086l29.319-16.929-12.948-22.428-37.7 21.768c-13.319-25.932-20.843-55.307-20.843-86.408 0-5.504.25-10.951.711-16.338l44.952 7.926 4.497-25.504-45.481-8.019c8.127-35.883 26.451-67.937 51.755-92.948l30.815 36.725 19.839-16.646-31.049-37.002c28.471-21.379 63.128-34.938 100.757-37.485v49.117h25.896V80.422c37.629 2.549 72.286 16.107 100.758 37.486l-31.05 37.001 19.838 16.646 30.816-36.726c25.303 25.012 43.627 57.066 51.754 92.948l-45.48 8.021 4.498 25.502 44.949-7.927c.461 5.388.711 10.834.711 16.338 0 31.103-7.521 60.479-20.842 86.409l-37.701-21.766-12.947 22.427 29.318 16.927h40.088c17.498-31.458 26.816-67.007 26.816-103.997.001-57.287-22.31-111.147-62.818-151.654z"/>
 </svg>
diff --git a/src/client/components/navigation/style.css b/src/client/components/navigation/style.css
index ae18c0f1..442542f7 100644
--- a/src/client/components/navigation/style.css
+++ b/src/client/components/navigation/style.css
@@ -1,62 +1,55 @@
 .header {
-	background-color: #1197d3;
-	color: #fff;
-	text-align: center;
+  background-color: #1197d3;
+  color: #fff;
+  text-align: center;
 }
 
 .header--dark {
-	background-color: #0a2938;
-}
-
-.header__logoContainer {
-	background-color: #fff;
-	display: flex;
-	align-items: center;
-	height: 60px;
-}
-
-.header__logo {
-	width: 40px;
-	height: 40px;
-	margin: 8px;
+  background-color: #0a2938;
 }
 
 .header__title {
-	margin-right: 8px;
-	font-size: 1.2rem;
-	color: #000;
-	font-weight: 400;
+  display: flex;
+  justify-content: center;
+  align-items: center;
+  margin: 0;
+  background-color: #fff;
+  height: 60px;
+  font-size: 1.2rem;
+  color: #1197d3;
+  font-weight: 500;
 }
 
 .header__list {
-	list-style-type: none;
-	margin: 0;
-	padding: 0;
+  list-style-type: none;
+  margin: 0;
+  padding: 0;
 }
 
-.header__item {}
+.header__item {
+}
 
 .header__link {
-	padding: 1rem;
-	color: #fff;
-	text-decoration: none;
-	display: flex;
-	flex-direction: column;
-	align-items: center;
-	font-size: 0.7rem;
-	transition: background-color 0.3s ease;
+  padding: 1rem;
+  color: #fff;
+  text-decoration: none;
+  display: flex;
+  flex-direction: column;
+  align-items: center;
+  font-size: 0.7rem;
+  transition: background-color 0.3s ease;
 }
 
 .header__link:hover {
-	background-color: #0d76a6;
+  background-color: #0d76a6;
 }
 
 .header__link--active,
 .header__link--active:hover {
-	background-color: #004363;
+  background-color: #004363;
 }
 
 .header__icon {
-	width: 24px;
-	height: 24px;
+  width: 24px;
+  height: 24px;
 }
diff --git a/src/client/components/nuclear/view.tsx b/src/client/components/nuclear/view.tsx
index 62b70a70..b7beb900 100644
--- a/src/client/components/nuclear/view.tsx
+++ b/src/client/components/nuclear/view.tsx
@@ -1,5 +1,5 @@
 import * as React from 'react'
 
 export const NUClear = () => (
-    <h1>NUClear</h1>
+  <h1>NUClear</h1>
 )
diff --git a/src/client/components/scatter_plot/view.tsx b/src/client/components/scatter_plot/view.tsx
index d8ac682c..83e3513c 100644
--- a/src/client/components/scatter_plot/view.tsx
+++ b/src/client/components/scatter_plot/view.tsx
@@ -1,5 +1,5 @@
 import * as React from 'react'
 
 export const Scatter = () => (
-    <h1>Scatter</h1>
+  <h1>Scatter</h1>
 )
diff --git a/src/client/components/subsumption/view.tsx b/src/client/components/subsumption/view.tsx
index 9a39718d..e6532094 100644
--- a/src/client/components/subsumption/view.tsx
+++ b/src/client/components/subsumption/view.tsx
@@ -1,5 +1,5 @@
 import * as React from 'react'
 
 export const Subsumption = () => (
-    <h1>Subsumption</h1>
+  <h1>Subsumption</h1>
 )
diff --git a/src/client/components/vision/view.tsx b/src/client/components/vision/view.tsx
index 8c72d7c9..04aba79a 100644
--- a/src/client/components/vision/view.tsx
+++ b/src/client/components/vision/view.tsx
@@ -1,5 +1,5 @@
 import * as React from 'react'
 
 export const Vision = () => (
-    <h1>Vision</h1>
+  <h1>Vision</h1>
 )
diff --git a/src/client/inversify.config.ts b/src/client/inversify.config.ts
new file mode 100644
index 00000000..172090f6
--- /dev/null
+++ b/src/client/inversify.config.ts
@@ -0,0 +1,18 @@
+import { Container } from 'inversify'
+import { LocalisationController } from './components/localisation/controller'
+import { LocalisationModel } from './components/localisation/model'
+import { LocalisationNetwork } from './components/localisation/network'
+import { GlobalNetwork } from './network/global_network'
+import { MessageTypePath } from './network/message_type_names'
+import { Network } from './network/network'
+import { RawSocket } from './network/raw_socket'
+
+export const container = new Container()
+
+container.bind(RawSocket).to(RawSocket).inTransientScope()
+container.bind(MessageTypePath).to(MessageTypePath).inSingletonScope()
+container.bind(GlobalNetwork).to(GlobalNetwork).inSingletonScope()
+container.bind(Network).to(Network).inTransientScope()
+container.bind(LocalisationNetwork).to(LocalisationNetwork).inTransientScope()
+container.bind(LocalisationController).to(LocalisationController).inSingletonScope()
+container.bind(LocalisationModel).toConstantValue(LocalisationModel.of())
diff --git a/src/client/network/global_network.ts b/src/client/network/global_network.ts
new file mode 100644
index 00000000..53d1aeaf
--- /dev/null
+++ b/src/client/network/global_network.ts
@@ -0,0 +1,71 @@
+import { inject } from 'inversify'
+import { injectable } from 'inversify'
+import { message } from '../../shared/proto/messages'
+import { MessageTypePath } from './message_type_names'
+import { RawSocket } from './raw_socket'
+import Sensors = message.input.Sensors
+
+@injectable()
+export class GlobalNetwork {
+  private listeners: Map<MessageType<Message>, Set<MessageCallback<Message>>>
+  private packetListeners: Map<string, (messageType: MessageType<Message>, buffer: ArrayBuffer) => void>
+
+  public constructor(@inject(RawSocket) private socket: RawSocket,
+                     @inject(MessageTypePath) private messageTypePath: MessageTypePath) {
+    this.listeners = new Map()
+    this.packetListeners = new Map()
+  }
+
+  public on<T extends Message>(messageType: MessageType<T>, cb: MessageCallback<T>) {
+    if (!this.listeners.has(messageType)) {
+      this.listeners.set(messageType, new Set())
+    }
+    const listeners = this.listeners.get(messageType)
+    if (listeners) {
+      const messageTypeName = this.messageTypePath.getPath(messageType)
+      listeners.add(cb)
+      if (listeners.size === 1) {
+        this.socket.listen(messageTypeName)
+        const listener = this.onPacket.bind(this, messageType)
+        this.socket.on(messageTypeName, listener)
+        this.packetListeners.set(messageTypeName, listener)
+      }
+    }
+  }
+
+  public off<T extends Message>(messageType: MessageType<T>, cb: MessageCallback<T>) {
+    const listeners = this.listeners.get(messageType)
+    if (listeners) {
+      const messageTypeName = this.messageTypePath.getPath(messageType)
+      listeners.delete(cb)
+      const packetListener = this.packetListeners.get(messageTypeName)
+      if (packetListener) {
+        this.socket.off(messageTypeName, packetListener)
+        if (listeners.size === 0) {
+          this.socket.unlisten(messageTypeName)
+          this.packetListeners.delete(messageTypeName)
+        }
+      }
+    }
+  }
+
+  private onPacket(messageType: MessageType<Message>, buffer: ArrayBuffer) {
+    const message = messageType.decode(new Uint8Array(buffer).slice(9))
+    const listeners = this.listeners.get(messageType)
+    if (listeners) {
+      for (const listener of listeners.values()) {
+        listener(message)
+      }
+    }
+  }
+}
+
+export interface Message {
+}
+
+export interface MessageType<T extends Message> {
+  new(...args: any[]): T
+  decode(...args: any[]): T
+}
+
+export type MessageCallback<T extends Message> = (message: T) => void
diff --git a/src/client/network/message_type_names.ts b/src/client/network/message_type_names.ts
new file mode 100644
index 00000000..0a1490a4
--- /dev/null
+++ b/src/client/network/message_type_names.ts
@@ -0,0 +1,50 @@
+import { injectable } from 'inversify'
+import { message } from '../../shared/proto/messages'
+import { MessageType } from './global_network'
+import { Message } from './global_network'
+
+@injectable()
+export class MessageTypePath {
+  private cache: Map<any, string>
+  private searchObject: any
+
+  public constructor() {
+    this.searchObject = { message }
+    this.cache = new Map()
+  }
+
+  public getPath(messageType: MessageType<Message>): string {
+    if (!this.cache.has(messageType)) {
+      const path = findPath(this.searchObject, value => value === messageType)
+      if (!path) {
+        throw new Error(`Unknown type given ${messageType}`)
+      }
+      this.cache.set(messageType, path)
+    }
+    return String(this.cache.get(messageType))
+  }
+}
+
+/**
+ * Recursively searches an object for a given value, if found it will return the object path to that value.
+ *
+ * e.g. findPath({ a: { b: { c: 'd' } } }, v => v === 'd') // 'a.b.c'
+ */
+function findPath(obj: any, isSubject: (value: any) => boolean, path: string[] = []): string|undefined {
+  if (isSubject(obj)) {
+    return path.join('.')
+  }
+  if (typeof obj !== 'object') {
+    return undefined
+  }
+  if (Array.isArray(obj)) {
+    throw new Error('Array support not implemented')
+  }
+  for (const key of Object.getOwnPropertyNames(obj)) {
+    const foundPath = findPath(obj[key], isSubject, [...path, key])
+    if (foundPath) {
+      return foundPath
+    }
+  }
+  return undefined
+}
diff --git a/src/client/network/network.ts b/src/client/network/network.ts
new file mode 100644
index 00000000..b0b6f838
--- /dev/null
+++ b/src/client/network/network.ts
@@ -0,0 +1,36 @@
+import { inject } from 'inversify'
+import { injectable } from 'inversify'
+import { GlobalNetwork } from './global_network'
+import { MessageType } from './global_network'
+import { Message } from './global_network'
+import { MessageCallback } from './global_network'
+
+@injectable()
+export class Network {
+  private listeners: Map<MessageType<Message>, Set<MessageCallback<Message>>>
+
+  public constructor(@inject(GlobalNetwork) private globalNetwork: GlobalNetwork) {
+    this.listeners = new Map()
+  }
+
+  public on<T extends Message>(messageType: MessageType<T>, cb: MessageCallback<T>) {
+    this.globalNetwork.on(messageType, cb)
+
+    if (!this.listeners.has(messageType)) {
+      this.listeners.set(messageType, new Set())
+    }
+    const listeners = this.listeners.get(messageType)
+    if (listeners) {
+      listeners.add(cb)
+    }
+  }
+
+  public off() {
+    for (const [messageType, callbacks] of this.listeners.entries()) {
+      for (const cb of callbacks) {
+        this.globalNetwork.off(messageType, cb)
+      }
+    }
+    this.listeners.clear()
+  }
+}
diff --git a/src/client/network/raw_socket.ts b/src/client/network/raw_socket.ts
new file mode 100644
index 00000000..d1d9efea
--- /dev/null
+++ b/src/client/network/raw_socket.ts
@@ -0,0 +1,41 @@
+import * as io from 'socket.io-client'
+import Socket = SocketIOClient.Socket
+import { injectable } from 'inversify'
+
+@injectable()
+export class RawSocket {
+  private socket: Socket
+
+  public static of() {
+    return new RawSocket()
+  }
+
+  public on(event: string, fn: (...args: any[]) => void) {
+    this.connectIfNotConnected()
+    this.socket.on(event, fn)
+  }
+
+  public off(event: string, fn?: (...args: any[]) => void) {
+    this.connectIfNotConnected()
+    this.socket.off(event, fn)
+  }
+
+  public listen(eventName: string) {
+    this.emit('listen', eventName)
+  }
+
+  public unlisten(eventName: string) {
+    this.emit('unlisten', eventName)
+  }
+
+  public emit(event: string, ...args: any[]) {
+    this.connectIfNotConnected()
+    this.socket.emit(event, ...args)
+  }
+
+  private connectIfNotConnected() {
+    if (!this.socket) {
+      this.socket = io.connect()
+    }
+  }
+}
diff --git a/src/client/network/tests/global_network.tests.ts b/src/client/network/tests/global_network.tests.ts
new file mode 100644
index 00000000..50732c33
--- /dev/null
+++ b/src/client/network/tests/global_network.tests.ts
@@ -0,0 +1,56 @@
+import 'reflect-metadata'
+import { createMockInstance } from '../../../shared/common/testing/create_mock_instance'
+import { message } from '../../../shared/proto/messages'
+import { GlobalNetwork } from '../global_network'
+import { RawSocket } from '../raw_socket'
+import Socket = SocketIOClient.Socket
+import Sensors = message.input.Sensors
+import { MessageTypePath } from '../message_type_names'
+import Mocked = jest.Mocked
+
+describe('GlobalNetwork', () => {
+  let network: GlobalNetwork
+  let mockedRawSocket: Mocked<RawSocket>
+  let mockedMessageTypePath: Mocked<MessageTypePath>
+
+  beforeEach(() => {
+    mockedRawSocket = createMockInstance(RawSocket)
+    mockedMessageTypePath = createMockInstance(MessageTypePath)
+    mockedMessageTypePath.getPath.mockReturnValue('message.input.Sensors')
+    network = new GlobalNetwork(mockedRawSocket, mockedMessageTypePath)
+  })
+
+  describe('event handling', () => {
+    it('starts listening event', () => {
+      network.on(Sensors, jest.fn())
+      expect(mockedRawSocket.listen).toHaveBeenCalledWith('message.input.Sensors')
+    })
+
+    it('stops listening to event', () => {
+      const cb = jest.fn()
+      network.on(Sensors, cb)
+
+      network.off(Sensors, cb)
+      expect(mockedRawSocket.unlisten).toHaveBeenCalledWith('message.input.Sensors')
+    })
+
+    it('only sends listening event once', () => {
+      network.on(Sensors, jest.fn())
+      network.on(Sensors, jest.fn())
+      expect(mockedRawSocket.listen).toHaveBeenCalledTimes(1)
+    })
+
+    it('stops listening to type after all listeners have unsubscribed', () => {
+      const cb1 = jest.fn()
+      const cb2 = jest.fn()
+      network.on(Sensors, cb1)
+      network.on(Sensors, cb2)
+
+      network.off(Sensors, cb1)
+      expect(mockedRawSocket.unlisten).not.toHaveBeenCalled()
+
+      network.off(Sensors, cb2)
+      expect(mockedRawSocket.unlisten).toHaveBeenLastCalledWith('message.input.Sensors')
+    })
+  })
+})
diff --git a/src/client/network/tests/network.tests.ts b/src/client/network/tests/network.tests.ts
new file mode 100644
index 00000000..0eae98d2
--- /dev/null
+++ b/src/client/network/tests/network.tests.ts
@@ -0,0 +1,29 @@
+import 'reflect-metadata'
+import { message } from '../../../shared/proto/messages'
+import { Network } from '../network'
+import Sensors = message.input.Sensors
+import { createMockInstance } from '../../../shared/common/testing/create_mock_instance'
+import { GlobalNetwork } from '../global_network'
+
+describe('Network', () => {
+  let network: GlobalNetwork
+  let helper: Network
+
+  beforeEach(() => {
+    network = createMockInstance(GlobalNetwork)
+    helper = new Network(network)
+  })
+
+  it('off() automatically unregisters all callbacks', () => {
+    const cb1 = jest.fn()
+    const cb2 = jest.fn()
+    helper.on(Sensors, cb1)
+    expect(network.on).toHaveBeenCalledWith(Sensors, cb1)
+    helper.on(Sensors, cb2)
+    expect(network.on).toHaveBeenCalledWith(Sensors, cb2)
+
+    helper.off()
+    expect(network.off).toHaveBeenCalledWith(Sensors, cb1)
+    expect(network.off).toHaveBeenCalledWith(Sensors, cb2)
+  })
+})
diff --git a/src/server/app/client.ts b/src/server/app/client.ts
new file mode 100644
index 00000000..0d564c1c
--- /dev/null
+++ b/src/server/app/client.ts
@@ -0,0 +1,73 @@
+import Socket = SocketIO.Socket
+import { NUClearNetPacket } from 'nuclearnet.js'
+import { NUClearNet } from 'nuclearnet.js'
+
+interface ClientOpts {
+  nuclearNetwork: NUClearNet
+  sioSocket: Socket
+  onDisconnectCallback?: (client: Client) => void
+}
+
+export class Client {
+  private nuclearNetwork: NUClearNet
+  private sioSocket: Socket
+  private listeners: Map<string, (event: string, packet: NUClearNetPacket) => void>
+  private onDisconnectCallback?: (client: Client) => void
+
+  public constructor(opts: ClientOpts) {
+    Object.assign(this, opts)
+    this.listeners = new Map()
+
+    this.sioSocket.on('disconnect', this.onDisconnect)
+    this.sioSocket.on('listen', this.onListen)
+    this.sioSocket.on('unlisten', this.onUnlisten)
+  }
+
+  public static of(opts: ClientOpts) {
+    return new Client(opts)
+  }
+
+  public send(event: string, ...args: any[]) {
+    this.sioSocket.emit(event, ...args)
+  }
+
+  private onDisconnect = () => {
+    this.unlistenAll()
+    if (this.onDisconnectCallback) {
+      this.onDisconnectCallback(this)
+    }
+  }
+
+  private onListen = (event: string) => {
+    const messageType = `NUsight<${event}>`
+    // tslint:disable-next-line no-console
+    console.log(`Listening for ${messageType}`)
+    const cb = this.onPacket.bind(this, event)
+    this.nuclearNetwork.on(messageType, cb)
+    this.listeners.set(messageType, cb)
+  }
+
+  private unlistenAll() {
+    for (const [messageType, cb] of this.listeners.entries()) {
+      // tslint:disable-next-line no-console
+      console.log(`Unlistening for ${messageType}`)
+      this.nuclearNetwork.removeListener(messageType, cb)
+    }
+    this.listeners.clear()
+  }
+
+  private onUnlisten = (event: string) => {
+    const messageType = `NUsight<${event}>`
+    const cb = this.listeners.get(messageType)
+    if (cb) {
+      // tslint:disable-next-line no-console
+      console.log(`Unlistening for ${messageType}`)
+      this.nuclearNetwork.removeListener(messageType, cb)
+      this.listeners.delete(messageType)
+    }
+  }
+
+  private onPacket = (event: string, packet: NUClearNetPacket) => {
+    this.sioSocket.emit(event, packet.payload)
+  }
+}
diff --git a/src/server/app/robot.ts b/src/server/app/robot.ts
new file mode 100644
index 00000000..36ea556e
--- /dev/null
+++ b/src/server/app/robot.ts
@@ -0,0 +1,15 @@
+interface RobotOpts {
+  name: string
+}
+
+export class Robot {
+  public name: string
+
+  public constructor(opts: RobotOpts) {
+    this.name = opts.name
+  }
+
+  public static of(opts: RobotOpts) {
+    return new Robot(opts)
+  }
+}
diff --git a/src/server/app/server.ts b/src/server/app/server.ts
new file mode 100644
index 00000000..0a3e5711
--- /dev/null
+++ b/src/server/app/server.ts
@@ -0,0 +1,60 @@
+import Server = SocketIO.Server
+import { inject } from 'inversify'
+import { NUClearNet } from 'nuclearnet.js'
+import { NUClearNetPeer } from 'nuclearnet.js'
+import { Client } from './client'
+import { Robot } from './robot'
+import Socket = SocketIO.Socket
+
+export class NUSightServer {
+  private clients: Client[]
+  private robots: Robot[]
+
+  public constructor(@inject(NUClearNet) private nuclearNetwork: NUClearNet,
+                     private sioNetwork: Server) {
+    this.clients = []
+    this.robots = []
+
+    this.nuclearNetwork.on('nuclear_join', this.onNUClearJoin)
+    this.nuclearNetwork.on('nuclear_leave', this.onNUClearLeave)
+    this.sioNetwork.on('connection', this.onClientConnection)
+  }
+
+  public connect() {
+    this.nuclearNetwork.connect({ name: 'nusight' })
+  }
+
+  private onNUClearJoin = (peer: NUClearNetPeer) => {
+    // tslint:disable-next-line no-console
+    console.log(`Peer "${peer.name}" from ${peer.address} joined the NUClear network.`)
+    const robot = Robot.of({
+      name: peer.name,
+    })
+    this.robots.push(robot)
+  }
+
+  private onNUClearLeave = (peer: NUClearNetPeer) => {
+    // tslint:disable-next-line no-console
+    console.log(`Peer "${peer.name}" from ${peer.address} left the NUClear network.`)
+    const index = this.robots.findIndex(robot => robot.name === peer.name)
+    if (index >= 0) {
+      this.robots.splice(index, 1)
+    }
+  }
+
+  private onClientConnection = (sioSocket: Socket) => {
+    const address = sioSocket.client.conn.remoteAddress
+    // tslint:disable-next-line no-console
+    console.log(`Client "${sioSocket.id}" from ${address} connected (Total: ${this.clients.length + 1})`)
+    const client = Client.of({
+      nuclearNetwork: this.nuclearNetwork,
+      sioSocket,
+      onDisconnectCallback: () => {
+        this.clients.splice(this.clients.indexOf(client), 1)
+        // tslint:disable-next-line no-console
+        console.log(`Client "${sioSocket.id}" from ${address} disconnected (Total: ${this.clients.length})`)
+      },
+    })
+    this.clients.push(client)
+  }
+}
diff --git a/src/server/dev.ts b/src/server/dev.ts
index 4ea760ba..00b0ed82 100644
--- a/src/server/dev.ts
+++ b/src/server/dev.ts
@@ -2,17 +2,32 @@ import * as compression from 'compression'
 import * as history from 'connect-history-api-fallback'
 import * as express from 'express'
 import * as http from 'http'
+import * as minimist from 'minimist'
+import { NUClearNet } from 'nuclearnet.js'
+import 'reflect-metadata'
 import * as favicon from 'serve-favicon'
 import * as sio from 'socket.io'
 import * as webpack from 'webpack'
 import * as webpackDevMiddleware from 'webpack-dev-middleware'
 import * as webpackHotMiddleware from 'webpack-hot-middleware'
 import webpackConfig from '../../webpack.config'
+import { RobotSimulator } from '../simulators/robot_simulator'
+import { SimulatorStatus } from '../simulators/robot_simulator'
+import { SensorDataSimulator } from '../simulators/sensor_data_simulator'
+import { NUSightServer } from './app/server'
+import { getContainer } from './inversify.config'
+import { Clock } from './time/clock'
+import { ClockType } from './time/clock'
+import CloseTo = Chai.CloseTo
+
 const compiler = webpack(webpackConfig)
 
+const args = minimist(process.argv.slice(2))
+const withSimulators = args['with-simulators'] || false
+
 const app = express()
 const server = http.createServer(app)
-sio(server)
+const sioNetwork = sio(server)
 
 const devMiddleware = webpackDevMiddleware(compiler, {
   publicPath: '/',
@@ -37,3 +52,22 @@ server.listen(port, () => {
   /* tslint:disable no-console */
   console.log(`NUsight server started at http://localhost:${port}`)
 })
+
+const container = getContainer({ fakeNetworking: withSimulators })
+
+if (withSimulators) {
+  const robotSimulator = new RobotSimulator(
+    container.get<NUClearNet>(NUClearNet),
+    container.get<Clock>(ClockType),
+    {
+      name: 'Sensors Simulator',
+      simulators: [
+        SensorDataSimulator.of(),
+      ],
+    },
+  )
+  robotSimulator.simulateWithFrequency(60)
+  new SimulatorStatus(container.get<Clock>(ClockType), robotSimulator).statusEvery(60)
+}
+
+new NUSightServer(container.get<NUClearNet>(NUClearNet), sioNetwork).connect()
diff --git a/src/server/inversify.config.ts b/src/server/inversify.config.ts
new file mode 100644
index 00000000..72e34dd7
--- /dev/null
+++ b/src/server/inversify.config.ts
@@ -0,0 +1,27 @@
+import { EventEmitter } from 'events'
+import { Container } from 'inversify'
+import { decorate } from 'inversify'
+import { injectable } from 'inversify'
+import { NUClearNet } from 'nuclearnet.js'
+import { FakeNUClearNet } from '../simulators/nuclearnet/fake_nuclearnet'
+import { FakeNUClearNetServer } from '../simulators/nuclearnet/fake_nuclearnet_server'
+import { Clock } from './time/clock'
+import { ClockType } from './time/clock'
+import { NodeSystemClock } from './time/node_clock'
+
+export const getContainer = ({ fakeNetworking = false }: { fakeNetworking: boolean }) => {
+  const container = new Container()
+
+  decorate(injectable(), EventEmitter)
+  if (fakeNetworking) {
+    container.bind<FakeNUClearNetServer>(FakeNUClearNetServer).to(FakeNUClearNetServer).inSingletonScope()
+    container.bind<NUClearNet>(NUClearNet).to(FakeNUClearNet).inTransientScope()
+  } else {
+    decorate(injectable(), NUClearNet)
+    container.bind<NUClearNet>(NUClearNet).to(NUClearNet).inTransientScope()
+  }
+
+  container.bind<Clock>(ClockType).toConstantValue(NodeSystemClock)
+
+  return container
+}
diff --git a/src/server/prod.ts b/src/server/prod.ts
index 6f772e76..7c19d698 100644
--- a/src/server/prod.ts
+++ b/src/server/prod.ts
@@ -2,12 +2,24 @@ import * as compression from 'compression'
 import * as history from 'connect-history-api-fallback'
 import * as express from 'express'
 import * as http from 'http'
+import * as minimist from 'minimist'
+import { NUClearNet } from 'nuclearnet.js'
+import 'reflect-metadata'
 import * as favicon from 'serve-favicon'
 import * as sio from 'socket.io'
+import { RobotSimulator } from '../simulators/robot_simulator'
+import { SensorDataSimulator } from '../simulators/sensor_data_simulator'
+import { NUSightServer } from './app/server'
+import { getContainer } from './inversify.config'
+import { ClockType } from './time/clock'
+import { Clock } from './time/clock'
+
+const args = minimist(process.argv.slice(2))
+const withSimulators = args['with-simulators'] || false
 
 const app = express()
 const server = http.createServer(app)
-sio(server)
+const sioNetwork = sio(server)
 
 const root = `${__dirname}/../../build`
 app.use(history())
@@ -20,3 +32,21 @@ server.listen(port, () => {
   /* tslint:disable no-console */
   console.log(`NUsight server started at http://localhost:${port}`)
 })
+
+const container = getContainer({ fakeNetworking: withSimulators })
+
+if (withSimulators) {
+  const robotSimulator = new RobotSimulator(
+    container.get<NUClearNet>(NUClearNet),
+    container.get<Clock>(ClockType),
+    {
+      name: 'Sensors Simulator',
+      simulators: [
+        SensorDataSimulator.of(),
+      ],
+    },
+  )
+  robotSimulator.simulateWithFrequency(60)
+}
+
+new NUSightServer(container.get<NUClearNet>(NUClearNet), sioNetwork).connect()
diff --git a/src/server/time/clock.ts b/src/server/time/clock.ts
new file mode 100644
index 00000000..f410eed5
--- /dev/null
+++ b/src/server/time/clock.ts
@@ -0,0 +1,8 @@
+export const ClockType = Symbol('Clock')
+
+export interface Clock {
+  now(): number
+  setTimeout(cb: (...args: any[]) => void, ms: number): () => void
+  setInterval(cb: (...args: any[]) => void, ms: number): () => void
+  setImmediate(cb: (...args: any[]) => void): () => void
+}
diff --git a/src/server/time/node_clock.ts b/src/server/time/node_clock.ts
new file mode 100644
index 00000000..64238432
--- /dev/null
+++ b/src/server/time/node_clock.ts
@@ -0,0 +1,25 @@
+import { Clock } from './clock'
+
+export type CancelTimer = () => void
+
+function setTimeout(cb: (...args: any[]) => void, ms: number): CancelTimer {
+  const handle = global.setTimeout(cb, ms)
+  return global.clearTimeout.bind(null, handle)
+}
+
+function setInterval(cb: (...args: any[]) => void, ms: number): CancelTimer {
+  const handle = global.setInterval(cb, ms)
+  return global.clearInterval.bind(null, handle)
+}
+
+function setImmediate(cb: (...args: any[]) => void): CancelTimer {
+  const handle = global.setImmediate(cb)
+  return global.clearImmediate.bind(null, handle)
+}
+
+export const NodeSystemClock: Clock = {
+  now: () => Date.now(),
+  setTimeout,
+  setInterval,
+  setImmediate,
+}
diff --git a/src/shared/common/testing/create_mock_instance.ts b/src/shared/common/testing/create_mock_instance.ts
new file mode 100644
index 00000000..80b5d9ec
--- /dev/null
+++ b/src/shared/common/testing/create_mock_instance.ts
@@ -0,0 +1,25 @@
+import Mocked = jest.Mocked
+
+export function createMockInstance<T>(ctor: { new (...args: any[]): T }): Mocked<T> {
+  return stubMethods<T>(Object.create(ctor.prototype))
+}
+
+function stubMethods<T>(obj: Mocked<T>, mock: Mocked<T> = obj, stubbed: Set<string> = new Set()): Mocked<T> {
+  for (const prop of Object.getOwnPropertyNames(obj)) {
+    if (!stubbed.has(prop)) {
+      const descriptor = Object.getOwnPropertyDescriptor(obj, prop)
+      if (obj !== Object.prototype && prop !== 'constructor' && typeof descriptor.value === 'function') {
+        Object.defineProperty(mock, prop, { ... descriptor, value: jest.fn() })
+      }
+      stubbed.add(prop)
+    }
+  }
+
+  const proto = Object.getPrototypeOf(obj)
+
+  if (proto) {
+    return stubMethods<T>(proto, mock, stubbed)
+  }
+
+  return mock
+}
diff --git a/src/shared/proto/Matrix.proto b/src/shared/proto/Matrix.proto
new file mode 100644
index 00000000..a5fc054e
--- /dev/null
+++ b/src/shared/proto/Matrix.proto
@@ -0,0 +1,105 @@
+syntax = "proto3";
+
+import "Vector.proto";
+
+message mat {
+    uint32 rows = 1;
+    uint32 cols = 2;
+    repeated double v = 3 [packed=true];
+}
+
+message fmat {
+    uint32 rows = 1;
+    uint32 cols = 2;
+    repeated float v = 3 [packed=true];
+}
+
+message imat {
+    uint32 rows = 1;
+    uint32 cols = 2;
+    repeated sint32 v = 3 [packed=true];
+}
+
+message umat {
+    uint32 rows = 1;
+    uint32 cols = 2;
+    repeated uint32 v = 3 [packed=true];
+}
+
+message cmat {
+    uint32 rows = 1;
+    uint32 cols = 2;
+    bytes v = 3;
+}
+
+message mat22 {
+    vec2 x = 1;
+    vec2 y = 2;
+}
+
+message fmat22 {
+    fvec2 x = 1;
+    fvec2 y = 2;
+}
+
+message imat22 {
+    ivec2 x = 1;
+    ivec2 y = 2;
+}
+
+message umat22 {
+    uvec2 x = 1;
+    uvec2 y = 2;
+}
+
+message mat33 {
+    vec3 x = 1;
+    vec3 y = 2;
+    vec3 z = 3;
+}
+
+message fmat33 {
+    fvec3 x = 1;
+    fvec3 y = 2;
+    fvec3 z = 3;
+}
+
+message imat33 {
+    ivec3 x = 1;
+    ivec3 y = 2;
+    ivec3 z = 3;
+}
+
+message umat33 {
+    uvec3 x = 1;
+    uvec3 y = 2;
+    uvec3 z = 3;
+}
+
+message mat44 {
+    vec4 x = 1;
+    vec4 y = 2;
+    vec4 z = 3;
+    vec4 t = 4;
+}
+
+message fmat44 {
+    fvec4 x = 1;
+    fvec4 y = 2;
+    fvec4 z = 3;
+    fvec4 t = 4;
+}
+
+message imat44 {
+    ivec4 x = 1;
+    ivec4 y = 2;
+    ivec4 z = 3;
+    ivec4 t = 4;
+}
+
+message umat44 {
+    uvec4 x = 1;
+    uvec4 y = 2;
+    uvec4 z = 3;
+    uvec4 t = 4;
+}
diff --git a/src/shared/proto/Neutron.proto b/src/shared/proto/Neutron.proto
new file mode 100644
index 00000000..2d13b2a1
--- /dev/null
+++ b/src/shared/proto/Neutron.proto
@@ -0,0 +1,15 @@
+syntax = "proto3";
+
+import "google/protobuf/descriptor.proto";
+
+enum PointerType {
+    NONE = 0;
+    RAW = 1;
+    SHARED = 2;
+    UNIQUE = 3;
+}
+
+extend google.protobuf.FieldOptions {
+    PointerType pointer = 50000;
+    uint32 array_size = 50001;
+}
diff --git a/src/shared/proto/Vector.proto b/src/shared/proto/Vector.proto
new file mode 100644
index 00000000..df4d6c22
--- /dev/null
+++ b/src/shared/proto/Vector.proto
@@ -0,0 +1,93 @@
+syntax = "proto3";
+
+message vec {
+    repeated double v = 1 [packed=true];
+}
+
+message fvec {
+    repeated float v = 1 [packed=true];
+}
+
+message ivec {
+    repeated sint32 v = 1 [packed=true];
+}
+
+message uvec {
+    repeated uint32 v = 1 [packed=true];
+}
+
+message cvec {
+    bytes v = 1;
+}
+
+message vec2 {
+     double x = 1;
+     double y = 2;
+}
+
+message fvec2 {
+     float x = 1;
+     float y = 2;
+}
+
+message ivec2 {
+     sint32 x = 1;
+     sint32 y = 2;
+}
+
+message uvec2 {
+     uint32 x = 1;
+     uint32 y = 2;
+}
+
+message vec3 {
+     double x = 1;
+     double y = 2;
+     double z = 3;
+}
+
+message fvec3 {
+     float x = 1;
+     float y = 2;
+     float z = 3;
+}
+
+message ivec3 {
+     sint32 x = 1;
+     sint32 y = 2;
+     sint32 z = 3;
+}
+
+message uvec3 {
+     uint32 x = 1;
+     uint32 y = 2;
+     uint32 z = 3;
+}
+
+message vec4 {
+     double x = 1;
+     double y = 2;
+     double z = 3;
+     double t = 4;
+}
+
+message fvec4 {
+     float x = 1;
+     float y = 2;
+     float z = 3;
+     float t = 4;
+}
+
+message ivec4 {
+     sint32 x = 1;
+     sint32 y = 2;
+     sint32 z = 3;
+     sint32 t = 4;
+}
+
+message uvec4 {
+     uint32 x = 1;
+     uint32 y = 2;
+     uint32 z = 3;
+     uint32 t = 4;
+}
diff --git a/src/shared/proto/google/protobuf/duration.proto b/src/shared/proto/google/protobuf/duration.proto
new file mode 100644
index 00000000..975fce41
--- /dev/null
+++ b/src/shared/proto/google/protobuf/duration.proto
@@ -0,0 +1,117 @@
+// Protocol Buffers - Google's data interchange format
+// Copyright 2008 Google Inc.  All rights reserved.
+// https://developers.google.com/protocol-buffers/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+syntax = "proto3";
+
+package google.protobuf;
+
+option csharp_namespace = "Google.Protobuf.WellKnownTypes";
+option cc_enable_arenas = true;
+option go_package = "github.com/golang/protobuf/ptypes/duration";
+option java_package = "com.google.protobuf";
+option java_outer_classname = "DurationProto";
+option java_multiple_files = true;
+option objc_class_prefix = "GPB";
+
+// A Duration represents a signed, fixed-length span of time represented
+// as a count of seconds and fractions of seconds at nanosecond
+// resolution. It is independent of any calendar and concepts like "day"
+// or "month". It is related to Timestamp in that the difference between
+// two Timestamp values is a Duration and it can be added or subtracted
+// from a Timestamp. Range is approximately +-10,000 years.
+//
+// # Examples
+//
+// Example 1: Compute Duration from two Timestamps in pseudo code.
+//
+//     Timestamp start = ...;
+//     Timestamp end = ...;
+//     Duration duration = ...;
+//
+//     duration.seconds = end.seconds - start.seconds;
+//     duration.nanos = end.nanos - start.nanos;
+//
+//     if (duration.seconds < 0 && duration.nanos > 0) {
+//       duration.seconds += 1;
+//       duration.nanos -= 1000000000;
+//     } else if (durations.seconds > 0 && duration.nanos < 0) {
+//       duration.seconds -= 1;
+//       duration.nanos += 1000000000;
+//     }
+//
+// Example 2: Compute Timestamp from Timestamp + Duration in pseudo code.
+//
+//     Timestamp start = ...;
+//     Duration duration = ...;
+//     Timestamp end = ...;
+//
+//     end.seconds = start.seconds + duration.seconds;
+//     end.nanos = start.nanos + duration.nanos;
+//
+//     if (end.nanos < 0) {
+//       end.seconds -= 1;
+//       end.nanos += 1000000000;
+//     } else if (end.nanos >= 1000000000) {
+//       end.seconds += 1;
+//       end.nanos -= 1000000000;
+//     }
+//
+// Example 3: Compute Duration from datetime.timedelta in Python.
+//
+//     td = datetime.timedelta(days=3, minutes=10)
+//     duration = Duration()
+//     duration.FromTimedelta(td)
+//
+// # JSON Mapping
+//
+// In JSON format, the Duration type is encoded as a string rather than an
+// object, where the string ends in the suffix "s" (indicating seconds) and
+// is preceded by the number of seconds, with nanoseconds expressed as
+// fractional seconds. For example, 3 seconds with 0 nanoseconds should be
+// encoded in JSON format as "3s", while 3 seconds and 1 nanosecond should
+// be expressed in JSON format as "3.000000001s", and 3 seconds and 1
+// microsecond should be expressed in JSON format as "3.000001s".
+//
+//
+message Duration {
+
+  // Signed seconds of the span of time. Must be from -315,576,000,000
+  // to +315,576,000,000 inclusive. Note: these bounds are computed from:
+  // 60 sec/min * 60 min/hr * 24 hr/day * 365.25 days/year * 10000 years
+  int64 seconds = 1;
+
+  // Signed fractions of a second at nanosecond resolution of the span
+  // of time. Durations less than one second are represented with a 0
+  // `seconds` field and a positive or negative `nanos` field. For durations
+  // of one second or more, a non-zero value for the `nanos` field must be
+  // of the same sign as the `seconds` field. Must be from -999,999,999
+  // to +999,999,999 inclusive.
+  int32 nanos = 2;
+}
diff --git a/src/shared/proto/google/protobuf/timestamp.proto b/src/shared/proto/google/protobuf/timestamp.proto
new file mode 100644
index 00000000..b7cbd175
--- /dev/null
+++ b/src/shared/proto/google/protobuf/timestamp.proto
@@ -0,0 +1,133 @@
+// Protocol Buffers - Google's data interchange format
+// Copyright 2008 Google Inc.  All rights reserved.
+// https://developers.google.com/protocol-buffers/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+syntax = "proto3";
+
+package google.protobuf;
+
+option csharp_namespace = "Google.Protobuf.WellKnownTypes";
+option cc_enable_arenas = true;
+option go_package = "github.com/golang/protobuf/ptypes/timestamp";
+option java_package = "com.google.protobuf";
+option java_outer_classname = "TimestampProto";
+option java_multiple_files = true;
+option objc_class_prefix = "GPB";
+
+// A Timestamp represents a point in time independent of any time zone
+// or calendar, represented as seconds and fractions of seconds at
+// nanosecond resolution in UTC Epoch time. It is encoded using the
+// Proleptic Gregorian Calendar which extends the Gregorian calendar
+// backwards to year one. It is encoded assuming all minutes are 60
+// seconds long, i.e. leap seconds are "smeared" so that no leap second
+// table is needed for interpretation. 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 date strings.
+// See [https://www.ietf.org/rfc/rfc3339.txt](https://www.ietf.org/rfc/rfc3339.txt).
+//
+// # 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 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, though only UTC (as indicated by "Z") is presently supported.
+//
+// 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.
+//
+//
+message Timestamp {
+
+  // Represents seconds of UTC time since Unix epoch
+  // 1970-01-01T00:00:00Z. Must be from 0001-01-01T00:00:00Z to
+  // 9999-12-31T23:59:59Z inclusive.
+  int64 seconds = 1;
+
+  // Non-negative fractions of a second at nanosecond resolution. Negative
+  // second values with fractions must still have non-negative nanos values
+  // that count forward in time. Must be from 0 to 999,999,999
+  // inclusive.
+  int32 nanos = 2;
+}
diff --git a/src/shared/proto/message/Geometry.proto b/src/shared/proto/message/Geometry.proto
new file mode 100644
index 00000000..9aa8741a
--- /dev/null
+++ b/src/shared/proto/message/Geometry.proto
@@ -0,0 +1,51 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+
+syntax = "proto3";
+
+package message;
+
+import "Vector.proto";
+import "Matrix.proto";
+
+message Line {
+    vec2 normal = 1;
+    double distance = 2;
+}
+
+message Circle {
+	double radius = 1;
+	vec2 centre = 2;
+}
+
+message Ellipse {
+    // See http://en.wikipedia.org/wiki/Matrix_representation_of_conic_sections
+    mat33 ellipse = 1;
+}
+
+message Quad {
+    vec2 tl = 1;
+    vec2 tr = 2;
+    vec2 bl = 3;
+    vec2 br = 4;
+}
+
+message Polygon {
+    vec2 point = 1;
+}
\ No newline at end of file
diff --git a/src/shared/proto/message/audio/Beat.proto b/src/shared/proto/message/audio/Beat.proto
new file mode 100644
index 00000000..a3088995
--- /dev/null
+++ b/src/shared/proto/message/audio/Beat.proto
@@ -0,0 +1,29 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.audio;
+
+import "google/protobuf/timestamp.proto";
+import "google/protobuf/duration.proto";
+
+message Beat {
+    google.protobuf.Timestamp timestamp = 1;
+    google.protobuf.Duration period = 2;
+}
diff --git a/src/shared/proto/message/behaviour/Behaviour.proto b/src/shared/proto/message/behaviour/Behaviour.proto
new file mode 100644
index 00000000..a819f2de
--- /dev/null
+++ b/src/shared/proto/message/behaviour/Behaviour.proto
@@ -0,0 +1,45 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2015 NUBots <nubots@nubots.net>
+ */
+
+syntax = "proto3";
+
+package message.behaviour;
+
+message Behaviour {
+
+    enum State {
+        UNKNOWN          = 0;
+        INIT             = 1;
+        SEARCH_FOR_BALL  = 2;
+        SEARCH_FOR_GOALS = 3;
+        WALK_TO_BALL     = 4;
+        PICKED_UP        = 5;
+        INITIAL          = 6;
+        READY            = 7;
+        SET              = 8;
+        TIMEOUT          = 9;
+        FINISHED         = 10;
+        PENALISED        = 11;
+        GOALIE_WALK      = 12;
+        MOVE_TO_CENTRE   = 13;
+        LOCALISING       = 14;
+    }
+
+    State state = 1;
+}
diff --git a/src/shared/proto/message/behaviour/FieldTarget.proto b/src/shared/proto/message/behaviour/FieldTarget.proto
new file mode 100644
index 00000000..69ae5cac
--- /dev/null
+++ b/src/shared/proto/message/behaviour/FieldTarget.proto
@@ -0,0 +1,33 @@
+
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.behaviour;
+
+message FieldTarget {
+	enum Target {
+		SELF = 0;
+		BALL = 1;
+		GOAL = 2;
+	}
+
+	Target target = 1;
+}
+
diff --git a/src/shared/proto/message/behaviour/FixedWalkCommand.proto b/src/shared/proto/message/behaviour/FixedWalkCommand.proto
new file mode 100644
index 00000000..532a7271
--- /dev/null
+++ b/src/shared/proto/message/behaviour/FixedWalkCommand.proto
@@ -0,0 +1,44 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.behaviour;
+
+import "google/protobuf/duration.proto";
+import "Vector.proto";
+
+message FixedWalkFinished { }
+message WalkConfigSaved { }
+message CancelFixedWalk { }
+
+message WalkOptimiserCommand {
+    string walkConfig = 1;
+}
+
+message FixedWalkCommand {
+    message WalkSegment {
+        vec2 direction = 1;
+        double curvePeriod = 2;
+        double normalisedVelocity = 3;
+        double normalisedAngularVelocity = 4;
+        google.protobuf.Duration duration = 5;
+    };
+
+    repeated WalkSegment segments = 1;
+}
diff --git a/src/shared/proto/message/behaviour/KickPlan.proto b/src/shared/proto/message/behaviour/KickPlan.proto
new file mode 100644
index 00000000..a76e2f92
--- /dev/null
+++ b/src/shared/proto/message/behaviour/KickPlan.proto
@@ -0,0 +1,37 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.behaviour;
+
+import "Vector.proto";
+
+message KickPlan {
+	enum KickType {
+		SCRIPTED = 0;
+		IK_KICK  = 1;
+	}
+
+	vec2     target   = 1;
+	KickType kickType = 2;
+}
+
+message WantsToKick {
+	bool kick = 1;
+}
diff --git a/src/shared/proto/message/behaviour/Look.proto b/src/shared/proto/message/behaviour/Look.proto
new file mode 100644
index 00000000..089c3971
--- /dev/null
+++ b/src/shared/proto/message/behaviour/Look.proto
@@ -0,0 +1,46 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.behaviour;
+
+import "google/protobuf/duration.proto";
+import "Vector.proto";
+
+message Look {
+    message Fixation {
+        vec2 angle = 1;
+        vec2 arcSize = 2;
+    }
+
+    message Saccade {
+        google.protobuf.Duration dwellTime = 1;
+        vec2 angle = 2;
+        vec2 arcSize = 3;
+    }
+
+    message Pan {
+        vec2 angle = 1;
+        vec2 arcSize = 2;
+    }
+
+    message PanSelection {
+        bool lookAtGoalInsteadOfBall = 1;
+    }
+}
diff --git a/src/shared/proto/message/behaviour/MotionCommand.proto b/src/shared/proto/message/behaviour/MotionCommand.proto
new file mode 100644
index 00000000..b9870868
--- /dev/null
+++ b/src/shared/proto/message/behaviour/MotionCommand.proto
@@ -0,0 +1,45 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.behaviour;
+
+import "Vector.proto";
+
+message MotionCommand {
+    // Defines the possible types of motion command:
+    enum Type {
+        StandStill    = 0;    // Stop moving and just stand still, (equivalent to a VelocityCommand of {0} m/s).
+        WalkToState   = 1;   // Walk to a given position and heading on the field, avoiding obstacles.
+        BallApproach  = 2;  // Approach the ball, ready to perform a forward kick toward the given kickTarget. Avoids obstacles.
+        DirectCommand = 3; // Stop all current motion and directly send the given WalkCommand to the WalkEngine.
+    }
+
+    // The type of this motion command:
+    Type type        = 1;
+
+    // Required data for WalkToState command:
+    vec3 goalState   = 2;
+
+    // Required data for WalkToBall command:
+    vec2 kickTarget  = 3;
+
+    // Required data for DirectCommand command:
+    vec3 walkCommand = 4;
+}
diff --git a/src/shared/proto/message/behaviour/Nod.proto b/src/shared/proto/message/behaviour/Nod.proto
new file mode 100644
index 00000000..897ccff3
--- /dev/null
+++ b/src/shared/proto/message/behaviour/Nod.proto
@@ -0,0 +1,25 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2016 NUbots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.behaviour;
+
+message Nod {
+	bool value = 1;
+}
diff --git a/src/shared/proto/message/behaviour/ServoCommand.proto b/src/shared/proto/message/behaviour/ServoCommand.proto
new file mode 100644
index 00000000..ca5ee8bd
--- /dev/null
+++ b/src/shared/proto/message/behaviour/ServoCommand.proto
@@ -0,0 +1,32 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.behaviour;
+
+import "google/protobuf/timestamp.proto";
+
+message ServoCommand {
+    uint64                    source   = 1;
+    google.protobuf.Timestamp time     = 2;
+    uint32                    id       = 3;
+    float                     position = 4;
+    float                     gain     = 5;
+    float                     torque   = 6;
+}
diff --git a/src/shared/proto/message/behaviour/SoccerObjectPriority.proto b/src/shared/proto/message/behaviour/SoccerObjectPriority.proto
new file mode 100644
index 00000000..b6a6cb70
--- /dev/null
+++ b/src/shared/proto/message/behaviour/SoccerObjectPriority.proto
@@ -0,0 +1,39 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.behaviour;
+
+message SoccerObjectPriority {
+    enum SearchType {
+        LOST = 0;
+        FIND_ADDITIONAL_OBJECTS = 1;
+        GOAL_SEARCH = 2;
+        GOAL_LEFT = 3;
+        GOAL_RIGHT = 4;
+        GROUND_LEFT = 5;
+        GROUND_RIGHT = 6;
+        OTHE = 7;
+    }
+
+    int32 ball = 1;
+    int32 goal = 2;
+    int32 line = 3;
+    SearchType searchType = 4;
+}
diff --git a/src/shared/proto/message/behaviour/Subsumption.proto b/src/shared/proto/message/behaviour/Subsumption.proto
new file mode 100644
index 00000000..ece4108e
--- /dev/null
+++ b/src/shared/proto/message/behaviour/Subsumption.proto
@@ -0,0 +1,57 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+
+syntax = "proto3";
+
+package message.behaviour;
+
+message Subsumption {
+
+    message LimbSet {
+        float           priority = 1;
+        repeated uint32 limbs    = 2;
+    }
+
+    message ActionRegister {
+        uint32           id       = 1;
+        string           name     = 2;
+        repeated LimbSet limb_set = 3;
+    }
+
+    message ActionStateChange {
+        enum State {
+            UNKNOWN = 0;
+            START   = 1;
+            KILL    = 2;
+        }
+
+        State           state = 1;
+        string          name  = 2;
+        repeated uint32 limbs = 3;
+    }
+
+    message ActionPriorites {
+        uint32         id         = 1;
+        repeated float priorities = 2;
+    }
+
+    repeated ActionRegister    action_register        = 1;
+    repeated ActionStateChange action_state_change    = 2;
+    repeated ActionPriorites   action_priority_change = 3;
+}
diff --git a/src/shared/proto/message/behaviour/WalkPath.proto b/src/shared/proto/message/behaviour/WalkPath.proto
new file mode 100644
index 00000000..de0583e8
--- /dev/null
+++ b/src/shared/proto/message/behaviour/WalkPath.proto
@@ -0,0 +1,39 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2015 NUBots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.behaviour;
+
+import "message/behaviour/MotionCommand.proto";
+import "Vector.proto";
+
+message WalkPath {
+	// Sequence of robot states that form a path:
+	repeated vec3 states = 1;
+
+	// The ball position and target bearing at the time of planning:
+	vec3 ballSpace = 2;
+
+	// The start and goal states used for planning:
+	vec3 start = 3;
+	vec3 goal = 4;
+
+	// The motion command for which this plan was generated:
+	MotionCommand command = 5; // [default = MotionCommand.StandStill]
+}
diff --git a/src/shared/proto/message/input/CameraParameters.proto b/src/shared/proto/message/input/CameraParameters.proto
new file mode 100644
index 00000000..8aff6b3b
--- /dev/null
+++ b/src/shared/proto/message/input/CameraParameters.proto
@@ -0,0 +1,31 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.input;
+
+import "Vector.proto";
+
+message CameraParameters {
+    uvec2  imageSizePixels        = 1;
+    vec2   FOV                    = 2;
+    vec2   pixelsToTanThetaFactor = 3;
+    double focalLengthPixels      = 4;
+    double distortionFactor       = 5;
+}
diff --git a/src/shared/proto/message/input/GameEvents.proto b/src/shared/proto/message/input/GameEvents.proto
new file mode 100644
index 00000000..08859c7d
--- /dev/null
+++ b/src/shared/proto/message/input/GameEvents.proto
@@ -0,0 +1,106 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.input;
+
+import "google/protobuf/timestamp.proto";
+import "message/input/GameState.proto";
+
+message GameEvents {
+
+    enum Context {
+        UNKNOWN_CONTEXT = 0;
+        SELF            = 1;
+        TEAM            = 2;
+        OPPONENT        = 3;
+        UNKNOWN         = 4;
+    };
+
+    enum TeamColour {
+        UNKNOWN_TEAM_COLOUR = 0;
+        CYAN                = 1;
+        MAGENTA             = 2;
+    };
+
+    message Score {
+        uint32 ownScore = 1;
+        uint32 opponentScore = 2;
+    }
+
+    message GoalScored {
+        Context context = 1;
+        uint32 totalScore = 2;
+    }
+
+    message Penalisation {
+        Context context = 1;
+        uint32 robotId = 2;
+        google.protobuf.Timestamp ends = 3;
+        GameState.Data.PenaltyReason reason = 4;
+    }
+
+    message Unpenalisation {
+        Context context = 1;
+        uint32 robotId = 2;
+    }
+
+    message CoachMessage {
+        Context context = 1;
+        string message = 2;
+    }
+
+    message HalfTime {
+        bool firstHalf = 1;
+    }
+
+    message BallKickedOut {
+        Context context = 1;
+        google.protobuf.Timestamp time = 3;
+    }
+
+    message KickOffTeam {
+        Context context = 1;
+    }
+
+    message GamePhase {
+        GameState.Data.Phase phase          = 1;
+
+        // INITIAL
+
+        // READY
+        google.protobuf.Timestamp readyTime = 2;
+
+        // SET
+
+        // PLAYING
+        google.protobuf.Timestamp endHalf   = 3;
+        google.protobuf.Timestamp ballFree  = 4;
+
+        // TIMEOUT
+        google.protobuf.Timestamp ends      = 5;
+
+        // FINISHED
+        google.protobuf.Timestamp nextHalf  = 6;
+    }
+
+    message GameMode {
+        GameState.Data.Mode mode = 1;
+    }
+}
diff --git a/src/shared/proto/message/input/GameState.proto b/src/shared/proto/message/input/GameState.proto
new file mode 100644
index 00000000..3f3de1d4
--- /dev/null
+++ b/src/shared/proto/message/input/GameState.proto
@@ -0,0 +1,86 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.input;
+
+import "google/protobuf/timestamp.proto";
+
+message GameState {
+    message Data {
+        enum Mode {
+            UNKNOWN_MODE     = 0;
+            NORMAL           = 1;
+            PENALTY_SHOOTOUT = 2;
+            OVERTIME         = 3;
+        }
+
+        enum Phase {
+            UNKNOWN_PHASE = 0;
+            INITIAL       = 1;
+            READY         = 2;
+            SET           = 3;
+            PLAYING       = 4;
+            TIMEOUT       = 5;
+            FINISHED      = 6;
+        }
+
+        enum PenaltyReason {
+            UNKNOWN_PENALTY_REASON        = 0;
+            UNPENALISED                   = 1;
+            BALL_MANIPULATION             = 2;
+            PHYSICAL_CONTACT              = 3;
+            ILLEGAL_ATTACK                = 4;
+            ILLEGAL_DEFENSE               = 5;
+            REQUEST_FOR_PICKUP            = 6;
+            REQUEST_FOR_SERVICE           = 7;
+            REQUEST_FOR_PICKUP_TO_SERVICE = 8;
+            SUBSTITUTE                    = 9;
+            MANUAL                        = 10;
+        }
+
+        message Robot {
+            uint32                    id             = 1;
+            PenaltyReason             penalty_reason = 2;
+            google.protobuf.Timestamp unpenalised    = 3;
+        }
+
+        message Team {
+            uint32 team_id         = 1; // unique team number
+            uint32 score           = 2; // team's score
+            string coach_message   = 3; // the coach's message to the team
+            repeated Robot players = 4;
+        }
+
+        Phase phase                               = 1;
+        Mode mode                                 = 2;
+        bool first_half                           = 3;
+        bool kicked_out_by_us                     = 4;
+        google.protobuf.Timestamp kicked_out_time = 5;
+        bool our_kick_off                         = 6;
+        google.protobuf.Timestamp primary_time    = 7;
+        google.protobuf.Timestamp secondary_time  = 8;
+        Team team                                 = 9;
+        Team opponent                             = 10;
+        Robot self                                = 11;
+    }
+
+    Data data = 1;
+    string event = 2;
+}
\ No newline at end of file
diff --git a/src/shared/proto/message/input/Image.proto b/src/shared/proto/message/input/Image.proto
new file mode 100644
index 00000000..c686c142
--- /dev/null
+++ b/src/shared/proto/message/input/Image.proto
@@ -0,0 +1,34 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+
+syntax = "proto3";
+
+package message.input;
+
+import "google/protobuf/timestamp.proto";
+import "Vector.proto";
+
+message Image {
+    uint32                    format       = 1;
+    uvec2                     dimensions   = 2;
+    bytes                     data         = 3;
+    uint32                    camera_id    = 4;
+    string                    serialNumber = 5;
+    google.protobuf.Timestamp timestamp    = 6;
+}
diff --git a/src/shared/proto/message/input/ImageFragment.proto b/src/shared/proto/message/input/ImageFragment.proto
new file mode 100644
index 00000000..310db40d
--- /dev/null
+++ b/src/shared/proto/message/input/ImageFragment.proto
@@ -0,0 +1,33 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+
+syntax = "proto3";
+
+package message.input;
+
+import "Matrix.proto";
+import "message/input/Image.proto";
+
+message ImageFragment {
+
+    Image  image       = 1;
+    uint32 start       = 5;
+    uint32 end         = 6;
+    fmat44 cam_to_feet = 7;
+}
diff --git a/src/shared/proto/message/input/MotionCapture.proto b/src/shared/proto/message/input/MotionCapture.proto
new file mode 100644
index 00000000..80d87e51
--- /dev/null
+++ b/src/shared/proto/message/input/MotionCapture.proto
@@ -0,0 +1,91 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+
+syntax = "proto3";
+
+package message.input;
+
+import "Vector.proto";
+
+message MotionCapture {
+    message Marker {
+        uint32        id       = 1;
+        fvec3         position = 2;
+        float         size     = 3;
+    }
+
+    message MarkerSet {
+        string          name    = 1;
+        repeated Marker markers = 2;
+    }
+
+    message RigidBody {
+        uint32          id            = 1;
+        fvec3           position      = 2;
+        fvec4           rotation      = 3;
+        repeated Marker markers       = 4;
+        float           error         = 5;
+        bool            trackingValid = 6;
+
+        // Information added by the model
+        string          name          = 7;
+        fvec3           offset        = 8;
+        uint32          parent        = 9;
+        repeated uint32 children      = 10;
+    }
+
+    message Skeleton {
+        uint32             id    = 1;
+        repeated RigidBody bones = 2;
+
+        // Information added by the model
+        string             name  = 3;
+    }
+
+    message LabeledMarker {
+        Marker        marker           = 1;
+        bool          occluded         = 2;
+        bool          pointCloudSolved = 3;
+        bool          modelSolved      = 4;
+    }
+
+    message Channel {
+        repeated float channel = 1;
+    }
+
+    message ForcePlate {
+        uint32           id       = 1;
+        repeated Channel channels = 2;
+    }
+
+    uint32                 frameNumber          = 1;
+    float                  latency              = 2;
+    uint32                 timecode             = 3;
+    uint32                 timecodeSub          = 4;
+    double                 timestamp            = 5;
+    bool                   recording            = 6;
+    bool                   trackedModelsChanged = 7;
+
+    repeated MarkerSet     markerSets           = 8;
+    repeated Marker        markers              = 9;
+    repeated RigidBody     rigidBodies          = 10;
+    repeated Skeleton      skeletons            = 11;
+    repeated LabeledMarker labeledMarkers       = 12;
+    repeated ForcePlate    forcePlates          = 13;
+}
diff --git a/src/shared/proto/message/input/PostureRecognition.proto b/src/shared/proto/message/input/PostureRecognition.proto
new file mode 100644
index 00000000..d9bb1ac5
--- /dev/null
+++ b/src/shared/proto/message/input/PostureRecognition.proto
@@ -0,0 +1,33 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2015 NUBots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.input;
+
+message WalkingDetected  {}
+message BendingDetected  {}
+message KickingDetected  {}
+message SittingDetected  {}
+message StandingDetected {}
+
+message FallingDetected {
+    double x = 1;
+    double y = 2;
+    double z = 3;
+}
diff --git a/src/shared/proto/message/input/PresenceUserState.proto b/src/shared/proto/message/input/PresenceUserState.proto
new file mode 100644
index 00000000..fd942205
--- /dev/null
+++ b/src/shared/proto/message/input/PresenceUserState.proto
@@ -0,0 +1,30 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+
+syntax = "proto3";
+
+package message.input;
+
+import "Matrix.proto";
+
+message PresenceUserState {
+
+    fmat44 head_pose = 1;
+
+}
\ No newline at end of file
diff --git a/src/shared/proto/message/input/PushDetection.proto b/src/shared/proto/message/input/PushDetection.proto
new file mode 100644
index 00000000..aaff06b4
--- /dev/null
+++ b/src/shared/proto/message/input/PushDetection.proto
@@ -0,0 +1,25 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2015 NUBots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.input;
+
+message PushDetection {
+	bool forward = 1;
+}
diff --git a/src/shared/proto/message/input/Sensors.proto b/src/shared/proto/message/input/Sensors.proto
new file mode 100644
index 00000000..d2a9bcee
--- /dev/null
+++ b/src/shared/proto/message/input/Sensors.proto
@@ -0,0 +1,86 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+
+syntax = "proto3";
+
+package message.input;
+
+import "google/protobuf/timestamp.proto";
+import "Vector.proto";
+import "Matrix.proto";
+
+message Sensors {
+
+    message Servo {
+        uint32 errorFlags      = 1;
+        uint32 id              = 2;
+        bool   enabled         = 3;
+        float  pGain           = 4;
+        float  iGain           = 5;
+        float  dGain           = 6;
+        float  goalPosition    = 7;
+        float  goalVelocity    = 8;
+        float  presentPosition = 9;
+        float  presentVelocity = 10;
+        float  load            = 11;
+        float  voltage         = 12;
+        float  temperature     = 13;
+    }
+
+    message Button {
+        uint32 id    = 1;
+        bool   value = 2;
+    }
+
+    message LED {
+        uint32 id     = 1;
+        uint32 colour = 2;
+    }
+
+    message FSR {
+        repeated float value  = 1 [packed=true];
+        vec2           centre = 2;
+    }
+
+    google.protobuf.Timestamp     timestamp               = 1;
+    vec3                          accelerometer           = 2;
+    vec3                          gyroscope               = 3;
+
+    /// This is the transform from the odometry (world) space to robot space (=Htw). It measures the world in robot space.
+    mat44                         world                   = 4;
+    repeated FSR                  fsr                     = 5;
+    repeated Servo                servo                   = 6;
+    repeated Button               button                  = 7;
+    repeated LED                  led                     = 8;
+    float                         voltage                 = 9;
+    float                         battery                 = 10;
+    vec3                          centreOfPressure        = 11;
+    mat22                         robotToIMU              = 12;
+
+    /// Percentage of the left foot that's considered "down" i.e. if 3/4 FSR sensors have weight this is 0.75
+    bool                          leftFootDown            = 13;
+    bool                          rightFootDown           = 14;
+
+    // Because you can't have a enum type as the key in a map.
+    map<uint32, mat44>            forwardKinematics       = 15;
+    float                         bodyCentreHeight        = 16;
+    vec4                          centreOfMass            = 17;
+    mat44                         bodyToGround            = 18;
+    mat44                         camToGround             = 19;
+}
diff --git a/src/shared/proto/message/input/SoundChunk.proto b/src/shared/proto/message/input/SoundChunk.proto
new file mode 100644
index 00000000..04b3daa9
--- /dev/null
+++ b/src/shared/proto/message/input/SoundChunk.proto
@@ -0,0 +1,52 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.input;
+
+import "google/protobuf/timestamp.proto";
+
+/**
+ * TODO document
+ *
+ * @author Trent Houliston
+ */
+message SoundChunkSettings {
+    /// The number of samples that are taken each second for the sound chunks
+    uint64 sampleRate = 1;
+    /// The number of channels that the sound chunks will have
+    uint64 channels   = 2;
+    /// The number of frames (a frame is a single sample for all channels) that each emitted chunk will have
+    uint64 chunkSize  = 3;
+}
+
+message SoundFileStart {
+    string                    fileName = 1;
+    google.protobuf.Timestamp time     = 2;
+}
+
+/**
+ * TODO document
+ *
+ * @author Jake Woods
+ */
+ message SoundChunk {
+    google.protobuf.Timestamp endTime = 1;
+    repeated int32            data    = 2;          // Be sure to cast to int16!
+ }
diff --git a/src/shared/proto/message/localisation/FieldObject.proto b/src/shared/proto/message/localisation/FieldObject.proto
new file mode 100644
index 00000000..32a26e1d
--- /dev/null
+++ b/src/shared/proto/message/localisation/FieldObject.proto
@@ -0,0 +1,52 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.localisation;
+
+import "google/protobuf/timestamp.proto";
+import "Matrix.proto";
+import "Vector.proto";
+import "message/localisation/Localisation.proto";
+
+// Sent to NUbugger
+message FieldObject {
+    string name           = 1;
+    repeated Model models = 2;
+}
+
+message LocalisationObject {
+    vec2                      position              = 1;
+    mat22                     position_cov          = 2;
+    google.protobuf.Timestamp last_measurement_time = 3;
+}
+
+message Ball {
+    LocalisationObject locObject   = 1;
+    vec2               velocity    = 2;
+    bool               world_space = 3; // Ball will always be in robot space except
+                                        // when sent from MockRobot.
+}
+
+message Self {
+    LocalisationObject locObject               = 1;
+    vec2               heading                 = 2; //robot face direction (vector 2)
+    vec2               velocity                = 3; //robot velocity (vector 2)
+    mat22              robot_to_world_rotation = 4; //??might not be useful
+}
diff --git a/src/shared/proto/message/localisation/Localisation.proto b/src/shared/proto/message/localisation/Localisation.proto
new file mode 100644
index 00000000..fa11eef1
--- /dev/null
+++ b/src/shared/proto/message/localisation/Localisation.proto
@@ -0,0 +1,50 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.localisation;
+
+message Model {
+    uint32 model_id   = 1;
+
+    float  wm_x       = 2;  //world model x
+    float  wm_y       = 3;  //world model y
+
+    float  sd_x       = 4;
+    float  sd_y       = 5;
+
+    float  sr_xx      = 6;  //covariance
+    float  sr_xy      = 7;
+    float  sr_yy      = 8;
+
+    float  heading    = 9;  //direction
+    float  sd_heading = 10;  //stdev
+
+    bool   lost       = 11;
+}
+
+message LocalisationFieldObject {
+    string name = 1;
+
+    repeated Model models = 2;
+}
+
+message Localisation {
+    repeated LocalisationFieldObject field_object = 1;
+}
diff --git a/src/shared/proto/message/localisation/ResetRobotHypotheses.proto b/src/shared/proto/message/localisation/ResetRobotHypotheses.proto
new file mode 100644
index 00000000..a0cb3187
--- /dev/null
+++ b/src/shared/proto/message/localisation/ResetRobotHypotheses.proto
@@ -0,0 +1,36 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.localisation;
+
+import "Matrix.proto";
+import "Vector.proto";
+
+message ResetRobotHypotheses {
+	message Self {
+	    vec2   position     = 1;
+	    mat22  position_cov = 2;
+	    double heading      = 3;
+	    double heading_var  = 4;
+	    bool   absoluteYaw  = 5;
+	}
+
+    repeated Self hypotheses = 1;
+}
diff --git a/src/shared/proto/message/localisation/SideChecker.proto b/src/shared/proto/message/localisation/SideChecker.proto
new file mode 100644
index 00000000..8af84a4f
--- /dev/null
+++ b/src/shared/proto/message/localisation/SideChecker.proto
@@ -0,0 +1,23 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2015 NUBots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.localisation;
+
+message SideCheckingComplete {}
diff --git a/src/shared/proto/message/motion/BalanceCommand.proto b/src/shared/proto/message/motion/BalanceCommand.proto
new file mode 100644
index 00000000..9d39cb05
--- /dev/null
+++ b/src/shared/proto/message/motion/BalanceCommand.proto
@@ -0,0 +1,36 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.motion;
+
+import "Matrix.proto";
+import "Vector.proto";
+
+message BalanceBodyUpdate {
+    double phase        = 1;
+    mat44  leftFoot     = 2;
+    mat44  rightFoot    = 3;
+    vec3   armLPosition = 4;
+    vec3   armRPosition = 5;
+
+}
+
+message EnableBalanceResponse  {}
+message DisableBalanceResponse {}
diff --git a/src/shared/proto/message/motion/DiveCommand.proto b/src/shared/proto/message/motion/DiveCommand.proto
new file mode 100644
index 00000000..9d93216a
--- /dev/null
+++ b/src/shared/proto/message/motion/DiveCommand.proto
@@ -0,0 +1,29 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.motion;
+
+import "Vector.proto";
+
+message DiveCommand {
+    vec2 direction = 1;
+}
+
+message DiveFinished {}
diff --git a/src/shared/proto/message/motion/FootMotionCommand.proto b/src/shared/proto/message/motion/FootMotionCommand.proto
new file mode 100644
index 00000000..15ba6fa0
--- /dev/null
+++ b/src/shared/proto/message/motion/FootMotionCommand.proto
@@ -0,0 +1,54 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.motion;
+
+import "Matrix.proto";
+import "Vector.proto";
+
+message FootMotionStopped {}
+
+message FootMotionUpdate {
+    double phase             = 1;
+    uint32 activeForwardLimb = 2;
+    vec3   leftFoot2D        = 3;
+    vec3   rightFoot2D       = 4;
+    mat44  leftFoot3D        = 5;
+    mat44  rightFoot3D       = 6;
+}
+
+message NextFootTargetInfo {
+    vec3 leftFootSource       = 1;
+    vec3 rightFootSource      = 2;
+    vec3 supportMass          = 3;
+    vec3 leftFootDestination  = 4;
+    vec3 rightFootDestination = 5;
+}
+
+message FootStepRequested {
+    bool status = 1;
+}
+
+message FootStepCompleted {
+    bool status = 1;
+}
+
+message EnableFootMotion  {}
+message DisableFootMotion {}
diff --git a/src/shared/proto/message/motion/FootPlacementCommand.proto b/src/shared/proto/message/motion/FootPlacementCommand.proto
new file mode 100644
index 00000000..6f51b1bf
--- /dev/null
+++ b/src/shared/proto/message/motion/FootPlacementCommand.proto
@@ -0,0 +1,42 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.motion;
+
+import "Vector.proto";
+
+message FootPlacementStopped {}
+
+message NewStepTargetInfo {
+    double targetTime        = 1;
+    vec3   velocityCurrent   = 2;
+    uint32 activeForwardLimb = 3;
+}
+
+message NewFootTargetInfo {
+    vec3 leftFootSource       = 1;
+    vec3 rightFootSource      = 2;
+    vec3 supportMass          = 3;
+    vec3 leftFootDestination  = 4;
+    vec3 rightFootDestination = 5;
+}
+
+message EnableFootPlacement  {}
+message DisableFootPlacement {}
diff --git a/src/shared/proto/message/motion/GetupCommand.proto b/src/shared/proto/message/motion/GetupCommand.proto
new file mode 100644
index 00000000..e739767b
--- /dev/null
+++ b/src/shared/proto/message/motion/GetupCommand.proto
@@ -0,0 +1,24 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.motion;
+
+message ExecuteGetup {} 
+message KillGetup    {}
diff --git a/src/shared/proto/message/motion/HeadCommand.proto b/src/shared/proto/message/motion/HeadCommand.proto
new file mode 100644
index 00000000..5c0b1516
--- /dev/null
+++ b/src/shared/proto/message/motion/HeadCommand.proto
@@ -0,0 +1,37 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.motion;
+
+/**
+ * Tell the head where to look in world space.
+ * This command is interpreted such that the robot will use IMU data to fixate at these angles in the world even when rotating.
+ *
+ * @author Jake Fountain
+ */
+message HeadCommand {
+    float yaw        = 1;
+    float pitch      = 2;
+    bool  robotSpace = 3; // if true, the yaw and pitch are interpreted in robot space, instead of IMU space
+}
+
+message HeadMotionUpdate {
+    //TODO...
+}
diff --git a/src/shared/proto/message/motion/KickCommand.proto b/src/shared/proto/message/motion/KickCommand.proto
new file mode 100644
index 00000000..69521b45
--- /dev/null
+++ b/src/shared/proto/message/motion/KickCommand.proto
@@ -0,0 +1,64 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.motion;
+
+import "Vector.proto";
+
+/**
+ * TODO document
+ *
+ * @author Trent Houliston
+ * @author Brendan Annable
+ */
+enum KickCommandType {
+    NORMAL = 0;
+    POWER  = 1;
+}
+
+message KickCommand {
+    vec3            target          = 1; // The point to kick
+    vec3            direction       = 2; // force is the magnitude
+    KickCommandType kickCommandType = 3;
+}
+
+/**
+ * TODO document
+ *
+ * @author Trent Houliston
+ * @author Brendan Annable
+ */
+message KickScriptCommand {
+    vec3   direction = 1; // Direction to kick with magnitude determining force
+    uint32 leg       = 2; // Leg to kick with
+}
+
+message KickPlannerConfig {
+    float max_ball_distance        = 1;
+    float kick_corridor_width      = 2;
+    float seconds_not_seen_limit   = 3;
+    float kick_forward_angle_limit = 4;
+}
+
+message KickFinished {}
+
+message IKKickParams {
+    float stand_height = 1;
+}
diff --git a/src/shared/proto/message/motion/KinematicsModels.proto b/src/shared/proto/message/motion/KinematicsModels.proto
new file mode 100644
index 00000000..c7f02680
--- /dev/null
+++ b/src/shared/proto/message/motion/KinematicsModels.proto
@@ -0,0 +1,118 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.motion;
+
+import "Vector.proto";
+
+enum BodySide {
+    LEFT  = 0;
+    RIGHT = 1;
+}
+
+message KinematicsModel {
+    //Convention: all values positive
+    message Leg {
+        float HIP_OFFSET_X                = 1;
+        float HIP_OFFSET_Y                = 2;
+        float HIP_OFFSET_Z                = 3;
+        float UPPER_LEG_LENGTH            = 4;
+        float LOWER_LEG_LENGTH            = 5;
+        float FOOT_HEIGHT                 = 6;
+        float FOOT_LENGTH                 = 7;
+        float TOE_LENGTH                  = 8;
+        float HEEL_LENGTH                 = 9;
+        float FOOT_WIDTH                  = 10;
+        float FOOT_CENTRE_TO_ANKLE_CENTRE = 11;
+        float LENGTH_BETWEEN_LEGS         = 12;
+        int32 LEFT_TO_RIGHT_HIP_YAW       = 13;
+        int32 LEFT_TO_RIGHT_HIP_ROLL      = 14;
+        int32 LEFT_TO_RIGHT_HIP_PITCH     = 15;
+        int32 LEFT_TO_RIGHT_KNEE          = 16;
+        int32 LEFT_TO_RIGHT_ANKLE_PITCH   = 17;
+        int32 LEFT_TO_RIGHT_ANKLE_ROLL    = 18;
+    }
+
+    message Head {
+        float NECK_BASE_POS_FROM_ORIGIN_X     = 1;
+        float NECK_BASE_POS_FROM_ORIGIN_Y     = 2;
+        float NECK_BASE_POS_FROM_ORIGIN_Z     = 3;
+        float NECK_LENGTH                     = 4;
+        float NECK_TO_CAMERA_X                = 5;
+        float NECK_TO_CAMERA_Y                = 6;
+        float NECK_TO_CAMERA_Z                = 7;
+        float CAMERA_DECLINATION_ANGLE_OFFSET = 8;
+
+        //Head movement limits
+        float MAX_YAW                         = 9;
+        float MIN_YAW                         = 10;
+        float MAX_PITCH                       = 11;
+        float MIN_PITCH                       = 12;
+    }
+
+    message Arm {
+        float DISTANCE_BETWEEN_SHOULDERS = 1;
+        float SHOULDER_Z_OFFSET          = 2;
+        float SHOULDER_X_OFFSET          = 3;
+        float SHOULDER_LENGTH            = 4;
+        float SHOULDER_WIDTH             = 5;
+        float SHOULDER_HEIGHT            = 6;
+        float UPPER_ARM_LENGTH           = 7;
+        float UPPER_ARM_Y_OFFSET         = 8;
+        float UPPER_ARM_X_OFFSET         = 9;
+        float LOWER_ARM_LENGTH           = 10;
+        float LOWER_ARM_Y_OFFSET         = 11;
+        float LOWER_ARM_Z_OFFSET         = 12;
+    }
+
+    message MassModel {
+        repeated vec4 masses = 1;
+
+        /*
+        vec4 R_SHOULDER_PITCH = masses[ 0];
+        vec4 L_SHOULDER_PITCH = masses[ 1];
+        vec4 R_SHOULDER_ROLL  = masses[ 2];
+        vec4 L_SHOULDER_ROLL  = masses[ 3];
+        vec4 R_ELBOW          = masses[ 4];
+        vec4 L_ELBOW          = masses[ 5];
+        vec4 R_HIP_YAW        = masses[ 6];
+        vec4 L_HIP_YAW        = masses[ 7];
+        vec4 R_HIP_ROLL       = masses[ 8];
+        vec4 L_HIP_ROLL       = masses[ 9];
+        vec4 R_HIP_PITCH      = masses[10];
+        vec4 L_HIP_PITCH      = masses[11];
+        vec4 R_KNEE           = masses[12];
+        vec4 L_KNEE           = masses[13];
+        vec4 R_ANKLE_PITCH    = masses[14];
+        vec4 L_ANKLE_PITCH    = masses[15];
+        vec4 R_ANKLE_ROLL     = masses[16];
+        vec4 L_ANKLE_ROLL     = masses[17];
+        vec4 HEAD_YAW         = masses[18];
+        vec4 HEAD_PITCH       = masses[19];
+        vec4 TORSO            = masses[20];
+        */
+    }
+
+    Leg       leg                       = 1;
+    Head      head                      = 2;
+    Arm       arm                       = 3;
+    MassModel massModel                 = 4;
+    float     TEAMDARWINCHEST_TO_ORIGIN = 5;
+}
diff --git a/src/shared/proto/message/motion/ServoTarget.proto b/src/shared/proto/message/motion/ServoTarget.proto
new file mode 100644
index 00000000..78f1f8e6
--- /dev/null
+++ b/src/shared/proto/message/motion/ServoTarget.proto
@@ -0,0 +1,36 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.motion;
+
+import "google/protobuf/timestamp.proto";
+
+/**
+ * TODO document
+ *
+ * @author Trent Houliston
+ */
+message ServoTarget {
+    google.protobuf.Timestamp time     = 1;
+    uint32                    id       = 2;
+    float                     position = 3;
+    float                     gain     = 4;
+    float                     torque   = 5;
+}
diff --git a/src/shared/proto/message/motion/TorsoMotionCommand.proto b/src/shared/proto/message/motion/TorsoMotionCommand.proto
new file mode 100644
index 00000000..ee233e09
--- /dev/null
+++ b/src/shared/proto/message/motion/TorsoMotionCommand.proto
@@ -0,0 +1,38 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.motion;
+
+import "Matrix.proto";
+import "Vector.proto";
+
+message TorsoMotionUpdate {
+    vec3  frameArms        = 1;
+    vec3  frameLegs        = 2;
+    mat44 frame3D          = 3;
+}
+
+message TorsoPositionUpdate {
+    vec3 position    = 1;
+    vec3 destination = 2;
+}
+
+message EnableTorsoMotion  {}
+message DisableTorsoMotion {}
diff --git a/src/shared/proto/message/motion/WalkCommand.proto b/src/shared/proto/message/motion/WalkCommand.proto
new file mode 100644
index 00000000..71471e09
--- /dev/null
+++ b/src/shared/proto/message/motion/WalkCommand.proto
@@ -0,0 +1,47 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.motion;
+
+import "Vector.proto";
+
+message WalkStarted {}
+message WalkStopped {}
+
+message WalkCommand {
+    uint64 subsumptionId = 1;           // reservation identifier for servo control
+    vec3   command       = 2;           // x and y are velocity in m/s and angle is in rads/s
+}
+
+message StopCommand {
+    uint64 subsumptionId = 1;           // reservation identifier for servo control
+}
+
+message NewWalkCommand {
+    vec3 velocityTarget = 1;
+}
+
+message EnableWalkEngineCommand {
+    uint64 subsumptionId = 1;           // reservation identifier for servo control
+}
+
+message DisableWalkEngineCommand {
+    uint64 subsumptionId = 1;           // reservation identifier for servo control
+}
diff --git a/src/shared/proto/message/output/Say.proto b/src/shared/proto/message/output/Say.proto
new file mode 100644
index 00000000..a71b32b6
--- /dev/null
+++ b/src/shared/proto/message/output/Say.proto
@@ -0,0 +1,30 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.output;
+
+/**
+ * TODO document
+ *
+ * @author Trent Houliston
+ */
+message Say {
+    string message = 1;
+}
diff --git a/src/shared/proto/message/platform/darwin/DarwinSensors.proto b/src/shared/proto/message/platform/darwin/DarwinSensors.proto
new file mode 100644
index 00000000..469359b9
--- /dev/null
+++ b/src/shared/proto/message/platform/darwin/DarwinSensors.proto
@@ -0,0 +1,150 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.platform.darwin;
+
+import "google/protobuf/timestamp.proto";
+
+/**
+ * TODO document
+ *
+ * @author Trent Houliston
+ */
+message DarwinSensors {
+    // bitmask values
+    enum Error {
+        OK              = 0;    // not really a flag but the lack of any other flag
+        INPUT_VOLTAGE   = 1;
+        ANGLE_LIMIT     = 2;
+        OVERHEATING     = 4;
+        RANGE           = 8;
+        CHECKSUM        = 16;
+        OVERLOAD        = 32;
+        INSTRUCTION     = 64;
+        CORRUPT_DATA    = 128;
+        TIMEOUT         = 256;
+        TIMEOUT_VICTIM  = 512;
+    }
+
+    message LEDPanel {
+        bool led2 = 1;
+        bool led3 = 2;
+        bool led4 = 3;
+    }
+
+    message HeadLED {
+        // Encode as 0x00 0xRR 0xGG 0xBB
+        uint32 RGB = 1;
+    }
+
+    message EyeLED {
+        // Encode as 0x00 0xRR 0xGG 0xBB
+        uint32 RGB = 1;
+    }
+
+    message Buttons {
+        bool left   = 1;
+        bool middle = 2;
+    }
+
+    message Accelerometer {
+        float x = 1;
+        float y = 2;
+        float z = 3;
+    }
+
+    message Gyroscope {
+        float x = 1;
+        float y = 2;
+        float z = 3;
+    }
+
+    message FSR {
+        float fsr1        = 1;
+        float fsr2        = 2;
+        float fsr3        = 3;
+        float fsr4        = 4;
+        float centreX     = 5;
+        float centreY     = 6;
+        uint32 errorFlags = 7;
+    }
+
+    message FSRs {
+        FSR left  = 1;
+        FSR right = 2;
+    }
+
+    message Servo {
+        uint32 errorFlags      = 1;
+        bool   torqueEnabled   = 2;
+        float  pGain           = 3;
+        float  iGain           = 4;
+        float  dGain           = 5;
+        float  goalPosition    = 6;
+        float  movingSpeed     = 7;
+        float  torque          = 8;
+        float  presentPosition = 9;
+        float  presentSpeed    = 10;
+        float  load            = 11;
+        float  voltage         = 12;
+        uint32 temperature     = 13;
+    };
+
+    message Servos {
+        Servo rShoulderPitch = 1;
+        Servo lShoulderPitch = 2;
+        Servo rShoulderRoll  = 3;
+        Servo lShoulderRoll  = 4;
+        Servo rElbow         = 5;
+        Servo lElbow         = 6;
+        Servo rHipYaw        = 7;
+        Servo lHipYaw        = 8;
+        Servo rHipRoll       = 9;
+        Servo lHipRoll       = 10;
+        Servo rHipPitch      = 11;
+        Servo lHipPitch      = 12;
+        Servo rKnee          = 13;
+        Servo lKnee          = 14;
+        Servo rAnklePitch    = 15;
+        Servo lAnklePitch    = 16;
+        Servo rAnkleRoll     = 17;
+        Servo lAnkleRoll     = 18;
+        Servo headPan        = 19;
+        Servo headTilt       = 20;
+    }
+
+    google.protobuf.Timestamp timestamp       = 1;
+    uint32                    cm730ErrorFlags = 2;
+    LEDPanel                  ledPanel        = 3;
+    HeadLED                   headLED         = 4;
+    EyeLED                    eyeLED          = 5;
+    Buttons                   buttons         = 6;
+    float                     voltage         = 7;
+    Accelerometer             accelerometer   = 8;
+    Gyroscope                 gyroscope       = 9;
+    FSRs                      fsr             = 10;
+    Servos                    servo           = 11;
+}
+
+// Button press events
+message ButtonLeftDown   {}
+message ButtonLeftUp     {}
+message ButtonMiddleDown {}
+message ButtonMiddleUp   {}
diff --git a/src/shared/proto/message/research/AutoClassifierPixels.proto b/src/shared/proto/message/research/AutoClassifierPixels.proto
new file mode 100644
index 00000000..07874aeb
--- /dev/null
+++ b/src/shared/proto/message/research/AutoClassifierPixels.proto
@@ -0,0 +1,26 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.research;
+
+message AutoClassifierPixels {
+	repeated uint32 pixels         = 1;
+	uint32          classification = 2;
+}
diff --git a/src/shared/proto/message/research/scriptoptimizer/OptimizeScript.proto b/src/shared/proto/message/research/scriptoptimizer/OptimizeScript.proto
new file mode 100644
index 00000000..9f0f5cc9
--- /dev/null
+++ b/src/shared/proto/message/research/scriptoptimizer/OptimizeScript.proto
@@ -0,0 +1,41 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+
+syntax = "proto3";
+
+package message.research.scriptoptimizer;
+
+message OptimizeScript {
+
+    message Target {
+        uint32 id       = 1;
+        float  position = 2;
+        float  gain     = 3;
+    }
+
+    message Frame {
+        uint32          duration = 1;
+        repeated Target targets  = 2;
+    }
+
+    string         target    = 1;
+    uint32         iteration = 2;
+    string         metadata  = 3;
+    repeated Frame frames    = 4;
+}
diff --git a/src/shared/proto/message/research/scriptoptimizer/OptimizeScriptResult.proto b/src/shared/proto/message/research/scriptoptimizer/OptimizeScriptResult.proto
new file mode 100644
index 00000000..fc87afcd
--- /dev/null
+++ b/src/shared/proto/message/research/scriptoptimizer/OptimizeScriptResult.proto
@@ -0,0 +1,31 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+
+syntax = "proto3";
+
+package message.research.scriptoptimizer;
+
+import "message/input/Sensors.proto";
+
+message OptimizeScriptResult {
+
+    uint32 iteration = 1;
+    string metadata = 2;
+    repeated input.Sensors sensors = 3;
+}
diff --git a/src/shared/proto/message/support/FieldDescription.proto b/src/shared/proto/message/support/FieldDescription.proto
new file mode 100644
index 00000000..be67b40d
--- /dev/null
+++ b/src/shared/proto/message/support/FieldDescription.proto
@@ -0,0 +1,55 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.support;
+
+import "Vector.proto";
+
+message FieldDescription {
+    message FieldDimensions {
+        double line_width             = 1;
+        double mark_width             = 2;
+        double field_length           = 3;
+        double field_width            = 4;
+        double goal_depth             = 5;
+        double goal_width             = 6;
+        double goal_area_length       = 7;
+        double goal_area_width        = 8;
+        double goal_crossbar_height   = 9;
+        double goalpost_diameter      = 10;
+        double goal_crossbar_diameter = 11;
+        double goal_net_height        = 12;
+        double penalty_mark_distance  = 13;
+        double center_circle_diameter = 14;
+        double border_strip_min_width = 15;
+    }
+
+    double          ball_radius         = 1;
+    double          goalpost_top_height = 2;
+    double          penalty_robot_start = 3;
+         
+    // Coordinates of goalpost centers calculated from the FieldDimensions:
+    vec2            goalpost_own_l      = 4;
+    vec2            goalpost_own_r      = 5;
+    vec2            goalpost_opp_l      = 6;
+    vec2            goalpost_opp_r      = 7;
+
+    FieldDimensions dimensions          = 8;
+}
diff --git a/src/shared/proto/message/support/GlobalConfig.proto b/src/shared/proto/message/support/GlobalConfig.proto
new file mode 100644
index 00000000..a3eab826
--- /dev/null
+++ b/src/shared/proto/message/support/GlobalConfig.proto
@@ -0,0 +1,27 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.support;
+
+// Field dimensions as defined in the Robocup rules:
+message GlobalConfig {
+    uint32 playerId = 1;
+    uint32 teamId   = 2;
+}
diff --git a/src/shared/proto/message/support/SaveConfiguration.proto b/src/shared/proto/message/support/SaveConfiguration.proto
new file mode 100644
index 00000000..707b3ef6
--- /dev/null
+++ b/src/shared/proto/message/support/SaveConfiguration.proto
@@ -0,0 +1,26 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.support;
+
+message SaveConfiguration {
+    string path   = 1;
+    string config = 2;
+}
diff --git a/src/shared/proto/message/support/ServoHealthTestData.proto b/src/shared/proto/message/support/ServoHealthTestData.proto
new file mode 100644
index 00000000..fbc91892
--- /dev/null
+++ b/src/shared/proto/message/support/ServoHealthTestData.proto
@@ -0,0 +1,57 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2017 NUbots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.support;
+
+import "message/platform/darwin/DarwinSensors.proto";
+
+message ServoHealthTestData {
+
+    enum State {
+        INITIALISE = 0;
+        MOVE_1 = 1;
+        ELBOW = 2;
+        MOVE_2 = 3;
+        SHOULDER_PITCH = 4;
+        SHOULDER_MOVE_1 = 5;
+        SHOULDER_ROLL  = 6;
+        MOVE_3  = 7;
+        HEAD_PITCH  = 8;
+        MOVE_4 = 9;
+        HEAD_YAW  = 10;
+        LAYDOWN = 11;
+        HIP_ROLL = 12;
+        HIP_MOVE_1 = 13;
+        HIP_YAW = 14;
+        HIP_MOVE_2 = 15;
+        ANKLE_PITCH = 16;
+        ANKLE_MOVE = 17;
+        ANKLE_ROLL = 18;
+        KNEE_MOVE = 19;
+        KNEE = 20;
+        KNEE_MOVE_2 = 21;
+        HIP_PITCH = 22;
+        LAYDOWN_2 = 23;
+        FINISHED = 24;
+    };
+
+    State state = 1;
+    platform.darwin.DarwinSensors sensors = 2;
+}
diff --git a/src/shared/proto/message/support/nubugger/Command.proto b/src/shared/proto/message/support/nubugger/Command.proto
new file mode 100644
index 00000000..9806fa8e
--- /dev/null
+++ b/src/shared/proto/message/support/nubugger/Command.proto
@@ -0,0 +1,26 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+
+syntax = "proto3";
+
+package message.support.nubugger;
+
+message Command {
+    string command = 1;
+}
diff --git a/src/shared/proto/message/support/nubugger/DataPoint.proto b/src/shared/proto/message/support/nubugger/DataPoint.proto
new file mode 100644
index 00000000..f0477146
--- /dev/null
+++ b/src/shared/proto/message/support/nubugger/DataPoint.proto
@@ -0,0 +1,44 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+
+syntax = "proto3";
+
+package message.support.nubugger;
+
+message DataPoint {
+    /**
+     * The represents the type of data
+     * NOTE: This should not describe how to display the data, as that should be done client-side.
+     */
+    enum Type {
+        FLOAT_LIST = 0;
+
+        // TODO: support all of these
+        // ROTATION_2D = 1;
+        ROTATION_3D = 2; // A column-major float list representing a 3x3 rotation marix
+        // TRANSFORM_2D = 3;
+        // TRANSFORM_3D = 4;
+        // SCATTER_2D = 5;
+        // SCATTER_3D = 6;
+    }
+
+    string label = 1;
+    repeated float value = 2 [packed=true];
+    Type type = 3;
+}
\ No newline at end of file
diff --git a/src/shared/proto/message/support/nubugger/DrawObjects.proto b/src/shared/proto/message/support/nubugger/DrawObjects.proto
new file mode 100644
index 00000000..d7f928ab
--- /dev/null
+++ b/src/shared/proto/message/support/nubugger/DrawObjects.proto
@@ -0,0 +1,71 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+
+syntax = "proto3";
+
+package message.support.nubugger;
+
+import "Vector.proto";
+
+message DrawObject {
+
+    enum Shape {
+        UNKNOWN = 0;
+        ARROW = 1;
+        BOX = 2;
+        CIRCLE = 3;
+        CYLINDER = 4;
+        POLYLINE = 5;
+        PYRAMID = 6;
+        RECTANGLE = 7;
+        SPHERE = 8;
+    }
+
+    message Path {
+        vec2 position = 1;
+        uint32 parent_index = 2;
+    }
+
+    Shape shape = 1;
+    string name = 2;
+
+    vec3 position = 3;
+    vec3 direction = 4;
+    vec3 target = 5;
+    float width = 6;
+    float height = 7;
+    vec3 rotation = 8;
+    vec3 colour = 9; // rgb
+    float radius = 10;
+    float top_radius = 11;
+    float bottom_radius = 12;
+    repeated vec3 vertices = 13;
+    repeated Path path = 14;
+    uint32 faces = 15;
+    float line_width = 16;
+    float length = 17;
+    float depth = 18;
+    bool fill = 19;
+
+    float timeout = 20;
+}
+
+message DrawObjects {
+    repeated DrawObject objects = 1;
+}
diff --git a/src/shared/proto/message/support/nubugger/Overview.proto b/src/shared/proto/message/support/nubugger/Overview.proto
new file mode 100644
index 00000000..5d0916d8
--- /dev/null
+++ b/src/shared/proto/message/support/nubugger/Overview.proto
@@ -0,0 +1,67 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2015 NUBots <nubots@nubots.net>
+ */
+
+syntax = "proto3";
+
+package message.support.nubugger;
+
+import "google/protobuf/timestamp.proto";
+import "message/behaviour/Behaviour.proto";
+import "message/input/GameState.proto";
+import "Vector.proto";
+import "Matrix.proto";
+
+message Overview {
+
+    string role_name = 15;
+
+	// Sensors
+	float voltage = 1;
+	float battery = 2;
+
+	// Behaviour
+    behaviour.Behaviour.State behaviour_state = 3;
+    vec2 kick_target = 17;
+
+    // Localisation
+    vec2 robot_position = 4;
+    mat22 robot_position_covariance = 6;
+    vec2 robot_heading = 5;
+    vec2 ball_position = 13;
+    vec2 ball_world_position = 14;
+
+    // Game controller
+    input.GameState.Data.Mode game_mode = 7;
+    input.GameState.Data.Phase game_phase = 8;
+    input.GameState.Data.PenaltyReason penalty_reason = 9;
+
+    // Hardware
+    google.protobuf.Timestamp last_camera_image = 10;
+    // TODO: motor overloads?
+
+    // Vision
+    google.protobuf.Timestamp last_seen_ball = 11;
+    google.protobuf.Timestamp last_seen_goal = 12;
+    google.protobuf.Timestamp last_seen_obstacle = 19;
+
+    // Walk engine
+    repeated vec2 path_plan = 16;
+    vec3 walk_command = 18;
+
+}
diff --git a/src/shared/proto/message/support/nubugger/Ping.proto b/src/shared/proto/message/support/nubugger/Ping.proto
new file mode 100644
index 00000000..e1f1df80
--- /dev/null
+++ b/src/shared/proto/message/support/nubugger/Ping.proto
@@ -0,0 +1,26 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+
+syntax = "proto3";
+
+package message.support.nubugger;
+
+message Ping {
+    uint64 time = 1;
+}
diff --git a/src/shared/proto/message/support/nubugger/ReactionHandles.proto b/src/shared/proto/message/support/nubugger/ReactionHandles.proto
new file mode 100644
index 00000000..8ca2ccbd
--- /dev/null
+++ b/src/shared/proto/message/support/nubugger/ReactionHandles.proto
@@ -0,0 +1,31 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+
+syntax = "proto3";
+
+package message.support.nubugger;
+
+message ReactionHandles {
+    message Handle {
+        string type = 1;
+        bool enabled = 2;
+    }
+
+    repeated Handle handles = 1;
+}
diff --git a/src/shared/proto/message/support/nuclear/ReactionStatistics.proto b/src/shared/proto/message/support/nuclear/ReactionStatistics.proto
new file mode 100644
index 00000000..ad8527f6
--- /dev/null
+++ b/src/shared/proto/message/support/nuclear/ReactionStatistics.proto
@@ -0,0 +1,35 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+
+syntax = "proto3";
+
+package message.support.nuclear;
+
+message ReactionStatistics {
+    string name = 1;
+    string triggerName = 2;
+    string functionName = 3;
+    uint64 reactionId = 4;
+    uint64 taskId = 5;
+    uint64 causeReactionId = 6;
+    uint64 causeTaskId = 7;
+    uint64 emitted = 8;
+    uint64 started = 9;
+    uint64 finished = 10;
+}
\ No newline at end of file
diff --git a/src/shared/proto/message/support/optimisation/DOpE.proto b/src/shared/proto/message/support/optimisation/DOpE.proto
new file mode 100644
index 00000000..8be19b9a
--- /dev/null
+++ b/src/shared/proto/message/support/optimisation/DOpE.proto
@@ -0,0 +1,42 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2015 NUBots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.support.optimisation;
+
+import "Matrix.proto";
+import "message/support/optimisation/OptimiserTypes.proto";
+
+message RegisterOptimisation {
+    string              group      = 1;
+    bool                network    = 2;
+    OptimiserParameters parameters = 3;
+}
+
+message RequestParameters {
+    string group    = 1;
+    uint32 nSamples = 2;
+}
+
+message Parameters {
+    string group      = 1;
+    int32  generation = 2;
+    mat    samples    = 3;
+    mat    covariance = 4;
+}
diff --git a/src/shared/proto/message/support/optimisation/Episode.proto b/src/shared/proto/message/support/optimisation/Episode.proto
new file mode 100644
index 00000000..f8080657
--- /dev/null
+++ b/src/shared/proto/message/support/optimisation/Episode.proto
@@ -0,0 +1,38 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+
+syntax = "proto3";
+
+package message.support.optimisation;
+
+import "Vector.proto";
+import "Matrix.proto";
+
+message Episode {
+    message Fitness {
+        double fitness = 1;
+        double weight = 2;
+    }
+
+    string group = 1;
+    int32 generation = 2;
+    vec values = 3;
+    mat covariance = 4;
+    repeated Fitness fitness = 5;
+}
diff --git a/src/shared/proto/message/support/optimisation/Estimate.proto b/src/shared/proto/message/support/optimisation/Estimate.proto
new file mode 100644
index 00000000..cf0e27dc
--- /dev/null
+++ b/src/shared/proto/message/support/optimisation/Estimate.proto
@@ -0,0 +1,36 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+
+syntax = "proto3";
+
+package message.support.optimisation;
+
+import "Vector.proto";
+import "Matrix.proto";
+import "message/support/optimisation/Episode.proto";
+
+message Estimate {
+    string group = 1;
+    int32 generation = 2;
+    vec values = 3;
+    mat covariance = 4;
+
+    repeated Episode estimate_episode = 5;
+    repeated Episode episode = 6;
+}
diff --git a/src/shared/proto/message/support/optimisation/OptimiserTypes.proto b/src/shared/proto/message/support/optimisation/OptimiserTypes.proto
new file mode 100644
index 00000000..f369752a
--- /dev/null
+++ b/src/shared/proto/message/support/optimisation/OptimiserTypes.proto
@@ -0,0 +1,38 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2015 NUBots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.support.optimisation;
+
+import "Matrix.proto";
+import "Vector.proto";
+
+message OptimiserEstimate {
+    int32 generation = 1;
+    vec   estimate   = 2;
+    mat   covariance = 3;
+}
+
+message OptimiserParameters {
+    OptimiserEstimate initial    = 1;
+    vec               upperBound = 2;
+    vec               lowerBound = 3;
+    uint32            batchSize  = 4;
+    //TODO: add extra params!
+}
diff --git a/src/shared/proto/message/vision/ClassifiedImage.proto b/src/shared/proto/message/vision/ClassifiedImage.proto
new file mode 100644
index 00000000..5f54836a
--- /dev/null
+++ b/src/shared/proto/message/vision/ClassifiedImage.proto
@@ -0,0 +1,83 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.vision;
+
+import "Neutron.proto";
+import "Vector.proto";
+
+import "message/Geometry.proto";
+import "message/input/Sensors.proto";
+import "message/input/Image.proto";
+
+message ClassifiedImage {
+    enum SegmentClass {
+        UNKNOWN_CLASS = 0;
+        FIELD         = 1;
+        BALL          = 2;
+        GOAL          = 3;
+        LINE          = 4;
+        CYAN_TEAM     = 5;
+        MAGENTA_TEAM  = 6;
+    }
+
+    message Segment {
+        SegmentClass segmentClass = 1;
+        uint32       length       = 2;
+        uint32       subsample    = 3;
+        ivec2        start        = 4;
+        ivec2        end          = 5;
+        ivec2        midpoint     = 6;
+        int32        previous     = 7;
+        int32        next         = 8;
+    }
+
+    message SeedPoints {
+        repeated ivec2 points = 1;
+    }
+
+    // The sensor frame that happened with this image
+    input.Sensors             sensors            = 1 [(pointer) = SHARED];
+
+    // The image that was used to create this classified image
+    input.Image               image              = 2 [(pointer) = SHARED];
+
+    // Our images dimensions
+    uvec2                     dimensions         = 3;
+
+    // Points that are on the edge of the ball
+    repeated SeedPoints       ballSeedPoints     = 4 [(array_size) = 3];
+
+    // Points that could make up the ball
+    repeated ivec2            ballPoints         = 5;
+
+    // Our horizon
+    Line                      horizon            = 6;
+
+    // The points of the visual horizon
+    repeated ivec2            visualHorizon      = 7;
+
+    // Our segments, split into vertical and horizontal components
+    repeated Segment          horizontalSegments = 8;
+    repeated Segment          verticalSegments   = 9;
+    //map<uint32, Segment>      horizontalSegments = 8;
+    //map<uint32, Segment>      verticalSegments   = 9;
+}
+
diff --git a/src/shared/proto/message/vision/LookUpTable.proto b/src/shared/proto/message/vision/LookUpTable.proto
new file mode 100644
index 00000000..7d04b2fc
--- /dev/null
+++ b/src/shared/proto/message/vision/LookUpTable.proto
@@ -0,0 +1,31 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+
+syntax = "proto3";
+
+package message.vision;
+
+message LookUpTable {
+    bytes  table   = 1;
+    uint32 bits_y  = 2;
+    uint32 bits_cb = 3;
+    uint32 bits_cr = 4;
+}
+
+message SaveLookUpTable {}
diff --git a/src/shared/proto/message/vision/LookUpTableDiff.proto b/src/shared/proto/message/vision/LookUpTableDiff.proto
new file mode 100644
index 00000000..db9a0b38
--- /dev/null
+++ b/src/shared/proto/message/vision/LookUpTableDiff.proto
@@ -0,0 +1,32 @@
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+
+syntax = "proto3";
+
+package message.vision;
+
+message LookUpTableDiff {
+    message Diff {
+        uint32 lut_index = 1;
+        uint32 classification = 2;
+    }
+
+    // format is a repeated 4 bytes of [y, cb, cr, classification]
+    repeated Diff diff = 1;
+}
diff --git a/src/shared/proto/message/vision/VisionObjects.proto b/src/shared/proto/message/vision/VisionObjects.proto
new file mode 100644
index 00000000..9fdc8d6f
--- /dev/null
+++ b/src/shared/proto/message/vision/VisionObjects.proto
@@ -0,0 +1,128 @@
+
+/*
+ * This file is part of the NUbots Codebase.
+ *
+ * The NUbots Codebase is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The NUbots Codebase is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Copyright 2013 NUBots <nubots@nubots.net>
+ */
+syntax = "proto3";
+
+package message.vision;
+
+import "google/protobuf/timestamp.proto";
+import "Neutron.proto";
+import "Vector.proto";
+import "message/Geometry.proto";
+import "message/input/Sensors.proto";
+import "message/vision/ClassifiedImage.proto";
+
+message VisionObject {
+    // Time the image was taken
+    google.protobuf.Timestamp timestamp       = 1;
+
+    // The angular position and size from the perspective of the camera
+    // Use these values to move the camera around to see this object
+    vec2                      screenAngular   = 2;
+    vec2                      angularSize     = 3;
+
+    // The sensor frame that was used to detect this object
+    input.Sensors       sensors         = 4 [(pointer) = SHARED];
+
+    // The classified image that was used to detect this object
+    // TODO: Why is this here?
+    ClassifiedImage           classifiedImage = 5 [(pointer) = SHARED];
+
+    // The camera which saw the object.
+    uint32                    camera_id       = 6;
+}
+
+message Ball {
+    VisionObject  visObject          = 1;
+
+    // The position of the ball in world coordinates
+    vec3          position           = 2;
+    vec3          torsoSpacePosition = 3;
+
+    repeated vec3 edgePoints         = 4;
+    Circle        circle             = 5;
+}
+
+message Goal {
+    enum Side {
+        UNKNOWN_SIDE = 0;
+        LEFT         = 1;
+        RIGHT        = 2;
+    }
+
+    enum Team {
+        UNKNOWN_TEAM = 0;
+        OWN          = 1;
+        OPPONENT     = 2;
+    }
+
+    enum MeasurementType {
+        UNKNOWN_MEASUREMENT = 0;
+        LEFT_NORMAL         = 1;
+        RIGHT_NORMAL        = 2;
+        TOP_NORMAL          = 3;
+        BASE_NORMAL         = 4;
+    }
+
+    message Measurement {
+        MeasurementType type       = 1;
+        vec3            position   = 2;
+    }
+
+    VisionObject         visObject   = 1;
+    Side                 side        = 2;
+    Team                 team        = 3;
+    Quad                 quad        = 4;
+    repeated Measurement measurement = 5;
+}
+
+message Obstacle {
+    enum Team {
+        UNKNOWN_TEAM = 0;
+        MAGENTA      = 1;
+        CYAN         = 2;
+    }
+
+    VisionObject visObject = 1;
+    Polygon      shape     = 2;
+    Team         team      = 3;
+}
+
+message Line {
+    VisionObject visObject = 1;
+    ivec2        start     = 2;
+    ivec2        end       = 3;
+    vec4         colour    = 4;
+}
+
+message NUsightBalls {
+    repeated Ball balls = 1;
+}
+
+message NUsightGoals {
+    repeated Goal goals = 1;
+}
+
+message NUsightObstacles {
+    repeated Obstacle obstacles = 1;
+}
+
+message NUsightLines {
+    repeated Line lines = 1;
+}
diff --git a/src/shared/proto/messages.d.ts b/src/shared/proto/messages.d.ts
new file mode 100644
index 00000000..6da7337d
--- /dev/null
+++ b/src/shared/proto/messages.d.ts
@@ -0,0 +1,32813 @@
+/* tslint:disable */
+
+import * as $protobuf from "protobufjs";
+
+type mat$Properties = {
+    rows?: number;
+    cols?: number;
+    v?: number[];
+};
+
+/**
+ * Constructs a new mat.
+ * @exports mat
+ * @constructor
+ * @param {mat$Properties=} [properties] Properties to set
+ */
+export class mat {
+
+    /**
+     * Constructs a new mat.
+     * @exports mat
+     * @constructor
+     * @param {mat$Properties=} [properties] Properties to set
+     */
+    constructor(properties?: mat$Properties);
+
+    /**
+     * mat rows.
+     * @type {number}
+     */
+    public rows: number;
+
+    /**
+     * mat cols.
+     * @type {number}
+     */
+    public cols: number;
+
+    /**
+     * mat v.
+     * @type {Array.<number>}
+     */
+    public v: number[];
+
+    /**
+     * Creates a new mat instance using the specified properties.
+     * @param {mat$Properties=} [properties] Properties to set
+     * @returns {mat} mat instance
+     */
+    public static create(properties?: mat$Properties): mat;
+
+    /**
+     * Encodes the specified mat message. Does not implicitly {@link mat.verify|verify} messages.
+     * @param {mat$Properties} message mat message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encode(message: mat$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Encodes the specified mat message, length delimited. Does not implicitly {@link mat.verify|verify} messages.
+     * @param {mat$Properties} message mat message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encodeDelimited(message: mat$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Decodes a mat message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {mat} mat
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): mat;
+
+    /**
+     * Decodes a mat message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {mat} mat
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): mat;
+
+    /**
+     * Verifies a mat message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    public static verify(message: { [k: string]: any }): string;
+
+    /**
+     * Creates a mat message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {mat} mat
+     */
+    public static fromObject(object: { [k: string]: any }): mat;
+
+    /**
+     * Creates a mat message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link mat.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {mat} mat
+     */
+    public static from(object: { [k: string]: any }): mat;
+
+    /**
+     * Creates a plain object from a mat message. Also converts values to other types if specified.
+     * @param {mat} message mat
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public static toObject(message: mat, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Creates a plain object from this mat message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Converts this mat to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    public toJSON(): { [k: string]: any };
+}
+
+type fmat$Properties = {
+    rows?: number;
+    cols?: number;
+    v?: number[];
+};
+
+/**
+ * Constructs a new fmat.
+ * @exports fmat
+ * @constructor
+ * @param {fmat$Properties=} [properties] Properties to set
+ */
+export class fmat {
+
+    /**
+     * Constructs a new fmat.
+     * @exports fmat
+     * @constructor
+     * @param {fmat$Properties=} [properties] Properties to set
+     */
+    constructor(properties?: fmat$Properties);
+
+    /**
+     * fmat rows.
+     * @type {number}
+     */
+    public rows: number;
+
+    /**
+     * fmat cols.
+     * @type {number}
+     */
+    public cols: number;
+
+    /**
+     * fmat v.
+     * @type {Array.<number>}
+     */
+    public v: number[];
+
+    /**
+     * Creates a new fmat instance using the specified properties.
+     * @param {fmat$Properties=} [properties] Properties to set
+     * @returns {fmat} fmat instance
+     */
+    public static create(properties?: fmat$Properties): fmat;
+
+    /**
+     * Encodes the specified fmat message. Does not implicitly {@link fmat.verify|verify} messages.
+     * @param {fmat$Properties} message fmat message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encode(message: fmat$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Encodes the specified fmat message, length delimited. Does not implicitly {@link fmat.verify|verify} messages.
+     * @param {fmat$Properties} message fmat message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encodeDelimited(message: fmat$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Decodes a fmat message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {fmat} fmat
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): fmat;
+
+    /**
+     * Decodes a fmat message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {fmat} fmat
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): fmat;
+
+    /**
+     * Verifies a fmat message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    public static verify(message: { [k: string]: any }): string;
+
+    /**
+     * Creates a fmat message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {fmat} fmat
+     */
+    public static fromObject(object: { [k: string]: any }): fmat;
+
+    /**
+     * Creates a fmat message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link fmat.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {fmat} fmat
+     */
+    public static from(object: { [k: string]: any }): fmat;
+
+    /**
+     * Creates a plain object from a fmat message. Also converts values to other types if specified.
+     * @param {fmat} message fmat
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public static toObject(message: fmat, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Creates a plain object from this fmat message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Converts this fmat to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    public toJSON(): { [k: string]: any };
+}
+
+type imat$Properties = {
+    rows?: number;
+    cols?: number;
+    v?: number[];
+};
+
+/**
+ * Constructs a new imat.
+ * @exports imat
+ * @constructor
+ * @param {imat$Properties=} [properties] Properties to set
+ */
+export class imat {
+
+    /**
+     * Constructs a new imat.
+     * @exports imat
+     * @constructor
+     * @param {imat$Properties=} [properties] Properties to set
+     */
+    constructor(properties?: imat$Properties);
+
+    /**
+     * imat rows.
+     * @type {number}
+     */
+    public rows: number;
+
+    /**
+     * imat cols.
+     * @type {number}
+     */
+    public cols: number;
+
+    /**
+     * imat v.
+     * @type {Array.<number>}
+     */
+    public v: number[];
+
+    /**
+     * Creates a new imat instance using the specified properties.
+     * @param {imat$Properties=} [properties] Properties to set
+     * @returns {imat} imat instance
+     */
+    public static create(properties?: imat$Properties): imat;
+
+    /**
+     * Encodes the specified imat message. Does not implicitly {@link imat.verify|verify} messages.
+     * @param {imat$Properties} message imat message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encode(message: imat$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Encodes the specified imat message, length delimited. Does not implicitly {@link imat.verify|verify} messages.
+     * @param {imat$Properties} message imat message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encodeDelimited(message: imat$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Decodes an imat message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {imat} imat
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): imat;
+
+    /**
+     * Decodes an imat message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {imat} imat
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): imat;
+
+    /**
+     * Verifies an imat message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    public static verify(message: { [k: string]: any }): string;
+
+    /**
+     * Creates an imat message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {imat} imat
+     */
+    public static fromObject(object: { [k: string]: any }): imat;
+
+    /**
+     * Creates an imat message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link imat.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {imat} imat
+     */
+    public static from(object: { [k: string]: any }): imat;
+
+    /**
+     * Creates a plain object from an imat message. Also converts values to other types if specified.
+     * @param {imat} message imat
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public static toObject(message: imat, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Creates a plain object from this imat message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Converts this imat to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    public toJSON(): { [k: string]: any };
+}
+
+type umat$Properties = {
+    rows?: number;
+    cols?: number;
+    v?: number[];
+};
+
+/**
+ * Constructs a new umat.
+ * @exports umat
+ * @constructor
+ * @param {umat$Properties=} [properties] Properties to set
+ */
+export class umat {
+
+    /**
+     * Constructs a new umat.
+     * @exports umat
+     * @constructor
+     * @param {umat$Properties=} [properties] Properties to set
+     */
+    constructor(properties?: umat$Properties);
+
+    /**
+     * umat rows.
+     * @type {number}
+     */
+    public rows: number;
+
+    /**
+     * umat cols.
+     * @type {number}
+     */
+    public cols: number;
+
+    /**
+     * umat v.
+     * @type {Array.<number>}
+     */
+    public v: number[];
+
+    /**
+     * Creates a new umat instance using the specified properties.
+     * @param {umat$Properties=} [properties] Properties to set
+     * @returns {umat} umat instance
+     */
+    public static create(properties?: umat$Properties): umat;
+
+    /**
+     * Encodes the specified umat message. Does not implicitly {@link umat.verify|verify} messages.
+     * @param {umat$Properties} message umat message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encode(message: umat$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Encodes the specified umat message, length delimited. Does not implicitly {@link umat.verify|verify} messages.
+     * @param {umat$Properties} message umat message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encodeDelimited(message: umat$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Decodes an umat message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {umat} umat
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): umat;
+
+    /**
+     * Decodes an umat message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {umat} umat
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): umat;
+
+    /**
+     * Verifies an umat message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    public static verify(message: { [k: string]: any }): string;
+
+    /**
+     * Creates an umat message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {umat} umat
+     */
+    public static fromObject(object: { [k: string]: any }): umat;
+
+    /**
+     * Creates an umat message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link umat.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {umat} umat
+     */
+    public static from(object: { [k: string]: any }): umat;
+
+    /**
+     * Creates a plain object from an umat message. Also converts values to other types if specified.
+     * @param {umat} message umat
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public static toObject(message: umat, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Creates a plain object from this umat message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Converts this umat to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    public toJSON(): { [k: string]: any };
+}
+
+type cmat$Properties = {
+    rows?: number;
+    cols?: number;
+    v?: Uint8Array;
+};
+
+/**
+ * Constructs a new cmat.
+ * @exports cmat
+ * @constructor
+ * @param {cmat$Properties=} [properties] Properties to set
+ */
+export class cmat {
+
+    /**
+     * Constructs a new cmat.
+     * @exports cmat
+     * @constructor
+     * @param {cmat$Properties=} [properties] Properties to set
+     */
+    constructor(properties?: cmat$Properties);
+
+    /**
+     * cmat rows.
+     * @type {number}
+     */
+    public rows: number;
+
+    /**
+     * cmat cols.
+     * @type {number}
+     */
+    public cols: number;
+
+    /**
+     * cmat v.
+     * @type {Uint8Array}
+     */
+    public v: Uint8Array;
+
+    /**
+     * Creates a new cmat instance using the specified properties.
+     * @param {cmat$Properties=} [properties] Properties to set
+     * @returns {cmat} cmat instance
+     */
+    public static create(properties?: cmat$Properties): cmat;
+
+    /**
+     * Encodes the specified cmat message. Does not implicitly {@link cmat.verify|verify} messages.
+     * @param {cmat$Properties} message cmat message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encode(message: cmat$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Encodes the specified cmat message, length delimited. Does not implicitly {@link cmat.verify|verify} messages.
+     * @param {cmat$Properties} message cmat message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encodeDelimited(message: cmat$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Decodes a cmat message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {cmat} cmat
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): cmat;
+
+    /**
+     * Decodes a cmat message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {cmat} cmat
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): cmat;
+
+    /**
+     * Verifies a cmat message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    public static verify(message: { [k: string]: any }): string;
+
+    /**
+     * Creates a cmat message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {cmat} cmat
+     */
+    public static fromObject(object: { [k: string]: any }): cmat;
+
+    /**
+     * Creates a cmat message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link cmat.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {cmat} cmat
+     */
+    public static from(object: { [k: string]: any }): cmat;
+
+    /**
+     * Creates a plain object from a cmat message. Also converts values to other types if specified.
+     * @param {cmat} message cmat
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public static toObject(message: cmat, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Creates a plain object from this cmat message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Converts this cmat to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    public toJSON(): { [k: string]: any };
+}
+
+type mat22$Properties = {
+    x?: vec2$Properties;
+    y?: vec2$Properties;
+};
+
+/**
+ * Constructs a new mat22.
+ * @exports mat22
+ * @constructor
+ * @param {mat22$Properties=} [properties] Properties to set
+ */
+export class mat22 {
+
+    /**
+     * Constructs a new mat22.
+     * @exports mat22
+     * @constructor
+     * @param {mat22$Properties=} [properties] Properties to set
+     */
+    constructor(properties?: mat22$Properties);
+
+    /**
+     * mat22 x.
+     * @type {(vec2$Properties|null)}
+     */
+    public x: (vec2$Properties|null);
+
+    /**
+     * mat22 y.
+     * @type {(vec2$Properties|null)}
+     */
+    public y: (vec2$Properties|null);
+
+    /**
+     * Creates a new mat22 instance using the specified properties.
+     * @param {mat22$Properties=} [properties] Properties to set
+     * @returns {mat22} mat22 instance
+     */
+    public static create(properties?: mat22$Properties): mat22;
+
+    /**
+     * Encodes the specified mat22 message. Does not implicitly {@link mat22.verify|verify} messages.
+     * @param {mat22$Properties} message mat22 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encode(message: mat22$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Encodes the specified mat22 message, length delimited. Does not implicitly {@link mat22.verify|verify} messages.
+     * @param {mat22$Properties} message mat22 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encodeDelimited(message: mat22$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Decodes a mat22 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {mat22} mat22
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): mat22;
+
+    /**
+     * Decodes a mat22 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {mat22} mat22
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): mat22;
+
+    /**
+     * Verifies a mat22 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    public static verify(message: { [k: string]: any }): string;
+
+    /**
+     * Creates a mat22 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {mat22} mat22
+     */
+    public static fromObject(object: { [k: string]: any }): mat22;
+
+    /**
+     * Creates a mat22 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link mat22.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {mat22} mat22
+     */
+    public static from(object: { [k: string]: any }): mat22;
+
+    /**
+     * Creates a plain object from a mat22 message. Also converts values to other types if specified.
+     * @param {mat22} message mat22
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public static toObject(message: mat22, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Creates a plain object from this mat22 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Converts this mat22 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    public toJSON(): { [k: string]: any };
+}
+
+type fmat22$Properties = {
+    x?: fvec2$Properties;
+    y?: fvec2$Properties;
+};
+
+/**
+ * Constructs a new fmat22.
+ * @exports fmat22
+ * @constructor
+ * @param {fmat22$Properties=} [properties] Properties to set
+ */
+export class fmat22 {
+
+    /**
+     * Constructs a new fmat22.
+     * @exports fmat22
+     * @constructor
+     * @param {fmat22$Properties=} [properties] Properties to set
+     */
+    constructor(properties?: fmat22$Properties);
+
+    /**
+     * fmat22 x.
+     * @type {(fvec2$Properties|null)}
+     */
+    public x: (fvec2$Properties|null);
+
+    /**
+     * fmat22 y.
+     * @type {(fvec2$Properties|null)}
+     */
+    public y: (fvec2$Properties|null);
+
+    /**
+     * Creates a new fmat22 instance using the specified properties.
+     * @param {fmat22$Properties=} [properties] Properties to set
+     * @returns {fmat22} fmat22 instance
+     */
+    public static create(properties?: fmat22$Properties): fmat22;
+
+    /**
+     * Encodes the specified fmat22 message. Does not implicitly {@link fmat22.verify|verify} messages.
+     * @param {fmat22$Properties} message fmat22 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encode(message: fmat22$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Encodes the specified fmat22 message, length delimited. Does not implicitly {@link fmat22.verify|verify} messages.
+     * @param {fmat22$Properties} message fmat22 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encodeDelimited(message: fmat22$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Decodes a fmat22 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {fmat22} fmat22
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): fmat22;
+
+    /**
+     * Decodes a fmat22 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {fmat22} fmat22
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): fmat22;
+
+    /**
+     * Verifies a fmat22 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    public static verify(message: { [k: string]: any }): string;
+
+    /**
+     * Creates a fmat22 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {fmat22} fmat22
+     */
+    public static fromObject(object: { [k: string]: any }): fmat22;
+
+    /**
+     * Creates a fmat22 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link fmat22.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {fmat22} fmat22
+     */
+    public static from(object: { [k: string]: any }): fmat22;
+
+    /**
+     * Creates a plain object from a fmat22 message. Also converts values to other types if specified.
+     * @param {fmat22} message fmat22
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public static toObject(message: fmat22, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Creates a plain object from this fmat22 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Converts this fmat22 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    public toJSON(): { [k: string]: any };
+}
+
+type imat22$Properties = {
+    x?: ivec2$Properties;
+    y?: ivec2$Properties;
+};
+
+/**
+ * Constructs a new imat22.
+ * @exports imat22
+ * @constructor
+ * @param {imat22$Properties=} [properties] Properties to set
+ */
+export class imat22 {
+
+    /**
+     * Constructs a new imat22.
+     * @exports imat22
+     * @constructor
+     * @param {imat22$Properties=} [properties] Properties to set
+     */
+    constructor(properties?: imat22$Properties);
+
+    /**
+     * imat22 x.
+     * @type {(ivec2$Properties|null)}
+     */
+    public x: (ivec2$Properties|null);
+
+    /**
+     * imat22 y.
+     * @type {(ivec2$Properties|null)}
+     */
+    public y: (ivec2$Properties|null);
+
+    /**
+     * Creates a new imat22 instance using the specified properties.
+     * @param {imat22$Properties=} [properties] Properties to set
+     * @returns {imat22} imat22 instance
+     */
+    public static create(properties?: imat22$Properties): imat22;
+
+    /**
+     * Encodes the specified imat22 message. Does not implicitly {@link imat22.verify|verify} messages.
+     * @param {imat22$Properties} message imat22 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encode(message: imat22$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Encodes the specified imat22 message, length delimited. Does not implicitly {@link imat22.verify|verify} messages.
+     * @param {imat22$Properties} message imat22 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encodeDelimited(message: imat22$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Decodes an imat22 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {imat22} imat22
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): imat22;
+
+    /**
+     * Decodes an imat22 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {imat22} imat22
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): imat22;
+
+    /**
+     * Verifies an imat22 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    public static verify(message: { [k: string]: any }): string;
+
+    /**
+     * Creates an imat22 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {imat22} imat22
+     */
+    public static fromObject(object: { [k: string]: any }): imat22;
+
+    /**
+     * Creates an imat22 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link imat22.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {imat22} imat22
+     */
+    public static from(object: { [k: string]: any }): imat22;
+
+    /**
+     * Creates a plain object from an imat22 message. Also converts values to other types if specified.
+     * @param {imat22} message imat22
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public static toObject(message: imat22, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Creates a plain object from this imat22 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Converts this imat22 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    public toJSON(): { [k: string]: any };
+}
+
+type umat22$Properties = {
+    x?: uvec2$Properties;
+    y?: uvec2$Properties;
+};
+
+/**
+ * Constructs a new umat22.
+ * @exports umat22
+ * @constructor
+ * @param {umat22$Properties=} [properties] Properties to set
+ */
+export class umat22 {
+
+    /**
+     * Constructs a new umat22.
+     * @exports umat22
+     * @constructor
+     * @param {umat22$Properties=} [properties] Properties to set
+     */
+    constructor(properties?: umat22$Properties);
+
+    /**
+     * umat22 x.
+     * @type {(uvec2$Properties|null)}
+     */
+    public x: (uvec2$Properties|null);
+
+    /**
+     * umat22 y.
+     * @type {(uvec2$Properties|null)}
+     */
+    public y: (uvec2$Properties|null);
+
+    /**
+     * Creates a new umat22 instance using the specified properties.
+     * @param {umat22$Properties=} [properties] Properties to set
+     * @returns {umat22} umat22 instance
+     */
+    public static create(properties?: umat22$Properties): umat22;
+
+    /**
+     * Encodes the specified umat22 message. Does not implicitly {@link umat22.verify|verify} messages.
+     * @param {umat22$Properties} message umat22 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encode(message: umat22$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Encodes the specified umat22 message, length delimited. Does not implicitly {@link umat22.verify|verify} messages.
+     * @param {umat22$Properties} message umat22 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encodeDelimited(message: umat22$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Decodes an umat22 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {umat22} umat22
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): umat22;
+
+    /**
+     * Decodes an umat22 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {umat22} umat22
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): umat22;
+
+    /**
+     * Verifies an umat22 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    public static verify(message: { [k: string]: any }): string;
+
+    /**
+     * Creates an umat22 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {umat22} umat22
+     */
+    public static fromObject(object: { [k: string]: any }): umat22;
+
+    /**
+     * Creates an umat22 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link umat22.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {umat22} umat22
+     */
+    public static from(object: { [k: string]: any }): umat22;
+
+    /**
+     * Creates a plain object from an umat22 message. Also converts values to other types if specified.
+     * @param {umat22} message umat22
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public static toObject(message: umat22, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Creates a plain object from this umat22 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Converts this umat22 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    public toJSON(): { [k: string]: any };
+}
+
+type mat33$Properties = {
+    x?: vec3$Properties;
+    y?: vec3$Properties;
+    z?: vec3$Properties;
+};
+
+/**
+ * Constructs a new mat33.
+ * @exports mat33
+ * @constructor
+ * @param {mat33$Properties=} [properties] Properties to set
+ */
+export class mat33 {
+
+    /**
+     * Constructs a new mat33.
+     * @exports mat33
+     * @constructor
+     * @param {mat33$Properties=} [properties] Properties to set
+     */
+    constructor(properties?: mat33$Properties);
+
+    /**
+     * mat33 x.
+     * @type {(vec3$Properties|null)}
+     */
+    public x: (vec3$Properties|null);
+
+    /**
+     * mat33 y.
+     * @type {(vec3$Properties|null)}
+     */
+    public y: (vec3$Properties|null);
+
+    /**
+     * mat33 z.
+     * @type {(vec3$Properties|null)}
+     */
+    public z: (vec3$Properties|null);
+
+    /**
+     * Creates a new mat33 instance using the specified properties.
+     * @param {mat33$Properties=} [properties] Properties to set
+     * @returns {mat33} mat33 instance
+     */
+    public static create(properties?: mat33$Properties): mat33;
+
+    /**
+     * Encodes the specified mat33 message. Does not implicitly {@link mat33.verify|verify} messages.
+     * @param {mat33$Properties} message mat33 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encode(message: mat33$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Encodes the specified mat33 message, length delimited. Does not implicitly {@link mat33.verify|verify} messages.
+     * @param {mat33$Properties} message mat33 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encodeDelimited(message: mat33$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Decodes a mat33 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {mat33} mat33
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): mat33;
+
+    /**
+     * Decodes a mat33 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {mat33} mat33
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): mat33;
+
+    /**
+     * Verifies a mat33 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    public static verify(message: { [k: string]: any }): string;
+
+    /**
+     * Creates a mat33 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {mat33} mat33
+     */
+    public static fromObject(object: { [k: string]: any }): mat33;
+
+    /**
+     * Creates a mat33 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link mat33.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {mat33} mat33
+     */
+    public static from(object: { [k: string]: any }): mat33;
+
+    /**
+     * Creates a plain object from a mat33 message. Also converts values to other types if specified.
+     * @param {mat33} message mat33
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public static toObject(message: mat33, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Creates a plain object from this mat33 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Converts this mat33 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    public toJSON(): { [k: string]: any };
+}
+
+type fmat33$Properties = {
+    x?: fvec3$Properties;
+    y?: fvec3$Properties;
+    z?: fvec3$Properties;
+};
+
+/**
+ * Constructs a new fmat33.
+ * @exports fmat33
+ * @constructor
+ * @param {fmat33$Properties=} [properties] Properties to set
+ */
+export class fmat33 {
+
+    /**
+     * Constructs a new fmat33.
+     * @exports fmat33
+     * @constructor
+     * @param {fmat33$Properties=} [properties] Properties to set
+     */
+    constructor(properties?: fmat33$Properties);
+
+    /**
+     * fmat33 x.
+     * @type {(fvec3$Properties|null)}
+     */
+    public x: (fvec3$Properties|null);
+
+    /**
+     * fmat33 y.
+     * @type {(fvec3$Properties|null)}
+     */
+    public y: (fvec3$Properties|null);
+
+    /**
+     * fmat33 z.
+     * @type {(fvec3$Properties|null)}
+     */
+    public z: (fvec3$Properties|null);
+
+    /**
+     * Creates a new fmat33 instance using the specified properties.
+     * @param {fmat33$Properties=} [properties] Properties to set
+     * @returns {fmat33} fmat33 instance
+     */
+    public static create(properties?: fmat33$Properties): fmat33;
+
+    /**
+     * Encodes the specified fmat33 message. Does not implicitly {@link fmat33.verify|verify} messages.
+     * @param {fmat33$Properties} message fmat33 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encode(message: fmat33$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Encodes the specified fmat33 message, length delimited. Does not implicitly {@link fmat33.verify|verify} messages.
+     * @param {fmat33$Properties} message fmat33 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encodeDelimited(message: fmat33$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Decodes a fmat33 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {fmat33} fmat33
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): fmat33;
+
+    /**
+     * Decodes a fmat33 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {fmat33} fmat33
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): fmat33;
+
+    /**
+     * Verifies a fmat33 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    public static verify(message: { [k: string]: any }): string;
+
+    /**
+     * Creates a fmat33 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {fmat33} fmat33
+     */
+    public static fromObject(object: { [k: string]: any }): fmat33;
+
+    /**
+     * Creates a fmat33 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link fmat33.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {fmat33} fmat33
+     */
+    public static from(object: { [k: string]: any }): fmat33;
+
+    /**
+     * Creates a plain object from a fmat33 message. Also converts values to other types if specified.
+     * @param {fmat33} message fmat33
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public static toObject(message: fmat33, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Creates a plain object from this fmat33 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Converts this fmat33 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    public toJSON(): { [k: string]: any };
+}
+
+type imat33$Properties = {
+    x?: ivec3$Properties;
+    y?: ivec3$Properties;
+    z?: ivec3$Properties;
+};
+
+/**
+ * Constructs a new imat33.
+ * @exports imat33
+ * @constructor
+ * @param {imat33$Properties=} [properties] Properties to set
+ */
+export class imat33 {
+
+    /**
+     * Constructs a new imat33.
+     * @exports imat33
+     * @constructor
+     * @param {imat33$Properties=} [properties] Properties to set
+     */
+    constructor(properties?: imat33$Properties);
+
+    /**
+     * imat33 x.
+     * @type {(ivec3$Properties|null)}
+     */
+    public x: (ivec3$Properties|null);
+
+    /**
+     * imat33 y.
+     * @type {(ivec3$Properties|null)}
+     */
+    public y: (ivec3$Properties|null);
+
+    /**
+     * imat33 z.
+     * @type {(ivec3$Properties|null)}
+     */
+    public z: (ivec3$Properties|null);
+
+    /**
+     * Creates a new imat33 instance using the specified properties.
+     * @param {imat33$Properties=} [properties] Properties to set
+     * @returns {imat33} imat33 instance
+     */
+    public static create(properties?: imat33$Properties): imat33;
+
+    /**
+     * Encodes the specified imat33 message. Does not implicitly {@link imat33.verify|verify} messages.
+     * @param {imat33$Properties} message imat33 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encode(message: imat33$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Encodes the specified imat33 message, length delimited. Does not implicitly {@link imat33.verify|verify} messages.
+     * @param {imat33$Properties} message imat33 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encodeDelimited(message: imat33$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Decodes an imat33 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {imat33} imat33
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): imat33;
+
+    /**
+     * Decodes an imat33 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {imat33} imat33
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): imat33;
+
+    /**
+     * Verifies an imat33 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    public static verify(message: { [k: string]: any }): string;
+
+    /**
+     * Creates an imat33 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {imat33} imat33
+     */
+    public static fromObject(object: { [k: string]: any }): imat33;
+
+    /**
+     * Creates an imat33 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link imat33.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {imat33} imat33
+     */
+    public static from(object: { [k: string]: any }): imat33;
+
+    /**
+     * Creates a plain object from an imat33 message. Also converts values to other types if specified.
+     * @param {imat33} message imat33
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public static toObject(message: imat33, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Creates a plain object from this imat33 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Converts this imat33 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    public toJSON(): { [k: string]: any };
+}
+
+type umat33$Properties = {
+    x?: uvec3$Properties;
+    y?: uvec3$Properties;
+    z?: uvec3$Properties;
+};
+
+/**
+ * Constructs a new umat33.
+ * @exports umat33
+ * @constructor
+ * @param {umat33$Properties=} [properties] Properties to set
+ */
+export class umat33 {
+
+    /**
+     * Constructs a new umat33.
+     * @exports umat33
+     * @constructor
+     * @param {umat33$Properties=} [properties] Properties to set
+     */
+    constructor(properties?: umat33$Properties);
+
+    /**
+     * umat33 x.
+     * @type {(uvec3$Properties|null)}
+     */
+    public x: (uvec3$Properties|null);
+
+    /**
+     * umat33 y.
+     * @type {(uvec3$Properties|null)}
+     */
+    public y: (uvec3$Properties|null);
+
+    /**
+     * umat33 z.
+     * @type {(uvec3$Properties|null)}
+     */
+    public z: (uvec3$Properties|null);
+
+    /**
+     * Creates a new umat33 instance using the specified properties.
+     * @param {umat33$Properties=} [properties] Properties to set
+     * @returns {umat33} umat33 instance
+     */
+    public static create(properties?: umat33$Properties): umat33;
+
+    /**
+     * Encodes the specified umat33 message. Does not implicitly {@link umat33.verify|verify} messages.
+     * @param {umat33$Properties} message umat33 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encode(message: umat33$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Encodes the specified umat33 message, length delimited. Does not implicitly {@link umat33.verify|verify} messages.
+     * @param {umat33$Properties} message umat33 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encodeDelimited(message: umat33$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Decodes an umat33 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {umat33} umat33
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): umat33;
+
+    /**
+     * Decodes an umat33 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {umat33} umat33
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): umat33;
+
+    /**
+     * Verifies an umat33 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    public static verify(message: { [k: string]: any }): string;
+
+    /**
+     * Creates an umat33 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {umat33} umat33
+     */
+    public static fromObject(object: { [k: string]: any }): umat33;
+
+    /**
+     * Creates an umat33 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link umat33.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {umat33} umat33
+     */
+    public static from(object: { [k: string]: any }): umat33;
+
+    /**
+     * Creates a plain object from an umat33 message. Also converts values to other types if specified.
+     * @param {umat33} message umat33
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public static toObject(message: umat33, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Creates a plain object from this umat33 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Converts this umat33 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    public toJSON(): { [k: string]: any };
+}
+
+type mat44$Properties = {
+    x?: vec4$Properties;
+    y?: vec4$Properties;
+    z?: vec4$Properties;
+    t?: vec4$Properties;
+};
+
+/**
+ * Constructs a new mat44.
+ * @exports mat44
+ * @constructor
+ * @param {mat44$Properties=} [properties] Properties to set
+ */
+export class mat44 {
+
+    /**
+     * Constructs a new mat44.
+     * @exports mat44
+     * @constructor
+     * @param {mat44$Properties=} [properties] Properties to set
+     */
+    constructor(properties?: mat44$Properties);
+
+    /**
+     * mat44 x.
+     * @type {(vec4$Properties|null)}
+     */
+    public x: (vec4$Properties|null);
+
+    /**
+     * mat44 y.
+     * @type {(vec4$Properties|null)}
+     */
+    public y: (vec4$Properties|null);
+
+    /**
+     * mat44 z.
+     * @type {(vec4$Properties|null)}
+     */
+    public z: (vec4$Properties|null);
+
+    /**
+     * mat44 t.
+     * @type {(vec4$Properties|null)}
+     */
+    public t: (vec4$Properties|null);
+
+    /**
+     * Creates a new mat44 instance using the specified properties.
+     * @param {mat44$Properties=} [properties] Properties to set
+     * @returns {mat44} mat44 instance
+     */
+    public static create(properties?: mat44$Properties): mat44;
+
+    /**
+     * Encodes the specified mat44 message. Does not implicitly {@link mat44.verify|verify} messages.
+     * @param {mat44$Properties} message mat44 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encode(message: mat44$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Encodes the specified mat44 message, length delimited. Does not implicitly {@link mat44.verify|verify} messages.
+     * @param {mat44$Properties} message mat44 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encodeDelimited(message: mat44$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Decodes a mat44 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {mat44} mat44
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): mat44;
+
+    /**
+     * Decodes a mat44 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {mat44} mat44
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): mat44;
+
+    /**
+     * Verifies a mat44 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    public static verify(message: { [k: string]: any }): string;
+
+    /**
+     * Creates a mat44 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {mat44} mat44
+     */
+    public static fromObject(object: { [k: string]: any }): mat44;
+
+    /**
+     * Creates a mat44 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link mat44.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {mat44} mat44
+     */
+    public static from(object: { [k: string]: any }): mat44;
+
+    /**
+     * Creates a plain object from a mat44 message. Also converts values to other types if specified.
+     * @param {mat44} message mat44
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public static toObject(message: mat44, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Creates a plain object from this mat44 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Converts this mat44 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    public toJSON(): { [k: string]: any };
+}
+
+type fmat44$Properties = {
+    x?: fvec4$Properties;
+    y?: fvec4$Properties;
+    z?: fvec4$Properties;
+    t?: fvec4$Properties;
+};
+
+/**
+ * Constructs a new fmat44.
+ * @exports fmat44
+ * @constructor
+ * @param {fmat44$Properties=} [properties] Properties to set
+ */
+export class fmat44 {
+
+    /**
+     * Constructs a new fmat44.
+     * @exports fmat44
+     * @constructor
+     * @param {fmat44$Properties=} [properties] Properties to set
+     */
+    constructor(properties?: fmat44$Properties);
+
+    /**
+     * fmat44 x.
+     * @type {(fvec4$Properties|null)}
+     */
+    public x: (fvec4$Properties|null);
+
+    /**
+     * fmat44 y.
+     * @type {(fvec4$Properties|null)}
+     */
+    public y: (fvec4$Properties|null);
+
+    /**
+     * fmat44 z.
+     * @type {(fvec4$Properties|null)}
+     */
+    public z: (fvec4$Properties|null);
+
+    /**
+     * fmat44 t.
+     * @type {(fvec4$Properties|null)}
+     */
+    public t: (fvec4$Properties|null);
+
+    /**
+     * Creates a new fmat44 instance using the specified properties.
+     * @param {fmat44$Properties=} [properties] Properties to set
+     * @returns {fmat44} fmat44 instance
+     */
+    public static create(properties?: fmat44$Properties): fmat44;
+
+    /**
+     * Encodes the specified fmat44 message. Does not implicitly {@link fmat44.verify|verify} messages.
+     * @param {fmat44$Properties} message fmat44 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encode(message: fmat44$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Encodes the specified fmat44 message, length delimited. Does not implicitly {@link fmat44.verify|verify} messages.
+     * @param {fmat44$Properties} message fmat44 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encodeDelimited(message: fmat44$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Decodes a fmat44 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {fmat44} fmat44
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): fmat44;
+
+    /**
+     * Decodes a fmat44 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {fmat44} fmat44
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): fmat44;
+
+    /**
+     * Verifies a fmat44 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    public static verify(message: { [k: string]: any }): string;
+
+    /**
+     * Creates a fmat44 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {fmat44} fmat44
+     */
+    public static fromObject(object: { [k: string]: any }): fmat44;
+
+    /**
+     * Creates a fmat44 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link fmat44.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {fmat44} fmat44
+     */
+    public static from(object: { [k: string]: any }): fmat44;
+
+    /**
+     * Creates a plain object from a fmat44 message. Also converts values to other types if specified.
+     * @param {fmat44} message fmat44
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public static toObject(message: fmat44, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Creates a plain object from this fmat44 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Converts this fmat44 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    public toJSON(): { [k: string]: any };
+}
+
+type imat44$Properties = {
+    x?: ivec4$Properties;
+    y?: ivec4$Properties;
+    z?: ivec4$Properties;
+    t?: ivec4$Properties;
+};
+
+/**
+ * Constructs a new imat44.
+ * @exports imat44
+ * @constructor
+ * @param {imat44$Properties=} [properties] Properties to set
+ */
+export class imat44 {
+
+    /**
+     * Constructs a new imat44.
+     * @exports imat44
+     * @constructor
+     * @param {imat44$Properties=} [properties] Properties to set
+     */
+    constructor(properties?: imat44$Properties);
+
+    /**
+     * imat44 x.
+     * @type {(ivec4$Properties|null)}
+     */
+    public x: (ivec4$Properties|null);
+
+    /**
+     * imat44 y.
+     * @type {(ivec4$Properties|null)}
+     */
+    public y: (ivec4$Properties|null);
+
+    /**
+     * imat44 z.
+     * @type {(ivec4$Properties|null)}
+     */
+    public z: (ivec4$Properties|null);
+
+    /**
+     * imat44 t.
+     * @type {(ivec4$Properties|null)}
+     */
+    public t: (ivec4$Properties|null);
+
+    /**
+     * Creates a new imat44 instance using the specified properties.
+     * @param {imat44$Properties=} [properties] Properties to set
+     * @returns {imat44} imat44 instance
+     */
+    public static create(properties?: imat44$Properties): imat44;
+
+    /**
+     * Encodes the specified imat44 message. Does not implicitly {@link imat44.verify|verify} messages.
+     * @param {imat44$Properties} message imat44 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encode(message: imat44$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Encodes the specified imat44 message, length delimited. Does not implicitly {@link imat44.verify|verify} messages.
+     * @param {imat44$Properties} message imat44 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encodeDelimited(message: imat44$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Decodes an imat44 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {imat44} imat44
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): imat44;
+
+    /**
+     * Decodes an imat44 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {imat44} imat44
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): imat44;
+
+    /**
+     * Verifies an imat44 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    public static verify(message: { [k: string]: any }): string;
+
+    /**
+     * Creates an imat44 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {imat44} imat44
+     */
+    public static fromObject(object: { [k: string]: any }): imat44;
+
+    /**
+     * Creates an imat44 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link imat44.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {imat44} imat44
+     */
+    public static from(object: { [k: string]: any }): imat44;
+
+    /**
+     * Creates a plain object from an imat44 message. Also converts values to other types if specified.
+     * @param {imat44} message imat44
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public static toObject(message: imat44, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Creates a plain object from this imat44 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Converts this imat44 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    public toJSON(): { [k: string]: any };
+}
+
+type umat44$Properties = {
+    x?: uvec4$Properties;
+    y?: uvec4$Properties;
+    z?: uvec4$Properties;
+    t?: uvec4$Properties;
+};
+
+/**
+ * Constructs a new umat44.
+ * @exports umat44
+ * @constructor
+ * @param {umat44$Properties=} [properties] Properties to set
+ */
+export class umat44 {
+
+    /**
+     * Constructs a new umat44.
+     * @exports umat44
+     * @constructor
+     * @param {umat44$Properties=} [properties] Properties to set
+     */
+    constructor(properties?: umat44$Properties);
+
+    /**
+     * umat44 x.
+     * @type {(uvec4$Properties|null)}
+     */
+    public x: (uvec4$Properties|null);
+
+    /**
+     * umat44 y.
+     * @type {(uvec4$Properties|null)}
+     */
+    public y: (uvec4$Properties|null);
+
+    /**
+     * umat44 z.
+     * @type {(uvec4$Properties|null)}
+     */
+    public z: (uvec4$Properties|null);
+
+    /**
+     * umat44 t.
+     * @type {(uvec4$Properties|null)}
+     */
+    public t: (uvec4$Properties|null);
+
+    /**
+     * Creates a new umat44 instance using the specified properties.
+     * @param {umat44$Properties=} [properties] Properties to set
+     * @returns {umat44} umat44 instance
+     */
+    public static create(properties?: umat44$Properties): umat44;
+
+    /**
+     * Encodes the specified umat44 message. Does not implicitly {@link umat44.verify|verify} messages.
+     * @param {umat44$Properties} message umat44 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encode(message: umat44$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Encodes the specified umat44 message, length delimited. Does not implicitly {@link umat44.verify|verify} messages.
+     * @param {umat44$Properties} message umat44 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encodeDelimited(message: umat44$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Decodes an umat44 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {umat44} umat44
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): umat44;
+
+    /**
+     * Decodes an umat44 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {umat44} umat44
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): umat44;
+
+    /**
+     * Verifies an umat44 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    public static verify(message: { [k: string]: any }): string;
+
+    /**
+     * Creates an umat44 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {umat44} umat44
+     */
+    public static fromObject(object: { [k: string]: any }): umat44;
+
+    /**
+     * Creates an umat44 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link umat44.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {umat44} umat44
+     */
+    public static from(object: { [k: string]: any }): umat44;
+
+    /**
+     * Creates a plain object from an umat44 message. Also converts values to other types if specified.
+     * @param {umat44} message umat44
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public static toObject(message: umat44, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Creates a plain object from this umat44 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Converts this umat44 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    public toJSON(): { [k: string]: any };
+}
+
+type vec$Properties = {
+    v?: number[];
+};
+
+/**
+ * Constructs a new vec.
+ * @exports vec
+ * @constructor
+ * @param {vec$Properties=} [properties] Properties to set
+ */
+export class vec {
+
+    /**
+     * Constructs a new vec.
+     * @exports vec
+     * @constructor
+     * @param {vec$Properties=} [properties] Properties to set
+     */
+    constructor(properties?: vec$Properties);
+
+    /**
+     * vec v.
+     * @type {Array.<number>}
+     */
+    public v: number[];
+
+    /**
+     * Creates a new vec instance using the specified properties.
+     * @param {vec$Properties=} [properties] Properties to set
+     * @returns {vec} vec instance
+     */
+    public static create(properties?: vec$Properties): vec;
+
+    /**
+     * Encodes the specified vec message. Does not implicitly {@link vec.verify|verify} messages.
+     * @param {vec$Properties} message vec message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encode(message: vec$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Encodes the specified vec message, length delimited. Does not implicitly {@link vec.verify|verify} messages.
+     * @param {vec$Properties} message vec message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encodeDelimited(message: vec$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Decodes a vec message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {vec} vec
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): vec;
+
+    /**
+     * Decodes a vec message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {vec} vec
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): vec;
+
+    /**
+     * Verifies a vec message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    public static verify(message: { [k: string]: any }): string;
+
+    /**
+     * Creates a vec message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {vec} vec
+     */
+    public static fromObject(object: { [k: string]: any }): vec;
+
+    /**
+     * Creates a vec message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link vec.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {vec} vec
+     */
+    public static from(object: { [k: string]: any }): vec;
+
+    /**
+     * Creates a plain object from a vec message. Also converts values to other types if specified.
+     * @param {vec} message vec
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public static toObject(message: vec, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Creates a plain object from this vec message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Converts this vec to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    public toJSON(): { [k: string]: any };
+}
+
+type fvec$Properties = {
+    v?: number[];
+};
+
+/**
+ * Constructs a new fvec.
+ * @exports fvec
+ * @constructor
+ * @param {fvec$Properties=} [properties] Properties to set
+ */
+export class fvec {
+
+    /**
+     * Constructs a new fvec.
+     * @exports fvec
+     * @constructor
+     * @param {fvec$Properties=} [properties] Properties to set
+     */
+    constructor(properties?: fvec$Properties);
+
+    /**
+     * fvec v.
+     * @type {Array.<number>}
+     */
+    public v: number[];
+
+    /**
+     * Creates a new fvec instance using the specified properties.
+     * @param {fvec$Properties=} [properties] Properties to set
+     * @returns {fvec} fvec instance
+     */
+    public static create(properties?: fvec$Properties): fvec;
+
+    /**
+     * Encodes the specified fvec message. Does not implicitly {@link fvec.verify|verify} messages.
+     * @param {fvec$Properties} message fvec message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encode(message: fvec$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Encodes the specified fvec message, length delimited. Does not implicitly {@link fvec.verify|verify} messages.
+     * @param {fvec$Properties} message fvec message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encodeDelimited(message: fvec$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Decodes a fvec message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {fvec} fvec
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): fvec;
+
+    /**
+     * Decodes a fvec message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {fvec} fvec
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): fvec;
+
+    /**
+     * Verifies a fvec message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    public static verify(message: { [k: string]: any }): string;
+
+    /**
+     * Creates a fvec message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {fvec} fvec
+     */
+    public static fromObject(object: { [k: string]: any }): fvec;
+
+    /**
+     * Creates a fvec message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link fvec.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {fvec} fvec
+     */
+    public static from(object: { [k: string]: any }): fvec;
+
+    /**
+     * Creates a plain object from a fvec message. Also converts values to other types if specified.
+     * @param {fvec} message fvec
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public static toObject(message: fvec, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Creates a plain object from this fvec message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Converts this fvec to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    public toJSON(): { [k: string]: any };
+}
+
+type ivec$Properties = {
+    v?: number[];
+};
+
+/**
+ * Constructs a new ivec.
+ * @exports ivec
+ * @constructor
+ * @param {ivec$Properties=} [properties] Properties to set
+ */
+export class ivec {
+
+    /**
+     * Constructs a new ivec.
+     * @exports ivec
+     * @constructor
+     * @param {ivec$Properties=} [properties] Properties to set
+     */
+    constructor(properties?: ivec$Properties);
+
+    /**
+     * ivec v.
+     * @type {Array.<number>}
+     */
+    public v: number[];
+
+    /**
+     * Creates a new ivec instance using the specified properties.
+     * @param {ivec$Properties=} [properties] Properties to set
+     * @returns {ivec} ivec instance
+     */
+    public static create(properties?: ivec$Properties): ivec;
+
+    /**
+     * Encodes the specified ivec message. Does not implicitly {@link ivec.verify|verify} messages.
+     * @param {ivec$Properties} message ivec message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encode(message: ivec$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Encodes the specified ivec message, length delimited. Does not implicitly {@link ivec.verify|verify} messages.
+     * @param {ivec$Properties} message ivec message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encodeDelimited(message: ivec$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Decodes an ivec message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {ivec} ivec
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): ivec;
+
+    /**
+     * Decodes an ivec message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {ivec} ivec
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): ivec;
+
+    /**
+     * Verifies an ivec message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    public static verify(message: { [k: string]: any }): string;
+
+    /**
+     * Creates an ivec message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {ivec} ivec
+     */
+    public static fromObject(object: { [k: string]: any }): ivec;
+
+    /**
+     * Creates an ivec message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link ivec.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {ivec} ivec
+     */
+    public static from(object: { [k: string]: any }): ivec;
+
+    /**
+     * Creates a plain object from an ivec message. Also converts values to other types if specified.
+     * @param {ivec} message ivec
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public static toObject(message: ivec, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Creates a plain object from this ivec message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Converts this ivec to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    public toJSON(): { [k: string]: any };
+}
+
+type uvec$Properties = {
+    v?: number[];
+};
+
+/**
+ * Constructs a new uvec.
+ * @exports uvec
+ * @constructor
+ * @param {uvec$Properties=} [properties] Properties to set
+ */
+export class uvec {
+
+    /**
+     * Constructs a new uvec.
+     * @exports uvec
+     * @constructor
+     * @param {uvec$Properties=} [properties] Properties to set
+     */
+    constructor(properties?: uvec$Properties);
+
+    /**
+     * uvec v.
+     * @type {Array.<number>}
+     */
+    public v: number[];
+
+    /**
+     * Creates a new uvec instance using the specified properties.
+     * @param {uvec$Properties=} [properties] Properties to set
+     * @returns {uvec} uvec instance
+     */
+    public static create(properties?: uvec$Properties): uvec;
+
+    /**
+     * Encodes the specified uvec message. Does not implicitly {@link uvec.verify|verify} messages.
+     * @param {uvec$Properties} message uvec message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encode(message: uvec$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Encodes the specified uvec message, length delimited. Does not implicitly {@link uvec.verify|verify} messages.
+     * @param {uvec$Properties} message uvec message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encodeDelimited(message: uvec$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Decodes an uvec message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {uvec} uvec
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): uvec;
+
+    /**
+     * Decodes an uvec message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {uvec} uvec
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): uvec;
+
+    /**
+     * Verifies an uvec message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    public static verify(message: { [k: string]: any }): string;
+
+    /**
+     * Creates an uvec message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {uvec} uvec
+     */
+    public static fromObject(object: { [k: string]: any }): uvec;
+
+    /**
+     * Creates an uvec message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link uvec.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {uvec} uvec
+     */
+    public static from(object: { [k: string]: any }): uvec;
+
+    /**
+     * Creates a plain object from an uvec message. Also converts values to other types if specified.
+     * @param {uvec} message uvec
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public static toObject(message: uvec, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Creates a plain object from this uvec message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Converts this uvec to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    public toJSON(): { [k: string]: any };
+}
+
+type cvec$Properties = {
+    v?: Uint8Array;
+};
+
+/**
+ * Constructs a new cvec.
+ * @exports cvec
+ * @constructor
+ * @param {cvec$Properties=} [properties] Properties to set
+ */
+export class cvec {
+
+    /**
+     * Constructs a new cvec.
+     * @exports cvec
+     * @constructor
+     * @param {cvec$Properties=} [properties] Properties to set
+     */
+    constructor(properties?: cvec$Properties);
+
+    /**
+     * cvec v.
+     * @type {Uint8Array}
+     */
+    public v: Uint8Array;
+
+    /**
+     * Creates a new cvec instance using the specified properties.
+     * @param {cvec$Properties=} [properties] Properties to set
+     * @returns {cvec} cvec instance
+     */
+    public static create(properties?: cvec$Properties): cvec;
+
+    /**
+     * Encodes the specified cvec message. Does not implicitly {@link cvec.verify|verify} messages.
+     * @param {cvec$Properties} message cvec message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encode(message: cvec$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Encodes the specified cvec message, length delimited. Does not implicitly {@link cvec.verify|verify} messages.
+     * @param {cvec$Properties} message cvec message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encodeDelimited(message: cvec$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Decodes a cvec message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {cvec} cvec
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): cvec;
+
+    /**
+     * Decodes a cvec message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {cvec} cvec
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): cvec;
+
+    /**
+     * Verifies a cvec message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    public static verify(message: { [k: string]: any }): string;
+
+    /**
+     * Creates a cvec message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {cvec} cvec
+     */
+    public static fromObject(object: { [k: string]: any }): cvec;
+
+    /**
+     * Creates a cvec message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link cvec.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {cvec} cvec
+     */
+    public static from(object: { [k: string]: any }): cvec;
+
+    /**
+     * Creates a plain object from a cvec message. Also converts values to other types if specified.
+     * @param {cvec} message cvec
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public static toObject(message: cvec, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Creates a plain object from this cvec message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Converts this cvec to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    public toJSON(): { [k: string]: any };
+}
+
+type vec2$Properties = {
+    x?: number;
+    y?: number;
+};
+
+/**
+ * Constructs a new vec2.
+ * @exports vec2
+ * @constructor
+ * @param {vec2$Properties=} [properties] Properties to set
+ */
+export class vec2 {
+
+    /**
+     * Constructs a new vec2.
+     * @exports vec2
+     * @constructor
+     * @param {vec2$Properties=} [properties] Properties to set
+     */
+    constructor(properties?: vec2$Properties);
+
+    /**
+     * vec2 x.
+     * @type {number}
+     */
+    public x: number;
+
+    /**
+     * vec2 y.
+     * @type {number}
+     */
+    public y: number;
+
+    /**
+     * Creates a new vec2 instance using the specified properties.
+     * @param {vec2$Properties=} [properties] Properties to set
+     * @returns {vec2} vec2 instance
+     */
+    public static create(properties?: vec2$Properties): vec2;
+
+    /**
+     * Encodes the specified vec2 message. Does not implicitly {@link vec2.verify|verify} messages.
+     * @param {vec2$Properties} message vec2 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encode(message: vec2$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Encodes the specified vec2 message, length delimited. Does not implicitly {@link vec2.verify|verify} messages.
+     * @param {vec2$Properties} message vec2 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encodeDelimited(message: vec2$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Decodes a vec2 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {vec2} vec2
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): vec2;
+
+    /**
+     * Decodes a vec2 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {vec2} vec2
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): vec2;
+
+    /**
+     * Verifies a vec2 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    public static verify(message: { [k: string]: any }): string;
+
+    /**
+     * Creates a vec2 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {vec2} vec2
+     */
+    public static fromObject(object: { [k: string]: any }): vec2;
+
+    /**
+     * Creates a vec2 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link vec2.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {vec2} vec2
+     */
+    public static from(object: { [k: string]: any }): vec2;
+
+    /**
+     * Creates a plain object from a vec2 message. Also converts values to other types if specified.
+     * @param {vec2} message vec2
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public static toObject(message: vec2, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Creates a plain object from this vec2 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Converts this vec2 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    public toJSON(): { [k: string]: any };
+}
+
+type fvec2$Properties = {
+    x?: number;
+    y?: number;
+};
+
+/**
+ * Constructs a new fvec2.
+ * @exports fvec2
+ * @constructor
+ * @param {fvec2$Properties=} [properties] Properties to set
+ */
+export class fvec2 {
+
+    /**
+     * Constructs a new fvec2.
+     * @exports fvec2
+     * @constructor
+     * @param {fvec2$Properties=} [properties] Properties to set
+     */
+    constructor(properties?: fvec2$Properties);
+
+    /**
+     * fvec2 x.
+     * @type {number}
+     */
+    public x: number;
+
+    /**
+     * fvec2 y.
+     * @type {number}
+     */
+    public y: number;
+
+    /**
+     * Creates a new fvec2 instance using the specified properties.
+     * @param {fvec2$Properties=} [properties] Properties to set
+     * @returns {fvec2} fvec2 instance
+     */
+    public static create(properties?: fvec2$Properties): fvec2;
+
+    /**
+     * Encodes the specified fvec2 message. Does not implicitly {@link fvec2.verify|verify} messages.
+     * @param {fvec2$Properties} message fvec2 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encode(message: fvec2$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Encodes the specified fvec2 message, length delimited. Does not implicitly {@link fvec2.verify|verify} messages.
+     * @param {fvec2$Properties} message fvec2 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encodeDelimited(message: fvec2$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Decodes a fvec2 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {fvec2} fvec2
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): fvec2;
+
+    /**
+     * Decodes a fvec2 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {fvec2} fvec2
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): fvec2;
+
+    /**
+     * Verifies a fvec2 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    public static verify(message: { [k: string]: any }): string;
+
+    /**
+     * Creates a fvec2 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {fvec2} fvec2
+     */
+    public static fromObject(object: { [k: string]: any }): fvec2;
+
+    /**
+     * Creates a fvec2 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link fvec2.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {fvec2} fvec2
+     */
+    public static from(object: { [k: string]: any }): fvec2;
+
+    /**
+     * Creates a plain object from a fvec2 message. Also converts values to other types if specified.
+     * @param {fvec2} message fvec2
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public static toObject(message: fvec2, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Creates a plain object from this fvec2 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Converts this fvec2 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    public toJSON(): { [k: string]: any };
+}
+
+type ivec2$Properties = {
+    x?: number;
+    y?: number;
+};
+
+/**
+ * Constructs a new ivec2.
+ * @exports ivec2
+ * @constructor
+ * @param {ivec2$Properties=} [properties] Properties to set
+ */
+export class ivec2 {
+
+    /**
+     * Constructs a new ivec2.
+     * @exports ivec2
+     * @constructor
+     * @param {ivec2$Properties=} [properties] Properties to set
+     */
+    constructor(properties?: ivec2$Properties);
+
+    /**
+     * ivec2 x.
+     * @type {number}
+     */
+    public x: number;
+
+    /**
+     * ivec2 y.
+     * @type {number}
+     */
+    public y: number;
+
+    /**
+     * Creates a new ivec2 instance using the specified properties.
+     * @param {ivec2$Properties=} [properties] Properties to set
+     * @returns {ivec2} ivec2 instance
+     */
+    public static create(properties?: ivec2$Properties): ivec2;
+
+    /**
+     * Encodes the specified ivec2 message. Does not implicitly {@link ivec2.verify|verify} messages.
+     * @param {ivec2$Properties} message ivec2 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encode(message: ivec2$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Encodes the specified ivec2 message, length delimited. Does not implicitly {@link ivec2.verify|verify} messages.
+     * @param {ivec2$Properties} message ivec2 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encodeDelimited(message: ivec2$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Decodes an ivec2 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {ivec2} ivec2
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): ivec2;
+
+    /**
+     * Decodes an ivec2 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {ivec2} ivec2
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): ivec2;
+
+    /**
+     * Verifies an ivec2 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    public static verify(message: { [k: string]: any }): string;
+
+    /**
+     * Creates an ivec2 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {ivec2} ivec2
+     */
+    public static fromObject(object: { [k: string]: any }): ivec2;
+
+    /**
+     * Creates an ivec2 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link ivec2.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {ivec2} ivec2
+     */
+    public static from(object: { [k: string]: any }): ivec2;
+
+    /**
+     * Creates a plain object from an ivec2 message. Also converts values to other types if specified.
+     * @param {ivec2} message ivec2
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public static toObject(message: ivec2, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Creates a plain object from this ivec2 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Converts this ivec2 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    public toJSON(): { [k: string]: any };
+}
+
+type uvec2$Properties = {
+    x?: number;
+    y?: number;
+};
+
+/**
+ * Constructs a new uvec2.
+ * @exports uvec2
+ * @constructor
+ * @param {uvec2$Properties=} [properties] Properties to set
+ */
+export class uvec2 {
+
+    /**
+     * Constructs a new uvec2.
+     * @exports uvec2
+     * @constructor
+     * @param {uvec2$Properties=} [properties] Properties to set
+     */
+    constructor(properties?: uvec2$Properties);
+
+    /**
+     * uvec2 x.
+     * @type {number}
+     */
+    public x: number;
+
+    /**
+     * uvec2 y.
+     * @type {number}
+     */
+    public y: number;
+
+    /**
+     * Creates a new uvec2 instance using the specified properties.
+     * @param {uvec2$Properties=} [properties] Properties to set
+     * @returns {uvec2} uvec2 instance
+     */
+    public static create(properties?: uvec2$Properties): uvec2;
+
+    /**
+     * Encodes the specified uvec2 message. Does not implicitly {@link uvec2.verify|verify} messages.
+     * @param {uvec2$Properties} message uvec2 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encode(message: uvec2$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Encodes the specified uvec2 message, length delimited. Does not implicitly {@link uvec2.verify|verify} messages.
+     * @param {uvec2$Properties} message uvec2 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encodeDelimited(message: uvec2$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Decodes an uvec2 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {uvec2} uvec2
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): uvec2;
+
+    /**
+     * Decodes an uvec2 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {uvec2} uvec2
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): uvec2;
+
+    /**
+     * Verifies an uvec2 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    public static verify(message: { [k: string]: any }): string;
+
+    /**
+     * Creates an uvec2 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {uvec2} uvec2
+     */
+    public static fromObject(object: { [k: string]: any }): uvec2;
+
+    /**
+     * Creates an uvec2 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link uvec2.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {uvec2} uvec2
+     */
+    public static from(object: { [k: string]: any }): uvec2;
+
+    /**
+     * Creates a plain object from an uvec2 message. Also converts values to other types if specified.
+     * @param {uvec2} message uvec2
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public static toObject(message: uvec2, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Creates a plain object from this uvec2 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Converts this uvec2 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    public toJSON(): { [k: string]: any };
+}
+
+type vec3$Properties = {
+    x?: number;
+    y?: number;
+    z?: number;
+};
+
+/**
+ * Constructs a new vec3.
+ * @exports vec3
+ * @constructor
+ * @param {vec3$Properties=} [properties] Properties to set
+ */
+export class vec3 {
+
+    /**
+     * Constructs a new vec3.
+     * @exports vec3
+     * @constructor
+     * @param {vec3$Properties=} [properties] Properties to set
+     */
+    constructor(properties?: vec3$Properties);
+
+    /**
+     * vec3 x.
+     * @type {number}
+     */
+    public x: number;
+
+    /**
+     * vec3 y.
+     * @type {number}
+     */
+    public y: number;
+
+    /**
+     * vec3 z.
+     * @type {number}
+     */
+    public z: number;
+
+    /**
+     * Creates a new vec3 instance using the specified properties.
+     * @param {vec3$Properties=} [properties] Properties to set
+     * @returns {vec3} vec3 instance
+     */
+    public static create(properties?: vec3$Properties): vec3;
+
+    /**
+     * Encodes the specified vec3 message. Does not implicitly {@link vec3.verify|verify} messages.
+     * @param {vec3$Properties} message vec3 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encode(message: vec3$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Encodes the specified vec3 message, length delimited. Does not implicitly {@link vec3.verify|verify} messages.
+     * @param {vec3$Properties} message vec3 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encodeDelimited(message: vec3$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Decodes a vec3 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {vec3} vec3
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): vec3;
+
+    /**
+     * Decodes a vec3 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {vec3} vec3
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): vec3;
+
+    /**
+     * Verifies a vec3 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    public static verify(message: { [k: string]: any }): string;
+
+    /**
+     * Creates a vec3 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {vec3} vec3
+     */
+    public static fromObject(object: { [k: string]: any }): vec3;
+
+    /**
+     * Creates a vec3 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link vec3.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {vec3} vec3
+     */
+    public static from(object: { [k: string]: any }): vec3;
+
+    /**
+     * Creates a plain object from a vec3 message. Also converts values to other types if specified.
+     * @param {vec3} message vec3
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public static toObject(message: vec3, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Creates a plain object from this vec3 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Converts this vec3 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    public toJSON(): { [k: string]: any };
+}
+
+type fvec3$Properties = {
+    x?: number;
+    y?: number;
+    z?: number;
+};
+
+/**
+ * Constructs a new fvec3.
+ * @exports fvec3
+ * @constructor
+ * @param {fvec3$Properties=} [properties] Properties to set
+ */
+export class fvec3 {
+
+    /**
+     * Constructs a new fvec3.
+     * @exports fvec3
+     * @constructor
+     * @param {fvec3$Properties=} [properties] Properties to set
+     */
+    constructor(properties?: fvec3$Properties);
+
+    /**
+     * fvec3 x.
+     * @type {number}
+     */
+    public x: number;
+
+    /**
+     * fvec3 y.
+     * @type {number}
+     */
+    public y: number;
+
+    /**
+     * fvec3 z.
+     * @type {number}
+     */
+    public z: number;
+
+    /**
+     * Creates a new fvec3 instance using the specified properties.
+     * @param {fvec3$Properties=} [properties] Properties to set
+     * @returns {fvec3} fvec3 instance
+     */
+    public static create(properties?: fvec3$Properties): fvec3;
+
+    /**
+     * Encodes the specified fvec3 message. Does not implicitly {@link fvec3.verify|verify} messages.
+     * @param {fvec3$Properties} message fvec3 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encode(message: fvec3$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Encodes the specified fvec3 message, length delimited. Does not implicitly {@link fvec3.verify|verify} messages.
+     * @param {fvec3$Properties} message fvec3 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encodeDelimited(message: fvec3$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Decodes a fvec3 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {fvec3} fvec3
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): fvec3;
+
+    /**
+     * Decodes a fvec3 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {fvec3} fvec3
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): fvec3;
+
+    /**
+     * Verifies a fvec3 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    public static verify(message: { [k: string]: any }): string;
+
+    /**
+     * Creates a fvec3 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {fvec3} fvec3
+     */
+    public static fromObject(object: { [k: string]: any }): fvec3;
+
+    /**
+     * Creates a fvec3 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link fvec3.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {fvec3} fvec3
+     */
+    public static from(object: { [k: string]: any }): fvec3;
+
+    /**
+     * Creates a plain object from a fvec3 message. Also converts values to other types if specified.
+     * @param {fvec3} message fvec3
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public static toObject(message: fvec3, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Creates a plain object from this fvec3 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Converts this fvec3 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    public toJSON(): { [k: string]: any };
+}
+
+type ivec3$Properties = {
+    x?: number;
+    y?: number;
+    z?: number;
+};
+
+/**
+ * Constructs a new ivec3.
+ * @exports ivec3
+ * @constructor
+ * @param {ivec3$Properties=} [properties] Properties to set
+ */
+export class ivec3 {
+
+    /**
+     * Constructs a new ivec3.
+     * @exports ivec3
+     * @constructor
+     * @param {ivec3$Properties=} [properties] Properties to set
+     */
+    constructor(properties?: ivec3$Properties);
+
+    /**
+     * ivec3 x.
+     * @type {number}
+     */
+    public x: number;
+
+    /**
+     * ivec3 y.
+     * @type {number}
+     */
+    public y: number;
+
+    /**
+     * ivec3 z.
+     * @type {number}
+     */
+    public z: number;
+
+    /**
+     * Creates a new ivec3 instance using the specified properties.
+     * @param {ivec3$Properties=} [properties] Properties to set
+     * @returns {ivec3} ivec3 instance
+     */
+    public static create(properties?: ivec3$Properties): ivec3;
+
+    /**
+     * Encodes the specified ivec3 message. Does not implicitly {@link ivec3.verify|verify} messages.
+     * @param {ivec3$Properties} message ivec3 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encode(message: ivec3$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Encodes the specified ivec3 message, length delimited. Does not implicitly {@link ivec3.verify|verify} messages.
+     * @param {ivec3$Properties} message ivec3 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encodeDelimited(message: ivec3$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Decodes an ivec3 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {ivec3} ivec3
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): ivec3;
+
+    /**
+     * Decodes an ivec3 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {ivec3} ivec3
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): ivec3;
+
+    /**
+     * Verifies an ivec3 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    public static verify(message: { [k: string]: any }): string;
+
+    /**
+     * Creates an ivec3 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {ivec3} ivec3
+     */
+    public static fromObject(object: { [k: string]: any }): ivec3;
+
+    /**
+     * Creates an ivec3 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link ivec3.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {ivec3} ivec3
+     */
+    public static from(object: { [k: string]: any }): ivec3;
+
+    /**
+     * Creates a plain object from an ivec3 message. Also converts values to other types if specified.
+     * @param {ivec3} message ivec3
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public static toObject(message: ivec3, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Creates a plain object from this ivec3 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Converts this ivec3 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    public toJSON(): { [k: string]: any };
+}
+
+type uvec3$Properties = {
+    x?: number;
+    y?: number;
+    z?: number;
+};
+
+/**
+ * Constructs a new uvec3.
+ * @exports uvec3
+ * @constructor
+ * @param {uvec3$Properties=} [properties] Properties to set
+ */
+export class uvec3 {
+
+    /**
+     * Constructs a new uvec3.
+     * @exports uvec3
+     * @constructor
+     * @param {uvec3$Properties=} [properties] Properties to set
+     */
+    constructor(properties?: uvec3$Properties);
+
+    /**
+     * uvec3 x.
+     * @type {number}
+     */
+    public x: number;
+
+    /**
+     * uvec3 y.
+     * @type {number}
+     */
+    public y: number;
+
+    /**
+     * uvec3 z.
+     * @type {number}
+     */
+    public z: number;
+
+    /**
+     * Creates a new uvec3 instance using the specified properties.
+     * @param {uvec3$Properties=} [properties] Properties to set
+     * @returns {uvec3} uvec3 instance
+     */
+    public static create(properties?: uvec3$Properties): uvec3;
+
+    /**
+     * Encodes the specified uvec3 message. Does not implicitly {@link uvec3.verify|verify} messages.
+     * @param {uvec3$Properties} message uvec3 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encode(message: uvec3$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Encodes the specified uvec3 message, length delimited. Does not implicitly {@link uvec3.verify|verify} messages.
+     * @param {uvec3$Properties} message uvec3 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encodeDelimited(message: uvec3$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Decodes an uvec3 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {uvec3} uvec3
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): uvec3;
+
+    /**
+     * Decodes an uvec3 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {uvec3} uvec3
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): uvec3;
+
+    /**
+     * Verifies an uvec3 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    public static verify(message: { [k: string]: any }): string;
+
+    /**
+     * Creates an uvec3 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {uvec3} uvec3
+     */
+    public static fromObject(object: { [k: string]: any }): uvec3;
+
+    /**
+     * Creates an uvec3 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link uvec3.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {uvec3} uvec3
+     */
+    public static from(object: { [k: string]: any }): uvec3;
+
+    /**
+     * Creates a plain object from an uvec3 message. Also converts values to other types if specified.
+     * @param {uvec3} message uvec3
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public static toObject(message: uvec3, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Creates a plain object from this uvec3 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Converts this uvec3 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    public toJSON(): { [k: string]: any };
+}
+
+type vec4$Properties = {
+    x?: number;
+    y?: number;
+    z?: number;
+    t?: number;
+};
+
+/**
+ * Constructs a new vec4.
+ * @exports vec4
+ * @constructor
+ * @param {vec4$Properties=} [properties] Properties to set
+ */
+export class vec4 {
+
+    /**
+     * Constructs a new vec4.
+     * @exports vec4
+     * @constructor
+     * @param {vec4$Properties=} [properties] Properties to set
+     */
+    constructor(properties?: vec4$Properties);
+
+    /**
+     * vec4 x.
+     * @type {number}
+     */
+    public x: number;
+
+    /**
+     * vec4 y.
+     * @type {number}
+     */
+    public y: number;
+
+    /**
+     * vec4 z.
+     * @type {number}
+     */
+    public z: number;
+
+    /**
+     * vec4 t.
+     * @type {number}
+     */
+    public t: number;
+
+    /**
+     * Creates a new vec4 instance using the specified properties.
+     * @param {vec4$Properties=} [properties] Properties to set
+     * @returns {vec4} vec4 instance
+     */
+    public static create(properties?: vec4$Properties): vec4;
+
+    /**
+     * Encodes the specified vec4 message. Does not implicitly {@link vec4.verify|verify} messages.
+     * @param {vec4$Properties} message vec4 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encode(message: vec4$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Encodes the specified vec4 message, length delimited. Does not implicitly {@link vec4.verify|verify} messages.
+     * @param {vec4$Properties} message vec4 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encodeDelimited(message: vec4$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Decodes a vec4 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {vec4} vec4
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): vec4;
+
+    /**
+     * Decodes a vec4 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {vec4} vec4
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): vec4;
+
+    /**
+     * Verifies a vec4 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    public static verify(message: { [k: string]: any }): string;
+
+    /**
+     * Creates a vec4 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {vec4} vec4
+     */
+    public static fromObject(object: { [k: string]: any }): vec4;
+
+    /**
+     * Creates a vec4 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link vec4.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {vec4} vec4
+     */
+    public static from(object: { [k: string]: any }): vec4;
+
+    /**
+     * Creates a plain object from a vec4 message. Also converts values to other types if specified.
+     * @param {vec4} message vec4
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public static toObject(message: vec4, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Creates a plain object from this vec4 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Converts this vec4 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    public toJSON(): { [k: string]: any };
+}
+
+type fvec4$Properties = {
+    x?: number;
+    y?: number;
+    z?: number;
+    t?: number;
+};
+
+/**
+ * Constructs a new fvec4.
+ * @exports fvec4
+ * @constructor
+ * @param {fvec4$Properties=} [properties] Properties to set
+ */
+export class fvec4 {
+
+    /**
+     * Constructs a new fvec4.
+     * @exports fvec4
+     * @constructor
+     * @param {fvec4$Properties=} [properties] Properties to set
+     */
+    constructor(properties?: fvec4$Properties);
+
+    /**
+     * fvec4 x.
+     * @type {number}
+     */
+    public x: number;
+
+    /**
+     * fvec4 y.
+     * @type {number}
+     */
+    public y: number;
+
+    /**
+     * fvec4 z.
+     * @type {number}
+     */
+    public z: number;
+
+    /**
+     * fvec4 t.
+     * @type {number}
+     */
+    public t: number;
+
+    /**
+     * Creates a new fvec4 instance using the specified properties.
+     * @param {fvec4$Properties=} [properties] Properties to set
+     * @returns {fvec4} fvec4 instance
+     */
+    public static create(properties?: fvec4$Properties): fvec4;
+
+    /**
+     * Encodes the specified fvec4 message. Does not implicitly {@link fvec4.verify|verify} messages.
+     * @param {fvec4$Properties} message fvec4 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encode(message: fvec4$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Encodes the specified fvec4 message, length delimited. Does not implicitly {@link fvec4.verify|verify} messages.
+     * @param {fvec4$Properties} message fvec4 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encodeDelimited(message: fvec4$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Decodes a fvec4 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {fvec4} fvec4
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): fvec4;
+
+    /**
+     * Decodes a fvec4 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {fvec4} fvec4
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): fvec4;
+
+    /**
+     * Verifies a fvec4 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    public static verify(message: { [k: string]: any }): string;
+
+    /**
+     * Creates a fvec4 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {fvec4} fvec4
+     */
+    public static fromObject(object: { [k: string]: any }): fvec4;
+
+    /**
+     * Creates a fvec4 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link fvec4.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {fvec4} fvec4
+     */
+    public static from(object: { [k: string]: any }): fvec4;
+
+    /**
+     * Creates a plain object from a fvec4 message. Also converts values to other types if specified.
+     * @param {fvec4} message fvec4
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public static toObject(message: fvec4, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Creates a plain object from this fvec4 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Converts this fvec4 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    public toJSON(): { [k: string]: any };
+}
+
+type ivec4$Properties = {
+    x?: number;
+    y?: number;
+    z?: number;
+    t?: number;
+};
+
+/**
+ * Constructs a new ivec4.
+ * @exports ivec4
+ * @constructor
+ * @param {ivec4$Properties=} [properties] Properties to set
+ */
+export class ivec4 {
+
+    /**
+     * Constructs a new ivec4.
+     * @exports ivec4
+     * @constructor
+     * @param {ivec4$Properties=} [properties] Properties to set
+     */
+    constructor(properties?: ivec4$Properties);
+
+    /**
+     * ivec4 x.
+     * @type {number}
+     */
+    public x: number;
+
+    /**
+     * ivec4 y.
+     * @type {number}
+     */
+    public y: number;
+
+    /**
+     * ivec4 z.
+     * @type {number}
+     */
+    public z: number;
+
+    /**
+     * ivec4 t.
+     * @type {number}
+     */
+    public t: number;
+
+    /**
+     * Creates a new ivec4 instance using the specified properties.
+     * @param {ivec4$Properties=} [properties] Properties to set
+     * @returns {ivec4} ivec4 instance
+     */
+    public static create(properties?: ivec4$Properties): ivec4;
+
+    /**
+     * Encodes the specified ivec4 message. Does not implicitly {@link ivec4.verify|verify} messages.
+     * @param {ivec4$Properties} message ivec4 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encode(message: ivec4$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Encodes the specified ivec4 message, length delimited. Does not implicitly {@link ivec4.verify|verify} messages.
+     * @param {ivec4$Properties} message ivec4 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encodeDelimited(message: ivec4$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Decodes an ivec4 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {ivec4} ivec4
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): ivec4;
+
+    /**
+     * Decodes an ivec4 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {ivec4} ivec4
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): ivec4;
+
+    /**
+     * Verifies an ivec4 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    public static verify(message: { [k: string]: any }): string;
+
+    /**
+     * Creates an ivec4 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {ivec4} ivec4
+     */
+    public static fromObject(object: { [k: string]: any }): ivec4;
+
+    /**
+     * Creates an ivec4 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link ivec4.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {ivec4} ivec4
+     */
+    public static from(object: { [k: string]: any }): ivec4;
+
+    /**
+     * Creates a plain object from an ivec4 message. Also converts values to other types if specified.
+     * @param {ivec4} message ivec4
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public static toObject(message: ivec4, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Creates a plain object from this ivec4 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Converts this ivec4 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    public toJSON(): { [k: string]: any };
+}
+
+type uvec4$Properties = {
+    x?: number;
+    y?: number;
+    z?: number;
+    t?: number;
+};
+
+/**
+ * Constructs a new uvec4.
+ * @exports uvec4
+ * @constructor
+ * @param {uvec4$Properties=} [properties] Properties to set
+ */
+export class uvec4 {
+
+    /**
+     * Constructs a new uvec4.
+     * @exports uvec4
+     * @constructor
+     * @param {uvec4$Properties=} [properties] Properties to set
+     */
+    constructor(properties?: uvec4$Properties);
+
+    /**
+     * uvec4 x.
+     * @type {number}
+     */
+    public x: number;
+
+    /**
+     * uvec4 y.
+     * @type {number}
+     */
+    public y: number;
+
+    /**
+     * uvec4 z.
+     * @type {number}
+     */
+    public z: number;
+
+    /**
+     * uvec4 t.
+     * @type {number}
+     */
+    public t: number;
+
+    /**
+     * Creates a new uvec4 instance using the specified properties.
+     * @param {uvec4$Properties=} [properties] Properties to set
+     * @returns {uvec4} uvec4 instance
+     */
+    public static create(properties?: uvec4$Properties): uvec4;
+
+    /**
+     * Encodes the specified uvec4 message. Does not implicitly {@link uvec4.verify|verify} messages.
+     * @param {uvec4$Properties} message uvec4 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encode(message: uvec4$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Encodes the specified uvec4 message, length delimited. Does not implicitly {@link uvec4.verify|verify} messages.
+     * @param {uvec4$Properties} message uvec4 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    public static encodeDelimited(message: uvec4$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+    /**
+     * Decodes an uvec4 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {uvec4} uvec4
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): uvec4;
+
+    /**
+     * Decodes an uvec4 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {uvec4} uvec4
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): uvec4;
+
+    /**
+     * Verifies an uvec4 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    public static verify(message: { [k: string]: any }): string;
+
+    /**
+     * Creates an uvec4 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {uvec4} uvec4
+     */
+    public static fromObject(object: { [k: string]: any }): uvec4;
+
+    /**
+     * Creates an uvec4 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link uvec4.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {uvec4} uvec4
+     */
+    public static from(object: { [k: string]: any }): uvec4;
+
+    /**
+     * Creates a plain object from an uvec4 message. Also converts values to other types if specified.
+     * @param {uvec4} message uvec4
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public static toObject(message: uvec4, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Creates a plain object from this uvec4 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+    /**
+     * Converts this uvec4 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    public toJSON(): { [k: string]: any };
+}
+
+/**
+ * PointerType enum.
+ * @exports PointerType
+ * @enum {number}
+ * @property {number} NONE=0 NONE value
+ * @property {number} RAW=1 RAW value
+ * @property {number} SHARED=2 SHARED value
+ * @property {number} UNIQUE=3 UNIQUE value
+ */
+export enum PointerType {
+    NONE = 0,
+    RAW = 1,
+    SHARED = 2,
+    UNIQUE = 3
+}
+
+/**
+ * Namespace google.
+ * @exports google
+ * @namespace
+ */
+export namespace google {
+
+    /**
+     * Namespace protobuf.
+     * @exports google.protobuf
+     * @namespace
+     */
+    namespace protobuf {
+
+        type FileDescriptorSet$Properties = {
+            file?: google.protobuf.FileDescriptorProto$Properties[];
+        };
+
+        /**
+         * Constructs a new FileDescriptorSet.
+         * @exports google.protobuf.FileDescriptorSet
+         * @constructor
+         * @param {google.protobuf.FileDescriptorSet$Properties=} [properties] Properties to set
+         */
+        class FileDescriptorSet {
+
+            /**
+             * Constructs a new FileDescriptorSet.
+             * @exports google.protobuf.FileDescriptorSet
+             * @constructor
+             * @param {google.protobuf.FileDescriptorSet$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: google.protobuf.FileDescriptorSet$Properties);
+
+            /**
+             * FileDescriptorSet file.
+             * @type {Array.<google.protobuf.FileDescriptorProto$Properties>}
+             */
+            public file: google.protobuf.FileDescriptorProto$Properties[];
+
+            /**
+             * Creates a new FileDescriptorSet instance using the specified properties.
+             * @param {google.protobuf.FileDescriptorSet$Properties=} [properties] Properties to set
+             * @returns {google.protobuf.FileDescriptorSet} FileDescriptorSet instance
+             */
+            public static create(properties?: google.protobuf.FileDescriptorSet$Properties): google.protobuf.FileDescriptorSet;
+
+            /**
+             * Encodes the specified FileDescriptorSet message. Does not implicitly {@link google.protobuf.FileDescriptorSet.verify|verify} messages.
+             * @param {google.protobuf.FileDescriptorSet$Properties} message FileDescriptorSet message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: google.protobuf.FileDescriptorSet$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified FileDescriptorSet message, length delimited. Does not implicitly {@link google.protobuf.FileDescriptorSet.verify|verify} messages.
+             * @param {google.protobuf.FileDescriptorSet$Properties} message FileDescriptorSet message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: google.protobuf.FileDescriptorSet$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a FileDescriptorSet message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {google.protobuf.FileDescriptorSet} FileDescriptorSet
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): google.protobuf.FileDescriptorSet;
+
+            /**
+             * Decodes a FileDescriptorSet message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {google.protobuf.FileDescriptorSet} FileDescriptorSet
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): google.protobuf.FileDescriptorSet;
+
+            /**
+             * Verifies a FileDescriptorSet message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a FileDescriptorSet message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.FileDescriptorSet} FileDescriptorSet
+             */
+            public static fromObject(object: { [k: string]: any }): google.protobuf.FileDescriptorSet;
+
+            /**
+             * Creates a FileDescriptorSet message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link google.protobuf.FileDescriptorSet.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.FileDescriptorSet} FileDescriptorSet
+             */
+            public static from(object: { [k: string]: any }): google.protobuf.FileDescriptorSet;
+
+            /**
+             * Creates a plain object from a FileDescriptorSet message. Also converts values to other types if specified.
+             * @param {google.protobuf.FileDescriptorSet} message FileDescriptorSet
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: google.protobuf.FileDescriptorSet, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this FileDescriptorSet message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this FileDescriptorSet to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type FileDescriptorProto$Properties = {
+            name?: string;
+            "package"?: string;
+            dependency?: string[];
+            publicDependency?: number[];
+            weakDependency?: number[];
+            messageType?: google.protobuf.DescriptorProto$Properties[];
+            enumType?: google.protobuf.EnumDescriptorProto$Properties[];
+            service?: google.protobuf.ServiceDescriptorProto$Properties[];
+            extension?: google.protobuf.FieldDescriptorProto$Properties[];
+            options?: google.protobuf.FileOptions$Properties;
+            sourceCodeInfo?: google.protobuf.SourceCodeInfo$Properties;
+            syntax?: string;
+        };
+
+        /**
+         * Constructs a new FileDescriptorProto.
+         * @exports google.protobuf.FileDescriptorProto
+         * @constructor
+         * @param {google.protobuf.FileDescriptorProto$Properties=} [properties] Properties to set
+         */
+        class FileDescriptorProto {
+
+            /**
+             * Constructs a new FileDescriptorProto.
+             * @exports google.protobuf.FileDescriptorProto
+             * @constructor
+             * @param {google.protobuf.FileDescriptorProto$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: google.protobuf.FileDescriptorProto$Properties);
+
+            /**
+             * FileDescriptorProto name.
+             * @type {string}
+             */
+            public name: string;
+
+            /**
+             * FileDescriptorProto package.
+             * @type {string}
+             */
+            public ["package"]: string;
+
+            /**
+             * FileDescriptorProto dependency.
+             * @type {Array.<string>}
+             */
+            public dependency: string[];
+
+            /**
+             * FileDescriptorProto publicDependency.
+             * @type {Array.<number>}
+             */
+            public publicDependency: number[];
+
+            /**
+             * FileDescriptorProto weakDependency.
+             * @type {Array.<number>}
+             */
+            public weakDependency: number[];
+
+            /**
+             * FileDescriptorProto messageType.
+             * @type {Array.<google.protobuf.DescriptorProto$Properties>}
+             */
+            public messageType: google.protobuf.DescriptorProto$Properties[];
+
+            /**
+             * FileDescriptorProto enumType.
+             * @type {Array.<google.protobuf.EnumDescriptorProto$Properties>}
+             */
+            public enumType: google.protobuf.EnumDescriptorProto$Properties[];
+
+            /**
+             * FileDescriptorProto service.
+             * @type {Array.<google.protobuf.ServiceDescriptorProto$Properties>}
+             */
+            public service: google.protobuf.ServiceDescriptorProto$Properties[];
+
+            /**
+             * FileDescriptorProto extension.
+             * @type {Array.<google.protobuf.FieldDescriptorProto$Properties>}
+             */
+            public extension: google.protobuf.FieldDescriptorProto$Properties[];
+
+            /**
+             * FileDescriptorProto options.
+             * @type {(google.protobuf.FileOptions$Properties|null)}
+             */
+            public options: (google.protobuf.FileOptions$Properties|null);
+
+            /**
+             * FileDescriptorProto sourceCodeInfo.
+             * @type {(google.protobuf.SourceCodeInfo$Properties|null)}
+             */
+            public sourceCodeInfo: (google.protobuf.SourceCodeInfo$Properties|null);
+
+            /**
+             * FileDescriptorProto syntax.
+             * @type {string}
+             */
+            public syntax: string;
+
+            /**
+             * Creates a new FileDescriptorProto instance using the specified properties.
+             * @param {google.protobuf.FileDescriptorProto$Properties=} [properties] Properties to set
+             * @returns {google.protobuf.FileDescriptorProto} FileDescriptorProto instance
+             */
+            public static create(properties?: google.protobuf.FileDescriptorProto$Properties): google.protobuf.FileDescriptorProto;
+
+            /**
+             * Encodes the specified FileDescriptorProto message. Does not implicitly {@link google.protobuf.FileDescriptorProto.verify|verify} messages.
+             * @param {google.protobuf.FileDescriptorProto$Properties} message FileDescriptorProto message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: google.protobuf.FileDescriptorProto$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified FileDescriptorProto message, length delimited. Does not implicitly {@link google.protobuf.FileDescriptorProto.verify|verify} messages.
+             * @param {google.protobuf.FileDescriptorProto$Properties} message FileDescriptorProto message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: google.protobuf.FileDescriptorProto$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a FileDescriptorProto message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {google.protobuf.FileDescriptorProto} FileDescriptorProto
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): google.protobuf.FileDescriptorProto;
+
+            /**
+             * Decodes a FileDescriptorProto message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {google.protobuf.FileDescriptorProto} FileDescriptorProto
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): google.protobuf.FileDescriptorProto;
+
+            /**
+             * Verifies a FileDescriptorProto message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a FileDescriptorProto message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.FileDescriptorProto} FileDescriptorProto
+             */
+            public static fromObject(object: { [k: string]: any }): google.protobuf.FileDescriptorProto;
+
+            /**
+             * Creates a FileDescriptorProto message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link google.protobuf.FileDescriptorProto.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.FileDescriptorProto} FileDescriptorProto
+             */
+            public static from(object: { [k: string]: any }): google.protobuf.FileDescriptorProto;
+
+            /**
+             * Creates a plain object from a FileDescriptorProto message. Also converts values to other types if specified.
+             * @param {google.protobuf.FileDescriptorProto} message FileDescriptorProto
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: google.protobuf.FileDescriptorProto, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this FileDescriptorProto message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this FileDescriptorProto to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type DescriptorProto$Properties = {
+            name?: string;
+            field?: google.protobuf.FieldDescriptorProto$Properties[];
+            extension?: google.protobuf.FieldDescriptorProto$Properties[];
+            nestedType?: google.protobuf.DescriptorProto$Properties[];
+            enumType?: google.protobuf.EnumDescriptorProto$Properties[];
+            extensionRange?: google.protobuf.DescriptorProto.ExtensionRange$Properties[];
+            oneofDecl?: google.protobuf.OneofDescriptorProto$Properties[];
+            options?: google.protobuf.MessageOptions$Properties;
+            reservedRange?: google.protobuf.DescriptorProto.ReservedRange$Properties[];
+            reservedName?: string[];
+        };
+
+        /**
+         * Constructs a new DescriptorProto.
+         * @exports google.protobuf.DescriptorProto
+         * @constructor
+         * @param {google.protobuf.DescriptorProto$Properties=} [properties] Properties to set
+         */
+        class DescriptorProto {
+
+            /**
+             * Constructs a new DescriptorProto.
+             * @exports google.protobuf.DescriptorProto
+             * @constructor
+             * @param {google.protobuf.DescriptorProto$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: google.protobuf.DescriptorProto$Properties);
+
+            /**
+             * DescriptorProto name.
+             * @type {string}
+             */
+            public name: string;
+
+            /**
+             * DescriptorProto field.
+             * @type {Array.<google.protobuf.FieldDescriptorProto$Properties>}
+             */
+            public field: google.protobuf.FieldDescriptorProto$Properties[];
+
+            /**
+             * DescriptorProto extension.
+             * @type {Array.<google.protobuf.FieldDescriptorProto$Properties>}
+             */
+            public extension: google.protobuf.FieldDescriptorProto$Properties[];
+
+            /**
+             * DescriptorProto nestedType.
+             * @type {Array.<google.protobuf.DescriptorProto$Properties>}
+             */
+            public nestedType: google.protobuf.DescriptorProto$Properties[];
+
+            /**
+             * DescriptorProto enumType.
+             * @type {Array.<google.protobuf.EnumDescriptorProto$Properties>}
+             */
+            public enumType: google.protobuf.EnumDescriptorProto$Properties[];
+
+            /**
+             * DescriptorProto extensionRange.
+             * @type {Array.<google.protobuf.DescriptorProto.ExtensionRange$Properties>}
+             */
+            public extensionRange: google.protobuf.DescriptorProto.ExtensionRange$Properties[];
+
+            /**
+             * DescriptorProto oneofDecl.
+             * @type {Array.<google.protobuf.OneofDescriptorProto$Properties>}
+             */
+            public oneofDecl: google.protobuf.OneofDescriptorProto$Properties[];
+
+            /**
+             * DescriptorProto options.
+             * @type {(google.protobuf.MessageOptions$Properties|null)}
+             */
+            public options: (google.protobuf.MessageOptions$Properties|null);
+
+            /**
+             * DescriptorProto reservedRange.
+             * @type {Array.<google.protobuf.DescriptorProto.ReservedRange$Properties>}
+             */
+            public reservedRange: google.protobuf.DescriptorProto.ReservedRange$Properties[];
+
+            /**
+             * DescriptorProto reservedName.
+             * @type {Array.<string>}
+             */
+            public reservedName: string[];
+
+            /**
+             * Creates a new DescriptorProto instance using the specified properties.
+             * @param {google.protobuf.DescriptorProto$Properties=} [properties] Properties to set
+             * @returns {google.protobuf.DescriptorProto} DescriptorProto instance
+             */
+            public static create(properties?: google.protobuf.DescriptorProto$Properties): google.protobuf.DescriptorProto;
+
+            /**
+             * Encodes the specified DescriptorProto message. Does not implicitly {@link google.protobuf.DescriptorProto.verify|verify} messages.
+             * @param {google.protobuf.DescriptorProto$Properties} message DescriptorProto message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: google.protobuf.DescriptorProto$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified DescriptorProto message, length delimited. Does not implicitly {@link google.protobuf.DescriptorProto.verify|verify} messages.
+             * @param {google.protobuf.DescriptorProto$Properties} message DescriptorProto message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: google.protobuf.DescriptorProto$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a DescriptorProto message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {google.protobuf.DescriptorProto} DescriptorProto
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): google.protobuf.DescriptorProto;
+
+            /**
+             * Decodes a DescriptorProto message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {google.protobuf.DescriptorProto} DescriptorProto
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): google.protobuf.DescriptorProto;
+
+            /**
+             * Verifies a DescriptorProto message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a DescriptorProto message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.DescriptorProto} DescriptorProto
+             */
+            public static fromObject(object: { [k: string]: any }): google.protobuf.DescriptorProto;
+
+            /**
+             * Creates a DescriptorProto message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link google.protobuf.DescriptorProto.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.DescriptorProto} DescriptorProto
+             */
+            public static from(object: { [k: string]: any }): google.protobuf.DescriptorProto;
+
+            /**
+             * Creates a plain object from a DescriptorProto message. Also converts values to other types if specified.
+             * @param {google.protobuf.DescriptorProto} message DescriptorProto
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: google.protobuf.DescriptorProto, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this DescriptorProto message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this DescriptorProto to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        namespace DescriptorProto {
+
+            type ExtensionRange$Properties = {
+                start?: number;
+                end?: number;
+            };
+
+            /**
+             * Constructs a new ExtensionRange.
+             * @exports google.protobuf.DescriptorProto.ExtensionRange
+             * @constructor
+             * @param {google.protobuf.DescriptorProto.ExtensionRange$Properties=} [properties] Properties to set
+             */
+            class ExtensionRange {
+
+                /**
+                 * Constructs a new ExtensionRange.
+                 * @exports google.protobuf.DescriptorProto.ExtensionRange
+                 * @constructor
+                 * @param {google.protobuf.DescriptorProto.ExtensionRange$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: google.protobuf.DescriptorProto.ExtensionRange$Properties);
+
+                /**
+                 * ExtensionRange start.
+                 * @type {number}
+                 */
+                public start: number;
+
+                /**
+                 * ExtensionRange end.
+                 * @type {number}
+                 */
+                public end: number;
+
+                /**
+                 * Creates a new ExtensionRange instance using the specified properties.
+                 * @param {google.protobuf.DescriptorProto.ExtensionRange$Properties=} [properties] Properties to set
+                 * @returns {google.protobuf.DescriptorProto.ExtensionRange} ExtensionRange instance
+                 */
+                public static create(properties?: google.protobuf.DescriptorProto.ExtensionRange$Properties): google.protobuf.DescriptorProto.ExtensionRange;
+
+                /**
+                 * Encodes the specified ExtensionRange message. Does not implicitly {@link google.protobuf.DescriptorProto.ExtensionRange.verify|verify} messages.
+                 * @param {google.protobuf.DescriptorProto.ExtensionRange$Properties} message ExtensionRange message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: google.protobuf.DescriptorProto.ExtensionRange$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified ExtensionRange message, length delimited. Does not implicitly {@link google.protobuf.DescriptorProto.ExtensionRange.verify|verify} messages.
+                 * @param {google.protobuf.DescriptorProto.ExtensionRange$Properties} message ExtensionRange message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: google.protobuf.DescriptorProto.ExtensionRange$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes an ExtensionRange message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {google.protobuf.DescriptorProto.ExtensionRange} ExtensionRange
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): google.protobuf.DescriptorProto.ExtensionRange;
+
+                /**
+                 * Decodes an ExtensionRange message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {google.protobuf.DescriptorProto.ExtensionRange} ExtensionRange
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): google.protobuf.DescriptorProto.ExtensionRange;
+
+                /**
+                 * Verifies an ExtensionRange message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates an ExtensionRange message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {google.protobuf.DescriptorProto.ExtensionRange} ExtensionRange
+                 */
+                public static fromObject(object: { [k: string]: any }): google.protobuf.DescriptorProto.ExtensionRange;
+
+                /**
+                 * Creates an ExtensionRange message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link google.protobuf.DescriptorProto.ExtensionRange.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {google.protobuf.DescriptorProto.ExtensionRange} ExtensionRange
+                 */
+                public static from(object: { [k: string]: any }): google.protobuf.DescriptorProto.ExtensionRange;
+
+                /**
+                 * Creates a plain object from an ExtensionRange message. Also converts values to other types if specified.
+                 * @param {google.protobuf.DescriptorProto.ExtensionRange} message ExtensionRange
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: google.protobuf.DescriptorProto.ExtensionRange, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this ExtensionRange message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this ExtensionRange to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            type ReservedRange$Properties = {
+                start?: number;
+                end?: number;
+            };
+
+            /**
+             * Constructs a new ReservedRange.
+             * @exports google.protobuf.DescriptorProto.ReservedRange
+             * @constructor
+             * @param {google.protobuf.DescriptorProto.ReservedRange$Properties=} [properties] Properties to set
+             */
+            class ReservedRange {
+
+                /**
+                 * Constructs a new ReservedRange.
+                 * @exports google.protobuf.DescriptorProto.ReservedRange
+                 * @constructor
+                 * @param {google.protobuf.DescriptorProto.ReservedRange$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: google.protobuf.DescriptorProto.ReservedRange$Properties);
+
+                /**
+                 * ReservedRange start.
+                 * @type {number}
+                 */
+                public start: number;
+
+                /**
+                 * ReservedRange end.
+                 * @type {number}
+                 */
+                public end: number;
+
+                /**
+                 * Creates a new ReservedRange instance using the specified properties.
+                 * @param {google.protobuf.DescriptorProto.ReservedRange$Properties=} [properties] Properties to set
+                 * @returns {google.protobuf.DescriptorProto.ReservedRange} ReservedRange instance
+                 */
+                public static create(properties?: google.protobuf.DescriptorProto.ReservedRange$Properties): google.protobuf.DescriptorProto.ReservedRange;
+
+                /**
+                 * Encodes the specified ReservedRange message. Does not implicitly {@link google.protobuf.DescriptorProto.ReservedRange.verify|verify} messages.
+                 * @param {google.protobuf.DescriptorProto.ReservedRange$Properties} message ReservedRange message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: google.protobuf.DescriptorProto.ReservedRange$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified ReservedRange message, length delimited. Does not implicitly {@link google.protobuf.DescriptorProto.ReservedRange.verify|verify} messages.
+                 * @param {google.protobuf.DescriptorProto.ReservedRange$Properties} message ReservedRange message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: google.protobuf.DescriptorProto.ReservedRange$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a ReservedRange message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {google.protobuf.DescriptorProto.ReservedRange} ReservedRange
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): google.protobuf.DescriptorProto.ReservedRange;
+
+                /**
+                 * Decodes a ReservedRange message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {google.protobuf.DescriptorProto.ReservedRange} ReservedRange
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): google.protobuf.DescriptorProto.ReservedRange;
+
+                /**
+                 * Verifies a ReservedRange message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a ReservedRange message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {google.protobuf.DescriptorProto.ReservedRange} ReservedRange
+                 */
+                public static fromObject(object: { [k: string]: any }): google.protobuf.DescriptorProto.ReservedRange;
+
+                /**
+                 * Creates a ReservedRange message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link google.protobuf.DescriptorProto.ReservedRange.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {google.protobuf.DescriptorProto.ReservedRange} ReservedRange
+                 */
+                public static from(object: { [k: string]: any }): google.protobuf.DescriptorProto.ReservedRange;
+
+                /**
+                 * Creates a plain object from a ReservedRange message. Also converts values to other types if specified.
+                 * @param {google.protobuf.DescriptorProto.ReservedRange} message ReservedRange
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: google.protobuf.DescriptorProto.ReservedRange, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this ReservedRange message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this ReservedRange to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+        }
+
+        type FieldDescriptorProto$Properties = {
+            name?: string;
+            number?: number;
+            label?: google.protobuf.FieldDescriptorProto.Label;
+            type?: google.protobuf.FieldDescriptorProto.Type;
+            typeName?: string;
+            extendee?: string;
+            defaultValue?: string;
+            oneofIndex?: number;
+            jsonName?: string;
+            options?: google.protobuf.FieldOptions$Properties;
+        };
+
+        /**
+         * Constructs a new FieldDescriptorProto.
+         * @exports google.protobuf.FieldDescriptorProto
+         * @constructor
+         * @param {google.protobuf.FieldDescriptorProto$Properties=} [properties] Properties to set
+         */
+        class FieldDescriptorProto {
+
+            /**
+             * Constructs a new FieldDescriptorProto.
+             * @exports google.protobuf.FieldDescriptorProto
+             * @constructor
+             * @param {google.protobuf.FieldDescriptorProto$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: google.protobuf.FieldDescriptorProto$Properties);
+
+            /**
+             * FieldDescriptorProto name.
+             * @type {string}
+             */
+            public name: string;
+
+            /**
+             * FieldDescriptorProto number.
+             * @type {number}
+             */
+            public number: number;
+
+            /**
+             * FieldDescriptorProto label.
+             * @type {google.protobuf.FieldDescriptorProto.Label}
+             */
+            public label: google.protobuf.FieldDescriptorProto.Label;
+
+            /**
+             * FieldDescriptorProto type.
+             * @type {google.protobuf.FieldDescriptorProto.Type}
+             */
+            public type: google.protobuf.FieldDescriptorProto.Type;
+
+            /**
+             * FieldDescriptorProto typeName.
+             * @type {string}
+             */
+            public typeName: string;
+
+            /**
+             * FieldDescriptorProto extendee.
+             * @type {string}
+             */
+            public extendee: string;
+
+            /**
+             * FieldDescriptorProto defaultValue.
+             * @type {string}
+             */
+            public defaultValue: string;
+
+            /**
+             * FieldDescriptorProto oneofIndex.
+             * @type {number}
+             */
+            public oneofIndex: number;
+
+            /**
+             * FieldDescriptorProto jsonName.
+             * @type {string}
+             */
+            public jsonName: string;
+
+            /**
+             * FieldDescriptorProto options.
+             * @type {(google.protobuf.FieldOptions$Properties|null)}
+             */
+            public options: (google.protobuf.FieldOptions$Properties|null);
+
+            /**
+             * Creates a new FieldDescriptorProto instance using the specified properties.
+             * @param {google.protobuf.FieldDescriptorProto$Properties=} [properties] Properties to set
+             * @returns {google.protobuf.FieldDescriptorProto} FieldDescriptorProto instance
+             */
+            public static create(properties?: google.protobuf.FieldDescriptorProto$Properties): google.protobuf.FieldDescriptorProto;
+
+            /**
+             * Encodes the specified FieldDescriptorProto message. Does not implicitly {@link google.protobuf.FieldDescriptorProto.verify|verify} messages.
+             * @param {google.protobuf.FieldDescriptorProto$Properties} message FieldDescriptorProto message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: google.protobuf.FieldDescriptorProto$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified FieldDescriptorProto message, length delimited. Does not implicitly {@link google.protobuf.FieldDescriptorProto.verify|verify} messages.
+             * @param {google.protobuf.FieldDescriptorProto$Properties} message FieldDescriptorProto message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: google.protobuf.FieldDescriptorProto$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a FieldDescriptorProto message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {google.protobuf.FieldDescriptorProto} FieldDescriptorProto
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): google.protobuf.FieldDescriptorProto;
+
+            /**
+             * Decodes a FieldDescriptorProto message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {google.protobuf.FieldDescriptorProto} FieldDescriptorProto
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): google.protobuf.FieldDescriptorProto;
+
+            /**
+             * Verifies a FieldDescriptorProto message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a FieldDescriptorProto message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.FieldDescriptorProto} FieldDescriptorProto
+             */
+            public static fromObject(object: { [k: string]: any }): google.protobuf.FieldDescriptorProto;
+
+            /**
+             * Creates a FieldDescriptorProto message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link google.protobuf.FieldDescriptorProto.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.FieldDescriptorProto} FieldDescriptorProto
+             */
+            public static from(object: { [k: string]: any }): google.protobuf.FieldDescriptorProto;
+
+            /**
+             * Creates a plain object from a FieldDescriptorProto message. Also converts values to other types if specified.
+             * @param {google.protobuf.FieldDescriptorProto} message FieldDescriptorProto
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: google.protobuf.FieldDescriptorProto, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this FieldDescriptorProto message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this FieldDescriptorProto to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        namespace FieldDescriptorProto {
+
+            /**
+             * Type enum.
+             * @name Type
+             * @memberof google.protobuf.FieldDescriptorProto
+             * @enum {number}
+             * @property {number} TYPE_DOUBLE=1 TYPE_DOUBLE value
+             * @property {number} TYPE_FLOAT=2 TYPE_FLOAT value
+             * @property {number} TYPE_INT64=3 TYPE_INT64 value
+             * @property {number} TYPE_UINT64=4 TYPE_UINT64 value
+             * @property {number} TYPE_INT32=5 TYPE_INT32 value
+             * @property {number} TYPE_FIXED64=6 TYPE_FIXED64 value
+             * @property {number} TYPE_FIXED32=7 TYPE_FIXED32 value
+             * @property {number} TYPE_BOOL=8 TYPE_BOOL value
+             * @property {number} TYPE_STRING=9 TYPE_STRING value
+             * @property {number} TYPE_GROUP=10 TYPE_GROUP value
+             * @property {number} TYPE_MESSAGE=11 TYPE_MESSAGE value
+             * @property {number} TYPE_BYTES=12 TYPE_BYTES value
+             * @property {number} TYPE_UINT32=13 TYPE_UINT32 value
+             * @property {number} TYPE_ENUM=14 TYPE_ENUM value
+             * @property {number} TYPE_SFIXED32=15 TYPE_SFIXED32 value
+             * @property {number} TYPE_SFIXED64=16 TYPE_SFIXED64 value
+             * @property {number} TYPE_SINT32=17 TYPE_SINT32 value
+             * @property {number} TYPE_SINT64=18 TYPE_SINT64 value
+             */
+            enum Type {
+                TYPE_DOUBLE = 1,
+                TYPE_FLOAT = 2,
+                TYPE_INT64 = 3,
+                TYPE_UINT64 = 4,
+                TYPE_INT32 = 5,
+                TYPE_FIXED64 = 6,
+                TYPE_FIXED32 = 7,
+                TYPE_BOOL = 8,
+                TYPE_STRING = 9,
+                TYPE_GROUP = 10,
+                TYPE_MESSAGE = 11,
+                TYPE_BYTES = 12,
+                TYPE_UINT32 = 13,
+                TYPE_ENUM = 14,
+                TYPE_SFIXED32 = 15,
+                TYPE_SFIXED64 = 16,
+                TYPE_SINT32 = 17,
+                TYPE_SINT64 = 18
+            }
+
+            /**
+             * Label enum.
+             * @name Label
+             * @memberof google.protobuf.FieldDescriptorProto
+             * @enum {number}
+             * @property {number} LABEL_OPTIONAL=1 LABEL_OPTIONAL value
+             * @property {number} LABEL_REQUIRED=2 LABEL_REQUIRED value
+             * @property {number} LABEL_REPEATED=3 LABEL_REPEATED value
+             */
+            enum Label {
+                LABEL_OPTIONAL = 1,
+                LABEL_REQUIRED = 2,
+                LABEL_REPEATED = 3
+            }
+        }
+
+        type OneofDescriptorProto$Properties = {
+            name?: string;
+            options?: google.protobuf.OneofOptions$Properties;
+        };
+
+        /**
+         * Constructs a new OneofDescriptorProto.
+         * @exports google.protobuf.OneofDescriptorProto
+         * @constructor
+         * @param {google.protobuf.OneofDescriptorProto$Properties=} [properties] Properties to set
+         */
+        class OneofDescriptorProto {
+
+            /**
+             * Constructs a new OneofDescriptorProto.
+             * @exports google.protobuf.OneofDescriptorProto
+             * @constructor
+             * @param {google.protobuf.OneofDescriptorProto$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: google.protobuf.OneofDescriptorProto$Properties);
+
+            /**
+             * OneofDescriptorProto name.
+             * @type {string}
+             */
+            public name: string;
+
+            /**
+             * OneofDescriptorProto options.
+             * @type {(google.protobuf.OneofOptions$Properties|null)}
+             */
+            public options: (google.protobuf.OneofOptions$Properties|null);
+
+            /**
+             * Creates a new OneofDescriptorProto instance using the specified properties.
+             * @param {google.protobuf.OneofDescriptorProto$Properties=} [properties] Properties to set
+             * @returns {google.protobuf.OneofDescriptorProto} OneofDescriptorProto instance
+             */
+            public static create(properties?: google.protobuf.OneofDescriptorProto$Properties): google.protobuf.OneofDescriptorProto;
+
+            /**
+             * Encodes the specified OneofDescriptorProto message. Does not implicitly {@link google.protobuf.OneofDescriptorProto.verify|verify} messages.
+             * @param {google.protobuf.OneofDescriptorProto$Properties} message OneofDescriptorProto message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: google.protobuf.OneofDescriptorProto$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified OneofDescriptorProto message, length delimited. Does not implicitly {@link google.protobuf.OneofDescriptorProto.verify|verify} messages.
+             * @param {google.protobuf.OneofDescriptorProto$Properties} message OneofDescriptorProto message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: google.protobuf.OneofDescriptorProto$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes an OneofDescriptorProto message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {google.protobuf.OneofDescriptorProto} OneofDescriptorProto
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): google.protobuf.OneofDescriptorProto;
+
+            /**
+             * Decodes an OneofDescriptorProto message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {google.protobuf.OneofDescriptorProto} OneofDescriptorProto
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): google.protobuf.OneofDescriptorProto;
+
+            /**
+             * Verifies an OneofDescriptorProto message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates an OneofDescriptorProto message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.OneofDescriptorProto} OneofDescriptorProto
+             */
+            public static fromObject(object: { [k: string]: any }): google.protobuf.OneofDescriptorProto;
+
+            /**
+             * Creates an OneofDescriptorProto message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link google.protobuf.OneofDescriptorProto.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.OneofDescriptorProto} OneofDescriptorProto
+             */
+            public static from(object: { [k: string]: any }): google.protobuf.OneofDescriptorProto;
+
+            /**
+             * Creates a plain object from an OneofDescriptorProto message. Also converts values to other types if specified.
+             * @param {google.protobuf.OneofDescriptorProto} message OneofDescriptorProto
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: google.protobuf.OneofDescriptorProto, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this OneofDescriptorProto message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this OneofDescriptorProto to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type EnumDescriptorProto$Properties = {
+            name?: string;
+            value?: google.protobuf.EnumValueDescriptorProto$Properties[];
+            options?: google.protobuf.EnumOptions$Properties;
+        };
+
+        /**
+         * Constructs a new EnumDescriptorProto.
+         * @exports google.protobuf.EnumDescriptorProto
+         * @constructor
+         * @param {google.protobuf.EnumDescriptorProto$Properties=} [properties] Properties to set
+         */
+        class EnumDescriptorProto {
+
+            /**
+             * Constructs a new EnumDescriptorProto.
+             * @exports google.protobuf.EnumDescriptorProto
+             * @constructor
+             * @param {google.protobuf.EnumDescriptorProto$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: google.protobuf.EnumDescriptorProto$Properties);
+
+            /**
+             * EnumDescriptorProto name.
+             * @type {string}
+             */
+            public name: string;
+
+            /**
+             * EnumDescriptorProto value.
+             * @type {Array.<google.protobuf.EnumValueDescriptorProto$Properties>}
+             */
+            public value: google.protobuf.EnumValueDescriptorProto$Properties[];
+
+            /**
+             * EnumDescriptorProto options.
+             * @type {(google.protobuf.EnumOptions$Properties|null)}
+             */
+            public options: (google.protobuf.EnumOptions$Properties|null);
+
+            /**
+             * Creates a new EnumDescriptorProto instance using the specified properties.
+             * @param {google.protobuf.EnumDescriptorProto$Properties=} [properties] Properties to set
+             * @returns {google.protobuf.EnumDescriptorProto} EnumDescriptorProto instance
+             */
+            public static create(properties?: google.protobuf.EnumDescriptorProto$Properties): google.protobuf.EnumDescriptorProto;
+
+            /**
+             * Encodes the specified EnumDescriptorProto message. Does not implicitly {@link google.protobuf.EnumDescriptorProto.verify|verify} messages.
+             * @param {google.protobuf.EnumDescriptorProto$Properties} message EnumDescriptorProto message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: google.protobuf.EnumDescriptorProto$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified EnumDescriptorProto message, length delimited. Does not implicitly {@link google.protobuf.EnumDescriptorProto.verify|verify} messages.
+             * @param {google.protobuf.EnumDescriptorProto$Properties} message EnumDescriptorProto message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: google.protobuf.EnumDescriptorProto$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes an EnumDescriptorProto message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {google.protobuf.EnumDescriptorProto} EnumDescriptorProto
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): google.protobuf.EnumDescriptorProto;
+
+            /**
+             * Decodes an EnumDescriptorProto message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {google.protobuf.EnumDescriptorProto} EnumDescriptorProto
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): google.protobuf.EnumDescriptorProto;
+
+            /**
+             * Verifies an EnumDescriptorProto message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates an EnumDescriptorProto message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.EnumDescriptorProto} EnumDescriptorProto
+             */
+            public static fromObject(object: { [k: string]: any }): google.protobuf.EnumDescriptorProto;
+
+            /**
+             * Creates an EnumDescriptorProto message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link google.protobuf.EnumDescriptorProto.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.EnumDescriptorProto} EnumDescriptorProto
+             */
+            public static from(object: { [k: string]: any }): google.protobuf.EnumDescriptorProto;
+
+            /**
+             * Creates a plain object from an EnumDescriptorProto message. Also converts values to other types if specified.
+             * @param {google.protobuf.EnumDescriptorProto} message EnumDescriptorProto
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: google.protobuf.EnumDescriptorProto, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this EnumDescriptorProto message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this EnumDescriptorProto to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type EnumValueDescriptorProto$Properties = {
+            name?: string;
+            number?: number;
+            options?: google.protobuf.EnumValueOptions$Properties;
+        };
+
+        /**
+         * Constructs a new EnumValueDescriptorProto.
+         * @exports google.protobuf.EnumValueDescriptorProto
+         * @constructor
+         * @param {google.protobuf.EnumValueDescriptorProto$Properties=} [properties] Properties to set
+         */
+        class EnumValueDescriptorProto {
+
+            /**
+             * Constructs a new EnumValueDescriptorProto.
+             * @exports google.protobuf.EnumValueDescriptorProto
+             * @constructor
+             * @param {google.protobuf.EnumValueDescriptorProto$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: google.protobuf.EnumValueDescriptorProto$Properties);
+
+            /**
+             * EnumValueDescriptorProto name.
+             * @type {string}
+             */
+            public name: string;
+
+            /**
+             * EnumValueDescriptorProto number.
+             * @type {number}
+             */
+            public number: number;
+
+            /**
+             * EnumValueDescriptorProto options.
+             * @type {(google.protobuf.EnumValueOptions$Properties|null)}
+             */
+            public options: (google.protobuf.EnumValueOptions$Properties|null);
+
+            /**
+             * Creates a new EnumValueDescriptorProto instance using the specified properties.
+             * @param {google.protobuf.EnumValueDescriptorProto$Properties=} [properties] Properties to set
+             * @returns {google.protobuf.EnumValueDescriptorProto} EnumValueDescriptorProto instance
+             */
+            public static create(properties?: google.protobuf.EnumValueDescriptorProto$Properties): google.protobuf.EnumValueDescriptorProto;
+
+            /**
+             * Encodes the specified EnumValueDescriptorProto message. Does not implicitly {@link google.protobuf.EnumValueDescriptorProto.verify|verify} messages.
+             * @param {google.protobuf.EnumValueDescriptorProto$Properties} message EnumValueDescriptorProto message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: google.protobuf.EnumValueDescriptorProto$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified EnumValueDescriptorProto message, length delimited. Does not implicitly {@link google.protobuf.EnumValueDescriptorProto.verify|verify} messages.
+             * @param {google.protobuf.EnumValueDescriptorProto$Properties} message EnumValueDescriptorProto message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: google.protobuf.EnumValueDescriptorProto$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes an EnumValueDescriptorProto message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {google.protobuf.EnumValueDescriptorProto} EnumValueDescriptorProto
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): google.protobuf.EnumValueDescriptorProto;
+
+            /**
+             * Decodes an EnumValueDescriptorProto message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {google.protobuf.EnumValueDescriptorProto} EnumValueDescriptorProto
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): google.protobuf.EnumValueDescriptorProto;
+
+            /**
+             * Verifies an EnumValueDescriptorProto message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates an EnumValueDescriptorProto message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.EnumValueDescriptorProto} EnumValueDescriptorProto
+             */
+            public static fromObject(object: { [k: string]: any }): google.protobuf.EnumValueDescriptorProto;
+
+            /**
+             * Creates an EnumValueDescriptorProto message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link google.protobuf.EnumValueDescriptorProto.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.EnumValueDescriptorProto} EnumValueDescriptorProto
+             */
+            public static from(object: { [k: string]: any }): google.protobuf.EnumValueDescriptorProto;
+
+            /**
+             * Creates a plain object from an EnumValueDescriptorProto message. Also converts values to other types if specified.
+             * @param {google.protobuf.EnumValueDescriptorProto} message EnumValueDescriptorProto
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: google.protobuf.EnumValueDescriptorProto, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this EnumValueDescriptorProto message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this EnumValueDescriptorProto to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type ServiceDescriptorProto$Properties = {
+            name?: string;
+            method?: google.protobuf.MethodDescriptorProto$Properties[];
+            options?: google.protobuf.ServiceOptions$Properties;
+        };
+
+        /**
+         * Constructs a new ServiceDescriptorProto.
+         * @exports google.protobuf.ServiceDescriptorProto
+         * @constructor
+         * @param {google.protobuf.ServiceDescriptorProto$Properties=} [properties] Properties to set
+         */
+        class ServiceDescriptorProto {
+
+            /**
+             * Constructs a new ServiceDescriptorProto.
+             * @exports google.protobuf.ServiceDescriptorProto
+             * @constructor
+             * @param {google.protobuf.ServiceDescriptorProto$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: google.protobuf.ServiceDescriptorProto$Properties);
+
+            /**
+             * ServiceDescriptorProto name.
+             * @type {string}
+             */
+            public name: string;
+
+            /**
+             * ServiceDescriptorProto method.
+             * @type {Array.<google.protobuf.MethodDescriptorProto$Properties>}
+             */
+            public method: google.protobuf.MethodDescriptorProto$Properties[];
+
+            /**
+             * ServiceDescriptorProto options.
+             * @type {(google.protobuf.ServiceOptions$Properties|null)}
+             */
+            public options: (google.protobuf.ServiceOptions$Properties|null);
+
+            /**
+             * Creates a new ServiceDescriptorProto instance using the specified properties.
+             * @param {google.protobuf.ServiceDescriptorProto$Properties=} [properties] Properties to set
+             * @returns {google.protobuf.ServiceDescriptorProto} ServiceDescriptorProto instance
+             */
+            public static create(properties?: google.protobuf.ServiceDescriptorProto$Properties): google.protobuf.ServiceDescriptorProto;
+
+            /**
+             * Encodes the specified ServiceDescriptorProto message. Does not implicitly {@link google.protobuf.ServiceDescriptorProto.verify|verify} messages.
+             * @param {google.protobuf.ServiceDescriptorProto$Properties} message ServiceDescriptorProto message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: google.protobuf.ServiceDescriptorProto$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified ServiceDescriptorProto message, length delimited. Does not implicitly {@link google.protobuf.ServiceDescriptorProto.verify|verify} messages.
+             * @param {google.protobuf.ServiceDescriptorProto$Properties} message ServiceDescriptorProto message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: google.protobuf.ServiceDescriptorProto$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a ServiceDescriptorProto message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {google.protobuf.ServiceDescriptorProto} ServiceDescriptorProto
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): google.protobuf.ServiceDescriptorProto;
+
+            /**
+             * Decodes a ServiceDescriptorProto message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {google.protobuf.ServiceDescriptorProto} ServiceDescriptorProto
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): google.protobuf.ServiceDescriptorProto;
+
+            /**
+             * Verifies a ServiceDescriptorProto message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a ServiceDescriptorProto message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.ServiceDescriptorProto} ServiceDescriptorProto
+             */
+            public static fromObject(object: { [k: string]: any }): google.protobuf.ServiceDescriptorProto;
+
+            /**
+             * Creates a ServiceDescriptorProto message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link google.protobuf.ServiceDescriptorProto.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.ServiceDescriptorProto} ServiceDescriptorProto
+             */
+            public static from(object: { [k: string]: any }): google.protobuf.ServiceDescriptorProto;
+
+            /**
+             * Creates a plain object from a ServiceDescriptorProto message. Also converts values to other types if specified.
+             * @param {google.protobuf.ServiceDescriptorProto} message ServiceDescriptorProto
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: google.protobuf.ServiceDescriptorProto, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this ServiceDescriptorProto message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this ServiceDescriptorProto to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type MethodDescriptorProto$Properties = {
+            name?: string;
+            inputType?: string;
+            outputType?: string;
+            options?: google.protobuf.MethodOptions$Properties;
+            clientStreaming?: boolean;
+            serverStreaming?: boolean;
+        };
+
+        /**
+         * Constructs a new MethodDescriptorProto.
+         * @exports google.protobuf.MethodDescriptorProto
+         * @constructor
+         * @param {google.protobuf.MethodDescriptorProto$Properties=} [properties] Properties to set
+         */
+        class MethodDescriptorProto {
+
+            /**
+             * Constructs a new MethodDescriptorProto.
+             * @exports google.protobuf.MethodDescriptorProto
+             * @constructor
+             * @param {google.protobuf.MethodDescriptorProto$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: google.protobuf.MethodDescriptorProto$Properties);
+
+            /**
+             * MethodDescriptorProto name.
+             * @type {string}
+             */
+            public name: string;
+
+            /**
+             * MethodDescriptorProto inputType.
+             * @type {string}
+             */
+            public inputType: string;
+
+            /**
+             * MethodDescriptorProto outputType.
+             * @type {string}
+             */
+            public outputType: string;
+
+            /**
+             * MethodDescriptorProto options.
+             * @type {(google.protobuf.MethodOptions$Properties|null)}
+             */
+            public options: (google.protobuf.MethodOptions$Properties|null);
+
+            /**
+             * MethodDescriptorProto clientStreaming.
+             * @type {boolean}
+             */
+            public clientStreaming: boolean;
+
+            /**
+             * MethodDescriptorProto serverStreaming.
+             * @type {boolean}
+             */
+            public serverStreaming: boolean;
+
+            /**
+             * Creates a new MethodDescriptorProto instance using the specified properties.
+             * @param {google.protobuf.MethodDescriptorProto$Properties=} [properties] Properties to set
+             * @returns {google.protobuf.MethodDescriptorProto} MethodDescriptorProto instance
+             */
+            public static create(properties?: google.protobuf.MethodDescriptorProto$Properties): google.protobuf.MethodDescriptorProto;
+
+            /**
+             * Encodes the specified MethodDescriptorProto message. Does not implicitly {@link google.protobuf.MethodDescriptorProto.verify|verify} messages.
+             * @param {google.protobuf.MethodDescriptorProto$Properties} message MethodDescriptorProto message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: google.protobuf.MethodDescriptorProto$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified MethodDescriptorProto message, length delimited. Does not implicitly {@link google.protobuf.MethodDescriptorProto.verify|verify} messages.
+             * @param {google.protobuf.MethodDescriptorProto$Properties} message MethodDescriptorProto message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: google.protobuf.MethodDescriptorProto$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a MethodDescriptorProto message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {google.protobuf.MethodDescriptorProto} MethodDescriptorProto
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): google.protobuf.MethodDescriptorProto;
+
+            /**
+             * Decodes a MethodDescriptorProto message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {google.protobuf.MethodDescriptorProto} MethodDescriptorProto
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): google.protobuf.MethodDescriptorProto;
+
+            /**
+             * Verifies a MethodDescriptorProto message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a MethodDescriptorProto message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.MethodDescriptorProto} MethodDescriptorProto
+             */
+            public static fromObject(object: { [k: string]: any }): google.protobuf.MethodDescriptorProto;
+
+            /**
+             * Creates a MethodDescriptorProto message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link google.protobuf.MethodDescriptorProto.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.MethodDescriptorProto} MethodDescriptorProto
+             */
+            public static from(object: { [k: string]: any }): google.protobuf.MethodDescriptorProto;
+
+            /**
+             * Creates a plain object from a MethodDescriptorProto message. Also converts values to other types if specified.
+             * @param {google.protobuf.MethodDescriptorProto} message MethodDescriptorProto
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: google.protobuf.MethodDescriptorProto, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this MethodDescriptorProto message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this MethodDescriptorProto to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type FileOptions$Properties = {
+            javaPackage?: string;
+            javaOuterClassname?: string;
+            javaMultipleFiles?: boolean;
+            javaGenerateEqualsAndHash?: boolean;
+            javaStringCheckUtf8?: boolean;
+            optimizeFor?: google.protobuf.FileOptions.OptimizeMode;
+            goPackage?: string;
+            ccGenericServices?: boolean;
+            javaGenericServices?: boolean;
+            pyGenericServices?: boolean;
+            deprecated?: boolean;
+            ccEnableArenas?: boolean;
+            objcClassPrefix?: string;
+            csharpNamespace?: string;
+            uninterpretedOption?: google.protobuf.UninterpretedOption$Properties[];
+        };
+
+        /**
+         * Constructs a new FileOptions.
+         * @exports google.protobuf.FileOptions
+         * @constructor
+         * @param {google.protobuf.FileOptions$Properties=} [properties] Properties to set
+         */
+        class FileOptions {
+
+            /**
+             * Constructs a new FileOptions.
+             * @exports google.protobuf.FileOptions
+             * @constructor
+             * @param {google.protobuf.FileOptions$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: google.protobuf.FileOptions$Properties);
+
+            /**
+             * FileOptions javaPackage.
+             * @type {string}
+             */
+            public javaPackage: string;
+
+            /**
+             * FileOptions javaOuterClassname.
+             * @type {string}
+             */
+            public javaOuterClassname: string;
+
+            /**
+             * FileOptions javaMultipleFiles.
+             * @type {boolean}
+             */
+            public javaMultipleFiles: boolean;
+
+            /**
+             * FileOptions javaGenerateEqualsAndHash.
+             * @type {boolean}
+             */
+            public javaGenerateEqualsAndHash: boolean;
+
+            /**
+             * FileOptions javaStringCheckUtf8.
+             * @type {boolean}
+             */
+            public javaStringCheckUtf8: boolean;
+
+            /**
+             * FileOptions optimizeFor.
+             * @type {google.protobuf.FileOptions.OptimizeMode}
+             */
+            public optimizeFor: google.protobuf.FileOptions.OptimizeMode;
+
+            /**
+             * FileOptions goPackage.
+             * @type {string}
+             */
+            public goPackage: string;
+
+            /**
+             * FileOptions ccGenericServices.
+             * @type {boolean}
+             */
+            public ccGenericServices: boolean;
+
+            /**
+             * FileOptions javaGenericServices.
+             * @type {boolean}
+             */
+            public javaGenericServices: boolean;
+
+            /**
+             * FileOptions pyGenericServices.
+             * @type {boolean}
+             */
+            public pyGenericServices: boolean;
+
+            /**
+             * FileOptions deprecated.
+             * @type {boolean}
+             */
+            public deprecated: boolean;
+
+            /**
+             * FileOptions ccEnableArenas.
+             * @type {boolean}
+             */
+            public ccEnableArenas: boolean;
+
+            /**
+             * FileOptions objcClassPrefix.
+             * @type {string}
+             */
+            public objcClassPrefix: string;
+
+            /**
+             * FileOptions csharpNamespace.
+             * @type {string}
+             */
+            public csharpNamespace: string;
+
+            /**
+             * FileOptions uninterpretedOption.
+             * @type {Array.<google.protobuf.UninterpretedOption$Properties>}
+             */
+            public uninterpretedOption: google.protobuf.UninterpretedOption$Properties[];
+
+            /**
+             * Creates a new FileOptions instance using the specified properties.
+             * @param {google.protobuf.FileOptions$Properties=} [properties] Properties to set
+             * @returns {google.protobuf.FileOptions} FileOptions instance
+             */
+            public static create(properties?: google.protobuf.FileOptions$Properties): google.protobuf.FileOptions;
+
+            /**
+             * Encodes the specified FileOptions message. Does not implicitly {@link google.protobuf.FileOptions.verify|verify} messages.
+             * @param {google.protobuf.FileOptions$Properties} message FileOptions message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: google.protobuf.FileOptions$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified FileOptions message, length delimited. Does not implicitly {@link google.protobuf.FileOptions.verify|verify} messages.
+             * @param {google.protobuf.FileOptions$Properties} message FileOptions message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: google.protobuf.FileOptions$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a FileOptions message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {google.protobuf.FileOptions} FileOptions
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): google.protobuf.FileOptions;
+
+            /**
+             * Decodes a FileOptions message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {google.protobuf.FileOptions} FileOptions
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): google.protobuf.FileOptions;
+
+            /**
+             * Verifies a FileOptions message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a FileOptions message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.FileOptions} FileOptions
+             */
+            public static fromObject(object: { [k: string]: any }): google.protobuf.FileOptions;
+
+            /**
+             * Creates a FileOptions message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link google.protobuf.FileOptions.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.FileOptions} FileOptions
+             */
+            public static from(object: { [k: string]: any }): google.protobuf.FileOptions;
+
+            /**
+             * Creates a plain object from a FileOptions message. Also converts values to other types if specified.
+             * @param {google.protobuf.FileOptions} message FileOptions
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: google.protobuf.FileOptions, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this FileOptions message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this FileOptions to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        namespace FileOptions {
+
+            /**
+             * OptimizeMode enum.
+             * @name OptimizeMode
+             * @memberof google.protobuf.FileOptions
+             * @enum {number}
+             * @property {number} SPEED=1 SPEED value
+             * @property {number} CODE_SIZE=2 CODE_SIZE value
+             * @property {number} LITE_RUNTIME=3 LITE_RUNTIME value
+             */
+            enum OptimizeMode {
+                SPEED = 1,
+                CODE_SIZE = 2,
+                LITE_RUNTIME = 3
+            }
+        }
+
+        type MessageOptions$Properties = {
+            messageSetWireFormat?: boolean;
+            noStandardDescriptorAccessor?: boolean;
+            deprecated?: boolean;
+            mapEntry?: boolean;
+            uninterpretedOption?: google.protobuf.UninterpretedOption$Properties[];
+        };
+
+        /**
+         * Constructs a new MessageOptions.
+         * @exports google.protobuf.MessageOptions
+         * @constructor
+         * @param {google.protobuf.MessageOptions$Properties=} [properties] Properties to set
+         */
+        class MessageOptions {
+
+            /**
+             * Constructs a new MessageOptions.
+             * @exports google.protobuf.MessageOptions
+             * @constructor
+             * @param {google.protobuf.MessageOptions$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: google.protobuf.MessageOptions$Properties);
+
+            /**
+             * MessageOptions messageSetWireFormat.
+             * @type {boolean}
+             */
+            public messageSetWireFormat: boolean;
+
+            /**
+             * MessageOptions noStandardDescriptorAccessor.
+             * @type {boolean}
+             */
+            public noStandardDescriptorAccessor: boolean;
+
+            /**
+             * MessageOptions deprecated.
+             * @type {boolean}
+             */
+            public deprecated: boolean;
+
+            /**
+             * MessageOptions mapEntry.
+             * @type {boolean}
+             */
+            public mapEntry: boolean;
+
+            /**
+             * MessageOptions uninterpretedOption.
+             * @type {Array.<google.protobuf.UninterpretedOption$Properties>}
+             */
+            public uninterpretedOption: google.protobuf.UninterpretedOption$Properties[];
+
+            /**
+             * Creates a new MessageOptions instance using the specified properties.
+             * @param {google.protobuf.MessageOptions$Properties=} [properties] Properties to set
+             * @returns {google.protobuf.MessageOptions} MessageOptions instance
+             */
+            public static create(properties?: google.protobuf.MessageOptions$Properties): google.protobuf.MessageOptions;
+
+            /**
+             * Encodes the specified MessageOptions message. Does not implicitly {@link google.protobuf.MessageOptions.verify|verify} messages.
+             * @param {google.protobuf.MessageOptions$Properties} message MessageOptions message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: google.protobuf.MessageOptions$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified MessageOptions message, length delimited. Does not implicitly {@link google.protobuf.MessageOptions.verify|verify} messages.
+             * @param {google.protobuf.MessageOptions$Properties} message MessageOptions message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: google.protobuf.MessageOptions$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a MessageOptions message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {google.protobuf.MessageOptions} MessageOptions
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): google.protobuf.MessageOptions;
+
+            /**
+             * Decodes a MessageOptions message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {google.protobuf.MessageOptions} MessageOptions
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): google.protobuf.MessageOptions;
+
+            /**
+             * Verifies a MessageOptions message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a MessageOptions message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.MessageOptions} MessageOptions
+             */
+            public static fromObject(object: { [k: string]: any }): google.protobuf.MessageOptions;
+
+            /**
+             * Creates a MessageOptions message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link google.protobuf.MessageOptions.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.MessageOptions} MessageOptions
+             */
+            public static from(object: { [k: string]: any }): google.protobuf.MessageOptions;
+
+            /**
+             * Creates a plain object from a MessageOptions message. Also converts values to other types if specified.
+             * @param {google.protobuf.MessageOptions} message MessageOptions
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: google.protobuf.MessageOptions, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this MessageOptions message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this MessageOptions to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type FieldOptions$Properties = {
+            ctype?: google.protobuf.FieldOptions.CType;
+            packed?: boolean;
+            jstype?: google.protobuf.FieldOptions.JSType;
+            lazy?: boolean;
+            deprecated?: boolean;
+            weak?: boolean;
+            uninterpretedOption?: google.protobuf.UninterpretedOption$Properties[];
+            ".pointer"?: PointerType;
+            ".arraySize"?: number;
+        };
+
+        /**
+         * Constructs a new FieldOptions.
+         * @exports google.protobuf.FieldOptions
+         * @constructor
+         * @param {google.protobuf.FieldOptions$Properties=} [properties] Properties to set
+         */
+        class FieldOptions {
+
+            /**
+             * Constructs a new FieldOptions.
+             * @exports google.protobuf.FieldOptions
+             * @constructor
+             * @param {google.protobuf.FieldOptions$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: google.protobuf.FieldOptions$Properties);
+
+            /**
+             * FieldOptions ctype.
+             * @type {google.protobuf.FieldOptions.CType}
+             */
+            public ctype: google.protobuf.FieldOptions.CType;
+
+            /**
+             * FieldOptions packed.
+             * @type {boolean}
+             */
+            public packed: boolean;
+
+            /**
+             * FieldOptions jstype.
+             * @type {google.protobuf.FieldOptions.JSType}
+             */
+            public jstype: google.protobuf.FieldOptions.JSType;
+
+            /**
+             * FieldOptions lazy.
+             * @type {boolean}
+             */
+            public lazy: boolean;
+
+            /**
+             * FieldOptions deprecated.
+             * @type {boolean}
+             */
+            public deprecated: boolean;
+
+            /**
+             * FieldOptions weak.
+             * @type {boolean}
+             */
+            public weak: boolean;
+
+            /**
+             * FieldOptions uninterpretedOption.
+             * @type {Array.<google.protobuf.UninterpretedOption$Properties>}
+             */
+            public uninterpretedOption: google.protobuf.UninterpretedOption$Properties[];
+
+            /**
+             * FieldOptions .pointer.
+             * @type {PointerType}
+             */
+            public [".pointer"]: PointerType;
+
+            /**
+             * FieldOptions .arraySize.
+             * @type {number}
+             */
+            public [".arraySize"]: number;
+
+            /**
+             * Creates a new FieldOptions instance using the specified properties.
+             * @param {google.protobuf.FieldOptions$Properties=} [properties] Properties to set
+             * @returns {google.protobuf.FieldOptions} FieldOptions instance
+             */
+            public static create(properties?: google.protobuf.FieldOptions$Properties): google.protobuf.FieldOptions;
+
+            /**
+             * Encodes the specified FieldOptions message. Does not implicitly {@link google.protobuf.FieldOptions.verify|verify} messages.
+             * @param {google.protobuf.FieldOptions$Properties} message FieldOptions message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: google.protobuf.FieldOptions$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified FieldOptions message, length delimited. Does not implicitly {@link google.protobuf.FieldOptions.verify|verify} messages.
+             * @param {google.protobuf.FieldOptions$Properties} message FieldOptions message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: google.protobuf.FieldOptions$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a FieldOptions message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {google.protobuf.FieldOptions} FieldOptions
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): google.protobuf.FieldOptions;
+
+            /**
+             * Decodes a FieldOptions message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {google.protobuf.FieldOptions} FieldOptions
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): google.protobuf.FieldOptions;
+
+            /**
+             * Verifies a FieldOptions message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a FieldOptions message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.FieldOptions} FieldOptions
+             */
+            public static fromObject(object: { [k: string]: any }): google.protobuf.FieldOptions;
+
+            /**
+             * Creates a FieldOptions message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link google.protobuf.FieldOptions.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.FieldOptions} FieldOptions
+             */
+            public static from(object: { [k: string]: any }): google.protobuf.FieldOptions;
+
+            /**
+             * Creates a plain object from a FieldOptions message. Also converts values to other types if specified.
+             * @param {google.protobuf.FieldOptions} message FieldOptions
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: google.protobuf.FieldOptions, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this FieldOptions message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this FieldOptions to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        namespace FieldOptions {
+
+            /**
+             * CType enum.
+             * @name CType
+             * @memberof google.protobuf.FieldOptions
+             * @enum {number}
+             * @property {number} STRING=0 STRING value
+             * @property {number} CORD=1 CORD value
+             * @property {number} STRING_PIECE=2 STRING_PIECE value
+             */
+            enum CType {
+                STRING = 0,
+                CORD = 1,
+                STRING_PIECE = 2
+            }
+
+            /**
+             * JSType enum.
+             * @name JSType
+             * @memberof google.protobuf.FieldOptions
+             * @enum {number}
+             * @property {number} JS_NORMAL=0 JS_NORMAL value
+             * @property {number} JS_STRING=1 JS_STRING value
+             * @property {number} JS_NUMBER=2 JS_NUMBER value
+             */
+            enum JSType {
+                JS_NORMAL = 0,
+                JS_STRING = 1,
+                JS_NUMBER = 2
+            }
+        }
+
+        type OneofOptions$Properties = {
+            uninterpretedOption?: google.protobuf.UninterpretedOption$Properties[];
+        };
+
+        /**
+         * Constructs a new OneofOptions.
+         * @exports google.protobuf.OneofOptions
+         * @constructor
+         * @param {google.protobuf.OneofOptions$Properties=} [properties] Properties to set
+         */
+        class OneofOptions {
+
+            /**
+             * Constructs a new OneofOptions.
+             * @exports google.protobuf.OneofOptions
+             * @constructor
+             * @param {google.protobuf.OneofOptions$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: google.protobuf.OneofOptions$Properties);
+
+            /**
+             * OneofOptions uninterpretedOption.
+             * @type {Array.<google.protobuf.UninterpretedOption$Properties>}
+             */
+            public uninterpretedOption: google.protobuf.UninterpretedOption$Properties[];
+
+            /**
+             * Creates a new OneofOptions instance using the specified properties.
+             * @param {google.protobuf.OneofOptions$Properties=} [properties] Properties to set
+             * @returns {google.protobuf.OneofOptions} OneofOptions instance
+             */
+            public static create(properties?: google.protobuf.OneofOptions$Properties): google.protobuf.OneofOptions;
+
+            /**
+             * Encodes the specified OneofOptions message. Does not implicitly {@link google.protobuf.OneofOptions.verify|verify} messages.
+             * @param {google.protobuf.OneofOptions$Properties} message OneofOptions message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: google.protobuf.OneofOptions$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified OneofOptions message, length delimited. Does not implicitly {@link google.protobuf.OneofOptions.verify|verify} messages.
+             * @param {google.protobuf.OneofOptions$Properties} message OneofOptions message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: google.protobuf.OneofOptions$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes an OneofOptions message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {google.protobuf.OneofOptions} OneofOptions
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): google.protobuf.OneofOptions;
+
+            /**
+             * Decodes an OneofOptions message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {google.protobuf.OneofOptions} OneofOptions
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): google.protobuf.OneofOptions;
+
+            /**
+             * Verifies an OneofOptions message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates an OneofOptions message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.OneofOptions} OneofOptions
+             */
+            public static fromObject(object: { [k: string]: any }): google.protobuf.OneofOptions;
+
+            /**
+             * Creates an OneofOptions message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link google.protobuf.OneofOptions.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.OneofOptions} OneofOptions
+             */
+            public static from(object: { [k: string]: any }): google.protobuf.OneofOptions;
+
+            /**
+             * Creates a plain object from an OneofOptions message. Also converts values to other types if specified.
+             * @param {google.protobuf.OneofOptions} message OneofOptions
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: google.protobuf.OneofOptions, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this OneofOptions message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this OneofOptions to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type EnumOptions$Properties = {
+            allowAlias?: boolean;
+            deprecated?: boolean;
+            uninterpretedOption?: google.protobuf.UninterpretedOption$Properties[];
+        };
+
+        /**
+         * Constructs a new EnumOptions.
+         * @exports google.protobuf.EnumOptions
+         * @constructor
+         * @param {google.protobuf.EnumOptions$Properties=} [properties] Properties to set
+         */
+        class EnumOptions {
+
+            /**
+             * Constructs a new EnumOptions.
+             * @exports google.protobuf.EnumOptions
+             * @constructor
+             * @param {google.protobuf.EnumOptions$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: google.protobuf.EnumOptions$Properties);
+
+            /**
+             * EnumOptions allowAlias.
+             * @type {boolean}
+             */
+            public allowAlias: boolean;
+
+            /**
+             * EnumOptions deprecated.
+             * @type {boolean}
+             */
+            public deprecated: boolean;
+
+            /**
+             * EnumOptions uninterpretedOption.
+             * @type {Array.<google.protobuf.UninterpretedOption$Properties>}
+             */
+            public uninterpretedOption: google.protobuf.UninterpretedOption$Properties[];
+
+            /**
+             * Creates a new EnumOptions instance using the specified properties.
+             * @param {google.protobuf.EnumOptions$Properties=} [properties] Properties to set
+             * @returns {google.protobuf.EnumOptions} EnumOptions instance
+             */
+            public static create(properties?: google.protobuf.EnumOptions$Properties): google.protobuf.EnumOptions;
+
+            /**
+             * Encodes the specified EnumOptions message. Does not implicitly {@link google.protobuf.EnumOptions.verify|verify} messages.
+             * @param {google.protobuf.EnumOptions$Properties} message EnumOptions message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: google.protobuf.EnumOptions$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified EnumOptions message, length delimited. Does not implicitly {@link google.protobuf.EnumOptions.verify|verify} messages.
+             * @param {google.protobuf.EnumOptions$Properties} message EnumOptions message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: google.protobuf.EnumOptions$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes an EnumOptions message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {google.protobuf.EnumOptions} EnumOptions
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): google.protobuf.EnumOptions;
+
+            /**
+             * Decodes an EnumOptions message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {google.protobuf.EnumOptions} EnumOptions
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): google.protobuf.EnumOptions;
+
+            /**
+             * Verifies an EnumOptions message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates an EnumOptions message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.EnumOptions} EnumOptions
+             */
+            public static fromObject(object: { [k: string]: any }): google.protobuf.EnumOptions;
+
+            /**
+             * Creates an EnumOptions message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link google.protobuf.EnumOptions.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.EnumOptions} EnumOptions
+             */
+            public static from(object: { [k: string]: any }): google.protobuf.EnumOptions;
+
+            /**
+             * Creates a plain object from an EnumOptions message. Also converts values to other types if specified.
+             * @param {google.protobuf.EnumOptions} message EnumOptions
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: google.protobuf.EnumOptions, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this EnumOptions message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this EnumOptions to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type EnumValueOptions$Properties = {
+            deprecated?: boolean;
+            uninterpretedOption?: google.protobuf.UninterpretedOption$Properties[];
+        };
+
+        /**
+         * Constructs a new EnumValueOptions.
+         * @exports google.protobuf.EnumValueOptions
+         * @constructor
+         * @param {google.protobuf.EnumValueOptions$Properties=} [properties] Properties to set
+         */
+        class EnumValueOptions {
+
+            /**
+             * Constructs a new EnumValueOptions.
+             * @exports google.protobuf.EnumValueOptions
+             * @constructor
+             * @param {google.protobuf.EnumValueOptions$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: google.protobuf.EnumValueOptions$Properties);
+
+            /**
+             * EnumValueOptions deprecated.
+             * @type {boolean}
+             */
+            public deprecated: boolean;
+
+            /**
+             * EnumValueOptions uninterpretedOption.
+             * @type {Array.<google.protobuf.UninterpretedOption$Properties>}
+             */
+            public uninterpretedOption: google.protobuf.UninterpretedOption$Properties[];
+
+            /**
+             * Creates a new EnumValueOptions instance using the specified properties.
+             * @param {google.protobuf.EnumValueOptions$Properties=} [properties] Properties to set
+             * @returns {google.protobuf.EnumValueOptions} EnumValueOptions instance
+             */
+            public static create(properties?: google.protobuf.EnumValueOptions$Properties): google.protobuf.EnumValueOptions;
+
+            /**
+             * Encodes the specified EnumValueOptions message. Does not implicitly {@link google.protobuf.EnumValueOptions.verify|verify} messages.
+             * @param {google.protobuf.EnumValueOptions$Properties} message EnumValueOptions message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: google.protobuf.EnumValueOptions$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified EnumValueOptions message, length delimited. Does not implicitly {@link google.protobuf.EnumValueOptions.verify|verify} messages.
+             * @param {google.protobuf.EnumValueOptions$Properties} message EnumValueOptions message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: google.protobuf.EnumValueOptions$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes an EnumValueOptions message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {google.protobuf.EnumValueOptions} EnumValueOptions
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): google.protobuf.EnumValueOptions;
+
+            /**
+             * Decodes an EnumValueOptions message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {google.protobuf.EnumValueOptions} EnumValueOptions
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): google.protobuf.EnumValueOptions;
+
+            /**
+             * Verifies an EnumValueOptions message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates an EnumValueOptions message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.EnumValueOptions} EnumValueOptions
+             */
+            public static fromObject(object: { [k: string]: any }): google.protobuf.EnumValueOptions;
+
+            /**
+             * Creates an EnumValueOptions message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link google.protobuf.EnumValueOptions.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.EnumValueOptions} EnumValueOptions
+             */
+            public static from(object: { [k: string]: any }): google.protobuf.EnumValueOptions;
+
+            /**
+             * Creates a plain object from an EnumValueOptions message. Also converts values to other types if specified.
+             * @param {google.protobuf.EnumValueOptions} message EnumValueOptions
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: google.protobuf.EnumValueOptions, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this EnumValueOptions message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this EnumValueOptions to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type ServiceOptions$Properties = {
+            deprecated?: boolean;
+            uninterpretedOption?: google.protobuf.UninterpretedOption$Properties[];
+        };
+
+        /**
+         * Constructs a new ServiceOptions.
+         * @exports google.protobuf.ServiceOptions
+         * @constructor
+         * @param {google.protobuf.ServiceOptions$Properties=} [properties] Properties to set
+         */
+        class ServiceOptions {
+
+            /**
+             * Constructs a new ServiceOptions.
+             * @exports google.protobuf.ServiceOptions
+             * @constructor
+             * @param {google.protobuf.ServiceOptions$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: google.protobuf.ServiceOptions$Properties);
+
+            /**
+             * ServiceOptions deprecated.
+             * @type {boolean}
+             */
+            public deprecated: boolean;
+
+            /**
+             * ServiceOptions uninterpretedOption.
+             * @type {Array.<google.protobuf.UninterpretedOption$Properties>}
+             */
+            public uninterpretedOption: google.protobuf.UninterpretedOption$Properties[];
+
+            /**
+             * Creates a new ServiceOptions instance using the specified properties.
+             * @param {google.protobuf.ServiceOptions$Properties=} [properties] Properties to set
+             * @returns {google.protobuf.ServiceOptions} ServiceOptions instance
+             */
+            public static create(properties?: google.protobuf.ServiceOptions$Properties): google.protobuf.ServiceOptions;
+
+            /**
+             * Encodes the specified ServiceOptions message. Does not implicitly {@link google.protobuf.ServiceOptions.verify|verify} messages.
+             * @param {google.protobuf.ServiceOptions$Properties} message ServiceOptions message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: google.protobuf.ServiceOptions$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified ServiceOptions message, length delimited. Does not implicitly {@link google.protobuf.ServiceOptions.verify|verify} messages.
+             * @param {google.protobuf.ServiceOptions$Properties} message ServiceOptions message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: google.protobuf.ServiceOptions$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a ServiceOptions message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {google.protobuf.ServiceOptions} ServiceOptions
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): google.protobuf.ServiceOptions;
+
+            /**
+             * Decodes a ServiceOptions message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {google.protobuf.ServiceOptions} ServiceOptions
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): google.protobuf.ServiceOptions;
+
+            /**
+             * Verifies a ServiceOptions message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a ServiceOptions message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.ServiceOptions} ServiceOptions
+             */
+            public static fromObject(object: { [k: string]: any }): google.protobuf.ServiceOptions;
+
+            /**
+             * Creates a ServiceOptions message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link google.protobuf.ServiceOptions.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.ServiceOptions} ServiceOptions
+             */
+            public static from(object: { [k: string]: any }): google.protobuf.ServiceOptions;
+
+            /**
+             * Creates a plain object from a ServiceOptions message. Also converts values to other types if specified.
+             * @param {google.protobuf.ServiceOptions} message ServiceOptions
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: google.protobuf.ServiceOptions, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this ServiceOptions message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this ServiceOptions to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type MethodOptions$Properties = {
+            deprecated?: boolean;
+            uninterpretedOption?: google.protobuf.UninterpretedOption$Properties[];
+        };
+
+        /**
+         * Constructs a new MethodOptions.
+         * @exports google.protobuf.MethodOptions
+         * @constructor
+         * @param {google.protobuf.MethodOptions$Properties=} [properties] Properties to set
+         */
+        class MethodOptions {
+
+            /**
+             * Constructs a new MethodOptions.
+             * @exports google.protobuf.MethodOptions
+             * @constructor
+             * @param {google.protobuf.MethodOptions$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: google.protobuf.MethodOptions$Properties);
+
+            /**
+             * MethodOptions deprecated.
+             * @type {boolean}
+             */
+            public deprecated: boolean;
+
+            /**
+             * MethodOptions uninterpretedOption.
+             * @type {Array.<google.protobuf.UninterpretedOption$Properties>}
+             */
+            public uninterpretedOption: google.protobuf.UninterpretedOption$Properties[];
+
+            /**
+             * Creates a new MethodOptions instance using the specified properties.
+             * @param {google.protobuf.MethodOptions$Properties=} [properties] Properties to set
+             * @returns {google.protobuf.MethodOptions} MethodOptions instance
+             */
+            public static create(properties?: google.protobuf.MethodOptions$Properties): google.protobuf.MethodOptions;
+
+            /**
+             * Encodes the specified MethodOptions message. Does not implicitly {@link google.protobuf.MethodOptions.verify|verify} messages.
+             * @param {google.protobuf.MethodOptions$Properties} message MethodOptions message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: google.protobuf.MethodOptions$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified MethodOptions message, length delimited. Does not implicitly {@link google.protobuf.MethodOptions.verify|verify} messages.
+             * @param {google.protobuf.MethodOptions$Properties} message MethodOptions message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: google.protobuf.MethodOptions$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a MethodOptions message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {google.protobuf.MethodOptions} MethodOptions
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): google.protobuf.MethodOptions;
+
+            /**
+             * Decodes a MethodOptions message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {google.protobuf.MethodOptions} MethodOptions
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): google.protobuf.MethodOptions;
+
+            /**
+             * Verifies a MethodOptions message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a MethodOptions message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.MethodOptions} MethodOptions
+             */
+            public static fromObject(object: { [k: string]: any }): google.protobuf.MethodOptions;
+
+            /**
+             * Creates a MethodOptions message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link google.protobuf.MethodOptions.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.MethodOptions} MethodOptions
+             */
+            public static from(object: { [k: string]: any }): google.protobuf.MethodOptions;
+
+            /**
+             * Creates a plain object from a MethodOptions message. Also converts values to other types if specified.
+             * @param {google.protobuf.MethodOptions} message MethodOptions
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: google.protobuf.MethodOptions, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this MethodOptions message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this MethodOptions to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type UninterpretedOption$Properties = {
+            name?: google.protobuf.UninterpretedOption.NamePart$Properties[];
+            identifierValue?: string;
+            positiveIntValue?: (number|Long);
+            negativeIntValue?: (number|Long);
+            doubleValue?: number;
+            stringValue?: Uint8Array;
+            aggregateValue?: string;
+        };
+
+        /**
+         * Constructs a new UninterpretedOption.
+         * @exports google.protobuf.UninterpretedOption
+         * @constructor
+         * @param {google.protobuf.UninterpretedOption$Properties=} [properties] Properties to set
+         */
+        class UninterpretedOption {
+
+            /**
+             * Constructs a new UninterpretedOption.
+             * @exports google.protobuf.UninterpretedOption
+             * @constructor
+             * @param {google.protobuf.UninterpretedOption$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: google.protobuf.UninterpretedOption$Properties);
+
+            /**
+             * UninterpretedOption name.
+             * @type {Array.<google.protobuf.UninterpretedOption.NamePart$Properties>}
+             */
+            public name: google.protobuf.UninterpretedOption.NamePart$Properties[];
+
+            /**
+             * UninterpretedOption identifierValue.
+             * @type {string}
+             */
+            public identifierValue: string;
+
+            /**
+             * UninterpretedOption positiveIntValue.
+             * @type {number|Long}
+             */
+            public positiveIntValue: (number|Long);
+
+            /**
+             * UninterpretedOption negativeIntValue.
+             * @type {number|Long}
+             */
+            public negativeIntValue: (number|Long);
+
+            /**
+             * UninterpretedOption doubleValue.
+             * @type {number}
+             */
+            public doubleValue: number;
+
+            /**
+             * UninterpretedOption stringValue.
+             * @type {Uint8Array}
+             */
+            public stringValue: Uint8Array;
+
+            /**
+             * UninterpretedOption aggregateValue.
+             * @type {string}
+             */
+            public aggregateValue: string;
+
+            /**
+             * Creates a new UninterpretedOption instance using the specified properties.
+             * @param {google.protobuf.UninterpretedOption$Properties=} [properties] Properties to set
+             * @returns {google.protobuf.UninterpretedOption} UninterpretedOption instance
+             */
+            public static create(properties?: google.protobuf.UninterpretedOption$Properties): google.protobuf.UninterpretedOption;
+
+            /**
+             * Encodes the specified UninterpretedOption message. Does not implicitly {@link google.protobuf.UninterpretedOption.verify|verify} messages.
+             * @param {google.protobuf.UninterpretedOption$Properties} message UninterpretedOption message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: google.protobuf.UninterpretedOption$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified UninterpretedOption message, length delimited. Does not implicitly {@link google.protobuf.UninterpretedOption.verify|verify} messages.
+             * @param {google.protobuf.UninterpretedOption$Properties} message UninterpretedOption message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: google.protobuf.UninterpretedOption$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes an UninterpretedOption message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {google.protobuf.UninterpretedOption} UninterpretedOption
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): google.protobuf.UninterpretedOption;
+
+            /**
+             * Decodes an UninterpretedOption message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {google.protobuf.UninterpretedOption} UninterpretedOption
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): google.protobuf.UninterpretedOption;
+
+            /**
+             * Verifies an UninterpretedOption message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates an UninterpretedOption message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.UninterpretedOption} UninterpretedOption
+             */
+            public static fromObject(object: { [k: string]: any }): google.protobuf.UninterpretedOption;
+
+            /**
+             * Creates an UninterpretedOption message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link google.protobuf.UninterpretedOption.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.UninterpretedOption} UninterpretedOption
+             */
+            public static from(object: { [k: string]: any }): google.protobuf.UninterpretedOption;
+
+            /**
+             * Creates a plain object from an UninterpretedOption message. Also converts values to other types if specified.
+             * @param {google.protobuf.UninterpretedOption} message UninterpretedOption
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: google.protobuf.UninterpretedOption, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this UninterpretedOption message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this UninterpretedOption to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        namespace UninterpretedOption {
+
+            type NamePart$Properties = {
+                namePart: string;
+                isExtension: boolean;
+            };
+
+            /**
+             * Constructs a new NamePart.
+             * @exports google.protobuf.UninterpretedOption.NamePart
+             * @constructor
+             * @param {google.protobuf.UninterpretedOption.NamePart$Properties=} [properties] Properties to set
+             */
+            class NamePart {
+
+                /**
+                 * Constructs a new NamePart.
+                 * @exports google.protobuf.UninterpretedOption.NamePart
+                 * @constructor
+                 * @param {google.protobuf.UninterpretedOption.NamePart$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: google.protobuf.UninterpretedOption.NamePart$Properties);
+
+                /**
+                 * NamePart namePart.
+                 * @type {string}
+                 */
+                public namePart: string;
+
+                /**
+                 * NamePart isExtension.
+                 * @type {boolean}
+                 */
+                public isExtension: boolean;
+
+                /**
+                 * Creates a new NamePart instance using the specified properties.
+                 * @param {google.protobuf.UninterpretedOption.NamePart$Properties=} [properties] Properties to set
+                 * @returns {google.protobuf.UninterpretedOption.NamePart} NamePart instance
+                 */
+                public static create(properties?: google.protobuf.UninterpretedOption.NamePart$Properties): google.protobuf.UninterpretedOption.NamePart;
+
+                /**
+                 * Encodes the specified NamePart message. Does not implicitly {@link google.protobuf.UninterpretedOption.NamePart.verify|verify} messages.
+                 * @param {google.protobuf.UninterpretedOption.NamePart$Properties} message NamePart message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: google.protobuf.UninterpretedOption.NamePart$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified NamePart message, length delimited. Does not implicitly {@link google.protobuf.UninterpretedOption.NamePart.verify|verify} messages.
+                 * @param {google.protobuf.UninterpretedOption.NamePart$Properties} message NamePart message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: google.protobuf.UninterpretedOption.NamePart$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a NamePart message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {google.protobuf.UninterpretedOption.NamePart} NamePart
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): google.protobuf.UninterpretedOption.NamePart;
+
+                /**
+                 * Decodes a NamePart message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {google.protobuf.UninterpretedOption.NamePart} NamePart
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): google.protobuf.UninterpretedOption.NamePart;
+
+                /**
+                 * Verifies a NamePart message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a NamePart message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {google.protobuf.UninterpretedOption.NamePart} NamePart
+                 */
+                public static fromObject(object: { [k: string]: any }): google.protobuf.UninterpretedOption.NamePart;
+
+                /**
+                 * Creates a NamePart message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link google.protobuf.UninterpretedOption.NamePart.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {google.protobuf.UninterpretedOption.NamePart} NamePart
+                 */
+                public static from(object: { [k: string]: any }): google.protobuf.UninterpretedOption.NamePart;
+
+                /**
+                 * Creates a plain object from a NamePart message. Also converts values to other types if specified.
+                 * @param {google.protobuf.UninterpretedOption.NamePart} message NamePart
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: google.protobuf.UninterpretedOption.NamePart, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this NamePart message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this NamePart to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+        }
+
+        type SourceCodeInfo$Properties = {
+            location?: google.protobuf.SourceCodeInfo.Location$Properties[];
+        };
+
+        /**
+         * Constructs a new SourceCodeInfo.
+         * @exports google.protobuf.SourceCodeInfo
+         * @constructor
+         * @param {google.protobuf.SourceCodeInfo$Properties=} [properties] Properties to set
+         */
+        class SourceCodeInfo {
+
+            /**
+             * Constructs a new SourceCodeInfo.
+             * @exports google.protobuf.SourceCodeInfo
+             * @constructor
+             * @param {google.protobuf.SourceCodeInfo$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: google.protobuf.SourceCodeInfo$Properties);
+
+            /**
+             * SourceCodeInfo location.
+             * @type {Array.<google.protobuf.SourceCodeInfo.Location$Properties>}
+             */
+            public location: google.protobuf.SourceCodeInfo.Location$Properties[];
+
+            /**
+             * Creates a new SourceCodeInfo instance using the specified properties.
+             * @param {google.protobuf.SourceCodeInfo$Properties=} [properties] Properties to set
+             * @returns {google.protobuf.SourceCodeInfo} SourceCodeInfo instance
+             */
+            public static create(properties?: google.protobuf.SourceCodeInfo$Properties): google.protobuf.SourceCodeInfo;
+
+            /**
+             * Encodes the specified SourceCodeInfo message. Does not implicitly {@link google.protobuf.SourceCodeInfo.verify|verify} messages.
+             * @param {google.protobuf.SourceCodeInfo$Properties} message SourceCodeInfo message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: google.protobuf.SourceCodeInfo$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified SourceCodeInfo message, length delimited. Does not implicitly {@link google.protobuf.SourceCodeInfo.verify|verify} messages.
+             * @param {google.protobuf.SourceCodeInfo$Properties} message SourceCodeInfo message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: google.protobuf.SourceCodeInfo$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a SourceCodeInfo message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {google.protobuf.SourceCodeInfo} SourceCodeInfo
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): google.protobuf.SourceCodeInfo;
+
+            /**
+             * Decodes a SourceCodeInfo message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {google.protobuf.SourceCodeInfo} SourceCodeInfo
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): google.protobuf.SourceCodeInfo;
+
+            /**
+             * Verifies a SourceCodeInfo message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a SourceCodeInfo message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.SourceCodeInfo} SourceCodeInfo
+             */
+            public static fromObject(object: { [k: string]: any }): google.protobuf.SourceCodeInfo;
+
+            /**
+             * Creates a SourceCodeInfo message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link google.protobuf.SourceCodeInfo.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.SourceCodeInfo} SourceCodeInfo
+             */
+            public static from(object: { [k: string]: any }): google.protobuf.SourceCodeInfo;
+
+            /**
+             * Creates a plain object from a SourceCodeInfo message. Also converts values to other types if specified.
+             * @param {google.protobuf.SourceCodeInfo} message SourceCodeInfo
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: google.protobuf.SourceCodeInfo, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this SourceCodeInfo message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this SourceCodeInfo to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        namespace SourceCodeInfo {
+
+            type Location$Properties = {
+                path?: number[];
+                span?: number[];
+                leadingComments?: string;
+                trailingComments?: string;
+                leadingDetachedComments?: string[];
+            };
+
+            /**
+             * Constructs a new Location.
+             * @exports google.protobuf.SourceCodeInfo.Location
+             * @constructor
+             * @param {google.protobuf.SourceCodeInfo.Location$Properties=} [properties] Properties to set
+             */
+            class Location {
+
+                /**
+                 * Constructs a new Location.
+                 * @exports google.protobuf.SourceCodeInfo.Location
+                 * @constructor
+                 * @param {google.protobuf.SourceCodeInfo.Location$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: google.protobuf.SourceCodeInfo.Location$Properties);
+
+                /**
+                 * Location path.
+                 * @type {Array.<number>}
+                 */
+                public path: number[];
+
+                /**
+                 * Location span.
+                 * @type {Array.<number>}
+                 */
+                public span: number[];
+
+                /**
+                 * Location leadingComments.
+                 * @type {string}
+                 */
+                public leadingComments: string;
+
+                /**
+                 * Location trailingComments.
+                 * @type {string}
+                 */
+                public trailingComments: string;
+
+                /**
+                 * Location leadingDetachedComments.
+                 * @type {Array.<string>}
+                 */
+                public leadingDetachedComments: string[];
+
+                /**
+                 * Creates a new Location instance using the specified properties.
+                 * @param {google.protobuf.SourceCodeInfo.Location$Properties=} [properties] Properties to set
+                 * @returns {google.protobuf.SourceCodeInfo.Location} Location instance
+                 */
+                public static create(properties?: google.protobuf.SourceCodeInfo.Location$Properties): google.protobuf.SourceCodeInfo.Location;
+
+                /**
+                 * Encodes the specified Location message. Does not implicitly {@link google.protobuf.SourceCodeInfo.Location.verify|verify} messages.
+                 * @param {google.protobuf.SourceCodeInfo.Location$Properties} message Location message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: google.protobuf.SourceCodeInfo.Location$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified Location message, length delimited. Does not implicitly {@link google.protobuf.SourceCodeInfo.Location.verify|verify} messages.
+                 * @param {google.protobuf.SourceCodeInfo.Location$Properties} message Location message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: google.protobuf.SourceCodeInfo.Location$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a Location message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {google.protobuf.SourceCodeInfo.Location} Location
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): google.protobuf.SourceCodeInfo.Location;
+
+                /**
+                 * Decodes a Location message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {google.protobuf.SourceCodeInfo.Location} Location
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): google.protobuf.SourceCodeInfo.Location;
+
+                /**
+                 * Verifies a Location message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a Location message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {google.protobuf.SourceCodeInfo.Location} Location
+                 */
+                public static fromObject(object: { [k: string]: any }): google.protobuf.SourceCodeInfo.Location;
+
+                /**
+                 * Creates a Location message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link google.protobuf.SourceCodeInfo.Location.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {google.protobuf.SourceCodeInfo.Location} Location
+                 */
+                public static from(object: { [k: string]: any }): google.protobuf.SourceCodeInfo.Location;
+
+                /**
+                 * Creates a plain object from a Location message. Also converts values to other types if specified.
+                 * @param {google.protobuf.SourceCodeInfo.Location} message Location
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: google.protobuf.SourceCodeInfo.Location, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this Location message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this Location to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+        }
+
+        type GeneratedCodeInfo$Properties = {
+            annotation?: google.protobuf.GeneratedCodeInfo.Annotation$Properties[];
+        };
+
+        /**
+         * Constructs a new GeneratedCodeInfo.
+         * @exports google.protobuf.GeneratedCodeInfo
+         * @constructor
+         * @param {google.protobuf.GeneratedCodeInfo$Properties=} [properties] Properties to set
+         */
+        class GeneratedCodeInfo {
+
+            /**
+             * Constructs a new GeneratedCodeInfo.
+             * @exports google.protobuf.GeneratedCodeInfo
+             * @constructor
+             * @param {google.protobuf.GeneratedCodeInfo$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: google.protobuf.GeneratedCodeInfo$Properties);
+
+            /**
+             * GeneratedCodeInfo annotation.
+             * @type {Array.<google.protobuf.GeneratedCodeInfo.Annotation$Properties>}
+             */
+            public annotation: google.protobuf.GeneratedCodeInfo.Annotation$Properties[];
+
+            /**
+             * Creates a new GeneratedCodeInfo instance using the specified properties.
+             * @param {google.protobuf.GeneratedCodeInfo$Properties=} [properties] Properties to set
+             * @returns {google.protobuf.GeneratedCodeInfo} GeneratedCodeInfo instance
+             */
+            public static create(properties?: google.protobuf.GeneratedCodeInfo$Properties): google.protobuf.GeneratedCodeInfo;
+
+            /**
+             * Encodes the specified GeneratedCodeInfo message. Does not implicitly {@link google.protobuf.GeneratedCodeInfo.verify|verify} messages.
+             * @param {google.protobuf.GeneratedCodeInfo$Properties} message GeneratedCodeInfo message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: google.protobuf.GeneratedCodeInfo$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified GeneratedCodeInfo message, length delimited. Does not implicitly {@link google.protobuf.GeneratedCodeInfo.verify|verify} messages.
+             * @param {google.protobuf.GeneratedCodeInfo$Properties} message GeneratedCodeInfo message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: google.protobuf.GeneratedCodeInfo$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a GeneratedCodeInfo message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {google.protobuf.GeneratedCodeInfo} GeneratedCodeInfo
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): google.protobuf.GeneratedCodeInfo;
+
+            /**
+             * Decodes a GeneratedCodeInfo message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {google.protobuf.GeneratedCodeInfo} GeneratedCodeInfo
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): google.protobuf.GeneratedCodeInfo;
+
+            /**
+             * Verifies a GeneratedCodeInfo message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a GeneratedCodeInfo message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.GeneratedCodeInfo} GeneratedCodeInfo
+             */
+            public static fromObject(object: { [k: string]: any }): google.protobuf.GeneratedCodeInfo;
+
+            /**
+             * Creates a GeneratedCodeInfo message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link google.protobuf.GeneratedCodeInfo.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.GeneratedCodeInfo} GeneratedCodeInfo
+             */
+            public static from(object: { [k: string]: any }): google.protobuf.GeneratedCodeInfo;
+
+            /**
+             * Creates a plain object from a GeneratedCodeInfo message. Also converts values to other types if specified.
+             * @param {google.protobuf.GeneratedCodeInfo} message GeneratedCodeInfo
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: google.protobuf.GeneratedCodeInfo, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this GeneratedCodeInfo message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this GeneratedCodeInfo to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        namespace GeneratedCodeInfo {
+
+            type Annotation$Properties = {
+                path?: number[];
+                sourceFile?: string;
+                begin?: number;
+                end?: number;
+            };
+
+            /**
+             * Constructs a new Annotation.
+             * @exports google.protobuf.GeneratedCodeInfo.Annotation
+             * @constructor
+             * @param {google.protobuf.GeneratedCodeInfo.Annotation$Properties=} [properties] Properties to set
+             */
+            class Annotation {
+
+                /**
+                 * Constructs a new Annotation.
+                 * @exports google.protobuf.GeneratedCodeInfo.Annotation
+                 * @constructor
+                 * @param {google.protobuf.GeneratedCodeInfo.Annotation$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: google.protobuf.GeneratedCodeInfo.Annotation$Properties);
+
+                /**
+                 * Annotation path.
+                 * @type {Array.<number>}
+                 */
+                public path: number[];
+
+                /**
+                 * Annotation sourceFile.
+                 * @type {string}
+                 */
+                public sourceFile: string;
+
+                /**
+                 * Annotation begin.
+                 * @type {number}
+                 */
+                public begin: number;
+
+                /**
+                 * Annotation end.
+                 * @type {number}
+                 */
+                public end: number;
+
+                /**
+                 * Creates a new Annotation instance using the specified properties.
+                 * @param {google.protobuf.GeneratedCodeInfo.Annotation$Properties=} [properties] Properties to set
+                 * @returns {google.protobuf.GeneratedCodeInfo.Annotation} Annotation instance
+                 */
+                public static create(properties?: google.protobuf.GeneratedCodeInfo.Annotation$Properties): google.protobuf.GeneratedCodeInfo.Annotation;
+
+                /**
+                 * Encodes the specified Annotation message. Does not implicitly {@link google.protobuf.GeneratedCodeInfo.Annotation.verify|verify} messages.
+                 * @param {google.protobuf.GeneratedCodeInfo.Annotation$Properties} message Annotation message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: google.protobuf.GeneratedCodeInfo.Annotation$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified Annotation message, length delimited. Does not implicitly {@link google.protobuf.GeneratedCodeInfo.Annotation.verify|verify} messages.
+                 * @param {google.protobuf.GeneratedCodeInfo.Annotation$Properties} message Annotation message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: google.protobuf.GeneratedCodeInfo.Annotation$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes an Annotation message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {google.protobuf.GeneratedCodeInfo.Annotation} Annotation
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): google.protobuf.GeneratedCodeInfo.Annotation;
+
+                /**
+                 * Decodes an Annotation message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {google.protobuf.GeneratedCodeInfo.Annotation} Annotation
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): google.protobuf.GeneratedCodeInfo.Annotation;
+
+                /**
+                 * Verifies an Annotation message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates an Annotation message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {google.protobuf.GeneratedCodeInfo.Annotation} Annotation
+                 */
+                public static fromObject(object: { [k: string]: any }): google.protobuf.GeneratedCodeInfo.Annotation;
+
+                /**
+                 * Creates an Annotation message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link google.protobuf.GeneratedCodeInfo.Annotation.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {google.protobuf.GeneratedCodeInfo.Annotation} Annotation
+                 */
+                public static from(object: { [k: string]: any }): google.protobuf.GeneratedCodeInfo.Annotation;
+
+                /**
+                 * Creates a plain object from an Annotation message. Also converts values to other types if specified.
+                 * @param {google.protobuf.GeneratedCodeInfo.Annotation} message Annotation
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: google.protobuf.GeneratedCodeInfo.Annotation, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this Annotation message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this Annotation to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+        }
+
+        type Duration$Properties = {
+            seconds?: (number|Long);
+            nanos?: number;
+        };
+
+        /**
+         * Constructs a new Duration.
+         * @exports google.protobuf.Duration
+         * @constructor
+         * @param {google.protobuf.Duration$Properties=} [properties] Properties to set
+         */
+        class Duration {
+
+            /**
+             * Constructs a new Duration.
+             * @exports google.protobuf.Duration
+             * @constructor
+             * @param {google.protobuf.Duration$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: google.protobuf.Duration$Properties);
+
+            /**
+             * Duration seconds.
+             * @type {number|Long}
+             */
+            public seconds: (number|Long);
+
+            /**
+             * Duration nanos.
+             * @type {number}
+             */
+            public nanos: number;
+
+            /**
+             * Creates a new Duration instance using the specified properties.
+             * @param {google.protobuf.Duration$Properties=} [properties] Properties to set
+             * @returns {google.protobuf.Duration} Duration instance
+             */
+            public static create(properties?: google.protobuf.Duration$Properties): google.protobuf.Duration;
+
+            /**
+             * Encodes the specified Duration message. Does not implicitly {@link google.protobuf.Duration.verify|verify} messages.
+             * @param {google.protobuf.Duration$Properties} message Duration message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: google.protobuf.Duration$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified Duration message, length delimited. Does not implicitly {@link google.protobuf.Duration.verify|verify} messages.
+             * @param {google.protobuf.Duration$Properties} message Duration message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: google.protobuf.Duration$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a Duration message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {google.protobuf.Duration} Duration
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): google.protobuf.Duration;
+
+            /**
+             * Decodes a Duration message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {google.protobuf.Duration} Duration
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): google.protobuf.Duration;
+
+            /**
+             * Verifies a Duration message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a Duration message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.Duration} Duration
+             */
+            public static fromObject(object: { [k: string]: any }): google.protobuf.Duration;
+
+            /**
+             * Creates a Duration message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link google.protobuf.Duration.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.Duration} Duration
+             */
+            public static from(object: { [k: string]: any }): google.protobuf.Duration;
+
+            /**
+             * Creates a plain object from a Duration message. Also converts values to other types if specified.
+             * @param {google.protobuf.Duration} message Duration
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: google.protobuf.Duration, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this Duration message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this Duration to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type Timestamp$Properties = {
+            seconds?: (number|Long);
+            nanos?: number;
+        };
+
+        /**
+         * Constructs a new Timestamp.
+         * @exports google.protobuf.Timestamp
+         * @constructor
+         * @param {google.protobuf.Timestamp$Properties=} [properties] Properties to set
+         */
+        class Timestamp {
+
+            /**
+             * Constructs a new Timestamp.
+             * @exports google.protobuf.Timestamp
+             * @constructor
+             * @param {google.protobuf.Timestamp$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: google.protobuf.Timestamp$Properties);
+
+            /**
+             * Timestamp seconds.
+             * @type {number|Long}
+             */
+            public seconds: (number|Long);
+
+            /**
+             * Timestamp nanos.
+             * @type {number}
+             */
+            public nanos: number;
+
+            /**
+             * Creates a new Timestamp instance using the specified properties.
+             * @param {google.protobuf.Timestamp$Properties=} [properties] Properties to set
+             * @returns {google.protobuf.Timestamp} Timestamp instance
+             */
+            public static create(properties?: google.protobuf.Timestamp$Properties): google.protobuf.Timestamp;
+
+            /**
+             * Encodes the specified Timestamp message. Does not implicitly {@link google.protobuf.Timestamp.verify|verify} messages.
+             * @param {google.protobuf.Timestamp$Properties} message Timestamp message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: google.protobuf.Timestamp$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified Timestamp message, length delimited. Does not implicitly {@link google.protobuf.Timestamp.verify|verify} messages.
+             * @param {google.protobuf.Timestamp$Properties} message Timestamp message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: google.protobuf.Timestamp$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a Timestamp message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {google.protobuf.Timestamp} Timestamp
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): google.protobuf.Timestamp;
+
+            /**
+             * Decodes a Timestamp message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {google.protobuf.Timestamp} Timestamp
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): google.protobuf.Timestamp;
+
+            /**
+             * Verifies a Timestamp message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a Timestamp message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.Timestamp} Timestamp
+             */
+            public static fromObject(object: { [k: string]: any }): google.protobuf.Timestamp;
+
+            /**
+             * Creates a Timestamp message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link google.protobuf.Timestamp.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.Timestamp} Timestamp
+             */
+            public static from(object: { [k: string]: any }): google.protobuf.Timestamp;
+
+            /**
+             * Creates a plain object from a Timestamp message. Also converts values to other types if specified.
+             * @param {google.protobuf.Timestamp} message Timestamp
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: google.protobuf.Timestamp, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this Timestamp message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this Timestamp to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+    }
+}
+
+/**
+ * Namespace message.
+ * @exports message
+ * @namespace
+ */
+export namespace message {
+
+    type Line$Properties = {
+        normal?: vec2$Properties;
+        distance?: number;
+    };
+
+    /**
+     * Constructs a new Line.
+     * @exports message.Line
+     * @constructor
+     * @param {message.Line$Properties=} [properties] Properties to set
+     */
+    class Line {
+
+        /**
+         * Constructs a new Line.
+         * @exports message.Line
+         * @constructor
+         * @param {message.Line$Properties=} [properties] Properties to set
+         */
+        constructor(properties?: message.Line$Properties);
+
+        /**
+         * Line normal.
+         * @type {(vec2$Properties|null)}
+         */
+        public normal: (vec2$Properties|null);
+
+        /**
+         * Line distance.
+         * @type {number}
+         */
+        public distance: number;
+
+        /**
+         * Creates a new Line instance using the specified properties.
+         * @param {message.Line$Properties=} [properties] Properties to set
+         * @returns {message.Line} Line instance
+         */
+        public static create(properties?: message.Line$Properties): message.Line;
+
+        /**
+         * Encodes the specified Line message. Does not implicitly {@link message.Line.verify|verify} messages.
+         * @param {message.Line$Properties} message Line message or plain object to encode
+         * @param {$protobuf.Writer} [writer] Writer to encode to
+         * @returns {$protobuf.Writer} Writer
+         */
+        public static encode(message: message.Line$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+        /**
+         * Encodes the specified Line message, length delimited. Does not implicitly {@link message.Line.verify|verify} messages.
+         * @param {message.Line$Properties} message Line message or plain object to encode
+         * @param {$protobuf.Writer} [writer] Writer to encode to
+         * @returns {$protobuf.Writer} Writer
+         */
+        public static encodeDelimited(message: message.Line$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+        /**
+         * Decodes a Line message from the specified reader or buffer.
+         * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+         * @param {number} [length] Message length if known beforehand
+         * @returns {message.Line} Line
+         * @throws {Error} If the payload is not a reader or valid buffer
+         * @throws {$protobuf.util.ProtocolError} If required fields are missing
+         */
+        public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.Line;
+
+        /**
+         * Decodes a Line message from the specified reader or buffer, length delimited.
+         * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+         * @returns {message.Line} Line
+         * @throws {Error} If the payload is not a reader or valid buffer
+         * @throws {$protobuf.util.ProtocolError} If required fields are missing
+         */
+        public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.Line;
+
+        /**
+         * Verifies a Line message.
+         * @param {Object.<string,*>} message Plain object to verify
+         * @returns {?string} `null` if valid, otherwise the reason why it is not
+         */
+        public static verify(message: { [k: string]: any }): string;
+
+        /**
+         * Creates a Line message from a plain object. Also converts values to their respective internal types.
+         * @param {Object.<string,*>} object Plain object
+         * @returns {message.Line} Line
+         */
+        public static fromObject(object: { [k: string]: any }): message.Line;
+
+        /**
+         * Creates a Line message from a plain object. Also converts values to their respective internal types.
+         * This is an alias of {@link message.Line.fromObject}.
+         * @function
+         * @param {Object.<string,*>} object Plain object
+         * @returns {message.Line} Line
+         */
+        public static from(object: { [k: string]: any }): message.Line;
+
+        /**
+         * Creates a plain object from a Line message. Also converts values to other types if specified.
+         * @param {message.Line} message Line
+         * @param {$protobuf.ConversionOptions} [options] Conversion options
+         * @returns {Object.<string,*>} Plain object
+         */
+        public static toObject(message: message.Line, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+        /**
+         * Creates a plain object from this Line message. Also converts values to other types if specified.
+         * @param {$protobuf.ConversionOptions} [options] Conversion options
+         * @returns {Object.<string,*>} Plain object
+         */
+        public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+        /**
+         * Converts this Line to JSON.
+         * @returns {Object.<string,*>} JSON object
+         */
+        public toJSON(): { [k: string]: any };
+    }
+
+    type Circle$Properties = {
+        radius?: number;
+        centre?: vec2$Properties;
+    };
+
+    /**
+     * Constructs a new Circle.
+     * @exports message.Circle
+     * @constructor
+     * @param {message.Circle$Properties=} [properties] Properties to set
+     */
+    class Circle {
+
+        /**
+         * Constructs a new Circle.
+         * @exports message.Circle
+         * @constructor
+         * @param {message.Circle$Properties=} [properties] Properties to set
+         */
+        constructor(properties?: message.Circle$Properties);
+
+        /**
+         * Circle radius.
+         * @type {number}
+         */
+        public radius: number;
+
+        /**
+         * Circle centre.
+         * @type {(vec2$Properties|null)}
+         */
+        public centre: (vec2$Properties|null);
+
+        /**
+         * Creates a new Circle instance using the specified properties.
+         * @param {message.Circle$Properties=} [properties] Properties to set
+         * @returns {message.Circle} Circle instance
+         */
+        public static create(properties?: message.Circle$Properties): message.Circle;
+
+        /**
+         * Encodes the specified Circle message. Does not implicitly {@link message.Circle.verify|verify} messages.
+         * @param {message.Circle$Properties} message Circle message or plain object to encode
+         * @param {$protobuf.Writer} [writer] Writer to encode to
+         * @returns {$protobuf.Writer} Writer
+         */
+        public static encode(message: message.Circle$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+        /**
+         * Encodes the specified Circle message, length delimited. Does not implicitly {@link message.Circle.verify|verify} messages.
+         * @param {message.Circle$Properties} message Circle message or plain object to encode
+         * @param {$protobuf.Writer} [writer] Writer to encode to
+         * @returns {$protobuf.Writer} Writer
+         */
+        public static encodeDelimited(message: message.Circle$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+        /**
+         * Decodes a Circle message from the specified reader or buffer.
+         * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+         * @param {number} [length] Message length if known beforehand
+         * @returns {message.Circle} Circle
+         * @throws {Error} If the payload is not a reader or valid buffer
+         * @throws {$protobuf.util.ProtocolError} If required fields are missing
+         */
+        public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.Circle;
+
+        /**
+         * Decodes a Circle message from the specified reader or buffer, length delimited.
+         * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+         * @returns {message.Circle} Circle
+         * @throws {Error} If the payload is not a reader or valid buffer
+         * @throws {$protobuf.util.ProtocolError} If required fields are missing
+         */
+        public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.Circle;
+
+        /**
+         * Verifies a Circle message.
+         * @param {Object.<string,*>} message Plain object to verify
+         * @returns {?string} `null` if valid, otherwise the reason why it is not
+         */
+        public static verify(message: { [k: string]: any }): string;
+
+        /**
+         * Creates a Circle message from a plain object. Also converts values to their respective internal types.
+         * @param {Object.<string,*>} object Plain object
+         * @returns {message.Circle} Circle
+         */
+        public static fromObject(object: { [k: string]: any }): message.Circle;
+
+        /**
+         * Creates a Circle message from a plain object. Also converts values to their respective internal types.
+         * This is an alias of {@link message.Circle.fromObject}.
+         * @function
+         * @param {Object.<string,*>} object Plain object
+         * @returns {message.Circle} Circle
+         */
+        public static from(object: { [k: string]: any }): message.Circle;
+
+        /**
+         * Creates a plain object from a Circle message. Also converts values to other types if specified.
+         * @param {message.Circle} message Circle
+         * @param {$protobuf.ConversionOptions} [options] Conversion options
+         * @returns {Object.<string,*>} Plain object
+         */
+        public static toObject(message: message.Circle, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+        /**
+         * Creates a plain object from this Circle message. Also converts values to other types if specified.
+         * @param {$protobuf.ConversionOptions} [options] Conversion options
+         * @returns {Object.<string,*>} Plain object
+         */
+        public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+        /**
+         * Converts this Circle to JSON.
+         * @returns {Object.<string,*>} JSON object
+         */
+        public toJSON(): { [k: string]: any };
+    }
+
+    type Ellipse$Properties = {
+        ellipse?: mat33$Properties;
+    };
+
+    /**
+     * Constructs a new Ellipse.
+     * @exports message.Ellipse
+     * @constructor
+     * @param {message.Ellipse$Properties=} [properties] Properties to set
+     */
+    class Ellipse {
+
+        /**
+         * Constructs a new Ellipse.
+         * @exports message.Ellipse
+         * @constructor
+         * @param {message.Ellipse$Properties=} [properties] Properties to set
+         */
+        constructor(properties?: message.Ellipse$Properties);
+
+        /**
+         * Ellipse ellipse.
+         * @type {(mat33$Properties|null)}
+         */
+        public ellipse: (mat33$Properties|null);
+
+        /**
+         * Creates a new Ellipse instance using the specified properties.
+         * @param {message.Ellipse$Properties=} [properties] Properties to set
+         * @returns {message.Ellipse} Ellipse instance
+         */
+        public static create(properties?: message.Ellipse$Properties): message.Ellipse;
+
+        /**
+         * Encodes the specified Ellipse message. Does not implicitly {@link message.Ellipse.verify|verify} messages.
+         * @param {message.Ellipse$Properties} message Ellipse message or plain object to encode
+         * @param {$protobuf.Writer} [writer] Writer to encode to
+         * @returns {$protobuf.Writer} Writer
+         */
+        public static encode(message: message.Ellipse$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+        /**
+         * Encodes the specified Ellipse message, length delimited. Does not implicitly {@link message.Ellipse.verify|verify} messages.
+         * @param {message.Ellipse$Properties} message Ellipse message or plain object to encode
+         * @param {$protobuf.Writer} [writer] Writer to encode to
+         * @returns {$protobuf.Writer} Writer
+         */
+        public static encodeDelimited(message: message.Ellipse$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+        /**
+         * Decodes an Ellipse message from the specified reader or buffer.
+         * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+         * @param {number} [length] Message length if known beforehand
+         * @returns {message.Ellipse} Ellipse
+         * @throws {Error} If the payload is not a reader or valid buffer
+         * @throws {$protobuf.util.ProtocolError} If required fields are missing
+         */
+        public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.Ellipse;
+
+        /**
+         * Decodes an Ellipse message from the specified reader or buffer, length delimited.
+         * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+         * @returns {message.Ellipse} Ellipse
+         * @throws {Error} If the payload is not a reader or valid buffer
+         * @throws {$protobuf.util.ProtocolError} If required fields are missing
+         */
+        public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.Ellipse;
+
+        /**
+         * Verifies an Ellipse message.
+         * @param {Object.<string,*>} message Plain object to verify
+         * @returns {?string} `null` if valid, otherwise the reason why it is not
+         */
+        public static verify(message: { [k: string]: any }): string;
+
+        /**
+         * Creates an Ellipse message from a plain object. Also converts values to their respective internal types.
+         * @param {Object.<string,*>} object Plain object
+         * @returns {message.Ellipse} Ellipse
+         */
+        public static fromObject(object: { [k: string]: any }): message.Ellipse;
+
+        /**
+         * Creates an Ellipse message from a plain object. Also converts values to their respective internal types.
+         * This is an alias of {@link message.Ellipse.fromObject}.
+         * @function
+         * @param {Object.<string,*>} object Plain object
+         * @returns {message.Ellipse} Ellipse
+         */
+        public static from(object: { [k: string]: any }): message.Ellipse;
+
+        /**
+         * Creates a plain object from an Ellipse message. Also converts values to other types if specified.
+         * @param {message.Ellipse} message Ellipse
+         * @param {$protobuf.ConversionOptions} [options] Conversion options
+         * @returns {Object.<string,*>} Plain object
+         */
+        public static toObject(message: message.Ellipse, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+        /**
+         * Creates a plain object from this Ellipse message. Also converts values to other types if specified.
+         * @param {$protobuf.ConversionOptions} [options] Conversion options
+         * @returns {Object.<string,*>} Plain object
+         */
+        public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+        /**
+         * Converts this Ellipse to JSON.
+         * @returns {Object.<string,*>} JSON object
+         */
+        public toJSON(): { [k: string]: any };
+    }
+
+    type Quad$Properties = {
+        tl?: vec2$Properties;
+        tr?: vec2$Properties;
+        bl?: vec2$Properties;
+        br?: vec2$Properties;
+    };
+
+    /**
+     * Constructs a new Quad.
+     * @exports message.Quad
+     * @constructor
+     * @param {message.Quad$Properties=} [properties] Properties to set
+     */
+    class Quad {
+
+        /**
+         * Constructs a new Quad.
+         * @exports message.Quad
+         * @constructor
+         * @param {message.Quad$Properties=} [properties] Properties to set
+         */
+        constructor(properties?: message.Quad$Properties);
+
+        /**
+         * Quad tl.
+         * @type {(vec2$Properties|null)}
+         */
+        public tl: (vec2$Properties|null);
+
+        /**
+         * Quad tr.
+         * @type {(vec2$Properties|null)}
+         */
+        public tr: (vec2$Properties|null);
+
+        /**
+         * Quad bl.
+         * @type {(vec2$Properties|null)}
+         */
+        public bl: (vec2$Properties|null);
+
+        /**
+         * Quad br.
+         * @type {(vec2$Properties|null)}
+         */
+        public br: (vec2$Properties|null);
+
+        /**
+         * Creates a new Quad instance using the specified properties.
+         * @param {message.Quad$Properties=} [properties] Properties to set
+         * @returns {message.Quad} Quad instance
+         */
+        public static create(properties?: message.Quad$Properties): message.Quad;
+
+        /**
+         * Encodes the specified Quad message. Does not implicitly {@link message.Quad.verify|verify} messages.
+         * @param {message.Quad$Properties} message Quad message or plain object to encode
+         * @param {$protobuf.Writer} [writer] Writer to encode to
+         * @returns {$protobuf.Writer} Writer
+         */
+        public static encode(message: message.Quad$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+        /**
+         * Encodes the specified Quad message, length delimited. Does not implicitly {@link message.Quad.verify|verify} messages.
+         * @param {message.Quad$Properties} message Quad message or plain object to encode
+         * @param {$protobuf.Writer} [writer] Writer to encode to
+         * @returns {$protobuf.Writer} Writer
+         */
+        public static encodeDelimited(message: message.Quad$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+        /**
+         * Decodes a Quad message from the specified reader or buffer.
+         * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+         * @param {number} [length] Message length if known beforehand
+         * @returns {message.Quad} Quad
+         * @throws {Error} If the payload is not a reader or valid buffer
+         * @throws {$protobuf.util.ProtocolError} If required fields are missing
+         */
+        public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.Quad;
+
+        /**
+         * Decodes a Quad message from the specified reader or buffer, length delimited.
+         * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+         * @returns {message.Quad} Quad
+         * @throws {Error} If the payload is not a reader or valid buffer
+         * @throws {$protobuf.util.ProtocolError} If required fields are missing
+         */
+        public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.Quad;
+
+        /**
+         * Verifies a Quad message.
+         * @param {Object.<string,*>} message Plain object to verify
+         * @returns {?string} `null` if valid, otherwise the reason why it is not
+         */
+        public static verify(message: { [k: string]: any }): string;
+
+        /**
+         * Creates a Quad message from a plain object. Also converts values to their respective internal types.
+         * @param {Object.<string,*>} object Plain object
+         * @returns {message.Quad} Quad
+         */
+        public static fromObject(object: { [k: string]: any }): message.Quad;
+
+        /**
+         * Creates a Quad message from a plain object. Also converts values to their respective internal types.
+         * This is an alias of {@link message.Quad.fromObject}.
+         * @function
+         * @param {Object.<string,*>} object Plain object
+         * @returns {message.Quad} Quad
+         */
+        public static from(object: { [k: string]: any }): message.Quad;
+
+        /**
+         * Creates a plain object from a Quad message. Also converts values to other types if specified.
+         * @param {message.Quad} message Quad
+         * @param {$protobuf.ConversionOptions} [options] Conversion options
+         * @returns {Object.<string,*>} Plain object
+         */
+        public static toObject(message: message.Quad, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+        /**
+         * Creates a plain object from this Quad message. Also converts values to other types if specified.
+         * @param {$protobuf.ConversionOptions} [options] Conversion options
+         * @returns {Object.<string,*>} Plain object
+         */
+        public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+        /**
+         * Converts this Quad to JSON.
+         * @returns {Object.<string,*>} JSON object
+         */
+        public toJSON(): { [k: string]: any };
+    }
+
+    type Polygon$Properties = {
+        point?: vec2$Properties;
+    };
+
+    /**
+     * Constructs a new Polygon.
+     * @exports message.Polygon
+     * @constructor
+     * @param {message.Polygon$Properties=} [properties] Properties to set
+     */
+    class Polygon {
+
+        /**
+         * Constructs a new Polygon.
+         * @exports message.Polygon
+         * @constructor
+         * @param {message.Polygon$Properties=} [properties] Properties to set
+         */
+        constructor(properties?: message.Polygon$Properties);
+
+        /**
+         * Polygon point.
+         * @type {(vec2$Properties|null)}
+         */
+        public point: (vec2$Properties|null);
+
+        /**
+         * Creates a new Polygon instance using the specified properties.
+         * @param {message.Polygon$Properties=} [properties] Properties to set
+         * @returns {message.Polygon} Polygon instance
+         */
+        public static create(properties?: message.Polygon$Properties): message.Polygon;
+
+        /**
+         * Encodes the specified Polygon message. Does not implicitly {@link message.Polygon.verify|verify} messages.
+         * @param {message.Polygon$Properties} message Polygon message or plain object to encode
+         * @param {$protobuf.Writer} [writer] Writer to encode to
+         * @returns {$protobuf.Writer} Writer
+         */
+        public static encode(message: message.Polygon$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+        /**
+         * Encodes the specified Polygon message, length delimited. Does not implicitly {@link message.Polygon.verify|verify} messages.
+         * @param {message.Polygon$Properties} message Polygon message or plain object to encode
+         * @param {$protobuf.Writer} [writer] Writer to encode to
+         * @returns {$protobuf.Writer} Writer
+         */
+        public static encodeDelimited(message: message.Polygon$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+        /**
+         * Decodes a Polygon message from the specified reader or buffer.
+         * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+         * @param {number} [length] Message length if known beforehand
+         * @returns {message.Polygon} Polygon
+         * @throws {Error} If the payload is not a reader or valid buffer
+         * @throws {$protobuf.util.ProtocolError} If required fields are missing
+         */
+        public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.Polygon;
+
+        /**
+         * Decodes a Polygon message from the specified reader or buffer, length delimited.
+         * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+         * @returns {message.Polygon} Polygon
+         * @throws {Error} If the payload is not a reader or valid buffer
+         * @throws {$protobuf.util.ProtocolError} If required fields are missing
+         */
+        public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.Polygon;
+
+        /**
+         * Verifies a Polygon message.
+         * @param {Object.<string,*>} message Plain object to verify
+         * @returns {?string} `null` if valid, otherwise the reason why it is not
+         */
+        public static verify(message: { [k: string]: any }): string;
+
+        /**
+         * Creates a Polygon message from a plain object. Also converts values to their respective internal types.
+         * @param {Object.<string,*>} object Plain object
+         * @returns {message.Polygon} Polygon
+         */
+        public static fromObject(object: { [k: string]: any }): message.Polygon;
+
+        /**
+         * Creates a Polygon message from a plain object. Also converts values to their respective internal types.
+         * This is an alias of {@link message.Polygon.fromObject}.
+         * @function
+         * @param {Object.<string,*>} object Plain object
+         * @returns {message.Polygon} Polygon
+         */
+        public static from(object: { [k: string]: any }): message.Polygon;
+
+        /**
+         * Creates a plain object from a Polygon message. Also converts values to other types if specified.
+         * @param {message.Polygon} message Polygon
+         * @param {$protobuf.ConversionOptions} [options] Conversion options
+         * @returns {Object.<string,*>} Plain object
+         */
+        public static toObject(message: message.Polygon, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+        /**
+         * Creates a plain object from this Polygon message. Also converts values to other types if specified.
+         * @param {$protobuf.ConversionOptions} [options] Conversion options
+         * @returns {Object.<string,*>} Plain object
+         */
+        public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+        /**
+         * Converts this Polygon to JSON.
+         * @returns {Object.<string,*>} JSON object
+         */
+        public toJSON(): { [k: string]: any };
+    }
+
+    /**
+     * Namespace audio.
+     * @exports message.audio
+     * @namespace
+     */
+    namespace audio {
+
+        type Beat$Properties = {
+            timestamp?: google.protobuf.Timestamp$Properties;
+            period?: google.protobuf.Duration$Properties;
+        };
+
+        /**
+         * Constructs a new Beat.
+         * @exports message.audio.Beat
+         * @constructor
+         * @param {message.audio.Beat$Properties=} [properties] Properties to set
+         */
+        class Beat {
+
+            /**
+             * Constructs a new Beat.
+             * @exports message.audio.Beat
+             * @constructor
+             * @param {message.audio.Beat$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.audio.Beat$Properties);
+
+            /**
+             * Beat timestamp.
+             * @type {(google.protobuf.Timestamp$Properties|null)}
+             */
+            public timestamp: (google.protobuf.Timestamp$Properties|null);
+
+            /**
+             * Beat period.
+             * @type {(google.protobuf.Duration$Properties|null)}
+             */
+            public period: (google.protobuf.Duration$Properties|null);
+
+            /**
+             * Creates a new Beat instance using the specified properties.
+             * @param {message.audio.Beat$Properties=} [properties] Properties to set
+             * @returns {message.audio.Beat} Beat instance
+             */
+            public static create(properties?: message.audio.Beat$Properties): message.audio.Beat;
+
+            /**
+             * Encodes the specified Beat message. Does not implicitly {@link message.audio.Beat.verify|verify} messages.
+             * @param {message.audio.Beat$Properties} message Beat message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.audio.Beat$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified Beat message, length delimited. Does not implicitly {@link message.audio.Beat.verify|verify} messages.
+             * @param {message.audio.Beat$Properties} message Beat message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.audio.Beat$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a Beat message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.audio.Beat} Beat
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.audio.Beat;
+
+            /**
+             * Decodes a Beat message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.audio.Beat} Beat
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.audio.Beat;
+
+            /**
+             * Verifies a Beat message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a Beat message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.audio.Beat} Beat
+             */
+            public static fromObject(object: { [k: string]: any }): message.audio.Beat;
+
+            /**
+             * Creates a Beat message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.audio.Beat.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.audio.Beat} Beat
+             */
+            public static from(object: { [k: string]: any }): message.audio.Beat;
+
+            /**
+             * Creates a plain object from a Beat message. Also converts values to other types if specified.
+             * @param {message.audio.Beat} message Beat
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.audio.Beat, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this Beat message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this Beat to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+    }
+
+    /**
+     * Namespace behaviour.
+     * @exports message.behaviour
+     * @namespace
+     */
+    namespace behaviour {
+
+        type Behaviour$Properties = {
+            state?: message.behaviour.Behaviour.State;
+        };
+
+        /**
+         * Constructs a new Behaviour.
+         * @exports message.behaviour.Behaviour
+         * @constructor
+         * @param {message.behaviour.Behaviour$Properties=} [properties] Properties to set
+         */
+        class Behaviour {
+
+            /**
+             * Constructs a new Behaviour.
+             * @exports message.behaviour.Behaviour
+             * @constructor
+             * @param {message.behaviour.Behaviour$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.behaviour.Behaviour$Properties);
+
+            /**
+             * Behaviour state.
+             * @type {message.behaviour.Behaviour.State}
+             */
+            public state: message.behaviour.Behaviour.State;
+
+            /**
+             * Creates a new Behaviour instance using the specified properties.
+             * @param {message.behaviour.Behaviour$Properties=} [properties] Properties to set
+             * @returns {message.behaviour.Behaviour} Behaviour instance
+             */
+            public static create(properties?: message.behaviour.Behaviour$Properties): message.behaviour.Behaviour;
+
+            /**
+             * Encodes the specified Behaviour message. Does not implicitly {@link message.behaviour.Behaviour.verify|verify} messages.
+             * @param {message.behaviour.Behaviour$Properties} message Behaviour message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.behaviour.Behaviour$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified Behaviour message, length delimited. Does not implicitly {@link message.behaviour.Behaviour.verify|verify} messages.
+             * @param {message.behaviour.Behaviour$Properties} message Behaviour message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.behaviour.Behaviour$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a Behaviour message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.behaviour.Behaviour} Behaviour
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.behaviour.Behaviour;
+
+            /**
+             * Decodes a Behaviour message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.behaviour.Behaviour} Behaviour
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.behaviour.Behaviour;
+
+            /**
+             * Verifies a Behaviour message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a Behaviour message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.Behaviour} Behaviour
+             */
+            public static fromObject(object: { [k: string]: any }): message.behaviour.Behaviour;
+
+            /**
+             * Creates a Behaviour message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.behaviour.Behaviour.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.Behaviour} Behaviour
+             */
+            public static from(object: { [k: string]: any }): message.behaviour.Behaviour;
+
+            /**
+             * Creates a plain object from a Behaviour message. Also converts values to other types if specified.
+             * @param {message.behaviour.Behaviour} message Behaviour
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.behaviour.Behaviour, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this Behaviour message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this Behaviour to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        namespace Behaviour {
+
+            /**
+             * State enum.
+             * @name State
+             * @memberof message.behaviour.Behaviour
+             * @enum {number}
+             * @property {number} UNKNOWN=0 UNKNOWN value
+             * @property {number} INIT=1 INIT value
+             * @property {number} SEARCH_FOR_BALL=2 SEARCH_FOR_BALL value
+             * @property {number} SEARCH_FOR_GOALS=3 SEARCH_FOR_GOALS value
+             * @property {number} WALK_TO_BALL=4 WALK_TO_BALL value
+             * @property {number} PICKED_UP=5 PICKED_UP value
+             * @property {number} INITIAL=6 INITIAL value
+             * @property {number} READY=7 READY value
+             * @property {number} SET=8 SET value
+             * @property {number} TIMEOUT=9 TIMEOUT value
+             * @property {number} FINISHED=10 FINISHED value
+             * @property {number} PENALISED=11 PENALISED value
+             * @property {number} GOALIE_WALK=12 GOALIE_WALK value
+             * @property {number} MOVE_TO_CENTRE=13 MOVE_TO_CENTRE value
+             * @property {number} LOCALISING=14 LOCALISING value
+             */
+            enum State {
+                UNKNOWN = 0,
+                INIT = 1,
+                SEARCH_FOR_BALL = 2,
+                SEARCH_FOR_GOALS = 3,
+                WALK_TO_BALL = 4,
+                PICKED_UP = 5,
+                INITIAL = 6,
+                READY = 7,
+                SET = 8,
+                TIMEOUT = 9,
+                FINISHED = 10,
+                PENALISED = 11,
+                GOALIE_WALK = 12,
+                MOVE_TO_CENTRE = 13,
+                LOCALISING = 14
+            }
+        }
+
+        type FieldTarget$Properties = {
+            target?: message.behaviour.FieldTarget.Target;
+        };
+
+        /**
+         * Constructs a new FieldTarget.
+         * @exports message.behaviour.FieldTarget
+         * @constructor
+         * @param {message.behaviour.FieldTarget$Properties=} [properties] Properties to set
+         */
+        class FieldTarget {
+
+            /**
+             * Constructs a new FieldTarget.
+             * @exports message.behaviour.FieldTarget
+             * @constructor
+             * @param {message.behaviour.FieldTarget$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.behaviour.FieldTarget$Properties);
+
+            /**
+             * FieldTarget target.
+             * @type {message.behaviour.FieldTarget.Target}
+             */
+            public target: message.behaviour.FieldTarget.Target;
+
+            /**
+             * Creates a new FieldTarget instance using the specified properties.
+             * @param {message.behaviour.FieldTarget$Properties=} [properties] Properties to set
+             * @returns {message.behaviour.FieldTarget} FieldTarget instance
+             */
+            public static create(properties?: message.behaviour.FieldTarget$Properties): message.behaviour.FieldTarget;
+
+            /**
+             * Encodes the specified FieldTarget message. Does not implicitly {@link message.behaviour.FieldTarget.verify|verify} messages.
+             * @param {message.behaviour.FieldTarget$Properties} message FieldTarget message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.behaviour.FieldTarget$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified FieldTarget message, length delimited. Does not implicitly {@link message.behaviour.FieldTarget.verify|verify} messages.
+             * @param {message.behaviour.FieldTarget$Properties} message FieldTarget message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.behaviour.FieldTarget$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a FieldTarget message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.behaviour.FieldTarget} FieldTarget
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.behaviour.FieldTarget;
+
+            /**
+             * Decodes a FieldTarget message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.behaviour.FieldTarget} FieldTarget
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.behaviour.FieldTarget;
+
+            /**
+             * Verifies a FieldTarget message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a FieldTarget message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.FieldTarget} FieldTarget
+             */
+            public static fromObject(object: { [k: string]: any }): message.behaviour.FieldTarget;
+
+            /**
+             * Creates a FieldTarget message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.behaviour.FieldTarget.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.FieldTarget} FieldTarget
+             */
+            public static from(object: { [k: string]: any }): message.behaviour.FieldTarget;
+
+            /**
+             * Creates a plain object from a FieldTarget message. Also converts values to other types if specified.
+             * @param {message.behaviour.FieldTarget} message FieldTarget
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.behaviour.FieldTarget, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this FieldTarget message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this FieldTarget to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        namespace FieldTarget {
+
+            /**
+             * Target enum.
+             * @name Target
+             * @memberof message.behaviour.FieldTarget
+             * @enum {number}
+             * @property {number} SELF=0 SELF value
+             * @property {number} BALL=1 BALL value
+             * @property {number} GOAL=2 GOAL value
+             */
+            enum Target {
+                SELF = 0,
+                BALL = 1,
+                GOAL = 2
+            }
+        }
+
+        type FixedWalkFinished$Properties = {};
+
+        /**
+         * Constructs a new FixedWalkFinished.
+         * @exports message.behaviour.FixedWalkFinished
+         * @constructor
+         * @param {message.behaviour.FixedWalkFinished$Properties=} [properties] Properties to set
+         */
+        class FixedWalkFinished {
+
+            /**
+             * Constructs a new FixedWalkFinished.
+             * @exports message.behaviour.FixedWalkFinished
+             * @constructor
+             * @param {message.behaviour.FixedWalkFinished$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.behaviour.FixedWalkFinished$Properties);
+
+            /**
+             * Creates a new FixedWalkFinished instance using the specified properties.
+             * @param {message.behaviour.FixedWalkFinished$Properties=} [properties] Properties to set
+             * @returns {message.behaviour.FixedWalkFinished} FixedWalkFinished instance
+             */
+            public static create(properties?: message.behaviour.FixedWalkFinished$Properties): message.behaviour.FixedWalkFinished;
+
+            /**
+             * Encodes the specified FixedWalkFinished message. Does not implicitly {@link message.behaviour.FixedWalkFinished.verify|verify} messages.
+             * @param {message.behaviour.FixedWalkFinished$Properties} message FixedWalkFinished message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.behaviour.FixedWalkFinished$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified FixedWalkFinished message, length delimited. Does not implicitly {@link message.behaviour.FixedWalkFinished.verify|verify} messages.
+             * @param {message.behaviour.FixedWalkFinished$Properties} message FixedWalkFinished message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.behaviour.FixedWalkFinished$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a FixedWalkFinished message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.behaviour.FixedWalkFinished} FixedWalkFinished
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.behaviour.FixedWalkFinished;
+
+            /**
+             * Decodes a FixedWalkFinished message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.behaviour.FixedWalkFinished} FixedWalkFinished
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.behaviour.FixedWalkFinished;
+
+            /**
+             * Verifies a FixedWalkFinished message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a FixedWalkFinished message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.FixedWalkFinished} FixedWalkFinished
+             */
+            public static fromObject(object: { [k: string]: any }): message.behaviour.FixedWalkFinished;
+
+            /**
+             * Creates a FixedWalkFinished message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.behaviour.FixedWalkFinished.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.FixedWalkFinished} FixedWalkFinished
+             */
+            public static from(object: { [k: string]: any }): message.behaviour.FixedWalkFinished;
+
+            /**
+             * Creates a plain object from a FixedWalkFinished message. Also converts values to other types if specified.
+             * @param {message.behaviour.FixedWalkFinished} message FixedWalkFinished
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.behaviour.FixedWalkFinished, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this FixedWalkFinished message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this FixedWalkFinished to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type WalkConfigSaved$Properties = {};
+
+        /**
+         * Constructs a new WalkConfigSaved.
+         * @exports message.behaviour.WalkConfigSaved
+         * @constructor
+         * @param {message.behaviour.WalkConfigSaved$Properties=} [properties] Properties to set
+         */
+        class WalkConfigSaved {
+
+            /**
+             * Constructs a new WalkConfigSaved.
+             * @exports message.behaviour.WalkConfigSaved
+             * @constructor
+             * @param {message.behaviour.WalkConfigSaved$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.behaviour.WalkConfigSaved$Properties);
+
+            /**
+             * Creates a new WalkConfigSaved instance using the specified properties.
+             * @param {message.behaviour.WalkConfigSaved$Properties=} [properties] Properties to set
+             * @returns {message.behaviour.WalkConfigSaved} WalkConfigSaved instance
+             */
+            public static create(properties?: message.behaviour.WalkConfigSaved$Properties): message.behaviour.WalkConfigSaved;
+
+            /**
+             * Encodes the specified WalkConfigSaved message. Does not implicitly {@link message.behaviour.WalkConfigSaved.verify|verify} messages.
+             * @param {message.behaviour.WalkConfigSaved$Properties} message WalkConfigSaved message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.behaviour.WalkConfigSaved$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified WalkConfigSaved message, length delimited. Does not implicitly {@link message.behaviour.WalkConfigSaved.verify|verify} messages.
+             * @param {message.behaviour.WalkConfigSaved$Properties} message WalkConfigSaved message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.behaviour.WalkConfigSaved$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a WalkConfigSaved message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.behaviour.WalkConfigSaved} WalkConfigSaved
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.behaviour.WalkConfigSaved;
+
+            /**
+             * Decodes a WalkConfigSaved message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.behaviour.WalkConfigSaved} WalkConfigSaved
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.behaviour.WalkConfigSaved;
+
+            /**
+             * Verifies a WalkConfigSaved message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a WalkConfigSaved message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.WalkConfigSaved} WalkConfigSaved
+             */
+            public static fromObject(object: { [k: string]: any }): message.behaviour.WalkConfigSaved;
+
+            /**
+             * Creates a WalkConfigSaved message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.behaviour.WalkConfigSaved.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.WalkConfigSaved} WalkConfigSaved
+             */
+            public static from(object: { [k: string]: any }): message.behaviour.WalkConfigSaved;
+
+            /**
+             * Creates a plain object from a WalkConfigSaved message. Also converts values to other types if specified.
+             * @param {message.behaviour.WalkConfigSaved} message WalkConfigSaved
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.behaviour.WalkConfigSaved, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this WalkConfigSaved message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this WalkConfigSaved to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type CancelFixedWalk$Properties = {};
+
+        /**
+         * Constructs a new CancelFixedWalk.
+         * @exports message.behaviour.CancelFixedWalk
+         * @constructor
+         * @param {message.behaviour.CancelFixedWalk$Properties=} [properties] Properties to set
+         */
+        class CancelFixedWalk {
+
+            /**
+             * Constructs a new CancelFixedWalk.
+             * @exports message.behaviour.CancelFixedWalk
+             * @constructor
+             * @param {message.behaviour.CancelFixedWalk$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.behaviour.CancelFixedWalk$Properties);
+
+            /**
+             * Creates a new CancelFixedWalk instance using the specified properties.
+             * @param {message.behaviour.CancelFixedWalk$Properties=} [properties] Properties to set
+             * @returns {message.behaviour.CancelFixedWalk} CancelFixedWalk instance
+             */
+            public static create(properties?: message.behaviour.CancelFixedWalk$Properties): message.behaviour.CancelFixedWalk;
+
+            /**
+             * Encodes the specified CancelFixedWalk message. Does not implicitly {@link message.behaviour.CancelFixedWalk.verify|verify} messages.
+             * @param {message.behaviour.CancelFixedWalk$Properties} message CancelFixedWalk message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.behaviour.CancelFixedWalk$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified CancelFixedWalk message, length delimited. Does not implicitly {@link message.behaviour.CancelFixedWalk.verify|verify} messages.
+             * @param {message.behaviour.CancelFixedWalk$Properties} message CancelFixedWalk message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.behaviour.CancelFixedWalk$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a CancelFixedWalk message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.behaviour.CancelFixedWalk} CancelFixedWalk
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.behaviour.CancelFixedWalk;
+
+            /**
+             * Decodes a CancelFixedWalk message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.behaviour.CancelFixedWalk} CancelFixedWalk
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.behaviour.CancelFixedWalk;
+
+            /**
+             * Verifies a CancelFixedWalk message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a CancelFixedWalk message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.CancelFixedWalk} CancelFixedWalk
+             */
+            public static fromObject(object: { [k: string]: any }): message.behaviour.CancelFixedWalk;
+
+            /**
+             * Creates a CancelFixedWalk message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.behaviour.CancelFixedWalk.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.CancelFixedWalk} CancelFixedWalk
+             */
+            public static from(object: { [k: string]: any }): message.behaviour.CancelFixedWalk;
+
+            /**
+             * Creates a plain object from a CancelFixedWalk message. Also converts values to other types if specified.
+             * @param {message.behaviour.CancelFixedWalk} message CancelFixedWalk
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.behaviour.CancelFixedWalk, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this CancelFixedWalk message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this CancelFixedWalk to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type WalkOptimiserCommand$Properties = {
+            walkConfig?: string;
+        };
+
+        /**
+         * Constructs a new WalkOptimiserCommand.
+         * @exports message.behaviour.WalkOptimiserCommand
+         * @constructor
+         * @param {message.behaviour.WalkOptimiserCommand$Properties=} [properties] Properties to set
+         */
+        class WalkOptimiserCommand {
+
+            /**
+             * Constructs a new WalkOptimiserCommand.
+             * @exports message.behaviour.WalkOptimiserCommand
+             * @constructor
+             * @param {message.behaviour.WalkOptimiserCommand$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.behaviour.WalkOptimiserCommand$Properties);
+
+            /**
+             * WalkOptimiserCommand walkConfig.
+             * @type {string}
+             */
+            public walkConfig: string;
+
+            /**
+             * Creates a new WalkOptimiserCommand instance using the specified properties.
+             * @param {message.behaviour.WalkOptimiserCommand$Properties=} [properties] Properties to set
+             * @returns {message.behaviour.WalkOptimiserCommand} WalkOptimiserCommand instance
+             */
+            public static create(properties?: message.behaviour.WalkOptimiserCommand$Properties): message.behaviour.WalkOptimiserCommand;
+
+            /**
+             * Encodes the specified WalkOptimiserCommand message. Does not implicitly {@link message.behaviour.WalkOptimiserCommand.verify|verify} messages.
+             * @param {message.behaviour.WalkOptimiserCommand$Properties} message WalkOptimiserCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.behaviour.WalkOptimiserCommand$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified WalkOptimiserCommand message, length delimited. Does not implicitly {@link message.behaviour.WalkOptimiserCommand.verify|verify} messages.
+             * @param {message.behaviour.WalkOptimiserCommand$Properties} message WalkOptimiserCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.behaviour.WalkOptimiserCommand$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a WalkOptimiserCommand message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.behaviour.WalkOptimiserCommand} WalkOptimiserCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.behaviour.WalkOptimiserCommand;
+
+            /**
+             * Decodes a WalkOptimiserCommand message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.behaviour.WalkOptimiserCommand} WalkOptimiserCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.behaviour.WalkOptimiserCommand;
+
+            /**
+             * Verifies a WalkOptimiserCommand message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a WalkOptimiserCommand message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.WalkOptimiserCommand} WalkOptimiserCommand
+             */
+            public static fromObject(object: { [k: string]: any }): message.behaviour.WalkOptimiserCommand;
+
+            /**
+             * Creates a WalkOptimiserCommand message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.behaviour.WalkOptimiserCommand.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.WalkOptimiserCommand} WalkOptimiserCommand
+             */
+            public static from(object: { [k: string]: any }): message.behaviour.WalkOptimiserCommand;
+
+            /**
+             * Creates a plain object from a WalkOptimiserCommand message. Also converts values to other types if specified.
+             * @param {message.behaviour.WalkOptimiserCommand} message WalkOptimiserCommand
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.behaviour.WalkOptimiserCommand, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this WalkOptimiserCommand message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this WalkOptimiserCommand to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type FixedWalkCommand$Properties = {
+            segments?: message.behaviour.FixedWalkCommand.WalkSegment$Properties[];
+        };
+
+        /**
+         * Constructs a new FixedWalkCommand.
+         * @exports message.behaviour.FixedWalkCommand
+         * @constructor
+         * @param {message.behaviour.FixedWalkCommand$Properties=} [properties] Properties to set
+         */
+        class FixedWalkCommand {
+
+            /**
+             * Constructs a new FixedWalkCommand.
+             * @exports message.behaviour.FixedWalkCommand
+             * @constructor
+             * @param {message.behaviour.FixedWalkCommand$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.behaviour.FixedWalkCommand$Properties);
+
+            /**
+             * FixedWalkCommand segments.
+             * @type {Array.<message.behaviour.FixedWalkCommand.WalkSegment$Properties>}
+             */
+            public segments: message.behaviour.FixedWalkCommand.WalkSegment$Properties[];
+
+            /**
+             * Creates a new FixedWalkCommand instance using the specified properties.
+             * @param {message.behaviour.FixedWalkCommand$Properties=} [properties] Properties to set
+             * @returns {message.behaviour.FixedWalkCommand} FixedWalkCommand instance
+             */
+            public static create(properties?: message.behaviour.FixedWalkCommand$Properties): message.behaviour.FixedWalkCommand;
+
+            /**
+             * Encodes the specified FixedWalkCommand message. Does not implicitly {@link message.behaviour.FixedWalkCommand.verify|verify} messages.
+             * @param {message.behaviour.FixedWalkCommand$Properties} message FixedWalkCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.behaviour.FixedWalkCommand$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified FixedWalkCommand message, length delimited. Does not implicitly {@link message.behaviour.FixedWalkCommand.verify|verify} messages.
+             * @param {message.behaviour.FixedWalkCommand$Properties} message FixedWalkCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.behaviour.FixedWalkCommand$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a FixedWalkCommand message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.behaviour.FixedWalkCommand} FixedWalkCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.behaviour.FixedWalkCommand;
+
+            /**
+             * Decodes a FixedWalkCommand message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.behaviour.FixedWalkCommand} FixedWalkCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.behaviour.FixedWalkCommand;
+
+            /**
+             * Verifies a FixedWalkCommand message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a FixedWalkCommand message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.FixedWalkCommand} FixedWalkCommand
+             */
+            public static fromObject(object: { [k: string]: any }): message.behaviour.FixedWalkCommand;
+
+            /**
+             * Creates a FixedWalkCommand message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.behaviour.FixedWalkCommand.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.FixedWalkCommand} FixedWalkCommand
+             */
+            public static from(object: { [k: string]: any }): message.behaviour.FixedWalkCommand;
+
+            /**
+             * Creates a plain object from a FixedWalkCommand message. Also converts values to other types if specified.
+             * @param {message.behaviour.FixedWalkCommand} message FixedWalkCommand
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.behaviour.FixedWalkCommand, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this FixedWalkCommand message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this FixedWalkCommand to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        namespace FixedWalkCommand {
+
+            type WalkSegment$Properties = {
+                direction?: vec2$Properties;
+                curvePeriod?: number;
+                normalisedVelocity?: number;
+                normalisedAngularVelocity?: number;
+                duration?: google.protobuf.Duration$Properties;
+            };
+
+            /**
+             * Constructs a new WalkSegment.
+             * @exports message.behaviour.FixedWalkCommand.WalkSegment
+             * @constructor
+             * @param {message.behaviour.FixedWalkCommand.WalkSegment$Properties=} [properties] Properties to set
+             */
+            class WalkSegment {
+
+                /**
+                 * Constructs a new WalkSegment.
+                 * @exports message.behaviour.FixedWalkCommand.WalkSegment
+                 * @constructor
+                 * @param {message.behaviour.FixedWalkCommand.WalkSegment$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.behaviour.FixedWalkCommand.WalkSegment$Properties);
+
+                /**
+                 * WalkSegment direction.
+                 * @type {(vec2$Properties|null)}
+                 */
+                public direction: (vec2$Properties|null);
+
+                /**
+                 * WalkSegment curvePeriod.
+                 * @type {number}
+                 */
+                public curvePeriod: number;
+
+                /**
+                 * WalkSegment normalisedVelocity.
+                 * @type {number}
+                 */
+                public normalisedVelocity: number;
+
+                /**
+                 * WalkSegment normalisedAngularVelocity.
+                 * @type {number}
+                 */
+                public normalisedAngularVelocity: number;
+
+                /**
+                 * WalkSegment duration.
+                 * @type {(google.protobuf.Duration$Properties|null)}
+                 */
+                public duration: (google.protobuf.Duration$Properties|null);
+
+                /**
+                 * Creates a new WalkSegment instance using the specified properties.
+                 * @param {message.behaviour.FixedWalkCommand.WalkSegment$Properties=} [properties] Properties to set
+                 * @returns {message.behaviour.FixedWalkCommand.WalkSegment} WalkSegment instance
+                 */
+                public static create(properties?: message.behaviour.FixedWalkCommand.WalkSegment$Properties): message.behaviour.FixedWalkCommand.WalkSegment;
+
+                /**
+                 * Encodes the specified WalkSegment message. Does not implicitly {@link message.behaviour.FixedWalkCommand.WalkSegment.verify|verify} messages.
+                 * @param {message.behaviour.FixedWalkCommand.WalkSegment$Properties} message WalkSegment message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.behaviour.FixedWalkCommand.WalkSegment$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified WalkSegment message, length delimited. Does not implicitly {@link message.behaviour.FixedWalkCommand.WalkSegment.verify|verify} messages.
+                 * @param {message.behaviour.FixedWalkCommand.WalkSegment$Properties} message WalkSegment message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.behaviour.FixedWalkCommand.WalkSegment$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a WalkSegment message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.behaviour.FixedWalkCommand.WalkSegment} WalkSegment
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.behaviour.FixedWalkCommand.WalkSegment;
+
+                /**
+                 * Decodes a WalkSegment message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.behaviour.FixedWalkCommand.WalkSegment} WalkSegment
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.behaviour.FixedWalkCommand.WalkSegment;
+
+                /**
+                 * Verifies a WalkSegment message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a WalkSegment message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.behaviour.FixedWalkCommand.WalkSegment} WalkSegment
+                 */
+                public static fromObject(object: { [k: string]: any }): message.behaviour.FixedWalkCommand.WalkSegment;
+
+                /**
+                 * Creates a WalkSegment message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.behaviour.FixedWalkCommand.WalkSegment.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.behaviour.FixedWalkCommand.WalkSegment} WalkSegment
+                 */
+                public static from(object: { [k: string]: any }): message.behaviour.FixedWalkCommand.WalkSegment;
+
+                /**
+                 * Creates a plain object from a WalkSegment message. Also converts values to other types if specified.
+                 * @param {message.behaviour.FixedWalkCommand.WalkSegment} message WalkSegment
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.behaviour.FixedWalkCommand.WalkSegment, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this WalkSegment message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this WalkSegment to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+        }
+
+        type KickPlan$Properties = {
+            target?: vec2$Properties;
+            kickType?: message.behaviour.KickPlan.KickType;
+        };
+
+        /**
+         * Constructs a new KickPlan.
+         * @exports message.behaviour.KickPlan
+         * @constructor
+         * @param {message.behaviour.KickPlan$Properties=} [properties] Properties to set
+         */
+        class KickPlan {
+
+            /**
+             * Constructs a new KickPlan.
+             * @exports message.behaviour.KickPlan
+             * @constructor
+             * @param {message.behaviour.KickPlan$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.behaviour.KickPlan$Properties);
+
+            /**
+             * KickPlan target.
+             * @type {(vec2$Properties|null)}
+             */
+            public target: (vec2$Properties|null);
+
+            /**
+             * KickPlan kickType.
+             * @type {message.behaviour.KickPlan.KickType}
+             */
+            public kickType: message.behaviour.KickPlan.KickType;
+
+            /**
+             * Creates a new KickPlan instance using the specified properties.
+             * @param {message.behaviour.KickPlan$Properties=} [properties] Properties to set
+             * @returns {message.behaviour.KickPlan} KickPlan instance
+             */
+            public static create(properties?: message.behaviour.KickPlan$Properties): message.behaviour.KickPlan;
+
+            /**
+             * Encodes the specified KickPlan message. Does not implicitly {@link message.behaviour.KickPlan.verify|verify} messages.
+             * @param {message.behaviour.KickPlan$Properties} message KickPlan message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.behaviour.KickPlan$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified KickPlan message, length delimited. Does not implicitly {@link message.behaviour.KickPlan.verify|verify} messages.
+             * @param {message.behaviour.KickPlan$Properties} message KickPlan message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.behaviour.KickPlan$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a KickPlan message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.behaviour.KickPlan} KickPlan
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.behaviour.KickPlan;
+
+            /**
+             * Decodes a KickPlan message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.behaviour.KickPlan} KickPlan
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.behaviour.KickPlan;
+
+            /**
+             * Verifies a KickPlan message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a KickPlan message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.KickPlan} KickPlan
+             */
+            public static fromObject(object: { [k: string]: any }): message.behaviour.KickPlan;
+
+            /**
+             * Creates a KickPlan message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.behaviour.KickPlan.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.KickPlan} KickPlan
+             */
+            public static from(object: { [k: string]: any }): message.behaviour.KickPlan;
+
+            /**
+             * Creates a plain object from a KickPlan message. Also converts values to other types if specified.
+             * @param {message.behaviour.KickPlan} message KickPlan
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.behaviour.KickPlan, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this KickPlan message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this KickPlan to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        namespace KickPlan {
+
+            /**
+             * KickType enum.
+             * @name KickType
+             * @memberof message.behaviour.KickPlan
+             * @enum {number}
+             * @property {number} SCRIPTED=0 SCRIPTED value
+             * @property {number} IK_KICK=1 IK_KICK value
+             */
+            enum KickType {
+                SCRIPTED = 0,
+                IK_KICK = 1
+            }
+        }
+
+        type WantsToKick$Properties = {
+            kick?: boolean;
+        };
+
+        /**
+         * Constructs a new WantsToKick.
+         * @exports message.behaviour.WantsToKick
+         * @constructor
+         * @param {message.behaviour.WantsToKick$Properties=} [properties] Properties to set
+         */
+        class WantsToKick {
+
+            /**
+             * Constructs a new WantsToKick.
+             * @exports message.behaviour.WantsToKick
+             * @constructor
+             * @param {message.behaviour.WantsToKick$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.behaviour.WantsToKick$Properties);
+
+            /**
+             * WantsToKick kick.
+             * @type {boolean}
+             */
+            public kick: boolean;
+
+            /**
+             * Creates a new WantsToKick instance using the specified properties.
+             * @param {message.behaviour.WantsToKick$Properties=} [properties] Properties to set
+             * @returns {message.behaviour.WantsToKick} WantsToKick instance
+             */
+            public static create(properties?: message.behaviour.WantsToKick$Properties): message.behaviour.WantsToKick;
+
+            /**
+             * Encodes the specified WantsToKick message. Does not implicitly {@link message.behaviour.WantsToKick.verify|verify} messages.
+             * @param {message.behaviour.WantsToKick$Properties} message WantsToKick message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.behaviour.WantsToKick$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified WantsToKick message, length delimited. Does not implicitly {@link message.behaviour.WantsToKick.verify|verify} messages.
+             * @param {message.behaviour.WantsToKick$Properties} message WantsToKick message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.behaviour.WantsToKick$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a WantsToKick message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.behaviour.WantsToKick} WantsToKick
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.behaviour.WantsToKick;
+
+            /**
+             * Decodes a WantsToKick message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.behaviour.WantsToKick} WantsToKick
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.behaviour.WantsToKick;
+
+            /**
+             * Verifies a WantsToKick message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a WantsToKick message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.WantsToKick} WantsToKick
+             */
+            public static fromObject(object: { [k: string]: any }): message.behaviour.WantsToKick;
+
+            /**
+             * Creates a WantsToKick message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.behaviour.WantsToKick.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.WantsToKick} WantsToKick
+             */
+            public static from(object: { [k: string]: any }): message.behaviour.WantsToKick;
+
+            /**
+             * Creates a plain object from a WantsToKick message. Also converts values to other types if specified.
+             * @param {message.behaviour.WantsToKick} message WantsToKick
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.behaviour.WantsToKick, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this WantsToKick message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this WantsToKick to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type Look$Properties = {};
+
+        /**
+         * Constructs a new Look.
+         * @exports message.behaviour.Look
+         * @constructor
+         * @param {message.behaviour.Look$Properties=} [properties] Properties to set
+         */
+        class Look {
+
+            /**
+             * Constructs a new Look.
+             * @exports message.behaviour.Look
+             * @constructor
+             * @param {message.behaviour.Look$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.behaviour.Look$Properties);
+
+            /**
+             * Creates a new Look instance using the specified properties.
+             * @param {message.behaviour.Look$Properties=} [properties] Properties to set
+             * @returns {message.behaviour.Look} Look instance
+             */
+            public static create(properties?: message.behaviour.Look$Properties): message.behaviour.Look;
+
+            /**
+             * Encodes the specified Look message. Does not implicitly {@link message.behaviour.Look.verify|verify} messages.
+             * @param {message.behaviour.Look$Properties} message Look message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.behaviour.Look$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified Look message, length delimited. Does not implicitly {@link message.behaviour.Look.verify|verify} messages.
+             * @param {message.behaviour.Look$Properties} message Look message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.behaviour.Look$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a Look message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.behaviour.Look} Look
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.behaviour.Look;
+
+            /**
+             * Decodes a Look message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.behaviour.Look} Look
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.behaviour.Look;
+
+            /**
+             * Verifies a Look message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a Look message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.Look} Look
+             */
+            public static fromObject(object: { [k: string]: any }): message.behaviour.Look;
+
+            /**
+             * Creates a Look message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.behaviour.Look.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.Look} Look
+             */
+            public static from(object: { [k: string]: any }): message.behaviour.Look;
+
+            /**
+             * Creates a plain object from a Look message. Also converts values to other types if specified.
+             * @param {message.behaviour.Look} message Look
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.behaviour.Look, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this Look message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this Look to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        namespace Look {
+
+            type Fixation$Properties = {
+                angle?: vec2$Properties;
+                arcSize?: vec2$Properties;
+            };
+
+            /**
+             * Constructs a new Fixation.
+             * @exports message.behaviour.Look.Fixation
+             * @constructor
+             * @param {message.behaviour.Look.Fixation$Properties=} [properties] Properties to set
+             */
+            class Fixation {
+
+                /**
+                 * Constructs a new Fixation.
+                 * @exports message.behaviour.Look.Fixation
+                 * @constructor
+                 * @param {message.behaviour.Look.Fixation$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.behaviour.Look.Fixation$Properties);
+
+                /**
+                 * Fixation angle.
+                 * @type {(vec2$Properties|null)}
+                 */
+                public angle: (vec2$Properties|null);
+
+                /**
+                 * Fixation arcSize.
+                 * @type {(vec2$Properties|null)}
+                 */
+                public arcSize: (vec2$Properties|null);
+
+                /**
+                 * Creates a new Fixation instance using the specified properties.
+                 * @param {message.behaviour.Look.Fixation$Properties=} [properties] Properties to set
+                 * @returns {message.behaviour.Look.Fixation} Fixation instance
+                 */
+                public static create(properties?: message.behaviour.Look.Fixation$Properties): message.behaviour.Look.Fixation;
+
+                /**
+                 * Encodes the specified Fixation message. Does not implicitly {@link message.behaviour.Look.Fixation.verify|verify} messages.
+                 * @param {message.behaviour.Look.Fixation$Properties} message Fixation message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.behaviour.Look.Fixation$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified Fixation message, length delimited. Does not implicitly {@link message.behaviour.Look.Fixation.verify|verify} messages.
+                 * @param {message.behaviour.Look.Fixation$Properties} message Fixation message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.behaviour.Look.Fixation$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a Fixation message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.behaviour.Look.Fixation} Fixation
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.behaviour.Look.Fixation;
+
+                /**
+                 * Decodes a Fixation message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.behaviour.Look.Fixation} Fixation
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.behaviour.Look.Fixation;
+
+                /**
+                 * Verifies a Fixation message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a Fixation message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.behaviour.Look.Fixation} Fixation
+                 */
+                public static fromObject(object: { [k: string]: any }): message.behaviour.Look.Fixation;
+
+                /**
+                 * Creates a Fixation message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.behaviour.Look.Fixation.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.behaviour.Look.Fixation} Fixation
+                 */
+                public static from(object: { [k: string]: any }): message.behaviour.Look.Fixation;
+
+                /**
+                 * Creates a plain object from a Fixation message. Also converts values to other types if specified.
+                 * @param {message.behaviour.Look.Fixation} message Fixation
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.behaviour.Look.Fixation, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this Fixation message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this Fixation to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            type Saccade$Properties = {
+                dwellTime?: google.protobuf.Duration$Properties;
+                angle?: vec2$Properties;
+                arcSize?: vec2$Properties;
+            };
+
+            /**
+             * Constructs a new Saccade.
+             * @exports message.behaviour.Look.Saccade
+             * @constructor
+             * @param {message.behaviour.Look.Saccade$Properties=} [properties] Properties to set
+             */
+            class Saccade {
+
+                /**
+                 * Constructs a new Saccade.
+                 * @exports message.behaviour.Look.Saccade
+                 * @constructor
+                 * @param {message.behaviour.Look.Saccade$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.behaviour.Look.Saccade$Properties);
+
+                /**
+                 * Saccade dwellTime.
+                 * @type {(google.protobuf.Duration$Properties|null)}
+                 */
+                public dwellTime: (google.protobuf.Duration$Properties|null);
+
+                /**
+                 * Saccade angle.
+                 * @type {(vec2$Properties|null)}
+                 */
+                public angle: (vec2$Properties|null);
+
+                /**
+                 * Saccade arcSize.
+                 * @type {(vec2$Properties|null)}
+                 */
+                public arcSize: (vec2$Properties|null);
+
+                /**
+                 * Creates a new Saccade instance using the specified properties.
+                 * @param {message.behaviour.Look.Saccade$Properties=} [properties] Properties to set
+                 * @returns {message.behaviour.Look.Saccade} Saccade instance
+                 */
+                public static create(properties?: message.behaviour.Look.Saccade$Properties): message.behaviour.Look.Saccade;
+
+                /**
+                 * Encodes the specified Saccade message. Does not implicitly {@link message.behaviour.Look.Saccade.verify|verify} messages.
+                 * @param {message.behaviour.Look.Saccade$Properties} message Saccade message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.behaviour.Look.Saccade$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified Saccade message, length delimited. Does not implicitly {@link message.behaviour.Look.Saccade.verify|verify} messages.
+                 * @param {message.behaviour.Look.Saccade$Properties} message Saccade message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.behaviour.Look.Saccade$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a Saccade message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.behaviour.Look.Saccade} Saccade
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.behaviour.Look.Saccade;
+
+                /**
+                 * Decodes a Saccade message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.behaviour.Look.Saccade} Saccade
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.behaviour.Look.Saccade;
+
+                /**
+                 * Verifies a Saccade message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a Saccade message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.behaviour.Look.Saccade} Saccade
+                 */
+                public static fromObject(object: { [k: string]: any }): message.behaviour.Look.Saccade;
+
+                /**
+                 * Creates a Saccade message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.behaviour.Look.Saccade.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.behaviour.Look.Saccade} Saccade
+                 */
+                public static from(object: { [k: string]: any }): message.behaviour.Look.Saccade;
+
+                /**
+                 * Creates a plain object from a Saccade message. Also converts values to other types if specified.
+                 * @param {message.behaviour.Look.Saccade} message Saccade
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.behaviour.Look.Saccade, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this Saccade message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this Saccade to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            type Pan$Properties = {
+                angle?: vec2$Properties;
+                arcSize?: vec2$Properties;
+            };
+
+            /**
+             * Constructs a new Pan.
+             * @exports message.behaviour.Look.Pan
+             * @constructor
+             * @param {message.behaviour.Look.Pan$Properties=} [properties] Properties to set
+             */
+            class Pan {
+
+                /**
+                 * Constructs a new Pan.
+                 * @exports message.behaviour.Look.Pan
+                 * @constructor
+                 * @param {message.behaviour.Look.Pan$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.behaviour.Look.Pan$Properties);
+
+                /**
+                 * Pan angle.
+                 * @type {(vec2$Properties|null)}
+                 */
+                public angle: (vec2$Properties|null);
+
+                /**
+                 * Pan arcSize.
+                 * @type {(vec2$Properties|null)}
+                 */
+                public arcSize: (vec2$Properties|null);
+
+                /**
+                 * Creates a new Pan instance using the specified properties.
+                 * @param {message.behaviour.Look.Pan$Properties=} [properties] Properties to set
+                 * @returns {message.behaviour.Look.Pan} Pan instance
+                 */
+                public static create(properties?: message.behaviour.Look.Pan$Properties): message.behaviour.Look.Pan;
+
+                /**
+                 * Encodes the specified Pan message. Does not implicitly {@link message.behaviour.Look.Pan.verify|verify} messages.
+                 * @param {message.behaviour.Look.Pan$Properties} message Pan message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.behaviour.Look.Pan$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified Pan message, length delimited. Does not implicitly {@link message.behaviour.Look.Pan.verify|verify} messages.
+                 * @param {message.behaviour.Look.Pan$Properties} message Pan message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.behaviour.Look.Pan$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a Pan message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.behaviour.Look.Pan} Pan
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.behaviour.Look.Pan;
+
+                /**
+                 * Decodes a Pan message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.behaviour.Look.Pan} Pan
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.behaviour.Look.Pan;
+
+                /**
+                 * Verifies a Pan message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a Pan message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.behaviour.Look.Pan} Pan
+                 */
+                public static fromObject(object: { [k: string]: any }): message.behaviour.Look.Pan;
+
+                /**
+                 * Creates a Pan message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.behaviour.Look.Pan.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.behaviour.Look.Pan} Pan
+                 */
+                public static from(object: { [k: string]: any }): message.behaviour.Look.Pan;
+
+                /**
+                 * Creates a plain object from a Pan message. Also converts values to other types if specified.
+                 * @param {message.behaviour.Look.Pan} message Pan
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.behaviour.Look.Pan, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this Pan message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this Pan to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            type PanSelection$Properties = {
+                lookAtGoalInsteadOfBall?: boolean;
+            };
+
+            /**
+             * Constructs a new PanSelection.
+             * @exports message.behaviour.Look.PanSelection
+             * @constructor
+             * @param {message.behaviour.Look.PanSelection$Properties=} [properties] Properties to set
+             */
+            class PanSelection {
+
+                /**
+                 * Constructs a new PanSelection.
+                 * @exports message.behaviour.Look.PanSelection
+                 * @constructor
+                 * @param {message.behaviour.Look.PanSelection$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.behaviour.Look.PanSelection$Properties);
+
+                /**
+                 * PanSelection lookAtGoalInsteadOfBall.
+                 * @type {boolean}
+                 */
+                public lookAtGoalInsteadOfBall: boolean;
+
+                /**
+                 * Creates a new PanSelection instance using the specified properties.
+                 * @param {message.behaviour.Look.PanSelection$Properties=} [properties] Properties to set
+                 * @returns {message.behaviour.Look.PanSelection} PanSelection instance
+                 */
+                public static create(properties?: message.behaviour.Look.PanSelection$Properties): message.behaviour.Look.PanSelection;
+
+                /**
+                 * Encodes the specified PanSelection message. Does not implicitly {@link message.behaviour.Look.PanSelection.verify|verify} messages.
+                 * @param {message.behaviour.Look.PanSelection$Properties} message PanSelection message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.behaviour.Look.PanSelection$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified PanSelection message, length delimited. Does not implicitly {@link message.behaviour.Look.PanSelection.verify|verify} messages.
+                 * @param {message.behaviour.Look.PanSelection$Properties} message PanSelection message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.behaviour.Look.PanSelection$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a PanSelection message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.behaviour.Look.PanSelection} PanSelection
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.behaviour.Look.PanSelection;
+
+                /**
+                 * Decodes a PanSelection message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.behaviour.Look.PanSelection} PanSelection
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.behaviour.Look.PanSelection;
+
+                /**
+                 * Verifies a PanSelection message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a PanSelection message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.behaviour.Look.PanSelection} PanSelection
+                 */
+                public static fromObject(object: { [k: string]: any }): message.behaviour.Look.PanSelection;
+
+                /**
+                 * Creates a PanSelection message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.behaviour.Look.PanSelection.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.behaviour.Look.PanSelection} PanSelection
+                 */
+                public static from(object: { [k: string]: any }): message.behaviour.Look.PanSelection;
+
+                /**
+                 * Creates a plain object from a PanSelection message. Also converts values to other types if specified.
+                 * @param {message.behaviour.Look.PanSelection} message PanSelection
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.behaviour.Look.PanSelection, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this PanSelection message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this PanSelection to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+        }
+
+        type MotionCommand$Properties = {
+            type?: message.behaviour.MotionCommand.Type;
+            goalState?: vec3$Properties;
+            kickTarget?: vec2$Properties;
+            walkCommand?: vec3$Properties;
+        };
+
+        /**
+         * Constructs a new MotionCommand.
+         * @exports message.behaviour.MotionCommand
+         * @constructor
+         * @param {message.behaviour.MotionCommand$Properties=} [properties] Properties to set
+         */
+        class MotionCommand {
+
+            /**
+             * Constructs a new MotionCommand.
+             * @exports message.behaviour.MotionCommand
+             * @constructor
+             * @param {message.behaviour.MotionCommand$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.behaviour.MotionCommand$Properties);
+
+            /**
+             * MotionCommand type.
+             * @type {message.behaviour.MotionCommand.Type}
+             */
+            public type: message.behaviour.MotionCommand.Type;
+
+            /**
+             * MotionCommand goalState.
+             * @type {(vec3$Properties|null)}
+             */
+            public goalState: (vec3$Properties|null);
+
+            /**
+             * MotionCommand kickTarget.
+             * @type {(vec2$Properties|null)}
+             */
+            public kickTarget: (vec2$Properties|null);
+
+            /**
+             * MotionCommand walkCommand.
+             * @type {(vec3$Properties|null)}
+             */
+            public walkCommand: (vec3$Properties|null);
+
+            /**
+             * Creates a new MotionCommand instance using the specified properties.
+             * @param {message.behaviour.MotionCommand$Properties=} [properties] Properties to set
+             * @returns {message.behaviour.MotionCommand} MotionCommand instance
+             */
+            public static create(properties?: message.behaviour.MotionCommand$Properties): message.behaviour.MotionCommand;
+
+            /**
+             * Encodes the specified MotionCommand message. Does not implicitly {@link message.behaviour.MotionCommand.verify|verify} messages.
+             * @param {message.behaviour.MotionCommand$Properties} message MotionCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.behaviour.MotionCommand$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified MotionCommand message, length delimited. Does not implicitly {@link message.behaviour.MotionCommand.verify|verify} messages.
+             * @param {message.behaviour.MotionCommand$Properties} message MotionCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.behaviour.MotionCommand$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a MotionCommand message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.behaviour.MotionCommand} MotionCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.behaviour.MotionCommand;
+
+            /**
+             * Decodes a MotionCommand message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.behaviour.MotionCommand} MotionCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.behaviour.MotionCommand;
+
+            /**
+             * Verifies a MotionCommand message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a MotionCommand message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.MotionCommand} MotionCommand
+             */
+            public static fromObject(object: { [k: string]: any }): message.behaviour.MotionCommand;
+
+            /**
+             * Creates a MotionCommand message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.behaviour.MotionCommand.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.MotionCommand} MotionCommand
+             */
+            public static from(object: { [k: string]: any }): message.behaviour.MotionCommand;
+
+            /**
+             * Creates a plain object from a MotionCommand message. Also converts values to other types if specified.
+             * @param {message.behaviour.MotionCommand} message MotionCommand
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.behaviour.MotionCommand, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this MotionCommand message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this MotionCommand to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        namespace MotionCommand {
+
+            /**
+             * Type enum.
+             * @name Type
+             * @memberof message.behaviour.MotionCommand
+             * @enum {number}
+             * @property {number} StandStill=0 StandStill value
+             * @property {number} WalkToState=1 WalkToState value
+             * @property {number} BallApproach=2 BallApproach value
+             * @property {number} DirectCommand=3 DirectCommand value
+             */
+            enum Type {
+                StandStill = 0,
+                WalkToState = 1,
+                BallApproach = 2,
+                DirectCommand = 3
+            }
+        }
+
+        type Nod$Properties = {
+            value?: boolean;
+        };
+
+        /**
+         * Constructs a new Nod.
+         * @exports message.behaviour.Nod
+         * @constructor
+         * @param {message.behaviour.Nod$Properties=} [properties] Properties to set
+         */
+        class Nod {
+
+            /**
+             * Constructs a new Nod.
+             * @exports message.behaviour.Nod
+             * @constructor
+             * @param {message.behaviour.Nod$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.behaviour.Nod$Properties);
+
+            /**
+             * Nod value.
+             * @type {boolean}
+             */
+            public value: boolean;
+
+            /**
+             * Creates a new Nod instance using the specified properties.
+             * @param {message.behaviour.Nod$Properties=} [properties] Properties to set
+             * @returns {message.behaviour.Nod} Nod instance
+             */
+            public static create(properties?: message.behaviour.Nod$Properties): message.behaviour.Nod;
+
+            /**
+             * Encodes the specified Nod message. Does not implicitly {@link message.behaviour.Nod.verify|verify} messages.
+             * @param {message.behaviour.Nod$Properties} message Nod message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.behaviour.Nod$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified Nod message, length delimited. Does not implicitly {@link message.behaviour.Nod.verify|verify} messages.
+             * @param {message.behaviour.Nod$Properties} message Nod message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.behaviour.Nod$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a Nod message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.behaviour.Nod} Nod
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.behaviour.Nod;
+
+            /**
+             * Decodes a Nod message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.behaviour.Nod} Nod
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.behaviour.Nod;
+
+            /**
+             * Verifies a Nod message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a Nod message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.Nod} Nod
+             */
+            public static fromObject(object: { [k: string]: any }): message.behaviour.Nod;
+
+            /**
+             * Creates a Nod message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.behaviour.Nod.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.Nod} Nod
+             */
+            public static from(object: { [k: string]: any }): message.behaviour.Nod;
+
+            /**
+             * Creates a plain object from a Nod message. Also converts values to other types if specified.
+             * @param {message.behaviour.Nod} message Nod
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.behaviour.Nod, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this Nod message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this Nod to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type ServoCommand$Properties = {
+            source?: (number|Long);
+            time?: google.protobuf.Timestamp$Properties;
+            id?: number;
+            position?: number;
+            gain?: number;
+            torque?: number;
+        };
+
+        /**
+         * Constructs a new ServoCommand.
+         * @exports message.behaviour.ServoCommand
+         * @constructor
+         * @param {message.behaviour.ServoCommand$Properties=} [properties] Properties to set
+         */
+        class ServoCommand {
+
+            /**
+             * Constructs a new ServoCommand.
+             * @exports message.behaviour.ServoCommand
+             * @constructor
+             * @param {message.behaviour.ServoCommand$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.behaviour.ServoCommand$Properties);
+
+            /**
+             * ServoCommand source.
+             * @type {number|Long}
+             */
+            public source: (number|Long);
+
+            /**
+             * ServoCommand time.
+             * @type {(google.protobuf.Timestamp$Properties|null)}
+             */
+            public time: (google.protobuf.Timestamp$Properties|null);
+
+            /**
+             * ServoCommand id.
+             * @type {number}
+             */
+            public id: number;
+
+            /**
+             * ServoCommand position.
+             * @type {number}
+             */
+            public position: number;
+
+            /**
+             * ServoCommand gain.
+             * @type {number}
+             */
+            public gain: number;
+
+            /**
+             * ServoCommand torque.
+             * @type {number}
+             */
+            public torque: number;
+
+            /**
+             * Creates a new ServoCommand instance using the specified properties.
+             * @param {message.behaviour.ServoCommand$Properties=} [properties] Properties to set
+             * @returns {message.behaviour.ServoCommand} ServoCommand instance
+             */
+            public static create(properties?: message.behaviour.ServoCommand$Properties): message.behaviour.ServoCommand;
+
+            /**
+             * Encodes the specified ServoCommand message. Does not implicitly {@link message.behaviour.ServoCommand.verify|verify} messages.
+             * @param {message.behaviour.ServoCommand$Properties} message ServoCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.behaviour.ServoCommand$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified ServoCommand message, length delimited. Does not implicitly {@link message.behaviour.ServoCommand.verify|verify} messages.
+             * @param {message.behaviour.ServoCommand$Properties} message ServoCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.behaviour.ServoCommand$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a ServoCommand message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.behaviour.ServoCommand} ServoCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.behaviour.ServoCommand;
+
+            /**
+             * Decodes a ServoCommand message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.behaviour.ServoCommand} ServoCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.behaviour.ServoCommand;
+
+            /**
+             * Verifies a ServoCommand message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a ServoCommand message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.ServoCommand} ServoCommand
+             */
+            public static fromObject(object: { [k: string]: any }): message.behaviour.ServoCommand;
+
+            /**
+             * Creates a ServoCommand message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.behaviour.ServoCommand.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.ServoCommand} ServoCommand
+             */
+            public static from(object: { [k: string]: any }): message.behaviour.ServoCommand;
+
+            /**
+             * Creates a plain object from a ServoCommand message. Also converts values to other types if specified.
+             * @param {message.behaviour.ServoCommand} message ServoCommand
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.behaviour.ServoCommand, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this ServoCommand message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this ServoCommand to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type SoccerObjectPriority$Properties = {
+            ball?: number;
+            goal?: number;
+            line?: number;
+            searchType?: message.behaviour.SoccerObjectPriority.SearchType;
+        };
+
+        /**
+         * Constructs a new SoccerObjectPriority.
+         * @exports message.behaviour.SoccerObjectPriority
+         * @constructor
+         * @param {message.behaviour.SoccerObjectPriority$Properties=} [properties] Properties to set
+         */
+        class SoccerObjectPriority {
+
+            /**
+             * Constructs a new SoccerObjectPriority.
+             * @exports message.behaviour.SoccerObjectPriority
+             * @constructor
+             * @param {message.behaviour.SoccerObjectPriority$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.behaviour.SoccerObjectPriority$Properties);
+
+            /**
+             * SoccerObjectPriority ball.
+             * @type {number}
+             */
+            public ball: number;
+
+            /**
+             * SoccerObjectPriority goal.
+             * @type {number}
+             */
+            public goal: number;
+
+            /**
+             * SoccerObjectPriority line.
+             * @type {number}
+             */
+            public line: number;
+
+            /**
+             * SoccerObjectPriority searchType.
+             * @type {message.behaviour.SoccerObjectPriority.SearchType}
+             */
+            public searchType: message.behaviour.SoccerObjectPriority.SearchType;
+
+            /**
+             * Creates a new SoccerObjectPriority instance using the specified properties.
+             * @param {message.behaviour.SoccerObjectPriority$Properties=} [properties] Properties to set
+             * @returns {message.behaviour.SoccerObjectPriority} SoccerObjectPriority instance
+             */
+            public static create(properties?: message.behaviour.SoccerObjectPriority$Properties): message.behaviour.SoccerObjectPriority;
+
+            /**
+             * Encodes the specified SoccerObjectPriority message. Does not implicitly {@link message.behaviour.SoccerObjectPriority.verify|verify} messages.
+             * @param {message.behaviour.SoccerObjectPriority$Properties} message SoccerObjectPriority message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.behaviour.SoccerObjectPriority$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified SoccerObjectPriority message, length delimited. Does not implicitly {@link message.behaviour.SoccerObjectPriority.verify|verify} messages.
+             * @param {message.behaviour.SoccerObjectPriority$Properties} message SoccerObjectPriority message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.behaviour.SoccerObjectPriority$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a SoccerObjectPriority message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.behaviour.SoccerObjectPriority} SoccerObjectPriority
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.behaviour.SoccerObjectPriority;
+
+            /**
+             * Decodes a SoccerObjectPriority message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.behaviour.SoccerObjectPriority} SoccerObjectPriority
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.behaviour.SoccerObjectPriority;
+
+            /**
+             * Verifies a SoccerObjectPriority message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a SoccerObjectPriority message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.SoccerObjectPriority} SoccerObjectPriority
+             */
+            public static fromObject(object: { [k: string]: any }): message.behaviour.SoccerObjectPriority;
+
+            /**
+             * Creates a SoccerObjectPriority message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.behaviour.SoccerObjectPriority.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.SoccerObjectPriority} SoccerObjectPriority
+             */
+            public static from(object: { [k: string]: any }): message.behaviour.SoccerObjectPriority;
+
+            /**
+             * Creates a plain object from a SoccerObjectPriority message. Also converts values to other types if specified.
+             * @param {message.behaviour.SoccerObjectPriority} message SoccerObjectPriority
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.behaviour.SoccerObjectPriority, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this SoccerObjectPriority message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this SoccerObjectPriority to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        namespace SoccerObjectPriority {
+
+            /**
+             * SearchType enum.
+             * @name SearchType
+             * @memberof message.behaviour.SoccerObjectPriority
+             * @enum {number}
+             * @property {number} LOST=0 LOST value
+             * @property {number} FIND_ADDITIONAL_OBJECTS=1 FIND_ADDITIONAL_OBJECTS value
+             * @property {number} GOAL_SEARCH=2 GOAL_SEARCH value
+             * @property {number} GOAL_LEFT=3 GOAL_LEFT value
+             * @property {number} GOAL_RIGHT=4 GOAL_RIGHT value
+             * @property {number} GROUND_LEFT=5 GROUND_LEFT value
+             * @property {number} GROUND_RIGHT=6 GROUND_RIGHT value
+             * @property {number} OTHE=7 OTHE value
+             */
+            enum SearchType {
+                LOST = 0,
+                FIND_ADDITIONAL_OBJECTS = 1,
+                GOAL_SEARCH = 2,
+                GOAL_LEFT = 3,
+                GOAL_RIGHT = 4,
+                GROUND_LEFT = 5,
+                GROUND_RIGHT = 6,
+                OTHE = 7
+            }
+        }
+
+        type Subsumption$Properties = {
+            actionRegister?: message.behaviour.Subsumption.ActionRegister$Properties[];
+            actionStateChange?: message.behaviour.Subsumption.ActionStateChange$Properties[];
+            actionPriorityChange?: message.behaviour.Subsumption.ActionPriorites$Properties[];
+        };
+
+        /**
+         * Constructs a new Subsumption.
+         * @exports message.behaviour.Subsumption
+         * @constructor
+         * @param {message.behaviour.Subsumption$Properties=} [properties] Properties to set
+         */
+        class Subsumption {
+
+            /**
+             * Constructs a new Subsumption.
+             * @exports message.behaviour.Subsumption
+             * @constructor
+             * @param {message.behaviour.Subsumption$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.behaviour.Subsumption$Properties);
+
+            /**
+             * Subsumption actionRegister.
+             * @type {Array.<message.behaviour.Subsumption.ActionRegister$Properties>}
+             */
+            public actionRegister: message.behaviour.Subsumption.ActionRegister$Properties[];
+
+            /**
+             * Subsumption actionStateChange.
+             * @type {Array.<message.behaviour.Subsumption.ActionStateChange$Properties>}
+             */
+            public actionStateChange: message.behaviour.Subsumption.ActionStateChange$Properties[];
+
+            /**
+             * Subsumption actionPriorityChange.
+             * @type {Array.<message.behaviour.Subsumption.ActionPriorites$Properties>}
+             */
+            public actionPriorityChange: message.behaviour.Subsumption.ActionPriorites$Properties[];
+
+            /**
+             * Creates a new Subsumption instance using the specified properties.
+             * @param {message.behaviour.Subsumption$Properties=} [properties] Properties to set
+             * @returns {message.behaviour.Subsumption} Subsumption instance
+             */
+            public static create(properties?: message.behaviour.Subsumption$Properties): message.behaviour.Subsumption;
+
+            /**
+             * Encodes the specified Subsumption message. Does not implicitly {@link message.behaviour.Subsumption.verify|verify} messages.
+             * @param {message.behaviour.Subsumption$Properties} message Subsumption message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.behaviour.Subsumption$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified Subsumption message, length delimited. Does not implicitly {@link message.behaviour.Subsumption.verify|verify} messages.
+             * @param {message.behaviour.Subsumption$Properties} message Subsumption message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.behaviour.Subsumption$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a Subsumption message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.behaviour.Subsumption} Subsumption
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.behaviour.Subsumption;
+
+            /**
+             * Decodes a Subsumption message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.behaviour.Subsumption} Subsumption
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.behaviour.Subsumption;
+
+            /**
+             * Verifies a Subsumption message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a Subsumption message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.Subsumption} Subsumption
+             */
+            public static fromObject(object: { [k: string]: any }): message.behaviour.Subsumption;
+
+            /**
+             * Creates a Subsumption message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.behaviour.Subsumption.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.Subsumption} Subsumption
+             */
+            public static from(object: { [k: string]: any }): message.behaviour.Subsumption;
+
+            /**
+             * Creates a plain object from a Subsumption message. Also converts values to other types if specified.
+             * @param {message.behaviour.Subsumption} message Subsumption
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.behaviour.Subsumption, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this Subsumption message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this Subsumption to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        namespace Subsumption {
+
+            type LimbSet$Properties = {
+                priority?: number;
+                limbs?: number[];
+            };
+
+            /**
+             * Constructs a new LimbSet.
+             * @exports message.behaviour.Subsumption.LimbSet
+             * @constructor
+             * @param {message.behaviour.Subsumption.LimbSet$Properties=} [properties] Properties to set
+             */
+            class LimbSet {
+
+                /**
+                 * Constructs a new LimbSet.
+                 * @exports message.behaviour.Subsumption.LimbSet
+                 * @constructor
+                 * @param {message.behaviour.Subsumption.LimbSet$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.behaviour.Subsumption.LimbSet$Properties);
+
+                /**
+                 * LimbSet priority.
+                 * @type {number}
+                 */
+                public priority: number;
+
+                /**
+                 * LimbSet limbs.
+                 * @type {Array.<number>}
+                 */
+                public limbs: number[];
+
+                /**
+                 * Creates a new LimbSet instance using the specified properties.
+                 * @param {message.behaviour.Subsumption.LimbSet$Properties=} [properties] Properties to set
+                 * @returns {message.behaviour.Subsumption.LimbSet} LimbSet instance
+                 */
+                public static create(properties?: message.behaviour.Subsumption.LimbSet$Properties): message.behaviour.Subsumption.LimbSet;
+
+                /**
+                 * Encodes the specified LimbSet message. Does not implicitly {@link message.behaviour.Subsumption.LimbSet.verify|verify} messages.
+                 * @param {message.behaviour.Subsumption.LimbSet$Properties} message LimbSet message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.behaviour.Subsumption.LimbSet$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified LimbSet message, length delimited. Does not implicitly {@link message.behaviour.Subsumption.LimbSet.verify|verify} messages.
+                 * @param {message.behaviour.Subsumption.LimbSet$Properties} message LimbSet message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.behaviour.Subsumption.LimbSet$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a LimbSet message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.behaviour.Subsumption.LimbSet} LimbSet
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.behaviour.Subsumption.LimbSet;
+
+                /**
+                 * Decodes a LimbSet message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.behaviour.Subsumption.LimbSet} LimbSet
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.behaviour.Subsumption.LimbSet;
+
+                /**
+                 * Verifies a LimbSet message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a LimbSet message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.behaviour.Subsumption.LimbSet} LimbSet
+                 */
+                public static fromObject(object: { [k: string]: any }): message.behaviour.Subsumption.LimbSet;
+
+                /**
+                 * Creates a LimbSet message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.behaviour.Subsumption.LimbSet.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.behaviour.Subsumption.LimbSet} LimbSet
+                 */
+                public static from(object: { [k: string]: any }): message.behaviour.Subsumption.LimbSet;
+
+                /**
+                 * Creates a plain object from a LimbSet message. Also converts values to other types if specified.
+                 * @param {message.behaviour.Subsumption.LimbSet} message LimbSet
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.behaviour.Subsumption.LimbSet, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this LimbSet message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this LimbSet to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            type ActionRegister$Properties = {
+                id?: number;
+                name?: string;
+                limbSet?: message.behaviour.Subsumption.LimbSet$Properties[];
+            };
+
+            /**
+             * Constructs a new ActionRegister.
+             * @exports message.behaviour.Subsumption.ActionRegister
+             * @constructor
+             * @param {message.behaviour.Subsumption.ActionRegister$Properties=} [properties] Properties to set
+             */
+            class ActionRegister {
+
+                /**
+                 * Constructs a new ActionRegister.
+                 * @exports message.behaviour.Subsumption.ActionRegister
+                 * @constructor
+                 * @param {message.behaviour.Subsumption.ActionRegister$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.behaviour.Subsumption.ActionRegister$Properties);
+
+                /**
+                 * ActionRegister id.
+                 * @type {number}
+                 */
+                public id: number;
+
+                /**
+                 * ActionRegister name.
+                 * @type {string}
+                 */
+                public name: string;
+
+                /**
+                 * ActionRegister limbSet.
+                 * @type {Array.<message.behaviour.Subsumption.LimbSet$Properties>}
+                 */
+                public limbSet: message.behaviour.Subsumption.LimbSet$Properties[];
+
+                /**
+                 * Creates a new ActionRegister instance using the specified properties.
+                 * @param {message.behaviour.Subsumption.ActionRegister$Properties=} [properties] Properties to set
+                 * @returns {message.behaviour.Subsumption.ActionRegister} ActionRegister instance
+                 */
+                public static create(properties?: message.behaviour.Subsumption.ActionRegister$Properties): message.behaviour.Subsumption.ActionRegister;
+
+                /**
+                 * Encodes the specified ActionRegister message. Does not implicitly {@link message.behaviour.Subsumption.ActionRegister.verify|verify} messages.
+                 * @param {message.behaviour.Subsumption.ActionRegister$Properties} message ActionRegister message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.behaviour.Subsumption.ActionRegister$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified ActionRegister message, length delimited. Does not implicitly {@link message.behaviour.Subsumption.ActionRegister.verify|verify} messages.
+                 * @param {message.behaviour.Subsumption.ActionRegister$Properties} message ActionRegister message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.behaviour.Subsumption.ActionRegister$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes an ActionRegister message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.behaviour.Subsumption.ActionRegister} ActionRegister
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.behaviour.Subsumption.ActionRegister;
+
+                /**
+                 * Decodes an ActionRegister message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.behaviour.Subsumption.ActionRegister} ActionRegister
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.behaviour.Subsumption.ActionRegister;
+
+                /**
+                 * Verifies an ActionRegister message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates an ActionRegister message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.behaviour.Subsumption.ActionRegister} ActionRegister
+                 */
+                public static fromObject(object: { [k: string]: any }): message.behaviour.Subsumption.ActionRegister;
+
+                /**
+                 * Creates an ActionRegister message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.behaviour.Subsumption.ActionRegister.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.behaviour.Subsumption.ActionRegister} ActionRegister
+                 */
+                public static from(object: { [k: string]: any }): message.behaviour.Subsumption.ActionRegister;
+
+                /**
+                 * Creates a plain object from an ActionRegister message. Also converts values to other types if specified.
+                 * @param {message.behaviour.Subsumption.ActionRegister} message ActionRegister
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.behaviour.Subsumption.ActionRegister, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this ActionRegister message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this ActionRegister to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            type ActionStateChange$Properties = {
+                state?: message.behaviour.Subsumption.ActionStateChange.State;
+                name?: string;
+                limbs?: number[];
+            };
+
+            /**
+             * Constructs a new ActionStateChange.
+             * @exports message.behaviour.Subsumption.ActionStateChange
+             * @constructor
+             * @param {message.behaviour.Subsumption.ActionStateChange$Properties=} [properties] Properties to set
+             */
+            class ActionStateChange {
+
+                /**
+                 * Constructs a new ActionStateChange.
+                 * @exports message.behaviour.Subsumption.ActionStateChange
+                 * @constructor
+                 * @param {message.behaviour.Subsumption.ActionStateChange$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.behaviour.Subsumption.ActionStateChange$Properties);
+
+                /**
+                 * ActionStateChange state.
+                 * @type {message.behaviour.Subsumption.ActionStateChange.State}
+                 */
+                public state: message.behaviour.Subsumption.ActionStateChange.State;
+
+                /**
+                 * ActionStateChange name.
+                 * @type {string}
+                 */
+                public name: string;
+
+                /**
+                 * ActionStateChange limbs.
+                 * @type {Array.<number>}
+                 */
+                public limbs: number[];
+
+                /**
+                 * Creates a new ActionStateChange instance using the specified properties.
+                 * @param {message.behaviour.Subsumption.ActionStateChange$Properties=} [properties] Properties to set
+                 * @returns {message.behaviour.Subsumption.ActionStateChange} ActionStateChange instance
+                 */
+                public static create(properties?: message.behaviour.Subsumption.ActionStateChange$Properties): message.behaviour.Subsumption.ActionStateChange;
+
+                /**
+                 * Encodes the specified ActionStateChange message. Does not implicitly {@link message.behaviour.Subsumption.ActionStateChange.verify|verify} messages.
+                 * @param {message.behaviour.Subsumption.ActionStateChange$Properties} message ActionStateChange message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.behaviour.Subsumption.ActionStateChange$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified ActionStateChange message, length delimited. Does not implicitly {@link message.behaviour.Subsumption.ActionStateChange.verify|verify} messages.
+                 * @param {message.behaviour.Subsumption.ActionStateChange$Properties} message ActionStateChange message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.behaviour.Subsumption.ActionStateChange$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes an ActionStateChange message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.behaviour.Subsumption.ActionStateChange} ActionStateChange
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.behaviour.Subsumption.ActionStateChange;
+
+                /**
+                 * Decodes an ActionStateChange message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.behaviour.Subsumption.ActionStateChange} ActionStateChange
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.behaviour.Subsumption.ActionStateChange;
+
+                /**
+                 * Verifies an ActionStateChange message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates an ActionStateChange message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.behaviour.Subsumption.ActionStateChange} ActionStateChange
+                 */
+                public static fromObject(object: { [k: string]: any }): message.behaviour.Subsumption.ActionStateChange;
+
+                /**
+                 * Creates an ActionStateChange message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.behaviour.Subsumption.ActionStateChange.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.behaviour.Subsumption.ActionStateChange} ActionStateChange
+                 */
+                public static from(object: { [k: string]: any }): message.behaviour.Subsumption.ActionStateChange;
+
+                /**
+                 * Creates a plain object from an ActionStateChange message. Also converts values to other types if specified.
+                 * @param {message.behaviour.Subsumption.ActionStateChange} message ActionStateChange
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.behaviour.Subsumption.ActionStateChange, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this ActionStateChange message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this ActionStateChange to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            namespace ActionStateChange {
+
+                /**
+                 * State enum.
+                 * @name State
+                 * @memberof message.behaviour.Subsumption.ActionStateChange
+                 * @enum {number}
+                 * @property {number} UNKNOWN=0 UNKNOWN value
+                 * @property {number} START=1 START value
+                 * @property {number} KILL=2 KILL value
+                 */
+                enum State {
+                    UNKNOWN = 0,
+                    START = 1,
+                    KILL = 2
+                }
+            }
+
+            type ActionPriorites$Properties = {
+                id?: number;
+                priorities?: number[];
+            };
+
+            /**
+             * Constructs a new ActionPriorites.
+             * @exports message.behaviour.Subsumption.ActionPriorites
+             * @constructor
+             * @param {message.behaviour.Subsumption.ActionPriorites$Properties=} [properties] Properties to set
+             */
+            class ActionPriorites {
+
+                /**
+                 * Constructs a new ActionPriorites.
+                 * @exports message.behaviour.Subsumption.ActionPriorites
+                 * @constructor
+                 * @param {message.behaviour.Subsumption.ActionPriorites$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.behaviour.Subsumption.ActionPriorites$Properties);
+
+                /**
+                 * ActionPriorites id.
+                 * @type {number}
+                 */
+                public id: number;
+
+                /**
+                 * ActionPriorites priorities.
+                 * @type {Array.<number>}
+                 */
+                public priorities: number[];
+
+                /**
+                 * Creates a new ActionPriorites instance using the specified properties.
+                 * @param {message.behaviour.Subsumption.ActionPriorites$Properties=} [properties] Properties to set
+                 * @returns {message.behaviour.Subsumption.ActionPriorites} ActionPriorites instance
+                 */
+                public static create(properties?: message.behaviour.Subsumption.ActionPriorites$Properties): message.behaviour.Subsumption.ActionPriorites;
+
+                /**
+                 * Encodes the specified ActionPriorites message. Does not implicitly {@link message.behaviour.Subsumption.ActionPriorites.verify|verify} messages.
+                 * @param {message.behaviour.Subsumption.ActionPriorites$Properties} message ActionPriorites message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.behaviour.Subsumption.ActionPriorites$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified ActionPriorites message, length delimited. Does not implicitly {@link message.behaviour.Subsumption.ActionPriorites.verify|verify} messages.
+                 * @param {message.behaviour.Subsumption.ActionPriorites$Properties} message ActionPriorites message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.behaviour.Subsumption.ActionPriorites$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes an ActionPriorites message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.behaviour.Subsumption.ActionPriorites} ActionPriorites
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.behaviour.Subsumption.ActionPriorites;
+
+                /**
+                 * Decodes an ActionPriorites message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.behaviour.Subsumption.ActionPriorites} ActionPriorites
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.behaviour.Subsumption.ActionPriorites;
+
+                /**
+                 * Verifies an ActionPriorites message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates an ActionPriorites message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.behaviour.Subsumption.ActionPriorites} ActionPriorites
+                 */
+                public static fromObject(object: { [k: string]: any }): message.behaviour.Subsumption.ActionPriorites;
+
+                /**
+                 * Creates an ActionPriorites message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.behaviour.Subsumption.ActionPriorites.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.behaviour.Subsumption.ActionPriorites} ActionPriorites
+                 */
+                public static from(object: { [k: string]: any }): message.behaviour.Subsumption.ActionPriorites;
+
+                /**
+                 * Creates a plain object from an ActionPriorites message. Also converts values to other types if specified.
+                 * @param {message.behaviour.Subsumption.ActionPriorites} message ActionPriorites
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.behaviour.Subsumption.ActionPriorites, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this ActionPriorites message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this ActionPriorites to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+        }
+
+        type WalkPath$Properties = {
+            states?: vec3$Properties[];
+            ballSpace?: vec3$Properties;
+            start?: vec3$Properties;
+            goal?: vec3$Properties;
+            command?: message.behaviour.MotionCommand$Properties;
+        };
+
+        /**
+         * Constructs a new WalkPath.
+         * @exports message.behaviour.WalkPath
+         * @constructor
+         * @param {message.behaviour.WalkPath$Properties=} [properties] Properties to set
+         */
+        class WalkPath {
+
+            /**
+             * Constructs a new WalkPath.
+             * @exports message.behaviour.WalkPath
+             * @constructor
+             * @param {message.behaviour.WalkPath$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.behaviour.WalkPath$Properties);
+
+            /**
+             * WalkPath states.
+             * @type {Array.<vec3$Properties>}
+             */
+            public states: vec3$Properties[];
+
+            /**
+             * WalkPath ballSpace.
+             * @type {(vec3$Properties|null)}
+             */
+            public ballSpace: (vec3$Properties|null);
+
+            /**
+             * WalkPath start.
+             * @type {(vec3$Properties|null)}
+             */
+            public start: (vec3$Properties|null);
+
+            /**
+             * WalkPath goal.
+             * @type {(vec3$Properties|null)}
+             */
+            public goal: (vec3$Properties|null);
+
+            /**
+             * WalkPath command.
+             * @type {(message.behaviour.MotionCommand$Properties|null)}
+             */
+            public command: (message.behaviour.MotionCommand$Properties|null);
+
+            /**
+             * Creates a new WalkPath instance using the specified properties.
+             * @param {message.behaviour.WalkPath$Properties=} [properties] Properties to set
+             * @returns {message.behaviour.WalkPath} WalkPath instance
+             */
+            public static create(properties?: message.behaviour.WalkPath$Properties): message.behaviour.WalkPath;
+
+            /**
+             * Encodes the specified WalkPath message. Does not implicitly {@link message.behaviour.WalkPath.verify|verify} messages.
+             * @param {message.behaviour.WalkPath$Properties} message WalkPath message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.behaviour.WalkPath$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified WalkPath message, length delimited. Does not implicitly {@link message.behaviour.WalkPath.verify|verify} messages.
+             * @param {message.behaviour.WalkPath$Properties} message WalkPath message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.behaviour.WalkPath$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a WalkPath message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.behaviour.WalkPath} WalkPath
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.behaviour.WalkPath;
+
+            /**
+             * Decodes a WalkPath message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.behaviour.WalkPath} WalkPath
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.behaviour.WalkPath;
+
+            /**
+             * Verifies a WalkPath message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a WalkPath message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.WalkPath} WalkPath
+             */
+            public static fromObject(object: { [k: string]: any }): message.behaviour.WalkPath;
+
+            /**
+             * Creates a WalkPath message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.behaviour.WalkPath.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.WalkPath} WalkPath
+             */
+            public static from(object: { [k: string]: any }): message.behaviour.WalkPath;
+
+            /**
+             * Creates a plain object from a WalkPath message. Also converts values to other types if specified.
+             * @param {message.behaviour.WalkPath} message WalkPath
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.behaviour.WalkPath, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this WalkPath message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this WalkPath to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+    }
+
+    /**
+     * Namespace input.
+     * @exports message.input
+     * @namespace
+     */
+    namespace input {
+
+        type CameraParameters$Properties = {
+            imageSizePixels?: uvec2$Properties;
+            FOV?: vec2$Properties;
+            pixelsToTanThetaFactor?: vec2$Properties;
+            focalLengthPixels?: number;
+            distortionFactor?: number;
+        };
+
+        /**
+         * Constructs a new CameraParameters.
+         * @exports message.input.CameraParameters
+         * @constructor
+         * @param {message.input.CameraParameters$Properties=} [properties] Properties to set
+         */
+        class CameraParameters {
+
+            /**
+             * Constructs a new CameraParameters.
+             * @exports message.input.CameraParameters
+             * @constructor
+             * @param {message.input.CameraParameters$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.input.CameraParameters$Properties);
+
+            /**
+             * CameraParameters imageSizePixels.
+             * @type {(uvec2$Properties|null)}
+             */
+            public imageSizePixels: (uvec2$Properties|null);
+
+            /**
+             * CameraParameters FOV.
+             * @type {(vec2$Properties|null)}
+             */
+            public FOV: (vec2$Properties|null);
+
+            /**
+             * CameraParameters pixelsToTanThetaFactor.
+             * @type {(vec2$Properties|null)}
+             */
+            public pixelsToTanThetaFactor: (vec2$Properties|null);
+
+            /**
+             * CameraParameters focalLengthPixels.
+             * @type {number}
+             */
+            public focalLengthPixels: number;
+
+            /**
+             * CameraParameters distortionFactor.
+             * @type {number}
+             */
+            public distortionFactor: number;
+
+            /**
+             * Creates a new CameraParameters instance using the specified properties.
+             * @param {message.input.CameraParameters$Properties=} [properties] Properties to set
+             * @returns {message.input.CameraParameters} CameraParameters instance
+             */
+            public static create(properties?: message.input.CameraParameters$Properties): message.input.CameraParameters;
+
+            /**
+             * Encodes the specified CameraParameters message. Does not implicitly {@link message.input.CameraParameters.verify|verify} messages.
+             * @param {message.input.CameraParameters$Properties} message CameraParameters message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.input.CameraParameters$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified CameraParameters message, length delimited. Does not implicitly {@link message.input.CameraParameters.verify|verify} messages.
+             * @param {message.input.CameraParameters$Properties} message CameraParameters message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.input.CameraParameters$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a CameraParameters message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.input.CameraParameters} CameraParameters
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.CameraParameters;
+
+            /**
+             * Decodes a CameraParameters message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.input.CameraParameters} CameraParameters
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.CameraParameters;
+
+            /**
+             * Verifies a CameraParameters message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a CameraParameters message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.CameraParameters} CameraParameters
+             */
+            public static fromObject(object: { [k: string]: any }): message.input.CameraParameters;
+
+            /**
+             * Creates a CameraParameters message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.input.CameraParameters.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.CameraParameters} CameraParameters
+             */
+            public static from(object: { [k: string]: any }): message.input.CameraParameters;
+
+            /**
+             * Creates a plain object from a CameraParameters message. Also converts values to other types if specified.
+             * @param {message.input.CameraParameters} message CameraParameters
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.input.CameraParameters, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this CameraParameters message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this CameraParameters to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type GameEvents$Properties = {};
+
+        /**
+         * Constructs a new GameEvents.
+         * @exports message.input.GameEvents
+         * @constructor
+         * @param {message.input.GameEvents$Properties=} [properties] Properties to set
+         */
+        class GameEvents {
+
+            /**
+             * Constructs a new GameEvents.
+             * @exports message.input.GameEvents
+             * @constructor
+             * @param {message.input.GameEvents$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.input.GameEvents$Properties);
+
+            /**
+             * Creates a new GameEvents instance using the specified properties.
+             * @param {message.input.GameEvents$Properties=} [properties] Properties to set
+             * @returns {message.input.GameEvents} GameEvents instance
+             */
+            public static create(properties?: message.input.GameEvents$Properties): message.input.GameEvents;
+
+            /**
+             * Encodes the specified GameEvents message. Does not implicitly {@link message.input.GameEvents.verify|verify} messages.
+             * @param {message.input.GameEvents$Properties} message GameEvents message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.input.GameEvents$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified GameEvents message, length delimited. Does not implicitly {@link message.input.GameEvents.verify|verify} messages.
+             * @param {message.input.GameEvents$Properties} message GameEvents message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.input.GameEvents$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a GameEvents message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.input.GameEvents} GameEvents
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.GameEvents;
+
+            /**
+             * Decodes a GameEvents message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.input.GameEvents} GameEvents
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.GameEvents;
+
+            /**
+             * Verifies a GameEvents message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a GameEvents message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.GameEvents} GameEvents
+             */
+            public static fromObject(object: { [k: string]: any }): message.input.GameEvents;
+
+            /**
+             * Creates a GameEvents message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.input.GameEvents.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.GameEvents} GameEvents
+             */
+            public static from(object: { [k: string]: any }): message.input.GameEvents;
+
+            /**
+             * Creates a plain object from a GameEvents message. Also converts values to other types if specified.
+             * @param {message.input.GameEvents} message GameEvents
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.input.GameEvents, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this GameEvents message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this GameEvents to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        namespace GameEvents {
+
+            /**
+             * Context enum.
+             * @name Context
+             * @memberof message.input.GameEvents
+             * @enum {number}
+             * @property {number} UNKNOWN_CONTEXT=0 UNKNOWN_CONTEXT value
+             * @property {number} SELF=1 SELF value
+             * @property {number} TEAM=2 TEAM value
+             * @property {number} OPPONENT=3 OPPONENT value
+             * @property {number} UNKNOWN=4 UNKNOWN value
+             */
+            enum Context {
+                UNKNOWN_CONTEXT = 0,
+                SELF = 1,
+                TEAM = 2,
+                OPPONENT = 3,
+                UNKNOWN = 4
+            }
+
+            /**
+             * TeamColour enum.
+             * @name TeamColour
+             * @memberof message.input.GameEvents
+             * @enum {number}
+             * @property {number} UNKNOWN_TEAM_COLOUR=0 UNKNOWN_TEAM_COLOUR value
+             * @property {number} CYAN=1 CYAN value
+             * @property {number} MAGENTA=2 MAGENTA value
+             */
+            enum TeamColour {
+                UNKNOWN_TEAM_COLOUR = 0,
+                CYAN = 1,
+                MAGENTA = 2
+            }
+
+            type Score$Properties = {
+                ownScore?: number;
+                opponentScore?: number;
+            };
+
+            /**
+             * Constructs a new Score.
+             * @exports message.input.GameEvents.Score
+             * @constructor
+             * @param {message.input.GameEvents.Score$Properties=} [properties] Properties to set
+             */
+            class Score {
+
+                /**
+                 * Constructs a new Score.
+                 * @exports message.input.GameEvents.Score
+                 * @constructor
+                 * @param {message.input.GameEvents.Score$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.input.GameEvents.Score$Properties);
+
+                /**
+                 * Score ownScore.
+                 * @type {number}
+                 */
+                public ownScore: number;
+
+                /**
+                 * Score opponentScore.
+                 * @type {number}
+                 */
+                public opponentScore: number;
+
+                /**
+                 * Creates a new Score instance using the specified properties.
+                 * @param {message.input.GameEvents.Score$Properties=} [properties] Properties to set
+                 * @returns {message.input.GameEvents.Score} Score instance
+                 */
+                public static create(properties?: message.input.GameEvents.Score$Properties): message.input.GameEvents.Score;
+
+                /**
+                 * Encodes the specified Score message. Does not implicitly {@link message.input.GameEvents.Score.verify|verify} messages.
+                 * @param {message.input.GameEvents.Score$Properties} message Score message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.input.GameEvents.Score$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified Score message, length delimited. Does not implicitly {@link message.input.GameEvents.Score.verify|verify} messages.
+                 * @param {message.input.GameEvents.Score$Properties} message Score message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.input.GameEvents.Score$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a Score message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.GameEvents.Score} Score
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.GameEvents.Score;
+
+                /**
+                 * Decodes a Score message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.GameEvents.Score} Score
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.GameEvents.Score;
+
+                /**
+                 * Verifies a Score message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a Score message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameEvents.Score} Score
+                 */
+                public static fromObject(object: { [k: string]: any }): message.input.GameEvents.Score;
+
+                /**
+                 * Creates a Score message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.GameEvents.Score.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameEvents.Score} Score
+                 */
+                public static from(object: { [k: string]: any }): message.input.GameEvents.Score;
+
+                /**
+                 * Creates a plain object from a Score message. Also converts values to other types if specified.
+                 * @param {message.input.GameEvents.Score} message Score
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.input.GameEvents.Score, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this Score message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this Score to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            type GoalScored$Properties = {
+                context?: message.input.GameEvents.Context;
+                totalScore?: number;
+            };
+
+            /**
+             * Constructs a new GoalScored.
+             * @exports message.input.GameEvents.GoalScored
+             * @constructor
+             * @param {message.input.GameEvents.GoalScored$Properties=} [properties] Properties to set
+             */
+            class GoalScored {
+
+                /**
+                 * Constructs a new GoalScored.
+                 * @exports message.input.GameEvents.GoalScored
+                 * @constructor
+                 * @param {message.input.GameEvents.GoalScored$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.input.GameEvents.GoalScored$Properties);
+
+                /**
+                 * GoalScored context.
+                 * @type {message.input.GameEvents.Context}
+                 */
+                public context: message.input.GameEvents.Context;
+
+                /**
+                 * GoalScored totalScore.
+                 * @type {number}
+                 */
+                public totalScore: number;
+
+                /**
+                 * Creates a new GoalScored instance using the specified properties.
+                 * @param {message.input.GameEvents.GoalScored$Properties=} [properties] Properties to set
+                 * @returns {message.input.GameEvents.GoalScored} GoalScored instance
+                 */
+                public static create(properties?: message.input.GameEvents.GoalScored$Properties): message.input.GameEvents.GoalScored;
+
+                /**
+                 * Encodes the specified GoalScored message. Does not implicitly {@link message.input.GameEvents.GoalScored.verify|verify} messages.
+                 * @param {message.input.GameEvents.GoalScored$Properties} message GoalScored message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.input.GameEvents.GoalScored$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified GoalScored message, length delimited. Does not implicitly {@link message.input.GameEvents.GoalScored.verify|verify} messages.
+                 * @param {message.input.GameEvents.GoalScored$Properties} message GoalScored message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.input.GameEvents.GoalScored$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a GoalScored message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.GameEvents.GoalScored} GoalScored
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.GameEvents.GoalScored;
+
+                /**
+                 * Decodes a GoalScored message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.GameEvents.GoalScored} GoalScored
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.GameEvents.GoalScored;
+
+                /**
+                 * Verifies a GoalScored message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a GoalScored message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameEvents.GoalScored} GoalScored
+                 */
+                public static fromObject(object: { [k: string]: any }): message.input.GameEvents.GoalScored;
+
+                /**
+                 * Creates a GoalScored message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.GameEvents.GoalScored.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameEvents.GoalScored} GoalScored
+                 */
+                public static from(object: { [k: string]: any }): message.input.GameEvents.GoalScored;
+
+                /**
+                 * Creates a plain object from a GoalScored message. Also converts values to other types if specified.
+                 * @param {message.input.GameEvents.GoalScored} message GoalScored
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.input.GameEvents.GoalScored, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this GoalScored message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this GoalScored to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            type Penalisation$Properties = {
+                context?: message.input.GameEvents.Context;
+                robotId?: number;
+                ends?: google.protobuf.Timestamp$Properties;
+                reason?: message.input.GameState.Data.PenaltyReason;
+            };
+
+            /**
+             * Constructs a new Penalisation.
+             * @exports message.input.GameEvents.Penalisation
+             * @constructor
+             * @param {message.input.GameEvents.Penalisation$Properties=} [properties] Properties to set
+             */
+            class Penalisation {
+
+                /**
+                 * Constructs a new Penalisation.
+                 * @exports message.input.GameEvents.Penalisation
+                 * @constructor
+                 * @param {message.input.GameEvents.Penalisation$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.input.GameEvents.Penalisation$Properties);
+
+                /**
+                 * Penalisation context.
+                 * @type {message.input.GameEvents.Context}
+                 */
+                public context: message.input.GameEvents.Context;
+
+                /**
+                 * Penalisation robotId.
+                 * @type {number}
+                 */
+                public robotId: number;
+
+                /**
+                 * Penalisation ends.
+                 * @type {(google.protobuf.Timestamp$Properties|null)}
+                 */
+                public ends: (google.protobuf.Timestamp$Properties|null);
+
+                /**
+                 * Penalisation reason.
+                 * @type {message.input.GameState.Data.PenaltyReason}
+                 */
+                public reason: message.input.GameState.Data.PenaltyReason;
+
+                /**
+                 * Creates a new Penalisation instance using the specified properties.
+                 * @param {message.input.GameEvents.Penalisation$Properties=} [properties] Properties to set
+                 * @returns {message.input.GameEvents.Penalisation} Penalisation instance
+                 */
+                public static create(properties?: message.input.GameEvents.Penalisation$Properties): message.input.GameEvents.Penalisation;
+
+                /**
+                 * Encodes the specified Penalisation message. Does not implicitly {@link message.input.GameEvents.Penalisation.verify|verify} messages.
+                 * @param {message.input.GameEvents.Penalisation$Properties} message Penalisation message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.input.GameEvents.Penalisation$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified Penalisation message, length delimited. Does not implicitly {@link message.input.GameEvents.Penalisation.verify|verify} messages.
+                 * @param {message.input.GameEvents.Penalisation$Properties} message Penalisation message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.input.GameEvents.Penalisation$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a Penalisation message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.GameEvents.Penalisation} Penalisation
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.GameEvents.Penalisation;
+
+                /**
+                 * Decodes a Penalisation message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.GameEvents.Penalisation} Penalisation
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.GameEvents.Penalisation;
+
+                /**
+                 * Verifies a Penalisation message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a Penalisation message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameEvents.Penalisation} Penalisation
+                 */
+                public static fromObject(object: { [k: string]: any }): message.input.GameEvents.Penalisation;
+
+                /**
+                 * Creates a Penalisation message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.GameEvents.Penalisation.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameEvents.Penalisation} Penalisation
+                 */
+                public static from(object: { [k: string]: any }): message.input.GameEvents.Penalisation;
+
+                /**
+                 * Creates a plain object from a Penalisation message. Also converts values to other types if specified.
+                 * @param {message.input.GameEvents.Penalisation} message Penalisation
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.input.GameEvents.Penalisation, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this Penalisation message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this Penalisation to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            type Unpenalisation$Properties = {
+                context?: message.input.GameEvents.Context;
+                robotId?: number;
+            };
+
+            /**
+             * Constructs a new Unpenalisation.
+             * @exports message.input.GameEvents.Unpenalisation
+             * @constructor
+             * @param {message.input.GameEvents.Unpenalisation$Properties=} [properties] Properties to set
+             */
+            class Unpenalisation {
+
+                /**
+                 * Constructs a new Unpenalisation.
+                 * @exports message.input.GameEvents.Unpenalisation
+                 * @constructor
+                 * @param {message.input.GameEvents.Unpenalisation$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.input.GameEvents.Unpenalisation$Properties);
+
+                /**
+                 * Unpenalisation context.
+                 * @type {message.input.GameEvents.Context}
+                 */
+                public context: message.input.GameEvents.Context;
+
+                /**
+                 * Unpenalisation robotId.
+                 * @type {number}
+                 */
+                public robotId: number;
+
+                /**
+                 * Creates a new Unpenalisation instance using the specified properties.
+                 * @param {message.input.GameEvents.Unpenalisation$Properties=} [properties] Properties to set
+                 * @returns {message.input.GameEvents.Unpenalisation} Unpenalisation instance
+                 */
+                public static create(properties?: message.input.GameEvents.Unpenalisation$Properties): message.input.GameEvents.Unpenalisation;
+
+                /**
+                 * Encodes the specified Unpenalisation message. Does not implicitly {@link message.input.GameEvents.Unpenalisation.verify|verify} messages.
+                 * @param {message.input.GameEvents.Unpenalisation$Properties} message Unpenalisation message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.input.GameEvents.Unpenalisation$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified Unpenalisation message, length delimited. Does not implicitly {@link message.input.GameEvents.Unpenalisation.verify|verify} messages.
+                 * @param {message.input.GameEvents.Unpenalisation$Properties} message Unpenalisation message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.input.GameEvents.Unpenalisation$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes an Unpenalisation message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.GameEvents.Unpenalisation} Unpenalisation
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.GameEvents.Unpenalisation;
+
+                /**
+                 * Decodes an Unpenalisation message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.GameEvents.Unpenalisation} Unpenalisation
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.GameEvents.Unpenalisation;
+
+                /**
+                 * Verifies an Unpenalisation message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates an Unpenalisation message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameEvents.Unpenalisation} Unpenalisation
+                 */
+                public static fromObject(object: { [k: string]: any }): message.input.GameEvents.Unpenalisation;
+
+                /**
+                 * Creates an Unpenalisation message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.GameEvents.Unpenalisation.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameEvents.Unpenalisation} Unpenalisation
+                 */
+                public static from(object: { [k: string]: any }): message.input.GameEvents.Unpenalisation;
+
+                /**
+                 * Creates a plain object from an Unpenalisation message. Also converts values to other types if specified.
+                 * @param {message.input.GameEvents.Unpenalisation} message Unpenalisation
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.input.GameEvents.Unpenalisation, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this Unpenalisation message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this Unpenalisation to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            type CoachMessage$Properties = {
+                context?: message.input.GameEvents.Context;
+                message?: string;
+            };
+
+            /**
+             * Constructs a new CoachMessage.
+             * @exports message.input.GameEvents.CoachMessage
+             * @constructor
+             * @param {message.input.GameEvents.CoachMessage$Properties=} [properties] Properties to set
+             */
+            class CoachMessage {
+
+                /**
+                 * Constructs a new CoachMessage.
+                 * @exports message.input.GameEvents.CoachMessage
+                 * @constructor
+                 * @param {message.input.GameEvents.CoachMessage$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.input.GameEvents.CoachMessage$Properties);
+
+                /**
+                 * CoachMessage context.
+                 * @type {message.input.GameEvents.Context}
+                 */
+                public context: message.input.GameEvents.Context;
+
+                /**
+                 * CoachMessage message.
+                 * @type {string}
+                 */
+                public message: string;
+
+                /**
+                 * Creates a new CoachMessage instance using the specified properties.
+                 * @param {message.input.GameEvents.CoachMessage$Properties=} [properties] Properties to set
+                 * @returns {message.input.GameEvents.CoachMessage} CoachMessage instance
+                 */
+                public static create(properties?: message.input.GameEvents.CoachMessage$Properties): message.input.GameEvents.CoachMessage;
+
+                /**
+                 * Encodes the specified CoachMessage message. Does not implicitly {@link message.input.GameEvents.CoachMessage.verify|verify} messages.
+                 * @param {message.input.GameEvents.CoachMessage$Properties} message CoachMessage message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.input.GameEvents.CoachMessage$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified CoachMessage message, length delimited. Does not implicitly {@link message.input.GameEvents.CoachMessage.verify|verify} messages.
+                 * @param {message.input.GameEvents.CoachMessage$Properties} message CoachMessage message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.input.GameEvents.CoachMessage$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a CoachMessage message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.GameEvents.CoachMessage} CoachMessage
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.GameEvents.CoachMessage;
+
+                /**
+                 * Decodes a CoachMessage message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.GameEvents.CoachMessage} CoachMessage
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.GameEvents.CoachMessage;
+
+                /**
+                 * Verifies a CoachMessage message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a CoachMessage message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameEvents.CoachMessage} CoachMessage
+                 */
+                public static fromObject(object: { [k: string]: any }): message.input.GameEvents.CoachMessage;
+
+                /**
+                 * Creates a CoachMessage message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.GameEvents.CoachMessage.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameEvents.CoachMessage} CoachMessage
+                 */
+                public static from(object: { [k: string]: any }): message.input.GameEvents.CoachMessage;
+
+                /**
+                 * Creates a plain object from a CoachMessage message. Also converts values to other types if specified.
+                 * @param {message.input.GameEvents.CoachMessage} message CoachMessage
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.input.GameEvents.CoachMessage, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this CoachMessage message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this CoachMessage to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            type HalfTime$Properties = {
+                firstHalf?: boolean;
+            };
+
+            /**
+             * Constructs a new HalfTime.
+             * @exports message.input.GameEvents.HalfTime
+             * @constructor
+             * @param {message.input.GameEvents.HalfTime$Properties=} [properties] Properties to set
+             */
+            class HalfTime {
+
+                /**
+                 * Constructs a new HalfTime.
+                 * @exports message.input.GameEvents.HalfTime
+                 * @constructor
+                 * @param {message.input.GameEvents.HalfTime$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.input.GameEvents.HalfTime$Properties);
+
+                /**
+                 * HalfTime firstHalf.
+                 * @type {boolean}
+                 */
+                public firstHalf: boolean;
+
+                /**
+                 * Creates a new HalfTime instance using the specified properties.
+                 * @param {message.input.GameEvents.HalfTime$Properties=} [properties] Properties to set
+                 * @returns {message.input.GameEvents.HalfTime} HalfTime instance
+                 */
+                public static create(properties?: message.input.GameEvents.HalfTime$Properties): message.input.GameEvents.HalfTime;
+
+                /**
+                 * Encodes the specified HalfTime message. Does not implicitly {@link message.input.GameEvents.HalfTime.verify|verify} messages.
+                 * @param {message.input.GameEvents.HalfTime$Properties} message HalfTime message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.input.GameEvents.HalfTime$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified HalfTime message, length delimited. Does not implicitly {@link message.input.GameEvents.HalfTime.verify|verify} messages.
+                 * @param {message.input.GameEvents.HalfTime$Properties} message HalfTime message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.input.GameEvents.HalfTime$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a HalfTime message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.GameEvents.HalfTime} HalfTime
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.GameEvents.HalfTime;
+
+                /**
+                 * Decodes a HalfTime message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.GameEvents.HalfTime} HalfTime
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.GameEvents.HalfTime;
+
+                /**
+                 * Verifies a HalfTime message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a HalfTime message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameEvents.HalfTime} HalfTime
+                 */
+                public static fromObject(object: { [k: string]: any }): message.input.GameEvents.HalfTime;
+
+                /**
+                 * Creates a HalfTime message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.GameEvents.HalfTime.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameEvents.HalfTime} HalfTime
+                 */
+                public static from(object: { [k: string]: any }): message.input.GameEvents.HalfTime;
+
+                /**
+                 * Creates a plain object from a HalfTime message. Also converts values to other types if specified.
+                 * @param {message.input.GameEvents.HalfTime} message HalfTime
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.input.GameEvents.HalfTime, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this HalfTime message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this HalfTime to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            type BallKickedOut$Properties = {
+                context?: message.input.GameEvents.Context;
+                time?: google.protobuf.Timestamp$Properties;
+            };
+
+            /**
+             * Constructs a new BallKickedOut.
+             * @exports message.input.GameEvents.BallKickedOut
+             * @constructor
+             * @param {message.input.GameEvents.BallKickedOut$Properties=} [properties] Properties to set
+             */
+            class BallKickedOut {
+
+                /**
+                 * Constructs a new BallKickedOut.
+                 * @exports message.input.GameEvents.BallKickedOut
+                 * @constructor
+                 * @param {message.input.GameEvents.BallKickedOut$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.input.GameEvents.BallKickedOut$Properties);
+
+                /**
+                 * BallKickedOut context.
+                 * @type {message.input.GameEvents.Context}
+                 */
+                public context: message.input.GameEvents.Context;
+
+                /**
+                 * BallKickedOut time.
+                 * @type {(google.protobuf.Timestamp$Properties|null)}
+                 */
+                public time: (google.protobuf.Timestamp$Properties|null);
+
+                /**
+                 * Creates a new BallKickedOut instance using the specified properties.
+                 * @param {message.input.GameEvents.BallKickedOut$Properties=} [properties] Properties to set
+                 * @returns {message.input.GameEvents.BallKickedOut} BallKickedOut instance
+                 */
+                public static create(properties?: message.input.GameEvents.BallKickedOut$Properties): message.input.GameEvents.BallKickedOut;
+
+                /**
+                 * Encodes the specified BallKickedOut message. Does not implicitly {@link message.input.GameEvents.BallKickedOut.verify|verify} messages.
+                 * @param {message.input.GameEvents.BallKickedOut$Properties} message BallKickedOut message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.input.GameEvents.BallKickedOut$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified BallKickedOut message, length delimited. Does not implicitly {@link message.input.GameEvents.BallKickedOut.verify|verify} messages.
+                 * @param {message.input.GameEvents.BallKickedOut$Properties} message BallKickedOut message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.input.GameEvents.BallKickedOut$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a BallKickedOut message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.GameEvents.BallKickedOut} BallKickedOut
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.GameEvents.BallKickedOut;
+
+                /**
+                 * Decodes a BallKickedOut message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.GameEvents.BallKickedOut} BallKickedOut
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.GameEvents.BallKickedOut;
+
+                /**
+                 * Verifies a BallKickedOut message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a BallKickedOut message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameEvents.BallKickedOut} BallKickedOut
+                 */
+                public static fromObject(object: { [k: string]: any }): message.input.GameEvents.BallKickedOut;
+
+                /**
+                 * Creates a BallKickedOut message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.GameEvents.BallKickedOut.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameEvents.BallKickedOut} BallKickedOut
+                 */
+                public static from(object: { [k: string]: any }): message.input.GameEvents.BallKickedOut;
+
+                /**
+                 * Creates a plain object from a BallKickedOut message. Also converts values to other types if specified.
+                 * @param {message.input.GameEvents.BallKickedOut} message BallKickedOut
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.input.GameEvents.BallKickedOut, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this BallKickedOut message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this BallKickedOut to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            type KickOffTeam$Properties = {
+                context?: message.input.GameEvents.Context;
+            };
+
+            /**
+             * Constructs a new KickOffTeam.
+             * @exports message.input.GameEvents.KickOffTeam
+             * @constructor
+             * @param {message.input.GameEvents.KickOffTeam$Properties=} [properties] Properties to set
+             */
+            class KickOffTeam {
+
+                /**
+                 * Constructs a new KickOffTeam.
+                 * @exports message.input.GameEvents.KickOffTeam
+                 * @constructor
+                 * @param {message.input.GameEvents.KickOffTeam$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.input.GameEvents.KickOffTeam$Properties);
+
+                /**
+                 * KickOffTeam context.
+                 * @type {message.input.GameEvents.Context}
+                 */
+                public context: message.input.GameEvents.Context;
+
+                /**
+                 * Creates a new KickOffTeam instance using the specified properties.
+                 * @param {message.input.GameEvents.KickOffTeam$Properties=} [properties] Properties to set
+                 * @returns {message.input.GameEvents.KickOffTeam} KickOffTeam instance
+                 */
+                public static create(properties?: message.input.GameEvents.KickOffTeam$Properties): message.input.GameEvents.KickOffTeam;
+
+                /**
+                 * Encodes the specified KickOffTeam message. Does not implicitly {@link message.input.GameEvents.KickOffTeam.verify|verify} messages.
+                 * @param {message.input.GameEvents.KickOffTeam$Properties} message KickOffTeam message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.input.GameEvents.KickOffTeam$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified KickOffTeam message, length delimited. Does not implicitly {@link message.input.GameEvents.KickOffTeam.verify|verify} messages.
+                 * @param {message.input.GameEvents.KickOffTeam$Properties} message KickOffTeam message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.input.GameEvents.KickOffTeam$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a KickOffTeam message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.GameEvents.KickOffTeam} KickOffTeam
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.GameEvents.KickOffTeam;
+
+                /**
+                 * Decodes a KickOffTeam message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.GameEvents.KickOffTeam} KickOffTeam
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.GameEvents.KickOffTeam;
+
+                /**
+                 * Verifies a KickOffTeam message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a KickOffTeam message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameEvents.KickOffTeam} KickOffTeam
+                 */
+                public static fromObject(object: { [k: string]: any }): message.input.GameEvents.KickOffTeam;
+
+                /**
+                 * Creates a KickOffTeam message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.GameEvents.KickOffTeam.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameEvents.KickOffTeam} KickOffTeam
+                 */
+                public static from(object: { [k: string]: any }): message.input.GameEvents.KickOffTeam;
+
+                /**
+                 * Creates a plain object from a KickOffTeam message. Also converts values to other types if specified.
+                 * @param {message.input.GameEvents.KickOffTeam} message KickOffTeam
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.input.GameEvents.KickOffTeam, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this KickOffTeam message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this KickOffTeam to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            type GamePhase$Properties = {
+                phase?: message.input.GameState.Data.Phase;
+                readyTime?: google.protobuf.Timestamp$Properties;
+                endHalf?: google.protobuf.Timestamp$Properties;
+                ballFree?: google.protobuf.Timestamp$Properties;
+                ends?: google.protobuf.Timestamp$Properties;
+                nextHalf?: google.protobuf.Timestamp$Properties;
+            };
+
+            /**
+             * Constructs a new GamePhase.
+             * @exports message.input.GameEvents.GamePhase
+             * @constructor
+             * @param {message.input.GameEvents.GamePhase$Properties=} [properties] Properties to set
+             */
+            class GamePhase {
+
+                /**
+                 * Constructs a new GamePhase.
+                 * @exports message.input.GameEvents.GamePhase
+                 * @constructor
+                 * @param {message.input.GameEvents.GamePhase$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.input.GameEvents.GamePhase$Properties);
+
+                /**
+                 * GamePhase phase.
+                 * @type {message.input.GameState.Data.Phase}
+                 */
+                public phase: message.input.GameState.Data.Phase;
+
+                /**
+                 * GamePhase readyTime.
+                 * @type {(google.protobuf.Timestamp$Properties|null)}
+                 */
+                public readyTime: (google.protobuf.Timestamp$Properties|null);
+
+                /**
+                 * GamePhase endHalf.
+                 * @type {(google.protobuf.Timestamp$Properties|null)}
+                 */
+                public endHalf: (google.protobuf.Timestamp$Properties|null);
+
+                /**
+                 * GamePhase ballFree.
+                 * @type {(google.protobuf.Timestamp$Properties|null)}
+                 */
+                public ballFree: (google.protobuf.Timestamp$Properties|null);
+
+                /**
+                 * GamePhase ends.
+                 * @type {(google.protobuf.Timestamp$Properties|null)}
+                 */
+                public ends: (google.protobuf.Timestamp$Properties|null);
+
+                /**
+                 * GamePhase nextHalf.
+                 * @type {(google.protobuf.Timestamp$Properties|null)}
+                 */
+                public nextHalf: (google.protobuf.Timestamp$Properties|null);
+
+                /**
+                 * Creates a new GamePhase instance using the specified properties.
+                 * @param {message.input.GameEvents.GamePhase$Properties=} [properties] Properties to set
+                 * @returns {message.input.GameEvents.GamePhase} GamePhase instance
+                 */
+                public static create(properties?: message.input.GameEvents.GamePhase$Properties): message.input.GameEvents.GamePhase;
+
+                /**
+                 * Encodes the specified GamePhase message. Does not implicitly {@link message.input.GameEvents.GamePhase.verify|verify} messages.
+                 * @param {message.input.GameEvents.GamePhase$Properties} message GamePhase message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.input.GameEvents.GamePhase$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified GamePhase message, length delimited. Does not implicitly {@link message.input.GameEvents.GamePhase.verify|verify} messages.
+                 * @param {message.input.GameEvents.GamePhase$Properties} message GamePhase message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.input.GameEvents.GamePhase$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a GamePhase message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.GameEvents.GamePhase} GamePhase
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.GameEvents.GamePhase;
+
+                /**
+                 * Decodes a GamePhase message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.GameEvents.GamePhase} GamePhase
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.GameEvents.GamePhase;
+
+                /**
+                 * Verifies a GamePhase message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a GamePhase message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameEvents.GamePhase} GamePhase
+                 */
+                public static fromObject(object: { [k: string]: any }): message.input.GameEvents.GamePhase;
+
+                /**
+                 * Creates a GamePhase message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.GameEvents.GamePhase.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameEvents.GamePhase} GamePhase
+                 */
+                public static from(object: { [k: string]: any }): message.input.GameEvents.GamePhase;
+
+                /**
+                 * Creates a plain object from a GamePhase message. Also converts values to other types if specified.
+                 * @param {message.input.GameEvents.GamePhase} message GamePhase
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.input.GameEvents.GamePhase, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this GamePhase message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this GamePhase to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            type GameMode$Properties = {
+                mode?: message.input.GameState.Data.Mode;
+            };
+
+            /**
+             * Constructs a new GameMode.
+             * @exports message.input.GameEvents.GameMode
+             * @constructor
+             * @param {message.input.GameEvents.GameMode$Properties=} [properties] Properties to set
+             */
+            class GameMode {
+
+                /**
+                 * Constructs a new GameMode.
+                 * @exports message.input.GameEvents.GameMode
+                 * @constructor
+                 * @param {message.input.GameEvents.GameMode$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.input.GameEvents.GameMode$Properties);
+
+                /**
+                 * GameMode mode.
+                 * @type {message.input.GameState.Data.Mode}
+                 */
+                public mode: message.input.GameState.Data.Mode;
+
+                /**
+                 * Creates a new GameMode instance using the specified properties.
+                 * @param {message.input.GameEvents.GameMode$Properties=} [properties] Properties to set
+                 * @returns {message.input.GameEvents.GameMode} GameMode instance
+                 */
+                public static create(properties?: message.input.GameEvents.GameMode$Properties): message.input.GameEvents.GameMode;
+
+                /**
+                 * Encodes the specified GameMode message. Does not implicitly {@link message.input.GameEvents.GameMode.verify|verify} messages.
+                 * @param {message.input.GameEvents.GameMode$Properties} message GameMode message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.input.GameEvents.GameMode$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified GameMode message, length delimited. Does not implicitly {@link message.input.GameEvents.GameMode.verify|verify} messages.
+                 * @param {message.input.GameEvents.GameMode$Properties} message GameMode message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.input.GameEvents.GameMode$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a GameMode message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.GameEvents.GameMode} GameMode
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.GameEvents.GameMode;
+
+                /**
+                 * Decodes a GameMode message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.GameEvents.GameMode} GameMode
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.GameEvents.GameMode;
+
+                /**
+                 * Verifies a GameMode message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a GameMode message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameEvents.GameMode} GameMode
+                 */
+                public static fromObject(object: { [k: string]: any }): message.input.GameEvents.GameMode;
+
+                /**
+                 * Creates a GameMode message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.GameEvents.GameMode.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameEvents.GameMode} GameMode
+                 */
+                public static from(object: { [k: string]: any }): message.input.GameEvents.GameMode;
+
+                /**
+                 * Creates a plain object from a GameMode message. Also converts values to other types if specified.
+                 * @param {message.input.GameEvents.GameMode} message GameMode
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.input.GameEvents.GameMode, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this GameMode message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this GameMode to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+        }
+
+        type GameState$Properties = {
+            data?: message.input.GameState.Data$Properties;
+            event?: string;
+        };
+
+        /**
+         * Constructs a new GameState.
+         * @exports message.input.GameState
+         * @constructor
+         * @param {message.input.GameState$Properties=} [properties] Properties to set
+         */
+        class GameState {
+
+            /**
+             * Constructs a new GameState.
+             * @exports message.input.GameState
+             * @constructor
+             * @param {message.input.GameState$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.input.GameState$Properties);
+
+            /**
+             * GameState data.
+             * @type {(message.input.GameState.Data$Properties|null)}
+             */
+            public data: (message.input.GameState.Data$Properties|null);
+
+            /**
+             * GameState event.
+             * @type {string}
+             */
+            public event: string;
+
+            /**
+             * Creates a new GameState instance using the specified properties.
+             * @param {message.input.GameState$Properties=} [properties] Properties to set
+             * @returns {message.input.GameState} GameState instance
+             */
+            public static create(properties?: message.input.GameState$Properties): message.input.GameState;
+
+            /**
+             * Encodes the specified GameState message. Does not implicitly {@link message.input.GameState.verify|verify} messages.
+             * @param {message.input.GameState$Properties} message GameState message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.input.GameState$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified GameState message, length delimited. Does not implicitly {@link message.input.GameState.verify|verify} messages.
+             * @param {message.input.GameState$Properties} message GameState message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.input.GameState$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a GameState message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.input.GameState} GameState
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.GameState;
+
+            /**
+             * Decodes a GameState message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.input.GameState} GameState
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.GameState;
+
+            /**
+             * Verifies a GameState message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a GameState message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.GameState} GameState
+             */
+            public static fromObject(object: { [k: string]: any }): message.input.GameState;
+
+            /**
+             * Creates a GameState message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.input.GameState.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.GameState} GameState
+             */
+            public static from(object: { [k: string]: any }): message.input.GameState;
+
+            /**
+             * Creates a plain object from a GameState message. Also converts values to other types if specified.
+             * @param {message.input.GameState} message GameState
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.input.GameState, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this GameState message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this GameState to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        namespace GameState {
+
+            type Data$Properties = {
+                phase?: message.input.GameState.Data.Phase;
+                mode?: message.input.GameState.Data.Mode;
+                firstHalf?: boolean;
+                kickedOutByUs?: boolean;
+                kickedOutTime?: google.protobuf.Timestamp$Properties;
+                ourKickOff?: boolean;
+                primaryTime?: google.protobuf.Timestamp$Properties;
+                secondaryTime?: google.protobuf.Timestamp$Properties;
+                team?: message.input.GameState.Data.Team$Properties;
+                opponent?: message.input.GameState.Data.Team$Properties;
+                self?: message.input.GameState.Data.Robot$Properties;
+            };
+
+            /**
+             * Constructs a new Data.
+             * @exports message.input.GameState.Data
+             * @constructor
+             * @param {message.input.GameState.Data$Properties=} [properties] Properties to set
+             */
+            class Data {
+
+                /**
+                 * Constructs a new Data.
+                 * @exports message.input.GameState.Data
+                 * @constructor
+                 * @param {message.input.GameState.Data$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.input.GameState.Data$Properties);
+
+                /**
+                 * Data phase.
+                 * @type {message.input.GameState.Data.Phase}
+                 */
+                public phase: message.input.GameState.Data.Phase;
+
+                /**
+                 * Data mode.
+                 * @type {message.input.GameState.Data.Mode}
+                 */
+                public mode: message.input.GameState.Data.Mode;
+
+                /**
+                 * Data firstHalf.
+                 * @type {boolean}
+                 */
+                public firstHalf: boolean;
+
+                /**
+                 * Data kickedOutByUs.
+                 * @type {boolean}
+                 */
+                public kickedOutByUs: boolean;
+
+                /**
+                 * Data kickedOutTime.
+                 * @type {(google.protobuf.Timestamp$Properties|null)}
+                 */
+                public kickedOutTime: (google.protobuf.Timestamp$Properties|null);
+
+                /**
+                 * Data ourKickOff.
+                 * @type {boolean}
+                 */
+                public ourKickOff: boolean;
+
+                /**
+                 * Data primaryTime.
+                 * @type {(google.protobuf.Timestamp$Properties|null)}
+                 */
+                public primaryTime: (google.protobuf.Timestamp$Properties|null);
+
+                /**
+                 * Data secondaryTime.
+                 * @type {(google.protobuf.Timestamp$Properties|null)}
+                 */
+                public secondaryTime: (google.protobuf.Timestamp$Properties|null);
+
+                /**
+                 * Data team.
+                 * @type {(message.input.GameState.Data.Team$Properties|null)}
+                 */
+                public team: (message.input.GameState.Data.Team$Properties|null);
+
+                /**
+                 * Data opponent.
+                 * @type {(message.input.GameState.Data.Team$Properties|null)}
+                 */
+                public opponent: (message.input.GameState.Data.Team$Properties|null);
+
+                /**
+                 * Data self.
+                 * @type {(message.input.GameState.Data.Robot$Properties|null)}
+                 */
+                public self: (message.input.GameState.Data.Robot$Properties|null);
+
+                /**
+                 * Creates a new Data instance using the specified properties.
+                 * @param {message.input.GameState.Data$Properties=} [properties] Properties to set
+                 * @returns {message.input.GameState.Data} Data instance
+                 */
+                public static create(properties?: message.input.GameState.Data$Properties): message.input.GameState.Data;
+
+                /**
+                 * Encodes the specified Data message. Does not implicitly {@link message.input.GameState.Data.verify|verify} messages.
+                 * @param {message.input.GameState.Data$Properties} message Data message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.input.GameState.Data$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified Data message, length delimited. Does not implicitly {@link message.input.GameState.Data.verify|verify} messages.
+                 * @param {message.input.GameState.Data$Properties} message Data message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.input.GameState.Data$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a Data message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.GameState.Data} Data
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.GameState.Data;
+
+                /**
+                 * Decodes a Data message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.GameState.Data} Data
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.GameState.Data;
+
+                /**
+                 * Verifies a Data message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a Data message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameState.Data} Data
+                 */
+                public static fromObject(object: { [k: string]: any }): message.input.GameState.Data;
+
+                /**
+                 * Creates a Data message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.GameState.Data.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameState.Data} Data
+                 */
+                public static from(object: { [k: string]: any }): message.input.GameState.Data;
+
+                /**
+                 * Creates a plain object from a Data message. Also converts values to other types if specified.
+                 * @param {message.input.GameState.Data} message Data
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.input.GameState.Data, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this Data message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this Data to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            namespace Data {
+
+                /**
+                 * Mode enum.
+                 * @name Mode
+                 * @memberof message.input.GameState.Data
+                 * @enum {number}
+                 * @property {number} UNKNOWN_MODE=0 UNKNOWN_MODE value
+                 * @property {number} NORMAL=1 NORMAL value
+                 * @property {number} PENALTY_SHOOTOUT=2 PENALTY_SHOOTOUT value
+                 * @property {number} OVERTIME=3 OVERTIME value
+                 */
+                enum Mode {
+                    UNKNOWN_MODE = 0,
+                    NORMAL = 1,
+                    PENALTY_SHOOTOUT = 2,
+                    OVERTIME = 3
+                }
+
+                /**
+                 * Phase enum.
+                 * @name Phase
+                 * @memberof message.input.GameState.Data
+                 * @enum {number}
+                 * @property {number} UNKNOWN_PHASE=0 UNKNOWN_PHASE value
+                 * @property {number} INITIAL=1 INITIAL value
+                 * @property {number} READY=2 READY value
+                 * @property {number} SET=3 SET value
+                 * @property {number} PLAYING=4 PLAYING value
+                 * @property {number} TIMEOUT=5 TIMEOUT value
+                 * @property {number} FINISHED=6 FINISHED value
+                 */
+                enum Phase {
+                    UNKNOWN_PHASE = 0,
+                    INITIAL = 1,
+                    READY = 2,
+                    SET = 3,
+                    PLAYING = 4,
+                    TIMEOUT = 5,
+                    FINISHED = 6
+                }
+
+                /**
+                 * PenaltyReason enum.
+                 * @name PenaltyReason
+                 * @memberof message.input.GameState.Data
+                 * @enum {number}
+                 * @property {number} UNKNOWN_PENALTY_REASON=0 UNKNOWN_PENALTY_REASON value
+                 * @property {number} UNPENALISED=1 UNPENALISED value
+                 * @property {number} BALL_MANIPULATION=2 BALL_MANIPULATION value
+                 * @property {number} PHYSICAL_CONTACT=3 PHYSICAL_CONTACT value
+                 * @property {number} ILLEGAL_ATTACK=4 ILLEGAL_ATTACK value
+                 * @property {number} ILLEGAL_DEFENSE=5 ILLEGAL_DEFENSE value
+                 * @property {number} REQUEST_FOR_PICKUP=6 REQUEST_FOR_PICKUP value
+                 * @property {number} REQUEST_FOR_SERVICE=7 REQUEST_FOR_SERVICE value
+                 * @property {number} REQUEST_FOR_PICKUP_TO_SERVICE=8 REQUEST_FOR_PICKUP_TO_SERVICE value
+                 * @property {number} SUBSTITUTE=9 SUBSTITUTE value
+                 * @property {number} MANUAL=10 MANUAL value
+                 */
+                enum PenaltyReason {
+                    UNKNOWN_PENALTY_REASON = 0,
+                    UNPENALISED = 1,
+                    BALL_MANIPULATION = 2,
+                    PHYSICAL_CONTACT = 3,
+                    ILLEGAL_ATTACK = 4,
+                    ILLEGAL_DEFENSE = 5,
+                    REQUEST_FOR_PICKUP = 6,
+                    REQUEST_FOR_SERVICE = 7,
+                    REQUEST_FOR_PICKUP_TO_SERVICE = 8,
+                    SUBSTITUTE = 9,
+                    MANUAL = 10
+                }
+
+                type Robot$Properties = {
+                    id?: number;
+                    penaltyReason?: message.input.GameState.Data.PenaltyReason;
+                    unpenalised?: google.protobuf.Timestamp$Properties;
+                };
+
+                /**
+                 * Constructs a new Robot.
+                 * @exports message.input.GameState.Data.Robot
+                 * @constructor
+                 * @param {message.input.GameState.Data.Robot$Properties=} [properties] Properties to set
+                 */
+                class Robot {
+
+                    /**
+                     * Constructs a new Robot.
+                     * @exports message.input.GameState.Data.Robot
+                     * @constructor
+                     * @param {message.input.GameState.Data.Robot$Properties=} [properties] Properties to set
+                     */
+                    constructor(properties?: message.input.GameState.Data.Robot$Properties);
+
+                    /**
+                     * Robot id.
+                     * @type {number}
+                     */
+                    public id: number;
+
+                    /**
+                     * Robot penaltyReason.
+                     * @type {message.input.GameState.Data.PenaltyReason}
+                     */
+                    public penaltyReason: message.input.GameState.Data.PenaltyReason;
+
+                    /**
+                     * Robot unpenalised.
+                     * @type {(google.protobuf.Timestamp$Properties|null)}
+                     */
+                    public unpenalised: (google.protobuf.Timestamp$Properties|null);
+
+                    /**
+                     * Creates a new Robot instance using the specified properties.
+                     * @param {message.input.GameState.Data.Robot$Properties=} [properties] Properties to set
+                     * @returns {message.input.GameState.Data.Robot} Robot instance
+                     */
+                    public static create(properties?: message.input.GameState.Data.Robot$Properties): message.input.GameState.Data.Robot;
+
+                    /**
+                     * Encodes the specified Robot message. Does not implicitly {@link message.input.GameState.Data.Robot.verify|verify} messages.
+                     * @param {message.input.GameState.Data.Robot$Properties} message Robot message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    public static encode(message: message.input.GameState.Data.Robot$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                    /**
+                     * Encodes the specified Robot message, length delimited. Does not implicitly {@link message.input.GameState.Data.Robot.verify|verify} messages.
+                     * @param {message.input.GameState.Data.Robot$Properties} message Robot message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    public static encodeDelimited(message: message.input.GameState.Data.Robot$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                    /**
+                     * Decodes a Robot message from the specified reader or buffer.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @param {number} [length] Message length if known beforehand
+                     * @returns {message.input.GameState.Data.Robot} Robot
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.GameState.Data.Robot;
+
+                    /**
+                     * Decodes a Robot message from the specified reader or buffer, length delimited.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @returns {message.input.GameState.Data.Robot} Robot
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.GameState.Data.Robot;
+
+                    /**
+                     * Verifies a Robot message.
+                     * @param {Object.<string,*>} message Plain object to verify
+                     * @returns {?string} `null` if valid, otherwise the reason why it is not
+                     */
+                    public static verify(message: { [k: string]: any }): string;
+
+                    /**
+                     * Creates a Robot message from a plain object. Also converts values to their respective internal types.
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.input.GameState.Data.Robot} Robot
+                     */
+                    public static fromObject(object: { [k: string]: any }): message.input.GameState.Data.Robot;
+
+                    /**
+                     * Creates a Robot message from a plain object. Also converts values to their respective internal types.
+                     * This is an alias of {@link message.input.GameState.Data.Robot.fromObject}.
+                     * @function
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.input.GameState.Data.Robot} Robot
+                     */
+                    public static from(object: { [k: string]: any }): message.input.GameState.Data.Robot;
+
+                    /**
+                     * Creates a plain object from a Robot message. Also converts values to other types if specified.
+                     * @param {message.input.GameState.Data.Robot} message Robot
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    public static toObject(message: message.input.GameState.Data.Robot, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                    /**
+                     * Creates a plain object from this Robot message. Also converts values to other types if specified.
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                    /**
+                     * Converts this Robot to JSON.
+                     * @returns {Object.<string,*>} JSON object
+                     */
+                    public toJSON(): { [k: string]: any };
+                }
+
+                type Team$Properties = {
+                    teamId?: number;
+                    score?: number;
+                    coachMessage?: string;
+                    players?: message.input.GameState.Data.Robot$Properties[];
+                };
+
+                /**
+                 * Constructs a new Team.
+                 * @exports message.input.GameState.Data.Team
+                 * @constructor
+                 * @param {message.input.GameState.Data.Team$Properties=} [properties] Properties to set
+                 */
+                class Team {
+
+                    /**
+                     * Constructs a new Team.
+                     * @exports message.input.GameState.Data.Team
+                     * @constructor
+                     * @param {message.input.GameState.Data.Team$Properties=} [properties] Properties to set
+                     */
+                    constructor(properties?: message.input.GameState.Data.Team$Properties);
+
+                    /**
+                     * Team teamId.
+                     * @type {number}
+                     */
+                    public teamId: number;
+
+                    /**
+                     * Team score.
+                     * @type {number}
+                     */
+                    public score: number;
+
+                    /**
+                     * Team coachMessage.
+                     * @type {string}
+                     */
+                    public coachMessage: string;
+
+                    /**
+                     * Team players.
+                     * @type {Array.<message.input.GameState.Data.Robot$Properties>}
+                     */
+                    public players: message.input.GameState.Data.Robot$Properties[];
+
+                    /**
+                     * Creates a new Team instance using the specified properties.
+                     * @param {message.input.GameState.Data.Team$Properties=} [properties] Properties to set
+                     * @returns {message.input.GameState.Data.Team} Team instance
+                     */
+                    public static create(properties?: message.input.GameState.Data.Team$Properties): message.input.GameState.Data.Team;
+
+                    /**
+                     * Encodes the specified Team message. Does not implicitly {@link message.input.GameState.Data.Team.verify|verify} messages.
+                     * @param {message.input.GameState.Data.Team$Properties} message Team message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    public static encode(message: message.input.GameState.Data.Team$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                    /**
+                     * Encodes the specified Team message, length delimited. Does not implicitly {@link message.input.GameState.Data.Team.verify|verify} messages.
+                     * @param {message.input.GameState.Data.Team$Properties} message Team message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    public static encodeDelimited(message: message.input.GameState.Data.Team$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                    /**
+                     * Decodes a Team message from the specified reader or buffer.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @param {number} [length] Message length if known beforehand
+                     * @returns {message.input.GameState.Data.Team} Team
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.GameState.Data.Team;
+
+                    /**
+                     * Decodes a Team message from the specified reader or buffer, length delimited.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @returns {message.input.GameState.Data.Team} Team
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.GameState.Data.Team;
+
+                    /**
+                     * Verifies a Team message.
+                     * @param {Object.<string,*>} message Plain object to verify
+                     * @returns {?string} `null` if valid, otherwise the reason why it is not
+                     */
+                    public static verify(message: { [k: string]: any }): string;
+
+                    /**
+                     * Creates a Team message from a plain object. Also converts values to their respective internal types.
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.input.GameState.Data.Team} Team
+                     */
+                    public static fromObject(object: { [k: string]: any }): message.input.GameState.Data.Team;
+
+                    /**
+                     * Creates a Team message from a plain object. Also converts values to their respective internal types.
+                     * This is an alias of {@link message.input.GameState.Data.Team.fromObject}.
+                     * @function
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.input.GameState.Data.Team} Team
+                     */
+                    public static from(object: { [k: string]: any }): message.input.GameState.Data.Team;
+
+                    /**
+                     * Creates a plain object from a Team message. Also converts values to other types if specified.
+                     * @param {message.input.GameState.Data.Team} message Team
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    public static toObject(message: message.input.GameState.Data.Team, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                    /**
+                     * Creates a plain object from this Team message. Also converts values to other types if specified.
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                    /**
+                     * Converts this Team to JSON.
+                     * @returns {Object.<string,*>} JSON object
+                     */
+                    public toJSON(): { [k: string]: any };
+                }
+            }
+        }
+
+        type Image$Properties = {
+            format?: number;
+            dimensions?: uvec2$Properties;
+            data?: Uint8Array;
+            cameraId?: number;
+            serialNumber?: string;
+            timestamp?: google.protobuf.Timestamp$Properties;
+        };
+
+        /**
+         * Constructs a new Image.
+         * @exports message.input.Image
+         * @constructor
+         * @param {message.input.Image$Properties=} [properties] Properties to set
+         */
+        class Image {
+
+            /**
+             * Constructs a new Image.
+             * @exports message.input.Image
+             * @constructor
+             * @param {message.input.Image$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.input.Image$Properties);
+
+            /**
+             * Image format.
+             * @type {number}
+             */
+            public format: number;
+
+            /**
+             * Image dimensions.
+             * @type {(uvec2$Properties|null)}
+             */
+            public dimensions: (uvec2$Properties|null);
+
+            /**
+             * Image data.
+             * @type {Uint8Array}
+             */
+            public data: Uint8Array;
+
+            /**
+             * Image cameraId.
+             * @type {number}
+             */
+            public cameraId: number;
+
+            /**
+             * Image serialNumber.
+             * @type {string}
+             */
+            public serialNumber: string;
+
+            /**
+             * Image timestamp.
+             * @type {(google.protobuf.Timestamp$Properties|null)}
+             */
+            public timestamp: (google.protobuf.Timestamp$Properties|null);
+
+            /**
+             * Creates a new Image instance using the specified properties.
+             * @param {message.input.Image$Properties=} [properties] Properties to set
+             * @returns {message.input.Image} Image instance
+             */
+            public static create(properties?: message.input.Image$Properties): message.input.Image;
+
+            /**
+             * Encodes the specified Image message. Does not implicitly {@link message.input.Image.verify|verify} messages.
+             * @param {message.input.Image$Properties} message Image message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.input.Image$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified Image message, length delimited. Does not implicitly {@link message.input.Image.verify|verify} messages.
+             * @param {message.input.Image$Properties} message Image message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.input.Image$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes an Image message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.input.Image} Image
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.Image;
+
+            /**
+             * Decodes an Image message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.input.Image} Image
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.Image;
+
+            /**
+             * Verifies an Image message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates an Image message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.Image} Image
+             */
+            public static fromObject(object: { [k: string]: any }): message.input.Image;
+
+            /**
+             * Creates an Image message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.input.Image.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.Image} Image
+             */
+            public static from(object: { [k: string]: any }): message.input.Image;
+
+            /**
+             * Creates a plain object from an Image message. Also converts values to other types if specified.
+             * @param {message.input.Image} message Image
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.input.Image, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this Image message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this Image to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type ImageFragment$Properties = {
+            image?: message.input.Image$Properties;
+            start?: number;
+            end?: number;
+            camToFeet?: fmat44$Properties;
+        };
+
+        /**
+         * Constructs a new ImageFragment.
+         * @exports message.input.ImageFragment
+         * @constructor
+         * @param {message.input.ImageFragment$Properties=} [properties] Properties to set
+         */
+        class ImageFragment {
+
+            /**
+             * Constructs a new ImageFragment.
+             * @exports message.input.ImageFragment
+             * @constructor
+             * @param {message.input.ImageFragment$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.input.ImageFragment$Properties);
+
+            /**
+             * ImageFragment image.
+             * @type {(message.input.Image$Properties|null)}
+             */
+            public image: (message.input.Image$Properties|null);
+
+            /**
+             * ImageFragment start.
+             * @type {number}
+             */
+            public start: number;
+
+            /**
+             * ImageFragment end.
+             * @type {number}
+             */
+            public end: number;
+
+            /**
+             * ImageFragment camToFeet.
+             * @type {(fmat44$Properties|null)}
+             */
+            public camToFeet: (fmat44$Properties|null);
+
+            /**
+             * Creates a new ImageFragment instance using the specified properties.
+             * @param {message.input.ImageFragment$Properties=} [properties] Properties to set
+             * @returns {message.input.ImageFragment} ImageFragment instance
+             */
+            public static create(properties?: message.input.ImageFragment$Properties): message.input.ImageFragment;
+
+            /**
+             * Encodes the specified ImageFragment message. Does not implicitly {@link message.input.ImageFragment.verify|verify} messages.
+             * @param {message.input.ImageFragment$Properties} message ImageFragment message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.input.ImageFragment$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified ImageFragment message, length delimited. Does not implicitly {@link message.input.ImageFragment.verify|verify} messages.
+             * @param {message.input.ImageFragment$Properties} message ImageFragment message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.input.ImageFragment$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes an ImageFragment message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.input.ImageFragment} ImageFragment
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.ImageFragment;
+
+            /**
+             * Decodes an ImageFragment message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.input.ImageFragment} ImageFragment
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.ImageFragment;
+
+            /**
+             * Verifies an ImageFragment message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates an ImageFragment message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.ImageFragment} ImageFragment
+             */
+            public static fromObject(object: { [k: string]: any }): message.input.ImageFragment;
+
+            /**
+             * Creates an ImageFragment message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.input.ImageFragment.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.ImageFragment} ImageFragment
+             */
+            public static from(object: { [k: string]: any }): message.input.ImageFragment;
+
+            /**
+             * Creates a plain object from an ImageFragment message. Also converts values to other types if specified.
+             * @param {message.input.ImageFragment} message ImageFragment
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.input.ImageFragment, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this ImageFragment message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this ImageFragment to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type MotionCapture$Properties = {
+            frameNumber?: number;
+            latency?: number;
+            timecode?: number;
+            timecodeSub?: number;
+            timestamp?: number;
+            recording?: boolean;
+            trackedModelsChanged?: boolean;
+            markerSets?: message.input.MotionCapture.MarkerSet$Properties[];
+            markers?: message.input.MotionCapture.Marker$Properties[];
+            rigidBodies?: message.input.MotionCapture.RigidBody$Properties[];
+            skeletons?: message.input.MotionCapture.Skeleton$Properties[];
+            labeledMarkers?: message.input.MotionCapture.LabeledMarker$Properties[];
+            forcePlates?: message.input.MotionCapture.ForcePlate$Properties[];
+        };
+
+        /**
+         * Constructs a new MotionCapture.
+         * @exports message.input.MotionCapture
+         * @constructor
+         * @param {message.input.MotionCapture$Properties=} [properties] Properties to set
+         */
+        class MotionCapture {
+
+            /**
+             * Constructs a new MotionCapture.
+             * @exports message.input.MotionCapture
+             * @constructor
+             * @param {message.input.MotionCapture$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.input.MotionCapture$Properties);
+
+            /**
+             * MotionCapture frameNumber.
+             * @type {number}
+             */
+            public frameNumber: number;
+
+            /**
+             * MotionCapture latency.
+             * @type {number}
+             */
+            public latency: number;
+
+            /**
+             * MotionCapture timecode.
+             * @type {number}
+             */
+            public timecode: number;
+
+            /**
+             * MotionCapture timecodeSub.
+             * @type {number}
+             */
+            public timecodeSub: number;
+
+            /**
+             * MotionCapture timestamp.
+             * @type {number}
+             */
+            public timestamp: number;
+
+            /**
+             * MotionCapture recording.
+             * @type {boolean}
+             */
+            public recording: boolean;
+
+            /**
+             * MotionCapture trackedModelsChanged.
+             * @type {boolean}
+             */
+            public trackedModelsChanged: boolean;
+
+            /**
+             * MotionCapture markerSets.
+             * @type {Array.<message.input.MotionCapture.MarkerSet$Properties>}
+             */
+            public markerSets: message.input.MotionCapture.MarkerSet$Properties[];
+
+            /**
+             * MotionCapture markers.
+             * @type {Array.<message.input.MotionCapture.Marker$Properties>}
+             */
+            public markers: message.input.MotionCapture.Marker$Properties[];
+
+            /**
+             * MotionCapture rigidBodies.
+             * @type {Array.<message.input.MotionCapture.RigidBody$Properties>}
+             */
+            public rigidBodies: message.input.MotionCapture.RigidBody$Properties[];
+
+            /**
+             * MotionCapture skeletons.
+             * @type {Array.<message.input.MotionCapture.Skeleton$Properties>}
+             */
+            public skeletons: message.input.MotionCapture.Skeleton$Properties[];
+
+            /**
+             * MotionCapture labeledMarkers.
+             * @type {Array.<message.input.MotionCapture.LabeledMarker$Properties>}
+             */
+            public labeledMarkers: message.input.MotionCapture.LabeledMarker$Properties[];
+
+            /**
+             * MotionCapture forcePlates.
+             * @type {Array.<message.input.MotionCapture.ForcePlate$Properties>}
+             */
+            public forcePlates: message.input.MotionCapture.ForcePlate$Properties[];
+
+            /**
+             * Creates a new MotionCapture instance using the specified properties.
+             * @param {message.input.MotionCapture$Properties=} [properties] Properties to set
+             * @returns {message.input.MotionCapture} MotionCapture instance
+             */
+            public static create(properties?: message.input.MotionCapture$Properties): message.input.MotionCapture;
+
+            /**
+             * Encodes the specified MotionCapture message. Does not implicitly {@link message.input.MotionCapture.verify|verify} messages.
+             * @param {message.input.MotionCapture$Properties} message MotionCapture message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.input.MotionCapture$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified MotionCapture message, length delimited. Does not implicitly {@link message.input.MotionCapture.verify|verify} messages.
+             * @param {message.input.MotionCapture$Properties} message MotionCapture message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.input.MotionCapture$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a MotionCapture message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.input.MotionCapture} MotionCapture
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.MotionCapture;
+
+            /**
+             * Decodes a MotionCapture message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.input.MotionCapture} MotionCapture
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.MotionCapture;
+
+            /**
+             * Verifies a MotionCapture message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a MotionCapture message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.MotionCapture} MotionCapture
+             */
+            public static fromObject(object: { [k: string]: any }): message.input.MotionCapture;
+
+            /**
+             * Creates a MotionCapture message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.input.MotionCapture.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.MotionCapture} MotionCapture
+             */
+            public static from(object: { [k: string]: any }): message.input.MotionCapture;
+
+            /**
+             * Creates a plain object from a MotionCapture message. Also converts values to other types if specified.
+             * @param {message.input.MotionCapture} message MotionCapture
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.input.MotionCapture, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this MotionCapture message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this MotionCapture to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        namespace MotionCapture {
+
+            type Marker$Properties = {
+                id?: number;
+                position?: fvec3$Properties;
+                size?: number;
+            };
+
+            /**
+             * Constructs a new Marker.
+             * @exports message.input.MotionCapture.Marker
+             * @constructor
+             * @param {message.input.MotionCapture.Marker$Properties=} [properties] Properties to set
+             */
+            class Marker {
+
+                /**
+                 * Constructs a new Marker.
+                 * @exports message.input.MotionCapture.Marker
+                 * @constructor
+                 * @param {message.input.MotionCapture.Marker$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.input.MotionCapture.Marker$Properties);
+
+                /**
+                 * Marker id.
+                 * @type {number}
+                 */
+                public id: number;
+
+                /**
+                 * Marker position.
+                 * @type {(fvec3$Properties|null)}
+                 */
+                public position: (fvec3$Properties|null);
+
+                /**
+                 * Marker size.
+                 * @type {number}
+                 */
+                public size: number;
+
+                /**
+                 * Creates a new Marker instance using the specified properties.
+                 * @param {message.input.MotionCapture.Marker$Properties=} [properties] Properties to set
+                 * @returns {message.input.MotionCapture.Marker} Marker instance
+                 */
+                public static create(properties?: message.input.MotionCapture.Marker$Properties): message.input.MotionCapture.Marker;
+
+                /**
+                 * Encodes the specified Marker message. Does not implicitly {@link message.input.MotionCapture.Marker.verify|verify} messages.
+                 * @param {message.input.MotionCapture.Marker$Properties} message Marker message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.input.MotionCapture.Marker$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified Marker message, length delimited. Does not implicitly {@link message.input.MotionCapture.Marker.verify|verify} messages.
+                 * @param {message.input.MotionCapture.Marker$Properties} message Marker message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.input.MotionCapture.Marker$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a Marker message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.MotionCapture.Marker} Marker
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.MotionCapture.Marker;
+
+                /**
+                 * Decodes a Marker message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.MotionCapture.Marker} Marker
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.MotionCapture.Marker;
+
+                /**
+                 * Verifies a Marker message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a Marker message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.MotionCapture.Marker} Marker
+                 */
+                public static fromObject(object: { [k: string]: any }): message.input.MotionCapture.Marker;
+
+                /**
+                 * Creates a Marker message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.MotionCapture.Marker.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.MotionCapture.Marker} Marker
+                 */
+                public static from(object: { [k: string]: any }): message.input.MotionCapture.Marker;
+
+                /**
+                 * Creates a plain object from a Marker message. Also converts values to other types if specified.
+                 * @param {message.input.MotionCapture.Marker} message Marker
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.input.MotionCapture.Marker, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this Marker message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this Marker to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            type MarkerSet$Properties = {
+                name?: string;
+                markers?: message.input.MotionCapture.Marker$Properties[];
+            };
+
+            /**
+             * Constructs a new MarkerSet.
+             * @exports message.input.MotionCapture.MarkerSet
+             * @constructor
+             * @param {message.input.MotionCapture.MarkerSet$Properties=} [properties] Properties to set
+             */
+            class MarkerSet {
+
+                /**
+                 * Constructs a new MarkerSet.
+                 * @exports message.input.MotionCapture.MarkerSet
+                 * @constructor
+                 * @param {message.input.MotionCapture.MarkerSet$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.input.MotionCapture.MarkerSet$Properties);
+
+                /**
+                 * MarkerSet name.
+                 * @type {string}
+                 */
+                public name: string;
+
+                /**
+                 * MarkerSet markers.
+                 * @type {Array.<message.input.MotionCapture.Marker$Properties>}
+                 */
+                public markers: message.input.MotionCapture.Marker$Properties[];
+
+                /**
+                 * Creates a new MarkerSet instance using the specified properties.
+                 * @param {message.input.MotionCapture.MarkerSet$Properties=} [properties] Properties to set
+                 * @returns {message.input.MotionCapture.MarkerSet} MarkerSet instance
+                 */
+                public static create(properties?: message.input.MotionCapture.MarkerSet$Properties): message.input.MotionCapture.MarkerSet;
+
+                /**
+                 * Encodes the specified MarkerSet message. Does not implicitly {@link message.input.MotionCapture.MarkerSet.verify|verify} messages.
+                 * @param {message.input.MotionCapture.MarkerSet$Properties} message MarkerSet message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.input.MotionCapture.MarkerSet$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified MarkerSet message, length delimited. Does not implicitly {@link message.input.MotionCapture.MarkerSet.verify|verify} messages.
+                 * @param {message.input.MotionCapture.MarkerSet$Properties} message MarkerSet message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.input.MotionCapture.MarkerSet$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a MarkerSet message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.MotionCapture.MarkerSet} MarkerSet
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.MotionCapture.MarkerSet;
+
+                /**
+                 * Decodes a MarkerSet message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.MotionCapture.MarkerSet} MarkerSet
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.MotionCapture.MarkerSet;
+
+                /**
+                 * Verifies a MarkerSet message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a MarkerSet message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.MotionCapture.MarkerSet} MarkerSet
+                 */
+                public static fromObject(object: { [k: string]: any }): message.input.MotionCapture.MarkerSet;
+
+                /**
+                 * Creates a MarkerSet message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.MotionCapture.MarkerSet.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.MotionCapture.MarkerSet} MarkerSet
+                 */
+                public static from(object: { [k: string]: any }): message.input.MotionCapture.MarkerSet;
+
+                /**
+                 * Creates a plain object from a MarkerSet message. Also converts values to other types if specified.
+                 * @param {message.input.MotionCapture.MarkerSet} message MarkerSet
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.input.MotionCapture.MarkerSet, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this MarkerSet message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this MarkerSet to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            type RigidBody$Properties = {
+                id?: number;
+                position?: fvec3$Properties;
+                rotation?: fvec4$Properties;
+                markers?: message.input.MotionCapture.Marker$Properties[];
+                error?: number;
+                trackingValid?: boolean;
+                name?: string;
+                offset?: fvec3$Properties;
+                parent?: number;
+                children?: number[];
+            };
+
+            /**
+             * Constructs a new RigidBody.
+             * @exports message.input.MotionCapture.RigidBody
+             * @constructor
+             * @param {message.input.MotionCapture.RigidBody$Properties=} [properties] Properties to set
+             */
+            class RigidBody {
+
+                /**
+                 * Constructs a new RigidBody.
+                 * @exports message.input.MotionCapture.RigidBody
+                 * @constructor
+                 * @param {message.input.MotionCapture.RigidBody$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.input.MotionCapture.RigidBody$Properties);
+
+                /**
+                 * RigidBody id.
+                 * @type {number}
+                 */
+                public id: number;
+
+                /**
+                 * RigidBody position.
+                 * @type {(fvec3$Properties|null)}
+                 */
+                public position: (fvec3$Properties|null);
+
+                /**
+                 * RigidBody rotation.
+                 * @type {(fvec4$Properties|null)}
+                 */
+                public rotation: (fvec4$Properties|null);
+
+                /**
+                 * RigidBody markers.
+                 * @type {Array.<message.input.MotionCapture.Marker$Properties>}
+                 */
+                public markers: message.input.MotionCapture.Marker$Properties[];
+
+                /**
+                 * RigidBody error.
+                 * @type {number}
+                 */
+                public error: number;
+
+                /**
+                 * RigidBody trackingValid.
+                 * @type {boolean}
+                 */
+                public trackingValid: boolean;
+
+                /**
+                 * RigidBody name.
+                 * @type {string}
+                 */
+                public name: string;
+
+                /**
+                 * RigidBody offset.
+                 * @type {(fvec3$Properties|null)}
+                 */
+                public offset: (fvec3$Properties|null);
+
+                /**
+                 * RigidBody parent.
+                 * @type {number}
+                 */
+                public parent: number;
+
+                /**
+                 * RigidBody children.
+                 * @type {Array.<number>}
+                 */
+                public children: number[];
+
+                /**
+                 * Creates a new RigidBody instance using the specified properties.
+                 * @param {message.input.MotionCapture.RigidBody$Properties=} [properties] Properties to set
+                 * @returns {message.input.MotionCapture.RigidBody} RigidBody instance
+                 */
+                public static create(properties?: message.input.MotionCapture.RigidBody$Properties): message.input.MotionCapture.RigidBody;
+
+                /**
+                 * Encodes the specified RigidBody message. Does not implicitly {@link message.input.MotionCapture.RigidBody.verify|verify} messages.
+                 * @param {message.input.MotionCapture.RigidBody$Properties} message RigidBody message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.input.MotionCapture.RigidBody$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified RigidBody message, length delimited. Does not implicitly {@link message.input.MotionCapture.RigidBody.verify|verify} messages.
+                 * @param {message.input.MotionCapture.RigidBody$Properties} message RigidBody message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.input.MotionCapture.RigidBody$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a RigidBody message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.MotionCapture.RigidBody} RigidBody
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.MotionCapture.RigidBody;
+
+                /**
+                 * Decodes a RigidBody message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.MotionCapture.RigidBody} RigidBody
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.MotionCapture.RigidBody;
+
+                /**
+                 * Verifies a RigidBody message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a RigidBody message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.MotionCapture.RigidBody} RigidBody
+                 */
+                public static fromObject(object: { [k: string]: any }): message.input.MotionCapture.RigidBody;
+
+                /**
+                 * Creates a RigidBody message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.MotionCapture.RigidBody.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.MotionCapture.RigidBody} RigidBody
+                 */
+                public static from(object: { [k: string]: any }): message.input.MotionCapture.RigidBody;
+
+                /**
+                 * Creates a plain object from a RigidBody message. Also converts values to other types if specified.
+                 * @param {message.input.MotionCapture.RigidBody} message RigidBody
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.input.MotionCapture.RigidBody, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this RigidBody message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this RigidBody to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            type Skeleton$Properties = {
+                id?: number;
+                bones?: message.input.MotionCapture.RigidBody$Properties[];
+                name?: string;
+            };
+
+            /**
+             * Constructs a new Skeleton.
+             * @exports message.input.MotionCapture.Skeleton
+             * @constructor
+             * @param {message.input.MotionCapture.Skeleton$Properties=} [properties] Properties to set
+             */
+            class Skeleton {
+
+                /**
+                 * Constructs a new Skeleton.
+                 * @exports message.input.MotionCapture.Skeleton
+                 * @constructor
+                 * @param {message.input.MotionCapture.Skeleton$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.input.MotionCapture.Skeleton$Properties);
+
+                /**
+                 * Skeleton id.
+                 * @type {number}
+                 */
+                public id: number;
+
+                /**
+                 * Skeleton bones.
+                 * @type {Array.<message.input.MotionCapture.RigidBody$Properties>}
+                 */
+                public bones: message.input.MotionCapture.RigidBody$Properties[];
+
+                /**
+                 * Skeleton name.
+                 * @type {string}
+                 */
+                public name: string;
+
+                /**
+                 * Creates a new Skeleton instance using the specified properties.
+                 * @param {message.input.MotionCapture.Skeleton$Properties=} [properties] Properties to set
+                 * @returns {message.input.MotionCapture.Skeleton} Skeleton instance
+                 */
+                public static create(properties?: message.input.MotionCapture.Skeleton$Properties): message.input.MotionCapture.Skeleton;
+
+                /**
+                 * Encodes the specified Skeleton message. Does not implicitly {@link message.input.MotionCapture.Skeleton.verify|verify} messages.
+                 * @param {message.input.MotionCapture.Skeleton$Properties} message Skeleton message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.input.MotionCapture.Skeleton$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified Skeleton message, length delimited. Does not implicitly {@link message.input.MotionCapture.Skeleton.verify|verify} messages.
+                 * @param {message.input.MotionCapture.Skeleton$Properties} message Skeleton message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.input.MotionCapture.Skeleton$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a Skeleton message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.MotionCapture.Skeleton} Skeleton
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.MotionCapture.Skeleton;
+
+                /**
+                 * Decodes a Skeleton message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.MotionCapture.Skeleton} Skeleton
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.MotionCapture.Skeleton;
+
+                /**
+                 * Verifies a Skeleton message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a Skeleton message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.MotionCapture.Skeleton} Skeleton
+                 */
+                public static fromObject(object: { [k: string]: any }): message.input.MotionCapture.Skeleton;
+
+                /**
+                 * Creates a Skeleton message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.MotionCapture.Skeleton.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.MotionCapture.Skeleton} Skeleton
+                 */
+                public static from(object: { [k: string]: any }): message.input.MotionCapture.Skeleton;
+
+                /**
+                 * Creates a plain object from a Skeleton message. Also converts values to other types if specified.
+                 * @param {message.input.MotionCapture.Skeleton} message Skeleton
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.input.MotionCapture.Skeleton, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this Skeleton message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this Skeleton to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            type LabeledMarker$Properties = {
+                marker?: message.input.MotionCapture.Marker$Properties;
+                occluded?: boolean;
+                pointCloudSolved?: boolean;
+                modelSolved?: boolean;
+            };
+
+            /**
+             * Constructs a new LabeledMarker.
+             * @exports message.input.MotionCapture.LabeledMarker
+             * @constructor
+             * @param {message.input.MotionCapture.LabeledMarker$Properties=} [properties] Properties to set
+             */
+            class LabeledMarker {
+
+                /**
+                 * Constructs a new LabeledMarker.
+                 * @exports message.input.MotionCapture.LabeledMarker
+                 * @constructor
+                 * @param {message.input.MotionCapture.LabeledMarker$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.input.MotionCapture.LabeledMarker$Properties);
+
+                /**
+                 * LabeledMarker marker.
+                 * @type {(message.input.MotionCapture.Marker$Properties|null)}
+                 */
+                public marker: (message.input.MotionCapture.Marker$Properties|null);
+
+                /**
+                 * LabeledMarker occluded.
+                 * @type {boolean}
+                 */
+                public occluded: boolean;
+
+                /**
+                 * LabeledMarker pointCloudSolved.
+                 * @type {boolean}
+                 */
+                public pointCloudSolved: boolean;
+
+                /**
+                 * LabeledMarker modelSolved.
+                 * @type {boolean}
+                 */
+                public modelSolved: boolean;
+
+                /**
+                 * Creates a new LabeledMarker instance using the specified properties.
+                 * @param {message.input.MotionCapture.LabeledMarker$Properties=} [properties] Properties to set
+                 * @returns {message.input.MotionCapture.LabeledMarker} LabeledMarker instance
+                 */
+                public static create(properties?: message.input.MotionCapture.LabeledMarker$Properties): message.input.MotionCapture.LabeledMarker;
+
+                /**
+                 * Encodes the specified LabeledMarker message. Does not implicitly {@link message.input.MotionCapture.LabeledMarker.verify|verify} messages.
+                 * @param {message.input.MotionCapture.LabeledMarker$Properties} message LabeledMarker message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.input.MotionCapture.LabeledMarker$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified LabeledMarker message, length delimited. Does not implicitly {@link message.input.MotionCapture.LabeledMarker.verify|verify} messages.
+                 * @param {message.input.MotionCapture.LabeledMarker$Properties} message LabeledMarker message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.input.MotionCapture.LabeledMarker$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a LabeledMarker message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.MotionCapture.LabeledMarker} LabeledMarker
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.MotionCapture.LabeledMarker;
+
+                /**
+                 * Decodes a LabeledMarker message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.MotionCapture.LabeledMarker} LabeledMarker
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.MotionCapture.LabeledMarker;
+
+                /**
+                 * Verifies a LabeledMarker message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a LabeledMarker message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.MotionCapture.LabeledMarker} LabeledMarker
+                 */
+                public static fromObject(object: { [k: string]: any }): message.input.MotionCapture.LabeledMarker;
+
+                /**
+                 * Creates a LabeledMarker message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.MotionCapture.LabeledMarker.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.MotionCapture.LabeledMarker} LabeledMarker
+                 */
+                public static from(object: { [k: string]: any }): message.input.MotionCapture.LabeledMarker;
+
+                /**
+                 * Creates a plain object from a LabeledMarker message. Also converts values to other types if specified.
+                 * @param {message.input.MotionCapture.LabeledMarker} message LabeledMarker
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.input.MotionCapture.LabeledMarker, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this LabeledMarker message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this LabeledMarker to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            type Channel$Properties = {
+                channel?: number[];
+            };
+
+            /**
+             * Constructs a new Channel.
+             * @exports message.input.MotionCapture.Channel
+             * @constructor
+             * @param {message.input.MotionCapture.Channel$Properties=} [properties] Properties to set
+             */
+            class Channel {
+
+                /**
+                 * Constructs a new Channel.
+                 * @exports message.input.MotionCapture.Channel
+                 * @constructor
+                 * @param {message.input.MotionCapture.Channel$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.input.MotionCapture.Channel$Properties);
+
+                /**
+                 * Channel channel.
+                 * @type {Array.<number>}
+                 */
+                public channel: number[];
+
+                /**
+                 * Creates a new Channel instance using the specified properties.
+                 * @param {message.input.MotionCapture.Channel$Properties=} [properties] Properties to set
+                 * @returns {message.input.MotionCapture.Channel} Channel instance
+                 */
+                public static create(properties?: message.input.MotionCapture.Channel$Properties): message.input.MotionCapture.Channel;
+
+                /**
+                 * Encodes the specified Channel message. Does not implicitly {@link message.input.MotionCapture.Channel.verify|verify} messages.
+                 * @param {message.input.MotionCapture.Channel$Properties} message Channel message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.input.MotionCapture.Channel$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified Channel message, length delimited. Does not implicitly {@link message.input.MotionCapture.Channel.verify|verify} messages.
+                 * @param {message.input.MotionCapture.Channel$Properties} message Channel message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.input.MotionCapture.Channel$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a Channel message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.MotionCapture.Channel} Channel
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.MotionCapture.Channel;
+
+                /**
+                 * Decodes a Channel message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.MotionCapture.Channel} Channel
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.MotionCapture.Channel;
+
+                /**
+                 * Verifies a Channel message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a Channel message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.MotionCapture.Channel} Channel
+                 */
+                public static fromObject(object: { [k: string]: any }): message.input.MotionCapture.Channel;
+
+                /**
+                 * Creates a Channel message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.MotionCapture.Channel.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.MotionCapture.Channel} Channel
+                 */
+                public static from(object: { [k: string]: any }): message.input.MotionCapture.Channel;
+
+                /**
+                 * Creates a plain object from a Channel message. Also converts values to other types if specified.
+                 * @param {message.input.MotionCapture.Channel} message Channel
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.input.MotionCapture.Channel, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this Channel message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this Channel to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            type ForcePlate$Properties = {
+                id?: number;
+                channels?: message.input.MotionCapture.Channel$Properties[];
+            };
+
+            /**
+             * Constructs a new ForcePlate.
+             * @exports message.input.MotionCapture.ForcePlate
+             * @constructor
+             * @param {message.input.MotionCapture.ForcePlate$Properties=} [properties] Properties to set
+             */
+            class ForcePlate {
+
+                /**
+                 * Constructs a new ForcePlate.
+                 * @exports message.input.MotionCapture.ForcePlate
+                 * @constructor
+                 * @param {message.input.MotionCapture.ForcePlate$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.input.MotionCapture.ForcePlate$Properties);
+
+                /**
+                 * ForcePlate id.
+                 * @type {number}
+                 */
+                public id: number;
+
+                /**
+                 * ForcePlate channels.
+                 * @type {Array.<message.input.MotionCapture.Channel$Properties>}
+                 */
+                public channels: message.input.MotionCapture.Channel$Properties[];
+
+                /**
+                 * Creates a new ForcePlate instance using the specified properties.
+                 * @param {message.input.MotionCapture.ForcePlate$Properties=} [properties] Properties to set
+                 * @returns {message.input.MotionCapture.ForcePlate} ForcePlate instance
+                 */
+                public static create(properties?: message.input.MotionCapture.ForcePlate$Properties): message.input.MotionCapture.ForcePlate;
+
+                /**
+                 * Encodes the specified ForcePlate message. Does not implicitly {@link message.input.MotionCapture.ForcePlate.verify|verify} messages.
+                 * @param {message.input.MotionCapture.ForcePlate$Properties} message ForcePlate message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.input.MotionCapture.ForcePlate$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified ForcePlate message, length delimited. Does not implicitly {@link message.input.MotionCapture.ForcePlate.verify|verify} messages.
+                 * @param {message.input.MotionCapture.ForcePlate$Properties} message ForcePlate message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.input.MotionCapture.ForcePlate$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a ForcePlate message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.MotionCapture.ForcePlate} ForcePlate
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.MotionCapture.ForcePlate;
+
+                /**
+                 * Decodes a ForcePlate message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.MotionCapture.ForcePlate} ForcePlate
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.MotionCapture.ForcePlate;
+
+                /**
+                 * Verifies a ForcePlate message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a ForcePlate message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.MotionCapture.ForcePlate} ForcePlate
+                 */
+                public static fromObject(object: { [k: string]: any }): message.input.MotionCapture.ForcePlate;
+
+                /**
+                 * Creates a ForcePlate message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.MotionCapture.ForcePlate.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.MotionCapture.ForcePlate} ForcePlate
+                 */
+                public static from(object: { [k: string]: any }): message.input.MotionCapture.ForcePlate;
+
+                /**
+                 * Creates a plain object from a ForcePlate message. Also converts values to other types if specified.
+                 * @param {message.input.MotionCapture.ForcePlate} message ForcePlate
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.input.MotionCapture.ForcePlate, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this ForcePlate message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this ForcePlate to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+        }
+
+        type WalkingDetected$Properties = {};
+
+        /**
+         * Constructs a new WalkingDetected.
+         * @exports message.input.WalkingDetected
+         * @constructor
+         * @param {message.input.WalkingDetected$Properties=} [properties] Properties to set
+         */
+        class WalkingDetected {
+
+            /**
+             * Constructs a new WalkingDetected.
+             * @exports message.input.WalkingDetected
+             * @constructor
+             * @param {message.input.WalkingDetected$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.input.WalkingDetected$Properties);
+
+            /**
+             * Creates a new WalkingDetected instance using the specified properties.
+             * @param {message.input.WalkingDetected$Properties=} [properties] Properties to set
+             * @returns {message.input.WalkingDetected} WalkingDetected instance
+             */
+            public static create(properties?: message.input.WalkingDetected$Properties): message.input.WalkingDetected;
+
+            /**
+             * Encodes the specified WalkingDetected message. Does not implicitly {@link message.input.WalkingDetected.verify|verify} messages.
+             * @param {message.input.WalkingDetected$Properties} message WalkingDetected message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.input.WalkingDetected$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified WalkingDetected message, length delimited. Does not implicitly {@link message.input.WalkingDetected.verify|verify} messages.
+             * @param {message.input.WalkingDetected$Properties} message WalkingDetected message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.input.WalkingDetected$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a WalkingDetected message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.input.WalkingDetected} WalkingDetected
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.WalkingDetected;
+
+            /**
+             * Decodes a WalkingDetected message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.input.WalkingDetected} WalkingDetected
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.WalkingDetected;
+
+            /**
+             * Verifies a WalkingDetected message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a WalkingDetected message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.WalkingDetected} WalkingDetected
+             */
+            public static fromObject(object: { [k: string]: any }): message.input.WalkingDetected;
+
+            /**
+             * Creates a WalkingDetected message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.input.WalkingDetected.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.WalkingDetected} WalkingDetected
+             */
+            public static from(object: { [k: string]: any }): message.input.WalkingDetected;
+
+            /**
+             * Creates a plain object from a WalkingDetected message. Also converts values to other types if specified.
+             * @param {message.input.WalkingDetected} message WalkingDetected
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.input.WalkingDetected, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this WalkingDetected message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this WalkingDetected to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type BendingDetected$Properties = {};
+
+        /**
+         * Constructs a new BendingDetected.
+         * @exports message.input.BendingDetected
+         * @constructor
+         * @param {message.input.BendingDetected$Properties=} [properties] Properties to set
+         */
+        class BendingDetected {
+
+            /**
+             * Constructs a new BendingDetected.
+             * @exports message.input.BendingDetected
+             * @constructor
+             * @param {message.input.BendingDetected$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.input.BendingDetected$Properties);
+
+            /**
+             * Creates a new BendingDetected instance using the specified properties.
+             * @param {message.input.BendingDetected$Properties=} [properties] Properties to set
+             * @returns {message.input.BendingDetected} BendingDetected instance
+             */
+            public static create(properties?: message.input.BendingDetected$Properties): message.input.BendingDetected;
+
+            /**
+             * Encodes the specified BendingDetected message. Does not implicitly {@link message.input.BendingDetected.verify|verify} messages.
+             * @param {message.input.BendingDetected$Properties} message BendingDetected message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.input.BendingDetected$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified BendingDetected message, length delimited. Does not implicitly {@link message.input.BendingDetected.verify|verify} messages.
+             * @param {message.input.BendingDetected$Properties} message BendingDetected message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.input.BendingDetected$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a BendingDetected message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.input.BendingDetected} BendingDetected
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.BendingDetected;
+
+            /**
+             * Decodes a BendingDetected message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.input.BendingDetected} BendingDetected
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.BendingDetected;
+
+            /**
+             * Verifies a BendingDetected message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a BendingDetected message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.BendingDetected} BendingDetected
+             */
+            public static fromObject(object: { [k: string]: any }): message.input.BendingDetected;
+
+            /**
+             * Creates a BendingDetected message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.input.BendingDetected.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.BendingDetected} BendingDetected
+             */
+            public static from(object: { [k: string]: any }): message.input.BendingDetected;
+
+            /**
+             * Creates a plain object from a BendingDetected message. Also converts values to other types if specified.
+             * @param {message.input.BendingDetected} message BendingDetected
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.input.BendingDetected, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this BendingDetected message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this BendingDetected to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type KickingDetected$Properties = {};
+
+        /**
+         * Constructs a new KickingDetected.
+         * @exports message.input.KickingDetected
+         * @constructor
+         * @param {message.input.KickingDetected$Properties=} [properties] Properties to set
+         */
+        class KickingDetected {
+
+            /**
+             * Constructs a new KickingDetected.
+             * @exports message.input.KickingDetected
+             * @constructor
+             * @param {message.input.KickingDetected$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.input.KickingDetected$Properties);
+
+            /**
+             * Creates a new KickingDetected instance using the specified properties.
+             * @param {message.input.KickingDetected$Properties=} [properties] Properties to set
+             * @returns {message.input.KickingDetected} KickingDetected instance
+             */
+            public static create(properties?: message.input.KickingDetected$Properties): message.input.KickingDetected;
+
+            /**
+             * Encodes the specified KickingDetected message. Does not implicitly {@link message.input.KickingDetected.verify|verify} messages.
+             * @param {message.input.KickingDetected$Properties} message KickingDetected message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.input.KickingDetected$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified KickingDetected message, length delimited. Does not implicitly {@link message.input.KickingDetected.verify|verify} messages.
+             * @param {message.input.KickingDetected$Properties} message KickingDetected message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.input.KickingDetected$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a KickingDetected message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.input.KickingDetected} KickingDetected
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.KickingDetected;
+
+            /**
+             * Decodes a KickingDetected message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.input.KickingDetected} KickingDetected
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.KickingDetected;
+
+            /**
+             * Verifies a KickingDetected message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a KickingDetected message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.KickingDetected} KickingDetected
+             */
+            public static fromObject(object: { [k: string]: any }): message.input.KickingDetected;
+
+            /**
+             * Creates a KickingDetected message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.input.KickingDetected.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.KickingDetected} KickingDetected
+             */
+            public static from(object: { [k: string]: any }): message.input.KickingDetected;
+
+            /**
+             * Creates a plain object from a KickingDetected message. Also converts values to other types if specified.
+             * @param {message.input.KickingDetected} message KickingDetected
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.input.KickingDetected, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this KickingDetected message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this KickingDetected to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type SittingDetected$Properties = {};
+
+        /**
+         * Constructs a new SittingDetected.
+         * @exports message.input.SittingDetected
+         * @constructor
+         * @param {message.input.SittingDetected$Properties=} [properties] Properties to set
+         */
+        class SittingDetected {
+
+            /**
+             * Constructs a new SittingDetected.
+             * @exports message.input.SittingDetected
+             * @constructor
+             * @param {message.input.SittingDetected$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.input.SittingDetected$Properties);
+
+            /**
+             * Creates a new SittingDetected instance using the specified properties.
+             * @param {message.input.SittingDetected$Properties=} [properties] Properties to set
+             * @returns {message.input.SittingDetected} SittingDetected instance
+             */
+            public static create(properties?: message.input.SittingDetected$Properties): message.input.SittingDetected;
+
+            /**
+             * Encodes the specified SittingDetected message. Does not implicitly {@link message.input.SittingDetected.verify|verify} messages.
+             * @param {message.input.SittingDetected$Properties} message SittingDetected message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.input.SittingDetected$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified SittingDetected message, length delimited. Does not implicitly {@link message.input.SittingDetected.verify|verify} messages.
+             * @param {message.input.SittingDetected$Properties} message SittingDetected message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.input.SittingDetected$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a SittingDetected message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.input.SittingDetected} SittingDetected
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.SittingDetected;
+
+            /**
+             * Decodes a SittingDetected message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.input.SittingDetected} SittingDetected
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.SittingDetected;
+
+            /**
+             * Verifies a SittingDetected message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a SittingDetected message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.SittingDetected} SittingDetected
+             */
+            public static fromObject(object: { [k: string]: any }): message.input.SittingDetected;
+
+            /**
+             * Creates a SittingDetected message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.input.SittingDetected.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.SittingDetected} SittingDetected
+             */
+            public static from(object: { [k: string]: any }): message.input.SittingDetected;
+
+            /**
+             * Creates a plain object from a SittingDetected message. Also converts values to other types if specified.
+             * @param {message.input.SittingDetected} message SittingDetected
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.input.SittingDetected, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this SittingDetected message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this SittingDetected to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type StandingDetected$Properties = {};
+
+        /**
+         * Constructs a new StandingDetected.
+         * @exports message.input.StandingDetected
+         * @constructor
+         * @param {message.input.StandingDetected$Properties=} [properties] Properties to set
+         */
+        class StandingDetected {
+
+            /**
+             * Constructs a new StandingDetected.
+             * @exports message.input.StandingDetected
+             * @constructor
+             * @param {message.input.StandingDetected$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.input.StandingDetected$Properties);
+
+            /**
+             * Creates a new StandingDetected instance using the specified properties.
+             * @param {message.input.StandingDetected$Properties=} [properties] Properties to set
+             * @returns {message.input.StandingDetected} StandingDetected instance
+             */
+            public static create(properties?: message.input.StandingDetected$Properties): message.input.StandingDetected;
+
+            /**
+             * Encodes the specified StandingDetected message. Does not implicitly {@link message.input.StandingDetected.verify|verify} messages.
+             * @param {message.input.StandingDetected$Properties} message StandingDetected message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.input.StandingDetected$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified StandingDetected message, length delimited. Does not implicitly {@link message.input.StandingDetected.verify|verify} messages.
+             * @param {message.input.StandingDetected$Properties} message StandingDetected message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.input.StandingDetected$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a StandingDetected message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.input.StandingDetected} StandingDetected
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.StandingDetected;
+
+            /**
+             * Decodes a StandingDetected message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.input.StandingDetected} StandingDetected
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.StandingDetected;
+
+            /**
+             * Verifies a StandingDetected message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a StandingDetected message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.StandingDetected} StandingDetected
+             */
+            public static fromObject(object: { [k: string]: any }): message.input.StandingDetected;
+
+            /**
+             * Creates a StandingDetected message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.input.StandingDetected.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.StandingDetected} StandingDetected
+             */
+            public static from(object: { [k: string]: any }): message.input.StandingDetected;
+
+            /**
+             * Creates a plain object from a StandingDetected message. Also converts values to other types if specified.
+             * @param {message.input.StandingDetected} message StandingDetected
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.input.StandingDetected, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this StandingDetected message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this StandingDetected to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type FallingDetected$Properties = {
+            x?: number;
+            y?: number;
+            z?: number;
+        };
+
+        /**
+         * Constructs a new FallingDetected.
+         * @exports message.input.FallingDetected
+         * @constructor
+         * @param {message.input.FallingDetected$Properties=} [properties] Properties to set
+         */
+        class FallingDetected {
+
+            /**
+             * Constructs a new FallingDetected.
+             * @exports message.input.FallingDetected
+             * @constructor
+             * @param {message.input.FallingDetected$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.input.FallingDetected$Properties);
+
+            /**
+             * FallingDetected x.
+             * @type {number}
+             */
+            public x: number;
+
+            /**
+             * FallingDetected y.
+             * @type {number}
+             */
+            public y: number;
+
+            /**
+             * FallingDetected z.
+             * @type {number}
+             */
+            public z: number;
+
+            /**
+             * Creates a new FallingDetected instance using the specified properties.
+             * @param {message.input.FallingDetected$Properties=} [properties] Properties to set
+             * @returns {message.input.FallingDetected} FallingDetected instance
+             */
+            public static create(properties?: message.input.FallingDetected$Properties): message.input.FallingDetected;
+
+            /**
+             * Encodes the specified FallingDetected message. Does not implicitly {@link message.input.FallingDetected.verify|verify} messages.
+             * @param {message.input.FallingDetected$Properties} message FallingDetected message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.input.FallingDetected$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified FallingDetected message, length delimited. Does not implicitly {@link message.input.FallingDetected.verify|verify} messages.
+             * @param {message.input.FallingDetected$Properties} message FallingDetected message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.input.FallingDetected$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a FallingDetected message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.input.FallingDetected} FallingDetected
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.FallingDetected;
+
+            /**
+             * Decodes a FallingDetected message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.input.FallingDetected} FallingDetected
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.FallingDetected;
+
+            /**
+             * Verifies a FallingDetected message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a FallingDetected message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.FallingDetected} FallingDetected
+             */
+            public static fromObject(object: { [k: string]: any }): message.input.FallingDetected;
+
+            /**
+             * Creates a FallingDetected message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.input.FallingDetected.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.FallingDetected} FallingDetected
+             */
+            public static from(object: { [k: string]: any }): message.input.FallingDetected;
+
+            /**
+             * Creates a plain object from a FallingDetected message. Also converts values to other types if specified.
+             * @param {message.input.FallingDetected} message FallingDetected
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.input.FallingDetected, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this FallingDetected message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this FallingDetected to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type PresenceUserState$Properties = {
+            headPose?: fmat44$Properties;
+        };
+
+        /**
+         * Constructs a new PresenceUserState.
+         * @exports message.input.PresenceUserState
+         * @constructor
+         * @param {message.input.PresenceUserState$Properties=} [properties] Properties to set
+         */
+        class PresenceUserState {
+
+            /**
+             * Constructs a new PresenceUserState.
+             * @exports message.input.PresenceUserState
+             * @constructor
+             * @param {message.input.PresenceUserState$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.input.PresenceUserState$Properties);
+
+            /**
+             * PresenceUserState headPose.
+             * @type {(fmat44$Properties|null)}
+             */
+            public headPose: (fmat44$Properties|null);
+
+            /**
+             * Creates a new PresenceUserState instance using the specified properties.
+             * @param {message.input.PresenceUserState$Properties=} [properties] Properties to set
+             * @returns {message.input.PresenceUserState} PresenceUserState instance
+             */
+            public static create(properties?: message.input.PresenceUserState$Properties): message.input.PresenceUserState;
+
+            /**
+             * Encodes the specified PresenceUserState message. Does not implicitly {@link message.input.PresenceUserState.verify|verify} messages.
+             * @param {message.input.PresenceUserState$Properties} message PresenceUserState message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.input.PresenceUserState$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified PresenceUserState message, length delimited. Does not implicitly {@link message.input.PresenceUserState.verify|verify} messages.
+             * @param {message.input.PresenceUserState$Properties} message PresenceUserState message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.input.PresenceUserState$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a PresenceUserState message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.input.PresenceUserState} PresenceUserState
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.PresenceUserState;
+
+            /**
+             * Decodes a PresenceUserState message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.input.PresenceUserState} PresenceUserState
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.PresenceUserState;
+
+            /**
+             * Verifies a PresenceUserState message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a PresenceUserState message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.PresenceUserState} PresenceUserState
+             */
+            public static fromObject(object: { [k: string]: any }): message.input.PresenceUserState;
+
+            /**
+             * Creates a PresenceUserState message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.input.PresenceUserState.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.PresenceUserState} PresenceUserState
+             */
+            public static from(object: { [k: string]: any }): message.input.PresenceUserState;
+
+            /**
+             * Creates a plain object from a PresenceUserState message. Also converts values to other types if specified.
+             * @param {message.input.PresenceUserState} message PresenceUserState
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.input.PresenceUserState, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this PresenceUserState message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this PresenceUserState to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type PushDetection$Properties = {
+            forward?: boolean;
+        };
+
+        /**
+         * Constructs a new PushDetection.
+         * @exports message.input.PushDetection
+         * @constructor
+         * @param {message.input.PushDetection$Properties=} [properties] Properties to set
+         */
+        class PushDetection {
+
+            /**
+             * Constructs a new PushDetection.
+             * @exports message.input.PushDetection
+             * @constructor
+             * @param {message.input.PushDetection$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.input.PushDetection$Properties);
+
+            /**
+             * PushDetection forward.
+             * @type {boolean}
+             */
+            public forward: boolean;
+
+            /**
+             * Creates a new PushDetection instance using the specified properties.
+             * @param {message.input.PushDetection$Properties=} [properties] Properties to set
+             * @returns {message.input.PushDetection} PushDetection instance
+             */
+            public static create(properties?: message.input.PushDetection$Properties): message.input.PushDetection;
+
+            /**
+             * Encodes the specified PushDetection message. Does not implicitly {@link message.input.PushDetection.verify|verify} messages.
+             * @param {message.input.PushDetection$Properties} message PushDetection message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.input.PushDetection$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified PushDetection message, length delimited. Does not implicitly {@link message.input.PushDetection.verify|verify} messages.
+             * @param {message.input.PushDetection$Properties} message PushDetection message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.input.PushDetection$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a PushDetection message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.input.PushDetection} PushDetection
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.PushDetection;
+
+            /**
+             * Decodes a PushDetection message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.input.PushDetection} PushDetection
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.PushDetection;
+
+            /**
+             * Verifies a PushDetection message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a PushDetection message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.PushDetection} PushDetection
+             */
+            public static fromObject(object: { [k: string]: any }): message.input.PushDetection;
+
+            /**
+             * Creates a PushDetection message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.input.PushDetection.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.PushDetection} PushDetection
+             */
+            public static from(object: { [k: string]: any }): message.input.PushDetection;
+
+            /**
+             * Creates a plain object from a PushDetection message. Also converts values to other types if specified.
+             * @param {message.input.PushDetection} message PushDetection
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.input.PushDetection, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this PushDetection message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this PushDetection to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type Sensors$Properties = {
+            timestamp?: google.protobuf.Timestamp$Properties;
+            accelerometer?: vec3$Properties;
+            gyroscope?: vec3$Properties;
+            world?: mat44$Properties;
+            fsr?: message.input.Sensors.FSR$Properties[];
+            servo?: message.input.Sensors.Servo$Properties[];
+            button?: message.input.Sensors.Button$Properties[];
+            led?: message.input.Sensors.LED$Properties[];
+            voltage?: number;
+            battery?: number;
+            centreOfPressure?: vec3$Properties;
+            robotToIMU?: mat22$Properties;
+            leftFootDown?: boolean;
+            rightFootDown?: boolean;
+            forwardKinematics?: { [k: string]: mat44$Properties };
+            bodyCentreHeight?: number;
+            centreOfMass?: vec4$Properties;
+            bodyToGround?: mat44$Properties;
+            camToGround?: mat44$Properties;
+        };
+
+        /**
+         * Constructs a new Sensors.
+         * @exports message.input.Sensors
+         * @constructor
+         * @param {message.input.Sensors$Properties=} [properties] Properties to set
+         */
+        class Sensors {
+
+            /**
+             * Constructs a new Sensors.
+             * @exports message.input.Sensors
+             * @constructor
+             * @param {message.input.Sensors$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.input.Sensors$Properties);
+
+            /**
+             * Sensors timestamp.
+             * @type {(google.protobuf.Timestamp$Properties|null)}
+             */
+            public timestamp: (google.protobuf.Timestamp$Properties|null);
+
+            /**
+             * Sensors accelerometer.
+             * @type {(vec3$Properties|null)}
+             */
+            public accelerometer: (vec3$Properties|null);
+
+            /**
+             * Sensors gyroscope.
+             * @type {(vec3$Properties|null)}
+             */
+            public gyroscope: (vec3$Properties|null);
+
+            /**
+             * Sensors world.
+             * @type {(mat44$Properties|null)}
+             */
+            public world: (mat44$Properties|null);
+
+            /**
+             * Sensors fsr.
+             * @type {Array.<message.input.Sensors.FSR$Properties>}
+             */
+            public fsr: message.input.Sensors.FSR$Properties[];
+
+            /**
+             * Sensors servo.
+             * @type {Array.<message.input.Sensors.Servo$Properties>}
+             */
+            public servo: message.input.Sensors.Servo$Properties[];
+
+            /**
+             * Sensors button.
+             * @type {Array.<message.input.Sensors.Button$Properties>}
+             */
+            public button: message.input.Sensors.Button$Properties[];
+
+            /**
+             * Sensors led.
+             * @type {Array.<message.input.Sensors.LED$Properties>}
+             */
+            public led: message.input.Sensors.LED$Properties[];
+
+            /**
+             * Sensors voltage.
+             * @type {number}
+             */
+            public voltage: number;
+
+            /**
+             * Sensors battery.
+             * @type {number}
+             */
+            public battery: number;
+
+            /**
+             * Sensors centreOfPressure.
+             * @type {(vec3$Properties|null)}
+             */
+            public centreOfPressure: (vec3$Properties|null);
+
+            /**
+             * Sensors robotToIMU.
+             * @type {(mat22$Properties|null)}
+             */
+            public robotToIMU: (mat22$Properties|null);
+
+            /**
+             * Sensors leftFootDown.
+             * @type {boolean}
+             */
+            public leftFootDown: boolean;
+
+            /**
+             * Sensors rightFootDown.
+             * @type {boolean}
+             */
+            public rightFootDown: boolean;
+
+            /**
+             * Sensors forwardKinematics.
+             * @type {Object.<string,mat44$Properties>}
+             */
+            public forwardKinematics: { [k: string]: mat44$Properties };
+
+            /**
+             * Sensors bodyCentreHeight.
+             * @type {number}
+             */
+            public bodyCentreHeight: number;
+
+            /**
+             * Sensors centreOfMass.
+             * @type {(vec4$Properties|null)}
+             */
+            public centreOfMass: (vec4$Properties|null);
+
+            /**
+             * Sensors bodyToGround.
+             * @type {(mat44$Properties|null)}
+             */
+            public bodyToGround: (mat44$Properties|null);
+
+            /**
+             * Sensors camToGround.
+             * @type {(mat44$Properties|null)}
+             */
+            public camToGround: (mat44$Properties|null);
+
+            /**
+             * Creates a new Sensors instance using the specified properties.
+             * @param {message.input.Sensors$Properties=} [properties] Properties to set
+             * @returns {message.input.Sensors} Sensors instance
+             */
+            public static create(properties?: message.input.Sensors$Properties): message.input.Sensors;
+
+            /**
+             * Encodes the specified Sensors message. Does not implicitly {@link message.input.Sensors.verify|verify} messages.
+             * @param {message.input.Sensors$Properties} message Sensors message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.input.Sensors$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified Sensors message, length delimited. Does not implicitly {@link message.input.Sensors.verify|verify} messages.
+             * @param {message.input.Sensors$Properties} message Sensors message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.input.Sensors$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a Sensors message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.input.Sensors} Sensors
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.Sensors;
+
+            /**
+             * Decodes a Sensors message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.input.Sensors} Sensors
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.Sensors;
+
+            /**
+             * Verifies a Sensors message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a Sensors message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.Sensors} Sensors
+             */
+            public static fromObject(object: { [k: string]: any }): message.input.Sensors;
+
+            /**
+             * Creates a Sensors message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.input.Sensors.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.Sensors} Sensors
+             */
+            public static from(object: { [k: string]: any }): message.input.Sensors;
+
+            /**
+             * Creates a plain object from a Sensors message. Also converts values to other types if specified.
+             * @param {message.input.Sensors} message Sensors
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.input.Sensors, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this Sensors message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this Sensors to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        namespace Sensors {
+
+            type Servo$Properties = {
+                errorFlags?: number;
+                id?: number;
+                enabled?: boolean;
+                pGain?: number;
+                iGain?: number;
+                dGain?: number;
+                goalPosition?: number;
+                goalVelocity?: number;
+                presentPosition?: number;
+                presentVelocity?: number;
+                load?: number;
+                voltage?: number;
+                temperature?: number;
+            };
+
+            /**
+             * Constructs a new Servo.
+             * @exports message.input.Sensors.Servo
+             * @constructor
+             * @param {message.input.Sensors.Servo$Properties=} [properties] Properties to set
+             */
+            class Servo {
+
+                /**
+                 * Constructs a new Servo.
+                 * @exports message.input.Sensors.Servo
+                 * @constructor
+                 * @param {message.input.Sensors.Servo$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.input.Sensors.Servo$Properties);
+
+                /**
+                 * Servo errorFlags.
+                 * @type {number}
+                 */
+                public errorFlags: number;
+
+                /**
+                 * Servo id.
+                 * @type {number}
+                 */
+                public id: number;
+
+                /**
+                 * Servo enabled.
+                 * @type {boolean}
+                 */
+                public enabled: boolean;
+
+                /**
+                 * Servo pGain.
+                 * @type {number}
+                 */
+                public pGain: number;
+
+                /**
+                 * Servo iGain.
+                 * @type {number}
+                 */
+                public iGain: number;
+
+                /**
+                 * Servo dGain.
+                 * @type {number}
+                 */
+                public dGain: number;
+
+                /**
+                 * Servo goalPosition.
+                 * @type {number}
+                 */
+                public goalPosition: number;
+
+                /**
+                 * Servo goalVelocity.
+                 * @type {number}
+                 */
+                public goalVelocity: number;
+
+                /**
+                 * Servo presentPosition.
+                 * @type {number}
+                 */
+                public presentPosition: number;
+
+                /**
+                 * Servo presentVelocity.
+                 * @type {number}
+                 */
+                public presentVelocity: number;
+
+                /**
+                 * Servo load.
+                 * @type {number}
+                 */
+                public load: number;
+
+                /**
+                 * Servo voltage.
+                 * @type {number}
+                 */
+                public voltage: number;
+
+                /**
+                 * Servo temperature.
+                 * @type {number}
+                 */
+                public temperature: number;
+
+                /**
+                 * Creates a new Servo instance using the specified properties.
+                 * @param {message.input.Sensors.Servo$Properties=} [properties] Properties to set
+                 * @returns {message.input.Sensors.Servo} Servo instance
+                 */
+                public static create(properties?: message.input.Sensors.Servo$Properties): message.input.Sensors.Servo;
+
+                /**
+                 * Encodes the specified Servo message. Does not implicitly {@link message.input.Sensors.Servo.verify|verify} messages.
+                 * @param {message.input.Sensors.Servo$Properties} message Servo message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.input.Sensors.Servo$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified Servo message, length delimited. Does not implicitly {@link message.input.Sensors.Servo.verify|verify} messages.
+                 * @param {message.input.Sensors.Servo$Properties} message Servo message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.input.Sensors.Servo$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a Servo message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.Sensors.Servo} Servo
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.Sensors.Servo;
+
+                /**
+                 * Decodes a Servo message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.Sensors.Servo} Servo
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.Sensors.Servo;
+
+                /**
+                 * Verifies a Servo message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a Servo message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.Sensors.Servo} Servo
+                 */
+                public static fromObject(object: { [k: string]: any }): message.input.Sensors.Servo;
+
+                /**
+                 * Creates a Servo message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.Sensors.Servo.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.Sensors.Servo} Servo
+                 */
+                public static from(object: { [k: string]: any }): message.input.Sensors.Servo;
+
+                /**
+                 * Creates a plain object from a Servo message. Also converts values to other types if specified.
+                 * @param {message.input.Sensors.Servo} message Servo
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.input.Sensors.Servo, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this Servo message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this Servo to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            type Button$Properties = {
+                id?: number;
+                value?: boolean;
+            };
+
+            /**
+             * Constructs a new Button.
+             * @exports message.input.Sensors.Button
+             * @constructor
+             * @param {message.input.Sensors.Button$Properties=} [properties] Properties to set
+             */
+            class Button {
+
+                /**
+                 * Constructs a new Button.
+                 * @exports message.input.Sensors.Button
+                 * @constructor
+                 * @param {message.input.Sensors.Button$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.input.Sensors.Button$Properties);
+
+                /**
+                 * Button id.
+                 * @type {number}
+                 */
+                public id: number;
+
+                /**
+                 * Button value.
+                 * @type {boolean}
+                 */
+                public value: boolean;
+
+                /**
+                 * Creates a new Button instance using the specified properties.
+                 * @param {message.input.Sensors.Button$Properties=} [properties] Properties to set
+                 * @returns {message.input.Sensors.Button} Button instance
+                 */
+                public static create(properties?: message.input.Sensors.Button$Properties): message.input.Sensors.Button;
+
+                /**
+                 * Encodes the specified Button message. Does not implicitly {@link message.input.Sensors.Button.verify|verify} messages.
+                 * @param {message.input.Sensors.Button$Properties} message Button message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.input.Sensors.Button$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified Button message, length delimited. Does not implicitly {@link message.input.Sensors.Button.verify|verify} messages.
+                 * @param {message.input.Sensors.Button$Properties} message Button message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.input.Sensors.Button$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a Button message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.Sensors.Button} Button
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.Sensors.Button;
+
+                /**
+                 * Decodes a Button message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.Sensors.Button} Button
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.Sensors.Button;
+
+                /**
+                 * Verifies a Button message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a Button message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.Sensors.Button} Button
+                 */
+                public static fromObject(object: { [k: string]: any }): message.input.Sensors.Button;
+
+                /**
+                 * Creates a Button message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.Sensors.Button.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.Sensors.Button} Button
+                 */
+                public static from(object: { [k: string]: any }): message.input.Sensors.Button;
+
+                /**
+                 * Creates a plain object from a Button message. Also converts values to other types if specified.
+                 * @param {message.input.Sensors.Button} message Button
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.input.Sensors.Button, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this Button message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this Button to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            type LED$Properties = {
+                id?: number;
+                colour?: number;
+            };
+
+            /**
+             * Constructs a new LED.
+             * @exports message.input.Sensors.LED
+             * @constructor
+             * @param {message.input.Sensors.LED$Properties=} [properties] Properties to set
+             */
+            class LED {
+
+                /**
+                 * Constructs a new LED.
+                 * @exports message.input.Sensors.LED
+                 * @constructor
+                 * @param {message.input.Sensors.LED$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.input.Sensors.LED$Properties);
+
+                /**
+                 * LED id.
+                 * @type {number}
+                 */
+                public id: number;
+
+                /**
+                 * LED colour.
+                 * @type {number}
+                 */
+                public colour: number;
+
+                /**
+                 * Creates a new LED instance using the specified properties.
+                 * @param {message.input.Sensors.LED$Properties=} [properties] Properties to set
+                 * @returns {message.input.Sensors.LED} LED instance
+                 */
+                public static create(properties?: message.input.Sensors.LED$Properties): message.input.Sensors.LED;
+
+                /**
+                 * Encodes the specified LED message. Does not implicitly {@link message.input.Sensors.LED.verify|verify} messages.
+                 * @param {message.input.Sensors.LED$Properties} message LED message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.input.Sensors.LED$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified LED message, length delimited. Does not implicitly {@link message.input.Sensors.LED.verify|verify} messages.
+                 * @param {message.input.Sensors.LED$Properties} message LED message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.input.Sensors.LED$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a LED message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.Sensors.LED} LED
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.Sensors.LED;
+
+                /**
+                 * Decodes a LED message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.Sensors.LED} LED
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.Sensors.LED;
+
+                /**
+                 * Verifies a LED message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a LED message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.Sensors.LED} LED
+                 */
+                public static fromObject(object: { [k: string]: any }): message.input.Sensors.LED;
+
+                /**
+                 * Creates a LED message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.Sensors.LED.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.Sensors.LED} LED
+                 */
+                public static from(object: { [k: string]: any }): message.input.Sensors.LED;
+
+                /**
+                 * Creates a plain object from a LED message. Also converts values to other types if specified.
+                 * @param {message.input.Sensors.LED} message LED
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.input.Sensors.LED, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this LED message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this LED to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            type FSR$Properties = {
+                value?: number[];
+                centre?: vec2$Properties;
+            };
+
+            /**
+             * Constructs a new FSR.
+             * @exports message.input.Sensors.FSR
+             * @constructor
+             * @param {message.input.Sensors.FSR$Properties=} [properties] Properties to set
+             */
+            class FSR {
+
+                /**
+                 * Constructs a new FSR.
+                 * @exports message.input.Sensors.FSR
+                 * @constructor
+                 * @param {message.input.Sensors.FSR$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.input.Sensors.FSR$Properties);
+
+                /**
+                 * FSR value.
+                 * @type {Array.<number>}
+                 */
+                public value: number[];
+
+                /**
+                 * FSR centre.
+                 * @type {(vec2$Properties|null)}
+                 */
+                public centre: (vec2$Properties|null);
+
+                /**
+                 * Creates a new FSR instance using the specified properties.
+                 * @param {message.input.Sensors.FSR$Properties=} [properties] Properties to set
+                 * @returns {message.input.Sensors.FSR} FSR instance
+                 */
+                public static create(properties?: message.input.Sensors.FSR$Properties): message.input.Sensors.FSR;
+
+                /**
+                 * Encodes the specified FSR message. Does not implicitly {@link message.input.Sensors.FSR.verify|verify} messages.
+                 * @param {message.input.Sensors.FSR$Properties} message FSR message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.input.Sensors.FSR$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified FSR message, length delimited. Does not implicitly {@link message.input.Sensors.FSR.verify|verify} messages.
+                 * @param {message.input.Sensors.FSR$Properties} message FSR message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.input.Sensors.FSR$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a FSR message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.Sensors.FSR} FSR
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.Sensors.FSR;
+
+                /**
+                 * Decodes a FSR message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.Sensors.FSR} FSR
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.Sensors.FSR;
+
+                /**
+                 * Verifies a FSR message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a FSR message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.Sensors.FSR} FSR
+                 */
+                public static fromObject(object: { [k: string]: any }): message.input.Sensors.FSR;
+
+                /**
+                 * Creates a FSR message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.Sensors.FSR.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.Sensors.FSR} FSR
+                 */
+                public static from(object: { [k: string]: any }): message.input.Sensors.FSR;
+
+                /**
+                 * Creates a plain object from a FSR message. Also converts values to other types if specified.
+                 * @param {message.input.Sensors.FSR} message FSR
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.input.Sensors.FSR, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this FSR message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this FSR to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+        }
+
+        type SoundChunkSettings$Properties = {
+            sampleRate?: (number|Long);
+            channels?: (number|Long);
+            chunkSize?: (number|Long);
+        };
+
+        /**
+         * Constructs a new SoundChunkSettings.
+         * @classdesc TODO document
+         *
+         * @author Trent Houliston
+         * @exports message.input.SoundChunkSettings
+         * @constructor
+         * @param {message.input.SoundChunkSettings$Properties=} [properties] Properties to set
+         */
+        class SoundChunkSettings {
+
+            /**
+             * Constructs a new SoundChunkSettings.
+             * @classdesc TODO document
+             *
+             * @author Trent Houliston
+             * @exports message.input.SoundChunkSettings
+             * @constructor
+             * @param {message.input.SoundChunkSettings$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.input.SoundChunkSettings$Properties);
+
+            /**
+             * The number of samples that are taken each second for the sound chunks
+             * @type {number|Long}
+             */
+            public sampleRate: (number|Long);
+
+            /**
+             * The number of channels that the sound chunks will have
+             * @type {number|Long}
+             */
+            public channels: (number|Long);
+
+            /**
+             * The number of frames (a frame is a single sample for all channels) that each emitted chunk will have
+             * @type {number|Long}
+             */
+            public chunkSize: (number|Long);
+
+            /**
+             * Creates a new SoundChunkSettings instance using the specified properties.
+             * @param {message.input.SoundChunkSettings$Properties=} [properties] Properties to set
+             * @returns {message.input.SoundChunkSettings} SoundChunkSettings instance
+             */
+            public static create(properties?: message.input.SoundChunkSettings$Properties): message.input.SoundChunkSettings;
+
+            /**
+             * Encodes the specified SoundChunkSettings message. Does not implicitly {@link message.input.SoundChunkSettings.verify|verify} messages.
+             * @param {message.input.SoundChunkSettings$Properties} message SoundChunkSettings message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.input.SoundChunkSettings$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified SoundChunkSettings message, length delimited. Does not implicitly {@link message.input.SoundChunkSettings.verify|verify} messages.
+             * @param {message.input.SoundChunkSettings$Properties} message SoundChunkSettings message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.input.SoundChunkSettings$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a SoundChunkSettings message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.input.SoundChunkSettings} SoundChunkSettings
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.SoundChunkSettings;
+
+            /**
+             * Decodes a SoundChunkSettings message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.input.SoundChunkSettings} SoundChunkSettings
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.SoundChunkSettings;
+
+            /**
+             * Verifies a SoundChunkSettings message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a SoundChunkSettings message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.SoundChunkSettings} SoundChunkSettings
+             */
+            public static fromObject(object: { [k: string]: any }): message.input.SoundChunkSettings;
+
+            /**
+             * Creates a SoundChunkSettings message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.input.SoundChunkSettings.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.SoundChunkSettings} SoundChunkSettings
+             */
+            public static from(object: { [k: string]: any }): message.input.SoundChunkSettings;
+
+            /**
+             * Creates a plain object from a SoundChunkSettings message. Also converts values to other types if specified.
+             * @param {message.input.SoundChunkSettings} message SoundChunkSettings
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.input.SoundChunkSettings, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this SoundChunkSettings message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this SoundChunkSettings to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type SoundFileStart$Properties = {
+            fileName?: string;
+            time?: google.protobuf.Timestamp$Properties;
+        };
+
+        /**
+         * Constructs a new SoundFileStart.
+         * @exports message.input.SoundFileStart
+         * @constructor
+         * @param {message.input.SoundFileStart$Properties=} [properties] Properties to set
+         */
+        class SoundFileStart {
+
+            /**
+             * Constructs a new SoundFileStart.
+             * @exports message.input.SoundFileStart
+             * @constructor
+             * @param {message.input.SoundFileStart$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.input.SoundFileStart$Properties);
+
+            /**
+             * SoundFileStart fileName.
+             * @type {string}
+             */
+            public fileName: string;
+
+            /**
+             * SoundFileStart time.
+             * @type {(google.protobuf.Timestamp$Properties|null)}
+             */
+            public time: (google.protobuf.Timestamp$Properties|null);
+
+            /**
+             * Creates a new SoundFileStart instance using the specified properties.
+             * @param {message.input.SoundFileStart$Properties=} [properties] Properties to set
+             * @returns {message.input.SoundFileStart} SoundFileStart instance
+             */
+            public static create(properties?: message.input.SoundFileStart$Properties): message.input.SoundFileStart;
+
+            /**
+             * Encodes the specified SoundFileStart message. Does not implicitly {@link message.input.SoundFileStart.verify|verify} messages.
+             * @param {message.input.SoundFileStart$Properties} message SoundFileStart message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.input.SoundFileStart$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified SoundFileStart message, length delimited. Does not implicitly {@link message.input.SoundFileStart.verify|verify} messages.
+             * @param {message.input.SoundFileStart$Properties} message SoundFileStart message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.input.SoundFileStart$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a SoundFileStart message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.input.SoundFileStart} SoundFileStart
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.SoundFileStart;
+
+            /**
+             * Decodes a SoundFileStart message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.input.SoundFileStart} SoundFileStart
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.SoundFileStart;
+
+            /**
+             * Verifies a SoundFileStart message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a SoundFileStart message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.SoundFileStart} SoundFileStart
+             */
+            public static fromObject(object: { [k: string]: any }): message.input.SoundFileStart;
+
+            /**
+             * Creates a SoundFileStart message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.input.SoundFileStart.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.SoundFileStart} SoundFileStart
+             */
+            public static from(object: { [k: string]: any }): message.input.SoundFileStart;
+
+            /**
+             * Creates a plain object from a SoundFileStart message. Also converts values to other types if specified.
+             * @param {message.input.SoundFileStart} message SoundFileStart
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.input.SoundFileStart, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this SoundFileStart message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this SoundFileStart to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type SoundChunk$Properties = {
+            endTime?: google.protobuf.Timestamp$Properties;
+            data?: number[];
+        };
+
+        /**
+         * Constructs a new SoundChunk.
+         * @classdesc TODO document
+         *
+         * @author Jake Woods
+         * @exports message.input.SoundChunk
+         * @constructor
+         * @param {message.input.SoundChunk$Properties=} [properties] Properties to set
+         */
+        class SoundChunk {
+
+            /**
+             * Constructs a new SoundChunk.
+             * @classdesc TODO document
+             *
+             * @author Jake Woods
+             * @exports message.input.SoundChunk
+             * @constructor
+             * @param {message.input.SoundChunk$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.input.SoundChunk$Properties);
+
+            /**
+             * SoundChunk endTime.
+             * @type {(google.protobuf.Timestamp$Properties|null)}
+             */
+            public endTime: (google.protobuf.Timestamp$Properties|null);
+
+            /**
+             * SoundChunk data.
+             * @type {Array.<number>}
+             */
+            public data: number[];
+
+            /**
+             * Creates a new SoundChunk instance using the specified properties.
+             * @param {message.input.SoundChunk$Properties=} [properties] Properties to set
+             * @returns {message.input.SoundChunk} SoundChunk instance
+             */
+            public static create(properties?: message.input.SoundChunk$Properties): message.input.SoundChunk;
+
+            /**
+             * Encodes the specified SoundChunk message. Does not implicitly {@link message.input.SoundChunk.verify|verify} messages.
+             * @param {message.input.SoundChunk$Properties} message SoundChunk message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.input.SoundChunk$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified SoundChunk message, length delimited. Does not implicitly {@link message.input.SoundChunk.verify|verify} messages.
+             * @param {message.input.SoundChunk$Properties} message SoundChunk message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.input.SoundChunk$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a SoundChunk message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.input.SoundChunk} SoundChunk
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.input.SoundChunk;
+
+            /**
+             * Decodes a SoundChunk message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.input.SoundChunk} SoundChunk
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.input.SoundChunk;
+
+            /**
+             * Verifies a SoundChunk message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a SoundChunk message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.SoundChunk} SoundChunk
+             */
+            public static fromObject(object: { [k: string]: any }): message.input.SoundChunk;
+
+            /**
+             * Creates a SoundChunk message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.input.SoundChunk.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.SoundChunk} SoundChunk
+             */
+            public static from(object: { [k: string]: any }): message.input.SoundChunk;
+
+            /**
+             * Creates a plain object from a SoundChunk message. Also converts values to other types if specified.
+             * @param {message.input.SoundChunk} message SoundChunk
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.input.SoundChunk, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this SoundChunk message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this SoundChunk to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+    }
+
+    /**
+     * Namespace localisation.
+     * @exports message.localisation
+     * @namespace
+     */
+    namespace localisation {
+
+        type FieldObject$Properties = {
+            name?: string;
+            models?: message.localisation.Model$Properties[];
+        };
+
+        /**
+         * Constructs a new FieldObject.
+         * @exports message.localisation.FieldObject
+         * @constructor
+         * @param {message.localisation.FieldObject$Properties=} [properties] Properties to set
+         */
+        class FieldObject {
+
+            /**
+             * Constructs a new FieldObject.
+             * @exports message.localisation.FieldObject
+             * @constructor
+             * @param {message.localisation.FieldObject$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.localisation.FieldObject$Properties);
+
+            /**
+             * FieldObject name.
+             * @type {string}
+             */
+            public name: string;
+
+            /**
+             * FieldObject models.
+             * @type {Array.<message.localisation.Model$Properties>}
+             */
+            public models: message.localisation.Model$Properties[];
+
+            /**
+             * Creates a new FieldObject instance using the specified properties.
+             * @param {message.localisation.FieldObject$Properties=} [properties] Properties to set
+             * @returns {message.localisation.FieldObject} FieldObject instance
+             */
+            public static create(properties?: message.localisation.FieldObject$Properties): message.localisation.FieldObject;
+
+            /**
+             * Encodes the specified FieldObject message. Does not implicitly {@link message.localisation.FieldObject.verify|verify} messages.
+             * @param {message.localisation.FieldObject$Properties} message FieldObject message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.localisation.FieldObject$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified FieldObject message, length delimited. Does not implicitly {@link message.localisation.FieldObject.verify|verify} messages.
+             * @param {message.localisation.FieldObject$Properties} message FieldObject message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.localisation.FieldObject$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a FieldObject message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.localisation.FieldObject} FieldObject
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.localisation.FieldObject;
+
+            /**
+             * Decodes a FieldObject message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.localisation.FieldObject} FieldObject
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.localisation.FieldObject;
+
+            /**
+             * Verifies a FieldObject message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a FieldObject message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.localisation.FieldObject} FieldObject
+             */
+            public static fromObject(object: { [k: string]: any }): message.localisation.FieldObject;
+
+            /**
+             * Creates a FieldObject message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.localisation.FieldObject.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.localisation.FieldObject} FieldObject
+             */
+            public static from(object: { [k: string]: any }): message.localisation.FieldObject;
+
+            /**
+             * Creates a plain object from a FieldObject message. Also converts values to other types if specified.
+             * @param {message.localisation.FieldObject} message FieldObject
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.localisation.FieldObject, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this FieldObject message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this FieldObject to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type LocalisationObject$Properties = {
+            position?: vec2$Properties;
+            positionCov?: mat22$Properties;
+            lastMeasurementTime?: google.protobuf.Timestamp$Properties;
+        };
+
+        /**
+         * Constructs a new LocalisationObject.
+         * @exports message.localisation.LocalisationObject
+         * @constructor
+         * @param {message.localisation.LocalisationObject$Properties=} [properties] Properties to set
+         */
+        class LocalisationObject {
+
+            /**
+             * Constructs a new LocalisationObject.
+             * @exports message.localisation.LocalisationObject
+             * @constructor
+             * @param {message.localisation.LocalisationObject$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.localisation.LocalisationObject$Properties);
+
+            /**
+             * LocalisationObject position.
+             * @type {(vec2$Properties|null)}
+             */
+            public position: (vec2$Properties|null);
+
+            /**
+             * LocalisationObject positionCov.
+             * @type {(mat22$Properties|null)}
+             */
+            public positionCov: (mat22$Properties|null);
+
+            /**
+             * LocalisationObject lastMeasurementTime.
+             * @type {(google.protobuf.Timestamp$Properties|null)}
+             */
+            public lastMeasurementTime: (google.protobuf.Timestamp$Properties|null);
+
+            /**
+             * Creates a new LocalisationObject instance using the specified properties.
+             * @param {message.localisation.LocalisationObject$Properties=} [properties] Properties to set
+             * @returns {message.localisation.LocalisationObject} LocalisationObject instance
+             */
+            public static create(properties?: message.localisation.LocalisationObject$Properties): message.localisation.LocalisationObject;
+
+            /**
+             * Encodes the specified LocalisationObject message. Does not implicitly {@link message.localisation.LocalisationObject.verify|verify} messages.
+             * @param {message.localisation.LocalisationObject$Properties} message LocalisationObject message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.localisation.LocalisationObject$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified LocalisationObject message, length delimited. Does not implicitly {@link message.localisation.LocalisationObject.verify|verify} messages.
+             * @param {message.localisation.LocalisationObject$Properties} message LocalisationObject message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.localisation.LocalisationObject$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a LocalisationObject message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.localisation.LocalisationObject} LocalisationObject
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.localisation.LocalisationObject;
+
+            /**
+             * Decodes a LocalisationObject message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.localisation.LocalisationObject} LocalisationObject
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.localisation.LocalisationObject;
+
+            /**
+             * Verifies a LocalisationObject message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a LocalisationObject message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.localisation.LocalisationObject} LocalisationObject
+             */
+            public static fromObject(object: { [k: string]: any }): message.localisation.LocalisationObject;
+
+            /**
+             * Creates a LocalisationObject message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.localisation.LocalisationObject.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.localisation.LocalisationObject} LocalisationObject
+             */
+            public static from(object: { [k: string]: any }): message.localisation.LocalisationObject;
+
+            /**
+             * Creates a plain object from a LocalisationObject message. Also converts values to other types if specified.
+             * @param {message.localisation.LocalisationObject} message LocalisationObject
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.localisation.LocalisationObject, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this LocalisationObject message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this LocalisationObject to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type Ball$Properties = {
+            locObject?: message.localisation.LocalisationObject$Properties;
+            velocity?: vec2$Properties;
+            worldSpace?: boolean;
+        };
+
+        /**
+         * Constructs a new Ball.
+         * @exports message.localisation.Ball
+         * @constructor
+         * @param {message.localisation.Ball$Properties=} [properties] Properties to set
+         */
+        class Ball {
+
+            /**
+             * Constructs a new Ball.
+             * @exports message.localisation.Ball
+             * @constructor
+             * @param {message.localisation.Ball$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.localisation.Ball$Properties);
+
+            /**
+             * Ball locObject.
+             * @type {(message.localisation.LocalisationObject$Properties|null)}
+             */
+            public locObject: (message.localisation.LocalisationObject$Properties|null);
+
+            /**
+             * Ball velocity.
+             * @type {(vec2$Properties|null)}
+             */
+            public velocity: (vec2$Properties|null);
+
+            /**
+             * Ball worldSpace.
+             * @type {boolean}
+             */
+            public worldSpace: boolean;
+
+            /**
+             * Creates a new Ball instance using the specified properties.
+             * @param {message.localisation.Ball$Properties=} [properties] Properties to set
+             * @returns {message.localisation.Ball} Ball instance
+             */
+            public static create(properties?: message.localisation.Ball$Properties): message.localisation.Ball;
+
+            /**
+             * Encodes the specified Ball message. Does not implicitly {@link message.localisation.Ball.verify|verify} messages.
+             * @param {message.localisation.Ball$Properties} message Ball message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.localisation.Ball$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified Ball message, length delimited. Does not implicitly {@link message.localisation.Ball.verify|verify} messages.
+             * @param {message.localisation.Ball$Properties} message Ball message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.localisation.Ball$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a Ball message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.localisation.Ball} Ball
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.localisation.Ball;
+
+            /**
+             * Decodes a Ball message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.localisation.Ball} Ball
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.localisation.Ball;
+
+            /**
+             * Verifies a Ball message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a Ball message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.localisation.Ball} Ball
+             */
+            public static fromObject(object: { [k: string]: any }): message.localisation.Ball;
+
+            /**
+             * Creates a Ball message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.localisation.Ball.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.localisation.Ball} Ball
+             */
+            public static from(object: { [k: string]: any }): message.localisation.Ball;
+
+            /**
+             * Creates a plain object from a Ball message. Also converts values to other types if specified.
+             * @param {message.localisation.Ball} message Ball
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.localisation.Ball, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this Ball message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this Ball to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type Self$Properties = {
+            locObject?: message.localisation.LocalisationObject$Properties;
+            heading?: vec2$Properties;
+            velocity?: vec2$Properties;
+            robotToWorldRotation?: mat22$Properties;
+        };
+
+        /**
+         * Constructs a new Self.
+         * @exports message.localisation.Self
+         * @constructor
+         * @param {message.localisation.Self$Properties=} [properties] Properties to set
+         */
+        class Self {
+
+            /**
+             * Constructs a new Self.
+             * @exports message.localisation.Self
+             * @constructor
+             * @param {message.localisation.Self$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.localisation.Self$Properties);
+
+            /**
+             * Self locObject.
+             * @type {(message.localisation.LocalisationObject$Properties|null)}
+             */
+            public locObject: (message.localisation.LocalisationObject$Properties|null);
+
+            /**
+             * Self heading.
+             * @type {(vec2$Properties|null)}
+             */
+            public heading: (vec2$Properties|null);
+
+            /**
+             * Self velocity.
+             * @type {(vec2$Properties|null)}
+             */
+            public velocity: (vec2$Properties|null);
+
+            /**
+             * Self robotToWorldRotation.
+             * @type {(mat22$Properties|null)}
+             */
+            public robotToWorldRotation: (mat22$Properties|null);
+
+            /**
+             * Creates a new Self instance using the specified properties.
+             * @param {message.localisation.Self$Properties=} [properties] Properties to set
+             * @returns {message.localisation.Self} Self instance
+             */
+            public static create(properties?: message.localisation.Self$Properties): message.localisation.Self;
+
+            /**
+             * Encodes the specified Self message. Does not implicitly {@link message.localisation.Self.verify|verify} messages.
+             * @param {message.localisation.Self$Properties} message Self message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.localisation.Self$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified Self message, length delimited. Does not implicitly {@link message.localisation.Self.verify|verify} messages.
+             * @param {message.localisation.Self$Properties} message Self message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.localisation.Self$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a Self message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.localisation.Self} Self
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.localisation.Self;
+
+            /**
+             * Decodes a Self message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.localisation.Self} Self
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.localisation.Self;
+
+            /**
+             * Verifies a Self message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a Self message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.localisation.Self} Self
+             */
+            public static fromObject(object: { [k: string]: any }): message.localisation.Self;
+
+            /**
+             * Creates a Self message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.localisation.Self.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.localisation.Self} Self
+             */
+            public static from(object: { [k: string]: any }): message.localisation.Self;
+
+            /**
+             * Creates a plain object from a Self message. Also converts values to other types if specified.
+             * @param {message.localisation.Self} message Self
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.localisation.Self, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this Self message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this Self to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type Model$Properties = {
+            modelId?: number;
+            wmX?: number;
+            wmY?: number;
+            sdX?: number;
+            sdY?: number;
+            srXx?: number;
+            srXy?: number;
+            srYy?: number;
+            heading?: number;
+            sdHeading?: number;
+            lost?: boolean;
+        };
+
+        /**
+         * Constructs a new Model.
+         * @exports message.localisation.Model
+         * @constructor
+         * @param {message.localisation.Model$Properties=} [properties] Properties to set
+         */
+        class Model {
+
+            /**
+             * Constructs a new Model.
+             * @exports message.localisation.Model
+             * @constructor
+             * @param {message.localisation.Model$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.localisation.Model$Properties);
+
+            /**
+             * Model modelId.
+             * @type {number}
+             */
+            public modelId: number;
+
+            /**
+             * Model wmX.
+             * @type {number}
+             */
+            public wmX: number;
+
+            /**
+             * Model wmY.
+             * @type {number}
+             */
+            public wmY: number;
+
+            /**
+             * Model sdX.
+             * @type {number}
+             */
+            public sdX: number;
+
+            /**
+             * Model sdY.
+             * @type {number}
+             */
+            public sdY: number;
+
+            /**
+             * Model srXx.
+             * @type {number}
+             */
+            public srXx: number;
+
+            /**
+             * Model srXy.
+             * @type {number}
+             */
+            public srXy: number;
+
+            /**
+             * Model srYy.
+             * @type {number}
+             */
+            public srYy: number;
+
+            /**
+             * Model heading.
+             * @type {number}
+             */
+            public heading: number;
+
+            /**
+             * Model sdHeading.
+             * @type {number}
+             */
+            public sdHeading: number;
+
+            /**
+             * Model lost.
+             * @type {boolean}
+             */
+            public lost: boolean;
+
+            /**
+             * Creates a new Model instance using the specified properties.
+             * @param {message.localisation.Model$Properties=} [properties] Properties to set
+             * @returns {message.localisation.Model} Model instance
+             */
+            public static create(properties?: message.localisation.Model$Properties): message.localisation.Model;
+
+            /**
+             * Encodes the specified Model message. Does not implicitly {@link message.localisation.Model.verify|verify} messages.
+             * @param {message.localisation.Model$Properties} message Model message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.localisation.Model$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified Model message, length delimited. Does not implicitly {@link message.localisation.Model.verify|verify} messages.
+             * @param {message.localisation.Model$Properties} message Model message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.localisation.Model$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a Model message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.localisation.Model} Model
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.localisation.Model;
+
+            /**
+             * Decodes a Model message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.localisation.Model} Model
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.localisation.Model;
+
+            /**
+             * Verifies a Model message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a Model message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.localisation.Model} Model
+             */
+            public static fromObject(object: { [k: string]: any }): message.localisation.Model;
+
+            /**
+             * Creates a Model message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.localisation.Model.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.localisation.Model} Model
+             */
+            public static from(object: { [k: string]: any }): message.localisation.Model;
+
+            /**
+             * Creates a plain object from a Model message. Also converts values to other types if specified.
+             * @param {message.localisation.Model} message Model
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.localisation.Model, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this Model message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this Model to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type LocalisationFieldObject$Properties = {
+            name?: string;
+            models?: message.localisation.Model$Properties[];
+        };
+
+        /**
+         * Constructs a new LocalisationFieldObject.
+         * @exports message.localisation.LocalisationFieldObject
+         * @constructor
+         * @param {message.localisation.LocalisationFieldObject$Properties=} [properties] Properties to set
+         */
+        class LocalisationFieldObject {
+
+            /**
+             * Constructs a new LocalisationFieldObject.
+             * @exports message.localisation.LocalisationFieldObject
+             * @constructor
+             * @param {message.localisation.LocalisationFieldObject$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.localisation.LocalisationFieldObject$Properties);
+
+            /**
+             * LocalisationFieldObject name.
+             * @type {string}
+             */
+            public name: string;
+
+            /**
+             * LocalisationFieldObject models.
+             * @type {Array.<message.localisation.Model$Properties>}
+             */
+            public models: message.localisation.Model$Properties[];
+
+            /**
+             * Creates a new LocalisationFieldObject instance using the specified properties.
+             * @param {message.localisation.LocalisationFieldObject$Properties=} [properties] Properties to set
+             * @returns {message.localisation.LocalisationFieldObject} LocalisationFieldObject instance
+             */
+            public static create(properties?: message.localisation.LocalisationFieldObject$Properties): message.localisation.LocalisationFieldObject;
+
+            /**
+             * Encodes the specified LocalisationFieldObject message. Does not implicitly {@link message.localisation.LocalisationFieldObject.verify|verify} messages.
+             * @param {message.localisation.LocalisationFieldObject$Properties} message LocalisationFieldObject message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.localisation.LocalisationFieldObject$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified LocalisationFieldObject message, length delimited. Does not implicitly {@link message.localisation.LocalisationFieldObject.verify|verify} messages.
+             * @param {message.localisation.LocalisationFieldObject$Properties} message LocalisationFieldObject message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.localisation.LocalisationFieldObject$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a LocalisationFieldObject message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.localisation.LocalisationFieldObject} LocalisationFieldObject
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.localisation.LocalisationFieldObject;
+
+            /**
+             * Decodes a LocalisationFieldObject message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.localisation.LocalisationFieldObject} LocalisationFieldObject
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.localisation.LocalisationFieldObject;
+
+            /**
+             * Verifies a LocalisationFieldObject message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a LocalisationFieldObject message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.localisation.LocalisationFieldObject} LocalisationFieldObject
+             */
+            public static fromObject(object: { [k: string]: any }): message.localisation.LocalisationFieldObject;
+
+            /**
+             * Creates a LocalisationFieldObject message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.localisation.LocalisationFieldObject.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.localisation.LocalisationFieldObject} LocalisationFieldObject
+             */
+            public static from(object: { [k: string]: any }): message.localisation.LocalisationFieldObject;
+
+            /**
+             * Creates a plain object from a LocalisationFieldObject message. Also converts values to other types if specified.
+             * @param {message.localisation.LocalisationFieldObject} message LocalisationFieldObject
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.localisation.LocalisationFieldObject, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this LocalisationFieldObject message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this LocalisationFieldObject to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type Localisation$Properties = {
+            fieldObject?: message.localisation.LocalisationFieldObject$Properties[];
+        };
+
+        /**
+         * Constructs a new Localisation.
+         * @exports message.localisation.Localisation
+         * @constructor
+         * @param {message.localisation.Localisation$Properties=} [properties] Properties to set
+         */
+        class Localisation {
+
+            /**
+             * Constructs a new Localisation.
+             * @exports message.localisation.Localisation
+             * @constructor
+             * @param {message.localisation.Localisation$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.localisation.Localisation$Properties);
+
+            /**
+             * Localisation fieldObject.
+             * @type {Array.<message.localisation.LocalisationFieldObject$Properties>}
+             */
+            public fieldObject: message.localisation.LocalisationFieldObject$Properties[];
+
+            /**
+             * Creates a new Localisation instance using the specified properties.
+             * @param {message.localisation.Localisation$Properties=} [properties] Properties to set
+             * @returns {message.localisation.Localisation} Localisation instance
+             */
+            public static create(properties?: message.localisation.Localisation$Properties): message.localisation.Localisation;
+
+            /**
+             * Encodes the specified Localisation message. Does not implicitly {@link message.localisation.Localisation.verify|verify} messages.
+             * @param {message.localisation.Localisation$Properties} message Localisation message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.localisation.Localisation$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified Localisation message, length delimited. Does not implicitly {@link message.localisation.Localisation.verify|verify} messages.
+             * @param {message.localisation.Localisation$Properties} message Localisation message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.localisation.Localisation$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a Localisation message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.localisation.Localisation} Localisation
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.localisation.Localisation;
+
+            /**
+             * Decodes a Localisation message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.localisation.Localisation} Localisation
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.localisation.Localisation;
+
+            /**
+             * Verifies a Localisation message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a Localisation message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.localisation.Localisation} Localisation
+             */
+            public static fromObject(object: { [k: string]: any }): message.localisation.Localisation;
+
+            /**
+             * Creates a Localisation message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.localisation.Localisation.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.localisation.Localisation} Localisation
+             */
+            public static from(object: { [k: string]: any }): message.localisation.Localisation;
+
+            /**
+             * Creates a plain object from a Localisation message. Also converts values to other types if specified.
+             * @param {message.localisation.Localisation} message Localisation
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.localisation.Localisation, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this Localisation message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this Localisation to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type ResetRobotHypotheses$Properties = {
+            hypotheses?: message.localisation.ResetRobotHypotheses.Self$Properties[];
+        };
+
+        /**
+         * Constructs a new ResetRobotHypotheses.
+         * @exports message.localisation.ResetRobotHypotheses
+         * @constructor
+         * @param {message.localisation.ResetRobotHypotheses$Properties=} [properties] Properties to set
+         */
+        class ResetRobotHypotheses {
+
+            /**
+             * Constructs a new ResetRobotHypotheses.
+             * @exports message.localisation.ResetRobotHypotheses
+             * @constructor
+             * @param {message.localisation.ResetRobotHypotheses$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.localisation.ResetRobotHypotheses$Properties);
+
+            /**
+             * ResetRobotHypotheses hypotheses.
+             * @type {Array.<message.localisation.ResetRobotHypotheses.Self$Properties>}
+             */
+            public hypotheses: message.localisation.ResetRobotHypotheses.Self$Properties[];
+
+            /**
+             * Creates a new ResetRobotHypotheses instance using the specified properties.
+             * @param {message.localisation.ResetRobotHypotheses$Properties=} [properties] Properties to set
+             * @returns {message.localisation.ResetRobotHypotheses} ResetRobotHypotheses instance
+             */
+            public static create(properties?: message.localisation.ResetRobotHypotheses$Properties): message.localisation.ResetRobotHypotheses;
+
+            /**
+             * Encodes the specified ResetRobotHypotheses message. Does not implicitly {@link message.localisation.ResetRobotHypotheses.verify|verify} messages.
+             * @param {message.localisation.ResetRobotHypotheses$Properties} message ResetRobotHypotheses message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.localisation.ResetRobotHypotheses$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified ResetRobotHypotheses message, length delimited. Does not implicitly {@link message.localisation.ResetRobotHypotheses.verify|verify} messages.
+             * @param {message.localisation.ResetRobotHypotheses$Properties} message ResetRobotHypotheses message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.localisation.ResetRobotHypotheses$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a ResetRobotHypotheses message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.localisation.ResetRobotHypotheses} ResetRobotHypotheses
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.localisation.ResetRobotHypotheses;
+
+            /**
+             * Decodes a ResetRobotHypotheses message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.localisation.ResetRobotHypotheses} ResetRobotHypotheses
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.localisation.ResetRobotHypotheses;
+
+            /**
+             * Verifies a ResetRobotHypotheses message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a ResetRobotHypotheses message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.localisation.ResetRobotHypotheses} ResetRobotHypotheses
+             */
+            public static fromObject(object: { [k: string]: any }): message.localisation.ResetRobotHypotheses;
+
+            /**
+             * Creates a ResetRobotHypotheses message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.localisation.ResetRobotHypotheses.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.localisation.ResetRobotHypotheses} ResetRobotHypotheses
+             */
+            public static from(object: { [k: string]: any }): message.localisation.ResetRobotHypotheses;
+
+            /**
+             * Creates a plain object from a ResetRobotHypotheses message. Also converts values to other types if specified.
+             * @param {message.localisation.ResetRobotHypotheses} message ResetRobotHypotheses
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.localisation.ResetRobotHypotheses, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this ResetRobotHypotheses message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this ResetRobotHypotheses to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        namespace ResetRobotHypotheses {
+
+            type Self$Properties = {
+                position?: vec2$Properties;
+                positionCov?: mat22$Properties;
+                heading?: number;
+                headingVar?: number;
+                absoluteYaw?: boolean;
+            };
+
+            /**
+             * Constructs a new Self.
+             * @exports message.localisation.ResetRobotHypotheses.Self
+             * @constructor
+             * @param {message.localisation.ResetRobotHypotheses.Self$Properties=} [properties] Properties to set
+             */
+            class Self {
+
+                /**
+                 * Constructs a new Self.
+                 * @exports message.localisation.ResetRobotHypotheses.Self
+                 * @constructor
+                 * @param {message.localisation.ResetRobotHypotheses.Self$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.localisation.ResetRobotHypotheses.Self$Properties);
+
+                /**
+                 * Self position.
+                 * @type {(vec2$Properties|null)}
+                 */
+                public position: (vec2$Properties|null);
+
+                /**
+                 * Self positionCov.
+                 * @type {(mat22$Properties|null)}
+                 */
+                public positionCov: (mat22$Properties|null);
+
+                /**
+                 * Self heading.
+                 * @type {number}
+                 */
+                public heading: number;
+
+                /**
+                 * Self headingVar.
+                 * @type {number}
+                 */
+                public headingVar: number;
+
+                /**
+                 * Self absoluteYaw.
+                 * @type {boolean}
+                 */
+                public absoluteYaw: boolean;
+
+                /**
+                 * Creates a new Self instance using the specified properties.
+                 * @param {message.localisation.ResetRobotHypotheses.Self$Properties=} [properties] Properties to set
+                 * @returns {message.localisation.ResetRobotHypotheses.Self} Self instance
+                 */
+                public static create(properties?: message.localisation.ResetRobotHypotheses.Self$Properties): message.localisation.ResetRobotHypotheses.Self;
+
+                /**
+                 * Encodes the specified Self message. Does not implicitly {@link message.localisation.ResetRobotHypotheses.Self.verify|verify} messages.
+                 * @param {message.localisation.ResetRobotHypotheses.Self$Properties} message Self message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.localisation.ResetRobotHypotheses.Self$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified Self message, length delimited. Does not implicitly {@link message.localisation.ResetRobotHypotheses.Self.verify|verify} messages.
+                 * @param {message.localisation.ResetRobotHypotheses.Self$Properties} message Self message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.localisation.ResetRobotHypotheses.Self$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a Self message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.localisation.ResetRobotHypotheses.Self} Self
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.localisation.ResetRobotHypotheses.Self;
+
+                /**
+                 * Decodes a Self message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.localisation.ResetRobotHypotheses.Self} Self
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.localisation.ResetRobotHypotheses.Self;
+
+                /**
+                 * Verifies a Self message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a Self message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.localisation.ResetRobotHypotheses.Self} Self
+                 */
+                public static fromObject(object: { [k: string]: any }): message.localisation.ResetRobotHypotheses.Self;
+
+                /**
+                 * Creates a Self message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.localisation.ResetRobotHypotheses.Self.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.localisation.ResetRobotHypotheses.Self} Self
+                 */
+                public static from(object: { [k: string]: any }): message.localisation.ResetRobotHypotheses.Self;
+
+                /**
+                 * Creates a plain object from a Self message. Also converts values to other types if specified.
+                 * @param {message.localisation.ResetRobotHypotheses.Self} message Self
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.localisation.ResetRobotHypotheses.Self, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this Self message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this Self to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+        }
+
+        type SideCheckingComplete$Properties = {};
+
+        /**
+         * Constructs a new SideCheckingComplete.
+         * @exports message.localisation.SideCheckingComplete
+         * @constructor
+         * @param {message.localisation.SideCheckingComplete$Properties=} [properties] Properties to set
+         */
+        class SideCheckingComplete {
+
+            /**
+             * Constructs a new SideCheckingComplete.
+             * @exports message.localisation.SideCheckingComplete
+             * @constructor
+             * @param {message.localisation.SideCheckingComplete$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.localisation.SideCheckingComplete$Properties);
+
+            /**
+             * Creates a new SideCheckingComplete instance using the specified properties.
+             * @param {message.localisation.SideCheckingComplete$Properties=} [properties] Properties to set
+             * @returns {message.localisation.SideCheckingComplete} SideCheckingComplete instance
+             */
+            public static create(properties?: message.localisation.SideCheckingComplete$Properties): message.localisation.SideCheckingComplete;
+
+            /**
+             * Encodes the specified SideCheckingComplete message. Does not implicitly {@link message.localisation.SideCheckingComplete.verify|verify} messages.
+             * @param {message.localisation.SideCheckingComplete$Properties} message SideCheckingComplete message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.localisation.SideCheckingComplete$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified SideCheckingComplete message, length delimited. Does not implicitly {@link message.localisation.SideCheckingComplete.verify|verify} messages.
+             * @param {message.localisation.SideCheckingComplete$Properties} message SideCheckingComplete message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.localisation.SideCheckingComplete$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a SideCheckingComplete message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.localisation.SideCheckingComplete} SideCheckingComplete
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.localisation.SideCheckingComplete;
+
+            /**
+             * Decodes a SideCheckingComplete message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.localisation.SideCheckingComplete} SideCheckingComplete
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.localisation.SideCheckingComplete;
+
+            /**
+             * Verifies a SideCheckingComplete message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a SideCheckingComplete message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.localisation.SideCheckingComplete} SideCheckingComplete
+             */
+            public static fromObject(object: { [k: string]: any }): message.localisation.SideCheckingComplete;
+
+            /**
+             * Creates a SideCheckingComplete message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.localisation.SideCheckingComplete.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.localisation.SideCheckingComplete} SideCheckingComplete
+             */
+            public static from(object: { [k: string]: any }): message.localisation.SideCheckingComplete;
+
+            /**
+             * Creates a plain object from a SideCheckingComplete message. Also converts values to other types if specified.
+             * @param {message.localisation.SideCheckingComplete} message SideCheckingComplete
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.localisation.SideCheckingComplete, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this SideCheckingComplete message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this SideCheckingComplete to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+    }
+
+    /**
+     * Namespace motion.
+     * @exports message.motion
+     * @namespace
+     */
+    namespace motion {
+
+        type BalanceBodyUpdate$Properties = {
+            phase?: number;
+            leftFoot?: mat44$Properties;
+            rightFoot?: mat44$Properties;
+            armLPosition?: vec3$Properties;
+            armRPosition?: vec3$Properties;
+        };
+
+        /**
+         * Constructs a new BalanceBodyUpdate.
+         * @exports message.motion.BalanceBodyUpdate
+         * @constructor
+         * @param {message.motion.BalanceBodyUpdate$Properties=} [properties] Properties to set
+         */
+        class BalanceBodyUpdate {
+
+            /**
+             * Constructs a new BalanceBodyUpdate.
+             * @exports message.motion.BalanceBodyUpdate
+             * @constructor
+             * @param {message.motion.BalanceBodyUpdate$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.motion.BalanceBodyUpdate$Properties);
+
+            /**
+             * BalanceBodyUpdate phase.
+             * @type {number}
+             */
+            public phase: number;
+
+            /**
+             * BalanceBodyUpdate leftFoot.
+             * @type {(mat44$Properties|null)}
+             */
+            public leftFoot: (mat44$Properties|null);
+
+            /**
+             * BalanceBodyUpdate rightFoot.
+             * @type {(mat44$Properties|null)}
+             */
+            public rightFoot: (mat44$Properties|null);
+
+            /**
+             * BalanceBodyUpdate armLPosition.
+             * @type {(vec3$Properties|null)}
+             */
+            public armLPosition: (vec3$Properties|null);
+
+            /**
+             * BalanceBodyUpdate armRPosition.
+             * @type {(vec3$Properties|null)}
+             */
+            public armRPosition: (vec3$Properties|null);
+
+            /**
+             * Creates a new BalanceBodyUpdate instance using the specified properties.
+             * @param {message.motion.BalanceBodyUpdate$Properties=} [properties] Properties to set
+             * @returns {message.motion.BalanceBodyUpdate} BalanceBodyUpdate instance
+             */
+            public static create(properties?: message.motion.BalanceBodyUpdate$Properties): message.motion.BalanceBodyUpdate;
+
+            /**
+             * Encodes the specified BalanceBodyUpdate message. Does not implicitly {@link message.motion.BalanceBodyUpdate.verify|verify} messages.
+             * @param {message.motion.BalanceBodyUpdate$Properties} message BalanceBodyUpdate message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.motion.BalanceBodyUpdate$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified BalanceBodyUpdate message, length delimited. Does not implicitly {@link message.motion.BalanceBodyUpdate.verify|verify} messages.
+             * @param {message.motion.BalanceBodyUpdate$Properties} message BalanceBodyUpdate message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.motion.BalanceBodyUpdate$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a BalanceBodyUpdate message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.BalanceBodyUpdate} BalanceBodyUpdate
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.BalanceBodyUpdate;
+
+            /**
+             * Decodes a BalanceBodyUpdate message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.BalanceBodyUpdate} BalanceBodyUpdate
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.BalanceBodyUpdate;
+
+            /**
+             * Verifies a BalanceBodyUpdate message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a BalanceBodyUpdate message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.BalanceBodyUpdate} BalanceBodyUpdate
+             */
+            public static fromObject(object: { [k: string]: any }): message.motion.BalanceBodyUpdate;
+
+            /**
+             * Creates a BalanceBodyUpdate message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.BalanceBodyUpdate.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.BalanceBodyUpdate} BalanceBodyUpdate
+             */
+            public static from(object: { [k: string]: any }): message.motion.BalanceBodyUpdate;
+
+            /**
+             * Creates a plain object from a BalanceBodyUpdate message. Also converts values to other types if specified.
+             * @param {message.motion.BalanceBodyUpdate} message BalanceBodyUpdate
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.motion.BalanceBodyUpdate, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this BalanceBodyUpdate message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this BalanceBodyUpdate to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type EnableBalanceResponse$Properties = {};
+
+        /**
+         * Constructs a new EnableBalanceResponse.
+         * @exports message.motion.EnableBalanceResponse
+         * @constructor
+         * @param {message.motion.EnableBalanceResponse$Properties=} [properties] Properties to set
+         */
+        class EnableBalanceResponse {
+
+            /**
+             * Constructs a new EnableBalanceResponse.
+             * @exports message.motion.EnableBalanceResponse
+             * @constructor
+             * @param {message.motion.EnableBalanceResponse$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.motion.EnableBalanceResponse$Properties);
+
+            /**
+             * Creates a new EnableBalanceResponse instance using the specified properties.
+             * @param {message.motion.EnableBalanceResponse$Properties=} [properties] Properties to set
+             * @returns {message.motion.EnableBalanceResponse} EnableBalanceResponse instance
+             */
+            public static create(properties?: message.motion.EnableBalanceResponse$Properties): message.motion.EnableBalanceResponse;
+
+            /**
+             * Encodes the specified EnableBalanceResponse message. Does not implicitly {@link message.motion.EnableBalanceResponse.verify|verify} messages.
+             * @param {message.motion.EnableBalanceResponse$Properties} message EnableBalanceResponse message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.motion.EnableBalanceResponse$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified EnableBalanceResponse message, length delimited. Does not implicitly {@link message.motion.EnableBalanceResponse.verify|verify} messages.
+             * @param {message.motion.EnableBalanceResponse$Properties} message EnableBalanceResponse message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.motion.EnableBalanceResponse$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes an EnableBalanceResponse message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.EnableBalanceResponse} EnableBalanceResponse
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.EnableBalanceResponse;
+
+            /**
+             * Decodes an EnableBalanceResponse message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.EnableBalanceResponse} EnableBalanceResponse
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.EnableBalanceResponse;
+
+            /**
+             * Verifies an EnableBalanceResponse message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates an EnableBalanceResponse message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.EnableBalanceResponse} EnableBalanceResponse
+             */
+            public static fromObject(object: { [k: string]: any }): message.motion.EnableBalanceResponse;
+
+            /**
+             * Creates an EnableBalanceResponse message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.EnableBalanceResponse.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.EnableBalanceResponse} EnableBalanceResponse
+             */
+            public static from(object: { [k: string]: any }): message.motion.EnableBalanceResponse;
+
+            /**
+             * Creates a plain object from an EnableBalanceResponse message. Also converts values to other types if specified.
+             * @param {message.motion.EnableBalanceResponse} message EnableBalanceResponse
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.motion.EnableBalanceResponse, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this EnableBalanceResponse message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this EnableBalanceResponse to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type DisableBalanceResponse$Properties = {};
+
+        /**
+         * Constructs a new DisableBalanceResponse.
+         * @exports message.motion.DisableBalanceResponse
+         * @constructor
+         * @param {message.motion.DisableBalanceResponse$Properties=} [properties] Properties to set
+         */
+        class DisableBalanceResponse {
+
+            /**
+             * Constructs a new DisableBalanceResponse.
+             * @exports message.motion.DisableBalanceResponse
+             * @constructor
+             * @param {message.motion.DisableBalanceResponse$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.motion.DisableBalanceResponse$Properties);
+
+            /**
+             * Creates a new DisableBalanceResponse instance using the specified properties.
+             * @param {message.motion.DisableBalanceResponse$Properties=} [properties] Properties to set
+             * @returns {message.motion.DisableBalanceResponse} DisableBalanceResponse instance
+             */
+            public static create(properties?: message.motion.DisableBalanceResponse$Properties): message.motion.DisableBalanceResponse;
+
+            /**
+             * Encodes the specified DisableBalanceResponse message. Does not implicitly {@link message.motion.DisableBalanceResponse.verify|verify} messages.
+             * @param {message.motion.DisableBalanceResponse$Properties} message DisableBalanceResponse message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.motion.DisableBalanceResponse$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified DisableBalanceResponse message, length delimited. Does not implicitly {@link message.motion.DisableBalanceResponse.verify|verify} messages.
+             * @param {message.motion.DisableBalanceResponse$Properties} message DisableBalanceResponse message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.motion.DisableBalanceResponse$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a DisableBalanceResponse message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.DisableBalanceResponse} DisableBalanceResponse
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.DisableBalanceResponse;
+
+            /**
+             * Decodes a DisableBalanceResponse message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.DisableBalanceResponse} DisableBalanceResponse
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.DisableBalanceResponse;
+
+            /**
+             * Verifies a DisableBalanceResponse message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a DisableBalanceResponse message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.DisableBalanceResponse} DisableBalanceResponse
+             */
+            public static fromObject(object: { [k: string]: any }): message.motion.DisableBalanceResponse;
+
+            /**
+             * Creates a DisableBalanceResponse message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.DisableBalanceResponse.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.DisableBalanceResponse} DisableBalanceResponse
+             */
+            public static from(object: { [k: string]: any }): message.motion.DisableBalanceResponse;
+
+            /**
+             * Creates a plain object from a DisableBalanceResponse message. Also converts values to other types if specified.
+             * @param {message.motion.DisableBalanceResponse} message DisableBalanceResponse
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.motion.DisableBalanceResponse, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this DisableBalanceResponse message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this DisableBalanceResponse to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type DiveCommand$Properties = {
+            direction?: vec2$Properties;
+        };
+
+        /**
+         * Constructs a new DiveCommand.
+         * @exports message.motion.DiveCommand
+         * @constructor
+         * @param {message.motion.DiveCommand$Properties=} [properties] Properties to set
+         */
+        class DiveCommand {
+
+            /**
+             * Constructs a new DiveCommand.
+             * @exports message.motion.DiveCommand
+             * @constructor
+             * @param {message.motion.DiveCommand$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.motion.DiveCommand$Properties);
+
+            /**
+             * DiveCommand direction.
+             * @type {(vec2$Properties|null)}
+             */
+            public direction: (vec2$Properties|null);
+
+            /**
+             * Creates a new DiveCommand instance using the specified properties.
+             * @param {message.motion.DiveCommand$Properties=} [properties] Properties to set
+             * @returns {message.motion.DiveCommand} DiveCommand instance
+             */
+            public static create(properties?: message.motion.DiveCommand$Properties): message.motion.DiveCommand;
+
+            /**
+             * Encodes the specified DiveCommand message. Does not implicitly {@link message.motion.DiveCommand.verify|verify} messages.
+             * @param {message.motion.DiveCommand$Properties} message DiveCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.motion.DiveCommand$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified DiveCommand message, length delimited. Does not implicitly {@link message.motion.DiveCommand.verify|verify} messages.
+             * @param {message.motion.DiveCommand$Properties} message DiveCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.motion.DiveCommand$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a DiveCommand message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.DiveCommand} DiveCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.DiveCommand;
+
+            /**
+             * Decodes a DiveCommand message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.DiveCommand} DiveCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.DiveCommand;
+
+            /**
+             * Verifies a DiveCommand message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a DiveCommand message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.DiveCommand} DiveCommand
+             */
+            public static fromObject(object: { [k: string]: any }): message.motion.DiveCommand;
+
+            /**
+             * Creates a DiveCommand message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.DiveCommand.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.DiveCommand} DiveCommand
+             */
+            public static from(object: { [k: string]: any }): message.motion.DiveCommand;
+
+            /**
+             * Creates a plain object from a DiveCommand message. Also converts values to other types if specified.
+             * @param {message.motion.DiveCommand} message DiveCommand
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.motion.DiveCommand, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this DiveCommand message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this DiveCommand to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type DiveFinished$Properties = {};
+
+        /**
+         * Constructs a new DiveFinished.
+         * @exports message.motion.DiveFinished
+         * @constructor
+         * @param {message.motion.DiveFinished$Properties=} [properties] Properties to set
+         */
+        class DiveFinished {
+
+            /**
+             * Constructs a new DiveFinished.
+             * @exports message.motion.DiveFinished
+             * @constructor
+             * @param {message.motion.DiveFinished$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.motion.DiveFinished$Properties);
+
+            /**
+             * Creates a new DiveFinished instance using the specified properties.
+             * @param {message.motion.DiveFinished$Properties=} [properties] Properties to set
+             * @returns {message.motion.DiveFinished} DiveFinished instance
+             */
+            public static create(properties?: message.motion.DiveFinished$Properties): message.motion.DiveFinished;
+
+            /**
+             * Encodes the specified DiveFinished message. Does not implicitly {@link message.motion.DiveFinished.verify|verify} messages.
+             * @param {message.motion.DiveFinished$Properties} message DiveFinished message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.motion.DiveFinished$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified DiveFinished message, length delimited. Does not implicitly {@link message.motion.DiveFinished.verify|verify} messages.
+             * @param {message.motion.DiveFinished$Properties} message DiveFinished message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.motion.DiveFinished$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a DiveFinished message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.DiveFinished} DiveFinished
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.DiveFinished;
+
+            /**
+             * Decodes a DiveFinished message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.DiveFinished} DiveFinished
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.DiveFinished;
+
+            /**
+             * Verifies a DiveFinished message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a DiveFinished message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.DiveFinished} DiveFinished
+             */
+            public static fromObject(object: { [k: string]: any }): message.motion.DiveFinished;
+
+            /**
+             * Creates a DiveFinished message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.DiveFinished.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.DiveFinished} DiveFinished
+             */
+            public static from(object: { [k: string]: any }): message.motion.DiveFinished;
+
+            /**
+             * Creates a plain object from a DiveFinished message. Also converts values to other types if specified.
+             * @param {message.motion.DiveFinished} message DiveFinished
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.motion.DiveFinished, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this DiveFinished message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this DiveFinished to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type FootMotionStopped$Properties = {};
+
+        /**
+         * Constructs a new FootMotionStopped.
+         * @exports message.motion.FootMotionStopped
+         * @constructor
+         * @param {message.motion.FootMotionStopped$Properties=} [properties] Properties to set
+         */
+        class FootMotionStopped {
+
+            /**
+             * Constructs a new FootMotionStopped.
+             * @exports message.motion.FootMotionStopped
+             * @constructor
+             * @param {message.motion.FootMotionStopped$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.motion.FootMotionStopped$Properties);
+
+            /**
+             * Creates a new FootMotionStopped instance using the specified properties.
+             * @param {message.motion.FootMotionStopped$Properties=} [properties] Properties to set
+             * @returns {message.motion.FootMotionStopped} FootMotionStopped instance
+             */
+            public static create(properties?: message.motion.FootMotionStopped$Properties): message.motion.FootMotionStopped;
+
+            /**
+             * Encodes the specified FootMotionStopped message. Does not implicitly {@link message.motion.FootMotionStopped.verify|verify} messages.
+             * @param {message.motion.FootMotionStopped$Properties} message FootMotionStopped message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.motion.FootMotionStopped$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified FootMotionStopped message, length delimited. Does not implicitly {@link message.motion.FootMotionStopped.verify|verify} messages.
+             * @param {message.motion.FootMotionStopped$Properties} message FootMotionStopped message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.motion.FootMotionStopped$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a FootMotionStopped message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.FootMotionStopped} FootMotionStopped
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.FootMotionStopped;
+
+            /**
+             * Decodes a FootMotionStopped message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.FootMotionStopped} FootMotionStopped
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.FootMotionStopped;
+
+            /**
+             * Verifies a FootMotionStopped message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a FootMotionStopped message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.FootMotionStopped} FootMotionStopped
+             */
+            public static fromObject(object: { [k: string]: any }): message.motion.FootMotionStopped;
+
+            /**
+             * Creates a FootMotionStopped message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.FootMotionStopped.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.FootMotionStopped} FootMotionStopped
+             */
+            public static from(object: { [k: string]: any }): message.motion.FootMotionStopped;
+
+            /**
+             * Creates a plain object from a FootMotionStopped message. Also converts values to other types if specified.
+             * @param {message.motion.FootMotionStopped} message FootMotionStopped
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.motion.FootMotionStopped, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this FootMotionStopped message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this FootMotionStopped to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type FootMotionUpdate$Properties = {
+            phase?: number;
+            activeForwardLimb?: number;
+            leftFoot2D?: vec3$Properties;
+            rightFoot2D?: vec3$Properties;
+            leftFoot3D?: mat44$Properties;
+            rightFoot3D?: mat44$Properties;
+        };
+
+        /**
+         * Constructs a new FootMotionUpdate.
+         * @exports message.motion.FootMotionUpdate
+         * @constructor
+         * @param {message.motion.FootMotionUpdate$Properties=} [properties] Properties to set
+         */
+        class FootMotionUpdate {
+
+            /**
+             * Constructs a new FootMotionUpdate.
+             * @exports message.motion.FootMotionUpdate
+             * @constructor
+             * @param {message.motion.FootMotionUpdate$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.motion.FootMotionUpdate$Properties);
+
+            /**
+             * FootMotionUpdate phase.
+             * @type {number}
+             */
+            public phase: number;
+
+            /**
+             * FootMotionUpdate activeForwardLimb.
+             * @type {number}
+             */
+            public activeForwardLimb: number;
+
+            /**
+             * FootMotionUpdate leftFoot2D.
+             * @type {(vec3$Properties|null)}
+             */
+            public leftFoot2D: (vec3$Properties|null);
+
+            /**
+             * FootMotionUpdate rightFoot2D.
+             * @type {(vec3$Properties|null)}
+             */
+            public rightFoot2D: (vec3$Properties|null);
+
+            /**
+             * FootMotionUpdate leftFoot3D.
+             * @type {(mat44$Properties|null)}
+             */
+            public leftFoot3D: (mat44$Properties|null);
+
+            /**
+             * FootMotionUpdate rightFoot3D.
+             * @type {(mat44$Properties|null)}
+             */
+            public rightFoot3D: (mat44$Properties|null);
+
+            /**
+             * Creates a new FootMotionUpdate instance using the specified properties.
+             * @param {message.motion.FootMotionUpdate$Properties=} [properties] Properties to set
+             * @returns {message.motion.FootMotionUpdate} FootMotionUpdate instance
+             */
+            public static create(properties?: message.motion.FootMotionUpdate$Properties): message.motion.FootMotionUpdate;
+
+            /**
+             * Encodes the specified FootMotionUpdate message. Does not implicitly {@link message.motion.FootMotionUpdate.verify|verify} messages.
+             * @param {message.motion.FootMotionUpdate$Properties} message FootMotionUpdate message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.motion.FootMotionUpdate$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified FootMotionUpdate message, length delimited. Does not implicitly {@link message.motion.FootMotionUpdate.verify|verify} messages.
+             * @param {message.motion.FootMotionUpdate$Properties} message FootMotionUpdate message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.motion.FootMotionUpdate$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a FootMotionUpdate message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.FootMotionUpdate} FootMotionUpdate
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.FootMotionUpdate;
+
+            /**
+             * Decodes a FootMotionUpdate message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.FootMotionUpdate} FootMotionUpdate
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.FootMotionUpdate;
+
+            /**
+             * Verifies a FootMotionUpdate message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a FootMotionUpdate message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.FootMotionUpdate} FootMotionUpdate
+             */
+            public static fromObject(object: { [k: string]: any }): message.motion.FootMotionUpdate;
+
+            /**
+             * Creates a FootMotionUpdate message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.FootMotionUpdate.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.FootMotionUpdate} FootMotionUpdate
+             */
+            public static from(object: { [k: string]: any }): message.motion.FootMotionUpdate;
+
+            /**
+             * Creates a plain object from a FootMotionUpdate message. Also converts values to other types if specified.
+             * @param {message.motion.FootMotionUpdate} message FootMotionUpdate
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.motion.FootMotionUpdate, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this FootMotionUpdate message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this FootMotionUpdate to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type NextFootTargetInfo$Properties = {
+            leftFootSource?: vec3$Properties;
+            rightFootSource?: vec3$Properties;
+            supportMass?: vec3$Properties;
+            leftFootDestination?: vec3$Properties;
+            rightFootDestination?: vec3$Properties;
+        };
+
+        /**
+         * Constructs a new NextFootTargetInfo.
+         * @exports message.motion.NextFootTargetInfo
+         * @constructor
+         * @param {message.motion.NextFootTargetInfo$Properties=} [properties] Properties to set
+         */
+        class NextFootTargetInfo {
+
+            /**
+             * Constructs a new NextFootTargetInfo.
+             * @exports message.motion.NextFootTargetInfo
+             * @constructor
+             * @param {message.motion.NextFootTargetInfo$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.motion.NextFootTargetInfo$Properties);
+
+            /**
+             * NextFootTargetInfo leftFootSource.
+             * @type {(vec3$Properties|null)}
+             */
+            public leftFootSource: (vec3$Properties|null);
+
+            /**
+             * NextFootTargetInfo rightFootSource.
+             * @type {(vec3$Properties|null)}
+             */
+            public rightFootSource: (vec3$Properties|null);
+
+            /**
+             * NextFootTargetInfo supportMass.
+             * @type {(vec3$Properties|null)}
+             */
+            public supportMass: (vec3$Properties|null);
+
+            /**
+             * NextFootTargetInfo leftFootDestination.
+             * @type {(vec3$Properties|null)}
+             */
+            public leftFootDestination: (vec3$Properties|null);
+
+            /**
+             * NextFootTargetInfo rightFootDestination.
+             * @type {(vec3$Properties|null)}
+             */
+            public rightFootDestination: (vec3$Properties|null);
+
+            /**
+             * Creates a new NextFootTargetInfo instance using the specified properties.
+             * @param {message.motion.NextFootTargetInfo$Properties=} [properties] Properties to set
+             * @returns {message.motion.NextFootTargetInfo} NextFootTargetInfo instance
+             */
+            public static create(properties?: message.motion.NextFootTargetInfo$Properties): message.motion.NextFootTargetInfo;
+
+            /**
+             * Encodes the specified NextFootTargetInfo message. Does not implicitly {@link message.motion.NextFootTargetInfo.verify|verify} messages.
+             * @param {message.motion.NextFootTargetInfo$Properties} message NextFootTargetInfo message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.motion.NextFootTargetInfo$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified NextFootTargetInfo message, length delimited. Does not implicitly {@link message.motion.NextFootTargetInfo.verify|verify} messages.
+             * @param {message.motion.NextFootTargetInfo$Properties} message NextFootTargetInfo message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.motion.NextFootTargetInfo$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a NextFootTargetInfo message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.NextFootTargetInfo} NextFootTargetInfo
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.NextFootTargetInfo;
+
+            /**
+             * Decodes a NextFootTargetInfo message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.NextFootTargetInfo} NextFootTargetInfo
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.NextFootTargetInfo;
+
+            /**
+             * Verifies a NextFootTargetInfo message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a NextFootTargetInfo message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.NextFootTargetInfo} NextFootTargetInfo
+             */
+            public static fromObject(object: { [k: string]: any }): message.motion.NextFootTargetInfo;
+
+            /**
+             * Creates a NextFootTargetInfo message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.NextFootTargetInfo.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.NextFootTargetInfo} NextFootTargetInfo
+             */
+            public static from(object: { [k: string]: any }): message.motion.NextFootTargetInfo;
+
+            /**
+             * Creates a plain object from a NextFootTargetInfo message. Also converts values to other types if specified.
+             * @param {message.motion.NextFootTargetInfo} message NextFootTargetInfo
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.motion.NextFootTargetInfo, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this NextFootTargetInfo message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this NextFootTargetInfo to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type FootStepRequested$Properties = {
+            status?: boolean;
+        };
+
+        /**
+         * Constructs a new FootStepRequested.
+         * @exports message.motion.FootStepRequested
+         * @constructor
+         * @param {message.motion.FootStepRequested$Properties=} [properties] Properties to set
+         */
+        class FootStepRequested {
+
+            /**
+             * Constructs a new FootStepRequested.
+             * @exports message.motion.FootStepRequested
+             * @constructor
+             * @param {message.motion.FootStepRequested$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.motion.FootStepRequested$Properties);
+
+            /**
+             * FootStepRequested status.
+             * @type {boolean}
+             */
+            public status: boolean;
+
+            /**
+             * Creates a new FootStepRequested instance using the specified properties.
+             * @param {message.motion.FootStepRequested$Properties=} [properties] Properties to set
+             * @returns {message.motion.FootStepRequested} FootStepRequested instance
+             */
+            public static create(properties?: message.motion.FootStepRequested$Properties): message.motion.FootStepRequested;
+
+            /**
+             * Encodes the specified FootStepRequested message. Does not implicitly {@link message.motion.FootStepRequested.verify|verify} messages.
+             * @param {message.motion.FootStepRequested$Properties} message FootStepRequested message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.motion.FootStepRequested$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified FootStepRequested message, length delimited. Does not implicitly {@link message.motion.FootStepRequested.verify|verify} messages.
+             * @param {message.motion.FootStepRequested$Properties} message FootStepRequested message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.motion.FootStepRequested$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a FootStepRequested message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.FootStepRequested} FootStepRequested
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.FootStepRequested;
+
+            /**
+             * Decodes a FootStepRequested message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.FootStepRequested} FootStepRequested
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.FootStepRequested;
+
+            /**
+             * Verifies a FootStepRequested message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a FootStepRequested message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.FootStepRequested} FootStepRequested
+             */
+            public static fromObject(object: { [k: string]: any }): message.motion.FootStepRequested;
+
+            /**
+             * Creates a FootStepRequested message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.FootStepRequested.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.FootStepRequested} FootStepRequested
+             */
+            public static from(object: { [k: string]: any }): message.motion.FootStepRequested;
+
+            /**
+             * Creates a plain object from a FootStepRequested message. Also converts values to other types if specified.
+             * @param {message.motion.FootStepRequested} message FootStepRequested
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.motion.FootStepRequested, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this FootStepRequested message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this FootStepRequested to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type FootStepCompleted$Properties = {
+            status?: boolean;
+        };
+
+        /**
+         * Constructs a new FootStepCompleted.
+         * @exports message.motion.FootStepCompleted
+         * @constructor
+         * @param {message.motion.FootStepCompleted$Properties=} [properties] Properties to set
+         */
+        class FootStepCompleted {
+
+            /**
+             * Constructs a new FootStepCompleted.
+             * @exports message.motion.FootStepCompleted
+             * @constructor
+             * @param {message.motion.FootStepCompleted$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.motion.FootStepCompleted$Properties);
+
+            /**
+             * FootStepCompleted status.
+             * @type {boolean}
+             */
+            public status: boolean;
+
+            /**
+             * Creates a new FootStepCompleted instance using the specified properties.
+             * @param {message.motion.FootStepCompleted$Properties=} [properties] Properties to set
+             * @returns {message.motion.FootStepCompleted} FootStepCompleted instance
+             */
+            public static create(properties?: message.motion.FootStepCompleted$Properties): message.motion.FootStepCompleted;
+
+            /**
+             * Encodes the specified FootStepCompleted message. Does not implicitly {@link message.motion.FootStepCompleted.verify|verify} messages.
+             * @param {message.motion.FootStepCompleted$Properties} message FootStepCompleted message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.motion.FootStepCompleted$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified FootStepCompleted message, length delimited. Does not implicitly {@link message.motion.FootStepCompleted.verify|verify} messages.
+             * @param {message.motion.FootStepCompleted$Properties} message FootStepCompleted message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.motion.FootStepCompleted$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a FootStepCompleted message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.FootStepCompleted} FootStepCompleted
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.FootStepCompleted;
+
+            /**
+             * Decodes a FootStepCompleted message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.FootStepCompleted} FootStepCompleted
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.FootStepCompleted;
+
+            /**
+             * Verifies a FootStepCompleted message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a FootStepCompleted message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.FootStepCompleted} FootStepCompleted
+             */
+            public static fromObject(object: { [k: string]: any }): message.motion.FootStepCompleted;
+
+            /**
+             * Creates a FootStepCompleted message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.FootStepCompleted.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.FootStepCompleted} FootStepCompleted
+             */
+            public static from(object: { [k: string]: any }): message.motion.FootStepCompleted;
+
+            /**
+             * Creates a plain object from a FootStepCompleted message. Also converts values to other types if specified.
+             * @param {message.motion.FootStepCompleted} message FootStepCompleted
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.motion.FootStepCompleted, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this FootStepCompleted message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this FootStepCompleted to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type EnableFootMotion$Properties = {};
+
+        /**
+         * Constructs a new EnableFootMotion.
+         * @exports message.motion.EnableFootMotion
+         * @constructor
+         * @param {message.motion.EnableFootMotion$Properties=} [properties] Properties to set
+         */
+        class EnableFootMotion {
+
+            /**
+             * Constructs a new EnableFootMotion.
+             * @exports message.motion.EnableFootMotion
+             * @constructor
+             * @param {message.motion.EnableFootMotion$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.motion.EnableFootMotion$Properties);
+
+            /**
+             * Creates a new EnableFootMotion instance using the specified properties.
+             * @param {message.motion.EnableFootMotion$Properties=} [properties] Properties to set
+             * @returns {message.motion.EnableFootMotion} EnableFootMotion instance
+             */
+            public static create(properties?: message.motion.EnableFootMotion$Properties): message.motion.EnableFootMotion;
+
+            /**
+             * Encodes the specified EnableFootMotion message. Does not implicitly {@link message.motion.EnableFootMotion.verify|verify} messages.
+             * @param {message.motion.EnableFootMotion$Properties} message EnableFootMotion message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.motion.EnableFootMotion$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified EnableFootMotion message, length delimited. Does not implicitly {@link message.motion.EnableFootMotion.verify|verify} messages.
+             * @param {message.motion.EnableFootMotion$Properties} message EnableFootMotion message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.motion.EnableFootMotion$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes an EnableFootMotion message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.EnableFootMotion} EnableFootMotion
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.EnableFootMotion;
+
+            /**
+             * Decodes an EnableFootMotion message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.EnableFootMotion} EnableFootMotion
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.EnableFootMotion;
+
+            /**
+             * Verifies an EnableFootMotion message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates an EnableFootMotion message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.EnableFootMotion} EnableFootMotion
+             */
+            public static fromObject(object: { [k: string]: any }): message.motion.EnableFootMotion;
+
+            /**
+             * Creates an EnableFootMotion message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.EnableFootMotion.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.EnableFootMotion} EnableFootMotion
+             */
+            public static from(object: { [k: string]: any }): message.motion.EnableFootMotion;
+
+            /**
+             * Creates a plain object from an EnableFootMotion message. Also converts values to other types if specified.
+             * @param {message.motion.EnableFootMotion} message EnableFootMotion
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.motion.EnableFootMotion, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this EnableFootMotion message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this EnableFootMotion to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type DisableFootMotion$Properties = {};
+
+        /**
+         * Constructs a new DisableFootMotion.
+         * @exports message.motion.DisableFootMotion
+         * @constructor
+         * @param {message.motion.DisableFootMotion$Properties=} [properties] Properties to set
+         */
+        class DisableFootMotion {
+
+            /**
+             * Constructs a new DisableFootMotion.
+             * @exports message.motion.DisableFootMotion
+             * @constructor
+             * @param {message.motion.DisableFootMotion$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.motion.DisableFootMotion$Properties);
+
+            /**
+             * Creates a new DisableFootMotion instance using the specified properties.
+             * @param {message.motion.DisableFootMotion$Properties=} [properties] Properties to set
+             * @returns {message.motion.DisableFootMotion} DisableFootMotion instance
+             */
+            public static create(properties?: message.motion.DisableFootMotion$Properties): message.motion.DisableFootMotion;
+
+            /**
+             * Encodes the specified DisableFootMotion message. Does not implicitly {@link message.motion.DisableFootMotion.verify|verify} messages.
+             * @param {message.motion.DisableFootMotion$Properties} message DisableFootMotion message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.motion.DisableFootMotion$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified DisableFootMotion message, length delimited. Does not implicitly {@link message.motion.DisableFootMotion.verify|verify} messages.
+             * @param {message.motion.DisableFootMotion$Properties} message DisableFootMotion message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.motion.DisableFootMotion$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a DisableFootMotion message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.DisableFootMotion} DisableFootMotion
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.DisableFootMotion;
+
+            /**
+             * Decodes a DisableFootMotion message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.DisableFootMotion} DisableFootMotion
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.DisableFootMotion;
+
+            /**
+             * Verifies a DisableFootMotion message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a DisableFootMotion message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.DisableFootMotion} DisableFootMotion
+             */
+            public static fromObject(object: { [k: string]: any }): message.motion.DisableFootMotion;
+
+            /**
+             * Creates a DisableFootMotion message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.DisableFootMotion.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.DisableFootMotion} DisableFootMotion
+             */
+            public static from(object: { [k: string]: any }): message.motion.DisableFootMotion;
+
+            /**
+             * Creates a plain object from a DisableFootMotion message. Also converts values to other types if specified.
+             * @param {message.motion.DisableFootMotion} message DisableFootMotion
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.motion.DisableFootMotion, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this DisableFootMotion message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this DisableFootMotion to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type FootPlacementStopped$Properties = {};
+
+        /**
+         * Constructs a new FootPlacementStopped.
+         * @exports message.motion.FootPlacementStopped
+         * @constructor
+         * @param {message.motion.FootPlacementStopped$Properties=} [properties] Properties to set
+         */
+        class FootPlacementStopped {
+
+            /**
+             * Constructs a new FootPlacementStopped.
+             * @exports message.motion.FootPlacementStopped
+             * @constructor
+             * @param {message.motion.FootPlacementStopped$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.motion.FootPlacementStopped$Properties);
+
+            /**
+             * Creates a new FootPlacementStopped instance using the specified properties.
+             * @param {message.motion.FootPlacementStopped$Properties=} [properties] Properties to set
+             * @returns {message.motion.FootPlacementStopped} FootPlacementStopped instance
+             */
+            public static create(properties?: message.motion.FootPlacementStopped$Properties): message.motion.FootPlacementStopped;
+
+            /**
+             * Encodes the specified FootPlacementStopped message. Does not implicitly {@link message.motion.FootPlacementStopped.verify|verify} messages.
+             * @param {message.motion.FootPlacementStopped$Properties} message FootPlacementStopped message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.motion.FootPlacementStopped$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified FootPlacementStopped message, length delimited. Does not implicitly {@link message.motion.FootPlacementStopped.verify|verify} messages.
+             * @param {message.motion.FootPlacementStopped$Properties} message FootPlacementStopped message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.motion.FootPlacementStopped$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a FootPlacementStopped message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.FootPlacementStopped} FootPlacementStopped
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.FootPlacementStopped;
+
+            /**
+             * Decodes a FootPlacementStopped message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.FootPlacementStopped} FootPlacementStopped
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.FootPlacementStopped;
+
+            /**
+             * Verifies a FootPlacementStopped message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a FootPlacementStopped message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.FootPlacementStopped} FootPlacementStopped
+             */
+            public static fromObject(object: { [k: string]: any }): message.motion.FootPlacementStopped;
+
+            /**
+             * Creates a FootPlacementStopped message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.FootPlacementStopped.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.FootPlacementStopped} FootPlacementStopped
+             */
+            public static from(object: { [k: string]: any }): message.motion.FootPlacementStopped;
+
+            /**
+             * Creates a plain object from a FootPlacementStopped message. Also converts values to other types if specified.
+             * @param {message.motion.FootPlacementStopped} message FootPlacementStopped
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.motion.FootPlacementStopped, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this FootPlacementStopped message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this FootPlacementStopped to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type NewStepTargetInfo$Properties = {
+            targetTime?: number;
+            velocityCurrent?: vec3$Properties;
+            activeForwardLimb?: number;
+        };
+
+        /**
+         * Constructs a new NewStepTargetInfo.
+         * @exports message.motion.NewStepTargetInfo
+         * @constructor
+         * @param {message.motion.NewStepTargetInfo$Properties=} [properties] Properties to set
+         */
+        class NewStepTargetInfo {
+
+            /**
+             * Constructs a new NewStepTargetInfo.
+             * @exports message.motion.NewStepTargetInfo
+             * @constructor
+             * @param {message.motion.NewStepTargetInfo$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.motion.NewStepTargetInfo$Properties);
+
+            /**
+             * NewStepTargetInfo targetTime.
+             * @type {number}
+             */
+            public targetTime: number;
+
+            /**
+             * NewStepTargetInfo velocityCurrent.
+             * @type {(vec3$Properties|null)}
+             */
+            public velocityCurrent: (vec3$Properties|null);
+
+            /**
+             * NewStepTargetInfo activeForwardLimb.
+             * @type {number}
+             */
+            public activeForwardLimb: number;
+
+            /**
+             * Creates a new NewStepTargetInfo instance using the specified properties.
+             * @param {message.motion.NewStepTargetInfo$Properties=} [properties] Properties to set
+             * @returns {message.motion.NewStepTargetInfo} NewStepTargetInfo instance
+             */
+            public static create(properties?: message.motion.NewStepTargetInfo$Properties): message.motion.NewStepTargetInfo;
+
+            /**
+             * Encodes the specified NewStepTargetInfo message. Does not implicitly {@link message.motion.NewStepTargetInfo.verify|verify} messages.
+             * @param {message.motion.NewStepTargetInfo$Properties} message NewStepTargetInfo message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.motion.NewStepTargetInfo$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified NewStepTargetInfo message, length delimited. Does not implicitly {@link message.motion.NewStepTargetInfo.verify|verify} messages.
+             * @param {message.motion.NewStepTargetInfo$Properties} message NewStepTargetInfo message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.motion.NewStepTargetInfo$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a NewStepTargetInfo message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.NewStepTargetInfo} NewStepTargetInfo
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.NewStepTargetInfo;
+
+            /**
+             * Decodes a NewStepTargetInfo message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.NewStepTargetInfo} NewStepTargetInfo
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.NewStepTargetInfo;
+
+            /**
+             * Verifies a NewStepTargetInfo message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a NewStepTargetInfo message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.NewStepTargetInfo} NewStepTargetInfo
+             */
+            public static fromObject(object: { [k: string]: any }): message.motion.NewStepTargetInfo;
+
+            /**
+             * Creates a NewStepTargetInfo message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.NewStepTargetInfo.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.NewStepTargetInfo} NewStepTargetInfo
+             */
+            public static from(object: { [k: string]: any }): message.motion.NewStepTargetInfo;
+
+            /**
+             * Creates a plain object from a NewStepTargetInfo message. Also converts values to other types if specified.
+             * @param {message.motion.NewStepTargetInfo} message NewStepTargetInfo
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.motion.NewStepTargetInfo, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this NewStepTargetInfo message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this NewStepTargetInfo to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type NewFootTargetInfo$Properties = {
+            leftFootSource?: vec3$Properties;
+            rightFootSource?: vec3$Properties;
+            supportMass?: vec3$Properties;
+            leftFootDestination?: vec3$Properties;
+            rightFootDestination?: vec3$Properties;
+        };
+
+        /**
+         * Constructs a new NewFootTargetInfo.
+         * @exports message.motion.NewFootTargetInfo
+         * @constructor
+         * @param {message.motion.NewFootTargetInfo$Properties=} [properties] Properties to set
+         */
+        class NewFootTargetInfo {
+
+            /**
+             * Constructs a new NewFootTargetInfo.
+             * @exports message.motion.NewFootTargetInfo
+             * @constructor
+             * @param {message.motion.NewFootTargetInfo$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.motion.NewFootTargetInfo$Properties);
+
+            /**
+             * NewFootTargetInfo leftFootSource.
+             * @type {(vec3$Properties|null)}
+             */
+            public leftFootSource: (vec3$Properties|null);
+
+            /**
+             * NewFootTargetInfo rightFootSource.
+             * @type {(vec3$Properties|null)}
+             */
+            public rightFootSource: (vec3$Properties|null);
+
+            /**
+             * NewFootTargetInfo supportMass.
+             * @type {(vec3$Properties|null)}
+             */
+            public supportMass: (vec3$Properties|null);
+
+            /**
+             * NewFootTargetInfo leftFootDestination.
+             * @type {(vec3$Properties|null)}
+             */
+            public leftFootDestination: (vec3$Properties|null);
+
+            /**
+             * NewFootTargetInfo rightFootDestination.
+             * @type {(vec3$Properties|null)}
+             */
+            public rightFootDestination: (vec3$Properties|null);
+
+            /**
+             * Creates a new NewFootTargetInfo instance using the specified properties.
+             * @param {message.motion.NewFootTargetInfo$Properties=} [properties] Properties to set
+             * @returns {message.motion.NewFootTargetInfo} NewFootTargetInfo instance
+             */
+            public static create(properties?: message.motion.NewFootTargetInfo$Properties): message.motion.NewFootTargetInfo;
+
+            /**
+             * Encodes the specified NewFootTargetInfo message. Does not implicitly {@link message.motion.NewFootTargetInfo.verify|verify} messages.
+             * @param {message.motion.NewFootTargetInfo$Properties} message NewFootTargetInfo message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.motion.NewFootTargetInfo$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified NewFootTargetInfo message, length delimited. Does not implicitly {@link message.motion.NewFootTargetInfo.verify|verify} messages.
+             * @param {message.motion.NewFootTargetInfo$Properties} message NewFootTargetInfo message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.motion.NewFootTargetInfo$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a NewFootTargetInfo message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.NewFootTargetInfo} NewFootTargetInfo
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.NewFootTargetInfo;
+
+            /**
+             * Decodes a NewFootTargetInfo message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.NewFootTargetInfo} NewFootTargetInfo
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.NewFootTargetInfo;
+
+            /**
+             * Verifies a NewFootTargetInfo message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a NewFootTargetInfo message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.NewFootTargetInfo} NewFootTargetInfo
+             */
+            public static fromObject(object: { [k: string]: any }): message.motion.NewFootTargetInfo;
+
+            /**
+             * Creates a NewFootTargetInfo message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.NewFootTargetInfo.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.NewFootTargetInfo} NewFootTargetInfo
+             */
+            public static from(object: { [k: string]: any }): message.motion.NewFootTargetInfo;
+
+            /**
+             * Creates a plain object from a NewFootTargetInfo message. Also converts values to other types if specified.
+             * @param {message.motion.NewFootTargetInfo} message NewFootTargetInfo
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.motion.NewFootTargetInfo, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this NewFootTargetInfo message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this NewFootTargetInfo to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type EnableFootPlacement$Properties = {};
+
+        /**
+         * Constructs a new EnableFootPlacement.
+         * @exports message.motion.EnableFootPlacement
+         * @constructor
+         * @param {message.motion.EnableFootPlacement$Properties=} [properties] Properties to set
+         */
+        class EnableFootPlacement {
+
+            /**
+             * Constructs a new EnableFootPlacement.
+             * @exports message.motion.EnableFootPlacement
+             * @constructor
+             * @param {message.motion.EnableFootPlacement$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.motion.EnableFootPlacement$Properties);
+
+            /**
+             * Creates a new EnableFootPlacement instance using the specified properties.
+             * @param {message.motion.EnableFootPlacement$Properties=} [properties] Properties to set
+             * @returns {message.motion.EnableFootPlacement} EnableFootPlacement instance
+             */
+            public static create(properties?: message.motion.EnableFootPlacement$Properties): message.motion.EnableFootPlacement;
+
+            /**
+             * Encodes the specified EnableFootPlacement message. Does not implicitly {@link message.motion.EnableFootPlacement.verify|verify} messages.
+             * @param {message.motion.EnableFootPlacement$Properties} message EnableFootPlacement message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.motion.EnableFootPlacement$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified EnableFootPlacement message, length delimited. Does not implicitly {@link message.motion.EnableFootPlacement.verify|verify} messages.
+             * @param {message.motion.EnableFootPlacement$Properties} message EnableFootPlacement message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.motion.EnableFootPlacement$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes an EnableFootPlacement message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.EnableFootPlacement} EnableFootPlacement
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.EnableFootPlacement;
+
+            /**
+             * Decodes an EnableFootPlacement message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.EnableFootPlacement} EnableFootPlacement
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.EnableFootPlacement;
+
+            /**
+             * Verifies an EnableFootPlacement message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates an EnableFootPlacement message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.EnableFootPlacement} EnableFootPlacement
+             */
+            public static fromObject(object: { [k: string]: any }): message.motion.EnableFootPlacement;
+
+            /**
+             * Creates an EnableFootPlacement message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.EnableFootPlacement.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.EnableFootPlacement} EnableFootPlacement
+             */
+            public static from(object: { [k: string]: any }): message.motion.EnableFootPlacement;
+
+            /**
+             * Creates a plain object from an EnableFootPlacement message. Also converts values to other types if specified.
+             * @param {message.motion.EnableFootPlacement} message EnableFootPlacement
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.motion.EnableFootPlacement, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this EnableFootPlacement message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this EnableFootPlacement to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type DisableFootPlacement$Properties = {};
+
+        /**
+         * Constructs a new DisableFootPlacement.
+         * @exports message.motion.DisableFootPlacement
+         * @constructor
+         * @param {message.motion.DisableFootPlacement$Properties=} [properties] Properties to set
+         */
+        class DisableFootPlacement {
+
+            /**
+             * Constructs a new DisableFootPlacement.
+             * @exports message.motion.DisableFootPlacement
+             * @constructor
+             * @param {message.motion.DisableFootPlacement$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.motion.DisableFootPlacement$Properties);
+
+            /**
+             * Creates a new DisableFootPlacement instance using the specified properties.
+             * @param {message.motion.DisableFootPlacement$Properties=} [properties] Properties to set
+             * @returns {message.motion.DisableFootPlacement} DisableFootPlacement instance
+             */
+            public static create(properties?: message.motion.DisableFootPlacement$Properties): message.motion.DisableFootPlacement;
+
+            /**
+             * Encodes the specified DisableFootPlacement message. Does not implicitly {@link message.motion.DisableFootPlacement.verify|verify} messages.
+             * @param {message.motion.DisableFootPlacement$Properties} message DisableFootPlacement message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.motion.DisableFootPlacement$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified DisableFootPlacement message, length delimited. Does not implicitly {@link message.motion.DisableFootPlacement.verify|verify} messages.
+             * @param {message.motion.DisableFootPlacement$Properties} message DisableFootPlacement message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.motion.DisableFootPlacement$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a DisableFootPlacement message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.DisableFootPlacement} DisableFootPlacement
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.DisableFootPlacement;
+
+            /**
+             * Decodes a DisableFootPlacement message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.DisableFootPlacement} DisableFootPlacement
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.DisableFootPlacement;
+
+            /**
+             * Verifies a DisableFootPlacement message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a DisableFootPlacement message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.DisableFootPlacement} DisableFootPlacement
+             */
+            public static fromObject(object: { [k: string]: any }): message.motion.DisableFootPlacement;
+
+            /**
+             * Creates a DisableFootPlacement message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.DisableFootPlacement.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.DisableFootPlacement} DisableFootPlacement
+             */
+            public static from(object: { [k: string]: any }): message.motion.DisableFootPlacement;
+
+            /**
+             * Creates a plain object from a DisableFootPlacement message. Also converts values to other types if specified.
+             * @param {message.motion.DisableFootPlacement} message DisableFootPlacement
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.motion.DisableFootPlacement, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this DisableFootPlacement message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this DisableFootPlacement to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type ExecuteGetup$Properties = {};
+
+        /**
+         * Constructs a new ExecuteGetup.
+         * @exports message.motion.ExecuteGetup
+         * @constructor
+         * @param {message.motion.ExecuteGetup$Properties=} [properties] Properties to set
+         */
+        class ExecuteGetup {
+
+            /**
+             * Constructs a new ExecuteGetup.
+             * @exports message.motion.ExecuteGetup
+             * @constructor
+             * @param {message.motion.ExecuteGetup$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.motion.ExecuteGetup$Properties);
+
+            /**
+             * Creates a new ExecuteGetup instance using the specified properties.
+             * @param {message.motion.ExecuteGetup$Properties=} [properties] Properties to set
+             * @returns {message.motion.ExecuteGetup} ExecuteGetup instance
+             */
+            public static create(properties?: message.motion.ExecuteGetup$Properties): message.motion.ExecuteGetup;
+
+            /**
+             * Encodes the specified ExecuteGetup message. Does not implicitly {@link message.motion.ExecuteGetup.verify|verify} messages.
+             * @param {message.motion.ExecuteGetup$Properties} message ExecuteGetup message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.motion.ExecuteGetup$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified ExecuteGetup message, length delimited. Does not implicitly {@link message.motion.ExecuteGetup.verify|verify} messages.
+             * @param {message.motion.ExecuteGetup$Properties} message ExecuteGetup message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.motion.ExecuteGetup$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes an ExecuteGetup message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.ExecuteGetup} ExecuteGetup
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.ExecuteGetup;
+
+            /**
+             * Decodes an ExecuteGetup message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.ExecuteGetup} ExecuteGetup
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.ExecuteGetup;
+
+            /**
+             * Verifies an ExecuteGetup message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates an ExecuteGetup message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.ExecuteGetup} ExecuteGetup
+             */
+            public static fromObject(object: { [k: string]: any }): message.motion.ExecuteGetup;
+
+            /**
+             * Creates an ExecuteGetup message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.ExecuteGetup.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.ExecuteGetup} ExecuteGetup
+             */
+            public static from(object: { [k: string]: any }): message.motion.ExecuteGetup;
+
+            /**
+             * Creates a plain object from an ExecuteGetup message. Also converts values to other types if specified.
+             * @param {message.motion.ExecuteGetup} message ExecuteGetup
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.motion.ExecuteGetup, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this ExecuteGetup message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this ExecuteGetup to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type KillGetup$Properties = {};
+
+        /**
+         * Constructs a new KillGetup.
+         * @exports message.motion.KillGetup
+         * @constructor
+         * @param {message.motion.KillGetup$Properties=} [properties] Properties to set
+         */
+        class KillGetup {
+
+            /**
+             * Constructs a new KillGetup.
+             * @exports message.motion.KillGetup
+             * @constructor
+             * @param {message.motion.KillGetup$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.motion.KillGetup$Properties);
+
+            /**
+             * Creates a new KillGetup instance using the specified properties.
+             * @param {message.motion.KillGetup$Properties=} [properties] Properties to set
+             * @returns {message.motion.KillGetup} KillGetup instance
+             */
+            public static create(properties?: message.motion.KillGetup$Properties): message.motion.KillGetup;
+
+            /**
+             * Encodes the specified KillGetup message. Does not implicitly {@link message.motion.KillGetup.verify|verify} messages.
+             * @param {message.motion.KillGetup$Properties} message KillGetup message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.motion.KillGetup$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified KillGetup message, length delimited. Does not implicitly {@link message.motion.KillGetup.verify|verify} messages.
+             * @param {message.motion.KillGetup$Properties} message KillGetup message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.motion.KillGetup$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a KillGetup message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.KillGetup} KillGetup
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.KillGetup;
+
+            /**
+             * Decodes a KillGetup message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.KillGetup} KillGetup
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.KillGetup;
+
+            /**
+             * Verifies a KillGetup message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a KillGetup message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.KillGetup} KillGetup
+             */
+            public static fromObject(object: { [k: string]: any }): message.motion.KillGetup;
+
+            /**
+             * Creates a KillGetup message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.KillGetup.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.KillGetup} KillGetup
+             */
+            public static from(object: { [k: string]: any }): message.motion.KillGetup;
+
+            /**
+             * Creates a plain object from a KillGetup message. Also converts values to other types if specified.
+             * @param {message.motion.KillGetup} message KillGetup
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.motion.KillGetup, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this KillGetup message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this KillGetup to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type HeadCommand$Properties = {
+            yaw?: number;
+            pitch?: number;
+            robotSpace?: boolean;
+        };
+
+        /**
+         * Constructs a new HeadCommand.
+         * @classdesc Tell the head where to look in world space.
+         * This command is interpreted such that the robot will use IMU data to fixate at these angles in the world even when rotating.
+         *
+         * @author Jake Fountain
+         * @exports message.motion.HeadCommand
+         * @constructor
+         * @param {message.motion.HeadCommand$Properties=} [properties] Properties to set
+         */
+        class HeadCommand {
+
+            /**
+             * Constructs a new HeadCommand.
+             * @classdesc Tell the head where to look in world space.
+             * This command is interpreted such that the robot will use IMU data to fixate at these angles in the world even when rotating.
+             *
+             * @author Jake Fountain
+             * @exports message.motion.HeadCommand
+             * @constructor
+             * @param {message.motion.HeadCommand$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.motion.HeadCommand$Properties);
+
+            /**
+             * HeadCommand yaw.
+             * @type {number}
+             */
+            public yaw: number;
+
+            /**
+             * HeadCommand pitch.
+             * @type {number}
+             */
+            public pitch: number;
+
+            /**
+             * HeadCommand robotSpace.
+             * @type {boolean}
+             */
+            public robotSpace: boolean;
+
+            /**
+             * Creates a new HeadCommand instance using the specified properties.
+             * @param {message.motion.HeadCommand$Properties=} [properties] Properties to set
+             * @returns {message.motion.HeadCommand} HeadCommand instance
+             */
+            public static create(properties?: message.motion.HeadCommand$Properties): message.motion.HeadCommand;
+
+            /**
+             * Encodes the specified HeadCommand message. Does not implicitly {@link message.motion.HeadCommand.verify|verify} messages.
+             * @param {message.motion.HeadCommand$Properties} message HeadCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.motion.HeadCommand$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified HeadCommand message, length delimited. Does not implicitly {@link message.motion.HeadCommand.verify|verify} messages.
+             * @param {message.motion.HeadCommand$Properties} message HeadCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.motion.HeadCommand$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a HeadCommand message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.HeadCommand} HeadCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.HeadCommand;
+
+            /**
+             * Decodes a HeadCommand message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.HeadCommand} HeadCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.HeadCommand;
+
+            /**
+             * Verifies a HeadCommand message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a HeadCommand message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.HeadCommand} HeadCommand
+             */
+            public static fromObject(object: { [k: string]: any }): message.motion.HeadCommand;
+
+            /**
+             * Creates a HeadCommand message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.HeadCommand.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.HeadCommand} HeadCommand
+             */
+            public static from(object: { [k: string]: any }): message.motion.HeadCommand;
+
+            /**
+             * Creates a plain object from a HeadCommand message. Also converts values to other types if specified.
+             * @param {message.motion.HeadCommand} message HeadCommand
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.motion.HeadCommand, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this HeadCommand message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this HeadCommand to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type HeadMotionUpdate$Properties = {};
+
+        /**
+         * Constructs a new HeadMotionUpdate.
+         * @exports message.motion.HeadMotionUpdate
+         * @constructor
+         * @param {message.motion.HeadMotionUpdate$Properties=} [properties] Properties to set
+         */
+        class HeadMotionUpdate {
+
+            /**
+             * Constructs a new HeadMotionUpdate.
+             * @exports message.motion.HeadMotionUpdate
+             * @constructor
+             * @param {message.motion.HeadMotionUpdate$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.motion.HeadMotionUpdate$Properties);
+
+            /**
+             * Creates a new HeadMotionUpdate instance using the specified properties.
+             * @param {message.motion.HeadMotionUpdate$Properties=} [properties] Properties to set
+             * @returns {message.motion.HeadMotionUpdate} HeadMotionUpdate instance
+             */
+            public static create(properties?: message.motion.HeadMotionUpdate$Properties): message.motion.HeadMotionUpdate;
+
+            /**
+             * Encodes the specified HeadMotionUpdate message. Does not implicitly {@link message.motion.HeadMotionUpdate.verify|verify} messages.
+             * @param {message.motion.HeadMotionUpdate$Properties} message HeadMotionUpdate message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.motion.HeadMotionUpdate$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified HeadMotionUpdate message, length delimited. Does not implicitly {@link message.motion.HeadMotionUpdate.verify|verify} messages.
+             * @param {message.motion.HeadMotionUpdate$Properties} message HeadMotionUpdate message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.motion.HeadMotionUpdate$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a HeadMotionUpdate message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.HeadMotionUpdate} HeadMotionUpdate
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.HeadMotionUpdate;
+
+            /**
+             * Decodes a HeadMotionUpdate message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.HeadMotionUpdate} HeadMotionUpdate
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.HeadMotionUpdate;
+
+            /**
+             * Verifies a HeadMotionUpdate message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a HeadMotionUpdate message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.HeadMotionUpdate} HeadMotionUpdate
+             */
+            public static fromObject(object: { [k: string]: any }): message.motion.HeadMotionUpdate;
+
+            /**
+             * Creates a HeadMotionUpdate message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.HeadMotionUpdate.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.HeadMotionUpdate} HeadMotionUpdate
+             */
+            public static from(object: { [k: string]: any }): message.motion.HeadMotionUpdate;
+
+            /**
+             * Creates a plain object from a HeadMotionUpdate message. Also converts values to other types if specified.
+             * @param {message.motion.HeadMotionUpdate} message HeadMotionUpdate
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.motion.HeadMotionUpdate, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this HeadMotionUpdate message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this HeadMotionUpdate to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        /**
+         * TODO document
+         *
+         * @author Trent Houliston
+         * @author Brendan Annable
+         * @name KickCommandType
+         * @memberof message.motion
+         * @enum {number}
+         * @property {number} NORMAL=0 NORMAL value
+         * @property {number} POWER=1 POWER value
+         */
+        enum KickCommandType {
+            NORMAL = 0,
+            POWER = 1
+        }
+
+        type KickCommand$Properties = {
+            target?: vec3$Properties;
+            direction?: vec3$Properties;
+            kickCommandType?: message.motion.KickCommandType;
+        };
+
+        /**
+         * Constructs a new KickCommand.
+         * @exports message.motion.KickCommand
+         * @constructor
+         * @param {message.motion.KickCommand$Properties=} [properties] Properties to set
+         */
+        class KickCommand {
+
+            /**
+             * Constructs a new KickCommand.
+             * @exports message.motion.KickCommand
+             * @constructor
+             * @param {message.motion.KickCommand$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.motion.KickCommand$Properties);
+
+            /**
+             * KickCommand target.
+             * @type {(vec3$Properties|null)}
+             */
+            public target: (vec3$Properties|null);
+
+            /**
+             * KickCommand direction.
+             * @type {(vec3$Properties|null)}
+             */
+            public direction: (vec3$Properties|null);
+
+            /**
+             * KickCommand kickCommandType.
+             * @type {message.motion.KickCommandType}
+             */
+            public kickCommandType: message.motion.KickCommandType;
+
+            /**
+             * Creates a new KickCommand instance using the specified properties.
+             * @param {message.motion.KickCommand$Properties=} [properties] Properties to set
+             * @returns {message.motion.KickCommand} KickCommand instance
+             */
+            public static create(properties?: message.motion.KickCommand$Properties): message.motion.KickCommand;
+
+            /**
+             * Encodes the specified KickCommand message. Does not implicitly {@link message.motion.KickCommand.verify|verify} messages.
+             * @param {message.motion.KickCommand$Properties} message KickCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.motion.KickCommand$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified KickCommand message, length delimited. Does not implicitly {@link message.motion.KickCommand.verify|verify} messages.
+             * @param {message.motion.KickCommand$Properties} message KickCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.motion.KickCommand$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a KickCommand message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.KickCommand} KickCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.KickCommand;
+
+            /**
+             * Decodes a KickCommand message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.KickCommand} KickCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.KickCommand;
+
+            /**
+             * Verifies a KickCommand message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a KickCommand message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.KickCommand} KickCommand
+             */
+            public static fromObject(object: { [k: string]: any }): message.motion.KickCommand;
+
+            /**
+             * Creates a KickCommand message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.KickCommand.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.KickCommand} KickCommand
+             */
+            public static from(object: { [k: string]: any }): message.motion.KickCommand;
+
+            /**
+             * Creates a plain object from a KickCommand message. Also converts values to other types if specified.
+             * @param {message.motion.KickCommand} message KickCommand
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.motion.KickCommand, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this KickCommand message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this KickCommand to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type KickScriptCommand$Properties = {
+            direction?: vec3$Properties;
+            leg?: number;
+        };
+
+        /**
+         * Constructs a new KickScriptCommand.
+         * @classdesc TODO document
+         *
+         * @author Trent Houliston
+         * @author Brendan Annable
+         * @exports message.motion.KickScriptCommand
+         * @constructor
+         * @param {message.motion.KickScriptCommand$Properties=} [properties] Properties to set
+         */
+        class KickScriptCommand {
+
+            /**
+             * Constructs a new KickScriptCommand.
+             * @classdesc TODO document
+             *
+             * @author Trent Houliston
+             * @author Brendan Annable
+             * @exports message.motion.KickScriptCommand
+             * @constructor
+             * @param {message.motion.KickScriptCommand$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.motion.KickScriptCommand$Properties);
+
+            /**
+             * KickScriptCommand direction.
+             * @type {(vec3$Properties|null)}
+             */
+            public direction: (vec3$Properties|null);
+
+            /**
+             * KickScriptCommand leg.
+             * @type {number}
+             */
+            public leg: number;
+
+            /**
+             * Creates a new KickScriptCommand instance using the specified properties.
+             * @param {message.motion.KickScriptCommand$Properties=} [properties] Properties to set
+             * @returns {message.motion.KickScriptCommand} KickScriptCommand instance
+             */
+            public static create(properties?: message.motion.KickScriptCommand$Properties): message.motion.KickScriptCommand;
+
+            /**
+             * Encodes the specified KickScriptCommand message. Does not implicitly {@link message.motion.KickScriptCommand.verify|verify} messages.
+             * @param {message.motion.KickScriptCommand$Properties} message KickScriptCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.motion.KickScriptCommand$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified KickScriptCommand message, length delimited. Does not implicitly {@link message.motion.KickScriptCommand.verify|verify} messages.
+             * @param {message.motion.KickScriptCommand$Properties} message KickScriptCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.motion.KickScriptCommand$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a KickScriptCommand message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.KickScriptCommand} KickScriptCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.KickScriptCommand;
+
+            /**
+             * Decodes a KickScriptCommand message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.KickScriptCommand} KickScriptCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.KickScriptCommand;
+
+            /**
+             * Verifies a KickScriptCommand message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a KickScriptCommand message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.KickScriptCommand} KickScriptCommand
+             */
+            public static fromObject(object: { [k: string]: any }): message.motion.KickScriptCommand;
+
+            /**
+             * Creates a KickScriptCommand message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.KickScriptCommand.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.KickScriptCommand} KickScriptCommand
+             */
+            public static from(object: { [k: string]: any }): message.motion.KickScriptCommand;
+
+            /**
+             * Creates a plain object from a KickScriptCommand message. Also converts values to other types if specified.
+             * @param {message.motion.KickScriptCommand} message KickScriptCommand
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.motion.KickScriptCommand, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this KickScriptCommand message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this KickScriptCommand to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type KickPlannerConfig$Properties = {
+            maxBallDistance?: number;
+            kickCorridorWidth?: number;
+            secondsNotSeenLimit?: number;
+            kickForwardAngleLimit?: number;
+        };
+
+        /**
+         * Constructs a new KickPlannerConfig.
+         * @exports message.motion.KickPlannerConfig
+         * @constructor
+         * @param {message.motion.KickPlannerConfig$Properties=} [properties] Properties to set
+         */
+        class KickPlannerConfig {
+
+            /**
+             * Constructs a new KickPlannerConfig.
+             * @exports message.motion.KickPlannerConfig
+             * @constructor
+             * @param {message.motion.KickPlannerConfig$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.motion.KickPlannerConfig$Properties);
+
+            /**
+             * KickPlannerConfig maxBallDistance.
+             * @type {number}
+             */
+            public maxBallDistance: number;
+
+            /**
+             * KickPlannerConfig kickCorridorWidth.
+             * @type {number}
+             */
+            public kickCorridorWidth: number;
+
+            /**
+             * KickPlannerConfig secondsNotSeenLimit.
+             * @type {number}
+             */
+            public secondsNotSeenLimit: number;
+
+            /**
+             * KickPlannerConfig kickForwardAngleLimit.
+             * @type {number}
+             */
+            public kickForwardAngleLimit: number;
+
+            /**
+             * Creates a new KickPlannerConfig instance using the specified properties.
+             * @param {message.motion.KickPlannerConfig$Properties=} [properties] Properties to set
+             * @returns {message.motion.KickPlannerConfig} KickPlannerConfig instance
+             */
+            public static create(properties?: message.motion.KickPlannerConfig$Properties): message.motion.KickPlannerConfig;
+
+            /**
+             * Encodes the specified KickPlannerConfig message. Does not implicitly {@link message.motion.KickPlannerConfig.verify|verify} messages.
+             * @param {message.motion.KickPlannerConfig$Properties} message KickPlannerConfig message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.motion.KickPlannerConfig$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified KickPlannerConfig message, length delimited. Does not implicitly {@link message.motion.KickPlannerConfig.verify|verify} messages.
+             * @param {message.motion.KickPlannerConfig$Properties} message KickPlannerConfig message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.motion.KickPlannerConfig$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a KickPlannerConfig message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.KickPlannerConfig} KickPlannerConfig
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.KickPlannerConfig;
+
+            /**
+             * Decodes a KickPlannerConfig message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.KickPlannerConfig} KickPlannerConfig
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.KickPlannerConfig;
+
+            /**
+             * Verifies a KickPlannerConfig message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a KickPlannerConfig message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.KickPlannerConfig} KickPlannerConfig
+             */
+            public static fromObject(object: { [k: string]: any }): message.motion.KickPlannerConfig;
+
+            /**
+             * Creates a KickPlannerConfig message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.KickPlannerConfig.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.KickPlannerConfig} KickPlannerConfig
+             */
+            public static from(object: { [k: string]: any }): message.motion.KickPlannerConfig;
+
+            /**
+             * Creates a plain object from a KickPlannerConfig message. Also converts values to other types if specified.
+             * @param {message.motion.KickPlannerConfig} message KickPlannerConfig
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.motion.KickPlannerConfig, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this KickPlannerConfig message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this KickPlannerConfig to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type KickFinished$Properties = {};
+
+        /**
+         * Constructs a new KickFinished.
+         * @exports message.motion.KickFinished
+         * @constructor
+         * @param {message.motion.KickFinished$Properties=} [properties] Properties to set
+         */
+        class KickFinished {
+
+            /**
+             * Constructs a new KickFinished.
+             * @exports message.motion.KickFinished
+             * @constructor
+             * @param {message.motion.KickFinished$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.motion.KickFinished$Properties);
+
+            /**
+             * Creates a new KickFinished instance using the specified properties.
+             * @param {message.motion.KickFinished$Properties=} [properties] Properties to set
+             * @returns {message.motion.KickFinished} KickFinished instance
+             */
+            public static create(properties?: message.motion.KickFinished$Properties): message.motion.KickFinished;
+
+            /**
+             * Encodes the specified KickFinished message. Does not implicitly {@link message.motion.KickFinished.verify|verify} messages.
+             * @param {message.motion.KickFinished$Properties} message KickFinished message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.motion.KickFinished$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified KickFinished message, length delimited. Does not implicitly {@link message.motion.KickFinished.verify|verify} messages.
+             * @param {message.motion.KickFinished$Properties} message KickFinished message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.motion.KickFinished$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a KickFinished message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.KickFinished} KickFinished
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.KickFinished;
+
+            /**
+             * Decodes a KickFinished message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.KickFinished} KickFinished
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.KickFinished;
+
+            /**
+             * Verifies a KickFinished message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a KickFinished message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.KickFinished} KickFinished
+             */
+            public static fromObject(object: { [k: string]: any }): message.motion.KickFinished;
+
+            /**
+             * Creates a KickFinished message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.KickFinished.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.KickFinished} KickFinished
+             */
+            public static from(object: { [k: string]: any }): message.motion.KickFinished;
+
+            /**
+             * Creates a plain object from a KickFinished message. Also converts values to other types if specified.
+             * @param {message.motion.KickFinished} message KickFinished
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.motion.KickFinished, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this KickFinished message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this KickFinished to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type IKKickParams$Properties = {
+            standHeight?: number;
+        };
+
+        /**
+         * Constructs a new IKKickParams.
+         * @exports message.motion.IKKickParams
+         * @constructor
+         * @param {message.motion.IKKickParams$Properties=} [properties] Properties to set
+         */
+        class IKKickParams {
+
+            /**
+             * Constructs a new IKKickParams.
+             * @exports message.motion.IKKickParams
+             * @constructor
+             * @param {message.motion.IKKickParams$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.motion.IKKickParams$Properties);
+
+            /**
+             * IKKickParams standHeight.
+             * @type {number}
+             */
+            public standHeight: number;
+
+            /**
+             * Creates a new IKKickParams instance using the specified properties.
+             * @param {message.motion.IKKickParams$Properties=} [properties] Properties to set
+             * @returns {message.motion.IKKickParams} IKKickParams instance
+             */
+            public static create(properties?: message.motion.IKKickParams$Properties): message.motion.IKKickParams;
+
+            /**
+             * Encodes the specified IKKickParams message. Does not implicitly {@link message.motion.IKKickParams.verify|verify} messages.
+             * @param {message.motion.IKKickParams$Properties} message IKKickParams message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.motion.IKKickParams$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified IKKickParams message, length delimited. Does not implicitly {@link message.motion.IKKickParams.verify|verify} messages.
+             * @param {message.motion.IKKickParams$Properties} message IKKickParams message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.motion.IKKickParams$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a IKKickParams message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.IKKickParams} IKKickParams
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.IKKickParams;
+
+            /**
+             * Decodes a IKKickParams message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.IKKickParams} IKKickParams
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.IKKickParams;
+
+            /**
+             * Verifies a IKKickParams message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a IKKickParams message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.IKKickParams} IKKickParams
+             */
+            public static fromObject(object: { [k: string]: any }): message.motion.IKKickParams;
+
+            /**
+             * Creates a IKKickParams message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.IKKickParams.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.IKKickParams} IKKickParams
+             */
+            public static from(object: { [k: string]: any }): message.motion.IKKickParams;
+
+            /**
+             * Creates a plain object from a IKKickParams message. Also converts values to other types if specified.
+             * @param {message.motion.IKKickParams} message IKKickParams
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.motion.IKKickParams, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this IKKickParams message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this IKKickParams to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        /**
+         * BodySide enum.
+         * @name BodySide
+         * @memberof message.motion
+         * @enum {number}
+         * @property {number} LEFT=0 LEFT value
+         * @property {number} RIGHT=1 RIGHT value
+         */
+        enum BodySide {
+            LEFT = 0,
+            RIGHT = 1
+        }
+
+        type KinematicsModel$Properties = {
+            leg?: message.motion.KinematicsModel.Leg$Properties;
+            head?: message.motion.KinematicsModel.Head$Properties;
+            arm?: message.motion.KinematicsModel.Arm$Properties;
+            massModel?: message.motion.KinematicsModel.MassModel$Properties;
+            TEAMDARWINCHEST_TO_ORIGIN?: number;
+        };
+
+        /**
+         * Constructs a new KinematicsModel.
+         * @exports message.motion.KinematicsModel
+         * @constructor
+         * @param {message.motion.KinematicsModel$Properties=} [properties] Properties to set
+         */
+        class KinematicsModel {
+
+            /**
+             * Constructs a new KinematicsModel.
+             * @exports message.motion.KinematicsModel
+             * @constructor
+             * @param {message.motion.KinematicsModel$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.motion.KinematicsModel$Properties);
+
+            /**
+             * KinematicsModel leg.
+             * @type {(message.motion.KinematicsModel.Leg$Properties|null)}
+             */
+            public leg: (message.motion.KinematicsModel.Leg$Properties|null);
+
+            /**
+             * KinematicsModel head.
+             * @type {(message.motion.KinematicsModel.Head$Properties|null)}
+             */
+            public head: (message.motion.KinematicsModel.Head$Properties|null);
+
+            /**
+             * KinematicsModel arm.
+             * @type {(message.motion.KinematicsModel.Arm$Properties|null)}
+             */
+            public arm: (message.motion.KinematicsModel.Arm$Properties|null);
+
+            /**
+             * KinematicsModel massModel.
+             * @type {(message.motion.KinematicsModel.MassModel$Properties|null)}
+             */
+            public massModel: (message.motion.KinematicsModel.MassModel$Properties|null);
+
+            /**
+             * KinematicsModel TEAMDARWINCHEST_TO_ORIGIN.
+             * @type {number}
+             */
+            public TEAMDARWINCHEST_TO_ORIGIN: number;
+
+            /**
+             * Creates a new KinematicsModel instance using the specified properties.
+             * @param {message.motion.KinematicsModel$Properties=} [properties] Properties to set
+             * @returns {message.motion.KinematicsModel} KinematicsModel instance
+             */
+            public static create(properties?: message.motion.KinematicsModel$Properties): message.motion.KinematicsModel;
+
+            /**
+             * Encodes the specified KinematicsModel message. Does not implicitly {@link message.motion.KinematicsModel.verify|verify} messages.
+             * @param {message.motion.KinematicsModel$Properties} message KinematicsModel message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.motion.KinematicsModel$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified KinematicsModel message, length delimited. Does not implicitly {@link message.motion.KinematicsModel.verify|verify} messages.
+             * @param {message.motion.KinematicsModel$Properties} message KinematicsModel message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.motion.KinematicsModel$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a KinematicsModel message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.KinematicsModel} KinematicsModel
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.KinematicsModel;
+
+            /**
+             * Decodes a KinematicsModel message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.KinematicsModel} KinematicsModel
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.KinematicsModel;
+
+            /**
+             * Verifies a KinematicsModel message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a KinematicsModel message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.KinematicsModel} KinematicsModel
+             */
+            public static fromObject(object: { [k: string]: any }): message.motion.KinematicsModel;
+
+            /**
+             * Creates a KinematicsModel message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.KinematicsModel.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.KinematicsModel} KinematicsModel
+             */
+            public static from(object: { [k: string]: any }): message.motion.KinematicsModel;
+
+            /**
+             * Creates a plain object from a KinematicsModel message. Also converts values to other types if specified.
+             * @param {message.motion.KinematicsModel} message KinematicsModel
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.motion.KinematicsModel, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this KinematicsModel message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this KinematicsModel to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        namespace KinematicsModel {
+
+            type Leg$Properties = {
+                HIP_OFFSET_X?: number;
+                HIP_OFFSET_Y?: number;
+                HIP_OFFSET_Z?: number;
+                UPPER_LEG_LENGTH?: number;
+                LOWER_LEG_LENGTH?: number;
+                FOOT_HEIGHT?: number;
+                FOOT_LENGTH?: number;
+                TOE_LENGTH?: number;
+                HEEL_LENGTH?: number;
+                FOOT_WIDTH?: number;
+                FOOT_CENTRE_TO_ANKLE_CENTRE?: number;
+                LENGTH_BETWEEN_LEGS?: number;
+                LEFT_TO_RIGHT_HIP_YAW?: number;
+                LEFT_TO_RIGHT_HIP_ROLL?: number;
+                LEFT_TO_RIGHT_HIP_PITCH?: number;
+                LEFT_TO_RIGHT_KNEE?: number;
+                LEFT_TO_RIGHT_ANKLE_PITCH?: number;
+                LEFT_TO_RIGHT_ANKLE_ROLL?: number;
+            };
+
+            /**
+             * Constructs a new Leg.
+             * @exports message.motion.KinematicsModel.Leg
+             * @constructor
+             * @param {message.motion.KinematicsModel.Leg$Properties=} [properties] Properties to set
+             */
+            class Leg {
+
+                /**
+                 * Constructs a new Leg.
+                 * @exports message.motion.KinematicsModel.Leg
+                 * @constructor
+                 * @param {message.motion.KinematicsModel.Leg$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.motion.KinematicsModel.Leg$Properties);
+
+                /**
+                 * Leg HIP_OFFSET_X.
+                 * @type {number}
+                 */
+                public HIP_OFFSET_X: number;
+
+                /**
+                 * Leg HIP_OFFSET_Y.
+                 * @type {number}
+                 */
+                public HIP_OFFSET_Y: number;
+
+                /**
+                 * Leg HIP_OFFSET_Z.
+                 * @type {number}
+                 */
+                public HIP_OFFSET_Z: number;
+
+                /**
+                 * Leg UPPER_LEG_LENGTH.
+                 * @type {number}
+                 */
+                public UPPER_LEG_LENGTH: number;
+
+                /**
+                 * Leg LOWER_LEG_LENGTH.
+                 * @type {number}
+                 */
+                public LOWER_LEG_LENGTH: number;
+
+                /**
+                 * Leg FOOT_HEIGHT.
+                 * @type {number}
+                 */
+                public FOOT_HEIGHT: number;
+
+                /**
+                 * Leg FOOT_LENGTH.
+                 * @type {number}
+                 */
+                public FOOT_LENGTH: number;
+
+                /**
+                 * Leg TOE_LENGTH.
+                 * @type {number}
+                 */
+                public TOE_LENGTH: number;
+
+                /**
+                 * Leg HEEL_LENGTH.
+                 * @type {number}
+                 */
+                public HEEL_LENGTH: number;
+
+                /**
+                 * Leg FOOT_WIDTH.
+                 * @type {number}
+                 */
+                public FOOT_WIDTH: number;
+
+                /**
+                 * Leg FOOT_CENTRE_TO_ANKLE_CENTRE.
+                 * @type {number}
+                 */
+                public FOOT_CENTRE_TO_ANKLE_CENTRE: number;
+
+                /**
+                 * Leg LENGTH_BETWEEN_LEGS.
+                 * @type {number}
+                 */
+                public LENGTH_BETWEEN_LEGS: number;
+
+                /**
+                 * Leg LEFT_TO_RIGHT_HIP_YAW.
+                 * @type {number}
+                 */
+                public LEFT_TO_RIGHT_HIP_YAW: number;
+
+                /**
+                 * Leg LEFT_TO_RIGHT_HIP_ROLL.
+                 * @type {number}
+                 */
+                public LEFT_TO_RIGHT_HIP_ROLL: number;
+
+                /**
+                 * Leg LEFT_TO_RIGHT_HIP_PITCH.
+                 * @type {number}
+                 */
+                public LEFT_TO_RIGHT_HIP_PITCH: number;
+
+                /**
+                 * Leg LEFT_TO_RIGHT_KNEE.
+                 * @type {number}
+                 */
+                public LEFT_TO_RIGHT_KNEE: number;
+
+                /**
+                 * Leg LEFT_TO_RIGHT_ANKLE_PITCH.
+                 * @type {number}
+                 */
+                public LEFT_TO_RIGHT_ANKLE_PITCH: number;
+
+                /**
+                 * Leg LEFT_TO_RIGHT_ANKLE_ROLL.
+                 * @type {number}
+                 */
+                public LEFT_TO_RIGHT_ANKLE_ROLL: number;
+
+                /**
+                 * Creates a new Leg instance using the specified properties.
+                 * @param {message.motion.KinematicsModel.Leg$Properties=} [properties] Properties to set
+                 * @returns {message.motion.KinematicsModel.Leg} Leg instance
+                 */
+                public static create(properties?: message.motion.KinematicsModel.Leg$Properties): message.motion.KinematicsModel.Leg;
+
+                /**
+                 * Encodes the specified Leg message. Does not implicitly {@link message.motion.KinematicsModel.Leg.verify|verify} messages.
+                 * @param {message.motion.KinematicsModel.Leg$Properties} message Leg message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.motion.KinematicsModel.Leg$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified Leg message, length delimited. Does not implicitly {@link message.motion.KinematicsModel.Leg.verify|verify} messages.
+                 * @param {message.motion.KinematicsModel.Leg$Properties} message Leg message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.motion.KinematicsModel.Leg$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a Leg message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.motion.KinematicsModel.Leg} Leg
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.KinematicsModel.Leg;
+
+                /**
+                 * Decodes a Leg message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.motion.KinematicsModel.Leg} Leg
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.KinematicsModel.Leg;
+
+                /**
+                 * Verifies a Leg message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a Leg message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.motion.KinematicsModel.Leg} Leg
+                 */
+                public static fromObject(object: { [k: string]: any }): message.motion.KinematicsModel.Leg;
+
+                /**
+                 * Creates a Leg message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.motion.KinematicsModel.Leg.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.motion.KinematicsModel.Leg} Leg
+                 */
+                public static from(object: { [k: string]: any }): message.motion.KinematicsModel.Leg;
+
+                /**
+                 * Creates a plain object from a Leg message. Also converts values to other types if specified.
+                 * @param {message.motion.KinematicsModel.Leg} message Leg
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.motion.KinematicsModel.Leg, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this Leg message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this Leg to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            type Head$Properties = {
+                NECK_BASE_POS_FROM_ORIGIN_X?: number;
+                NECK_BASE_POS_FROM_ORIGIN_Y?: number;
+                NECK_BASE_POS_FROM_ORIGIN_Z?: number;
+                NECK_LENGTH?: number;
+                NECK_TO_CAMERA_X?: number;
+                NECK_TO_CAMERA_Y?: number;
+                NECK_TO_CAMERA_Z?: number;
+                CAMERA_DECLINATION_ANGLE_OFFSET?: number;
+                MAX_YAW?: number;
+                MIN_YAW?: number;
+                MAX_PITCH?: number;
+                MIN_PITCH?: number;
+            };
+
+            /**
+             * Constructs a new Head.
+             * @exports message.motion.KinematicsModel.Head
+             * @constructor
+             * @param {message.motion.KinematicsModel.Head$Properties=} [properties] Properties to set
+             */
+            class Head {
+
+                /**
+                 * Constructs a new Head.
+                 * @exports message.motion.KinematicsModel.Head
+                 * @constructor
+                 * @param {message.motion.KinematicsModel.Head$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.motion.KinematicsModel.Head$Properties);
+
+                /**
+                 * Head NECK_BASE_POS_FROM_ORIGIN_X.
+                 * @type {number}
+                 */
+                public NECK_BASE_POS_FROM_ORIGIN_X: number;
+
+                /**
+                 * Head NECK_BASE_POS_FROM_ORIGIN_Y.
+                 * @type {number}
+                 */
+                public NECK_BASE_POS_FROM_ORIGIN_Y: number;
+
+                /**
+                 * Head NECK_BASE_POS_FROM_ORIGIN_Z.
+                 * @type {number}
+                 */
+                public NECK_BASE_POS_FROM_ORIGIN_Z: number;
+
+                /**
+                 * Head NECK_LENGTH.
+                 * @type {number}
+                 */
+                public NECK_LENGTH: number;
+
+                /**
+                 * Head NECK_TO_CAMERA_X.
+                 * @type {number}
+                 */
+                public NECK_TO_CAMERA_X: number;
+
+                /**
+                 * Head NECK_TO_CAMERA_Y.
+                 * @type {number}
+                 */
+                public NECK_TO_CAMERA_Y: number;
+
+                /**
+                 * Head NECK_TO_CAMERA_Z.
+                 * @type {number}
+                 */
+                public NECK_TO_CAMERA_Z: number;
+
+                /**
+                 * Head CAMERA_DECLINATION_ANGLE_OFFSET.
+                 * @type {number}
+                 */
+                public CAMERA_DECLINATION_ANGLE_OFFSET: number;
+
+                /**
+                 * Head MAX_YAW.
+                 * @type {number}
+                 */
+                public MAX_YAW: number;
+
+                /**
+                 * Head MIN_YAW.
+                 * @type {number}
+                 */
+                public MIN_YAW: number;
+
+                /**
+                 * Head MAX_PITCH.
+                 * @type {number}
+                 */
+                public MAX_PITCH: number;
+
+                /**
+                 * Head MIN_PITCH.
+                 * @type {number}
+                 */
+                public MIN_PITCH: number;
+
+                /**
+                 * Creates a new Head instance using the specified properties.
+                 * @param {message.motion.KinematicsModel.Head$Properties=} [properties] Properties to set
+                 * @returns {message.motion.KinematicsModel.Head} Head instance
+                 */
+                public static create(properties?: message.motion.KinematicsModel.Head$Properties): message.motion.KinematicsModel.Head;
+
+                /**
+                 * Encodes the specified Head message. Does not implicitly {@link message.motion.KinematicsModel.Head.verify|verify} messages.
+                 * @param {message.motion.KinematicsModel.Head$Properties} message Head message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.motion.KinematicsModel.Head$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified Head message, length delimited. Does not implicitly {@link message.motion.KinematicsModel.Head.verify|verify} messages.
+                 * @param {message.motion.KinematicsModel.Head$Properties} message Head message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.motion.KinematicsModel.Head$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a Head message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.motion.KinematicsModel.Head} Head
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.KinematicsModel.Head;
+
+                /**
+                 * Decodes a Head message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.motion.KinematicsModel.Head} Head
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.KinematicsModel.Head;
+
+                /**
+                 * Verifies a Head message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a Head message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.motion.KinematicsModel.Head} Head
+                 */
+                public static fromObject(object: { [k: string]: any }): message.motion.KinematicsModel.Head;
+
+                /**
+                 * Creates a Head message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.motion.KinematicsModel.Head.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.motion.KinematicsModel.Head} Head
+                 */
+                public static from(object: { [k: string]: any }): message.motion.KinematicsModel.Head;
+
+                /**
+                 * Creates a plain object from a Head message. Also converts values to other types if specified.
+                 * @param {message.motion.KinematicsModel.Head} message Head
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.motion.KinematicsModel.Head, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this Head message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this Head to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            type Arm$Properties = {
+                DISTANCE_BETWEEN_SHOULDERS?: number;
+                SHOULDER_Z_OFFSET?: number;
+                SHOULDER_X_OFFSET?: number;
+                SHOULDER_LENGTH?: number;
+                SHOULDER_WIDTH?: number;
+                SHOULDER_HEIGHT?: number;
+                UPPER_ARM_LENGTH?: number;
+                UPPER_ARM_Y_OFFSET?: number;
+                UPPER_ARM_X_OFFSET?: number;
+                LOWER_ARM_LENGTH?: number;
+                LOWER_ARM_Y_OFFSET?: number;
+                LOWER_ARM_Z_OFFSET?: number;
+            };
+
+            /**
+             * Constructs a new Arm.
+             * @exports message.motion.KinematicsModel.Arm
+             * @constructor
+             * @param {message.motion.KinematicsModel.Arm$Properties=} [properties] Properties to set
+             */
+            class Arm {
+
+                /**
+                 * Constructs a new Arm.
+                 * @exports message.motion.KinematicsModel.Arm
+                 * @constructor
+                 * @param {message.motion.KinematicsModel.Arm$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.motion.KinematicsModel.Arm$Properties);
+
+                /**
+                 * Arm DISTANCE_BETWEEN_SHOULDERS.
+                 * @type {number}
+                 */
+                public DISTANCE_BETWEEN_SHOULDERS: number;
+
+                /**
+                 * Arm SHOULDER_Z_OFFSET.
+                 * @type {number}
+                 */
+                public SHOULDER_Z_OFFSET: number;
+
+                /**
+                 * Arm SHOULDER_X_OFFSET.
+                 * @type {number}
+                 */
+                public SHOULDER_X_OFFSET: number;
+
+                /**
+                 * Arm SHOULDER_LENGTH.
+                 * @type {number}
+                 */
+                public SHOULDER_LENGTH: number;
+
+                /**
+                 * Arm SHOULDER_WIDTH.
+                 * @type {number}
+                 */
+                public SHOULDER_WIDTH: number;
+
+                /**
+                 * Arm SHOULDER_HEIGHT.
+                 * @type {number}
+                 */
+                public SHOULDER_HEIGHT: number;
+
+                /**
+                 * Arm UPPER_ARM_LENGTH.
+                 * @type {number}
+                 */
+                public UPPER_ARM_LENGTH: number;
+
+                /**
+                 * Arm UPPER_ARM_Y_OFFSET.
+                 * @type {number}
+                 */
+                public UPPER_ARM_Y_OFFSET: number;
+
+                /**
+                 * Arm UPPER_ARM_X_OFFSET.
+                 * @type {number}
+                 */
+                public UPPER_ARM_X_OFFSET: number;
+
+                /**
+                 * Arm LOWER_ARM_LENGTH.
+                 * @type {number}
+                 */
+                public LOWER_ARM_LENGTH: number;
+
+                /**
+                 * Arm LOWER_ARM_Y_OFFSET.
+                 * @type {number}
+                 */
+                public LOWER_ARM_Y_OFFSET: number;
+
+                /**
+                 * Arm LOWER_ARM_Z_OFFSET.
+                 * @type {number}
+                 */
+                public LOWER_ARM_Z_OFFSET: number;
+
+                /**
+                 * Creates a new Arm instance using the specified properties.
+                 * @param {message.motion.KinematicsModel.Arm$Properties=} [properties] Properties to set
+                 * @returns {message.motion.KinematicsModel.Arm} Arm instance
+                 */
+                public static create(properties?: message.motion.KinematicsModel.Arm$Properties): message.motion.KinematicsModel.Arm;
+
+                /**
+                 * Encodes the specified Arm message. Does not implicitly {@link message.motion.KinematicsModel.Arm.verify|verify} messages.
+                 * @param {message.motion.KinematicsModel.Arm$Properties} message Arm message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.motion.KinematicsModel.Arm$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified Arm message, length delimited. Does not implicitly {@link message.motion.KinematicsModel.Arm.verify|verify} messages.
+                 * @param {message.motion.KinematicsModel.Arm$Properties} message Arm message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.motion.KinematicsModel.Arm$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes an Arm message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.motion.KinematicsModel.Arm} Arm
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.KinematicsModel.Arm;
+
+                /**
+                 * Decodes an Arm message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.motion.KinematicsModel.Arm} Arm
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.KinematicsModel.Arm;
+
+                /**
+                 * Verifies an Arm message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates an Arm message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.motion.KinematicsModel.Arm} Arm
+                 */
+                public static fromObject(object: { [k: string]: any }): message.motion.KinematicsModel.Arm;
+
+                /**
+                 * Creates an Arm message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.motion.KinematicsModel.Arm.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.motion.KinematicsModel.Arm} Arm
+                 */
+                public static from(object: { [k: string]: any }): message.motion.KinematicsModel.Arm;
+
+                /**
+                 * Creates a plain object from an Arm message. Also converts values to other types if specified.
+                 * @param {message.motion.KinematicsModel.Arm} message Arm
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.motion.KinematicsModel.Arm, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this Arm message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this Arm to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            type MassModel$Properties = {
+                masses?: vec4$Properties[];
+            };
+
+            /**
+             * Constructs a new MassModel.
+             * @exports message.motion.KinematicsModel.MassModel
+             * @constructor
+             * @param {message.motion.KinematicsModel.MassModel$Properties=} [properties] Properties to set
+             */
+            class MassModel {
+
+                /**
+                 * Constructs a new MassModel.
+                 * @exports message.motion.KinematicsModel.MassModel
+                 * @constructor
+                 * @param {message.motion.KinematicsModel.MassModel$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.motion.KinematicsModel.MassModel$Properties);
+
+                /**
+                 * MassModel masses.
+                 * @type {Array.<vec4$Properties>}
+                 */
+                public masses: vec4$Properties[];
+
+                /**
+                 * Creates a new MassModel instance using the specified properties.
+                 * @param {message.motion.KinematicsModel.MassModel$Properties=} [properties] Properties to set
+                 * @returns {message.motion.KinematicsModel.MassModel} MassModel instance
+                 */
+                public static create(properties?: message.motion.KinematicsModel.MassModel$Properties): message.motion.KinematicsModel.MassModel;
+
+                /**
+                 * Encodes the specified MassModel message. Does not implicitly {@link message.motion.KinematicsModel.MassModel.verify|verify} messages.
+                 * @param {message.motion.KinematicsModel.MassModel$Properties} message MassModel message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.motion.KinematicsModel.MassModel$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified MassModel message, length delimited. Does not implicitly {@link message.motion.KinematicsModel.MassModel.verify|verify} messages.
+                 * @param {message.motion.KinematicsModel.MassModel$Properties} message MassModel message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.motion.KinematicsModel.MassModel$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a MassModel message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.motion.KinematicsModel.MassModel} MassModel
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.KinematicsModel.MassModel;
+
+                /**
+                 * Decodes a MassModel message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.motion.KinematicsModel.MassModel} MassModel
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.KinematicsModel.MassModel;
+
+                /**
+                 * Verifies a MassModel message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a MassModel message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.motion.KinematicsModel.MassModel} MassModel
+                 */
+                public static fromObject(object: { [k: string]: any }): message.motion.KinematicsModel.MassModel;
+
+                /**
+                 * Creates a MassModel message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.motion.KinematicsModel.MassModel.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.motion.KinematicsModel.MassModel} MassModel
+                 */
+                public static from(object: { [k: string]: any }): message.motion.KinematicsModel.MassModel;
+
+                /**
+                 * Creates a plain object from a MassModel message. Also converts values to other types if specified.
+                 * @param {message.motion.KinematicsModel.MassModel} message MassModel
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.motion.KinematicsModel.MassModel, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this MassModel message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this MassModel to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+        }
+
+        type ServoTarget$Properties = {
+            time?: google.protobuf.Timestamp$Properties;
+            id?: number;
+            position?: number;
+            gain?: number;
+            torque?: number;
+        };
+
+        /**
+         * Constructs a new ServoTarget.
+         * @classdesc TODO document
+         *
+         * @author Trent Houliston
+         * @exports message.motion.ServoTarget
+         * @constructor
+         * @param {message.motion.ServoTarget$Properties=} [properties] Properties to set
+         */
+        class ServoTarget {
+
+            /**
+             * Constructs a new ServoTarget.
+             * @classdesc TODO document
+             *
+             * @author Trent Houliston
+             * @exports message.motion.ServoTarget
+             * @constructor
+             * @param {message.motion.ServoTarget$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.motion.ServoTarget$Properties);
+
+            /**
+             * ServoTarget time.
+             * @type {(google.protobuf.Timestamp$Properties|null)}
+             */
+            public time: (google.protobuf.Timestamp$Properties|null);
+
+            /**
+             * ServoTarget id.
+             * @type {number}
+             */
+            public id: number;
+
+            /**
+             * ServoTarget position.
+             * @type {number}
+             */
+            public position: number;
+
+            /**
+             * ServoTarget gain.
+             * @type {number}
+             */
+            public gain: number;
+
+            /**
+             * ServoTarget torque.
+             * @type {number}
+             */
+            public torque: number;
+
+            /**
+             * Creates a new ServoTarget instance using the specified properties.
+             * @param {message.motion.ServoTarget$Properties=} [properties] Properties to set
+             * @returns {message.motion.ServoTarget} ServoTarget instance
+             */
+            public static create(properties?: message.motion.ServoTarget$Properties): message.motion.ServoTarget;
+
+            /**
+             * Encodes the specified ServoTarget message. Does not implicitly {@link message.motion.ServoTarget.verify|verify} messages.
+             * @param {message.motion.ServoTarget$Properties} message ServoTarget message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.motion.ServoTarget$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified ServoTarget message, length delimited. Does not implicitly {@link message.motion.ServoTarget.verify|verify} messages.
+             * @param {message.motion.ServoTarget$Properties} message ServoTarget message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.motion.ServoTarget$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a ServoTarget message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.ServoTarget} ServoTarget
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.ServoTarget;
+
+            /**
+             * Decodes a ServoTarget message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.ServoTarget} ServoTarget
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.ServoTarget;
+
+            /**
+             * Verifies a ServoTarget message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a ServoTarget message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.ServoTarget} ServoTarget
+             */
+            public static fromObject(object: { [k: string]: any }): message.motion.ServoTarget;
+
+            /**
+             * Creates a ServoTarget message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.ServoTarget.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.ServoTarget} ServoTarget
+             */
+            public static from(object: { [k: string]: any }): message.motion.ServoTarget;
+
+            /**
+             * Creates a plain object from a ServoTarget message. Also converts values to other types if specified.
+             * @param {message.motion.ServoTarget} message ServoTarget
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.motion.ServoTarget, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this ServoTarget message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this ServoTarget to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type TorsoMotionUpdate$Properties = {
+            frameArms?: vec3$Properties;
+            frameLegs?: vec3$Properties;
+            frame3D?: mat44$Properties;
+        };
+
+        /**
+         * Constructs a new TorsoMotionUpdate.
+         * @exports message.motion.TorsoMotionUpdate
+         * @constructor
+         * @param {message.motion.TorsoMotionUpdate$Properties=} [properties] Properties to set
+         */
+        class TorsoMotionUpdate {
+
+            /**
+             * Constructs a new TorsoMotionUpdate.
+             * @exports message.motion.TorsoMotionUpdate
+             * @constructor
+             * @param {message.motion.TorsoMotionUpdate$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.motion.TorsoMotionUpdate$Properties);
+
+            /**
+             * TorsoMotionUpdate frameArms.
+             * @type {(vec3$Properties|null)}
+             */
+            public frameArms: (vec3$Properties|null);
+
+            /**
+             * TorsoMotionUpdate frameLegs.
+             * @type {(vec3$Properties|null)}
+             */
+            public frameLegs: (vec3$Properties|null);
+
+            /**
+             * TorsoMotionUpdate frame3D.
+             * @type {(mat44$Properties|null)}
+             */
+            public frame3D: (mat44$Properties|null);
+
+            /**
+             * Creates a new TorsoMotionUpdate instance using the specified properties.
+             * @param {message.motion.TorsoMotionUpdate$Properties=} [properties] Properties to set
+             * @returns {message.motion.TorsoMotionUpdate} TorsoMotionUpdate instance
+             */
+            public static create(properties?: message.motion.TorsoMotionUpdate$Properties): message.motion.TorsoMotionUpdate;
+
+            /**
+             * Encodes the specified TorsoMotionUpdate message. Does not implicitly {@link message.motion.TorsoMotionUpdate.verify|verify} messages.
+             * @param {message.motion.TorsoMotionUpdate$Properties} message TorsoMotionUpdate message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.motion.TorsoMotionUpdate$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified TorsoMotionUpdate message, length delimited. Does not implicitly {@link message.motion.TorsoMotionUpdate.verify|verify} messages.
+             * @param {message.motion.TorsoMotionUpdate$Properties} message TorsoMotionUpdate message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.motion.TorsoMotionUpdate$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a TorsoMotionUpdate message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.TorsoMotionUpdate} TorsoMotionUpdate
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.TorsoMotionUpdate;
+
+            /**
+             * Decodes a TorsoMotionUpdate message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.TorsoMotionUpdate} TorsoMotionUpdate
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.TorsoMotionUpdate;
+
+            /**
+             * Verifies a TorsoMotionUpdate message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a TorsoMotionUpdate message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.TorsoMotionUpdate} TorsoMotionUpdate
+             */
+            public static fromObject(object: { [k: string]: any }): message.motion.TorsoMotionUpdate;
+
+            /**
+             * Creates a TorsoMotionUpdate message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.TorsoMotionUpdate.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.TorsoMotionUpdate} TorsoMotionUpdate
+             */
+            public static from(object: { [k: string]: any }): message.motion.TorsoMotionUpdate;
+
+            /**
+             * Creates a plain object from a TorsoMotionUpdate message. Also converts values to other types if specified.
+             * @param {message.motion.TorsoMotionUpdate} message TorsoMotionUpdate
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.motion.TorsoMotionUpdate, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this TorsoMotionUpdate message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this TorsoMotionUpdate to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type TorsoPositionUpdate$Properties = {
+            position?: vec3$Properties;
+            destination?: vec3$Properties;
+        };
+
+        /**
+         * Constructs a new TorsoPositionUpdate.
+         * @exports message.motion.TorsoPositionUpdate
+         * @constructor
+         * @param {message.motion.TorsoPositionUpdate$Properties=} [properties] Properties to set
+         */
+        class TorsoPositionUpdate {
+
+            /**
+             * Constructs a new TorsoPositionUpdate.
+             * @exports message.motion.TorsoPositionUpdate
+             * @constructor
+             * @param {message.motion.TorsoPositionUpdate$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.motion.TorsoPositionUpdate$Properties);
+
+            /**
+             * TorsoPositionUpdate position.
+             * @type {(vec3$Properties|null)}
+             */
+            public position: (vec3$Properties|null);
+
+            /**
+             * TorsoPositionUpdate destination.
+             * @type {(vec3$Properties|null)}
+             */
+            public destination: (vec3$Properties|null);
+
+            /**
+             * Creates a new TorsoPositionUpdate instance using the specified properties.
+             * @param {message.motion.TorsoPositionUpdate$Properties=} [properties] Properties to set
+             * @returns {message.motion.TorsoPositionUpdate} TorsoPositionUpdate instance
+             */
+            public static create(properties?: message.motion.TorsoPositionUpdate$Properties): message.motion.TorsoPositionUpdate;
+
+            /**
+             * Encodes the specified TorsoPositionUpdate message. Does not implicitly {@link message.motion.TorsoPositionUpdate.verify|verify} messages.
+             * @param {message.motion.TorsoPositionUpdate$Properties} message TorsoPositionUpdate message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.motion.TorsoPositionUpdate$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified TorsoPositionUpdate message, length delimited. Does not implicitly {@link message.motion.TorsoPositionUpdate.verify|verify} messages.
+             * @param {message.motion.TorsoPositionUpdate$Properties} message TorsoPositionUpdate message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.motion.TorsoPositionUpdate$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a TorsoPositionUpdate message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.TorsoPositionUpdate} TorsoPositionUpdate
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.TorsoPositionUpdate;
+
+            /**
+             * Decodes a TorsoPositionUpdate message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.TorsoPositionUpdate} TorsoPositionUpdate
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.TorsoPositionUpdate;
+
+            /**
+             * Verifies a TorsoPositionUpdate message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a TorsoPositionUpdate message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.TorsoPositionUpdate} TorsoPositionUpdate
+             */
+            public static fromObject(object: { [k: string]: any }): message.motion.TorsoPositionUpdate;
+
+            /**
+             * Creates a TorsoPositionUpdate message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.TorsoPositionUpdate.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.TorsoPositionUpdate} TorsoPositionUpdate
+             */
+            public static from(object: { [k: string]: any }): message.motion.TorsoPositionUpdate;
+
+            /**
+             * Creates a plain object from a TorsoPositionUpdate message. Also converts values to other types if specified.
+             * @param {message.motion.TorsoPositionUpdate} message TorsoPositionUpdate
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.motion.TorsoPositionUpdate, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this TorsoPositionUpdate message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this TorsoPositionUpdate to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type EnableTorsoMotion$Properties = {};
+
+        /**
+         * Constructs a new EnableTorsoMotion.
+         * @exports message.motion.EnableTorsoMotion
+         * @constructor
+         * @param {message.motion.EnableTorsoMotion$Properties=} [properties] Properties to set
+         */
+        class EnableTorsoMotion {
+
+            /**
+             * Constructs a new EnableTorsoMotion.
+             * @exports message.motion.EnableTorsoMotion
+             * @constructor
+             * @param {message.motion.EnableTorsoMotion$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.motion.EnableTorsoMotion$Properties);
+
+            /**
+             * Creates a new EnableTorsoMotion instance using the specified properties.
+             * @param {message.motion.EnableTorsoMotion$Properties=} [properties] Properties to set
+             * @returns {message.motion.EnableTorsoMotion} EnableTorsoMotion instance
+             */
+            public static create(properties?: message.motion.EnableTorsoMotion$Properties): message.motion.EnableTorsoMotion;
+
+            /**
+             * Encodes the specified EnableTorsoMotion message. Does not implicitly {@link message.motion.EnableTorsoMotion.verify|verify} messages.
+             * @param {message.motion.EnableTorsoMotion$Properties} message EnableTorsoMotion message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.motion.EnableTorsoMotion$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified EnableTorsoMotion message, length delimited. Does not implicitly {@link message.motion.EnableTorsoMotion.verify|verify} messages.
+             * @param {message.motion.EnableTorsoMotion$Properties} message EnableTorsoMotion message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.motion.EnableTorsoMotion$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes an EnableTorsoMotion message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.EnableTorsoMotion} EnableTorsoMotion
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.EnableTorsoMotion;
+
+            /**
+             * Decodes an EnableTorsoMotion message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.EnableTorsoMotion} EnableTorsoMotion
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.EnableTorsoMotion;
+
+            /**
+             * Verifies an EnableTorsoMotion message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates an EnableTorsoMotion message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.EnableTorsoMotion} EnableTorsoMotion
+             */
+            public static fromObject(object: { [k: string]: any }): message.motion.EnableTorsoMotion;
+
+            /**
+             * Creates an EnableTorsoMotion message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.EnableTorsoMotion.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.EnableTorsoMotion} EnableTorsoMotion
+             */
+            public static from(object: { [k: string]: any }): message.motion.EnableTorsoMotion;
+
+            /**
+             * Creates a plain object from an EnableTorsoMotion message. Also converts values to other types if specified.
+             * @param {message.motion.EnableTorsoMotion} message EnableTorsoMotion
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.motion.EnableTorsoMotion, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this EnableTorsoMotion message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this EnableTorsoMotion to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type DisableTorsoMotion$Properties = {};
+
+        /**
+         * Constructs a new DisableTorsoMotion.
+         * @exports message.motion.DisableTorsoMotion
+         * @constructor
+         * @param {message.motion.DisableTorsoMotion$Properties=} [properties] Properties to set
+         */
+        class DisableTorsoMotion {
+
+            /**
+             * Constructs a new DisableTorsoMotion.
+             * @exports message.motion.DisableTorsoMotion
+             * @constructor
+             * @param {message.motion.DisableTorsoMotion$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.motion.DisableTorsoMotion$Properties);
+
+            /**
+             * Creates a new DisableTorsoMotion instance using the specified properties.
+             * @param {message.motion.DisableTorsoMotion$Properties=} [properties] Properties to set
+             * @returns {message.motion.DisableTorsoMotion} DisableTorsoMotion instance
+             */
+            public static create(properties?: message.motion.DisableTorsoMotion$Properties): message.motion.DisableTorsoMotion;
+
+            /**
+             * Encodes the specified DisableTorsoMotion message. Does not implicitly {@link message.motion.DisableTorsoMotion.verify|verify} messages.
+             * @param {message.motion.DisableTorsoMotion$Properties} message DisableTorsoMotion message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.motion.DisableTorsoMotion$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified DisableTorsoMotion message, length delimited. Does not implicitly {@link message.motion.DisableTorsoMotion.verify|verify} messages.
+             * @param {message.motion.DisableTorsoMotion$Properties} message DisableTorsoMotion message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.motion.DisableTorsoMotion$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a DisableTorsoMotion message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.DisableTorsoMotion} DisableTorsoMotion
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.DisableTorsoMotion;
+
+            /**
+             * Decodes a DisableTorsoMotion message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.DisableTorsoMotion} DisableTorsoMotion
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.DisableTorsoMotion;
+
+            /**
+             * Verifies a DisableTorsoMotion message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a DisableTorsoMotion message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.DisableTorsoMotion} DisableTorsoMotion
+             */
+            public static fromObject(object: { [k: string]: any }): message.motion.DisableTorsoMotion;
+
+            /**
+             * Creates a DisableTorsoMotion message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.DisableTorsoMotion.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.DisableTorsoMotion} DisableTorsoMotion
+             */
+            public static from(object: { [k: string]: any }): message.motion.DisableTorsoMotion;
+
+            /**
+             * Creates a plain object from a DisableTorsoMotion message. Also converts values to other types if specified.
+             * @param {message.motion.DisableTorsoMotion} message DisableTorsoMotion
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.motion.DisableTorsoMotion, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this DisableTorsoMotion message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this DisableTorsoMotion to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type WalkStarted$Properties = {};
+
+        /**
+         * Constructs a new WalkStarted.
+         * @exports message.motion.WalkStarted
+         * @constructor
+         * @param {message.motion.WalkStarted$Properties=} [properties] Properties to set
+         */
+        class WalkStarted {
+
+            /**
+             * Constructs a new WalkStarted.
+             * @exports message.motion.WalkStarted
+             * @constructor
+             * @param {message.motion.WalkStarted$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.motion.WalkStarted$Properties);
+
+            /**
+             * Creates a new WalkStarted instance using the specified properties.
+             * @param {message.motion.WalkStarted$Properties=} [properties] Properties to set
+             * @returns {message.motion.WalkStarted} WalkStarted instance
+             */
+            public static create(properties?: message.motion.WalkStarted$Properties): message.motion.WalkStarted;
+
+            /**
+             * Encodes the specified WalkStarted message. Does not implicitly {@link message.motion.WalkStarted.verify|verify} messages.
+             * @param {message.motion.WalkStarted$Properties} message WalkStarted message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.motion.WalkStarted$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified WalkStarted message, length delimited. Does not implicitly {@link message.motion.WalkStarted.verify|verify} messages.
+             * @param {message.motion.WalkStarted$Properties} message WalkStarted message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.motion.WalkStarted$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a WalkStarted message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.WalkStarted} WalkStarted
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.WalkStarted;
+
+            /**
+             * Decodes a WalkStarted message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.WalkStarted} WalkStarted
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.WalkStarted;
+
+            /**
+             * Verifies a WalkStarted message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a WalkStarted message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.WalkStarted} WalkStarted
+             */
+            public static fromObject(object: { [k: string]: any }): message.motion.WalkStarted;
+
+            /**
+             * Creates a WalkStarted message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.WalkStarted.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.WalkStarted} WalkStarted
+             */
+            public static from(object: { [k: string]: any }): message.motion.WalkStarted;
+
+            /**
+             * Creates a plain object from a WalkStarted message. Also converts values to other types if specified.
+             * @param {message.motion.WalkStarted} message WalkStarted
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.motion.WalkStarted, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this WalkStarted message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this WalkStarted to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type WalkStopped$Properties = {};
+
+        /**
+         * Constructs a new WalkStopped.
+         * @exports message.motion.WalkStopped
+         * @constructor
+         * @param {message.motion.WalkStopped$Properties=} [properties] Properties to set
+         */
+        class WalkStopped {
+
+            /**
+             * Constructs a new WalkStopped.
+             * @exports message.motion.WalkStopped
+             * @constructor
+             * @param {message.motion.WalkStopped$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.motion.WalkStopped$Properties);
+
+            /**
+             * Creates a new WalkStopped instance using the specified properties.
+             * @param {message.motion.WalkStopped$Properties=} [properties] Properties to set
+             * @returns {message.motion.WalkStopped} WalkStopped instance
+             */
+            public static create(properties?: message.motion.WalkStopped$Properties): message.motion.WalkStopped;
+
+            /**
+             * Encodes the specified WalkStopped message. Does not implicitly {@link message.motion.WalkStopped.verify|verify} messages.
+             * @param {message.motion.WalkStopped$Properties} message WalkStopped message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.motion.WalkStopped$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified WalkStopped message, length delimited. Does not implicitly {@link message.motion.WalkStopped.verify|verify} messages.
+             * @param {message.motion.WalkStopped$Properties} message WalkStopped message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.motion.WalkStopped$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a WalkStopped message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.WalkStopped} WalkStopped
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.WalkStopped;
+
+            /**
+             * Decodes a WalkStopped message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.WalkStopped} WalkStopped
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.WalkStopped;
+
+            /**
+             * Verifies a WalkStopped message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a WalkStopped message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.WalkStopped} WalkStopped
+             */
+            public static fromObject(object: { [k: string]: any }): message.motion.WalkStopped;
+
+            /**
+             * Creates a WalkStopped message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.WalkStopped.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.WalkStopped} WalkStopped
+             */
+            public static from(object: { [k: string]: any }): message.motion.WalkStopped;
+
+            /**
+             * Creates a plain object from a WalkStopped message. Also converts values to other types if specified.
+             * @param {message.motion.WalkStopped} message WalkStopped
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.motion.WalkStopped, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this WalkStopped message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this WalkStopped to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type WalkCommand$Properties = {
+            subsumptionId?: (number|Long);
+            command?: vec3$Properties;
+        };
+
+        /**
+         * Constructs a new WalkCommand.
+         * @exports message.motion.WalkCommand
+         * @constructor
+         * @param {message.motion.WalkCommand$Properties=} [properties] Properties to set
+         */
+        class WalkCommand {
+
+            /**
+             * Constructs a new WalkCommand.
+             * @exports message.motion.WalkCommand
+             * @constructor
+             * @param {message.motion.WalkCommand$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.motion.WalkCommand$Properties);
+
+            /**
+             * WalkCommand subsumptionId.
+             * @type {number|Long}
+             */
+            public subsumptionId: (number|Long);
+
+            /**
+             * WalkCommand command.
+             * @type {(vec3$Properties|null)}
+             */
+            public command: (vec3$Properties|null);
+
+            /**
+             * Creates a new WalkCommand instance using the specified properties.
+             * @param {message.motion.WalkCommand$Properties=} [properties] Properties to set
+             * @returns {message.motion.WalkCommand} WalkCommand instance
+             */
+            public static create(properties?: message.motion.WalkCommand$Properties): message.motion.WalkCommand;
+
+            /**
+             * Encodes the specified WalkCommand message. Does not implicitly {@link message.motion.WalkCommand.verify|verify} messages.
+             * @param {message.motion.WalkCommand$Properties} message WalkCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.motion.WalkCommand$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified WalkCommand message, length delimited. Does not implicitly {@link message.motion.WalkCommand.verify|verify} messages.
+             * @param {message.motion.WalkCommand$Properties} message WalkCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.motion.WalkCommand$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a WalkCommand message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.WalkCommand} WalkCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.WalkCommand;
+
+            /**
+             * Decodes a WalkCommand message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.WalkCommand} WalkCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.WalkCommand;
+
+            /**
+             * Verifies a WalkCommand message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a WalkCommand message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.WalkCommand} WalkCommand
+             */
+            public static fromObject(object: { [k: string]: any }): message.motion.WalkCommand;
+
+            /**
+             * Creates a WalkCommand message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.WalkCommand.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.WalkCommand} WalkCommand
+             */
+            public static from(object: { [k: string]: any }): message.motion.WalkCommand;
+
+            /**
+             * Creates a plain object from a WalkCommand message. Also converts values to other types if specified.
+             * @param {message.motion.WalkCommand} message WalkCommand
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.motion.WalkCommand, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this WalkCommand message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this WalkCommand to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type StopCommand$Properties = {
+            subsumptionId?: (number|Long);
+        };
+
+        /**
+         * Constructs a new StopCommand.
+         * @exports message.motion.StopCommand
+         * @constructor
+         * @param {message.motion.StopCommand$Properties=} [properties] Properties to set
+         */
+        class StopCommand {
+
+            /**
+             * Constructs a new StopCommand.
+             * @exports message.motion.StopCommand
+             * @constructor
+             * @param {message.motion.StopCommand$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.motion.StopCommand$Properties);
+
+            /**
+             * StopCommand subsumptionId.
+             * @type {number|Long}
+             */
+            public subsumptionId: (number|Long);
+
+            /**
+             * Creates a new StopCommand instance using the specified properties.
+             * @param {message.motion.StopCommand$Properties=} [properties] Properties to set
+             * @returns {message.motion.StopCommand} StopCommand instance
+             */
+            public static create(properties?: message.motion.StopCommand$Properties): message.motion.StopCommand;
+
+            /**
+             * Encodes the specified StopCommand message. Does not implicitly {@link message.motion.StopCommand.verify|verify} messages.
+             * @param {message.motion.StopCommand$Properties} message StopCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.motion.StopCommand$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified StopCommand message, length delimited. Does not implicitly {@link message.motion.StopCommand.verify|verify} messages.
+             * @param {message.motion.StopCommand$Properties} message StopCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.motion.StopCommand$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a StopCommand message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.StopCommand} StopCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.StopCommand;
+
+            /**
+             * Decodes a StopCommand message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.StopCommand} StopCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.StopCommand;
+
+            /**
+             * Verifies a StopCommand message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a StopCommand message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.StopCommand} StopCommand
+             */
+            public static fromObject(object: { [k: string]: any }): message.motion.StopCommand;
+
+            /**
+             * Creates a StopCommand message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.StopCommand.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.StopCommand} StopCommand
+             */
+            public static from(object: { [k: string]: any }): message.motion.StopCommand;
+
+            /**
+             * Creates a plain object from a StopCommand message. Also converts values to other types if specified.
+             * @param {message.motion.StopCommand} message StopCommand
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.motion.StopCommand, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this StopCommand message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this StopCommand to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type NewWalkCommand$Properties = {
+            velocityTarget?: vec3$Properties;
+        };
+
+        /**
+         * Constructs a new NewWalkCommand.
+         * @exports message.motion.NewWalkCommand
+         * @constructor
+         * @param {message.motion.NewWalkCommand$Properties=} [properties] Properties to set
+         */
+        class NewWalkCommand {
+
+            /**
+             * Constructs a new NewWalkCommand.
+             * @exports message.motion.NewWalkCommand
+             * @constructor
+             * @param {message.motion.NewWalkCommand$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.motion.NewWalkCommand$Properties);
+
+            /**
+             * NewWalkCommand velocityTarget.
+             * @type {(vec3$Properties|null)}
+             */
+            public velocityTarget: (vec3$Properties|null);
+
+            /**
+             * Creates a new NewWalkCommand instance using the specified properties.
+             * @param {message.motion.NewWalkCommand$Properties=} [properties] Properties to set
+             * @returns {message.motion.NewWalkCommand} NewWalkCommand instance
+             */
+            public static create(properties?: message.motion.NewWalkCommand$Properties): message.motion.NewWalkCommand;
+
+            /**
+             * Encodes the specified NewWalkCommand message. Does not implicitly {@link message.motion.NewWalkCommand.verify|verify} messages.
+             * @param {message.motion.NewWalkCommand$Properties} message NewWalkCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.motion.NewWalkCommand$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified NewWalkCommand message, length delimited. Does not implicitly {@link message.motion.NewWalkCommand.verify|verify} messages.
+             * @param {message.motion.NewWalkCommand$Properties} message NewWalkCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.motion.NewWalkCommand$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a NewWalkCommand message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.NewWalkCommand} NewWalkCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.NewWalkCommand;
+
+            /**
+             * Decodes a NewWalkCommand message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.NewWalkCommand} NewWalkCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.NewWalkCommand;
+
+            /**
+             * Verifies a NewWalkCommand message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a NewWalkCommand message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.NewWalkCommand} NewWalkCommand
+             */
+            public static fromObject(object: { [k: string]: any }): message.motion.NewWalkCommand;
+
+            /**
+             * Creates a NewWalkCommand message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.NewWalkCommand.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.NewWalkCommand} NewWalkCommand
+             */
+            public static from(object: { [k: string]: any }): message.motion.NewWalkCommand;
+
+            /**
+             * Creates a plain object from a NewWalkCommand message. Also converts values to other types if specified.
+             * @param {message.motion.NewWalkCommand} message NewWalkCommand
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.motion.NewWalkCommand, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this NewWalkCommand message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this NewWalkCommand to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type EnableWalkEngineCommand$Properties = {
+            subsumptionId?: (number|Long);
+        };
+
+        /**
+         * Constructs a new EnableWalkEngineCommand.
+         * @exports message.motion.EnableWalkEngineCommand
+         * @constructor
+         * @param {message.motion.EnableWalkEngineCommand$Properties=} [properties] Properties to set
+         */
+        class EnableWalkEngineCommand {
+
+            /**
+             * Constructs a new EnableWalkEngineCommand.
+             * @exports message.motion.EnableWalkEngineCommand
+             * @constructor
+             * @param {message.motion.EnableWalkEngineCommand$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.motion.EnableWalkEngineCommand$Properties);
+
+            /**
+             * EnableWalkEngineCommand subsumptionId.
+             * @type {number|Long}
+             */
+            public subsumptionId: (number|Long);
+
+            /**
+             * Creates a new EnableWalkEngineCommand instance using the specified properties.
+             * @param {message.motion.EnableWalkEngineCommand$Properties=} [properties] Properties to set
+             * @returns {message.motion.EnableWalkEngineCommand} EnableWalkEngineCommand instance
+             */
+            public static create(properties?: message.motion.EnableWalkEngineCommand$Properties): message.motion.EnableWalkEngineCommand;
+
+            /**
+             * Encodes the specified EnableWalkEngineCommand message. Does not implicitly {@link message.motion.EnableWalkEngineCommand.verify|verify} messages.
+             * @param {message.motion.EnableWalkEngineCommand$Properties} message EnableWalkEngineCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.motion.EnableWalkEngineCommand$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified EnableWalkEngineCommand message, length delimited. Does not implicitly {@link message.motion.EnableWalkEngineCommand.verify|verify} messages.
+             * @param {message.motion.EnableWalkEngineCommand$Properties} message EnableWalkEngineCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.motion.EnableWalkEngineCommand$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes an EnableWalkEngineCommand message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.EnableWalkEngineCommand} EnableWalkEngineCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.EnableWalkEngineCommand;
+
+            /**
+             * Decodes an EnableWalkEngineCommand message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.EnableWalkEngineCommand} EnableWalkEngineCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.EnableWalkEngineCommand;
+
+            /**
+             * Verifies an EnableWalkEngineCommand message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates an EnableWalkEngineCommand message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.EnableWalkEngineCommand} EnableWalkEngineCommand
+             */
+            public static fromObject(object: { [k: string]: any }): message.motion.EnableWalkEngineCommand;
+
+            /**
+             * Creates an EnableWalkEngineCommand message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.EnableWalkEngineCommand.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.EnableWalkEngineCommand} EnableWalkEngineCommand
+             */
+            public static from(object: { [k: string]: any }): message.motion.EnableWalkEngineCommand;
+
+            /**
+             * Creates a plain object from an EnableWalkEngineCommand message. Also converts values to other types if specified.
+             * @param {message.motion.EnableWalkEngineCommand} message EnableWalkEngineCommand
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.motion.EnableWalkEngineCommand, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this EnableWalkEngineCommand message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this EnableWalkEngineCommand to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type DisableWalkEngineCommand$Properties = {
+            subsumptionId?: (number|Long);
+        };
+
+        /**
+         * Constructs a new DisableWalkEngineCommand.
+         * @exports message.motion.DisableWalkEngineCommand
+         * @constructor
+         * @param {message.motion.DisableWalkEngineCommand$Properties=} [properties] Properties to set
+         */
+        class DisableWalkEngineCommand {
+
+            /**
+             * Constructs a new DisableWalkEngineCommand.
+             * @exports message.motion.DisableWalkEngineCommand
+             * @constructor
+             * @param {message.motion.DisableWalkEngineCommand$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.motion.DisableWalkEngineCommand$Properties);
+
+            /**
+             * DisableWalkEngineCommand subsumptionId.
+             * @type {number|Long}
+             */
+            public subsumptionId: (number|Long);
+
+            /**
+             * Creates a new DisableWalkEngineCommand instance using the specified properties.
+             * @param {message.motion.DisableWalkEngineCommand$Properties=} [properties] Properties to set
+             * @returns {message.motion.DisableWalkEngineCommand} DisableWalkEngineCommand instance
+             */
+            public static create(properties?: message.motion.DisableWalkEngineCommand$Properties): message.motion.DisableWalkEngineCommand;
+
+            /**
+             * Encodes the specified DisableWalkEngineCommand message. Does not implicitly {@link message.motion.DisableWalkEngineCommand.verify|verify} messages.
+             * @param {message.motion.DisableWalkEngineCommand$Properties} message DisableWalkEngineCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.motion.DisableWalkEngineCommand$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified DisableWalkEngineCommand message, length delimited. Does not implicitly {@link message.motion.DisableWalkEngineCommand.verify|verify} messages.
+             * @param {message.motion.DisableWalkEngineCommand$Properties} message DisableWalkEngineCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.motion.DisableWalkEngineCommand$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a DisableWalkEngineCommand message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.DisableWalkEngineCommand} DisableWalkEngineCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.motion.DisableWalkEngineCommand;
+
+            /**
+             * Decodes a DisableWalkEngineCommand message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.DisableWalkEngineCommand} DisableWalkEngineCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.motion.DisableWalkEngineCommand;
+
+            /**
+             * Verifies a DisableWalkEngineCommand message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a DisableWalkEngineCommand message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.DisableWalkEngineCommand} DisableWalkEngineCommand
+             */
+            public static fromObject(object: { [k: string]: any }): message.motion.DisableWalkEngineCommand;
+
+            /**
+             * Creates a DisableWalkEngineCommand message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.DisableWalkEngineCommand.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.DisableWalkEngineCommand} DisableWalkEngineCommand
+             */
+            public static from(object: { [k: string]: any }): message.motion.DisableWalkEngineCommand;
+
+            /**
+             * Creates a plain object from a DisableWalkEngineCommand message. Also converts values to other types if specified.
+             * @param {message.motion.DisableWalkEngineCommand} message DisableWalkEngineCommand
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.motion.DisableWalkEngineCommand, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this DisableWalkEngineCommand message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this DisableWalkEngineCommand to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+    }
+
+    /**
+     * Namespace output.
+     * @exports message.output
+     * @namespace
+     */
+    namespace output {
+
+        type Say$Properties = {
+            message?: string;
+        };
+
+        /**
+         * Constructs a new Say.
+         * @classdesc TODO document
+         *
+         * @author Trent Houliston
+         * @exports message.output.Say
+         * @constructor
+         * @param {message.output.Say$Properties=} [properties] Properties to set
+         */
+        class Say {
+
+            /**
+             * Constructs a new Say.
+             * @classdesc TODO document
+             *
+             * @author Trent Houliston
+             * @exports message.output.Say
+             * @constructor
+             * @param {message.output.Say$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.output.Say$Properties);
+
+            /**
+             * Say message.
+             * @type {string}
+             */
+            public message: string;
+
+            /**
+             * Creates a new Say instance using the specified properties.
+             * @param {message.output.Say$Properties=} [properties] Properties to set
+             * @returns {message.output.Say} Say instance
+             */
+            public static create(properties?: message.output.Say$Properties): message.output.Say;
+
+            /**
+             * Encodes the specified Say message. Does not implicitly {@link message.output.Say.verify|verify} messages.
+             * @param {message.output.Say$Properties} message Say message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.output.Say$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified Say message, length delimited. Does not implicitly {@link message.output.Say.verify|verify} messages.
+             * @param {message.output.Say$Properties} message Say message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.output.Say$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a Say message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.output.Say} Say
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.output.Say;
+
+            /**
+             * Decodes a Say message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.output.Say} Say
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.output.Say;
+
+            /**
+             * Verifies a Say message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a Say message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.output.Say} Say
+             */
+            public static fromObject(object: { [k: string]: any }): message.output.Say;
+
+            /**
+             * Creates a Say message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.output.Say.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.output.Say} Say
+             */
+            public static from(object: { [k: string]: any }): message.output.Say;
+
+            /**
+             * Creates a plain object from a Say message. Also converts values to other types if specified.
+             * @param {message.output.Say} message Say
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.output.Say, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this Say message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this Say to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+    }
+
+    /**
+     * Namespace platform.
+     * @exports message.platform
+     * @namespace
+     */
+    namespace platform {
+
+        /**
+         * Namespace darwin.
+         * @exports message.platform.darwin
+         * @namespace
+         */
+        namespace darwin {
+
+            type DarwinSensors$Properties = {
+                timestamp?: google.protobuf.Timestamp$Properties;
+                cm730ErrorFlags?: number;
+                ledPanel?: message.platform.darwin.DarwinSensors.LEDPanel$Properties;
+                headLED?: message.platform.darwin.DarwinSensors.HeadLED$Properties;
+                eyeLED?: message.platform.darwin.DarwinSensors.EyeLED$Properties;
+                buttons?: message.platform.darwin.DarwinSensors.Buttons$Properties;
+                voltage?: number;
+                accelerometer?: message.platform.darwin.DarwinSensors.Accelerometer$Properties;
+                gyroscope?: message.platform.darwin.DarwinSensors.Gyroscope$Properties;
+                fsr?: message.platform.darwin.DarwinSensors.FSRs$Properties;
+                servo?: message.platform.darwin.DarwinSensors.Servos$Properties;
+            };
+
+            /**
+             * Constructs a new DarwinSensors.
+             * @classdesc TODO document
+             *
+             * @author Trent Houliston
+             * @exports message.platform.darwin.DarwinSensors
+             * @constructor
+             * @param {message.platform.darwin.DarwinSensors$Properties=} [properties] Properties to set
+             */
+            class DarwinSensors {
+
+                /**
+                 * Constructs a new DarwinSensors.
+                 * @classdesc TODO document
+                 *
+                 * @author Trent Houliston
+                 * @exports message.platform.darwin.DarwinSensors
+                 * @constructor
+                 * @param {message.platform.darwin.DarwinSensors$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.platform.darwin.DarwinSensors$Properties);
+
+                /**
+                 * DarwinSensors timestamp.
+                 * @type {(google.protobuf.Timestamp$Properties|null)}
+                 */
+                public timestamp: (google.protobuf.Timestamp$Properties|null);
+
+                /**
+                 * DarwinSensors cm730ErrorFlags.
+                 * @type {number}
+                 */
+                public cm730ErrorFlags: number;
+
+                /**
+                 * DarwinSensors ledPanel.
+                 * @type {(message.platform.darwin.DarwinSensors.LEDPanel$Properties|null)}
+                 */
+                public ledPanel: (message.platform.darwin.DarwinSensors.LEDPanel$Properties|null);
+
+                /**
+                 * DarwinSensors headLED.
+                 * @type {(message.platform.darwin.DarwinSensors.HeadLED$Properties|null)}
+                 */
+                public headLED: (message.platform.darwin.DarwinSensors.HeadLED$Properties|null);
+
+                /**
+                 * DarwinSensors eyeLED.
+                 * @type {(message.platform.darwin.DarwinSensors.EyeLED$Properties|null)}
+                 */
+                public eyeLED: (message.platform.darwin.DarwinSensors.EyeLED$Properties|null);
+
+                /**
+                 * DarwinSensors buttons.
+                 * @type {(message.platform.darwin.DarwinSensors.Buttons$Properties|null)}
+                 */
+                public buttons: (message.platform.darwin.DarwinSensors.Buttons$Properties|null);
+
+                /**
+                 * DarwinSensors voltage.
+                 * @type {number}
+                 */
+                public voltage: number;
+
+                /**
+                 * DarwinSensors accelerometer.
+                 * @type {(message.platform.darwin.DarwinSensors.Accelerometer$Properties|null)}
+                 */
+                public accelerometer: (message.platform.darwin.DarwinSensors.Accelerometer$Properties|null);
+
+                /**
+                 * DarwinSensors gyroscope.
+                 * @type {(message.platform.darwin.DarwinSensors.Gyroscope$Properties|null)}
+                 */
+                public gyroscope: (message.platform.darwin.DarwinSensors.Gyroscope$Properties|null);
+
+                /**
+                 * DarwinSensors fsr.
+                 * @type {(message.platform.darwin.DarwinSensors.FSRs$Properties|null)}
+                 */
+                public fsr: (message.platform.darwin.DarwinSensors.FSRs$Properties|null);
+
+                /**
+                 * DarwinSensors servo.
+                 * @type {(message.platform.darwin.DarwinSensors.Servos$Properties|null)}
+                 */
+                public servo: (message.platform.darwin.DarwinSensors.Servos$Properties|null);
+
+                /**
+                 * Creates a new DarwinSensors instance using the specified properties.
+                 * @param {message.platform.darwin.DarwinSensors$Properties=} [properties] Properties to set
+                 * @returns {message.platform.darwin.DarwinSensors} DarwinSensors instance
+                 */
+                public static create(properties?: message.platform.darwin.DarwinSensors$Properties): message.platform.darwin.DarwinSensors;
+
+                /**
+                 * Encodes the specified DarwinSensors message. Does not implicitly {@link message.platform.darwin.DarwinSensors.verify|verify} messages.
+                 * @param {message.platform.darwin.DarwinSensors$Properties} message DarwinSensors message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.platform.darwin.DarwinSensors$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified DarwinSensors message, length delimited. Does not implicitly {@link message.platform.darwin.DarwinSensors.verify|verify} messages.
+                 * @param {message.platform.darwin.DarwinSensors$Properties} message DarwinSensors message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.platform.darwin.DarwinSensors$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a DarwinSensors message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.platform.darwin.DarwinSensors} DarwinSensors
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.platform.darwin.DarwinSensors;
+
+                /**
+                 * Decodes a DarwinSensors message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.platform.darwin.DarwinSensors} DarwinSensors
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.platform.darwin.DarwinSensors;
+
+                /**
+                 * Verifies a DarwinSensors message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a DarwinSensors message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.platform.darwin.DarwinSensors} DarwinSensors
+                 */
+                public static fromObject(object: { [k: string]: any }): message.platform.darwin.DarwinSensors;
+
+                /**
+                 * Creates a DarwinSensors message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.platform.darwin.DarwinSensors.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.platform.darwin.DarwinSensors} DarwinSensors
+                 */
+                public static from(object: { [k: string]: any }): message.platform.darwin.DarwinSensors;
+
+                /**
+                 * Creates a plain object from a DarwinSensors message. Also converts values to other types if specified.
+                 * @param {message.platform.darwin.DarwinSensors} message DarwinSensors
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.platform.darwin.DarwinSensors, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this DarwinSensors message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this DarwinSensors to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            namespace DarwinSensors {
+
+                /**
+                 * Error enum.
+                 * @name Error
+                 * @memberof message.platform.darwin.DarwinSensors
+                 * @enum {number}
+                 * @property {number} OK=0 OK value
+                 * @property {number} INPUT_VOLTAGE=1 INPUT_VOLTAGE value
+                 * @property {number} ANGLE_LIMIT=2 ANGLE_LIMIT value
+                 * @property {number} OVERHEATING=4 OVERHEATING value
+                 * @property {number} RANGE=8 RANGE value
+                 * @property {number} CHECKSUM=16 CHECKSUM value
+                 * @property {number} OVERLOAD=32 OVERLOAD value
+                 * @property {number} INSTRUCTION=64 INSTRUCTION value
+                 * @property {number} CORRUPT_DATA=128 CORRUPT_DATA value
+                 * @property {number} TIMEOUT=256 TIMEOUT value
+                 * @property {number} TIMEOUT_VICTIM=512 TIMEOUT_VICTIM value
+                 */
+                enum Error {
+                    OK = 0,
+                    INPUT_VOLTAGE = 1,
+                    ANGLE_LIMIT = 2,
+                    OVERHEATING = 4,
+                    RANGE = 8,
+                    CHECKSUM = 16,
+                    OVERLOAD = 32,
+                    INSTRUCTION = 64,
+                    CORRUPT_DATA = 128,
+                    TIMEOUT = 256,
+                    TIMEOUT_VICTIM = 512
+                }
+
+                type LEDPanel$Properties = {
+                    led2?: boolean;
+                    led3?: boolean;
+                    led4?: boolean;
+                };
+
+                /**
+                 * Constructs a new LEDPanel.
+                 * @exports message.platform.darwin.DarwinSensors.LEDPanel
+                 * @constructor
+                 * @param {message.platform.darwin.DarwinSensors.LEDPanel$Properties=} [properties] Properties to set
+                 */
+                class LEDPanel {
+
+                    /**
+                     * Constructs a new LEDPanel.
+                     * @exports message.platform.darwin.DarwinSensors.LEDPanel
+                     * @constructor
+                     * @param {message.platform.darwin.DarwinSensors.LEDPanel$Properties=} [properties] Properties to set
+                     */
+                    constructor(properties?: message.platform.darwin.DarwinSensors.LEDPanel$Properties);
+
+                    /**
+                     * LEDPanel led2.
+                     * @type {boolean}
+                     */
+                    public led2: boolean;
+
+                    /**
+                     * LEDPanel led3.
+                     * @type {boolean}
+                     */
+                    public led3: boolean;
+
+                    /**
+                     * LEDPanel led4.
+                     * @type {boolean}
+                     */
+                    public led4: boolean;
+
+                    /**
+                     * Creates a new LEDPanel instance using the specified properties.
+                     * @param {message.platform.darwin.DarwinSensors.LEDPanel$Properties=} [properties] Properties to set
+                     * @returns {message.platform.darwin.DarwinSensors.LEDPanel} LEDPanel instance
+                     */
+                    public static create(properties?: message.platform.darwin.DarwinSensors.LEDPanel$Properties): message.platform.darwin.DarwinSensors.LEDPanel;
+
+                    /**
+                     * Encodes the specified LEDPanel message. Does not implicitly {@link message.platform.darwin.DarwinSensors.LEDPanel.verify|verify} messages.
+                     * @param {message.platform.darwin.DarwinSensors.LEDPanel$Properties} message LEDPanel message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    public static encode(message: message.platform.darwin.DarwinSensors.LEDPanel$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                    /**
+                     * Encodes the specified LEDPanel message, length delimited. Does not implicitly {@link message.platform.darwin.DarwinSensors.LEDPanel.verify|verify} messages.
+                     * @param {message.platform.darwin.DarwinSensors.LEDPanel$Properties} message LEDPanel message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    public static encodeDelimited(message: message.platform.darwin.DarwinSensors.LEDPanel$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                    /**
+                     * Decodes a LEDPanel message from the specified reader or buffer.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @param {number} [length] Message length if known beforehand
+                     * @returns {message.platform.darwin.DarwinSensors.LEDPanel} LEDPanel
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.platform.darwin.DarwinSensors.LEDPanel;
+
+                    /**
+                     * Decodes a LEDPanel message from the specified reader or buffer, length delimited.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @returns {message.platform.darwin.DarwinSensors.LEDPanel} LEDPanel
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.platform.darwin.DarwinSensors.LEDPanel;
+
+                    /**
+                     * Verifies a LEDPanel message.
+                     * @param {Object.<string,*>} message Plain object to verify
+                     * @returns {?string} `null` if valid, otherwise the reason why it is not
+                     */
+                    public static verify(message: { [k: string]: any }): string;
+
+                    /**
+                     * Creates a LEDPanel message from a plain object. Also converts values to their respective internal types.
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.platform.darwin.DarwinSensors.LEDPanel} LEDPanel
+                     */
+                    public static fromObject(object: { [k: string]: any }): message.platform.darwin.DarwinSensors.LEDPanel;
+
+                    /**
+                     * Creates a LEDPanel message from a plain object. Also converts values to their respective internal types.
+                     * This is an alias of {@link message.platform.darwin.DarwinSensors.LEDPanel.fromObject}.
+                     * @function
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.platform.darwin.DarwinSensors.LEDPanel} LEDPanel
+                     */
+                    public static from(object: { [k: string]: any }): message.platform.darwin.DarwinSensors.LEDPanel;
+
+                    /**
+                     * Creates a plain object from a LEDPanel message. Also converts values to other types if specified.
+                     * @param {message.platform.darwin.DarwinSensors.LEDPanel} message LEDPanel
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    public static toObject(message: message.platform.darwin.DarwinSensors.LEDPanel, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                    /**
+                     * Creates a plain object from this LEDPanel message. Also converts values to other types if specified.
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                    /**
+                     * Converts this LEDPanel to JSON.
+                     * @returns {Object.<string,*>} JSON object
+                     */
+                    public toJSON(): { [k: string]: any };
+                }
+
+                type HeadLED$Properties = {
+                    RGB?: number;
+                };
+
+                /**
+                 * Constructs a new HeadLED.
+                 * @exports message.platform.darwin.DarwinSensors.HeadLED
+                 * @constructor
+                 * @param {message.platform.darwin.DarwinSensors.HeadLED$Properties=} [properties] Properties to set
+                 */
+                class HeadLED {
+
+                    /**
+                     * Constructs a new HeadLED.
+                     * @exports message.platform.darwin.DarwinSensors.HeadLED
+                     * @constructor
+                     * @param {message.platform.darwin.DarwinSensors.HeadLED$Properties=} [properties] Properties to set
+                     */
+                    constructor(properties?: message.platform.darwin.DarwinSensors.HeadLED$Properties);
+
+                    /**
+                     * HeadLED RGB.
+                     * @type {number}
+                     */
+                    public RGB: number;
+
+                    /**
+                     * Creates a new HeadLED instance using the specified properties.
+                     * @param {message.platform.darwin.DarwinSensors.HeadLED$Properties=} [properties] Properties to set
+                     * @returns {message.platform.darwin.DarwinSensors.HeadLED} HeadLED instance
+                     */
+                    public static create(properties?: message.platform.darwin.DarwinSensors.HeadLED$Properties): message.platform.darwin.DarwinSensors.HeadLED;
+
+                    /**
+                     * Encodes the specified HeadLED message. Does not implicitly {@link message.platform.darwin.DarwinSensors.HeadLED.verify|verify} messages.
+                     * @param {message.platform.darwin.DarwinSensors.HeadLED$Properties} message HeadLED message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    public static encode(message: message.platform.darwin.DarwinSensors.HeadLED$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                    /**
+                     * Encodes the specified HeadLED message, length delimited. Does not implicitly {@link message.platform.darwin.DarwinSensors.HeadLED.verify|verify} messages.
+                     * @param {message.platform.darwin.DarwinSensors.HeadLED$Properties} message HeadLED message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    public static encodeDelimited(message: message.platform.darwin.DarwinSensors.HeadLED$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                    /**
+                     * Decodes a HeadLED message from the specified reader or buffer.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @param {number} [length] Message length if known beforehand
+                     * @returns {message.platform.darwin.DarwinSensors.HeadLED} HeadLED
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.platform.darwin.DarwinSensors.HeadLED;
+
+                    /**
+                     * Decodes a HeadLED message from the specified reader or buffer, length delimited.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @returns {message.platform.darwin.DarwinSensors.HeadLED} HeadLED
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.platform.darwin.DarwinSensors.HeadLED;
+
+                    /**
+                     * Verifies a HeadLED message.
+                     * @param {Object.<string,*>} message Plain object to verify
+                     * @returns {?string} `null` if valid, otherwise the reason why it is not
+                     */
+                    public static verify(message: { [k: string]: any }): string;
+
+                    /**
+                     * Creates a HeadLED message from a plain object. Also converts values to their respective internal types.
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.platform.darwin.DarwinSensors.HeadLED} HeadLED
+                     */
+                    public static fromObject(object: { [k: string]: any }): message.platform.darwin.DarwinSensors.HeadLED;
+
+                    /**
+                     * Creates a HeadLED message from a plain object. Also converts values to their respective internal types.
+                     * This is an alias of {@link message.platform.darwin.DarwinSensors.HeadLED.fromObject}.
+                     * @function
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.platform.darwin.DarwinSensors.HeadLED} HeadLED
+                     */
+                    public static from(object: { [k: string]: any }): message.platform.darwin.DarwinSensors.HeadLED;
+
+                    /**
+                     * Creates a plain object from a HeadLED message. Also converts values to other types if specified.
+                     * @param {message.platform.darwin.DarwinSensors.HeadLED} message HeadLED
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    public static toObject(message: message.platform.darwin.DarwinSensors.HeadLED, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                    /**
+                     * Creates a plain object from this HeadLED message. Also converts values to other types if specified.
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                    /**
+                     * Converts this HeadLED to JSON.
+                     * @returns {Object.<string,*>} JSON object
+                     */
+                    public toJSON(): { [k: string]: any };
+                }
+
+                type EyeLED$Properties = {
+                    RGB?: number;
+                };
+
+                /**
+                 * Constructs a new EyeLED.
+                 * @exports message.platform.darwin.DarwinSensors.EyeLED
+                 * @constructor
+                 * @param {message.platform.darwin.DarwinSensors.EyeLED$Properties=} [properties] Properties to set
+                 */
+                class EyeLED {
+
+                    /**
+                     * Constructs a new EyeLED.
+                     * @exports message.platform.darwin.DarwinSensors.EyeLED
+                     * @constructor
+                     * @param {message.platform.darwin.DarwinSensors.EyeLED$Properties=} [properties] Properties to set
+                     */
+                    constructor(properties?: message.platform.darwin.DarwinSensors.EyeLED$Properties);
+
+                    /**
+                     * EyeLED RGB.
+                     * @type {number}
+                     */
+                    public RGB: number;
+
+                    /**
+                     * Creates a new EyeLED instance using the specified properties.
+                     * @param {message.platform.darwin.DarwinSensors.EyeLED$Properties=} [properties] Properties to set
+                     * @returns {message.platform.darwin.DarwinSensors.EyeLED} EyeLED instance
+                     */
+                    public static create(properties?: message.platform.darwin.DarwinSensors.EyeLED$Properties): message.platform.darwin.DarwinSensors.EyeLED;
+
+                    /**
+                     * Encodes the specified EyeLED message. Does not implicitly {@link message.platform.darwin.DarwinSensors.EyeLED.verify|verify} messages.
+                     * @param {message.platform.darwin.DarwinSensors.EyeLED$Properties} message EyeLED message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    public static encode(message: message.platform.darwin.DarwinSensors.EyeLED$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                    /**
+                     * Encodes the specified EyeLED message, length delimited. Does not implicitly {@link message.platform.darwin.DarwinSensors.EyeLED.verify|verify} messages.
+                     * @param {message.platform.darwin.DarwinSensors.EyeLED$Properties} message EyeLED message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    public static encodeDelimited(message: message.platform.darwin.DarwinSensors.EyeLED$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                    /**
+                     * Decodes an EyeLED message from the specified reader or buffer.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @param {number} [length] Message length if known beforehand
+                     * @returns {message.platform.darwin.DarwinSensors.EyeLED} EyeLED
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.platform.darwin.DarwinSensors.EyeLED;
+
+                    /**
+                     * Decodes an EyeLED message from the specified reader or buffer, length delimited.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @returns {message.platform.darwin.DarwinSensors.EyeLED} EyeLED
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.platform.darwin.DarwinSensors.EyeLED;
+
+                    /**
+                     * Verifies an EyeLED message.
+                     * @param {Object.<string,*>} message Plain object to verify
+                     * @returns {?string} `null` if valid, otherwise the reason why it is not
+                     */
+                    public static verify(message: { [k: string]: any }): string;
+
+                    /**
+                     * Creates an EyeLED message from a plain object. Also converts values to their respective internal types.
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.platform.darwin.DarwinSensors.EyeLED} EyeLED
+                     */
+                    public static fromObject(object: { [k: string]: any }): message.platform.darwin.DarwinSensors.EyeLED;
+
+                    /**
+                     * Creates an EyeLED message from a plain object. Also converts values to their respective internal types.
+                     * This is an alias of {@link message.platform.darwin.DarwinSensors.EyeLED.fromObject}.
+                     * @function
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.platform.darwin.DarwinSensors.EyeLED} EyeLED
+                     */
+                    public static from(object: { [k: string]: any }): message.platform.darwin.DarwinSensors.EyeLED;
+
+                    /**
+                     * Creates a plain object from an EyeLED message. Also converts values to other types if specified.
+                     * @param {message.platform.darwin.DarwinSensors.EyeLED} message EyeLED
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    public static toObject(message: message.platform.darwin.DarwinSensors.EyeLED, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                    /**
+                     * Creates a plain object from this EyeLED message. Also converts values to other types if specified.
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                    /**
+                     * Converts this EyeLED to JSON.
+                     * @returns {Object.<string,*>} JSON object
+                     */
+                    public toJSON(): { [k: string]: any };
+                }
+
+                type Buttons$Properties = {
+                    left?: boolean;
+                    middle?: boolean;
+                };
+
+                /**
+                 * Constructs a new Buttons.
+                 * @exports message.platform.darwin.DarwinSensors.Buttons
+                 * @constructor
+                 * @param {message.platform.darwin.DarwinSensors.Buttons$Properties=} [properties] Properties to set
+                 */
+                class Buttons {
+
+                    /**
+                     * Constructs a new Buttons.
+                     * @exports message.platform.darwin.DarwinSensors.Buttons
+                     * @constructor
+                     * @param {message.platform.darwin.DarwinSensors.Buttons$Properties=} [properties] Properties to set
+                     */
+                    constructor(properties?: message.platform.darwin.DarwinSensors.Buttons$Properties);
+
+                    /**
+                     * Buttons left.
+                     * @type {boolean}
+                     */
+                    public left: boolean;
+
+                    /**
+                     * Buttons middle.
+                     * @type {boolean}
+                     */
+                    public middle: boolean;
+
+                    /**
+                     * Creates a new Buttons instance using the specified properties.
+                     * @param {message.platform.darwin.DarwinSensors.Buttons$Properties=} [properties] Properties to set
+                     * @returns {message.platform.darwin.DarwinSensors.Buttons} Buttons instance
+                     */
+                    public static create(properties?: message.platform.darwin.DarwinSensors.Buttons$Properties): message.platform.darwin.DarwinSensors.Buttons;
+
+                    /**
+                     * Encodes the specified Buttons message. Does not implicitly {@link message.platform.darwin.DarwinSensors.Buttons.verify|verify} messages.
+                     * @param {message.platform.darwin.DarwinSensors.Buttons$Properties} message Buttons message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    public static encode(message: message.platform.darwin.DarwinSensors.Buttons$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                    /**
+                     * Encodes the specified Buttons message, length delimited. Does not implicitly {@link message.platform.darwin.DarwinSensors.Buttons.verify|verify} messages.
+                     * @param {message.platform.darwin.DarwinSensors.Buttons$Properties} message Buttons message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    public static encodeDelimited(message: message.platform.darwin.DarwinSensors.Buttons$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                    /**
+                     * Decodes a Buttons message from the specified reader or buffer.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @param {number} [length] Message length if known beforehand
+                     * @returns {message.platform.darwin.DarwinSensors.Buttons} Buttons
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.platform.darwin.DarwinSensors.Buttons;
+
+                    /**
+                     * Decodes a Buttons message from the specified reader or buffer, length delimited.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @returns {message.platform.darwin.DarwinSensors.Buttons} Buttons
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.platform.darwin.DarwinSensors.Buttons;
+
+                    /**
+                     * Verifies a Buttons message.
+                     * @param {Object.<string,*>} message Plain object to verify
+                     * @returns {?string} `null` if valid, otherwise the reason why it is not
+                     */
+                    public static verify(message: { [k: string]: any }): string;
+
+                    /**
+                     * Creates a Buttons message from a plain object. Also converts values to their respective internal types.
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.platform.darwin.DarwinSensors.Buttons} Buttons
+                     */
+                    public static fromObject(object: { [k: string]: any }): message.platform.darwin.DarwinSensors.Buttons;
+
+                    /**
+                     * Creates a Buttons message from a plain object. Also converts values to their respective internal types.
+                     * This is an alias of {@link message.platform.darwin.DarwinSensors.Buttons.fromObject}.
+                     * @function
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.platform.darwin.DarwinSensors.Buttons} Buttons
+                     */
+                    public static from(object: { [k: string]: any }): message.platform.darwin.DarwinSensors.Buttons;
+
+                    /**
+                     * Creates a plain object from a Buttons message. Also converts values to other types if specified.
+                     * @param {message.platform.darwin.DarwinSensors.Buttons} message Buttons
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    public static toObject(message: message.platform.darwin.DarwinSensors.Buttons, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                    /**
+                     * Creates a plain object from this Buttons message. Also converts values to other types if specified.
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                    /**
+                     * Converts this Buttons to JSON.
+                     * @returns {Object.<string,*>} JSON object
+                     */
+                    public toJSON(): { [k: string]: any };
+                }
+
+                type Accelerometer$Properties = {
+                    x?: number;
+                    y?: number;
+                    z?: number;
+                };
+
+                /**
+                 * Constructs a new Accelerometer.
+                 * @exports message.platform.darwin.DarwinSensors.Accelerometer
+                 * @constructor
+                 * @param {message.platform.darwin.DarwinSensors.Accelerometer$Properties=} [properties] Properties to set
+                 */
+                class Accelerometer {
+
+                    /**
+                     * Constructs a new Accelerometer.
+                     * @exports message.platform.darwin.DarwinSensors.Accelerometer
+                     * @constructor
+                     * @param {message.platform.darwin.DarwinSensors.Accelerometer$Properties=} [properties] Properties to set
+                     */
+                    constructor(properties?: message.platform.darwin.DarwinSensors.Accelerometer$Properties);
+
+                    /**
+                     * Accelerometer x.
+                     * @type {number}
+                     */
+                    public x: number;
+
+                    /**
+                     * Accelerometer y.
+                     * @type {number}
+                     */
+                    public y: number;
+
+                    /**
+                     * Accelerometer z.
+                     * @type {number}
+                     */
+                    public z: number;
+
+                    /**
+                     * Creates a new Accelerometer instance using the specified properties.
+                     * @param {message.platform.darwin.DarwinSensors.Accelerometer$Properties=} [properties] Properties to set
+                     * @returns {message.platform.darwin.DarwinSensors.Accelerometer} Accelerometer instance
+                     */
+                    public static create(properties?: message.platform.darwin.DarwinSensors.Accelerometer$Properties): message.platform.darwin.DarwinSensors.Accelerometer;
+
+                    /**
+                     * Encodes the specified Accelerometer message. Does not implicitly {@link message.platform.darwin.DarwinSensors.Accelerometer.verify|verify} messages.
+                     * @param {message.platform.darwin.DarwinSensors.Accelerometer$Properties} message Accelerometer message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    public static encode(message: message.platform.darwin.DarwinSensors.Accelerometer$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                    /**
+                     * Encodes the specified Accelerometer message, length delimited. Does not implicitly {@link message.platform.darwin.DarwinSensors.Accelerometer.verify|verify} messages.
+                     * @param {message.platform.darwin.DarwinSensors.Accelerometer$Properties} message Accelerometer message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    public static encodeDelimited(message: message.platform.darwin.DarwinSensors.Accelerometer$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                    /**
+                     * Decodes an Accelerometer message from the specified reader or buffer.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @param {number} [length] Message length if known beforehand
+                     * @returns {message.platform.darwin.DarwinSensors.Accelerometer} Accelerometer
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.platform.darwin.DarwinSensors.Accelerometer;
+
+                    /**
+                     * Decodes an Accelerometer message from the specified reader or buffer, length delimited.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @returns {message.platform.darwin.DarwinSensors.Accelerometer} Accelerometer
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.platform.darwin.DarwinSensors.Accelerometer;
+
+                    /**
+                     * Verifies an Accelerometer message.
+                     * @param {Object.<string,*>} message Plain object to verify
+                     * @returns {?string} `null` if valid, otherwise the reason why it is not
+                     */
+                    public static verify(message: { [k: string]: any }): string;
+
+                    /**
+                     * Creates an Accelerometer message from a plain object. Also converts values to their respective internal types.
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.platform.darwin.DarwinSensors.Accelerometer} Accelerometer
+                     */
+                    public static fromObject(object: { [k: string]: any }): message.platform.darwin.DarwinSensors.Accelerometer;
+
+                    /**
+                     * Creates an Accelerometer message from a plain object. Also converts values to their respective internal types.
+                     * This is an alias of {@link message.platform.darwin.DarwinSensors.Accelerometer.fromObject}.
+                     * @function
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.platform.darwin.DarwinSensors.Accelerometer} Accelerometer
+                     */
+                    public static from(object: { [k: string]: any }): message.platform.darwin.DarwinSensors.Accelerometer;
+
+                    /**
+                     * Creates a plain object from an Accelerometer message. Also converts values to other types if specified.
+                     * @param {message.platform.darwin.DarwinSensors.Accelerometer} message Accelerometer
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    public static toObject(message: message.platform.darwin.DarwinSensors.Accelerometer, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                    /**
+                     * Creates a plain object from this Accelerometer message. Also converts values to other types if specified.
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                    /**
+                     * Converts this Accelerometer to JSON.
+                     * @returns {Object.<string,*>} JSON object
+                     */
+                    public toJSON(): { [k: string]: any };
+                }
+
+                type Gyroscope$Properties = {
+                    x?: number;
+                    y?: number;
+                    z?: number;
+                };
+
+                /**
+                 * Constructs a new Gyroscope.
+                 * @exports message.platform.darwin.DarwinSensors.Gyroscope
+                 * @constructor
+                 * @param {message.platform.darwin.DarwinSensors.Gyroscope$Properties=} [properties] Properties to set
+                 */
+                class Gyroscope {
+
+                    /**
+                     * Constructs a new Gyroscope.
+                     * @exports message.platform.darwin.DarwinSensors.Gyroscope
+                     * @constructor
+                     * @param {message.platform.darwin.DarwinSensors.Gyroscope$Properties=} [properties] Properties to set
+                     */
+                    constructor(properties?: message.platform.darwin.DarwinSensors.Gyroscope$Properties);
+
+                    /**
+                     * Gyroscope x.
+                     * @type {number}
+                     */
+                    public x: number;
+
+                    /**
+                     * Gyroscope y.
+                     * @type {number}
+                     */
+                    public y: number;
+
+                    /**
+                     * Gyroscope z.
+                     * @type {number}
+                     */
+                    public z: number;
+
+                    /**
+                     * Creates a new Gyroscope instance using the specified properties.
+                     * @param {message.platform.darwin.DarwinSensors.Gyroscope$Properties=} [properties] Properties to set
+                     * @returns {message.platform.darwin.DarwinSensors.Gyroscope} Gyroscope instance
+                     */
+                    public static create(properties?: message.platform.darwin.DarwinSensors.Gyroscope$Properties): message.platform.darwin.DarwinSensors.Gyroscope;
+
+                    /**
+                     * Encodes the specified Gyroscope message. Does not implicitly {@link message.platform.darwin.DarwinSensors.Gyroscope.verify|verify} messages.
+                     * @param {message.platform.darwin.DarwinSensors.Gyroscope$Properties} message Gyroscope message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    public static encode(message: message.platform.darwin.DarwinSensors.Gyroscope$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                    /**
+                     * Encodes the specified Gyroscope message, length delimited. Does not implicitly {@link message.platform.darwin.DarwinSensors.Gyroscope.verify|verify} messages.
+                     * @param {message.platform.darwin.DarwinSensors.Gyroscope$Properties} message Gyroscope message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    public static encodeDelimited(message: message.platform.darwin.DarwinSensors.Gyroscope$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                    /**
+                     * Decodes a Gyroscope message from the specified reader or buffer.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @param {number} [length] Message length if known beforehand
+                     * @returns {message.platform.darwin.DarwinSensors.Gyroscope} Gyroscope
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.platform.darwin.DarwinSensors.Gyroscope;
+
+                    /**
+                     * Decodes a Gyroscope message from the specified reader or buffer, length delimited.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @returns {message.platform.darwin.DarwinSensors.Gyroscope} Gyroscope
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.platform.darwin.DarwinSensors.Gyroscope;
+
+                    /**
+                     * Verifies a Gyroscope message.
+                     * @param {Object.<string,*>} message Plain object to verify
+                     * @returns {?string} `null` if valid, otherwise the reason why it is not
+                     */
+                    public static verify(message: { [k: string]: any }): string;
+
+                    /**
+                     * Creates a Gyroscope message from a plain object. Also converts values to their respective internal types.
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.platform.darwin.DarwinSensors.Gyroscope} Gyroscope
+                     */
+                    public static fromObject(object: { [k: string]: any }): message.platform.darwin.DarwinSensors.Gyroscope;
+
+                    /**
+                     * Creates a Gyroscope message from a plain object. Also converts values to their respective internal types.
+                     * This is an alias of {@link message.platform.darwin.DarwinSensors.Gyroscope.fromObject}.
+                     * @function
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.platform.darwin.DarwinSensors.Gyroscope} Gyroscope
+                     */
+                    public static from(object: { [k: string]: any }): message.platform.darwin.DarwinSensors.Gyroscope;
+
+                    /**
+                     * Creates a plain object from a Gyroscope message. Also converts values to other types if specified.
+                     * @param {message.platform.darwin.DarwinSensors.Gyroscope} message Gyroscope
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    public static toObject(message: message.platform.darwin.DarwinSensors.Gyroscope, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                    /**
+                     * Creates a plain object from this Gyroscope message. Also converts values to other types if specified.
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                    /**
+                     * Converts this Gyroscope to JSON.
+                     * @returns {Object.<string,*>} JSON object
+                     */
+                    public toJSON(): { [k: string]: any };
+                }
+
+                type FSR$Properties = {
+                    fsr1?: number;
+                    fsr2?: number;
+                    fsr3?: number;
+                    fsr4?: number;
+                    centreX?: number;
+                    centreY?: number;
+                    errorFlags?: number;
+                };
+
+                /**
+                 * Constructs a new FSR.
+                 * @exports message.platform.darwin.DarwinSensors.FSR
+                 * @constructor
+                 * @param {message.platform.darwin.DarwinSensors.FSR$Properties=} [properties] Properties to set
+                 */
+                class FSR {
+
+                    /**
+                     * Constructs a new FSR.
+                     * @exports message.platform.darwin.DarwinSensors.FSR
+                     * @constructor
+                     * @param {message.platform.darwin.DarwinSensors.FSR$Properties=} [properties] Properties to set
+                     */
+                    constructor(properties?: message.platform.darwin.DarwinSensors.FSR$Properties);
+
+                    /**
+                     * FSR fsr1.
+                     * @type {number}
+                     */
+                    public fsr1: number;
+
+                    /**
+                     * FSR fsr2.
+                     * @type {number}
+                     */
+                    public fsr2: number;
+
+                    /**
+                     * FSR fsr3.
+                     * @type {number}
+                     */
+                    public fsr3: number;
+
+                    /**
+                     * FSR fsr4.
+                     * @type {number}
+                     */
+                    public fsr4: number;
+
+                    /**
+                     * FSR centreX.
+                     * @type {number}
+                     */
+                    public centreX: number;
+
+                    /**
+                     * FSR centreY.
+                     * @type {number}
+                     */
+                    public centreY: number;
+
+                    /**
+                     * FSR errorFlags.
+                     * @type {number}
+                     */
+                    public errorFlags: number;
+
+                    /**
+                     * Creates a new FSR instance using the specified properties.
+                     * @param {message.platform.darwin.DarwinSensors.FSR$Properties=} [properties] Properties to set
+                     * @returns {message.platform.darwin.DarwinSensors.FSR} FSR instance
+                     */
+                    public static create(properties?: message.platform.darwin.DarwinSensors.FSR$Properties): message.platform.darwin.DarwinSensors.FSR;
+
+                    /**
+                     * Encodes the specified FSR message. Does not implicitly {@link message.platform.darwin.DarwinSensors.FSR.verify|verify} messages.
+                     * @param {message.platform.darwin.DarwinSensors.FSR$Properties} message FSR message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    public static encode(message: message.platform.darwin.DarwinSensors.FSR$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                    /**
+                     * Encodes the specified FSR message, length delimited. Does not implicitly {@link message.platform.darwin.DarwinSensors.FSR.verify|verify} messages.
+                     * @param {message.platform.darwin.DarwinSensors.FSR$Properties} message FSR message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    public static encodeDelimited(message: message.platform.darwin.DarwinSensors.FSR$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                    /**
+                     * Decodes a FSR message from the specified reader or buffer.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @param {number} [length] Message length if known beforehand
+                     * @returns {message.platform.darwin.DarwinSensors.FSR} FSR
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.platform.darwin.DarwinSensors.FSR;
+
+                    /**
+                     * Decodes a FSR message from the specified reader or buffer, length delimited.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @returns {message.platform.darwin.DarwinSensors.FSR} FSR
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.platform.darwin.DarwinSensors.FSR;
+
+                    /**
+                     * Verifies a FSR message.
+                     * @param {Object.<string,*>} message Plain object to verify
+                     * @returns {?string} `null` if valid, otherwise the reason why it is not
+                     */
+                    public static verify(message: { [k: string]: any }): string;
+
+                    /**
+                     * Creates a FSR message from a plain object. Also converts values to their respective internal types.
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.platform.darwin.DarwinSensors.FSR} FSR
+                     */
+                    public static fromObject(object: { [k: string]: any }): message.platform.darwin.DarwinSensors.FSR;
+
+                    /**
+                     * Creates a FSR message from a plain object. Also converts values to their respective internal types.
+                     * This is an alias of {@link message.platform.darwin.DarwinSensors.FSR.fromObject}.
+                     * @function
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.platform.darwin.DarwinSensors.FSR} FSR
+                     */
+                    public static from(object: { [k: string]: any }): message.platform.darwin.DarwinSensors.FSR;
+
+                    /**
+                     * Creates a plain object from a FSR message. Also converts values to other types if specified.
+                     * @param {message.platform.darwin.DarwinSensors.FSR} message FSR
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    public static toObject(message: message.platform.darwin.DarwinSensors.FSR, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                    /**
+                     * Creates a plain object from this FSR message. Also converts values to other types if specified.
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                    /**
+                     * Converts this FSR to JSON.
+                     * @returns {Object.<string,*>} JSON object
+                     */
+                    public toJSON(): { [k: string]: any };
+                }
+
+                type FSRs$Properties = {
+                    left?: message.platform.darwin.DarwinSensors.FSR$Properties;
+                    right?: message.platform.darwin.DarwinSensors.FSR$Properties;
+                };
+
+                /**
+                 * Constructs a new FSRs.
+                 * @exports message.platform.darwin.DarwinSensors.FSRs
+                 * @constructor
+                 * @param {message.platform.darwin.DarwinSensors.FSRs$Properties=} [properties] Properties to set
+                 */
+                class FSRs {
+
+                    /**
+                     * Constructs a new FSRs.
+                     * @exports message.platform.darwin.DarwinSensors.FSRs
+                     * @constructor
+                     * @param {message.platform.darwin.DarwinSensors.FSRs$Properties=} [properties] Properties to set
+                     */
+                    constructor(properties?: message.platform.darwin.DarwinSensors.FSRs$Properties);
+
+                    /**
+                     * FSRs left.
+                     * @type {(message.platform.darwin.DarwinSensors.FSR$Properties|null)}
+                     */
+                    public left: (message.platform.darwin.DarwinSensors.FSR$Properties|null);
+
+                    /**
+                     * FSRs right.
+                     * @type {(message.platform.darwin.DarwinSensors.FSR$Properties|null)}
+                     */
+                    public right: (message.platform.darwin.DarwinSensors.FSR$Properties|null);
+
+                    /**
+                     * Creates a new FSRs instance using the specified properties.
+                     * @param {message.platform.darwin.DarwinSensors.FSRs$Properties=} [properties] Properties to set
+                     * @returns {message.platform.darwin.DarwinSensors.FSRs} FSRs instance
+                     */
+                    public static create(properties?: message.platform.darwin.DarwinSensors.FSRs$Properties): message.platform.darwin.DarwinSensors.FSRs;
+
+                    /**
+                     * Encodes the specified FSRs message. Does not implicitly {@link message.platform.darwin.DarwinSensors.FSRs.verify|verify} messages.
+                     * @param {message.platform.darwin.DarwinSensors.FSRs$Properties} message FSRs message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    public static encode(message: message.platform.darwin.DarwinSensors.FSRs$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                    /**
+                     * Encodes the specified FSRs message, length delimited. Does not implicitly {@link message.platform.darwin.DarwinSensors.FSRs.verify|verify} messages.
+                     * @param {message.platform.darwin.DarwinSensors.FSRs$Properties} message FSRs message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    public static encodeDelimited(message: message.platform.darwin.DarwinSensors.FSRs$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                    /**
+                     * Decodes a FSRs message from the specified reader or buffer.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @param {number} [length] Message length if known beforehand
+                     * @returns {message.platform.darwin.DarwinSensors.FSRs} FSRs
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.platform.darwin.DarwinSensors.FSRs;
+
+                    /**
+                     * Decodes a FSRs message from the specified reader or buffer, length delimited.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @returns {message.platform.darwin.DarwinSensors.FSRs} FSRs
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.platform.darwin.DarwinSensors.FSRs;
+
+                    /**
+                     * Verifies a FSRs message.
+                     * @param {Object.<string,*>} message Plain object to verify
+                     * @returns {?string} `null` if valid, otherwise the reason why it is not
+                     */
+                    public static verify(message: { [k: string]: any }): string;
+
+                    /**
+                     * Creates a FSRs message from a plain object. Also converts values to their respective internal types.
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.platform.darwin.DarwinSensors.FSRs} FSRs
+                     */
+                    public static fromObject(object: { [k: string]: any }): message.platform.darwin.DarwinSensors.FSRs;
+
+                    /**
+                     * Creates a FSRs message from a plain object. Also converts values to their respective internal types.
+                     * This is an alias of {@link message.platform.darwin.DarwinSensors.FSRs.fromObject}.
+                     * @function
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.platform.darwin.DarwinSensors.FSRs} FSRs
+                     */
+                    public static from(object: { [k: string]: any }): message.platform.darwin.DarwinSensors.FSRs;
+
+                    /**
+                     * Creates a plain object from a FSRs message. Also converts values to other types if specified.
+                     * @param {message.platform.darwin.DarwinSensors.FSRs} message FSRs
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    public static toObject(message: message.platform.darwin.DarwinSensors.FSRs, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                    /**
+                     * Creates a plain object from this FSRs message. Also converts values to other types if specified.
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                    /**
+                     * Converts this FSRs to JSON.
+                     * @returns {Object.<string,*>} JSON object
+                     */
+                    public toJSON(): { [k: string]: any };
+                }
+
+                type Servo$Properties = {
+                    errorFlags?: number;
+                    torqueEnabled?: boolean;
+                    pGain?: number;
+                    iGain?: number;
+                    dGain?: number;
+                    goalPosition?: number;
+                    movingSpeed?: number;
+                    torque?: number;
+                    presentPosition?: number;
+                    presentSpeed?: number;
+                    load?: number;
+                    voltage?: number;
+                    temperature?: number;
+                };
+
+                /**
+                 * Constructs a new Servo.
+                 * @exports message.platform.darwin.DarwinSensors.Servo
+                 * @constructor
+                 * @param {message.platform.darwin.DarwinSensors.Servo$Properties=} [properties] Properties to set
+                 */
+                class Servo {
+
+                    /**
+                     * Constructs a new Servo.
+                     * @exports message.platform.darwin.DarwinSensors.Servo
+                     * @constructor
+                     * @param {message.platform.darwin.DarwinSensors.Servo$Properties=} [properties] Properties to set
+                     */
+                    constructor(properties?: message.platform.darwin.DarwinSensors.Servo$Properties);
+
+                    /**
+                     * Servo errorFlags.
+                     * @type {number}
+                     */
+                    public errorFlags: number;
+
+                    /**
+                     * Servo torqueEnabled.
+                     * @type {boolean}
+                     */
+                    public torqueEnabled: boolean;
+
+                    /**
+                     * Servo pGain.
+                     * @type {number}
+                     */
+                    public pGain: number;
+
+                    /**
+                     * Servo iGain.
+                     * @type {number}
+                     */
+                    public iGain: number;
+
+                    /**
+                     * Servo dGain.
+                     * @type {number}
+                     */
+                    public dGain: number;
+
+                    /**
+                     * Servo goalPosition.
+                     * @type {number}
+                     */
+                    public goalPosition: number;
+
+                    /**
+                     * Servo movingSpeed.
+                     * @type {number}
+                     */
+                    public movingSpeed: number;
+
+                    /**
+                     * Servo torque.
+                     * @type {number}
+                     */
+                    public torque: number;
+
+                    /**
+                     * Servo presentPosition.
+                     * @type {number}
+                     */
+                    public presentPosition: number;
+
+                    /**
+                     * Servo presentSpeed.
+                     * @type {number}
+                     */
+                    public presentSpeed: number;
+
+                    /**
+                     * Servo load.
+                     * @type {number}
+                     */
+                    public load: number;
+
+                    /**
+                     * Servo voltage.
+                     * @type {number}
+                     */
+                    public voltage: number;
+
+                    /**
+                     * Servo temperature.
+                     * @type {number}
+                     */
+                    public temperature: number;
+
+                    /**
+                     * Creates a new Servo instance using the specified properties.
+                     * @param {message.platform.darwin.DarwinSensors.Servo$Properties=} [properties] Properties to set
+                     * @returns {message.platform.darwin.DarwinSensors.Servo} Servo instance
+                     */
+                    public static create(properties?: message.platform.darwin.DarwinSensors.Servo$Properties): message.platform.darwin.DarwinSensors.Servo;
+
+                    /**
+                     * Encodes the specified Servo message. Does not implicitly {@link message.platform.darwin.DarwinSensors.Servo.verify|verify} messages.
+                     * @param {message.platform.darwin.DarwinSensors.Servo$Properties} message Servo message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    public static encode(message: message.platform.darwin.DarwinSensors.Servo$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                    /**
+                     * Encodes the specified Servo message, length delimited. Does not implicitly {@link message.platform.darwin.DarwinSensors.Servo.verify|verify} messages.
+                     * @param {message.platform.darwin.DarwinSensors.Servo$Properties} message Servo message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    public static encodeDelimited(message: message.platform.darwin.DarwinSensors.Servo$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                    /**
+                     * Decodes a Servo message from the specified reader or buffer.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @param {number} [length] Message length if known beforehand
+                     * @returns {message.platform.darwin.DarwinSensors.Servo} Servo
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.platform.darwin.DarwinSensors.Servo;
+
+                    /**
+                     * Decodes a Servo message from the specified reader or buffer, length delimited.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @returns {message.platform.darwin.DarwinSensors.Servo} Servo
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.platform.darwin.DarwinSensors.Servo;
+
+                    /**
+                     * Verifies a Servo message.
+                     * @param {Object.<string,*>} message Plain object to verify
+                     * @returns {?string} `null` if valid, otherwise the reason why it is not
+                     */
+                    public static verify(message: { [k: string]: any }): string;
+
+                    /**
+                     * Creates a Servo message from a plain object. Also converts values to their respective internal types.
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.platform.darwin.DarwinSensors.Servo} Servo
+                     */
+                    public static fromObject(object: { [k: string]: any }): message.platform.darwin.DarwinSensors.Servo;
+
+                    /**
+                     * Creates a Servo message from a plain object. Also converts values to their respective internal types.
+                     * This is an alias of {@link message.platform.darwin.DarwinSensors.Servo.fromObject}.
+                     * @function
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.platform.darwin.DarwinSensors.Servo} Servo
+                     */
+                    public static from(object: { [k: string]: any }): message.platform.darwin.DarwinSensors.Servo;
+
+                    /**
+                     * Creates a plain object from a Servo message. Also converts values to other types if specified.
+                     * @param {message.platform.darwin.DarwinSensors.Servo} message Servo
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    public static toObject(message: message.platform.darwin.DarwinSensors.Servo, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                    /**
+                     * Creates a plain object from this Servo message. Also converts values to other types if specified.
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                    /**
+                     * Converts this Servo to JSON.
+                     * @returns {Object.<string,*>} JSON object
+                     */
+                    public toJSON(): { [k: string]: any };
+                }
+
+                type Servos$Properties = {
+                    rShoulderPitch?: message.platform.darwin.DarwinSensors.Servo$Properties;
+                    lShoulderPitch?: message.platform.darwin.DarwinSensors.Servo$Properties;
+                    rShoulderRoll?: message.platform.darwin.DarwinSensors.Servo$Properties;
+                    lShoulderRoll?: message.platform.darwin.DarwinSensors.Servo$Properties;
+                    rElbow?: message.platform.darwin.DarwinSensors.Servo$Properties;
+                    lElbow?: message.platform.darwin.DarwinSensors.Servo$Properties;
+                    rHipYaw?: message.platform.darwin.DarwinSensors.Servo$Properties;
+                    lHipYaw?: message.platform.darwin.DarwinSensors.Servo$Properties;
+                    rHipRoll?: message.platform.darwin.DarwinSensors.Servo$Properties;
+                    lHipRoll?: message.platform.darwin.DarwinSensors.Servo$Properties;
+                    rHipPitch?: message.platform.darwin.DarwinSensors.Servo$Properties;
+                    lHipPitch?: message.platform.darwin.DarwinSensors.Servo$Properties;
+                    rKnee?: message.platform.darwin.DarwinSensors.Servo$Properties;
+                    lKnee?: message.platform.darwin.DarwinSensors.Servo$Properties;
+                    rAnklePitch?: message.platform.darwin.DarwinSensors.Servo$Properties;
+                    lAnklePitch?: message.platform.darwin.DarwinSensors.Servo$Properties;
+                    rAnkleRoll?: message.platform.darwin.DarwinSensors.Servo$Properties;
+                    lAnkleRoll?: message.platform.darwin.DarwinSensors.Servo$Properties;
+                    headPan?: message.platform.darwin.DarwinSensors.Servo$Properties;
+                    headTilt?: message.platform.darwin.DarwinSensors.Servo$Properties;
+                };
+
+                /**
+                 * Constructs a new Servos.
+                 * @exports message.platform.darwin.DarwinSensors.Servos
+                 * @constructor
+                 * @param {message.platform.darwin.DarwinSensors.Servos$Properties=} [properties] Properties to set
+                 */
+                class Servos {
+
+                    /**
+                     * Constructs a new Servos.
+                     * @exports message.platform.darwin.DarwinSensors.Servos
+                     * @constructor
+                     * @param {message.platform.darwin.DarwinSensors.Servos$Properties=} [properties] Properties to set
+                     */
+                    constructor(properties?: message.platform.darwin.DarwinSensors.Servos$Properties);
+
+                    /**
+                     * Servos rShoulderPitch.
+                     * @type {(message.platform.darwin.DarwinSensors.Servo$Properties|null)}
+                     */
+                    public rShoulderPitch: (message.platform.darwin.DarwinSensors.Servo$Properties|null);
+
+                    /**
+                     * Servos lShoulderPitch.
+                     * @type {(message.platform.darwin.DarwinSensors.Servo$Properties|null)}
+                     */
+                    public lShoulderPitch: (message.platform.darwin.DarwinSensors.Servo$Properties|null);
+
+                    /**
+                     * Servos rShoulderRoll.
+                     * @type {(message.platform.darwin.DarwinSensors.Servo$Properties|null)}
+                     */
+                    public rShoulderRoll: (message.platform.darwin.DarwinSensors.Servo$Properties|null);
+
+                    /**
+                     * Servos lShoulderRoll.
+                     * @type {(message.platform.darwin.DarwinSensors.Servo$Properties|null)}
+                     */
+                    public lShoulderRoll: (message.platform.darwin.DarwinSensors.Servo$Properties|null);
+
+                    /**
+                     * Servos rElbow.
+                     * @type {(message.platform.darwin.DarwinSensors.Servo$Properties|null)}
+                     */
+                    public rElbow: (message.platform.darwin.DarwinSensors.Servo$Properties|null);
+
+                    /**
+                     * Servos lElbow.
+                     * @type {(message.platform.darwin.DarwinSensors.Servo$Properties|null)}
+                     */
+                    public lElbow: (message.platform.darwin.DarwinSensors.Servo$Properties|null);
+
+                    /**
+                     * Servos rHipYaw.
+                     * @type {(message.platform.darwin.DarwinSensors.Servo$Properties|null)}
+                     */
+                    public rHipYaw: (message.platform.darwin.DarwinSensors.Servo$Properties|null);
+
+                    /**
+                     * Servos lHipYaw.
+                     * @type {(message.platform.darwin.DarwinSensors.Servo$Properties|null)}
+                     */
+                    public lHipYaw: (message.platform.darwin.DarwinSensors.Servo$Properties|null);
+
+                    /**
+                     * Servos rHipRoll.
+                     * @type {(message.platform.darwin.DarwinSensors.Servo$Properties|null)}
+                     */
+                    public rHipRoll: (message.platform.darwin.DarwinSensors.Servo$Properties|null);
+
+                    /**
+                     * Servos lHipRoll.
+                     * @type {(message.platform.darwin.DarwinSensors.Servo$Properties|null)}
+                     */
+                    public lHipRoll: (message.platform.darwin.DarwinSensors.Servo$Properties|null);
+
+                    /**
+                     * Servos rHipPitch.
+                     * @type {(message.platform.darwin.DarwinSensors.Servo$Properties|null)}
+                     */
+                    public rHipPitch: (message.platform.darwin.DarwinSensors.Servo$Properties|null);
+
+                    /**
+                     * Servos lHipPitch.
+                     * @type {(message.platform.darwin.DarwinSensors.Servo$Properties|null)}
+                     */
+                    public lHipPitch: (message.platform.darwin.DarwinSensors.Servo$Properties|null);
+
+                    /**
+                     * Servos rKnee.
+                     * @type {(message.platform.darwin.DarwinSensors.Servo$Properties|null)}
+                     */
+                    public rKnee: (message.platform.darwin.DarwinSensors.Servo$Properties|null);
+
+                    /**
+                     * Servos lKnee.
+                     * @type {(message.platform.darwin.DarwinSensors.Servo$Properties|null)}
+                     */
+                    public lKnee: (message.platform.darwin.DarwinSensors.Servo$Properties|null);
+
+                    /**
+                     * Servos rAnklePitch.
+                     * @type {(message.platform.darwin.DarwinSensors.Servo$Properties|null)}
+                     */
+                    public rAnklePitch: (message.platform.darwin.DarwinSensors.Servo$Properties|null);
+
+                    /**
+                     * Servos lAnklePitch.
+                     * @type {(message.platform.darwin.DarwinSensors.Servo$Properties|null)}
+                     */
+                    public lAnklePitch: (message.platform.darwin.DarwinSensors.Servo$Properties|null);
+
+                    /**
+                     * Servos rAnkleRoll.
+                     * @type {(message.platform.darwin.DarwinSensors.Servo$Properties|null)}
+                     */
+                    public rAnkleRoll: (message.platform.darwin.DarwinSensors.Servo$Properties|null);
+
+                    /**
+                     * Servos lAnkleRoll.
+                     * @type {(message.platform.darwin.DarwinSensors.Servo$Properties|null)}
+                     */
+                    public lAnkleRoll: (message.platform.darwin.DarwinSensors.Servo$Properties|null);
+
+                    /**
+                     * Servos headPan.
+                     * @type {(message.platform.darwin.DarwinSensors.Servo$Properties|null)}
+                     */
+                    public headPan: (message.platform.darwin.DarwinSensors.Servo$Properties|null);
+
+                    /**
+                     * Servos headTilt.
+                     * @type {(message.platform.darwin.DarwinSensors.Servo$Properties|null)}
+                     */
+                    public headTilt: (message.platform.darwin.DarwinSensors.Servo$Properties|null);
+
+                    /**
+                     * Creates a new Servos instance using the specified properties.
+                     * @param {message.platform.darwin.DarwinSensors.Servos$Properties=} [properties] Properties to set
+                     * @returns {message.platform.darwin.DarwinSensors.Servos} Servos instance
+                     */
+                    public static create(properties?: message.platform.darwin.DarwinSensors.Servos$Properties): message.platform.darwin.DarwinSensors.Servos;
+
+                    /**
+                     * Encodes the specified Servos message. Does not implicitly {@link message.platform.darwin.DarwinSensors.Servos.verify|verify} messages.
+                     * @param {message.platform.darwin.DarwinSensors.Servos$Properties} message Servos message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    public static encode(message: message.platform.darwin.DarwinSensors.Servos$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                    /**
+                     * Encodes the specified Servos message, length delimited. Does not implicitly {@link message.platform.darwin.DarwinSensors.Servos.verify|verify} messages.
+                     * @param {message.platform.darwin.DarwinSensors.Servos$Properties} message Servos message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    public static encodeDelimited(message: message.platform.darwin.DarwinSensors.Servos$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                    /**
+                     * Decodes a Servos message from the specified reader or buffer.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @param {number} [length] Message length if known beforehand
+                     * @returns {message.platform.darwin.DarwinSensors.Servos} Servos
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.platform.darwin.DarwinSensors.Servos;
+
+                    /**
+                     * Decodes a Servos message from the specified reader or buffer, length delimited.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @returns {message.platform.darwin.DarwinSensors.Servos} Servos
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.platform.darwin.DarwinSensors.Servos;
+
+                    /**
+                     * Verifies a Servos message.
+                     * @param {Object.<string,*>} message Plain object to verify
+                     * @returns {?string} `null` if valid, otherwise the reason why it is not
+                     */
+                    public static verify(message: { [k: string]: any }): string;
+
+                    /**
+                     * Creates a Servos message from a plain object. Also converts values to their respective internal types.
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.platform.darwin.DarwinSensors.Servos} Servos
+                     */
+                    public static fromObject(object: { [k: string]: any }): message.platform.darwin.DarwinSensors.Servos;
+
+                    /**
+                     * Creates a Servos message from a plain object. Also converts values to their respective internal types.
+                     * This is an alias of {@link message.platform.darwin.DarwinSensors.Servos.fromObject}.
+                     * @function
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.platform.darwin.DarwinSensors.Servos} Servos
+                     */
+                    public static from(object: { [k: string]: any }): message.platform.darwin.DarwinSensors.Servos;
+
+                    /**
+                     * Creates a plain object from a Servos message. Also converts values to other types if specified.
+                     * @param {message.platform.darwin.DarwinSensors.Servos} message Servos
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    public static toObject(message: message.platform.darwin.DarwinSensors.Servos, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                    /**
+                     * Creates a plain object from this Servos message. Also converts values to other types if specified.
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                    /**
+                     * Converts this Servos to JSON.
+                     * @returns {Object.<string,*>} JSON object
+                     */
+                    public toJSON(): { [k: string]: any };
+                }
+            }
+
+            type ButtonLeftDown$Properties = {};
+
+            /**
+             * Constructs a new ButtonLeftDown.
+             * @exports message.platform.darwin.ButtonLeftDown
+             * @constructor
+             * @param {message.platform.darwin.ButtonLeftDown$Properties=} [properties] Properties to set
+             */
+            class ButtonLeftDown {
+
+                /**
+                 * Constructs a new ButtonLeftDown.
+                 * @exports message.platform.darwin.ButtonLeftDown
+                 * @constructor
+                 * @param {message.platform.darwin.ButtonLeftDown$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.platform.darwin.ButtonLeftDown$Properties);
+
+                /**
+                 * Creates a new ButtonLeftDown instance using the specified properties.
+                 * @param {message.platform.darwin.ButtonLeftDown$Properties=} [properties] Properties to set
+                 * @returns {message.platform.darwin.ButtonLeftDown} ButtonLeftDown instance
+                 */
+                public static create(properties?: message.platform.darwin.ButtonLeftDown$Properties): message.platform.darwin.ButtonLeftDown;
+
+                /**
+                 * Encodes the specified ButtonLeftDown message. Does not implicitly {@link message.platform.darwin.ButtonLeftDown.verify|verify} messages.
+                 * @param {message.platform.darwin.ButtonLeftDown$Properties} message ButtonLeftDown message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.platform.darwin.ButtonLeftDown$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified ButtonLeftDown message, length delimited. Does not implicitly {@link message.platform.darwin.ButtonLeftDown.verify|verify} messages.
+                 * @param {message.platform.darwin.ButtonLeftDown$Properties} message ButtonLeftDown message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.platform.darwin.ButtonLeftDown$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a ButtonLeftDown message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.platform.darwin.ButtonLeftDown} ButtonLeftDown
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.platform.darwin.ButtonLeftDown;
+
+                /**
+                 * Decodes a ButtonLeftDown message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.platform.darwin.ButtonLeftDown} ButtonLeftDown
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.platform.darwin.ButtonLeftDown;
+
+                /**
+                 * Verifies a ButtonLeftDown message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a ButtonLeftDown message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.platform.darwin.ButtonLeftDown} ButtonLeftDown
+                 */
+                public static fromObject(object: { [k: string]: any }): message.platform.darwin.ButtonLeftDown;
+
+                /**
+                 * Creates a ButtonLeftDown message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.platform.darwin.ButtonLeftDown.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.platform.darwin.ButtonLeftDown} ButtonLeftDown
+                 */
+                public static from(object: { [k: string]: any }): message.platform.darwin.ButtonLeftDown;
+
+                /**
+                 * Creates a plain object from a ButtonLeftDown message. Also converts values to other types if specified.
+                 * @param {message.platform.darwin.ButtonLeftDown} message ButtonLeftDown
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.platform.darwin.ButtonLeftDown, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this ButtonLeftDown message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this ButtonLeftDown to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            type ButtonLeftUp$Properties = {};
+
+            /**
+             * Constructs a new ButtonLeftUp.
+             * @exports message.platform.darwin.ButtonLeftUp
+             * @constructor
+             * @param {message.platform.darwin.ButtonLeftUp$Properties=} [properties] Properties to set
+             */
+            class ButtonLeftUp {
+
+                /**
+                 * Constructs a new ButtonLeftUp.
+                 * @exports message.platform.darwin.ButtonLeftUp
+                 * @constructor
+                 * @param {message.platform.darwin.ButtonLeftUp$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.platform.darwin.ButtonLeftUp$Properties);
+
+                /**
+                 * Creates a new ButtonLeftUp instance using the specified properties.
+                 * @param {message.platform.darwin.ButtonLeftUp$Properties=} [properties] Properties to set
+                 * @returns {message.platform.darwin.ButtonLeftUp} ButtonLeftUp instance
+                 */
+                public static create(properties?: message.platform.darwin.ButtonLeftUp$Properties): message.platform.darwin.ButtonLeftUp;
+
+                /**
+                 * Encodes the specified ButtonLeftUp message. Does not implicitly {@link message.platform.darwin.ButtonLeftUp.verify|verify} messages.
+                 * @param {message.platform.darwin.ButtonLeftUp$Properties} message ButtonLeftUp message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.platform.darwin.ButtonLeftUp$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified ButtonLeftUp message, length delimited. Does not implicitly {@link message.platform.darwin.ButtonLeftUp.verify|verify} messages.
+                 * @param {message.platform.darwin.ButtonLeftUp$Properties} message ButtonLeftUp message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.platform.darwin.ButtonLeftUp$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a ButtonLeftUp message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.platform.darwin.ButtonLeftUp} ButtonLeftUp
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.platform.darwin.ButtonLeftUp;
+
+                /**
+                 * Decodes a ButtonLeftUp message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.platform.darwin.ButtonLeftUp} ButtonLeftUp
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.platform.darwin.ButtonLeftUp;
+
+                /**
+                 * Verifies a ButtonLeftUp message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a ButtonLeftUp message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.platform.darwin.ButtonLeftUp} ButtonLeftUp
+                 */
+                public static fromObject(object: { [k: string]: any }): message.platform.darwin.ButtonLeftUp;
+
+                /**
+                 * Creates a ButtonLeftUp message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.platform.darwin.ButtonLeftUp.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.platform.darwin.ButtonLeftUp} ButtonLeftUp
+                 */
+                public static from(object: { [k: string]: any }): message.platform.darwin.ButtonLeftUp;
+
+                /**
+                 * Creates a plain object from a ButtonLeftUp message. Also converts values to other types if specified.
+                 * @param {message.platform.darwin.ButtonLeftUp} message ButtonLeftUp
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.platform.darwin.ButtonLeftUp, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this ButtonLeftUp message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this ButtonLeftUp to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            type ButtonMiddleDown$Properties = {};
+
+            /**
+             * Constructs a new ButtonMiddleDown.
+             * @exports message.platform.darwin.ButtonMiddleDown
+             * @constructor
+             * @param {message.platform.darwin.ButtonMiddleDown$Properties=} [properties] Properties to set
+             */
+            class ButtonMiddleDown {
+
+                /**
+                 * Constructs a new ButtonMiddleDown.
+                 * @exports message.platform.darwin.ButtonMiddleDown
+                 * @constructor
+                 * @param {message.platform.darwin.ButtonMiddleDown$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.platform.darwin.ButtonMiddleDown$Properties);
+
+                /**
+                 * Creates a new ButtonMiddleDown instance using the specified properties.
+                 * @param {message.platform.darwin.ButtonMiddleDown$Properties=} [properties] Properties to set
+                 * @returns {message.platform.darwin.ButtonMiddleDown} ButtonMiddleDown instance
+                 */
+                public static create(properties?: message.platform.darwin.ButtonMiddleDown$Properties): message.platform.darwin.ButtonMiddleDown;
+
+                /**
+                 * Encodes the specified ButtonMiddleDown message. Does not implicitly {@link message.platform.darwin.ButtonMiddleDown.verify|verify} messages.
+                 * @param {message.platform.darwin.ButtonMiddleDown$Properties} message ButtonMiddleDown message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.platform.darwin.ButtonMiddleDown$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified ButtonMiddleDown message, length delimited. Does not implicitly {@link message.platform.darwin.ButtonMiddleDown.verify|verify} messages.
+                 * @param {message.platform.darwin.ButtonMiddleDown$Properties} message ButtonMiddleDown message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.platform.darwin.ButtonMiddleDown$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a ButtonMiddleDown message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.platform.darwin.ButtonMiddleDown} ButtonMiddleDown
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.platform.darwin.ButtonMiddleDown;
+
+                /**
+                 * Decodes a ButtonMiddleDown message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.platform.darwin.ButtonMiddleDown} ButtonMiddleDown
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.platform.darwin.ButtonMiddleDown;
+
+                /**
+                 * Verifies a ButtonMiddleDown message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a ButtonMiddleDown message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.platform.darwin.ButtonMiddleDown} ButtonMiddleDown
+                 */
+                public static fromObject(object: { [k: string]: any }): message.platform.darwin.ButtonMiddleDown;
+
+                /**
+                 * Creates a ButtonMiddleDown message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.platform.darwin.ButtonMiddleDown.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.platform.darwin.ButtonMiddleDown} ButtonMiddleDown
+                 */
+                public static from(object: { [k: string]: any }): message.platform.darwin.ButtonMiddleDown;
+
+                /**
+                 * Creates a plain object from a ButtonMiddleDown message. Also converts values to other types if specified.
+                 * @param {message.platform.darwin.ButtonMiddleDown} message ButtonMiddleDown
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.platform.darwin.ButtonMiddleDown, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this ButtonMiddleDown message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this ButtonMiddleDown to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            type ButtonMiddleUp$Properties = {};
+
+            /**
+             * Constructs a new ButtonMiddleUp.
+             * @exports message.platform.darwin.ButtonMiddleUp
+             * @constructor
+             * @param {message.platform.darwin.ButtonMiddleUp$Properties=} [properties] Properties to set
+             */
+            class ButtonMiddleUp {
+
+                /**
+                 * Constructs a new ButtonMiddleUp.
+                 * @exports message.platform.darwin.ButtonMiddleUp
+                 * @constructor
+                 * @param {message.platform.darwin.ButtonMiddleUp$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.platform.darwin.ButtonMiddleUp$Properties);
+
+                /**
+                 * Creates a new ButtonMiddleUp instance using the specified properties.
+                 * @param {message.platform.darwin.ButtonMiddleUp$Properties=} [properties] Properties to set
+                 * @returns {message.platform.darwin.ButtonMiddleUp} ButtonMiddleUp instance
+                 */
+                public static create(properties?: message.platform.darwin.ButtonMiddleUp$Properties): message.platform.darwin.ButtonMiddleUp;
+
+                /**
+                 * Encodes the specified ButtonMiddleUp message. Does not implicitly {@link message.platform.darwin.ButtonMiddleUp.verify|verify} messages.
+                 * @param {message.platform.darwin.ButtonMiddleUp$Properties} message ButtonMiddleUp message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.platform.darwin.ButtonMiddleUp$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified ButtonMiddleUp message, length delimited. Does not implicitly {@link message.platform.darwin.ButtonMiddleUp.verify|verify} messages.
+                 * @param {message.platform.darwin.ButtonMiddleUp$Properties} message ButtonMiddleUp message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.platform.darwin.ButtonMiddleUp$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a ButtonMiddleUp message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.platform.darwin.ButtonMiddleUp} ButtonMiddleUp
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.platform.darwin.ButtonMiddleUp;
+
+                /**
+                 * Decodes a ButtonMiddleUp message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.platform.darwin.ButtonMiddleUp} ButtonMiddleUp
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.platform.darwin.ButtonMiddleUp;
+
+                /**
+                 * Verifies a ButtonMiddleUp message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a ButtonMiddleUp message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.platform.darwin.ButtonMiddleUp} ButtonMiddleUp
+                 */
+                public static fromObject(object: { [k: string]: any }): message.platform.darwin.ButtonMiddleUp;
+
+                /**
+                 * Creates a ButtonMiddleUp message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.platform.darwin.ButtonMiddleUp.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.platform.darwin.ButtonMiddleUp} ButtonMiddleUp
+                 */
+                public static from(object: { [k: string]: any }): message.platform.darwin.ButtonMiddleUp;
+
+                /**
+                 * Creates a plain object from a ButtonMiddleUp message. Also converts values to other types if specified.
+                 * @param {message.platform.darwin.ButtonMiddleUp} message ButtonMiddleUp
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.platform.darwin.ButtonMiddleUp, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this ButtonMiddleUp message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this ButtonMiddleUp to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+        }
+    }
+
+    /**
+     * Namespace research.
+     * @exports message.research
+     * @namespace
+     */
+    namespace research {
+
+        type AutoClassifierPixels$Properties = {
+            pixels?: number[];
+            classification?: number;
+        };
+
+        /**
+         * Constructs a new AutoClassifierPixels.
+         * @exports message.research.AutoClassifierPixels
+         * @constructor
+         * @param {message.research.AutoClassifierPixels$Properties=} [properties] Properties to set
+         */
+        class AutoClassifierPixels {
+
+            /**
+             * Constructs a new AutoClassifierPixels.
+             * @exports message.research.AutoClassifierPixels
+             * @constructor
+             * @param {message.research.AutoClassifierPixels$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.research.AutoClassifierPixels$Properties);
+
+            /**
+             * AutoClassifierPixels pixels.
+             * @type {Array.<number>}
+             */
+            public pixels: number[];
+
+            /**
+             * AutoClassifierPixels classification.
+             * @type {number}
+             */
+            public classification: number;
+
+            /**
+             * Creates a new AutoClassifierPixels instance using the specified properties.
+             * @param {message.research.AutoClassifierPixels$Properties=} [properties] Properties to set
+             * @returns {message.research.AutoClassifierPixels} AutoClassifierPixels instance
+             */
+            public static create(properties?: message.research.AutoClassifierPixels$Properties): message.research.AutoClassifierPixels;
+
+            /**
+             * Encodes the specified AutoClassifierPixels message. Does not implicitly {@link message.research.AutoClassifierPixels.verify|verify} messages.
+             * @param {message.research.AutoClassifierPixels$Properties} message AutoClassifierPixels message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.research.AutoClassifierPixels$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified AutoClassifierPixels message, length delimited. Does not implicitly {@link message.research.AutoClassifierPixels.verify|verify} messages.
+             * @param {message.research.AutoClassifierPixels$Properties} message AutoClassifierPixels message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.research.AutoClassifierPixels$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes an AutoClassifierPixels message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.research.AutoClassifierPixels} AutoClassifierPixels
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.research.AutoClassifierPixels;
+
+            /**
+             * Decodes an AutoClassifierPixels message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.research.AutoClassifierPixels} AutoClassifierPixels
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.research.AutoClassifierPixels;
+
+            /**
+             * Verifies an AutoClassifierPixels message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates an AutoClassifierPixels message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.research.AutoClassifierPixels} AutoClassifierPixels
+             */
+            public static fromObject(object: { [k: string]: any }): message.research.AutoClassifierPixels;
+
+            /**
+             * Creates an AutoClassifierPixels message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.research.AutoClassifierPixels.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.research.AutoClassifierPixels} AutoClassifierPixels
+             */
+            public static from(object: { [k: string]: any }): message.research.AutoClassifierPixels;
+
+            /**
+             * Creates a plain object from an AutoClassifierPixels message. Also converts values to other types if specified.
+             * @param {message.research.AutoClassifierPixels} message AutoClassifierPixels
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.research.AutoClassifierPixels, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this AutoClassifierPixels message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this AutoClassifierPixels to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        /**
+         * Namespace scriptoptimizer.
+         * @exports message.research.scriptoptimizer
+         * @namespace
+         */
+        namespace scriptoptimizer {
+
+            type OptimizeScript$Properties = {
+                target?: string;
+                iteration?: number;
+                metadata?: string;
+                frames?: message.research.scriptoptimizer.OptimizeScript.Frame$Properties[];
+            };
+
+            /**
+             * Constructs a new OptimizeScript.
+             * @exports message.research.scriptoptimizer.OptimizeScript
+             * @constructor
+             * @param {message.research.scriptoptimizer.OptimizeScript$Properties=} [properties] Properties to set
+             */
+            class OptimizeScript {
+
+                /**
+                 * Constructs a new OptimizeScript.
+                 * @exports message.research.scriptoptimizer.OptimizeScript
+                 * @constructor
+                 * @param {message.research.scriptoptimizer.OptimizeScript$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.research.scriptoptimizer.OptimizeScript$Properties);
+
+                /**
+                 * OptimizeScript target.
+                 * @type {string}
+                 */
+                public target: string;
+
+                /**
+                 * OptimizeScript iteration.
+                 * @type {number}
+                 */
+                public iteration: number;
+
+                /**
+                 * OptimizeScript metadata.
+                 * @type {string}
+                 */
+                public metadata: string;
+
+                /**
+                 * OptimizeScript frames.
+                 * @type {Array.<message.research.scriptoptimizer.OptimizeScript.Frame$Properties>}
+                 */
+                public frames: message.research.scriptoptimizer.OptimizeScript.Frame$Properties[];
+
+                /**
+                 * Creates a new OptimizeScript instance using the specified properties.
+                 * @param {message.research.scriptoptimizer.OptimizeScript$Properties=} [properties] Properties to set
+                 * @returns {message.research.scriptoptimizer.OptimizeScript} OptimizeScript instance
+                 */
+                public static create(properties?: message.research.scriptoptimizer.OptimizeScript$Properties): message.research.scriptoptimizer.OptimizeScript;
+
+                /**
+                 * Encodes the specified OptimizeScript message. Does not implicitly {@link message.research.scriptoptimizer.OptimizeScript.verify|verify} messages.
+                 * @param {message.research.scriptoptimizer.OptimizeScript$Properties} message OptimizeScript message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.research.scriptoptimizer.OptimizeScript$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified OptimizeScript message, length delimited. Does not implicitly {@link message.research.scriptoptimizer.OptimizeScript.verify|verify} messages.
+                 * @param {message.research.scriptoptimizer.OptimizeScript$Properties} message OptimizeScript message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.research.scriptoptimizer.OptimizeScript$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes an OptimizeScript message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.research.scriptoptimizer.OptimizeScript} OptimizeScript
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.research.scriptoptimizer.OptimizeScript;
+
+                /**
+                 * Decodes an OptimizeScript message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.research.scriptoptimizer.OptimizeScript} OptimizeScript
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.research.scriptoptimizer.OptimizeScript;
+
+                /**
+                 * Verifies an OptimizeScript message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates an OptimizeScript message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.research.scriptoptimizer.OptimizeScript} OptimizeScript
+                 */
+                public static fromObject(object: { [k: string]: any }): message.research.scriptoptimizer.OptimizeScript;
+
+                /**
+                 * Creates an OptimizeScript message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.research.scriptoptimizer.OptimizeScript.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.research.scriptoptimizer.OptimizeScript} OptimizeScript
+                 */
+                public static from(object: { [k: string]: any }): message.research.scriptoptimizer.OptimizeScript;
+
+                /**
+                 * Creates a plain object from an OptimizeScript message. Also converts values to other types if specified.
+                 * @param {message.research.scriptoptimizer.OptimizeScript} message OptimizeScript
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.research.scriptoptimizer.OptimizeScript, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this OptimizeScript message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this OptimizeScript to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            namespace OptimizeScript {
+
+                type Target$Properties = {
+                    id?: number;
+                    position?: number;
+                    gain?: number;
+                };
+
+                /**
+                 * Constructs a new Target.
+                 * @exports message.research.scriptoptimizer.OptimizeScript.Target
+                 * @constructor
+                 * @param {message.research.scriptoptimizer.OptimizeScript.Target$Properties=} [properties] Properties to set
+                 */
+                class Target {
+
+                    /**
+                     * Constructs a new Target.
+                     * @exports message.research.scriptoptimizer.OptimizeScript.Target
+                     * @constructor
+                     * @param {message.research.scriptoptimizer.OptimizeScript.Target$Properties=} [properties] Properties to set
+                     */
+                    constructor(properties?: message.research.scriptoptimizer.OptimizeScript.Target$Properties);
+
+                    /**
+                     * Target id.
+                     * @type {number}
+                     */
+                    public id: number;
+
+                    /**
+                     * Target position.
+                     * @type {number}
+                     */
+                    public position: number;
+
+                    /**
+                     * Target gain.
+                     * @type {number}
+                     */
+                    public gain: number;
+
+                    /**
+                     * Creates a new Target instance using the specified properties.
+                     * @param {message.research.scriptoptimizer.OptimizeScript.Target$Properties=} [properties] Properties to set
+                     * @returns {message.research.scriptoptimizer.OptimizeScript.Target} Target instance
+                     */
+                    public static create(properties?: message.research.scriptoptimizer.OptimizeScript.Target$Properties): message.research.scriptoptimizer.OptimizeScript.Target;
+
+                    /**
+                     * Encodes the specified Target message. Does not implicitly {@link message.research.scriptoptimizer.OptimizeScript.Target.verify|verify} messages.
+                     * @param {message.research.scriptoptimizer.OptimizeScript.Target$Properties} message Target message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    public static encode(message: message.research.scriptoptimizer.OptimizeScript.Target$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                    /**
+                     * Encodes the specified Target message, length delimited. Does not implicitly {@link message.research.scriptoptimizer.OptimizeScript.Target.verify|verify} messages.
+                     * @param {message.research.scriptoptimizer.OptimizeScript.Target$Properties} message Target message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    public static encodeDelimited(message: message.research.scriptoptimizer.OptimizeScript.Target$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                    /**
+                     * Decodes a Target message from the specified reader or buffer.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @param {number} [length] Message length if known beforehand
+                     * @returns {message.research.scriptoptimizer.OptimizeScript.Target} Target
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.research.scriptoptimizer.OptimizeScript.Target;
+
+                    /**
+                     * Decodes a Target message from the specified reader or buffer, length delimited.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @returns {message.research.scriptoptimizer.OptimizeScript.Target} Target
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.research.scriptoptimizer.OptimizeScript.Target;
+
+                    /**
+                     * Verifies a Target message.
+                     * @param {Object.<string,*>} message Plain object to verify
+                     * @returns {?string} `null` if valid, otherwise the reason why it is not
+                     */
+                    public static verify(message: { [k: string]: any }): string;
+
+                    /**
+                     * Creates a Target message from a plain object. Also converts values to their respective internal types.
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.research.scriptoptimizer.OptimizeScript.Target} Target
+                     */
+                    public static fromObject(object: { [k: string]: any }): message.research.scriptoptimizer.OptimizeScript.Target;
+
+                    /**
+                     * Creates a Target message from a plain object. Also converts values to their respective internal types.
+                     * This is an alias of {@link message.research.scriptoptimizer.OptimizeScript.Target.fromObject}.
+                     * @function
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.research.scriptoptimizer.OptimizeScript.Target} Target
+                     */
+                    public static from(object: { [k: string]: any }): message.research.scriptoptimizer.OptimizeScript.Target;
+
+                    /**
+                     * Creates a plain object from a Target message. Also converts values to other types if specified.
+                     * @param {message.research.scriptoptimizer.OptimizeScript.Target} message Target
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    public static toObject(message: message.research.scriptoptimizer.OptimizeScript.Target, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                    /**
+                     * Creates a plain object from this Target message. Also converts values to other types if specified.
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                    /**
+                     * Converts this Target to JSON.
+                     * @returns {Object.<string,*>} JSON object
+                     */
+                    public toJSON(): { [k: string]: any };
+                }
+
+                type Frame$Properties = {
+                    duration?: number;
+                    targets?: message.research.scriptoptimizer.OptimizeScript.Target$Properties[];
+                };
+
+                /**
+                 * Constructs a new Frame.
+                 * @exports message.research.scriptoptimizer.OptimizeScript.Frame
+                 * @constructor
+                 * @param {message.research.scriptoptimizer.OptimizeScript.Frame$Properties=} [properties] Properties to set
+                 */
+                class Frame {
+
+                    /**
+                     * Constructs a new Frame.
+                     * @exports message.research.scriptoptimizer.OptimizeScript.Frame
+                     * @constructor
+                     * @param {message.research.scriptoptimizer.OptimizeScript.Frame$Properties=} [properties] Properties to set
+                     */
+                    constructor(properties?: message.research.scriptoptimizer.OptimizeScript.Frame$Properties);
+
+                    /**
+                     * Frame duration.
+                     * @type {number}
+                     */
+                    public duration: number;
+
+                    /**
+                     * Frame targets.
+                     * @type {Array.<message.research.scriptoptimizer.OptimizeScript.Target$Properties>}
+                     */
+                    public targets: message.research.scriptoptimizer.OptimizeScript.Target$Properties[];
+
+                    /**
+                     * Creates a new Frame instance using the specified properties.
+                     * @param {message.research.scriptoptimizer.OptimizeScript.Frame$Properties=} [properties] Properties to set
+                     * @returns {message.research.scriptoptimizer.OptimizeScript.Frame} Frame instance
+                     */
+                    public static create(properties?: message.research.scriptoptimizer.OptimizeScript.Frame$Properties): message.research.scriptoptimizer.OptimizeScript.Frame;
+
+                    /**
+                     * Encodes the specified Frame message. Does not implicitly {@link message.research.scriptoptimizer.OptimizeScript.Frame.verify|verify} messages.
+                     * @param {message.research.scriptoptimizer.OptimizeScript.Frame$Properties} message Frame message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    public static encode(message: message.research.scriptoptimizer.OptimizeScript.Frame$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                    /**
+                     * Encodes the specified Frame message, length delimited. Does not implicitly {@link message.research.scriptoptimizer.OptimizeScript.Frame.verify|verify} messages.
+                     * @param {message.research.scriptoptimizer.OptimizeScript.Frame$Properties} message Frame message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    public static encodeDelimited(message: message.research.scriptoptimizer.OptimizeScript.Frame$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                    /**
+                     * Decodes a Frame message from the specified reader or buffer.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @param {number} [length] Message length if known beforehand
+                     * @returns {message.research.scriptoptimizer.OptimizeScript.Frame} Frame
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.research.scriptoptimizer.OptimizeScript.Frame;
+
+                    /**
+                     * Decodes a Frame message from the specified reader or buffer, length delimited.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @returns {message.research.scriptoptimizer.OptimizeScript.Frame} Frame
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.research.scriptoptimizer.OptimizeScript.Frame;
+
+                    /**
+                     * Verifies a Frame message.
+                     * @param {Object.<string,*>} message Plain object to verify
+                     * @returns {?string} `null` if valid, otherwise the reason why it is not
+                     */
+                    public static verify(message: { [k: string]: any }): string;
+
+                    /**
+                     * Creates a Frame message from a plain object. Also converts values to their respective internal types.
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.research.scriptoptimizer.OptimizeScript.Frame} Frame
+                     */
+                    public static fromObject(object: { [k: string]: any }): message.research.scriptoptimizer.OptimizeScript.Frame;
+
+                    /**
+                     * Creates a Frame message from a plain object. Also converts values to their respective internal types.
+                     * This is an alias of {@link message.research.scriptoptimizer.OptimizeScript.Frame.fromObject}.
+                     * @function
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.research.scriptoptimizer.OptimizeScript.Frame} Frame
+                     */
+                    public static from(object: { [k: string]: any }): message.research.scriptoptimizer.OptimizeScript.Frame;
+
+                    /**
+                     * Creates a plain object from a Frame message. Also converts values to other types if specified.
+                     * @param {message.research.scriptoptimizer.OptimizeScript.Frame} message Frame
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    public static toObject(message: message.research.scriptoptimizer.OptimizeScript.Frame, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                    /**
+                     * Creates a plain object from this Frame message. Also converts values to other types if specified.
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                    /**
+                     * Converts this Frame to JSON.
+                     * @returns {Object.<string,*>} JSON object
+                     */
+                    public toJSON(): { [k: string]: any };
+                }
+            }
+
+            type OptimizeScriptResult$Properties = {
+                iteration?: number;
+                metadata?: string;
+                sensors?: message.input.Sensors$Properties[];
+            };
+
+            /**
+             * Constructs a new OptimizeScriptResult.
+             * @exports message.research.scriptoptimizer.OptimizeScriptResult
+             * @constructor
+             * @param {message.research.scriptoptimizer.OptimizeScriptResult$Properties=} [properties] Properties to set
+             */
+            class OptimizeScriptResult {
+
+                /**
+                 * Constructs a new OptimizeScriptResult.
+                 * @exports message.research.scriptoptimizer.OptimizeScriptResult
+                 * @constructor
+                 * @param {message.research.scriptoptimizer.OptimizeScriptResult$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.research.scriptoptimizer.OptimizeScriptResult$Properties);
+
+                /**
+                 * OptimizeScriptResult iteration.
+                 * @type {number}
+                 */
+                public iteration: number;
+
+                /**
+                 * OptimizeScriptResult metadata.
+                 * @type {string}
+                 */
+                public metadata: string;
+
+                /**
+                 * OptimizeScriptResult sensors.
+                 * @type {Array.<message.input.Sensors$Properties>}
+                 */
+                public sensors: message.input.Sensors$Properties[];
+
+                /**
+                 * Creates a new OptimizeScriptResult instance using the specified properties.
+                 * @param {message.research.scriptoptimizer.OptimizeScriptResult$Properties=} [properties] Properties to set
+                 * @returns {message.research.scriptoptimizer.OptimizeScriptResult} OptimizeScriptResult instance
+                 */
+                public static create(properties?: message.research.scriptoptimizer.OptimizeScriptResult$Properties): message.research.scriptoptimizer.OptimizeScriptResult;
+
+                /**
+                 * Encodes the specified OptimizeScriptResult message. Does not implicitly {@link message.research.scriptoptimizer.OptimizeScriptResult.verify|verify} messages.
+                 * @param {message.research.scriptoptimizer.OptimizeScriptResult$Properties} message OptimizeScriptResult message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.research.scriptoptimizer.OptimizeScriptResult$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified OptimizeScriptResult message, length delimited. Does not implicitly {@link message.research.scriptoptimizer.OptimizeScriptResult.verify|verify} messages.
+                 * @param {message.research.scriptoptimizer.OptimizeScriptResult$Properties} message OptimizeScriptResult message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.research.scriptoptimizer.OptimizeScriptResult$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes an OptimizeScriptResult message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.research.scriptoptimizer.OptimizeScriptResult} OptimizeScriptResult
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.research.scriptoptimizer.OptimizeScriptResult;
+
+                /**
+                 * Decodes an OptimizeScriptResult message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.research.scriptoptimizer.OptimizeScriptResult} OptimizeScriptResult
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.research.scriptoptimizer.OptimizeScriptResult;
+
+                /**
+                 * Verifies an OptimizeScriptResult message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates an OptimizeScriptResult message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.research.scriptoptimizer.OptimizeScriptResult} OptimizeScriptResult
+                 */
+                public static fromObject(object: { [k: string]: any }): message.research.scriptoptimizer.OptimizeScriptResult;
+
+                /**
+                 * Creates an OptimizeScriptResult message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.research.scriptoptimizer.OptimizeScriptResult.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.research.scriptoptimizer.OptimizeScriptResult} OptimizeScriptResult
+                 */
+                public static from(object: { [k: string]: any }): message.research.scriptoptimizer.OptimizeScriptResult;
+
+                /**
+                 * Creates a plain object from an OptimizeScriptResult message. Also converts values to other types if specified.
+                 * @param {message.research.scriptoptimizer.OptimizeScriptResult} message OptimizeScriptResult
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.research.scriptoptimizer.OptimizeScriptResult, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this OptimizeScriptResult message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this OptimizeScriptResult to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+        }
+    }
+
+    /**
+     * Namespace support.
+     * @exports message.support
+     * @namespace
+     */
+    namespace support {
+
+        type FieldDescription$Properties = {
+            ballRadius?: number;
+            goalpostTopHeight?: number;
+            penaltyRobotStart?: number;
+            goalpostOwnL?: vec2$Properties;
+            goalpostOwnR?: vec2$Properties;
+            goalpostOppL?: vec2$Properties;
+            goalpostOppR?: vec2$Properties;
+            dimensions?: message.support.FieldDescription.FieldDimensions$Properties;
+        };
+
+        /**
+         * Constructs a new FieldDescription.
+         * @exports message.support.FieldDescription
+         * @constructor
+         * @param {message.support.FieldDescription$Properties=} [properties] Properties to set
+         */
+        class FieldDescription {
+
+            /**
+             * Constructs a new FieldDescription.
+             * @exports message.support.FieldDescription
+             * @constructor
+             * @param {message.support.FieldDescription$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.support.FieldDescription$Properties);
+
+            /**
+             * FieldDescription ballRadius.
+             * @type {number}
+             */
+            public ballRadius: number;
+
+            /**
+             * FieldDescription goalpostTopHeight.
+             * @type {number}
+             */
+            public goalpostTopHeight: number;
+
+            /**
+             * FieldDescription penaltyRobotStart.
+             * @type {number}
+             */
+            public penaltyRobotStart: number;
+
+            /**
+             * FieldDescription goalpostOwnL.
+             * @type {(vec2$Properties|null)}
+             */
+            public goalpostOwnL: (vec2$Properties|null);
+
+            /**
+             * FieldDescription goalpostOwnR.
+             * @type {(vec2$Properties|null)}
+             */
+            public goalpostOwnR: (vec2$Properties|null);
+
+            /**
+             * FieldDescription goalpostOppL.
+             * @type {(vec2$Properties|null)}
+             */
+            public goalpostOppL: (vec2$Properties|null);
+
+            /**
+             * FieldDescription goalpostOppR.
+             * @type {(vec2$Properties|null)}
+             */
+            public goalpostOppR: (vec2$Properties|null);
+
+            /**
+             * FieldDescription dimensions.
+             * @type {(message.support.FieldDescription.FieldDimensions$Properties|null)}
+             */
+            public dimensions: (message.support.FieldDescription.FieldDimensions$Properties|null);
+
+            /**
+             * Creates a new FieldDescription instance using the specified properties.
+             * @param {message.support.FieldDescription$Properties=} [properties] Properties to set
+             * @returns {message.support.FieldDescription} FieldDescription instance
+             */
+            public static create(properties?: message.support.FieldDescription$Properties): message.support.FieldDescription;
+
+            /**
+             * Encodes the specified FieldDescription message. Does not implicitly {@link message.support.FieldDescription.verify|verify} messages.
+             * @param {message.support.FieldDescription$Properties} message FieldDescription message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.support.FieldDescription$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified FieldDescription message, length delimited. Does not implicitly {@link message.support.FieldDescription.verify|verify} messages.
+             * @param {message.support.FieldDescription$Properties} message FieldDescription message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.support.FieldDescription$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a FieldDescription message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.support.FieldDescription} FieldDescription
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.support.FieldDescription;
+
+            /**
+             * Decodes a FieldDescription message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.support.FieldDescription} FieldDescription
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.support.FieldDescription;
+
+            /**
+             * Verifies a FieldDescription message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a FieldDescription message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.support.FieldDescription} FieldDescription
+             */
+            public static fromObject(object: { [k: string]: any }): message.support.FieldDescription;
+
+            /**
+             * Creates a FieldDescription message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.support.FieldDescription.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.support.FieldDescription} FieldDescription
+             */
+            public static from(object: { [k: string]: any }): message.support.FieldDescription;
+
+            /**
+             * Creates a plain object from a FieldDescription message. Also converts values to other types if specified.
+             * @param {message.support.FieldDescription} message FieldDescription
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.support.FieldDescription, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this FieldDescription message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this FieldDescription to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        namespace FieldDescription {
+
+            type FieldDimensions$Properties = {
+                lineWidth?: number;
+                markWidth?: number;
+                fieldLength?: number;
+                fieldWidth?: number;
+                goalDepth?: number;
+                goalWidth?: number;
+                goalAreaLength?: number;
+                goalAreaWidth?: number;
+                goalCrossbarHeight?: number;
+                goalpostDiameter?: number;
+                goalCrossbarDiameter?: number;
+                goalNetHeight?: number;
+                penaltyMarkDistance?: number;
+                centerCircleDiameter?: number;
+                borderStripMinWidth?: number;
+            };
+
+            /**
+             * Constructs a new FieldDimensions.
+             * @exports message.support.FieldDescription.FieldDimensions
+             * @constructor
+             * @param {message.support.FieldDescription.FieldDimensions$Properties=} [properties] Properties to set
+             */
+            class FieldDimensions {
+
+                /**
+                 * Constructs a new FieldDimensions.
+                 * @exports message.support.FieldDescription.FieldDimensions
+                 * @constructor
+                 * @param {message.support.FieldDescription.FieldDimensions$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.support.FieldDescription.FieldDimensions$Properties);
+
+                /**
+                 * FieldDimensions lineWidth.
+                 * @type {number}
+                 */
+                public lineWidth: number;
+
+                /**
+                 * FieldDimensions markWidth.
+                 * @type {number}
+                 */
+                public markWidth: number;
+
+                /**
+                 * FieldDimensions fieldLength.
+                 * @type {number}
+                 */
+                public fieldLength: number;
+
+                /**
+                 * FieldDimensions fieldWidth.
+                 * @type {number}
+                 */
+                public fieldWidth: number;
+
+                /**
+                 * FieldDimensions goalDepth.
+                 * @type {number}
+                 */
+                public goalDepth: number;
+
+                /**
+                 * FieldDimensions goalWidth.
+                 * @type {number}
+                 */
+                public goalWidth: number;
+
+                /**
+                 * FieldDimensions goalAreaLength.
+                 * @type {number}
+                 */
+                public goalAreaLength: number;
+
+                /**
+                 * FieldDimensions goalAreaWidth.
+                 * @type {number}
+                 */
+                public goalAreaWidth: number;
+
+                /**
+                 * FieldDimensions goalCrossbarHeight.
+                 * @type {number}
+                 */
+                public goalCrossbarHeight: number;
+
+                /**
+                 * FieldDimensions goalpostDiameter.
+                 * @type {number}
+                 */
+                public goalpostDiameter: number;
+
+                /**
+                 * FieldDimensions goalCrossbarDiameter.
+                 * @type {number}
+                 */
+                public goalCrossbarDiameter: number;
+
+                /**
+                 * FieldDimensions goalNetHeight.
+                 * @type {number}
+                 */
+                public goalNetHeight: number;
+
+                /**
+                 * FieldDimensions penaltyMarkDistance.
+                 * @type {number}
+                 */
+                public penaltyMarkDistance: number;
+
+                /**
+                 * FieldDimensions centerCircleDiameter.
+                 * @type {number}
+                 */
+                public centerCircleDiameter: number;
+
+                /**
+                 * FieldDimensions borderStripMinWidth.
+                 * @type {number}
+                 */
+                public borderStripMinWidth: number;
+
+                /**
+                 * Creates a new FieldDimensions instance using the specified properties.
+                 * @param {message.support.FieldDescription.FieldDimensions$Properties=} [properties] Properties to set
+                 * @returns {message.support.FieldDescription.FieldDimensions} FieldDimensions instance
+                 */
+                public static create(properties?: message.support.FieldDescription.FieldDimensions$Properties): message.support.FieldDescription.FieldDimensions;
+
+                /**
+                 * Encodes the specified FieldDimensions message. Does not implicitly {@link message.support.FieldDescription.FieldDimensions.verify|verify} messages.
+                 * @param {message.support.FieldDescription.FieldDimensions$Properties} message FieldDimensions message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.support.FieldDescription.FieldDimensions$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified FieldDimensions message, length delimited. Does not implicitly {@link message.support.FieldDescription.FieldDimensions.verify|verify} messages.
+                 * @param {message.support.FieldDescription.FieldDimensions$Properties} message FieldDimensions message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.support.FieldDescription.FieldDimensions$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a FieldDimensions message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.support.FieldDescription.FieldDimensions} FieldDimensions
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.support.FieldDescription.FieldDimensions;
+
+                /**
+                 * Decodes a FieldDimensions message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.support.FieldDescription.FieldDimensions} FieldDimensions
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.support.FieldDescription.FieldDimensions;
+
+                /**
+                 * Verifies a FieldDimensions message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a FieldDimensions message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.FieldDescription.FieldDimensions} FieldDimensions
+                 */
+                public static fromObject(object: { [k: string]: any }): message.support.FieldDescription.FieldDimensions;
+
+                /**
+                 * Creates a FieldDimensions message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.support.FieldDescription.FieldDimensions.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.FieldDescription.FieldDimensions} FieldDimensions
+                 */
+                public static from(object: { [k: string]: any }): message.support.FieldDescription.FieldDimensions;
+
+                /**
+                 * Creates a plain object from a FieldDimensions message. Also converts values to other types if specified.
+                 * @param {message.support.FieldDescription.FieldDimensions} message FieldDimensions
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.support.FieldDescription.FieldDimensions, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this FieldDimensions message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this FieldDimensions to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+        }
+
+        type GlobalConfig$Properties = {
+            playerId?: number;
+            teamId?: number;
+        };
+
+        /**
+         * Constructs a new GlobalConfig.
+         * @exports message.support.GlobalConfig
+         * @constructor
+         * @param {message.support.GlobalConfig$Properties=} [properties] Properties to set
+         */
+        class GlobalConfig {
+
+            /**
+             * Constructs a new GlobalConfig.
+             * @exports message.support.GlobalConfig
+             * @constructor
+             * @param {message.support.GlobalConfig$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.support.GlobalConfig$Properties);
+
+            /**
+             * GlobalConfig playerId.
+             * @type {number}
+             */
+            public playerId: number;
+
+            /**
+             * GlobalConfig teamId.
+             * @type {number}
+             */
+            public teamId: number;
+
+            /**
+             * Creates a new GlobalConfig instance using the specified properties.
+             * @param {message.support.GlobalConfig$Properties=} [properties] Properties to set
+             * @returns {message.support.GlobalConfig} GlobalConfig instance
+             */
+            public static create(properties?: message.support.GlobalConfig$Properties): message.support.GlobalConfig;
+
+            /**
+             * Encodes the specified GlobalConfig message. Does not implicitly {@link message.support.GlobalConfig.verify|verify} messages.
+             * @param {message.support.GlobalConfig$Properties} message GlobalConfig message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.support.GlobalConfig$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified GlobalConfig message, length delimited. Does not implicitly {@link message.support.GlobalConfig.verify|verify} messages.
+             * @param {message.support.GlobalConfig$Properties} message GlobalConfig message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.support.GlobalConfig$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a GlobalConfig message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.support.GlobalConfig} GlobalConfig
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.support.GlobalConfig;
+
+            /**
+             * Decodes a GlobalConfig message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.support.GlobalConfig} GlobalConfig
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.support.GlobalConfig;
+
+            /**
+             * Verifies a GlobalConfig message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a GlobalConfig message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.support.GlobalConfig} GlobalConfig
+             */
+            public static fromObject(object: { [k: string]: any }): message.support.GlobalConfig;
+
+            /**
+             * Creates a GlobalConfig message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.support.GlobalConfig.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.support.GlobalConfig} GlobalConfig
+             */
+            public static from(object: { [k: string]: any }): message.support.GlobalConfig;
+
+            /**
+             * Creates a plain object from a GlobalConfig message. Also converts values to other types if specified.
+             * @param {message.support.GlobalConfig} message GlobalConfig
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.support.GlobalConfig, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this GlobalConfig message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this GlobalConfig to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type SaveConfiguration$Properties = {
+            path?: string;
+            config?: string;
+        };
+
+        /**
+         * Constructs a new SaveConfiguration.
+         * @exports message.support.SaveConfiguration
+         * @constructor
+         * @param {message.support.SaveConfiguration$Properties=} [properties] Properties to set
+         */
+        class SaveConfiguration {
+
+            /**
+             * Constructs a new SaveConfiguration.
+             * @exports message.support.SaveConfiguration
+             * @constructor
+             * @param {message.support.SaveConfiguration$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.support.SaveConfiguration$Properties);
+
+            /**
+             * SaveConfiguration path.
+             * @type {string}
+             */
+            public path: string;
+
+            /**
+             * SaveConfiguration config.
+             * @type {string}
+             */
+            public config: string;
+
+            /**
+             * Creates a new SaveConfiguration instance using the specified properties.
+             * @param {message.support.SaveConfiguration$Properties=} [properties] Properties to set
+             * @returns {message.support.SaveConfiguration} SaveConfiguration instance
+             */
+            public static create(properties?: message.support.SaveConfiguration$Properties): message.support.SaveConfiguration;
+
+            /**
+             * Encodes the specified SaveConfiguration message. Does not implicitly {@link message.support.SaveConfiguration.verify|verify} messages.
+             * @param {message.support.SaveConfiguration$Properties} message SaveConfiguration message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.support.SaveConfiguration$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified SaveConfiguration message, length delimited. Does not implicitly {@link message.support.SaveConfiguration.verify|verify} messages.
+             * @param {message.support.SaveConfiguration$Properties} message SaveConfiguration message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.support.SaveConfiguration$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a SaveConfiguration message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.support.SaveConfiguration} SaveConfiguration
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.support.SaveConfiguration;
+
+            /**
+             * Decodes a SaveConfiguration message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.support.SaveConfiguration} SaveConfiguration
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.support.SaveConfiguration;
+
+            /**
+             * Verifies a SaveConfiguration message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a SaveConfiguration message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.support.SaveConfiguration} SaveConfiguration
+             */
+            public static fromObject(object: { [k: string]: any }): message.support.SaveConfiguration;
+
+            /**
+             * Creates a SaveConfiguration message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.support.SaveConfiguration.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.support.SaveConfiguration} SaveConfiguration
+             */
+            public static from(object: { [k: string]: any }): message.support.SaveConfiguration;
+
+            /**
+             * Creates a plain object from a SaveConfiguration message. Also converts values to other types if specified.
+             * @param {message.support.SaveConfiguration} message SaveConfiguration
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.support.SaveConfiguration, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this SaveConfiguration message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this SaveConfiguration to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type ServoHealthTestData$Properties = {
+            state?: message.support.ServoHealthTestData.State;
+            sensors?: message.platform.darwin.DarwinSensors$Properties;
+        };
+
+        /**
+         * Constructs a new ServoHealthTestData.
+         * @exports message.support.ServoHealthTestData
+         * @constructor
+         * @param {message.support.ServoHealthTestData$Properties=} [properties] Properties to set
+         */
+        class ServoHealthTestData {
+
+            /**
+             * Constructs a new ServoHealthTestData.
+             * @exports message.support.ServoHealthTestData
+             * @constructor
+             * @param {message.support.ServoHealthTestData$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.support.ServoHealthTestData$Properties);
+
+            /**
+             * ServoHealthTestData state.
+             * @type {message.support.ServoHealthTestData.State}
+             */
+            public state: message.support.ServoHealthTestData.State;
+
+            /**
+             * ServoHealthTestData sensors.
+             * @type {(message.platform.darwin.DarwinSensors$Properties|null)}
+             */
+            public sensors: (message.platform.darwin.DarwinSensors$Properties|null);
+
+            /**
+             * Creates a new ServoHealthTestData instance using the specified properties.
+             * @param {message.support.ServoHealthTestData$Properties=} [properties] Properties to set
+             * @returns {message.support.ServoHealthTestData} ServoHealthTestData instance
+             */
+            public static create(properties?: message.support.ServoHealthTestData$Properties): message.support.ServoHealthTestData;
+
+            /**
+             * Encodes the specified ServoHealthTestData message. Does not implicitly {@link message.support.ServoHealthTestData.verify|verify} messages.
+             * @param {message.support.ServoHealthTestData$Properties} message ServoHealthTestData message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.support.ServoHealthTestData$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified ServoHealthTestData message, length delimited. Does not implicitly {@link message.support.ServoHealthTestData.verify|verify} messages.
+             * @param {message.support.ServoHealthTestData$Properties} message ServoHealthTestData message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.support.ServoHealthTestData$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a ServoHealthTestData message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.support.ServoHealthTestData} ServoHealthTestData
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.support.ServoHealthTestData;
+
+            /**
+             * Decodes a ServoHealthTestData message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.support.ServoHealthTestData} ServoHealthTestData
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.support.ServoHealthTestData;
+
+            /**
+             * Verifies a ServoHealthTestData message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a ServoHealthTestData message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.support.ServoHealthTestData} ServoHealthTestData
+             */
+            public static fromObject(object: { [k: string]: any }): message.support.ServoHealthTestData;
+
+            /**
+             * Creates a ServoHealthTestData message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.support.ServoHealthTestData.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.support.ServoHealthTestData} ServoHealthTestData
+             */
+            public static from(object: { [k: string]: any }): message.support.ServoHealthTestData;
+
+            /**
+             * Creates a plain object from a ServoHealthTestData message. Also converts values to other types if specified.
+             * @param {message.support.ServoHealthTestData} message ServoHealthTestData
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.support.ServoHealthTestData, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this ServoHealthTestData message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this ServoHealthTestData to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        namespace ServoHealthTestData {
+
+            /**
+             * State enum.
+             * @name State
+             * @memberof message.support.ServoHealthTestData
+             * @enum {number}
+             * @property {number} INITIALISE=0 INITIALISE value
+             * @property {number} MOVE_1=1 MOVE_1 value
+             * @property {number} ELBOW=2 ELBOW value
+             * @property {number} MOVE_2=3 MOVE_2 value
+             * @property {number} SHOULDER_PITCH=4 SHOULDER_PITCH value
+             * @property {number} SHOULDER_MOVE_1=5 SHOULDER_MOVE_1 value
+             * @property {number} SHOULDER_ROLL=6 SHOULDER_ROLL value
+             * @property {number} MOVE_3=7 MOVE_3 value
+             * @property {number} HEAD_PITCH=8 HEAD_PITCH value
+             * @property {number} MOVE_4=9 MOVE_4 value
+             * @property {number} HEAD_YAW=10 HEAD_YAW value
+             * @property {number} LAYDOWN=11 LAYDOWN value
+             * @property {number} HIP_ROLL=12 HIP_ROLL value
+             * @property {number} HIP_MOVE_1=13 HIP_MOVE_1 value
+             * @property {number} HIP_YAW=14 HIP_YAW value
+             * @property {number} HIP_MOVE_2=15 HIP_MOVE_2 value
+             * @property {number} ANKLE_PITCH=16 ANKLE_PITCH value
+             * @property {number} ANKLE_MOVE=17 ANKLE_MOVE value
+             * @property {number} ANKLE_ROLL=18 ANKLE_ROLL value
+             * @property {number} KNEE_MOVE=19 KNEE_MOVE value
+             * @property {number} KNEE=20 KNEE value
+             * @property {number} KNEE_MOVE_2=21 KNEE_MOVE_2 value
+             * @property {number} HIP_PITCH=22 HIP_PITCH value
+             * @property {number} LAYDOWN_2=23 LAYDOWN_2 value
+             * @property {number} FINISHED=24 FINISHED value
+             */
+            enum State {
+                INITIALISE = 0,
+                MOVE_1 = 1,
+                ELBOW = 2,
+                MOVE_2 = 3,
+                SHOULDER_PITCH = 4,
+                SHOULDER_MOVE_1 = 5,
+                SHOULDER_ROLL = 6,
+                MOVE_3 = 7,
+                HEAD_PITCH = 8,
+                MOVE_4 = 9,
+                HEAD_YAW = 10,
+                LAYDOWN = 11,
+                HIP_ROLL = 12,
+                HIP_MOVE_1 = 13,
+                HIP_YAW = 14,
+                HIP_MOVE_2 = 15,
+                ANKLE_PITCH = 16,
+                ANKLE_MOVE = 17,
+                ANKLE_ROLL = 18,
+                KNEE_MOVE = 19,
+                KNEE = 20,
+                KNEE_MOVE_2 = 21,
+                HIP_PITCH = 22,
+                LAYDOWN_2 = 23,
+                FINISHED = 24
+            }
+        }
+
+        /**
+         * Namespace nubugger.
+         * @exports message.support.nubugger
+         * @namespace
+         */
+        namespace nubugger {
+
+            type Command$Properties = {
+                command?: string;
+            };
+
+            /**
+             * Constructs a new Command.
+             * @exports message.support.nubugger.Command
+             * @constructor
+             * @param {message.support.nubugger.Command$Properties=} [properties] Properties to set
+             */
+            class Command {
+
+                /**
+                 * Constructs a new Command.
+                 * @exports message.support.nubugger.Command
+                 * @constructor
+                 * @param {message.support.nubugger.Command$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.support.nubugger.Command$Properties);
+
+                /**
+                 * Command command.
+                 * @type {string}
+                 */
+                public command: string;
+
+                /**
+                 * Creates a new Command instance using the specified properties.
+                 * @param {message.support.nubugger.Command$Properties=} [properties] Properties to set
+                 * @returns {message.support.nubugger.Command} Command instance
+                 */
+                public static create(properties?: message.support.nubugger.Command$Properties): message.support.nubugger.Command;
+
+                /**
+                 * Encodes the specified Command message. Does not implicitly {@link message.support.nubugger.Command.verify|verify} messages.
+                 * @param {message.support.nubugger.Command$Properties} message Command message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.support.nubugger.Command$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified Command message, length delimited. Does not implicitly {@link message.support.nubugger.Command.verify|verify} messages.
+                 * @param {message.support.nubugger.Command$Properties} message Command message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.support.nubugger.Command$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a Command message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.support.nubugger.Command} Command
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.support.nubugger.Command;
+
+                /**
+                 * Decodes a Command message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.support.nubugger.Command} Command
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.support.nubugger.Command;
+
+                /**
+                 * Verifies a Command message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a Command message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.nubugger.Command} Command
+                 */
+                public static fromObject(object: { [k: string]: any }): message.support.nubugger.Command;
+
+                /**
+                 * Creates a Command message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.support.nubugger.Command.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.nubugger.Command} Command
+                 */
+                public static from(object: { [k: string]: any }): message.support.nubugger.Command;
+
+                /**
+                 * Creates a plain object from a Command message. Also converts values to other types if specified.
+                 * @param {message.support.nubugger.Command} message Command
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.support.nubugger.Command, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this Command message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this Command to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            type DataPoint$Properties = {
+                label?: string;
+                value?: number[];
+                type?: message.support.nubugger.DataPoint.Type;
+            };
+
+            /**
+             * Constructs a new DataPoint.
+             * @exports message.support.nubugger.DataPoint
+             * @constructor
+             * @param {message.support.nubugger.DataPoint$Properties=} [properties] Properties to set
+             */
+            class DataPoint {
+
+                /**
+                 * Constructs a new DataPoint.
+                 * @exports message.support.nubugger.DataPoint
+                 * @constructor
+                 * @param {message.support.nubugger.DataPoint$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.support.nubugger.DataPoint$Properties);
+
+                /**
+                 * DataPoint label.
+                 * @type {string}
+                 */
+                public label: string;
+
+                /**
+                 * DataPoint value.
+                 * @type {Array.<number>}
+                 */
+                public value: number[];
+
+                /**
+                 * DataPoint type.
+                 * @type {message.support.nubugger.DataPoint.Type}
+                 */
+                public type: message.support.nubugger.DataPoint.Type;
+
+                /**
+                 * Creates a new DataPoint instance using the specified properties.
+                 * @param {message.support.nubugger.DataPoint$Properties=} [properties] Properties to set
+                 * @returns {message.support.nubugger.DataPoint} DataPoint instance
+                 */
+                public static create(properties?: message.support.nubugger.DataPoint$Properties): message.support.nubugger.DataPoint;
+
+                /**
+                 * Encodes the specified DataPoint message. Does not implicitly {@link message.support.nubugger.DataPoint.verify|verify} messages.
+                 * @param {message.support.nubugger.DataPoint$Properties} message DataPoint message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.support.nubugger.DataPoint$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified DataPoint message, length delimited. Does not implicitly {@link message.support.nubugger.DataPoint.verify|verify} messages.
+                 * @param {message.support.nubugger.DataPoint$Properties} message DataPoint message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.support.nubugger.DataPoint$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a DataPoint message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.support.nubugger.DataPoint} DataPoint
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.support.nubugger.DataPoint;
+
+                /**
+                 * Decodes a DataPoint message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.support.nubugger.DataPoint} DataPoint
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.support.nubugger.DataPoint;
+
+                /**
+                 * Verifies a DataPoint message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a DataPoint message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.nubugger.DataPoint} DataPoint
+                 */
+                public static fromObject(object: { [k: string]: any }): message.support.nubugger.DataPoint;
+
+                /**
+                 * Creates a DataPoint message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.support.nubugger.DataPoint.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.nubugger.DataPoint} DataPoint
+                 */
+                public static from(object: { [k: string]: any }): message.support.nubugger.DataPoint;
+
+                /**
+                 * Creates a plain object from a DataPoint message. Also converts values to other types if specified.
+                 * @param {message.support.nubugger.DataPoint} message DataPoint
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.support.nubugger.DataPoint, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this DataPoint message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this DataPoint to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            namespace DataPoint {
+
+                /**
+                 * The represents the type of data
+                 * NOTE: This should not describe how to display the data, as that should be done client-side.
+                 * @name Type
+                 * @memberof message.support.nubugger.DataPoint
+                 * @enum {number}
+                 * @property {number} FLOAT_LIST=0 FLOAT_LIST value
+                 * @property {number} ROTATION_3D=2 ROTATION_3D value
+                 */
+                enum Type {
+                    FLOAT_LIST = 0,
+                    ROTATION_3D = 2
+                }
+            }
+
+            type DrawObject$Properties = {
+                shape?: message.support.nubugger.DrawObject.Shape;
+                name?: string;
+                position?: vec3$Properties;
+                direction?: vec3$Properties;
+                target?: vec3$Properties;
+                width?: number;
+                height?: number;
+                rotation?: vec3$Properties;
+                colour?: vec3$Properties;
+                radius?: number;
+                topRadius?: number;
+                bottomRadius?: number;
+                vertices?: vec3$Properties[];
+                path?: message.support.nubugger.DrawObject.Path$Properties[];
+                faces?: number;
+                lineWidth?: number;
+                length?: number;
+                depth?: number;
+                fill?: boolean;
+                timeout?: number;
+            };
+
+            /**
+             * Constructs a new DrawObject.
+             * @exports message.support.nubugger.DrawObject
+             * @constructor
+             * @param {message.support.nubugger.DrawObject$Properties=} [properties] Properties to set
+             */
+            class DrawObject {
+
+                /**
+                 * Constructs a new DrawObject.
+                 * @exports message.support.nubugger.DrawObject
+                 * @constructor
+                 * @param {message.support.nubugger.DrawObject$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.support.nubugger.DrawObject$Properties);
+
+                /**
+                 * DrawObject shape.
+                 * @type {message.support.nubugger.DrawObject.Shape}
+                 */
+                public shape: message.support.nubugger.DrawObject.Shape;
+
+                /**
+                 * DrawObject name.
+                 * @type {string}
+                 */
+                public name: string;
+
+                /**
+                 * DrawObject position.
+                 * @type {(vec3$Properties|null)}
+                 */
+                public position: (vec3$Properties|null);
+
+                /**
+                 * DrawObject direction.
+                 * @type {(vec3$Properties|null)}
+                 */
+                public direction: (vec3$Properties|null);
+
+                /**
+                 * DrawObject target.
+                 * @type {(vec3$Properties|null)}
+                 */
+                public target: (vec3$Properties|null);
+
+                /**
+                 * DrawObject width.
+                 * @type {number}
+                 */
+                public width: number;
+
+                /**
+                 * DrawObject height.
+                 * @type {number}
+                 */
+                public height: number;
+
+                /**
+                 * DrawObject rotation.
+                 * @type {(vec3$Properties|null)}
+                 */
+                public rotation: (vec3$Properties|null);
+
+                /**
+                 * DrawObject colour.
+                 * @type {(vec3$Properties|null)}
+                 */
+                public colour: (vec3$Properties|null);
+
+                /**
+                 * DrawObject radius.
+                 * @type {number}
+                 */
+                public radius: number;
+
+                /**
+                 * DrawObject topRadius.
+                 * @type {number}
+                 */
+                public topRadius: number;
+
+                /**
+                 * DrawObject bottomRadius.
+                 * @type {number}
+                 */
+                public bottomRadius: number;
+
+                /**
+                 * DrawObject vertices.
+                 * @type {Array.<vec3$Properties>}
+                 */
+                public vertices: vec3$Properties[];
+
+                /**
+                 * DrawObject path.
+                 * @type {Array.<message.support.nubugger.DrawObject.Path$Properties>}
+                 */
+                public path: message.support.nubugger.DrawObject.Path$Properties[];
+
+                /**
+                 * DrawObject faces.
+                 * @type {number}
+                 */
+                public faces: number;
+
+                /**
+                 * DrawObject lineWidth.
+                 * @type {number}
+                 */
+                public lineWidth: number;
+
+                /**
+                 * DrawObject length.
+                 * @type {number}
+                 */
+                public length: number;
+
+                /**
+                 * DrawObject depth.
+                 * @type {number}
+                 */
+                public depth: number;
+
+                /**
+                 * DrawObject fill.
+                 * @type {boolean}
+                 */
+                public fill: boolean;
+
+                /**
+                 * DrawObject timeout.
+                 * @type {number}
+                 */
+                public timeout: number;
+
+                /**
+                 * Creates a new DrawObject instance using the specified properties.
+                 * @param {message.support.nubugger.DrawObject$Properties=} [properties] Properties to set
+                 * @returns {message.support.nubugger.DrawObject} DrawObject instance
+                 */
+                public static create(properties?: message.support.nubugger.DrawObject$Properties): message.support.nubugger.DrawObject;
+
+                /**
+                 * Encodes the specified DrawObject message. Does not implicitly {@link message.support.nubugger.DrawObject.verify|verify} messages.
+                 * @param {message.support.nubugger.DrawObject$Properties} message DrawObject message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.support.nubugger.DrawObject$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified DrawObject message, length delimited. Does not implicitly {@link message.support.nubugger.DrawObject.verify|verify} messages.
+                 * @param {message.support.nubugger.DrawObject$Properties} message DrawObject message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.support.nubugger.DrawObject$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a DrawObject message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.support.nubugger.DrawObject} DrawObject
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.support.nubugger.DrawObject;
+
+                /**
+                 * Decodes a DrawObject message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.support.nubugger.DrawObject} DrawObject
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.support.nubugger.DrawObject;
+
+                /**
+                 * Verifies a DrawObject message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a DrawObject message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.nubugger.DrawObject} DrawObject
+                 */
+                public static fromObject(object: { [k: string]: any }): message.support.nubugger.DrawObject;
+
+                /**
+                 * Creates a DrawObject message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.support.nubugger.DrawObject.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.nubugger.DrawObject} DrawObject
+                 */
+                public static from(object: { [k: string]: any }): message.support.nubugger.DrawObject;
+
+                /**
+                 * Creates a plain object from a DrawObject message. Also converts values to other types if specified.
+                 * @param {message.support.nubugger.DrawObject} message DrawObject
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.support.nubugger.DrawObject, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this DrawObject message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this DrawObject to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            namespace DrawObject {
+
+                /**
+                 * Shape enum.
+                 * @name Shape
+                 * @memberof message.support.nubugger.DrawObject
+                 * @enum {number}
+                 * @property {number} UNKNOWN=0 UNKNOWN value
+                 * @property {number} ARROW=1 ARROW value
+                 * @property {number} BOX=2 BOX value
+                 * @property {number} CIRCLE=3 CIRCLE value
+                 * @property {number} CYLINDER=4 CYLINDER value
+                 * @property {number} POLYLINE=5 POLYLINE value
+                 * @property {number} PYRAMID=6 PYRAMID value
+                 * @property {number} RECTANGLE=7 RECTANGLE value
+                 * @property {number} SPHERE=8 SPHERE value
+                 */
+                enum Shape {
+                    UNKNOWN = 0,
+                    ARROW = 1,
+                    BOX = 2,
+                    CIRCLE = 3,
+                    CYLINDER = 4,
+                    POLYLINE = 5,
+                    PYRAMID = 6,
+                    RECTANGLE = 7,
+                    SPHERE = 8
+                }
+
+                type Path$Properties = {
+                    position?: vec2$Properties;
+                    parentIndex?: number;
+                };
+
+                /**
+                 * Constructs a new Path.
+                 * @exports message.support.nubugger.DrawObject.Path
+                 * @constructor
+                 * @param {message.support.nubugger.DrawObject.Path$Properties=} [properties] Properties to set
+                 */
+                class Path {
+
+                    /**
+                     * Constructs a new Path.
+                     * @exports message.support.nubugger.DrawObject.Path
+                     * @constructor
+                     * @param {message.support.nubugger.DrawObject.Path$Properties=} [properties] Properties to set
+                     */
+                    constructor(properties?: message.support.nubugger.DrawObject.Path$Properties);
+
+                    /**
+                     * Path position.
+                     * @type {(vec2$Properties|null)}
+                     */
+                    public position: (vec2$Properties|null);
+
+                    /**
+                     * Path parentIndex.
+                     * @type {number}
+                     */
+                    public parentIndex: number;
+
+                    /**
+                     * Creates a new Path instance using the specified properties.
+                     * @param {message.support.nubugger.DrawObject.Path$Properties=} [properties] Properties to set
+                     * @returns {message.support.nubugger.DrawObject.Path} Path instance
+                     */
+                    public static create(properties?: message.support.nubugger.DrawObject.Path$Properties): message.support.nubugger.DrawObject.Path;
+
+                    /**
+                     * Encodes the specified Path message. Does not implicitly {@link message.support.nubugger.DrawObject.Path.verify|verify} messages.
+                     * @param {message.support.nubugger.DrawObject.Path$Properties} message Path message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    public static encode(message: message.support.nubugger.DrawObject.Path$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                    /**
+                     * Encodes the specified Path message, length delimited. Does not implicitly {@link message.support.nubugger.DrawObject.Path.verify|verify} messages.
+                     * @param {message.support.nubugger.DrawObject.Path$Properties} message Path message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    public static encodeDelimited(message: message.support.nubugger.DrawObject.Path$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                    /**
+                     * Decodes a Path message from the specified reader or buffer.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @param {number} [length] Message length if known beforehand
+                     * @returns {message.support.nubugger.DrawObject.Path} Path
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.support.nubugger.DrawObject.Path;
+
+                    /**
+                     * Decodes a Path message from the specified reader or buffer, length delimited.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @returns {message.support.nubugger.DrawObject.Path} Path
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.support.nubugger.DrawObject.Path;
+
+                    /**
+                     * Verifies a Path message.
+                     * @param {Object.<string,*>} message Plain object to verify
+                     * @returns {?string} `null` if valid, otherwise the reason why it is not
+                     */
+                    public static verify(message: { [k: string]: any }): string;
+
+                    /**
+                     * Creates a Path message from a plain object. Also converts values to their respective internal types.
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.support.nubugger.DrawObject.Path} Path
+                     */
+                    public static fromObject(object: { [k: string]: any }): message.support.nubugger.DrawObject.Path;
+
+                    /**
+                     * Creates a Path message from a plain object. Also converts values to their respective internal types.
+                     * This is an alias of {@link message.support.nubugger.DrawObject.Path.fromObject}.
+                     * @function
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.support.nubugger.DrawObject.Path} Path
+                     */
+                    public static from(object: { [k: string]: any }): message.support.nubugger.DrawObject.Path;
+
+                    /**
+                     * Creates a plain object from a Path message. Also converts values to other types if specified.
+                     * @param {message.support.nubugger.DrawObject.Path} message Path
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    public static toObject(message: message.support.nubugger.DrawObject.Path, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                    /**
+                     * Creates a plain object from this Path message. Also converts values to other types if specified.
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                    /**
+                     * Converts this Path to JSON.
+                     * @returns {Object.<string,*>} JSON object
+                     */
+                    public toJSON(): { [k: string]: any };
+                }
+            }
+
+            type DrawObjects$Properties = {
+                objects?: message.support.nubugger.DrawObject$Properties[];
+            };
+
+            /**
+             * Constructs a new DrawObjects.
+             * @exports message.support.nubugger.DrawObjects
+             * @constructor
+             * @param {message.support.nubugger.DrawObjects$Properties=} [properties] Properties to set
+             */
+            class DrawObjects {
+
+                /**
+                 * Constructs a new DrawObjects.
+                 * @exports message.support.nubugger.DrawObjects
+                 * @constructor
+                 * @param {message.support.nubugger.DrawObjects$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.support.nubugger.DrawObjects$Properties);
+
+                /**
+                 * DrawObjects objects.
+                 * @type {Array.<message.support.nubugger.DrawObject$Properties>}
+                 */
+                public objects: message.support.nubugger.DrawObject$Properties[];
+
+                /**
+                 * Creates a new DrawObjects instance using the specified properties.
+                 * @param {message.support.nubugger.DrawObjects$Properties=} [properties] Properties to set
+                 * @returns {message.support.nubugger.DrawObjects} DrawObjects instance
+                 */
+                public static create(properties?: message.support.nubugger.DrawObjects$Properties): message.support.nubugger.DrawObjects;
+
+                /**
+                 * Encodes the specified DrawObjects message. Does not implicitly {@link message.support.nubugger.DrawObjects.verify|verify} messages.
+                 * @param {message.support.nubugger.DrawObjects$Properties} message DrawObjects message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.support.nubugger.DrawObjects$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified DrawObjects message, length delimited. Does not implicitly {@link message.support.nubugger.DrawObjects.verify|verify} messages.
+                 * @param {message.support.nubugger.DrawObjects$Properties} message DrawObjects message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.support.nubugger.DrawObjects$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a DrawObjects message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.support.nubugger.DrawObjects} DrawObjects
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.support.nubugger.DrawObjects;
+
+                /**
+                 * Decodes a DrawObjects message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.support.nubugger.DrawObjects} DrawObjects
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.support.nubugger.DrawObjects;
+
+                /**
+                 * Verifies a DrawObjects message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a DrawObjects message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.nubugger.DrawObjects} DrawObjects
+                 */
+                public static fromObject(object: { [k: string]: any }): message.support.nubugger.DrawObjects;
+
+                /**
+                 * Creates a DrawObjects message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.support.nubugger.DrawObjects.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.nubugger.DrawObjects} DrawObjects
+                 */
+                public static from(object: { [k: string]: any }): message.support.nubugger.DrawObjects;
+
+                /**
+                 * Creates a plain object from a DrawObjects message. Also converts values to other types if specified.
+                 * @param {message.support.nubugger.DrawObjects} message DrawObjects
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.support.nubugger.DrawObjects, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this DrawObjects message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this DrawObjects to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            type Overview$Properties = {
+                roleName?: string;
+                voltage?: number;
+                battery?: number;
+                behaviourState?: message.behaviour.Behaviour.State;
+                kickTarget?: vec2$Properties;
+                robotPosition?: vec2$Properties;
+                robotPositionCovariance?: mat22$Properties;
+                robotHeading?: vec2$Properties;
+                ballPosition?: vec2$Properties;
+                ballWorldPosition?: vec2$Properties;
+                gameMode?: message.input.GameState.Data.Mode;
+                gamePhase?: message.input.GameState.Data.Phase;
+                penaltyReason?: message.input.GameState.Data.PenaltyReason;
+                lastCameraImage?: google.protobuf.Timestamp$Properties;
+                lastSeenBall?: google.protobuf.Timestamp$Properties;
+                lastSeenGoal?: google.protobuf.Timestamp$Properties;
+                lastSeenObstacle?: google.protobuf.Timestamp$Properties;
+                pathPlan?: vec2$Properties[];
+                walkCommand?: vec3$Properties;
+            };
+
+            /**
+             * Constructs a new Overview.
+             * @exports message.support.nubugger.Overview
+             * @constructor
+             * @param {message.support.nubugger.Overview$Properties=} [properties] Properties to set
+             */
+            class Overview {
+
+                /**
+                 * Constructs a new Overview.
+                 * @exports message.support.nubugger.Overview
+                 * @constructor
+                 * @param {message.support.nubugger.Overview$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.support.nubugger.Overview$Properties);
+
+                /**
+                 * Overview roleName.
+                 * @type {string}
+                 */
+                public roleName: string;
+
+                /**
+                 * Overview voltage.
+                 * @type {number}
+                 */
+                public voltage: number;
+
+                /**
+                 * Overview battery.
+                 * @type {number}
+                 */
+                public battery: number;
+
+                /**
+                 * Overview behaviourState.
+                 * @type {message.behaviour.Behaviour.State}
+                 */
+                public behaviourState: message.behaviour.Behaviour.State;
+
+                /**
+                 * Overview kickTarget.
+                 * @type {(vec2$Properties|null)}
+                 */
+                public kickTarget: (vec2$Properties|null);
+
+                /**
+                 * Overview robotPosition.
+                 * @type {(vec2$Properties|null)}
+                 */
+                public robotPosition: (vec2$Properties|null);
+
+                /**
+                 * Overview robotPositionCovariance.
+                 * @type {(mat22$Properties|null)}
+                 */
+                public robotPositionCovariance: (mat22$Properties|null);
+
+                /**
+                 * Overview robotHeading.
+                 * @type {(vec2$Properties|null)}
+                 */
+                public robotHeading: (vec2$Properties|null);
+
+                /**
+                 * Overview ballPosition.
+                 * @type {(vec2$Properties|null)}
+                 */
+                public ballPosition: (vec2$Properties|null);
+
+                /**
+                 * Overview ballWorldPosition.
+                 * @type {(vec2$Properties|null)}
+                 */
+                public ballWorldPosition: (vec2$Properties|null);
+
+                /**
+                 * Overview gameMode.
+                 * @type {message.input.GameState.Data.Mode}
+                 */
+                public gameMode: message.input.GameState.Data.Mode;
+
+                /**
+                 * Overview gamePhase.
+                 * @type {message.input.GameState.Data.Phase}
+                 */
+                public gamePhase: message.input.GameState.Data.Phase;
+
+                /**
+                 * Overview penaltyReason.
+                 * @type {message.input.GameState.Data.PenaltyReason}
+                 */
+                public penaltyReason: message.input.GameState.Data.PenaltyReason;
+
+                /**
+                 * Overview lastCameraImage.
+                 * @type {(google.protobuf.Timestamp$Properties|null)}
+                 */
+                public lastCameraImage: (google.protobuf.Timestamp$Properties|null);
+
+                /**
+                 * Overview lastSeenBall.
+                 * @type {(google.protobuf.Timestamp$Properties|null)}
+                 */
+                public lastSeenBall: (google.protobuf.Timestamp$Properties|null);
+
+                /**
+                 * Overview lastSeenGoal.
+                 * @type {(google.protobuf.Timestamp$Properties|null)}
+                 */
+                public lastSeenGoal: (google.protobuf.Timestamp$Properties|null);
+
+                /**
+                 * Overview lastSeenObstacle.
+                 * @type {(google.protobuf.Timestamp$Properties|null)}
+                 */
+                public lastSeenObstacle: (google.protobuf.Timestamp$Properties|null);
+
+                /**
+                 * Overview pathPlan.
+                 * @type {Array.<vec2$Properties>}
+                 */
+                public pathPlan: vec2$Properties[];
+
+                /**
+                 * Overview walkCommand.
+                 * @type {(vec3$Properties|null)}
+                 */
+                public walkCommand: (vec3$Properties|null);
+
+                /**
+                 * Creates a new Overview instance using the specified properties.
+                 * @param {message.support.nubugger.Overview$Properties=} [properties] Properties to set
+                 * @returns {message.support.nubugger.Overview} Overview instance
+                 */
+                public static create(properties?: message.support.nubugger.Overview$Properties): message.support.nubugger.Overview;
+
+                /**
+                 * Encodes the specified Overview message. Does not implicitly {@link message.support.nubugger.Overview.verify|verify} messages.
+                 * @param {message.support.nubugger.Overview$Properties} message Overview message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.support.nubugger.Overview$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified Overview message, length delimited. Does not implicitly {@link message.support.nubugger.Overview.verify|verify} messages.
+                 * @param {message.support.nubugger.Overview$Properties} message Overview message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.support.nubugger.Overview$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes an Overview message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.support.nubugger.Overview} Overview
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.support.nubugger.Overview;
+
+                /**
+                 * Decodes an Overview message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.support.nubugger.Overview} Overview
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.support.nubugger.Overview;
+
+                /**
+                 * Verifies an Overview message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates an Overview message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.nubugger.Overview} Overview
+                 */
+                public static fromObject(object: { [k: string]: any }): message.support.nubugger.Overview;
+
+                /**
+                 * Creates an Overview message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.support.nubugger.Overview.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.nubugger.Overview} Overview
+                 */
+                public static from(object: { [k: string]: any }): message.support.nubugger.Overview;
+
+                /**
+                 * Creates a plain object from an Overview message. Also converts values to other types if specified.
+                 * @param {message.support.nubugger.Overview} message Overview
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.support.nubugger.Overview, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this Overview message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this Overview to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            type Ping$Properties = {
+                time?: (number|Long);
+            };
+
+            /**
+             * Constructs a new Ping.
+             * @exports message.support.nubugger.Ping
+             * @constructor
+             * @param {message.support.nubugger.Ping$Properties=} [properties] Properties to set
+             */
+            class Ping {
+
+                /**
+                 * Constructs a new Ping.
+                 * @exports message.support.nubugger.Ping
+                 * @constructor
+                 * @param {message.support.nubugger.Ping$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.support.nubugger.Ping$Properties);
+
+                /**
+                 * Ping time.
+                 * @type {number|Long}
+                 */
+                public time: (number|Long);
+
+                /**
+                 * Creates a new Ping instance using the specified properties.
+                 * @param {message.support.nubugger.Ping$Properties=} [properties] Properties to set
+                 * @returns {message.support.nubugger.Ping} Ping instance
+                 */
+                public static create(properties?: message.support.nubugger.Ping$Properties): message.support.nubugger.Ping;
+
+                /**
+                 * Encodes the specified Ping message. Does not implicitly {@link message.support.nubugger.Ping.verify|verify} messages.
+                 * @param {message.support.nubugger.Ping$Properties} message Ping message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.support.nubugger.Ping$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified Ping message, length delimited. Does not implicitly {@link message.support.nubugger.Ping.verify|verify} messages.
+                 * @param {message.support.nubugger.Ping$Properties} message Ping message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.support.nubugger.Ping$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a Ping message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.support.nubugger.Ping} Ping
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.support.nubugger.Ping;
+
+                /**
+                 * Decodes a Ping message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.support.nubugger.Ping} Ping
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.support.nubugger.Ping;
+
+                /**
+                 * Verifies a Ping message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a Ping message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.nubugger.Ping} Ping
+                 */
+                public static fromObject(object: { [k: string]: any }): message.support.nubugger.Ping;
+
+                /**
+                 * Creates a Ping message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.support.nubugger.Ping.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.nubugger.Ping} Ping
+                 */
+                public static from(object: { [k: string]: any }): message.support.nubugger.Ping;
+
+                /**
+                 * Creates a plain object from a Ping message. Also converts values to other types if specified.
+                 * @param {message.support.nubugger.Ping} message Ping
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.support.nubugger.Ping, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this Ping message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this Ping to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            type ReactionHandles$Properties = {
+                handles?: message.support.nubugger.ReactionHandles.Handle$Properties[];
+            };
+
+            /**
+             * Constructs a new ReactionHandles.
+             * @exports message.support.nubugger.ReactionHandles
+             * @constructor
+             * @param {message.support.nubugger.ReactionHandles$Properties=} [properties] Properties to set
+             */
+            class ReactionHandles {
+
+                /**
+                 * Constructs a new ReactionHandles.
+                 * @exports message.support.nubugger.ReactionHandles
+                 * @constructor
+                 * @param {message.support.nubugger.ReactionHandles$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.support.nubugger.ReactionHandles$Properties);
+
+                /**
+                 * ReactionHandles handles.
+                 * @type {Array.<message.support.nubugger.ReactionHandles.Handle$Properties>}
+                 */
+                public handles: message.support.nubugger.ReactionHandles.Handle$Properties[];
+
+                /**
+                 * Creates a new ReactionHandles instance using the specified properties.
+                 * @param {message.support.nubugger.ReactionHandles$Properties=} [properties] Properties to set
+                 * @returns {message.support.nubugger.ReactionHandles} ReactionHandles instance
+                 */
+                public static create(properties?: message.support.nubugger.ReactionHandles$Properties): message.support.nubugger.ReactionHandles;
+
+                /**
+                 * Encodes the specified ReactionHandles message. Does not implicitly {@link message.support.nubugger.ReactionHandles.verify|verify} messages.
+                 * @param {message.support.nubugger.ReactionHandles$Properties} message ReactionHandles message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.support.nubugger.ReactionHandles$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified ReactionHandles message, length delimited. Does not implicitly {@link message.support.nubugger.ReactionHandles.verify|verify} messages.
+                 * @param {message.support.nubugger.ReactionHandles$Properties} message ReactionHandles message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.support.nubugger.ReactionHandles$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a ReactionHandles message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.support.nubugger.ReactionHandles} ReactionHandles
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.support.nubugger.ReactionHandles;
+
+                /**
+                 * Decodes a ReactionHandles message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.support.nubugger.ReactionHandles} ReactionHandles
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.support.nubugger.ReactionHandles;
+
+                /**
+                 * Verifies a ReactionHandles message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a ReactionHandles message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.nubugger.ReactionHandles} ReactionHandles
+                 */
+                public static fromObject(object: { [k: string]: any }): message.support.nubugger.ReactionHandles;
+
+                /**
+                 * Creates a ReactionHandles message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.support.nubugger.ReactionHandles.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.nubugger.ReactionHandles} ReactionHandles
+                 */
+                public static from(object: { [k: string]: any }): message.support.nubugger.ReactionHandles;
+
+                /**
+                 * Creates a plain object from a ReactionHandles message. Also converts values to other types if specified.
+                 * @param {message.support.nubugger.ReactionHandles} message ReactionHandles
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.support.nubugger.ReactionHandles, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this ReactionHandles message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this ReactionHandles to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            namespace ReactionHandles {
+
+                type Handle$Properties = {
+                    type?: string;
+                    enabled?: boolean;
+                };
+
+                /**
+                 * Constructs a new Handle.
+                 * @exports message.support.nubugger.ReactionHandles.Handle
+                 * @constructor
+                 * @param {message.support.nubugger.ReactionHandles.Handle$Properties=} [properties] Properties to set
+                 */
+                class Handle {
+
+                    /**
+                     * Constructs a new Handle.
+                     * @exports message.support.nubugger.ReactionHandles.Handle
+                     * @constructor
+                     * @param {message.support.nubugger.ReactionHandles.Handle$Properties=} [properties] Properties to set
+                     */
+                    constructor(properties?: message.support.nubugger.ReactionHandles.Handle$Properties);
+
+                    /**
+                     * Handle type.
+                     * @type {string}
+                     */
+                    public type: string;
+
+                    /**
+                     * Handle enabled.
+                     * @type {boolean}
+                     */
+                    public enabled: boolean;
+
+                    /**
+                     * Creates a new Handle instance using the specified properties.
+                     * @param {message.support.nubugger.ReactionHandles.Handle$Properties=} [properties] Properties to set
+                     * @returns {message.support.nubugger.ReactionHandles.Handle} Handle instance
+                     */
+                    public static create(properties?: message.support.nubugger.ReactionHandles.Handle$Properties): message.support.nubugger.ReactionHandles.Handle;
+
+                    /**
+                     * Encodes the specified Handle message. Does not implicitly {@link message.support.nubugger.ReactionHandles.Handle.verify|verify} messages.
+                     * @param {message.support.nubugger.ReactionHandles.Handle$Properties} message Handle message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    public static encode(message: message.support.nubugger.ReactionHandles.Handle$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                    /**
+                     * Encodes the specified Handle message, length delimited. Does not implicitly {@link message.support.nubugger.ReactionHandles.Handle.verify|verify} messages.
+                     * @param {message.support.nubugger.ReactionHandles.Handle$Properties} message Handle message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    public static encodeDelimited(message: message.support.nubugger.ReactionHandles.Handle$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                    /**
+                     * Decodes a Handle message from the specified reader or buffer.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @param {number} [length] Message length if known beforehand
+                     * @returns {message.support.nubugger.ReactionHandles.Handle} Handle
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.support.nubugger.ReactionHandles.Handle;
+
+                    /**
+                     * Decodes a Handle message from the specified reader or buffer, length delimited.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @returns {message.support.nubugger.ReactionHandles.Handle} Handle
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.support.nubugger.ReactionHandles.Handle;
+
+                    /**
+                     * Verifies a Handle message.
+                     * @param {Object.<string,*>} message Plain object to verify
+                     * @returns {?string} `null` if valid, otherwise the reason why it is not
+                     */
+                    public static verify(message: { [k: string]: any }): string;
+
+                    /**
+                     * Creates a Handle message from a plain object. Also converts values to their respective internal types.
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.support.nubugger.ReactionHandles.Handle} Handle
+                     */
+                    public static fromObject(object: { [k: string]: any }): message.support.nubugger.ReactionHandles.Handle;
+
+                    /**
+                     * Creates a Handle message from a plain object. Also converts values to their respective internal types.
+                     * This is an alias of {@link message.support.nubugger.ReactionHandles.Handle.fromObject}.
+                     * @function
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.support.nubugger.ReactionHandles.Handle} Handle
+                     */
+                    public static from(object: { [k: string]: any }): message.support.nubugger.ReactionHandles.Handle;
+
+                    /**
+                     * Creates a plain object from a Handle message. Also converts values to other types if specified.
+                     * @param {message.support.nubugger.ReactionHandles.Handle} message Handle
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    public static toObject(message: message.support.nubugger.ReactionHandles.Handle, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                    /**
+                     * Creates a plain object from this Handle message. Also converts values to other types if specified.
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                    /**
+                     * Converts this Handle to JSON.
+                     * @returns {Object.<string,*>} JSON object
+                     */
+                    public toJSON(): { [k: string]: any };
+                }
+            }
+        }
+
+        /**
+         * Namespace nuclear.
+         * @exports message.support.nuclear
+         * @namespace
+         */
+        namespace nuclear {
+
+            type ReactionStatistics$Properties = {
+                name?: string;
+                triggerName?: string;
+                functionName?: string;
+                reactionId?: (number|Long);
+                taskId?: (number|Long);
+                causeReactionId?: (number|Long);
+                causeTaskId?: (number|Long);
+                emitted?: (number|Long);
+                started?: (number|Long);
+                finished?: (number|Long);
+            };
+
+            /**
+             * Constructs a new ReactionStatistics.
+             * @exports message.support.nuclear.ReactionStatistics
+             * @constructor
+             * @param {message.support.nuclear.ReactionStatistics$Properties=} [properties] Properties to set
+             */
+            class ReactionStatistics {
+
+                /**
+                 * Constructs a new ReactionStatistics.
+                 * @exports message.support.nuclear.ReactionStatistics
+                 * @constructor
+                 * @param {message.support.nuclear.ReactionStatistics$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.support.nuclear.ReactionStatistics$Properties);
+
+                /**
+                 * ReactionStatistics name.
+                 * @type {string}
+                 */
+                public name: string;
+
+                /**
+                 * ReactionStatistics triggerName.
+                 * @type {string}
+                 */
+                public triggerName: string;
+
+                /**
+                 * ReactionStatistics functionName.
+                 * @type {string}
+                 */
+                public functionName: string;
+
+                /**
+                 * ReactionStatistics reactionId.
+                 * @type {number|Long}
+                 */
+                public reactionId: (number|Long);
+
+                /**
+                 * ReactionStatistics taskId.
+                 * @type {number|Long}
+                 */
+                public taskId: (number|Long);
+
+                /**
+                 * ReactionStatistics causeReactionId.
+                 * @type {number|Long}
+                 */
+                public causeReactionId: (number|Long);
+
+                /**
+                 * ReactionStatistics causeTaskId.
+                 * @type {number|Long}
+                 */
+                public causeTaskId: (number|Long);
+
+                /**
+                 * ReactionStatistics emitted.
+                 * @type {number|Long}
+                 */
+                public emitted: (number|Long);
+
+                /**
+                 * ReactionStatistics started.
+                 * @type {number|Long}
+                 */
+                public started: (number|Long);
+
+                /**
+                 * ReactionStatistics finished.
+                 * @type {number|Long}
+                 */
+                public finished: (number|Long);
+
+                /**
+                 * Creates a new ReactionStatistics instance using the specified properties.
+                 * @param {message.support.nuclear.ReactionStatistics$Properties=} [properties] Properties to set
+                 * @returns {message.support.nuclear.ReactionStatistics} ReactionStatistics instance
+                 */
+                public static create(properties?: message.support.nuclear.ReactionStatistics$Properties): message.support.nuclear.ReactionStatistics;
+
+                /**
+                 * Encodes the specified ReactionStatistics message. Does not implicitly {@link message.support.nuclear.ReactionStatistics.verify|verify} messages.
+                 * @param {message.support.nuclear.ReactionStatistics$Properties} message ReactionStatistics message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.support.nuclear.ReactionStatistics$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified ReactionStatistics message, length delimited. Does not implicitly {@link message.support.nuclear.ReactionStatistics.verify|verify} messages.
+                 * @param {message.support.nuclear.ReactionStatistics$Properties} message ReactionStatistics message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.support.nuclear.ReactionStatistics$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a ReactionStatistics message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.support.nuclear.ReactionStatistics} ReactionStatistics
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.support.nuclear.ReactionStatistics;
+
+                /**
+                 * Decodes a ReactionStatistics message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.support.nuclear.ReactionStatistics} ReactionStatistics
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.support.nuclear.ReactionStatistics;
+
+                /**
+                 * Verifies a ReactionStatistics message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a ReactionStatistics message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.nuclear.ReactionStatistics} ReactionStatistics
+                 */
+                public static fromObject(object: { [k: string]: any }): message.support.nuclear.ReactionStatistics;
+
+                /**
+                 * Creates a ReactionStatistics message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.support.nuclear.ReactionStatistics.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.nuclear.ReactionStatistics} ReactionStatistics
+                 */
+                public static from(object: { [k: string]: any }): message.support.nuclear.ReactionStatistics;
+
+                /**
+                 * Creates a plain object from a ReactionStatistics message. Also converts values to other types if specified.
+                 * @param {message.support.nuclear.ReactionStatistics} message ReactionStatistics
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.support.nuclear.ReactionStatistics, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this ReactionStatistics message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this ReactionStatistics to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+        }
+
+        /**
+         * Namespace optimisation.
+         * @exports message.support.optimisation
+         * @namespace
+         */
+        namespace optimisation {
+
+            type RegisterOptimisation$Properties = {
+                group?: string;
+                network?: boolean;
+                parameters?: message.support.optimisation.OptimiserParameters$Properties;
+            };
+
+            /**
+             * Constructs a new RegisterOptimisation.
+             * @exports message.support.optimisation.RegisterOptimisation
+             * @constructor
+             * @param {message.support.optimisation.RegisterOptimisation$Properties=} [properties] Properties to set
+             */
+            class RegisterOptimisation {
+
+                /**
+                 * Constructs a new RegisterOptimisation.
+                 * @exports message.support.optimisation.RegisterOptimisation
+                 * @constructor
+                 * @param {message.support.optimisation.RegisterOptimisation$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.support.optimisation.RegisterOptimisation$Properties);
+
+                /**
+                 * RegisterOptimisation group.
+                 * @type {string}
+                 */
+                public group: string;
+
+                /**
+                 * RegisterOptimisation network.
+                 * @type {boolean}
+                 */
+                public network: boolean;
+
+                /**
+                 * RegisterOptimisation parameters.
+                 * @type {(message.support.optimisation.OptimiserParameters$Properties|null)}
+                 */
+                public parameters: (message.support.optimisation.OptimiserParameters$Properties|null);
+
+                /**
+                 * Creates a new RegisterOptimisation instance using the specified properties.
+                 * @param {message.support.optimisation.RegisterOptimisation$Properties=} [properties] Properties to set
+                 * @returns {message.support.optimisation.RegisterOptimisation} RegisterOptimisation instance
+                 */
+                public static create(properties?: message.support.optimisation.RegisterOptimisation$Properties): message.support.optimisation.RegisterOptimisation;
+
+                /**
+                 * Encodes the specified RegisterOptimisation message. Does not implicitly {@link message.support.optimisation.RegisterOptimisation.verify|verify} messages.
+                 * @param {message.support.optimisation.RegisterOptimisation$Properties} message RegisterOptimisation message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.support.optimisation.RegisterOptimisation$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified RegisterOptimisation message, length delimited. Does not implicitly {@link message.support.optimisation.RegisterOptimisation.verify|verify} messages.
+                 * @param {message.support.optimisation.RegisterOptimisation$Properties} message RegisterOptimisation message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.support.optimisation.RegisterOptimisation$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a RegisterOptimisation message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.support.optimisation.RegisterOptimisation} RegisterOptimisation
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.support.optimisation.RegisterOptimisation;
+
+                /**
+                 * Decodes a RegisterOptimisation message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.support.optimisation.RegisterOptimisation} RegisterOptimisation
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.support.optimisation.RegisterOptimisation;
+
+                /**
+                 * Verifies a RegisterOptimisation message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a RegisterOptimisation message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.optimisation.RegisterOptimisation} RegisterOptimisation
+                 */
+                public static fromObject(object: { [k: string]: any }): message.support.optimisation.RegisterOptimisation;
+
+                /**
+                 * Creates a RegisterOptimisation message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.support.optimisation.RegisterOptimisation.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.optimisation.RegisterOptimisation} RegisterOptimisation
+                 */
+                public static from(object: { [k: string]: any }): message.support.optimisation.RegisterOptimisation;
+
+                /**
+                 * Creates a plain object from a RegisterOptimisation message. Also converts values to other types if specified.
+                 * @param {message.support.optimisation.RegisterOptimisation} message RegisterOptimisation
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.support.optimisation.RegisterOptimisation, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this RegisterOptimisation message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this RegisterOptimisation to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            type RequestParameters$Properties = {
+                group?: string;
+                nSamples?: number;
+            };
+
+            /**
+             * Constructs a new RequestParameters.
+             * @exports message.support.optimisation.RequestParameters
+             * @constructor
+             * @param {message.support.optimisation.RequestParameters$Properties=} [properties] Properties to set
+             */
+            class RequestParameters {
+
+                /**
+                 * Constructs a new RequestParameters.
+                 * @exports message.support.optimisation.RequestParameters
+                 * @constructor
+                 * @param {message.support.optimisation.RequestParameters$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.support.optimisation.RequestParameters$Properties);
+
+                /**
+                 * RequestParameters group.
+                 * @type {string}
+                 */
+                public group: string;
+
+                /**
+                 * RequestParameters nSamples.
+                 * @type {number}
+                 */
+                public nSamples: number;
+
+                /**
+                 * Creates a new RequestParameters instance using the specified properties.
+                 * @param {message.support.optimisation.RequestParameters$Properties=} [properties] Properties to set
+                 * @returns {message.support.optimisation.RequestParameters} RequestParameters instance
+                 */
+                public static create(properties?: message.support.optimisation.RequestParameters$Properties): message.support.optimisation.RequestParameters;
+
+                /**
+                 * Encodes the specified RequestParameters message. Does not implicitly {@link message.support.optimisation.RequestParameters.verify|verify} messages.
+                 * @param {message.support.optimisation.RequestParameters$Properties} message RequestParameters message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.support.optimisation.RequestParameters$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified RequestParameters message, length delimited. Does not implicitly {@link message.support.optimisation.RequestParameters.verify|verify} messages.
+                 * @param {message.support.optimisation.RequestParameters$Properties} message RequestParameters message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.support.optimisation.RequestParameters$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a RequestParameters message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.support.optimisation.RequestParameters} RequestParameters
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.support.optimisation.RequestParameters;
+
+                /**
+                 * Decodes a RequestParameters message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.support.optimisation.RequestParameters} RequestParameters
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.support.optimisation.RequestParameters;
+
+                /**
+                 * Verifies a RequestParameters message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a RequestParameters message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.optimisation.RequestParameters} RequestParameters
+                 */
+                public static fromObject(object: { [k: string]: any }): message.support.optimisation.RequestParameters;
+
+                /**
+                 * Creates a RequestParameters message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.support.optimisation.RequestParameters.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.optimisation.RequestParameters} RequestParameters
+                 */
+                public static from(object: { [k: string]: any }): message.support.optimisation.RequestParameters;
+
+                /**
+                 * Creates a plain object from a RequestParameters message. Also converts values to other types if specified.
+                 * @param {message.support.optimisation.RequestParameters} message RequestParameters
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.support.optimisation.RequestParameters, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this RequestParameters message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this RequestParameters to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            type Parameters$Properties = {
+                group?: string;
+                generation?: number;
+                samples?: mat$Properties;
+                covariance?: mat$Properties;
+            };
+
+            /**
+             * Constructs a new Parameters.
+             * @exports message.support.optimisation.Parameters
+             * @constructor
+             * @param {message.support.optimisation.Parameters$Properties=} [properties] Properties to set
+             */
+            class Parameters {
+
+                /**
+                 * Constructs a new Parameters.
+                 * @exports message.support.optimisation.Parameters
+                 * @constructor
+                 * @param {message.support.optimisation.Parameters$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.support.optimisation.Parameters$Properties);
+
+                /**
+                 * Parameters group.
+                 * @type {string}
+                 */
+                public group: string;
+
+                /**
+                 * Parameters generation.
+                 * @type {number}
+                 */
+                public generation: number;
+
+                /**
+                 * Parameters samples.
+                 * @type {(mat$Properties|null)}
+                 */
+                public samples: (mat$Properties|null);
+
+                /**
+                 * Parameters covariance.
+                 * @type {(mat$Properties|null)}
+                 */
+                public covariance: (mat$Properties|null);
+
+                /**
+                 * Creates a new Parameters instance using the specified properties.
+                 * @param {message.support.optimisation.Parameters$Properties=} [properties] Properties to set
+                 * @returns {message.support.optimisation.Parameters} Parameters instance
+                 */
+                public static create(properties?: message.support.optimisation.Parameters$Properties): message.support.optimisation.Parameters;
+
+                /**
+                 * Encodes the specified Parameters message. Does not implicitly {@link message.support.optimisation.Parameters.verify|verify} messages.
+                 * @param {message.support.optimisation.Parameters$Properties} message Parameters message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.support.optimisation.Parameters$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified Parameters message, length delimited. Does not implicitly {@link message.support.optimisation.Parameters.verify|verify} messages.
+                 * @param {message.support.optimisation.Parameters$Properties} message Parameters message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.support.optimisation.Parameters$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a Parameters message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.support.optimisation.Parameters} Parameters
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.support.optimisation.Parameters;
+
+                /**
+                 * Decodes a Parameters message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.support.optimisation.Parameters} Parameters
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.support.optimisation.Parameters;
+
+                /**
+                 * Verifies a Parameters message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a Parameters message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.optimisation.Parameters} Parameters
+                 */
+                public static fromObject(object: { [k: string]: any }): message.support.optimisation.Parameters;
+
+                /**
+                 * Creates a Parameters message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.support.optimisation.Parameters.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.optimisation.Parameters} Parameters
+                 */
+                public static from(object: { [k: string]: any }): message.support.optimisation.Parameters;
+
+                /**
+                 * Creates a plain object from a Parameters message. Also converts values to other types if specified.
+                 * @param {message.support.optimisation.Parameters} message Parameters
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.support.optimisation.Parameters, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this Parameters message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this Parameters to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            type OptimiserEstimate$Properties = {
+                generation?: number;
+                estimate?: vec$Properties;
+                covariance?: mat$Properties;
+            };
+
+            /**
+             * Constructs a new OptimiserEstimate.
+             * @exports message.support.optimisation.OptimiserEstimate
+             * @constructor
+             * @param {message.support.optimisation.OptimiserEstimate$Properties=} [properties] Properties to set
+             */
+            class OptimiserEstimate {
+
+                /**
+                 * Constructs a new OptimiserEstimate.
+                 * @exports message.support.optimisation.OptimiserEstimate
+                 * @constructor
+                 * @param {message.support.optimisation.OptimiserEstimate$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.support.optimisation.OptimiserEstimate$Properties);
+
+                /**
+                 * OptimiserEstimate generation.
+                 * @type {number}
+                 */
+                public generation: number;
+
+                /**
+                 * OptimiserEstimate estimate.
+                 * @type {(vec$Properties|null)}
+                 */
+                public estimate: (vec$Properties|null);
+
+                /**
+                 * OptimiserEstimate covariance.
+                 * @type {(mat$Properties|null)}
+                 */
+                public covariance: (mat$Properties|null);
+
+                /**
+                 * Creates a new OptimiserEstimate instance using the specified properties.
+                 * @param {message.support.optimisation.OptimiserEstimate$Properties=} [properties] Properties to set
+                 * @returns {message.support.optimisation.OptimiserEstimate} OptimiserEstimate instance
+                 */
+                public static create(properties?: message.support.optimisation.OptimiserEstimate$Properties): message.support.optimisation.OptimiserEstimate;
+
+                /**
+                 * Encodes the specified OptimiserEstimate message. Does not implicitly {@link message.support.optimisation.OptimiserEstimate.verify|verify} messages.
+                 * @param {message.support.optimisation.OptimiserEstimate$Properties} message OptimiserEstimate message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.support.optimisation.OptimiserEstimate$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified OptimiserEstimate message, length delimited. Does not implicitly {@link message.support.optimisation.OptimiserEstimate.verify|verify} messages.
+                 * @param {message.support.optimisation.OptimiserEstimate$Properties} message OptimiserEstimate message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.support.optimisation.OptimiserEstimate$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes an OptimiserEstimate message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.support.optimisation.OptimiserEstimate} OptimiserEstimate
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.support.optimisation.OptimiserEstimate;
+
+                /**
+                 * Decodes an OptimiserEstimate message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.support.optimisation.OptimiserEstimate} OptimiserEstimate
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.support.optimisation.OptimiserEstimate;
+
+                /**
+                 * Verifies an OptimiserEstimate message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates an OptimiserEstimate message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.optimisation.OptimiserEstimate} OptimiserEstimate
+                 */
+                public static fromObject(object: { [k: string]: any }): message.support.optimisation.OptimiserEstimate;
+
+                /**
+                 * Creates an OptimiserEstimate message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.support.optimisation.OptimiserEstimate.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.optimisation.OptimiserEstimate} OptimiserEstimate
+                 */
+                public static from(object: { [k: string]: any }): message.support.optimisation.OptimiserEstimate;
+
+                /**
+                 * Creates a plain object from an OptimiserEstimate message. Also converts values to other types if specified.
+                 * @param {message.support.optimisation.OptimiserEstimate} message OptimiserEstimate
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.support.optimisation.OptimiserEstimate, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this OptimiserEstimate message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this OptimiserEstimate to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            type OptimiserParameters$Properties = {
+                initial?: message.support.optimisation.OptimiserEstimate$Properties;
+                upperBound?: vec$Properties;
+                lowerBound?: vec$Properties;
+                batchSize?: number;
+            };
+
+            /**
+             * Constructs a new OptimiserParameters.
+             * @exports message.support.optimisation.OptimiserParameters
+             * @constructor
+             * @param {message.support.optimisation.OptimiserParameters$Properties=} [properties] Properties to set
+             */
+            class OptimiserParameters {
+
+                /**
+                 * Constructs a new OptimiserParameters.
+                 * @exports message.support.optimisation.OptimiserParameters
+                 * @constructor
+                 * @param {message.support.optimisation.OptimiserParameters$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.support.optimisation.OptimiserParameters$Properties);
+
+                /**
+                 * OptimiserParameters initial.
+                 * @type {(message.support.optimisation.OptimiserEstimate$Properties|null)}
+                 */
+                public initial: (message.support.optimisation.OptimiserEstimate$Properties|null);
+
+                /**
+                 * OptimiserParameters upperBound.
+                 * @type {(vec$Properties|null)}
+                 */
+                public upperBound: (vec$Properties|null);
+
+                /**
+                 * OptimiserParameters lowerBound.
+                 * @type {(vec$Properties|null)}
+                 */
+                public lowerBound: (vec$Properties|null);
+
+                /**
+                 * OptimiserParameters batchSize.
+                 * @type {number}
+                 */
+                public batchSize: number;
+
+                /**
+                 * Creates a new OptimiserParameters instance using the specified properties.
+                 * @param {message.support.optimisation.OptimiserParameters$Properties=} [properties] Properties to set
+                 * @returns {message.support.optimisation.OptimiserParameters} OptimiserParameters instance
+                 */
+                public static create(properties?: message.support.optimisation.OptimiserParameters$Properties): message.support.optimisation.OptimiserParameters;
+
+                /**
+                 * Encodes the specified OptimiserParameters message. Does not implicitly {@link message.support.optimisation.OptimiserParameters.verify|verify} messages.
+                 * @param {message.support.optimisation.OptimiserParameters$Properties} message OptimiserParameters message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.support.optimisation.OptimiserParameters$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified OptimiserParameters message, length delimited. Does not implicitly {@link message.support.optimisation.OptimiserParameters.verify|verify} messages.
+                 * @param {message.support.optimisation.OptimiserParameters$Properties} message OptimiserParameters message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.support.optimisation.OptimiserParameters$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes an OptimiserParameters message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.support.optimisation.OptimiserParameters} OptimiserParameters
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.support.optimisation.OptimiserParameters;
+
+                /**
+                 * Decodes an OptimiserParameters message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.support.optimisation.OptimiserParameters} OptimiserParameters
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.support.optimisation.OptimiserParameters;
+
+                /**
+                 * Verifies an OptimiserParameters message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates an OptimiserParameters message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.optimisation.OptimiserParameters} OptimiserParameters
+                 */
+                public static fromObject(object: { [k: string]: any }): message.support.optimisation.OptimiserParameters;
+
+                /**
+                 * Creates an OptimiserParameters message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.support.optimisation.OptimiserParameters.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.optimisation.OptimiserParameters} OptimiserParameters
+                 */
+                public static from(object: { [k: string]: any }): message.support.optimisation.OptimiserParameters;
+
+                /**
+                 * Creates a plain object from an OptimiserParameters message. Also converts values to other types if specified.
+                 * @param {message.support.optimisation.OptimiserParameters} message OptimiserParameters
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.support.optimisation.OptimiserParameters, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this OptimiserParameters message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this OptimiserParameters to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            type Episode$Properties = {
+                group?: string;
+                generation?: number;
+                values?: vec$Properties;
+                covariance?: mat$Properties;
+                fitness?: message.support.optimisation.Episode.Fitness$Properties[];
+            };
+
+            /**
+             * Constructs a new Episode.
+             * @exports message.support.optimisation.Episode
+             * @constructor
+             * @param {message.support.optimisation.Episode$Properties=} [properties] Properties to set
+             */
+            class Episode {
+
+                /**
+                 * Constructs a new Episode.
+                 * @exports message.support.optimisation.Episode
+                 * @constructor
+                 * @param {message.support.optimisation.Episode$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.support.optimisation.Episode$Properties);
+
+                /**
+                 * Episode group.
+                 * @type {string}
+                 */
+                public group: string;
+
+                /**
+                 * Episode generation.
+                 * @type {number}
+                 */
+                public generation: number;
+
+                /**
+                 * Episode values.
+                 * @type {(vec$Properties|null)}
+                 */
+                public values: (vec$Properties|null);
+
+                /**
+                 * Episode covariance.
+                 * @type {(mat$Properties|null)}
+                 */
+                public covariance: (mat$Properties|null);
+
+                /**
+                 * Episode fitness.
+                 * @type {Array.<message.support.optimisation.Episode.Fitness$Properties>}
+                 */
+                public fitness: message.support.optimisation.Episode.Fitness$Properties[];
+
+                /**
+                 * Creates a new Episode instance using the specified properties.
+                 * @param {message.support.optimisation.Episode$Properties=} [properties] Properties to set
+                 * @returns {message.support.optimisation.Episode} Episode instance
+                 */
+                public static create(properties?: message.support.optimisation.Episode$Properties): message.support.optimisation.Episode;
+
+                /**
+                 * Encodes the specified Episode message. Does not implicitly {@link message.support.optimisation.Episode.verify|verify} messages.
+                 * @param {message.support.optimisation.Episode$Properties} message Episode message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.support.optimisation.Episode$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified Episode message, length delimited. Does not implicitly {@link message.support.optimisation.Episode.verify|verify} messages.
+                 * @param {message.support.optimisation.Episode$Properties} message Episode message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.support.optimisation.Episode$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes an Episode message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.support.optimisation.Episode} Episode
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.support.optimisation.Episode;
+
+                /**
+                 * Decodes an Episode message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.support.optimisation.Episode} Episode
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.support.optimisation.Episode;
+
+                /**
+                 * Verifies an Episode message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates an Episode message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.optimisation.Episode} Episode
+                 */
+                public static fromObject(object: { [k: string]: any }): message.support.optimisation.Episode;
+
+                /**
+                 * Creates an Episode message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.support.optimisation.Episode.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.optimisation.Episode} Episode
+                 */
+                public static from(object: { [k: string]: any }): message.support.optimisation.Episode;
+
+                /**
+                 * Creates a plain object from an Episode message. Also converts values to other types if specified.
+                 * @param {message.support.optimisation.Episode} message Episode
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.support.optimisation.Episode, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this Episode message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this Episode to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            namespace Episode {
+
+                type Fitness$Properties = {
+                    fitness?: number;
+                    weight?: number;
+                };
+
+                /**
+                 * Constructs a new Fitness.
+                 * @exports message.support.optimisation.Episode.Fitness
+                 * @constructor
+                 * @param {message.support.optimisation.Episode.Fitness$Properties=} [properties] Properties to set
+                 */
+                class Fitness {
+
+                    /**
+                     * Constructs a new Fitness.
+                     * @exports message.support.optimisation.Episode.Fitness
+                     * @constructor
+                     * @param {message.support.optimisation.Episode.Fitness$Properties=} [properties] Properties to set
+                     */
+                    constructor(properties?: message.support.optimisation.Episode.Fitness$Properties);
+
+                    /**
+                     * Fitness fitness.
+                     * @type {number}
+                     */
+                    public fitness: number;
+
+                    /**
+                     * Fitness weight.
+                     * @type {number}
+                     */
+                    public weight: number;
+
+                    /**
+                     * Creates a new Fitness instance using the specified properties.
+                     * @param {message.support.optimisation.Episode.Fitness$Properties=} [properties] Properties to set
+                     * @returns {message.support.optimisation.Episode.Fitness} Fitness instance
+                     */
+                    public static create(properties?: message.support.optimisation.Episode.Fitness$Properties): message.support.optimisation.Episode.Fitness;
+
+                    /**
+                     * Encodes the specified Fitness message. Does not implicitly {@link message.support.optimisation.Episode.Fitness.verify|verify} messages.
+                     * @param {message.support.optimisation.Episode.Fitness$Properties} message Fitness message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    public static encode(message: message.support.optimisation.Episode.Fitness$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                    /**
+                     * Encodes the specified Fitness message, length delimited. Does not implicitly {@link message.support.optimisation.Episode.Fitness.verify|verify} messages.
+                     * @param {message.support.optimisation.Episode.Fitness$Properties} message Fitness message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    public static encodeDelimited(message: message.support.optimisation.Episode.Fitness$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                    /**
+                     * Decodes a Fitness message from the specified reader or buffer.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @param {number} [length] Message length if known beforehand
+                     * @returns {message.support.optimisation.Episode.Fitness} Fitness
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.support.optimisation.Episode.Fitness;
+
+                    /**
+                     * Decodes a Fitness message from the specified reader or buffer, length delimited.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @returns {message.support.optimisation.Episode.Fitness} Fitness
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.support.optimisation.Episode.Fitness;
+
+                    /**
+                     * Verifies a Fitness message.
+                     * @param {Object.<string,*>} message Plain object to verify
+                     * @returns {?string} `null` if valid, otherwise the reason why it is not
+                     */
+                    public static verify(message: { [k: string]: any }): string;
+
+                    /**
+                     * Creates a Fitness message from a plain object. Also converts values to their respective internal types.
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.support.optimisation.Episode.Fitness} Fitness
+                     */
+                    public static fromObject(object: { [k: string]: any }): message.support.optimisation.Episode.Fitness;
+
+                    /**
+                     * Creates a Fitness message from a plain object. Also converts values to their respective internal types.
+                     * This is an alias of {@link message.support.optimisation.Episode.Fitness.fromObject}.
+                     * @function
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.support.optimisation.Episode.Fitness} Fitness
+                     */
+                    public static from(object: { [k: string]: any }): message.support.optimisation.Episode.Fitness;
+
+                    /**
+                     * Creates a plain object from a Fitness message. Also converts values to other types if specified.
+                     * @param {message.support.optimisation.Episode.Fitness} message Fitness
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    public static toObject(message: message.support.optimisation.Episode.Fitness, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                    /**
+                     * Creates a plain object from this Fitness message. Also converts values to other types if specified.
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                    /**
+                     * Converts this Fitness to JSON.
+                     * @returns {Object.<string,*>} JSON object
+                     */
+                    public toJSON(): { [k: string]: any };
+                }
+            }
+
+            type Estimate$Properties = {
+                group?: string;
+                generation?: number;
+                values?: vec$Properties;
+                covariance?: mat$Properties;
+                estimateEpisode?: message.support.optimisation.Episode$Properties[];
+                episode?: message.support.optimisation.Episode$Properties[];
+            };
+
+            /**
+             * Constructs a new Estimate.
+             * @exports message.support.optimisation.Estimate
+             * @constructor
+             * @param {message.support.optimisation.Estimate$Properties=} [properties] Properties to set
+             */
+            class Estimate {
+
+                /**
+                 * Constructs a new Estimate.
+                 * @exports message.support.optimisation.Estimate
+                 * @constructor
+                 * @param {message.support.optimisation.Estimate$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.support.optimisation.Estimate$Properties);
+
+                /**
+                 * Estimate group.
+                 * @type {string}
+                 */
+                public group: string;
+
+                /**
+                 * Estimate generation.
+                 * @type {number}
+                 */
+                public generation: number;
+
+                /**
+                 * Estimate values.
+                 * @type {(vec$Properties|null)}
+                 */
+                public values: (vec$Properties|null);
+
+                /**
+                 * Estimate covariance.
+                 * @type {(mat$Properties|null)}
+                 */
+                public covariance: (mat$Properties|null);
+
+                /**
+                 * Estimate estimateEpisode.
+                 * @type {Array.<message.support.optimisation.Episode$Properties>}
+                 */
+                public estimateEpisode: message.support.optimisation.Episode$Properties[];
+
+                /**
+                 * Estimate episode.
+                 * @type {Array.<message.support.optimisation.Episode$Properties>}
+                 */
+                public episode: message.support.optimisation.Episode$Properties[];
+
+                /**
+                 * Creates a new Estimate instance using the specified properties.
+                 * @param {message.support.optimisation.Estimate$Properties=} [properties] Properties to set
+                 * @returns {message.support.optimisation.Estimate} Estimate instance
+                 */
+                public static create(properties?: message.support.optimisation.Estimate$Properties): message.support.optimisation.Estimate;
+
+                /**
+                 * Encodes the specified Estimate message. Does not implicitly {@link message.support.optimisation.Estimate.verify|verify} messages.
+                 * @param {message.support.optimisation.Estimate$Properties} message Estimate message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.support.optimisation.Estimate$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified Estimate message, length delimited. Does not implicitly {@link message.support.optimisation.Estimate.verify|verify} messages.
+                 * @param {message.support.optimisation.Estimate$Properties} message Estimate message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.support.optimisation.Estimate$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes an Estimate message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.support.optimisation.Estimate} Estimate
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.support.optimisation.Estimate;
+
+                /**
+                 * Decodes an Estimate message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.support.optimisation.Estimate} Estimate
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.support.optimisation.Estimate;
+
+                /**
+                 * Verifies an Estimate message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates an Estimate message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.optimisation.Estimate} Estimate
+                 */
+                public static fromObject(object: { [k: string]: any }): message.support.optimisation.Estimate;
+
+                /**
+                 * Creates an Estimate message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.support.optimisation.Estimate.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.optimisation.Estimate} Estimate
+                 */
+                public static from(object: { [k: string]: any }): message.support.optimisation.Estimate;
+
+                /**
+                 * Creates a plain object from an Estimate message. Also converts values to other types if specified.
+                 * @param {message.support.optimisation.Estimate} message Estimate
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.support.optimisation.Estimate, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this Estimate message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this Estimate to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+        }
+    }
+
+    /**
+     * Namespace vision.
+     * @exports message.vision
+     * @namespace
+     */
+    namespace vision {
+
+        type ClassifiedImage$Properties = {
+            sensors?: message.input.Sensors$Properties;
+            image?: message.input.Image$Properties;
+            dimensions?: uvec2$Properties;
+            ballSeedPoints?: message.vision.ClassifiedImage.SeedPoints$Properties[];
+            ballPoints?: ivec2$Properties[];
+            horizon?: message.vision.Line$Properties;
+            visualHorizon?: ivec2$Properties[];
+            horizontalSegments?: message.vision.ClassifiedImage.Segment$Properties[];
+            verticalSegments?: message.vision.ClassifiedImage.Segment$Properties[];
+        };
+
+        /**
+         * Constructs a new ClassifiedImage.
+         * @exports message.vision.ClassifiedImage
+         * @constructor
+         * @param {message.vision.ClassifiedImage$Properties=} [properties] Properties to set
+         */
+        class ClassifiedImage {
+
+            /**
+             * Constructs a new ClassifiedImage.
+             * @exports message.vision.ClassifiedImage
+             * @constructor
+             * @param {message.vision.ClassifiedImage$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.vision.ClassifiedImage$Properties);
+
+            /**
+             * ClassifiedImage sensors.
+             * @type {(message.input.Sensors$Properties|null)}
+             */
+            public sensors: (message.input.Sensors$Properties|null);
+
+            /**
+             * ClassifiedImage image.
+             * @type {(message.input.Image$Properties|null)}
+             */
+            public image: (message.input.Image$Properties|null);
+
+            /**
+             * ClassifiedImage dimensions.
+             * @type {(uvec2$Properties|null)}
+             */
+            public dimensions: (uvec2$Properties|null);
+
+            /**
+             * ClassifiedImage ballSeedPoints.
+             * @type {Array.<message.vision.ClassifiedImage.SeedPoints$Properties>}
+             */
+            public ballSeedPoints: message.vision.ClassifiedImage.SeedPoints$Properties[];
+
+            /**
+             * ClassifiedImage ballPoints.
+             * @type {Array.<ivec2$Properties>}
+             */
+            public ballPoints: ivec2$Properties[];
+
+            /**
+             * ClassifiedImage horizon.
+             * @type {(message.vision.Line$Properties|null)}
+             */
+            public horizon: (message.vision.Line$Properties|null);
+
+            /**
+             * ClassifiedImage visualHorizon.
+             * @type {Array.<ivec2$Properties>}
+             */
+            public visualHorizon: ivec2$Properties[];
+
+            /**
+             * ClassifiedImage horizontalSegments.
+             * @type {Array.<message.vision.ClassifiedImage.Segment$Properties>}
+             */
+            public horizontalSegments: message.vision.ClassifiedImage.Segment$Properties[];
+
+            /**
+             * ClassifiedImage verticalSegments.
+             * @type {Array.<message.vision.ClassifiedImage.Segment$Properties>}
+             */
+            public verticalSegments: message.vision.ClassifiedImage.Segment$Properties[];
+
+            /**
+             * Creates a new ClassifiedImage instance using the specified properties.
+             * @param {message.vision.ClassifiedImage$Properties=} [properties] Properties to set
+             * @returns {message.vision.ClassifiedImage} ClassifiedImage instance
+             */
+            public static create(properties?: message.vision.ClassifiedImage$Properties): message.vision.ClassifiedImage;
+
+            /**
+             * Encodes the specified ClassifiedImage message. Does not implicitly {@link message.vision.ClassifiedImage.verify|verify} messages.
+             * @param {message.vision.ClassifiedImage$Properties} message ClassifiedImage message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.vision.ClassifiedImage$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified ClassifiedImage message, length delimited. Does not implicitly {@link message.vision.ClassifiedImage.verify|verify} messages.
+             * @param {message.vision.ClassifiedImage$Properties} message ClassifiedImage message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.vision.ClassifiedImage$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a ClassifiedImage message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.vision.ClassifiedImage} ClassifiedImage
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.vision.ClassifiedImage;
+
+            /**
+             * Decodes a ClassifiedImage message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.vision.ClassifiedImage} ClassifiedImage
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.vision.ClassifiedImage;
+
+            /**
+             * Verifies a ClassifiedImage message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a ClassifiedImage message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.ClassifiedImage} ClassifiedImage
+             */
+            public static fromObject(object: { [k: string]: any }): message.vision.ClassifiedImage;
+
+            /**
+             * Creates a ClassifiedImage message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.vision.ClassifiedImage.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.ClassifiedImage} ClassifiedImage
+             */
+            public static from(object: { [k: string]: any }): message.vision.ClassifiedImage;
+
+            /**
+             * Creates a plain object from a ClassifiedImage message. Also converts values to other types if specified.
+             * @param {message.vision.ClassifiedImage} message ClassifiedImage
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.vision.ClassifiedImage, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this ClassifiedImage message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this ClassifiedImage to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        namespace ClassifiedImage {
+
+            /**
+             * SegmentClass enum.
+             * @name SegmentClass
+             * @memberof message.vision.ClassifiedImage
+             * @enum {number}
+             * @property {number} UNKNOWN_CLASS=0 UNKNOWN_CLASS value
+             * @property {number} FIELD=1 FIELD value
+             * @property {number} BALL=2 BALL value
+             * @property {number} GOAL=3 GOAL value
+             * @property {number} LINE=4 LINE value
+             * @property {number} CYAN_TEAM=5 CYAN_TEAM value
+             * @property {number} MAGENTA_TEAM=6 MAGENTA_TEAM value
+             */
+            enum SegmentClass {
+                UNKNOWN_CLASS = 0,
+                FIELD = 1,
+                BALL = 2,
+                GOAL = 3,
+                LINE = 4,
+                CYAN_TEAM = 5,
+                MAGENTA_TEAM = 6
+            }
+
+            type Segment$Properties = {
+                segmentClass?: message.vision.ClassifiedImage.SegmentClass;
+                length?: number;
+                subsample?: number;
+                start?: ivec2$Properties;
+                end?: ivec2$Properties;
+                midpoint?: ivec2$Properties;
+                previous?: number;
+                next?: number;
+            };
+
+            /**
+             * Constructs a new Segment.
+             * @exports message.vision.ClassifiedImage.Segment
+             * @constructor
+             * @param {message.vision.ClassifiedImage.Segment$Properties=} [properties] Properties to set
+             */
+            class Segment {
+
+                /**
+                 * Constructs a new Segment.
+                 * @exports message.vision.ClassifiedImage.Segment
+                 * @constructor
+                 * @param {message.vision.ClassifiedImage.Segment$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.vision.ClassifiedImage.Segment$Properties);
+
+                /**
+                 * Segment segmentClass.
+                 * @type {message.vision.ClassifiedImage.SegmentClass}
+                 */
+                public segmentClass: message.vision.ClassifiedImage.SegmentClass;
+
+                /**
+                 * Segment length.
+                 * @type {number}
+                 */
+                public length: number;
+
+                /**
+                 * Segment subsample.
+                 * @type {number}
+                 */
+                public subsample: number;
+
+                /**
+                 * Segment start.
+                 * @type {(ivec2$Properties|null)}
+                 */
+                public start: (ivec2$Properties|null);
+
+                /**
+                 * Segment end.
+                 * @type {(ivec2$Properties|null)}
+                 */
+                public end: (ivec2$Properties|null);
+
+                /**
+                 * Segment midpoint.
+                 * @type {(ivec2$Properties|null)}
+                 */
+                public midpoint: (ivec2$Properties|null);
+
+                /**
+                 * Segment previous.
+                 * @type {number}
+                 */
+                public previous: number;
+
+                /**
+                 * Segment next.
+                 * @type {number}
+                 */
+                public next: number;
+
+                /**
+                 * Creates a new Segment instance using the specified properties.
+                 * @param {message.vision.ClassifiedImage.Segment$Properties=} [properties] Properties to set
+                 * @returns {message.vision.ClassifiedImage.Segment} Segment instance
+                 */
+                public static create(properties?: message.vision.ClassifiedImage.Segment$Properties): message.vision.ClassifiedImage.Segment;
+
+                /**
+                 * Encodes the specified Segment message. Does not implicitly {@link message.vision.ClassifiedImage.Segment.verify|verify} messages.
+                 * @param {message.vision.ClassifiedImage.Segment$Properties} message Segment message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.vision.ClassifiedImage.Segment$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified Segment message, length delimited. Does not implicitly {@link message.vision.ClassifiedImage.Segment.verify|verify} messages.
+                 * @param {message.vision.ClassifiedImage.Segment$Properties} message Segment message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.vision.ClassifiedImage.Segment$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a Segment message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.vision.ClassifiedImage.Segment} Segment
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.vision.ClassifiedImage.Segment;
+
+                /**
+                 * Decodes a Segment message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.vision.ClassifiedImage.Segment} Segment
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.vision.ClassifiedImage.Segment;
+
+                /**
+                 * Verifies a Segment message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a Segment message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.vision.ClassifiedImage.Segment} Segment
+                 */
+                public static fromObject(object: { [k: string]: any }): message.vision.ClassifiedImage.Segment;
+
+                /**
+                 * Creates a Segment message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.vision.ClassifiedImage.Segment.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.vision.ClassifiedImage.Segment} Segment
+                 */
+                public static from(object: { [k: string]: any }): message.vision.ClassifiedImage.Segment;
+
+                /**
+                 * Creates a plain object from a Segment message. Also converts values to other types if specified.
+                 * @param {message.vision.ClassifiedImage.Segment} message Segment
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.vision.ClassifiedImage.Segment, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this Segment message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this Segment to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+
+            type SeedPoints$Properties = {
+                points?: ivec2$Properties[];
+            };
+
+            /**
+             * Constructs a new SeedPoints.
+             * @exports message.vision.ClassifiedImage.SeedPoints
+             * @constructor
+             * @param {message.vision.ClassifiedImage.SeedPoints$Properties=} [properties] Properties to set
+             */
+            class SeedPoints {
+
+                /**
+                 * Constructs a new SeedPoints.
+                 * @exports message.vision.ClassifiedImage.SeedPoints
+                 * @constructor
+                 * @param {message.vision.ClassifiedImage.SeedPoints$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.vision.ClassifiedImage.SeedPoints$Properties);
+
+                /**
+                 * SeedPoints points.
+                 * @type {Array.<ivec2$Properties>}
+                 */
+                public points: ivec2$Properties[];
+
+                /**
+                 * Creates a new SeedPoints instance using the specified properties.
+                 * @param {message.vision.ClassifiedImage.SeedPoints$Properties=} [properties] Properties to set
+                 * @returns {message.vision.ClassifiedImage.SeedPoints} SeedPoints instance
+                 */
+                public static create(properties?: message.vision.ClassifiedImage.SeedPoints$Properties): message.vision.ClassifiedImage.SeedPoints;
+
+                /**
+                 * Encodes the specified SeedPoints message. Does not implicitly {@link message.vision.ClassifiedImage.SeedPoints.verify|verify} messages.
+                 * @param {message.vision.ClassifiedImage.SeedPoints$Properties} message SeedPoints message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.vision.ClassifiedImage.SeedPoints$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified SeedPoints message, length delimited. Does not implicitly {@link message.vision.ClassifiedImage.SeedPoints.verify|verify} messages.
+                 * @param {message.vision.ClassifiedImage.SeedPoints$Properties} message SeedPoints message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.vision.ClassifiedImage.SeedPoints$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a SeedPoints message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.vision.ClassifiedImage.SeedPoints} SeedPoints
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.vision.ClassifiedImage.SeedPoints;
+
+                /**
+                 * Decodes a SeedPoints message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.vision.ClassifiedImage.SeedPoints} SeedPoints
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.vision.ClassifiedImage.SeedPoints;
+
+                /**
+                 * Verifies a SeedPoints message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a SeedPoints message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.vision.ClassifiedImage.SeedPoints} SeedPoints
+                 */
+                public static fromObject(object: { [k: string]: any }): message.vision.ClassifiedImage.SeedPoints;
+
+                /**
+                 * Creates a SeedPoints message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.vision.ClassifiedImage.SeedPoints.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.vision.ClassifiedImage.SeedPoints} SeedPoints
+                 */
+                public static from(object: { [k: string]: any }): message.vision.ClassifiedImage.SeedPoints;
+
+                /**
+                 * Creates a plain object from a SeedPoints message. Also converts values to other types if specified.
+                 * @param {message.vision.ClassifiedImage.SeedPoints} message SeedPoints
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.vision.ClassifiedImage.SeedPoints, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this SeedPoints message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this SeedPoints to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+        }
+
+        type LookUpTable$Properties = {
+            table?: Uint8Array;
+            bitsY?: number;
+            bitsCb?: number;
+            bitsCr?: number;
+        };
+
+        /**
+         * Constructs a new LookUpTable.
+         * @exports message.vision.LookUpTable
+         * @constructor
+         * @param {message.vision.LookUpTable$Properties=} [properties] Properties to set
+         */
+        class LookUpTable {
+
+            /**
+             * Constructs a new LookUpTable.
+             * @exports message.vision.LookUpTable
+             * @constructor
+             * @param {message.vision.LookUpTable$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.vision.LookUpTable$Properties);
+
+            /**
+             * LookUpTable table.
+             * @type {Uint8Array}
+             */
+            public table: Uint8Array;
+
+            /**
+             * LookUpTable bitsY.
+             * @type {number}
+             */
+            public bitsY: number;
+
+            /**
+             * LookUpTable bitsCb.
+             * @type {number}
+             */
+            public bitsCb: number;
+
+            /**
+             * LookUpTable bitsCr.
+             * @type {number}
+             */
+            public bitsCr: number;
+
+            /**
+             * Creates a new LookUpTable instance using the specified properties.
+             * @param {message.vision.LookUpTable$Properties=} [properties] Properties to set
+             * @returns {message.vision.LookUpTable} LookUpTable instance
+             */
+            public static create(properties?: message.vision.LookUpTable$Properties): message.vision.LookUpTable;
+
+            /**
+             * Encodes the specified LookUpTable message. Does not implicitly {@link message.vision.LookUpTable.verify|verify} messages.
+             * @param {message.vision.LookUpTable$Properties} message LookUpTable message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.vision.LookUpTable$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified LookUpTable message, length delimited. Does not implicitly {@link message.vision.LookUpTable.verify|verify} messages.
+             * @param {message.vision.LookUpTable$Properties} message LookUpTable message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.vision.LookUpTable$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a LookUpTable message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.vision.LookUpTable} LookUpTable
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.vision.LookUpTable;
+
+            /**
+             * Decodes a LookUpTable message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.vision.LookUpTable} LookUpTable
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.vision.LookUpTable;
+
+            /**
+             * Verifies a LookUpTable message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a LookUpTable message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.LookUpTable} LookUpTable
+             */
+            public static fromObject(object: { [k: string]: any }): message.vision.LookUpTable;
+
+            /**
+             * Creates a LookUpTable message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.vision.LookUpTable.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.LookUpTable} LookUpTable
+             */
+            public static from(object: { [k: string]: any }): message.vision.LookUpTable;
+
+            /**
+             * Creates a plain object from a LookUpTable message. Also converts values to other types if specified.
+             * @param {message.vision.LookUpTable} message LookUpTable
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.vision.LookUpTable, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this LookUpTable message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this LookUpTable to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type SaveLookUpTable$Properties = {};
+
+        /**
+         * Constructs a new SaveLookUpTable.
+         * @exports message.vision.SaveLookUpTable
+         * @constructor
+         * @param {message.vision.SaveLookUpTable$Properties=} [properties] Properties to set
+         */
+        class SaveLookUpTable {
+
+            /**
+             * Constructs a new SaveLookUpTable.
+             * @exports message.vision.SaveLookUpTable
+             * @constructor
+             * @param {message.vision.SaveLookUpTable$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.vision.SaveLookUpTable$Properties);
+
+            /**
+             * Creates a new SaveLookUpTable instance using the specified properties.
+             * @param {message.vision.SaveLookUpTable$Properties=} [properties] Properties to set
+             * @returns {message.vision.SaveLookUpTable} SaveLookUpTable instance
+             */
+            public static create(properties?: message.vision.SaveLookUpTable$Properties): message.vision.SaveLookUpTable;
+
+            /**
+             * Encodes the specified SaveLookUpTable message. Does not implicitly {@link message.vision.SaveLookUpTable.verify|verify} messages.
+             * @param {message.vision.SaveLookUpTable$Properties} message SaveLookUpTable message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.vision.SaveLookUpTable$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified SaveLookUpTable message, length delimited. Does not implicitly {@link message.vision.SaveLookUpTable.verify|verify} messages.
+             * @param {message.vision.SaveLookUpTable$Properties} message SaveLookUpTable message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.vision.SaveLookUpTable$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a SaveLookUpTable message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.vision.SaveLookUpTable} SaveLookUpTable
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.vision.SaveLookUpTable;
+
+            /**
+             * Decodes a SaveLookUpTable message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.vision.SaveLookUpTable} SaveLookUpTable
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.vision.SaveLookUpTable;
+
+            /**
+             * Verifies a SaveLookUpTable message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a SaveLookUpTable message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.SaveLookUpTable} SaveLookUpTable
+             */
+            public static fromObject(object: { [k: string]: any }): message.vision.SaveLookUpTable;
+
+            /**
+             * Creates a SaveLookUpTable message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.vision.SaveLookUpTable.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.SaveLookUpTable} SaveLookUpTable
+             */
+            public static from(object: { [k: string]: any }): message.vision.SaveLookUpTable;
+
+            /**
+             * Creates a plain object from a SaveLookUpTable message. Also converts values to other types if specified.
+             * @param {message.vision.SaveLookUpTable} message SaveLookUpTable
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.vision.SaveLookUpTable, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this SaveLookUpTable message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this SaveLookUpTable to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type LookUpTableDiff$Properties = {
+            diff?: message.vision.LookUpTableDiff.Diff$Properties[];
+        };
+
+        /**
+         * Constructs a new LookUpTableDiff.
+         * @exports message.vision.LookUpTableDiff
+         * @constructor
+         * @param {message.vision.LookUpTableDiff$Properties=} [properties] Properties to set
+         */
+        class LookUpTableDiff {
+
+            /**
+             * Constructs a new LookUpTableDiff.
+             * @exports message.vision.LookUpTableDiff
+             * @constructor
+             * @param {message.vision.LookUpTableDiff$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.vision.LookUpTableDiff$Properties);
+
+            /**
+             * LookUpTableDiff diff.
+             * @type {Array.<message.vision.LookUpTableDiff.Diff$Properties>}
+             */
+            public diff: message.vision.LookUpTableDiff.Diff$Properties[];
+
+            /**
+             * Creates a new LookUpTableDiff instance using the specified properties.
+             * @param {message.vision.LookUpTableDiff$Properties=} [properties] Properties to set
+             * @returns {message.vision.LookUpTableDiff} LookUpTableDiff instance
+             */
+            public static create(properties?: message.vision.LookUpTableDiff$Properties): message.vision.LookUpTableDiff;
+
+            /**
+             * Encodes the specified LookUpTableDiff message. Does not implicitly {@link message.vision.LookUpTableDiff.verify|verify} messages.
+             * @param {message.vision.LookUpTableDiff$Properties} message LookUpTableDiff message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.vision.LookUpTableDiff$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified LookUpTableDiff message, length delimited. Does not implicitly {@link message.vision.LookUpTableDiff.verify|verify} messages.
+             * @param {message.vision.LookUpTableDiff$Properties} message LookUpTableDiff message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.vision.LookUpTableDiff$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a LookUpTableDiff message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.vision.LookUpTableDiff} LookUpTableDiff
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.vision.LookUpTableDiff;
+
+            /**
+             * Decodes a LookUpTableDiff message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.vision.LookUpTableDiff} LookUpTableDiff
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.vision.LookUpTableDiff;
+
+            /**
+             * Verifies a LookUpTableDiff message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a LookUpTableDiff message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.LookUpTableDiff} LookUpTableDiff
+             */
+            public static fromObject(object: { [k: string]: any }): message.vision.LookUpTableDiff;
+
+            /**
+             * Creates a LookUpTableDiff message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.vision.LookUpTableDiff.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.LookUpTableDiff} LookUpTableDiff
+             */
+            public static from(object: { [k: string]: any }): message.vision.LookUpTableDiff;
+
+            /**
+             * Creates a plain object from a LookUpTableDiff message. Also converts values to other types if specified.
+             * @param {message.vision.LookUpTableDiff} message LookUpTableDiff
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.vision.LookUpTableDiff, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this LookUpTableDiff message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this LookUpTableDiff to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        namespace LookUpTableDiff {
+
+            type Diff$Properties = {
+                lutIndex?: number;
+                classification?: number;
+            };
+
+            /**
+             * Constructs a new Diff.
+             * @exports message.vision.LookUpTableDiff.Diff
+             * @constructor
+             * @param {message.vision.LookUpTableDiff.Diff$Properties=} [properties] Properties to set
+             */
+            class Diff {
+
+                /**
+                 * Constructs a new Diff.
+                 * @exports message.vision.LookUpTableDiff.Diff
+                 * @constructor
+                 * @param {message.vision.LookUpTableDiff.Diff$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.vision.LookUpTableDiff.Diff$Properties);
+
+                /**
+                 * Diff lutIndex.
+                 * @type {number}
+                 */
+                public lutIndex: number;
+
+                /**
+                 * Diff classification.
+                 * @type {number}
+                 */
+                public classification: number;
+
+                /**
+                 * Creates a new Diff instance using the specified properties.
+                 * @param {message.vision.LookUpTableDiff.Diff$Properties=} [properties] Properties to set
+                 * @returns {message.vision.LookUpTableDiff.Diff} Diff instance
+                 */
+                public static create(properties?: message.vision.LookUpTableDiff.Diff$Properties): message.vision.LookUpTableDiff.Diff;
+
+                /**
+                 * Encodes the specified Diff message. Does not implicitly {@link message.vision.LookUpTableDiff.Diff.verify|verify} messages.
+                 * @param {message.vision.LookUpTableDiff.Diff$Properties} message Diff message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.vision.LookUpTableDiff.Diff$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified Diff message, length delimited. Does not implicitly {@link message.vision.LookUpTableDiff.Diff.verify|verify} messages.
+                 * @param {message.vision.LookUpTableDiff.Diff$Properties} message Diff message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.vision.LookUpTableDiff.Diff$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a Diff message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.vision.LookUpTableDiff.Diff} Diff
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.vision.LookUpTableDiff.Diff;
+
+                /**
+                 * Decodes a Diff message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.vision.LookUpTableDiff.Diff} Diff
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.vision.LookUpTableDiff.Diff;
+
+                /**
+                 * Verifies a Diff message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a Diff message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.vision.LookUpTableDiff.Diff} Diff
+                 */
+                public static fromObject(object: { [k: string]: any }): message.vision.LookUpTableDiff.Diff;
+
+                /**
+                 * Creates a Diff message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.vision.LookUpTableDiff.Diff.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.vision.LookUpTableDiff.Diff} Diff
+                 */
+                public static from(object: { [k: string]: any }): message.vision.LookUpTableDiff.Diff;
+
+                /**
+                 * Creates a plain object from a Diff message. Also converts values to other types if specified.
+                 * @param {message.vision.LookUpTableDiff.Diff} message Diff
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.vision.LookUpTableDiff.Diff, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this Diff message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this Diff to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+        }
+
+        type VisionObject$Properties = {
+            timestamp?: google.protobuf.Timestamp$Properties;
+            screenAngular?: vec2$Properties;
+            angularSize?: vec2$Properties;
+            sensors?: message.input.Sensors$Properties;
+            classifiedImage?: message.vision.ClassifiedImage$Properties;
+            cameraId?: number;
+        };
+
+        /**
+         * Constructs a new VisionObject.
+         * @exports message.vision.VisionObject
+         * @constructor
+         * @param {message.vision.VisionObject$Properties=} [properties] Properties to set
+         */
+        class VisionObject {
+
+            /**
+             * Constructs a new VisionObject.
+             * @exports message.vision.VisionObject
+             * @constructor
+             * @param {message.vision.VisionObject$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.vision.VisionObject$Properties);
+
+            /**
+             * VisionObject timestamp.
+             * @type {(google.protobuf.Timestamp$Properties|null)}
+             */
+            public timestamp: (google.protobuf.Timestamp$Properties|null);
+
+            /**
+             * VisionObject screenAngular.
+             * @type {(vec2$Properties|null)}
+             */
+            public screenAngular: (vec2$Properties|null);
+
+            /**
+             * VisionObject angularSize.
+             * @type {(vec2$Properties|null)}
+             */
+            public angularSize: (vec2$Properties|null);
+
+            /**
+             * VisionObject sensors.
+             * @type {(message.input.Sensors$Properties|null)}
+             */
+            public sensors: (message.input.Sensors$Properties|null);
+
+            /**
+             * VisionObject classifiedImage.
+             * @type {(message.vision.ClassifiedImage$Properties|null)}
+             */
+            public classifiedImage: (message.vision.ClassifiedImage$Properties|null);
+
+            /**
+             * VisionObject cameraId.
+             * @type {number}
+             */
+            public cameraId: number;
+
+            /**
+             * Creates a new VisionObject instance using the specified properties.
+             * @param {message.vision.VisionObject$Properties=} [properties] Properties to set
+             * @returns {message.vision.VisionObject} VisionObject instance
+             */
+            public static create(properties?: message.vision.VisionObject$Properties): message.vision.VisionObject;
+
+            /**
+             * Encodes the specified VisionObject message. Does not implicitly {@link message.vision.VisionObject.verify|verify} messages.
+             * @param {message.vision.VisionObject$Properties} message VisionObject message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.vision.VisionObject$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified VisionObject message, length delimited. Does not implicitly {@link message.vision.VisionObject.verify|verify} messages.
+             * @param {message.vision.VisionObject$Properties} message VisionObject message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.vision.VisionObject$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a VisionObject message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.vision.VisionObject} VisionObject
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.vision.VisionObject;
+
+            /**
+             * Decodes a VisionObject message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.vision.VisionObject} VisionObject
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.vision.VisionObject;
+
+            /**
+             * Verifies a VisionObject message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a VisionObject message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.VisionObject} VisionObject
+             */
+            public static fromObject(object: { [k: string]: any }): message.vision.VisionObject;
+
+            /**
+             * Creates a VisionObject message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.vision.VisionObject.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.VisionObject} VisionObject
+             */
+            public static from(object: { [k: string]: any }): message.vision.VisionObject;
+
+            /**
+             * Creates a plain object from a VisionObject message. Also converts values to other types if specified.
+             * @param {message.vision.VisionObject} message VisionObject
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.vision.VisionObject, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this VisionObject message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this VisionObject to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type Ball$Properties = {
+            visObject?: message.vision.VisionObject$Properties;
+            position?: vec3$Properties;
+            torsoSpacePosition?: vec3$Properties;
+            edgePoints?: vec3$Properties[];
+            circle?: message.Circle$Properties;
+        };
+
+        /**
+         * Constructs a new Ball.
+         * @exports message.vision.Ball
+         * @constructor
+         * @param {message.vision.Ball$Properties=} [properties] Properties to set
+         */
+        class Ball {
+
+            /**
+             * Constructs a new Ball.
+             * @exports message.vision.Ball
+             * @constructor
+             * @param {message.vision.Ball$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.vision.Ball$Properties);
+
+            /**
+             * Ball visObject.
+             * @type {(message.vision.VisionObject$Properties|null)}
+             */
+            public visObject: (message.vision.VisionObject$Properties|null);
+
+            /**
+             * Ball position.
+             * @type {(vec3$Properties|null)}
+             */
+            public position: (vec3$Properties|null);
+
+            /**
+             * Ball torsoSpacePosition.
+             * @type {(vec3$Properties|null)}
+             */
+            public torsoSpacePosition: (vec3$Properties|null);
+
+            /**
+             * Ball edgePoints.
+             * @type {Array.<vec3$Properties>}
+             */
+            public edgePoints: vec3$Properties[];
+
+            /**
+             * Ball circle.
+             * @type {(message.Circle$Properties|null)}
+             */
+            public circle: (message.Circle$Properties|null);
+
+            /**
+             * Creates a new Ball instance using the specified properties.
+             * @param {message.vision.Ball$Properties=} [properties] Properties to set
+             * @returns {message.vision.Ball} Ball instance
+             */
+            public static create(properties?: message.vision.Ball$Properties): message.vision.Ball;
+
+            /**
+             * Encodes the specified Ball message. Does not implicitly {@link message.vision.Ball.verify|verify} messages.
+             * @param {message.vision.Ball$Properties} message Ball message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.vision.Ball$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified Ball message, length delimited. Does not implicitly {@link message.vision.Ball.verify|verify} messages.
+             * @param {message.vision.Ball$Properties} message Ball message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.vision.Ball$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a Ball message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.vision.Ball} Ball
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.vision.Ball;
+
+            /**
+             * Decodes a Ball message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.vision.Ball} Ball
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.vision.Ball;
+
+            /**
+             * Verifies a Ball message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a Ball message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.Ball} Ball
+             */
+            public static fromObject(object: { [k: string]: any }): message.vision.Ball;
+
+            /**
+             * Creates a Ball message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.vision.Ball.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.Ball} Ball
+             */
+            public static from(object: { [k: string]: any }): message.vision.Ball;
+
+            /**
+             * Creates a plain object from a Ball message. Also converts values to other types if specified.
+             * @param {message.vision.Ball} message Ball
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.vision.Ball, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this Ball message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this Ball to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type Goal$Properties = {
+            visObject?: message.vision.VisionObject$Properties;
+            side?: message.vision.Goal.Side;
+            team?: message.vision.Goal.Team;
+            quad?: message.Quad$Properties;
+            measurement?: message.vision.Goal.Measurement$Properties[];
+        };
+
+        /**
+         * Constructs a new Goal.
+         * @exports message.vision.Goal
+         * @constructor
+         * @param {message.vision.Goal$Properties=} [properties] Properties to set
+         */
+        class Goal {
+
+            /**
+             * Constructs a new Goal.
+             * @exports message.vision.Goal
+             * @constructor
+             * @param {message.vision.Goal$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.vision.Goal$Properties);
+
+            /**
+             * Goal visObject.
+             * @type {(message.vision.VisionObject$Properties|null)}
+             */
+            public visObject: (message.vision.VisionObject$Properties|null);
+
+            /**
+             * Goal side.
+             * @type {message.vision.Goal.Side}
+             */
+            public side: message.vision.Goal.Side;
+
+            /**
+             * Goal team.
+             * @type {message.vision.Goal.Team}
+             */
+            public team: message.vision.Goal.Team;
+
+            /**
+             * Goal quad.
+             * @type {(message.Quad$Properties|null)}
+             */
+            public quad: (message.Quad$Properties|null);
+
+            /**
+             * Goal measurement.
+             * @type {Array.<message.vision.Goal.Measurement$Properties>}
+             */
+            public measurement: message.vision.Goal.Measurement$Properties[];
+
+            /**
+             * Creates a new Goal instance using the specified properties.
+             * @param {message.vision.Goal$Properties=} [properties] Properties to set
+             * @returns {message.vision.Goal} Goal instance
+             */
+            public static create(properties?: message.vision.Goal$Properties): message.vision.Goal;
+
+            /**
+             * Encodes the specified Goal message. Does not implicitly {@link message.vision.Goal.verify|verify} messages.
+             * @param {message.vision.Goal$Properties} message Goal message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.vision.Goal$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified Goal message, length delimited. Does not implicitly {@link message.vision.Goal.verify|verify} messages.
+             * @param {message.vision.Goal$Properties} message Goal message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.vision.Goal$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a Goal message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.vision.Goal} Goal
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.vision.Goal;
+
+            /**
+             * Decodes a Goal message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.vision.Goal} Goal
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.vision.Goal;
+
+            /**
+             * Verifies a Goal message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a Goal message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.Goal} Goal
+             */
+            public static fromObject(object: { [k: string]: any }): message.vision.Goal;
+
+            /**
+             * Creates a Goal message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.vision.Goal.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.Goal} Goal
+             */
+            public static from(object: { [k: string]: any }): message.vision.Goal;
+
+            /**
+             * Creates a plain object from a Goal message. Also converts values to other types if specified.
+             * @param {message.vision.Goal} message Goal
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.vision.Goal, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this Goal message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this Goal to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        namespace Goal {
+
+            /**
+             * Side enum.
+             * @name Side
+             * @memberof message.vision.Goal
+             * @enum {number}
+             * @property {number} UNKNOWN_SIDE=0 UNKNOWN_SIDE value
+             * @property {number} LEFT=1 LEFT value
+             * @property {number} RIGHT=2 RIGHT value
+             */
+            enum Side {
+                UNKNOWN_SIDE = 0,
+                LEFT = 1,
+                RIGHT = 2
+            }
+
+            /**
+             * Team enum.
+             * @name Team
+             * @memberof message.vision.Goal
+             * @enum {number}
+             * @property {number} UNKNOWN_TEAM=0 UNKNOWN_TEAM value
+             * @property {number} OWN=1 OWN value
+             * @property {number} OPPONENT=2 OPPONENT value
+             */
+            enum Team {
+                UNKNOWN_TEAM = 0,
+                OWN = 1,
+                OPPONENT = 2
+            }
+
+            /**
+             * MeasurementType enum.
+             * @name MeasurementType
+             * @memberof message.vision.Goal
+             * @enum {number}
+             * @property {number} UNKNOWN_MEASUREMENT=0 UNKNOWN_MEASUREMENT value
+             * @property {number} LEFT_NORMAL=1 LEFT_NORMAL value
+             * @property {number} RIGHT_NORMAL=2 RIGHT_NORMAL value
+             * @property {number} TOP_NORMAL=3 TOP_NORMAL value
+             * @property {number} BASE_NORMAL=4 BASE_NORMAL value
+             */
+            enum MeasurementType {
+                UNKNOWN_MEASUREMENT = 0,
+                LEFT_NORMAL = 1,
+                RIGHT_NORMAL = 2,
+                TOP_NORMAL = 3,
+                BASE_NORMAL = 4
+            }
+
+            type Measurement$Properties = {
+                type?: message.vision.Goal.MeasurementType;
+                position?: vec3$Properties;
+            };
+
+            /**
+             * Constructs a new Measurement.
+             * @exports message.vision.Goal.Measurement
+             * @constructor
+             * @param {message.vision.Goal.Measurement$Properties=} [properties] Properties to set
+             */
+            class Measurement {
+
+                /**
+                 * Constructs a new Measurement.
+                 * @exports message.vision.Goal.Measurement
+                 * @constructor
+                 * @param {message.vision.Goal.Measurement$Properties=} [properties] Properties to set
+                 */
+                constructor(properties?: message.vision.Goal.Measurement$Properties);
+
+                /**
+                 * Measurement type.
+                 * @type {message.vision.Goal.MeasurementType}
+                 */
+                public type: message.vision.Goal.MeasurementType;
+
+                /**
+                 * Measurement position.
+                 * @type {(vec3$Properties|null)}
+                 */
+                public position: (vec3$Properties|null);
+
+                /**
+                 * Creates a new Measurement instance using the specified properties.
+                 * @param {message.vision.Goal.Measurement$Properties=} [properties] Properties to set
+                 * @returns {message.vision.Goal.Measurement} Measurement instance
+                 */
+                public static create(properties?: message.vision.Goal.Measurement$Properties): message.vision.Goal.Measurement;
+
+                /**
+                 * Encodes the specified Measurement message. Does not implicitly {@link message.vision.Goal.Measurement.verify|verify} messages.
+                 * @param {message.vision.Goal.Measurement$Properties} message Measurement message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encode(message: message.vision.Goal.Measurement$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Encodes the specified Measurement message, length delimited. Does not implicitly {@link message.vision.Goal.Measurement.verify|verify} messages.
+                 * @param {message.vision.Goal.Measurement$Properties} message Measurement message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                public static encodeDelimited(message: message.vision.Goal.Measurement$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+                /**
+                 * Decodes a Measurement message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.vision.Goal.Measurement} Measurement
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.vision.Goal.Measurement;
+
+                /**
+                 * Decodes a Measurement message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.vision.Goal.Measurement} Measurement
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.vision.Goal.Measurement;
+
+                /**
+                 * Verifies a Measurement message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                public static verify(message: { [k: string]: any }): string;
+
+                /**
+                 * Creates a Measurement message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.vision.Goal.Measurement} Measurement
+                 */
+                public static fromObject(object: { [k: string]: any }): message.vision.Goal.Measurement;
+
+                /**
+                 * Creates a Measurement message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.vision.Goal.Measurement.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.vision.Goal.Measurement} Measurement
+                 */
+                public static from(object: { [k: string]: any }): message.vision.Goal.Measurement;
+
+                /**
+                 * Creates a plain object from a Measurement message. Also converts values to other types if specified.
+                 * @param {message.vision.Goal.Measurement} message Measurement
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public static toObject(message: message.vision.Goal.Measurement, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Creates a plain object from this Measurement message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+                /**
+                 * Converts this Measurement to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                public toJSON(): { [k: string]: any };
+            }
+        }
+
+        type Obstacle$Properties = {
+            visObject?: message.vision.VisionObject$Properties;
+            shape?: message.Polygon$Properties;
+            team?: message.vision.Obstacle.Team;
+        };
+
+        /**
+         * Constructs a new Obstacle.
+         * @exports message.vision.Obstacle
+         * @constructor
+         * @param {message.vision.Obstacle$Properties=} [properties] Properties to set
+         */
+        class Obstacle {
+
+            /**
+             * Constructs a new Obstacle.
+             * @exports message.vision.Obstacle
+             * @constructor
+             * @param {message.vision.Obstacle$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.vision.Obstacle$Properties);
+
+            /**
+             * Obstacle visObject.
+             * @type {(message.vision.VisionObject$Properties|null)}
+             */
+            public visObject: (message.vision.VisionObject$Properties|null);
+
+            /**
+             * Obstacle shape.
+             * @type {(message.Polygon$Properties|null)}
+             */
+            public shape: (message.Polygon$Properties|null);
+
+            /**
+             * Obstacle team.
+             * @type {message.vision.Obstacle.Team}
+             */
+            public team: message.vision.Obstacle.Team;
+
+            /**
+             * Creates a new Obstacle instance using the specified properties.
+             * @param {message.vision.Obstacle$Properties=} [properties] Properties to set
+             * @returns {message.vision.Obstacle} Obstacle instance
+             */
+            public static create(properties?: message.vision.Obstacle$Properties): message.vision.Obstacle;
+
+            /**
+             * Encodes the specified Obstacle message. Does not implicitly {@link message.vision.Obstacle.verify|verify} messages.
+             * @param {message.vision.Obstacle$Properties} message Obstacle message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.vision.Obstacle$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified Obstacle message, length delimited. Does not implicitly {@link message.vision.Obstacle.verify|verify} messages.
+             * @param {message.vision.Obstacle$Properties} message Obstacle message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.vision.Obstacle$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes an Obstacle message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.vision.Obstacle} Obstacle
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.vision.Obstacle;
+
+            /**
+             * Decodes an Obstacle message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.vision.Obstacle} Obstacle
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.vision.Obstacle;
+
+            /**
+             * Verifies an Obstacle message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates an Obstacle message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.Obstacle} Obstacle
+             */
+            public static fromObject(object: { [k: string]: any }): message.vision.Obstacle;
+
+            /**
+             * Creates an Obstacle message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.vision.Obstacle.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.Obstacle} Obstacle
+             */
+            public static from(object: { [k: string]: any }): message.vision.Obstacle;
+
+            /**
+             * Creates a plain object from an Obstacle message. Also converts values to other types if specified.
+             * @param {message.vision.Obstacle} message Obstacle
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.vision.Obstacle, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this Obstacle message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this Obstacle to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        namespace Obstacle {
+
+            /**
+             * Team enum.
+             * @name Team
+             * @memberof message.vision.Obstacle
+             * @enum {number}
+             * @property {number} UNKNOWN_TEAM=0 UNKNOWN_TEAM value
+             * @property {number} MAGENTA=1 MAGENTA value
+             * @property {number} CYAN=2 CYAN value
+             */
+            enum Team {
+                UNKNOWN_TEAM = 0,
+                MAGENTA = 1,
+                CYAN = 2
+            }
+        }
+
+        type Line$Properties = {
+            visObject?: message.vision.VisionObject$Properties;
+            start?: ivec2$Properties;
+            end?: ivec2$Properties;
+            colour?: vec4$Properties;
+        };
+
+        /**
+         * Constructs a new Line.
+         * @exports message.vision.Line
+         * @constructor
+         * @param {message.vision.Line$Properties=} [properties] Properties to set
+         */
+        class Line {
+
+            /**
+             * Constructs a new Line.
+             * @exports message.vision.Line
+             * @constructor
+             * @param {message.vision.Line$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.vision.Line$Properties);
+
+            /**
+             * Line visObject.
+             * @type {(message.vision.VisionObject$Properties|null)}
+             */
+            public visObject: (message.vision.VisionObject$Properties|null);
+
+            /**
+             * Line start.
+             * @type {(ivec2$Properties|null)}
+             */
+            public start: (ivec2$Properties|null);
+
+            /**
+             * Line end.
+             * @type {(ivec2$Properties|null)}
+             */
+            public end: (ivec2$Properties|null);
+
+            /**
+             * Line colour.
+             * @type {(vec4$Properties|null)}
+             */
+            public colour: (vec4$Properties|null);
+
+            /**
+             * Creates a new Line instance using the specified properties.
+             * @param {message.vision.Line$Properties=} [properties] Properties to set
+             * @returns {message.vision.Line} Line instance
+             */
+            public static create(properties?: message.vision.Line$Properties): message.vision.Line;
+
+            /**
+             * Encodes the specified Line message. Does not implicitly {@link message.vision.Line.verify|verify} messages.
+             * @param {message.vision.Line$Properties} message Line message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.vision.Line$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified Line message, length delimited. Does not implicitly {@link message.vision.Line.verify|verify} messages.
+             * @param {message.vision.Line$Properties} message Line message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.vision.Line$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a Line message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.vision.Line} Line
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.vision.Line;
+
+            /**
+             * Decodes a Line message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.vision.Line} Line
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.vision.Line;
+
+            /**
+             * Verifies a Line message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a Line message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.Line} Line
+             */
+            public static fromObject(object: { [k: string]: any }): message.vision.Line;
+
+            /**
+             * Creates a Line message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.vision.Line.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.Line} Line
+             */
+            public static from(object: { [k: string]: any }): message.vision.Line;
+
+            /**
+             * Creates a plain object from a Line message. Also converts values to other types if specified.
+             * @param {message.vision.Line} message Line
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.vision.Line, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this Line message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this Line to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type NUsightBalls$Properties = {
+            balls?: message.vision.Ball$Properties[];
+        };
+
+        /**
+         * Constructs a new NUsightBalls.
+         * @exports message.vision.NUsightBalls
+         * @constructor
+         * @param {message.vision.NUsightBalls$Properties=} [properties] Properties to set
+         */
+        class NUsightBalls {
+
+            /**
+             * Constructs a new NUsightBalls.
+             * @exports message.vision.NUsightBalls
+             * @constructor
+             * @param {message.vision.NUsightBalls$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.vision.NUsightBalls$Properties);
+
+            /**
+             * NUsightBalls balls.
+             * @type {Array.<message.vision.Ball$Properties>}
+             */
+            public balls: message.vision.Ball$Properties[];
+
+            /**
+             * Creates a new NUsightBalls instance using the specified properties.
+             * @param {message.vision.NUsightBalls$Properties=} [properties] Properties to set
+             * @returns {message.vision.NUsightBalls} NUsightBalls instance
+             */
+            public static create(properties?: message.vision.NUsightBalls$Properties): message.vision.NUsightBalls;
+
+            /**
+             * Encodes the specified NUsightBalls message. Does not implicitly {@link message.vision.NUsightBalls.verify|verify} messages.
+             * @param {message.vision.NUsightBalls$Properties} message NUsightBalls message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.vision.NUsightBalls$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified NUsightBalls message, length delimited. Does not implicitly {@link message.vision.NUsightBalls.verify|verify} messages.
+             * @param {message.vision.NUsightBalls$Properties} message NUsightBalls message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.vision.NUsightBalls$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a NUsightBalls message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.vision.NUsightBalls} NUsightBalls
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.vision.NUsightBalls;
+
+            /**
+             * Decodes a NUsightBalls message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.vision.NUsightBalls} NUsightBalls
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.vision.NUsightBalls;
+
+            /**
+             * Verifies a NUsightBalls message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a NUsightBalls message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.NUsightBalls} NUsightBalls
+             */
+            public static fromObject(object: { [k: string]: any }): message.vision.NUsightBalls;
+
+            /**
+             * Creates a NUsightBalls message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.vision.NUsightBalls.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.NUsightBalls} NUsightBalls
+             */
+            public static from(object: { [k: string]: any }): message.vision.NUsightBalls;
+
+            /**
+             * Creates a plain object from a NUsightBalls message. Also converts values to other types if specified.
+             * @param {message.vision.NUsightBalls} message NUsightBalls
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.vision.NUsightBalls, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this NUsightBalls message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this NUsightBalls to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type NUsightGoals$Properties = {
+            goals?: message.vision.Goal$Properties[];
+        };
+
+        /**
+         * Constructs a new NUsightGoals.
+         * @exports message.vision.NUsightGoals
+         * @constructor
+         * @param {message.vision.NUsightGoals$Properties=} [properties] Properties to set
+         */
+        class NUsightGoals {
+
+            /**
+             * Constructs a new NUsightGoals.
+             * @exports message.vision.NUsightGoals
+             * @constructor
+             * @param {message.vision.NUsightGoals$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.vision.NUsightGoals$Properties);
+
+            /**
+             * NUsightGoals goals.
+             * @type {Array.<message.vision.Goal$Properties>}
+             */
+            public goals: message.vision.Goal$Properties[];
+
+            /**
+             * Creates a new NUsightGoals instance using the specified properties.
+             * @param {message.vision.NUsightGoals$Properties=} [properties] Properties to set
+             * @returns {message.vision.NUsightGoals} NUsightGoals instance
+             */
+            public static create(properties?: message.vision.NUsightGoals$Properties): message.vision.NUsightGoals;
+
+            /**
+             * Encodes the specified NUsightGoals message. Does not implicitly {@link message.vision.NUsightGoals.verify|verify} messages.
+             * @param {message.vision.NUsightGoals$Properties} message NUsightGoals message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.vision.NUsightGoals$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified NUsightGoals message, length delimited. Does not implicitly {@link message.vision.NUsightGoals.verify|verify} messages.
+             * @param {message.vision.NUsightGoals$Properties} message NUsightGoals message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.vision.NUsightGoals$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a NUsightGoals message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.vision.NUsightGoals} NUsightGoals
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.vision.NUsightGoals;
+
+            /**
+             * Decodes a NUsightGoals message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.vision.NUsightGoals} NUsightGoals
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.vision.NUsightGoals;
+
+            /**
+             * Verifies a NUsightGoals message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a NUsightGoals message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.NUsightGoals} NUsightGoals
+             */
+            public static fromObject(object: { [k: string]: any }): message.vision.NUsightGoals;
+
+            /**
+             * Creates a NUsightGoals message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.vision.NUsightGoals.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.NUsightGoals} NUsightGoals
+             */
+            public static from(object: { [k: string]: any }): message.vision.NUsightGoals;
+
+            /**
+             * Creates a plain object from a NUsightGoals message. Also converts values to other types if specified.
+             * @param {message.vision.NUsightGoals} message NUsightGoals
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.vision.NUsightGoals, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this NUsightGoals message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this NUsightGoals to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type NUsightObstacles$Properties = {
+            obstacles?: message.vision.Obstacle$Properties[];
+        };
+
+        /**
+         * Constructs a new NUsightObstacles.
+         * @exports message.vision.NUsightObstacles
+         * @constructor
+         * @param {message.vision.NUsightObstacles$Properties=} [properties] Properties to set
+         */
+        class NUsightObstacles {
+
+            /**
+             * Constructs a new NUsightObstacles.
+             * @exports message.vision.NUsightObstacles
+             * @constructor
+             * @param {message.vision.NUsightObstacles$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.vision.NUsightObstacles$Properties);
+
+            /**
+             * NUsightObstacles obstacles.
+             * @type {Array.<message.vision.Obstacle$Properties>}
+             */
+            public obstacles: message.vision.Obstacle$Properties[];
+
+            /**
+             * Creates a new NUsightObstacles instance using the specified properties.
+             * @param {message.vision.NUsightObstacles$Properties=} [properties] Properties to set
+             * @returns {message.vision.NUsightObstacles} NUsightObstacles instance
+             */
+            public static create(properties?: message.vision.NUsightObstacles$Properties): message.vision.NUsightObstacles;
+
+            /**
+             * Encodes the specified NUsightObstacles message. Does not implicitly {@link message.vision.NUsightObstacles.verify|verify} messages.
+             * @param {message.vision.NUsightObstacles$Properties} message NUsightObstacles message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.vision.NUsightObstacles$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified NUsightObstacles message, length delimited. Does not implicitly {@link message.vision.NUsightObstacles.verify|verify} messages.
+             * @param {message.vision.NUsightObstacles$Properties} message NUsightObstacles message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.vision.NUsightObstacles$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a NUsightObstacles message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.vision.NUsightObstacles} NUsightObstacles
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.vision.NUsightObstacles;
+
+            /**
+             * Decodes a NUsightObstacles message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.vision.NUsightObstacles} NUsightObstacles
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.vision.NUsightObstacles;
+
+            /**
+             * Verifies a NUsightObstacles message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a NUsightObstacles message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.NUsightObstacles} NUsightObstacles
+             */
+            public static fromObject(object: { [k: string]: any }): message.vision.NUsightObstacles;
+
+            /**
+             * Creates a NUsightObstacles message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.vision.NUsightObstacles.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.NUsightObstacles} NUsightObstacles
+             */
+            public static from(object: { [k: string]: any }): message.vision.NUsightObstacles;
+
+            /**
+             * Creates a plain object from a NUsightObstacles message. Also converts values to other types if specified.
+             * @param {message.vision.NUsightObstacles} message NUsightObstacles
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.vision.NUsightObstacles, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this NUsightObstacles message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this NUsightObstacles to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+
+        type NUsightLines$Properties = {
+            lines?: message.vision.Line$Properties[];
+        };
+
+        /**
+         * Constructs a new NUsightLines.
+         * @exports message.vision.NUsightLines
+         * @constructor
+         * @param {message.vision.NUsightLines$Properties=} [properties] Properties to set
+         */
+        class NUsightLines {
+
+            /**
+             * Constructs a new NUsightLines.
+             * @exports message.vision.NUsightLines
+             * @constructor
+             * @param {message.vision.NUsightLines$Properties=} [properties] Properties to set
+             */
+            constructor(properties?: message.vision.NUsightLines$Properties);
+
+            /**
+             * NUsightLines lines.
+             * @type {Array.<message.vision.Line$Properties>}
+             */
+            public lines: message.vision.Line$Properties[];
+
+            /**
+             * Creates a new NUsightLines instance using the specified properties.
+             * @param {message.vision.NUsightLines$Properties=} [properties] Properties to set
+             * @returns {message.vision.NUsightLines} NUsightLines instance
+             */
+            public static create(properties?: message.vision.NUsightLines$Properties): message.vision.NUsightLines;
+
+            /**
+             * Encodes the specified NUsightLines message. Does not implicitly {@link message.vision.NUsightLines.verify|verify} messages.
+             * @param {message.vision.NUsightLines$Properties} message NUsightLines message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encode(message: message.vision.NUsightLines$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Encodes the specified NUsightLines message, length delimited. Does not implicitly {@link message.vision.NUsightLines.verify|verify} messages.
+             * @param {message.vision.NUsightLines$Properties} message NUsightLines message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            public static encodeDelimited(message: message.vision.NUsightLines$Properties, writer?: $protobuf.Writer): $protobuf.Writer;
+
+            /**
+             * Decodes a NUsightLines message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.vision.NUsightLines} NUsightLines
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decode(reader: ($protobuf.Reader|Uint8Array), length?: number): message.vision.NUsightLines;
+
+            /**
+             * Decodes a NUsightLines message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.vision.NUsightLines} NUsightLines
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            public static decodeDelimited(reader: ($protobuf.Reader|Uint8Array)): message.vision.NUsightLines;
+
+            /**
+             * Verifies a NUsightLines message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            public static verify(message: { [k: string]: any }): string;
+
+            /**
+             * Creates a NUsightLines message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.NUsightLines} NUsightLines
+             */
+            public static fromObject(object: { [k: string]: any }): message.vision.NUsightLines;
+
+            /**
+             * Creates a NUsightLines message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.vision.NUsightLines.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.NUsightLines} NUsightLines
+             */
+            public static from(object: { [k: string]: any }): message.vision.NUsightLines;
+
+            /**
+             * Creates a plain object from a NUsightLines message. Also converts values to other types if specified.
+             * @param {message.vision.NUsightLines} message NUsightLines
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public static toObject(message: message.vision.NUsightLines, options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Creates a plain object from this NUsightLines message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            public toObject(options?: $protobuf.ConversionOptions): { [k: string]: any };
+
+            /**
+             * Converts this NUsightLines to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            public toJSON(): { [k: string]: any };
+        }
+    }
+}
diff --git a/src/shared/proto/messages.js b/src/shared/proto/messages.js
new file mode 100644
index 00000000..d81b0be8
--- /dev/null
+++ b/src/shared/proto/messages.js
@@ -0,0 +1,60347 @@
+/*eslint-disable block-scoped-var, no-redeclare, no-control-regex, no-prototype-builtins*/
+"use strict";
+
+var $protobuf = require("protobufjs/minimal");
+
+// Common aliases
+var $Reader = $protobuf.Reader, $Writer = $protobuf.Writer, $util = $protobuf.util;
+
+// Exported root namespace
+var $root = $protobuf.roots["default"] || ($protobuf.roots["default"] = {});
+
+$root.mat = (function() {
+
+    /**
+     * Properties of a mat.
+     * @typedef mat$Properties
+     * @type {Object}
+     * @property {number} [rows] mat rows.
+     * @property {number} [cols] mat cols.
+     * @property {Array.<number>} [v] mat v.
+     */
+
+    /**
+     * Constructs a new mat.
+     * @exports mat
+     * @constructor
+     * @param {mat$Properties=} [properties] Properties to set
+     */
+    function mat(properties) {
+        this.v = [];
+        if (properties)
+            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                if (properties[keys[i]] != null)
+                    this[keys[i]] = properties[keys[i]];
+    }
+
+    /**
+     * mat rows.
+     * @type {number}
+     */
+    mat.prototype.rows = 0;
+
+    /**
+     * mat cols.
+     * @type {number}
+     */
+    mat.prototype.cols = 0;
+
+    /**
+     * mat v.
+     * @type {Array.<number>}
+     */
+    mat.prototype.v = $util.emptyArray;
+
+    /**
+     * Creates a new mat instance using the specified properties.
+     * @param {mat$Properties=} [properties] Properties to set
+     * @returns {mat} mat instance
+     */
+    mat.create = function create(properties) {
+        return new mat(properties);
+    };
+
+    /**
+     * Encodes the specified mat message. Does not implicitly {@link mat.verify|verify} messages.
+     * @param {mat$Properties} message mat message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    mat.encode = function encode(message, writer) {
+        if (!writer)
+            writer = $Writer.create();
+        if (message.rows != null && message.hasOwnProperty("rows"))
+            writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.rows);
+        if (message.cols != null && message.hasOwnProperty("cols"))
+            writer.uint32(/* id 2, wireType 0 =*/16).uint32(message.cols);
+        if (message.v != null && message.v.length) {
+            writer.uint32(/* id 3, wireType 2 =*/26).fork();
+            for (var i = 0; i < message.v.length; ++i)
+                writer.double(message.v[i]);
+            writer.ldelim();
+        }
+        return writer;
+    };
+
+    /**
+     * Encodes the specified mat message, length delimited. Does not implicitly {@link mat.verify|verify} messages.
+     * @param {mat$Properties} message mat message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    mat.encodeDelimited = function encodeDelimited(message, writer) {
+        return this.encode(message, writer).ldelim();
+    };
+
+    /**
+     * Decodes a mat message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {mat} mat
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    mat.decode = function decode(reader, length) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader.create(reader);
+        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.mat();
+        while (reader.pos < end) {
+            var tag = reader.uint32();
+            switch (tag >>> 3) {
+            case 1:
+                message.rows = reader.uint32();
+                break;
+            case 2:
+                message.cols = reader.uint32();
+                break;
+            case 3:
+                if (!(message.v && message.v.length))
+                    message.v = [];
+                if ((tag & 7) === 2) {
+                    var end2 = reader.uint32() + reader.pos;
+                    while (reader.pos < end2)
+                        message.v.push(reader.double());
+                } else
+                    message.v.push(reader.double());
+                break;
+            default:
+                reader.skipType(tag & 7);
+                break;
+            }
+        }
+        return message;
+    };
+
+    /**
+     * Decodes a mat message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {mat} mat
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    mat.decodeDelimited = function decodeDelimited(reader) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader(reader);
+        return this.decode(reader, reader.uint32());
+    };
+
+    /**
+     * Verifies a mat message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    mat.verify = function verify(message) {
+        if (typeof message !== "object" || message === null)
+            return "object expected";
+        if (message.rows != null && message.hasOwnProperty("rows"))
+            if (!$util.isInteger(message.rows))
+                return "rows: integer expected";
+        if (message.cols != null && message.hasOwnProperty("cols"))
+            if (!$util.isInteger(message.cols))
+                return "cols: integer expected";
+        if (message.v != null && message.hasOwnProperty("v")) {
+            if (!Array.isArray(message.v))
+                return "v: array expected";
+            for (var i = 0; i < message.v.length; ++i)
+                if (typeof message.v[i] !== "number")
+                    return "v: number[] expected";
+        }
+        return null;
+    };
+
+    /**
+     * Creates a mat message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {mat} mat
+     */
+    mat.fromObject = function fromObject(object) {
+        if (object instanceof $root.mat)
+            return object;
+        var message = new $root.mat();
+        if (object.rows != null)
+            message.rows = object.rows >>> 0;
+        if (object.cols != null)
+            message.cols = object.cols >>> 0;
+        if (object.v) {
+            if (!Array.isArray(object.v))
+                throw TypeError(".mat.v: array expected");
+            message.v = [];
+            for (var i = 0; i < object.v.length; ++i)
+                message.v[i] = Number(object.v[i]);
+        }
+        return message;
+    };
+
+    /**
+     * Creates a mat message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link mat.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {mat} mat
+     */
+    mat.from = mat.fromObject;
+
+    /**
+     * Creates a plain object from a mat message. Also converts values to other types if specified.
+     * @param {mat} message mat
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    mat.toObject = function toObject(message, options) {
+        if (!options)
+            options = {};
+        var object = {};
+        if (options.arrays || options.defaults)
+            object.v = [];
+        if (options.defaults) {
+            object.rows = 0;
+            object.cols = 0;
+        }
+        if (message.rows != null && message.hasOwnProperty("rows"))
+            object.rows = message.rows;
+        if (message.cols != null && message.hasOwnProperty("cols"))
+            object.cols = message.cols;
+        if (message.v && message.v.length) {
+            object.v = [];
+            for (var j = 0; j < message.v.length; ++j)
+                object.v[j] = message.v[j];
+        }
+        return object;
+    };
+
+    /**
+     * Creates a plain object from this mat message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    mat.prototype.toObject = function toObject(options) {
+        return this.constructor.toObject(this, options);
+    };
+
+    /**
+     * Converts this mat to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    mat.prototype.toJSON = function toJSON() {
+        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+    };
+
+    return mat;
+})();
+
+$root.fmat = (function() {
+
+    /**
+     * Properties of a fmat.
+     * @typedef fmat$Properties
+     * @type {Object}
+     * @property {number} [rows] fmat rows.
+     * @property {number} [cols] fmat cols.
+     * @property {Array.<number>} [v] fmat v.
+     */
+
+    /**
+     * Constructs a new fmat.
+     * @exports fmat
+     * @constructor
+     * @param {fmat$Properties=} [properties] Properties to set
+     */
+    function fmat(properties) {
+        this.v = [];
+        if (properties)
+            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                if (properties[keys[i]] != null)
+                    this[keys[i]] = properties[keys[i]];
+    }
+
+    /**
+     * fmat rows.
+     * @type {number}
+     */
+    fmat.prototype.rows = 0;
+
+    /**
+     * fmat cols.
+     * @type {number}
+     */
+    fmat.prototype.cols = 0;
+
+    /**
+     * fmat v.
+     * @type {Array.<number>}
+     */
+    fmat.prototype.v = $util.emptyArray;
+
+    /**
+     * Creates a new fmat instance using the specified properties.
+     * @param {fmat$Properties=} [properties] Properties to set
+     * @returns {fmat} fmat instance
+     */
+    fmat.create = function create(properties) {
+        return new fmat(properties);
+    };
+
+    /**
+     * Encodes the specified fmat message. Does not implicitly {@link fmat.verify|verify} messages.
+     * @param {fmat$Properties} message fmat message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    fmat.encode = function encode(message, writer) {
+        if (!writer)
+            writer = $Writer.create();
+        if (message.rows != null && message.hasOwnProperty("rows"))
+            writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.rows);
+        if (message.cols != null && message.hasOwnProperty("cols"))
+            writer.uint32(/* id 2, wireType 0 =*/16).uint32(message.cols);
+        if (message.v != null && message.v.length) {
+            writer.uint32(/* id 3, wireType 2 =*/26).fork();
+            for (var i = 0; i < message.v.length; ++i)
+                writer.float(message.v[i]);
+            writer.ldelim();
+        }
+        return writer;
+    };
+
+    /**
+     * Encodes the specified fmat message, length delimited. Does not implicitly {@link fmat.verify|verify} messages.
+     * @param {fmat$Properties} message fmat message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    fmat.encodeDelimited = function encodeDelimited(message, writer) {
+        return this.encode(message, writer).ldelim();
+    };
+
+    /**
+     * Decodes a fmat message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {fmat} fmat
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    fmat.decode = function decode(reader, length) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader.create(reader);
+        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.fmat();
+        while (reader.pos < end) {
+            var tag = reader.uint32();
+            switch (tag >>> 3) {
+            case 1:
+                message.rows = reader.uint32();
+                break;
+            case 2:
+                message.cols = reader.uint32();
+                break;
+            case 3:
+                if (!(message.v && message.v.length))
+                    message.v = [];
+                if ((tag & 7) === 2) {
+                    var end2 = reader.uint32() + reader.pos;
+                    while (reader.pos < end2)
+                        message.v.push(reader.float());
+                } else
+                    message.v.push(reader.float());
+                break;
+            default:
+                reader.skipType(tag & 7);
+                break;
+            }
+        }
+        return message;
+    };
+
+    /**
+     * Decodes a fmat message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {fmat} fmat
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    fmat.decodeDelimited = function decodeDelimited(reader) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader(reader);
+        return this.decode(reader, reader.uint32());
+    };
+
+    /**
+     * Verifies a fmat message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    fmat.verify = function verify(message) {
+        if (typeof message !== "object" || message === null)
+            return "object expected";
+        if (message.rows != null && message.hasOwnProperty("rows"))
+            if (!$util.isInteger(message.rows))
+                return "rows: integer expected";
+        if (message.cols != null && message.hasOwnProperty("cols"))
+            if (!$util.isInteger(message.cols))
+                return "cols: integer expected";
+        if (message.v != null && message.hasOwnProperty("v")) {
+            if (!Array.isArray(message.v))
+                return "v: array expected";
+            for (var i = 0; i < message.v.length; ++i)
+                if (typeof message.v[i] !== "number")
+                    return "v: number[] expected";
+        }
+        return null;
+    };
+
+    /**
+     * Creates a fmat message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {fmat} fmat
+     */
+    fmat.fromObject = function fromObject(object) {
+        if (object instanceof $root.fmat)
+            return object;
+        var message = new $root.fmat();
+        if (object.rows != null)
+            message.rows = object.rows >>> 0;
+        if (object.cols != null)
+            message.cols = object.cols >>> 0;
+        if (object.v) {
+            if (!Array.isArray(object.v))
+                throw TypeError(".fmat.v: array expected");
+            message.v = [];
+            for (var i = 0; i < object.v.length; ++i)
+                message.v[i] = Number(object.v[i]);
+        }
+        return message;
+    };
+
+    /**
+     * Creates a fmat message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link fmat.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {fmat} fmat
+     */
+    fmat.from = fmat.fromObject;
+
+    /**
+     * Creates a plain object from a fmat message. Also converts values to other types if specified.
+     * @param {fmat} message fmat
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    fmat.toObject = function toObject(message, options) {
+        if (!options)
+            options = {};
+        var object = {};
+        if (options.arrays || options.defaults)
+            object.v = [];
+        if (options.defaults) {
+            object.rows = 0;
+            object.cols = 0;
+        }
+        if (message.rows != null && message.hasOwnProperty("rows"))
+            object.rows = message.rows;
+        if (message.cols != null && message.hasOwnProperty("cols"))
+            object.cols = message.cols;
+        if (message.v && message.v.length) {
+            object.v = [];
+            for (var j = 0; j < message.v.length; ++j)
+                object.v[j] = message.v[j];
+        }
+        return object;
+    };
+
+    /**
+     * Creates a plain object from this fmat message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    fmat.prototype.toObject = function toObject(options) {
+        return this.constructor.toObject(this, options);
+    };
+
+    /**
+     * Converts this fmat to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    fmat.prototype.toJSON = function toJSON() {
+        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+    };
+
+    return fmat;
+})();
+
+$root.imat = (function() {
+
+    /**
+     * Properties of an imat.
+     * @typedef imat$Properties
+     * @type {Object}
+     * @property {number} [rows] imat rows.
+     * @property {number} [cols] imat cols.
+     * @property {Array.<number>} [v] imat v.
+     */
+
+    /**
+     * Constructs a new imat.
+     * @exports imat
+     * @constructor
+     * @param {imat$Properties=} [properties] Properties to set
+     */
+    function imat(properties) {
+        this.v = [];
+        if (properties)
+            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                if (properties[keys[i]] != null)
+                    this[keys[i]] = properties[keys[i]];
+    }
+
+    /**
+     * imat rows.
+     * @type {number}
+     */
+    imat.prototype.rows = 0;
+
+    /**
+     * imat cols.
+     * @type {number}
+     */
+    imat.prototype.cols = 0;
+
+    /**
+     * imat v.
+     * @type {Array.<number>}
+     */
+    imat.prototype.v = $util.emptyArray;
+
+    /**
+     * Creates a new imat instance using the specified properties.
+     * @param {imat$Properties=} [properties] Properties to set
+     * @returns {imat} imat instance
+     */
+    imat.create = function create(properties) {
+        return new imat(properties);
+    };
+
+    /**
+     * Encodes the specified imat message. Does not implicitly {@link imat.verify|verify} messages.
+     * @param {imat$Properties} message imat message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    imat.encode = function encode(message, writer) {
+        if (!writer)
+            writer = $Writer.create();
+        if (message.rows != null && message.hasOwnProperty("rows"))
+            writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.rows);
+        if (message.cols != null && message.hasOwnProperty("cols"))
+            writer.uint32(/* id 2, wireType 0 =*/16).uint32(message.cols);
+        if (message.v != null && message.v.length) {
+            writer.uint32(/* id 3, wireType 2 =*/26).fork();
+            for (var i = 0; i < message.v.length; ++i)
+                writer.sint32(message.v[i]);
+            writer.ldelim();
+        }
+        return writer;
+    };
+
+    /**
+     * Encodes the specified imat message, length delimited. Does not implicitly {@link imat.verify|verify} messages.
+     * @param {imat$Properties} message imat message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    imat.encodeDelimited = function encodeDelimited(message, writer) {
+        return this.encode(message, writer).ldelim();
+    };
+
+    /**
+     * Decodes an imat message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {imat} imat
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    imat.decode = function decode(reader, length) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader.create(reader);
+        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.imat();
+        while (reader.pos < end) {
+            var tag = reader.uint32();
+            switch (tag >>> 3) {
+            case 1:
+                message.rows = reader.uint32();
+                break;
+            case 2:
+                message.cols = reader.uint32();
+                break;
+            case 3:
+                if (!(message.v && message.v.length))
+                    message.v = [];
+                if ((tag & 7) === 2) {
+                    var end2 = reader.uint32() + reader.pos;
+                    while (reader.pos < end2)
+                        message.v.push(reader.sint32());
+                } else
+                    message.v.push(reader.sint32());
+                break;
+            default:
+                reader.skipType(tag & 7);
+                break;
+            }
+        }
+        return message;
+    };
+
+    /**
+     * Decodes an imat message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {imat} imat
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    imat.decodeDelimited = function decodeDelimited(reader) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader(reader);
+        return this.decode(reader, reader.uint32());
+    };
+
+    /**
+     * Verifies an imat message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    imat.verify = function verify(message) {
+        if (typeof message !== "object" || message === null)
+            return "object expected";
+        if (message.rows != null && message.hasOwnProperty("rows"))
+            if (!$util.isInteger(message.rows))
+                return "rows: integer expected";
+        if (message.cols != null && message.hasOwnProperty("cols"))
+            if (!$util.isInteger(message.cols))
+                return "cols: integer expected";
+        if (message.v != null && message.hasOwnProperty("v")) {
+            if (!Array.isArray(message.v))
+                return "v: array expected";
+            for (var i = 0; i < message.v.length; ++i)
+                if (!$util.isInteger(message.v[i]))
+                    return "v: integer[] expected";
+        }
+        return null;
+    };
+
+    /**
+     * Creates an imat message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {imat} imat
+     */
+    imat.fromObject = function fromObject(object) {
+        if (object instanceof $root.imat)
+            return object;
+        var message = new $root.imat();
+        if (object.rows != null)
+            message.rows = object.rows >>> 0;
+        if (object.cols != null)
+            message.cols = object.cols >>> 0;
+        if (object.v) {
+            if (!Array.isArray(object.v))
+                throw TypeError(".imat.v: array expected");
+            message.v = [];
+            for (var i = 0; i < object.v.length; ++i)
+                message.v[i] = object.v[i] | 0;
+        }
+        return message;
+    };
+
+    /**
+     * Creates an imat message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link imat.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {imat} imat
+     */
+    imat.from = imat.fromObject;
+
+    /**
+     * Creates a plain object from an imat message. Also converts values to other types if specified.
+     * @param {imat} message imat
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    imat.toObject = function toObject(message, options) {
+        if (!options)
+            options = {};
+        var object = {};
+        if (options.arrays || options.defaults)
+            object.v = [];
+        if (options.defaults) {
+            object.rows = 0;
+            object.cols = 0;
+        }
+        if (message.rows != null && message.hasOwnProperty("rows"))
+            object.rows = message.rows;
+        if (message.cols != null && message.hasOwnProperty("cols"))
+            object.cols = message.cols;
+        if (message.v && message.v.length) {
+            object.v = [];
+            for (var j = 0; j < message.v.length; ++j)
+                object.v[j] = message.v[j];
+        }
+        return object;
+    };
+
+    /**
+     * Creates a plain object from this imat message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    imat.prototype.toObject = function toObject(options) {
+        return this.constructor.toObject(this, options);
+    };
+
+    /**
+     * Converts this imat to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    imat.prototype.toJSON = function toJSON() {
+        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+    };
+
+    return imat;
+})();
+
+$root.umat = (function() {
+
+    /**
+     * Properties of an umat.
+     * @typedef umat$Properties
+     * @type {Object}
+     * @property {number} [rows] umat rows.
+     * @property {number} [cols] umat cols.
+     * @property {Array.<number>} [v] umat v.
+     */
+
+    /**
+     * Constructs a new umat.
+     * @exports umat
+     * @constructor
+     * @param {umat$Properties=} [properties] Properties to set
+     */
+    function umat(properties) {
+        this.v = [];
+        if (properties)
+            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                if (properties[keys[i]] != null)
+                    this[keys[i]] = properties[keys[i]];
+    }
+
+    /**
+     * umat rows.
+     * @type {number}
+     */
+    umat.prototype.rows = 0;
+
+    /**
+     * umat cols.
+     * @type {number}
+     */
+    umat.prototype.cols = 0;
+
+    /**
+     * umat v.
+     * @type {Array.<number>}
+     */
+    umat.prototype.v = $util.emptyArray;
+
+    /**
+     * Creates a new umat instance using the specified properties.
+     * @param {umat$Properties=} [properties] Properties to set
+     * @returns {umat} umat instance
+     */
+    umat.create = function create(properties) {
+        return new umat(properties);
+    };
+
+    /**
+     * Encodes the specified umat message. Does not implicitly {@link umat.verify|verify} messages.
+     * @param {umat$Properties} message umat message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    umat.encode = function encode(message, writer) {
+        if (!writer)
+            writer = $Writer.create();
+        if (message.rows != null && message.hasOwnProperty("rows"))
+            writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.rows);
+        if (message.cols != null && message.hasOwnProperty("cols"))
+            writer.uint32(/* id 2, wireType 0 =*/16).uint32(message.cols);
+        if (message.v != null && message.v.length) {
+            writer.uint32(/* id 3, wireType 2 =*/26).fork();
+            for (var i = 0; i < message.v.length; ++i)
+                writer.uint32(message.v[i]);
+            writer.ldelim();
+        }
+        return writer;
+    };
+
+    /**
+     * Encodes the specified umat message, length delimited. Does not implicitly {@link umat.verify|verify} messages.
+     * @param {umat$Properties} message umat message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    umat.encodeDelimited = function encodeDelimited(message, writer) {
+        return this.encode(message, writer).ldelim();
+    };
+
+    /**
+     * Decodes an umat message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {umat} umat
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    umat.decode = function decode(reader, length) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader.create(reader);
+        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.umat();
+        while (reader.pos < end) {
+            var tag = reader.uint32();
+            switch (tag >>> 3) {
+            case 1:
+                message.rows = reader.uint32();
+                break;
+            case 2:
+                message.cols = reader.uint32();
+                break;
+            case 3:
+                if (!(message.v && message.v.length))
+                    message.v = [];
+                if ((tag & 7) === 2) {
+                    var end2 = reader.uint32() + reader.pos;
+                    while (reader.pos < end2)
+                        message.v.push(reader.uint32());
+                } else
+                    message.v.push(reader.uint32());
+                break;
+            default:
+                reader.skipType(tag & 7);
+                break;
+            }
+        }
+        return message;
+    };
+
+    /**
+     * Decodes an umat message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {umat} umat
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    umat.decodeDelimited = function decodeDelimited(reader) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader(reader);
+        return this.decode(reader, reader.uint32());
+    };
+
+    /**
+     * Verifies an umat message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    umat.verify = function verify(message) {
+        if (typeof message !== "object" || message === null)
+            return "object expected";
+        if (message.rows != null && message.hasOwnProperty("rows"))
+            if (!$util.isInteger(message.rows))
+                return "rows: integer expected";
+        if (message.cols != null && message.hasOwnProperty("cols"))
+            if (!$util.isInteger(message.cols))
+                return "cols: integer expected";
+        if (message.v != null && message.hasOwnProperty("v")) {
+            if (!Array.isArray(message.v))
+                return "v: array expected";
+            for (var i = 0; i < message.v.length; ++i)
+                if (!$util.isInteger(message.v[i]))
+                    return "v: integer[] expected";
+        }
+        return null;
+    };
+
+    /**
+     * Creates an umat message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {umat} umat
+     */
+    umat.fromObject = function fromObject(object) {
+        if (object instanceof $root.umat)
+            return object;
+        var message = new $root.umat();
+        if (object.rows != null)
+            message.rows = object.rows >>> 0;
+        if (object.cols != null)
+            message.cols = object.cols >>> 0;
+        if (object.v) {
+            if (!Array.isArray(object.v))
+                throw TypeError(".umat.v: array expected");
+            message.v = [];
+            for (var i = 0; i < object.v.length; ++i)
+                message.v[i] = object.v[i] >>> 0;
+        }
+        return message;
+    };
+
+    /**
+     * Creates an umat message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link umat.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {umat} umat
+     */
+    umat.from = umat.fromObject;
+
+    /**
+     * Creates a plain object from an umat message. Also converts values to other types if specified.
+     * @param {umat} message umat
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    umat.toObject = function toObject(message, options) {
+        if (!options)
+            options = {};
+        var object = {};
+        if (options.arrays || options.defaults)
+            object.v = [];
+        if (options.defaults) {
+            object.rows = 0;
+            object.cols = 0;
+        }
+        if (message.rows != null && message.hasOwnProperty("rows"))
+            object.rows = message.rows;
+        if (message.cols != null && message.hasOwnProperty("cols"))
+            object.cols = message.cols;
+        if (message.v && message.v.length) {
+            object.v = [];
+            for (var j = 0; j < message.v.length; ++j)
+                object.v[j] = message.v[j];
+        }
+        return object;
+    };
+
+    /**
+     * Creates a plain object from this umat message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    umat.prototype.toObject = function toObject(options) {
+        return this.constructor.toObject(this, options);
+    };
+
+    /**
+     * Converts this umat to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    umat.prototype.toJSON = function toJSON() {
+        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+    };
+
+    return umat;
+})();
+
+$root.cmat = (function() {
+
+    /**
+     * Properties of a cmat.
+     * @typedef cmat$Properties
+     * @type {Object}
+     * @property {number} [rows] cmat rows.
+     * @property {number} [cols] cmat cols.
+     * @property {Uint8Array} [v] cmat v.
+     */
+
+    /**
+     * Constructs a new cmat.
+     * @exports cmat
+     * @constructor
+     * @param {cmat$Properties=} [properties] Properties to set
+     */
+    function cmat(properties) {
+        if (properties)
+            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                if (properties[keys[i]] != null)
+                    this[keys[i]] = properties[keys[i]];
+    }
+
+    /**
+     * cmat rows.
+     * @type {number}
+     */
+    cmat.prototype.rows = 0;
+
+    /**
+     * cmat cols.
+     * @type {number}
+     */
+    cmat.prototype.cols = 0;
+
+    /**
+     * cmat v.
+     * @type {Uint8Array}
+     */
+    cmat.prototype.v = $util.newBuffer([]);
+
+    /**
+     * Creates a new cmat instance using the specified properties.
+     * @param {cmat$Properties=} [properties] Properties to set
+     * @returns {cmat} cmat instance
+     */
+    cmat.create = function create(properties) {
+        return new cmat(properties);
+    };
+
+    /**
+     * Encodes the specified cmat message. Does not implicitly {@link cmat.verify|verify} messages.
+     * @param {cmat$Properties} message cmat message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    cmat.encode = function encode(message, writer) {
+        if (!writer)
+            writer = $Writer.create();
+        if (message.rows != null && message.hasOwnProperty("rows"))
+            writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.rows);
+        if (message.cols != null && message.hasOwnProperty("cols"))
+            writer.uint32(/* id 2, wireType 0 =*/16).uint32(message.cols);
+        if (message.v != null && message.hasOwnProperty("v"))
+            writer.uint32(/* id 3, wireType 2 =*/26).bytes(message.v);
+        return writer;
+    };
+
+    /**
+     * Encodes the specified cmat message, length delimited. Does not implicitly {@link cmat.verify|verify} messages.
+     * @param {cmat$Properties} message cmat message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    cmat.encodeDelimited = function encodeDelimited(message, writer) {
+        return this.encode(message, writer).ldelim();
+    };
+
+    /**
+     * Decodes a cmat message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {cmat} cmat
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    cmat.decode = function decode(reader, length) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader.create(reader);
+        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.cmat();
+        while (reader.pos < end) {
+            var tag = reader.uint32();
+            switch (tag >>> 3) {
+            case 1:
+                message.rows = reader.uint32();
+                break;
+            case 2:
+                message.cols = reader.uint32();
+                break;
+            case 3:
+                message.v = reader.bytes();
+                break;
+            default:
+                reader.skipType(tag & 7);
+                break;
+            }
+        }
+        return message;
+    };
+
+    /**
+     * Decodes a cmat message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {cmat} cmat
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    cmat.decodeDelimited = function decodeDelimited(reader) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader(reader);
+        return this.decode(reader, reader.uint32());
+    };
+
+    /**
+     * Verifies a cmat message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    cmat.verify = function verify(message) {
+        if (typeof message !== "object" || message === null)
+            return "object expected";
+        if (message.rows != null && message.hasOwnProperty("rows"))
+            if (!$util.isInteger(message.rows))
+                return "rows: integer expected";
+        if (message.cols != null && message.hasOwnProperty("cols"))
+            if (!$util.isInteger(message.cols))
+                return "cols: integer expected";
+        if (message.v != null && message.hasOwnProperty("v"))
+            if (!(message.v && typeof message.v.length === "number" || $util.isString(message.v)))
+                return "v: buffer expected";
+        return null;
+    };
+
+    /**
+     * Creates a cmat message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {cmat} cmat
+     */
+    cmat.fromObject = function fromObject(object) {
+        if (object instanceof $root.cmat)
+            return object;
+        var message = new $root.cmat();
+        if (object.rows != null)
+            message.rows = object.rows >>> 0;
+        if (object.cols != null)
+            message.cols = object.cols >>> 0;
+        if (object.v != null)
+            if (typeof object.v === "string")
+                $util.base64.decode(object.v, message.v = $util.newBuffer($util.base64.length(object.v)), 0);
+            else if (object.v.length)
+                message.v = object.v;
+        return message;
+    };
+
+    /**
+     * Creates a cmat message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link cmat.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {cmat} cmat
+     */
+    cmat.from = cmat.fromObject;
+
+    /**
+     * Creates a plain object from a cmat message. Also converts values to other types if specified.
+     * @param {cmat} message cmat
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    cmat.toObject = function toObject(message, options) {
+        if (!options)
+            options = {};
+        var object = {};
+        if (options.defaults) {
+            object.rows = 0;
+            object.cols = 0;
+            object.v = options.bytes === String ? "" : [];
+        }
+        if (message.rows != null && message.hasOwnProperty("rows"))
+            object.rows = message.rows;
+        if (message.cols != null && message.hasOwnProperty("cols"))
+            object.cols = message.cols;
+        if (message.v != null && message.hasOwnProperty("v"))
+            object.v = options.bytes === String ? $util.base64.encode(message.v, 0, message.v.length) : options.bytes === Array ? Array.prototype.slice.call(message.v) : message.v;
+        return object;
+    };
+
+    /**
+     * Creates a plain object from this cmat message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    cmat.prototype.toObject = function toObject(options) {
+        return this.constructor.toObject(this, options);
+    };
+
+    /**
+     * Converts this cmat to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    cmat.prototype.toJSON = function toJSON() {
+        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+    };
+
+    return cmat;
+})();
+
+$root.mat22 = (function() {
+
+    /**
+     * Properties of a mat22.
+     * @typedef mat22$Properties
+     * @type {Object}
+     * @property {vec2$Properties} [x] mat22 x.
+     * @property {vec2$Properties} [y] mat22 y.
+     */
+
+    /**
+     * Constructs a new mat22.
+     * @exports mat22
+     * @constructor
+     * @param {mat22$Properties=} [properties] Properties to set
+     */
+    function mat22(properties) {
+        if (properties)
+            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                if (properties[keys[i]] != null)
+                    this[keys[i]] = properties[keys[i]];
+    }
+
+    /**
+     * mat22 x.
+     * @type {(vec2$Properties|null)}
+     */
+    mat22.prototype.x = null;
+
+    /**
+     * mat22 y.
+     * @type {(vec2$Properties|null)}
+     */
+    mat22.prototype.y = null;
+
+    /**
+     * Creates a new mat22 instance using the specified properties.
+     * @param {mat22$Properties=} [properties] Properties to set
+     * @returns {mat22} mat22 instance
+     */
+    mat22.create = function create(properties) {
+        return new mat22(properties);
+    };
+
+    /**
+     * Encodes the specified mat22 message. Does not implicitly {@link mat22.verify|verify} messages.
+     * @param {mat22$Properties} message mat22 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    mat22.encode = function encode(message, writer) {
+        if (!writer)
+            writer = $Writer.create();
+        if (message.x != null && message.hasOwnProperty("x"))
+            $root.vec2.encode(message.x, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+        if (message.y != null && message.hasOwnProperty("y"))
+            $root.vec2.encode(message.y, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+        return writer;
+    };
+
+    /**
+     * Encodes the specified mat22 message, length delimited. Does not implicitly {@link mat22.verify|verify} messages.
+     * @param {mat22$Properties} message mat22 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    mat22.encodeDelimited = function encodeDelimited(message, writer) {
+        return this.encode(message, writer).ldelim();
+    };
+
+    /**
+     * Decodes a mat22 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {mat22} mat22
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    mat22.decode = function decode(reader, length) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader.create(reader);
+        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.mat22();
+        while (reader.pos < end) {
+            var tag = reader.uint32();
+            switch (tag >>> 3) {
+            case 1:
+                message.x = $root.vec2.decode(reader, reader.uint32());
+                break;
+            case 2:
+                message.y = $root.vec2.decode(reader, reader.uint32());
+                break;
+            default:
+                reader.skipType(tag & 7);
+                break;
+            }
+        }
+        return message;
+    };
+
+    /**
+     * Decodes a mat22 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {mat22} mat22
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    mat22.decodeDelimited = function decodeDelimited(reader) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader(reader);
+        return this.decode(reader, reader.uint32());
+    };
+
+    /**
+     * Verifies a mat22 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    mat22.verify = function verify(message) {
+        if (typeof message !== "object" || message === null)
+            return "object expected";
+        if (message.x != null && message.hasOwnProperty("x")) {
+            var error = $root.vec2.verify(message.x);
+            if (error)
+                return "x." + error;
+        }
+        if (message.y != null && message.hasOwnProperty("y")) {
+            var error = $root.vec2.verify(message.y);
+            if (error)
+                return "y." + error;
+        }
+        return null;
+    };
+
+    /**
+     * Creates a mat22 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {mat22} mat22
+     */
+    mat22.fromObject = function fromObject(object) {
+        if (object instanceof $root.mat22)
+            return object;
+        var message = new $root.mat22();
+        if (object.x != null) {
+            if (typeof object.x !== "object")
+                throw TypeError(".mat22.x: object expected");
+            message.x = $root.vec2.fromObject(object.x);
+        }
+        if (object.y != null) {
+            if (typeof object.y !== "object")
+                throw TypeError(".mat22.y: object expected");
+            message.y = $root.vec2.fromObject(object.y);
+        }
+        return message;
+    };
+
+    /**
+     * Creates a mat22 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link mat22.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {mat22} mat22
+     */
+    mat22.from = mat22.fromObject;
+
+    /**
+     * Creates a plain object from a mat22 message. Also converts values to other types if specified.
+     * @param {mat22} message mat22
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    mat22.toObject = function toObject(message, options) {
+        if (!options)
+            options = {};
+        var object = {};
+        if (options.defaults) {
+            object.x = null;
+            object.y = null;
+        }
+        if (message.x != null && message.hasOwnProperty("x"))
+            object.x = $root.vec2.toObject(message.x, options);
+        if (message.y != null && message.hasOwnProperty("y"))
+            object.y = $root.vec2.toObject(message.y, options);
+        return object;
+    };
+
+    /**
+     * Creates a plain object from this mat22 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    mat22.prototype.toObject = function toObject(options) {
+        return this.constructor.toObject(this, options);
+    };
+
+    /**
+     * Converts this mat22 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    mat22.prototype.toJSON = function toJSON() {
+        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+    };
+
+    return mat22;
+})();
+
+$root.fmat22 = (function() {
+
+    /**
+     * Properties of a fmat22.
+     * @typedef fmat22$Properties
+     * @type {Object}
+     * @property {fvec2$Properties} [x] fmat22 x.
+     * @property {fvec2$Properties} [y] fmat22 y.
+     */
+
+    /**
+     * Constructs a new fmat22.
+     * @exports fmat22
+     * @constructor
+     * @param {fmat22$Properties=} [properties] Properties to set
+     */
+    function fmat22(properties) {
+        if (properties)
+            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                if (properties[keys[i]] != null)
+                    this[keys[i]] = properties[keys[i]];
+    }
+
+    /**
+     * fmat22 x.
+     * @type {(fvec2$Properties|null)}
+     */
+    fmat22.prototype.x = null;
+
+    /**
+     * fmat22 y.
+     * @type {(fvec2$Properties|null)}
+     */
+    fmat22.prototype.y = null;
+
+    /**
+     * Creates a new fmat22 instance using the specified properties.
+     * @param {fmat22$Properties=} [properties] Properties to set
+     * @returns {fmat22} fmat22 instance
+     */
+    fmat22.create = function create(properties) {
+        return new fmat22(properties);
+    };
+
+    /**
+     * Encodes the specified fmat22 message. Does not implicitly {@link fmat22.verify|verify} messages.
+     * @param {fmat22$Properties} message fmat22 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    fmat22.encode = function encode(message, writer) {
+        if (!writer)
+            writer = $Writer.create();
+        if (message.x != null && message.hasOwnProperty("x"))
+            $root.fvec2.encode(message.x, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+        if (message.y != null && message.hasOwnProperty("y"))
+            $root.fvec2.encode(message.y, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+        return writer;
+    };
+
+    /**
+     * Encodes the specified fmat22 message, length delimited. Does not implicitly {@link fmat22.verify|verify} messages.
+     * @param {fmat22$Properties} message fmat22 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    fmat22.encodeDelimited = function encodeDelimited(message, writer) {
+        return this.encode(message, writer).ldelim();
+    };
+
+    /**
+     * Decodes a fmat22 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {fmat22} fmat22
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    fmat22.decode = function decode(reader, length) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader.create(reader);
+        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.fmat22();
+        while (reader.pos < end) {
+            var tag = reader.uint32();
+            switch (tag >>> 3) {
+            case 1:
+                message.x = $root.fvec2.decode(reader, reader.uint32());
+                break;
+            case 2:
+                message.y = $root.fvec2.decode(reader, reader.uint32());
+                break;
+            default:
+                reader.skipType(tag & 7);
+                break;
+            }
+        }
+        return message;
+    };
+
+    /**
+     * Decodes a fmat22 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {fmat22} fmat22
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    fmat22.decodeDelimited = function decodeDelimited(reader) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader(reader);
+        return this.decode(reader, reader.uint32());
+    };
+
+    /**
+     * Verifies a fmat22 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    fmat22.verify = function verify(message) {
+        if (typeof message !== "object" || message === null)
+            return "object expected";
+        if (message.x != null && message.hasOwnProperty("x")) {
+            var error = $root.fvec2.verify(message.x);
+            if (error)
+                return "x." + error;
+        }
+        if (message.y != null && message.hasOwnProperty("y")) {
+            var error = $root.fvec2.verify(message.y);
+            if (error)
+                return "y." + error;
+        }
+        return null;
+    };
+
+    /**
+     * Creates a fmat22 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {fmat22} fmat22
+     */
+    fmat22.fromObject = function fromObject(object) {
+        if (object instanceof $root.fmat22)
+            return object;
+        var message = new $root.fmat22();
+        if (object.x != null) {
+            if (typeof object.x !== "object")
+                throw TypeError(".fmat22.x: object expected");
+            message.x = $root.fvec2.fromObject(object.x);
+        }
+        if (object.y != null) {
+            if (typeof object.y !== "object")
+                throw TypeError(".fmat22.y: object expected");
+            message.y = $root.fvec2.fromObject(object.y);
+        }
+        return message;
+    };
+
+    /**
+     * Creates a fmat22 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link fmat22.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {fmat22} fmat22
+     */
+    fmat22.from = fmat22.fromObject;
+
+    /**
+     * Creates a plain object from a fmat22 message. Also converts values to other types if specified.
+     * @param {fmat22} message fmat22
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    fmat22.toObject = function toObject(message, options) {
+        if (!options)
+            options = {};
+        var object = {};
+        if (options.defaults) {
+            object.x = null;
+            object.y = null;
+        }
+        if (message.x != null && message.hasOwnProperty("x"))
+            object.x = $root.fvec2.toObject(message.x, options);
+        if (message.y != null && message.hasOwnProperty("y"))
+            object.y = $root.fvec2.toObject(message.y, options);
+        return object;
+    };
+
+    /**
+     * Creates a plain object from this fmat22 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    fmat22.prototype.toObject = function toObject(options) {
+        return this.constructor.toObject(this, options);
+    };
+
+    /**
+     * Converts this fmat22 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    fmat22.prototype.toJSON = function toJSON() {
+        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+    };
+
+    return fmat22;
+})();
+
+$root.imat22 = (function() {
+
+    /**
+     * Properties of an imat22.
+     * @typedef imat22$Properties
+     * @type {Object}
+     * @property {ivec2$Properties} [x] imat22 x.
+     * @property {ivec2$Properties} [y] imat22 y.
+     */
+
+    /**
+     * Constructs a new imat22.
+     * @exports imat22
+     * @constructor
+     * @param {imat22$Properties=} [properties] Properties to set
+     */
+    function imat22(properties) {
+        if (properties)
+            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                if (properties[keys[i]] != null)
+                    this[keys[i]] = properties[keys[i]];
+    }
+
+    /**
+     * imat22 x.
+     * @type {(ivec2$Properties|null)}
+     */
+    imat22.prototype.x = null;
+
+    /**
+     * imat22 y.
+     * @type {(ivec2$Properties|null)}
+     */
+    imat22.prototype.y = null;
+
+    /**
+     * Creates a new imat22 instance using the specified properties.
+     * @param {imat22$Properties=} [properties] Properties to set
+     * @returns {imat22} imat22 instance
+     */
+    imat22.create = function create(properties) {
+        return new imat22(properties);
+    };
+
+    /**
+     * Encodes the specified imat22 message. Does not implicitly {@link imat22.verify|verify} messages.
+     * @param {imat22$Properties} message imat22 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    imat22.encode = function encode(message, writer) {
+        if (!writer)
+            writer = $Writer.create();
+        if (message.x != null && message.hasOwnProperty("x"))
+            $root.ivec2.encode(message.x, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+        if (message.y != null && message.hasOwnProperty("y"))
+            $root.ivec2.encode(message.y, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+        return writer;
+    };
+
+    /**
+     * Encodes the specified imat22 message, length delimited. Does not implicitly {@link imat22.verify|verify} messages.
+     * @param {imat22$Properties} message imat22 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    imat22.encodeDelimited = function encodeDelimited(message, writer) {
+        return this.encode(message, writer).ldelim();
+    };
+
+    /**
+     * Decodes an imat22 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {imat22} imat22
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    imat22.decode = function decode(reader, length) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader.create(reader);
+        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.imat22();
+        while (reader.pos < end) {
+            var tag = reader.uint32();
+            switch (tag >>> 3) {
+            case 1:
+                message.x = $root.ivec2.decode(reader, reader.uint32());
+                break;
+            case 2:
+                message.y = $root.ivec2.decode(reader, reader.uint32());
+                break;
+            default:
+                reader.skipType(tag & 7);
+                break;
+            }
+        }
+        return message;
+    };
+
+    /**
+     * Decodes an imat22 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {imat22} imat22
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    imat22.decodeDelimited = function decodeDelimited(reader) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader(reader);
+        return this.decode(reader, reader.uint32());
+    };
+
+    /**
+     * Verifies an imat22 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    imat22.verify = function verify(message) {
+        if (typeof message !== "object" || message === null)
+            return "object expected";
+        if (message.x != null && message.hasOwnProperty("x")) {
+            var error = $root.ivec2.verify(message.x);
+            if (error)
+                return "x." + error;
+        }
+        if (message.y != null && message.hasOwnProperty("y")) {
+            var error = $root.ivec2.verify(message.y);
+            if (error)
+                return "y." + error;
+        }
+        return null;
+    };
+
+    /**
+     * Creates an imat22 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {imat22} imat22
+     */
+    imat22.fromObject = function fromObject(object) {
+        if (object instanceof $root.imat22)
+            return object;
+        var message = new $root.imat22();
+        if (object.x != null) {
+            if (typeof object.x !== "object")
+                throw TypeError(".imat22.x: object expected");
+            message.x = $root.ivec2.fromObject(object.x);
+        }
+        if (object.y != null) {
+            if (typeof object.y !== "object")
+                throw TypeError(".imat22.y: object expected");
+            message.y = $root.ivec2.fromObject(object.y);
+        }
+        return message;
+    };
+
+    /**
+     * Creates an imat22 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link imat22.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {imat22} imat22
+     */
+    imat22.from = imat22.fromObject;
+
+    /**
+     * Creates a plain object from an imat22 message. Also converts values to other types if specified.
+     * @param {imat22} message imat22
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    imat22.toObject = function toObject(message, options) {
+        if (!options)
+            options = {};
+        var object = {};
+        if (options.defaults) {
+            object.x = null;
+            object.y = null;
+        }
+        if (message.x != null && message.hasOwnProperty("x"))
+            object.x = $root.ivec2.toObject(message.x, options);
+        if (message.y != null && message.hasOwnProperty("y"))
+            object.y = $root.ivec2.toObject(message.y, options);
+        return object;
+    };
+
+    /**
+     * Creates a plain object from this imat22 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    imat22.prototype.toObject = function toObject(options) {
+        return this.constructor.toObject(this, options);
+    };
+
+    /**
+     * Converts this imat22 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    imat22.prototype.toJSON = function toJSON() {
+        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+    };
+
+    return imat22;
+})();
+
+$root.umat22 = (function() {
+
+    /**
+     * Properties of an umat22.
+     * @typedef umat22$Properties
+     * @type {Object}
+     * @property {uvec2$Properties} [x] umat22 x.
+     * @property {uvec2$Properties} [y] umat22 y.
+     */
+
+    /**
+     * Constructs a new umat22.
+     * @exports umat22
+     * @constructor
+     * @param {umat22$Properties=} [properties] Properties to set
+     */
+    function umat22(properties) {
+        if (properties)
+            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                if (properties[keys[i]] != null)
+                    this[keys[i]] = properties[keys[i]];
+    }
+
+    /**
+     * umat22 x.
+     * @type {(uvec2$Properties|null)}
+     */
+    umat22.prototype.x = null;
+
+    /**
+     * umat22 y.
+     * @type {(uvec2$Properties|null)}
+     */
+    umat22.prototype.y = null;
+
+    /**
+     * Creates a new umat22 instance using the specified properties.
+     * @param {umat22$Properties=} [properties] Properties to set
+     * @returns {umat22} umat22 instance
+     */
+    umat22.create = function create(properties) {
+        return new umat22(properties);
+    };
+
+    /**
+     * Encodes the specified umat22 message. Does not implicitly {@link umat22.verify|verify} messages.
+     * @param {umat22$Properties} message umat22 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    umat22.encode = function encode(message, writer) {
+        if (!writer)
+            writer = $Writer.create();
+        if (message.x != null && message.hasOwnProperty("x"))
+            $root.uvec2.encode(message.x, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+        if (message.y != null && message.hasOwnProperty("y"))
+            $root.uvec2.encode(message.y, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+        return writer;
+    };
+
+    /**
+     * Encodes the specified umat22 message, length delimited. Does not implicitly {@link umat22.verify|verify} messages.
+     * @param {umat22$Properties} message umat22 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    umat22.encodeDelimited = function encodeDelimited(message, writer) {
+        return this.encode(message, writer).ldelim();
+    };
+
+    /**
+     * Decodes an umat22 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {umat22} umat22
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    umat22.decode = function decode(reader, length) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader.create(reader);
+        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.umat22();
+        while (reader.pos < end) {
+            var tag = reader.uint32();
+            switch (tag >>> 3) {
+            case 1:
+                message.x = $root.uvec2.decode(reader, reader.uint32());
+                break;
+            case 2:
+                message.y = $root.uvec2.decode(reader, reader.uint32());
+                break;
+            default:
+                reader.skipType(tag & 7);
+                break;
+            }
+        }
+        return message;
+    };
+
+    /**
+     * Decodes an umat22 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {umat22} umat22
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    umat22.decodeDelimited = function decodeDelimited(reader) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader(reader);
+        return this.decode(reader, reader.uint32());
+    };
+
+    /**
+     * Verifies an umat22 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    umat22.verify = function verify(message) {
+        if (typeof message !== "object" || message === null)
+            return "object expected";
+        if (message.x != null && message.hasOwnProperty("x")) {
+            var error = $root.uvec2.verify(message.x);
+            if (error)
+                return "x." + error;
+        }
+        if (message.y != null && message.hasOwnProperty("y")) {
+            var error = $root.uvec2.verify(message.y);
+            if (error)
+                return "y." + error;
+        }
+        return null;
+    };
+
+    /**
+     * Creates an umat22 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {umat22} umat22
+     */
+    umat22.fromObject = function fromObject(object) {
+        if (object instanceof $root.umat22)
+            return object;
+        var message = new $root.umat22();
+        if (object.x != null) {
+            if (typeof object.x !== "object")
+                throw TypeError(".umat22.x: object expected");
+            message.x = $root.uvec2.fromObject(object.x);
+        }
+        if (object.y != null) {
+            if (typeof object.y !== "object")
+                throw TypeError(".umat22.y: object expected");
+            message.y = $root.uvec2.fromObject(object.y);
+        }
+        return message;
+    };
+
+    /**
+     * Creates an umat22 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link umat22.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {umat22} umat22
+     */
+    umat22.from = umat22.fromObject;
+
+    /**
+     * Creates a plain object from an umat22 message. Also converts values to other types if specified.
+     * @param {umat22} message umat22
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    umat22.toObject = function toObject(message, options) {
+        if (!options)
+            options = {};
+        var object = {};
+        if (options.defaults) {
+            object.x = null;
+            object.y = null;
+        }
+        if (message.x != null && message.hasOwnProperty("x"))
+            object.x = $root.uvec2.toObject(message.x, options);
+        if (message.y != null && message.hasOwnProperty("y"))
+            object.y = $root.uvec2.toObject(message.y, options);
+        return object;
+    };
+
+    /**
+     * Creates a plain object from this umat22 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    umat22.prototype.toObject = function toObject(options) {
+        return this.constructor.toObject(this, options);
+    };
+
+    /**
+     * Converts this umat22 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    umat22.prototype.toJSON = function toJSON() {
+        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+    };
+
+    return umat22;
+})();
+
+$root.mat33 = (function() {
+
+    /**
+     * Properties of a mat33.
+     * @typedef mat33$Properties
+     * @type {Object}
+     * @property {vec3$Properties} [x] mat33 x.
+     * @property {vec3$Properties} [y] mat33 y.
+     * @property {vec3$Properties} [z] mat33 z.
+     */
+
+    /**
+     * Constructs a new mat33.
+     * @exports mat33
+     * @constructor
+     * @param {mat33$Properties=} [properties] Properties to set
+     */
+    function mat33(properties) {
+        if (properties)
+            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                if (properties[keys[i]] != null)
+                    this[keys[i]] = properties[keys[i]];
+    }
+
+    /**
+     * mat33 x.
+     * @type {(vec3$Properties|null)}
+     */
+    mat33.prototype.x = null;
+
+    /**
+     * mat33 y.
+     * @type {(vec3$Properties|null)}
+     */
+    mat33.prototype.y = null;
+
+    /**
+     * mat33 z.
+     * @type {(vec3$Properties|null)}
+     */
+    mat33.prototype.z = null;
+
+    /**
+     * Creates a new mat33 instance using the specified properties.
+     * @param {mat33$Properties=} [properties] Properties to set
+     * @returns {mat33} mat33 instance
+     */
+    mat33.create = function create(properties) {
+        return new mat33(properties);
+    };
+
+    /**
+     * Encodes the specified mat33 message. Does not implicitly {@link mat33.verify|verify} messages.
+     * @param {mat33$Properties} message mat33 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    mat33.encode = function encode(message, writer) {
+        if (!writer)
+            writer = $Writer.create();
+        if (message.x != null && message.hasOwnProperty("x"))
+            $root.vec3.encode(message.x, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+        if (message.y != null && message.hasOwnProperty("y"))
+            $root.vec3.encode(message.y, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+        if (message.z != null && message.hasOwnProperty("z"))
+            $root.vec3.encode(message.z, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+        return writer;
+    };
+
+    /**
+     * Encodes the specified mat33 message, length delimited. Does not implicitly {@link mat33.verify|verify} messages.
+     * @param {mat33$Properties} message mat33 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    mat33.encodeDelimited = function encodeDelimited(message, writer) {
+        return this.encode(message, writer).ldelim();
+    };
+
+    /**
+     * Decodes a mat33 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {mat33} mat33
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    mat33.decode = function decode(reader, length) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader.create(reader);
+        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.mat33();
+        while (reader.pos < end) {
+            var tag = reader.uint32();
+            switch (tag >>> 3) {
+            case 1:
+                message.x = $root.vec3.decode(reader, reader.uint32());
+                break;
+            case 2:
+                message.y = $root.vec3.decode(reader, reader.uint32());
+                break;
+            case 3:
+                message.z = $root.vec3.decode(reader, reader.uint32());
+                break;
+            default:
+                reader.skipType(tag & 7);
+                break;
+            }
+        }
+        return message;
+    };
+
+    /**
+     * Decodes a mat33 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {mat33} mat33
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    mat33.decodeDelimited = function decodeDelimited(reader) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader(reader);
+        return this.decode(reader, reader.uint32());
+    };
+
+    /**
+     * Verifies a mat33 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    mat33.verify = function verify(message) {
+        if (typeof message !== "object" || message === null)
+            return "object expected";
+        if (message.x != null && message.hasOwnProperty("x")) {
+            var error = $root.vec3.verify(message.x);
+            if (error)
+                return "x." + error;
+        }
+        if (message.y != null && message.hasOwnProperty("y")) {
+            var error = $root.vec3.verify(message.y);
+            if (error)
+                return "y." + error;
+        }
+        if (message.z != null && message.hasOwnProperty("z")) {
+            var error = $root.vec3.verify(message.z);
+            if (error)
+                return "z." + error;
+        }
+        return null;
+    };
+
+    /**
+     * Creates a mat33 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {mat33} mat33
+     */
+    mat33.fromObject = function fromObject(object) {
+        if (object instanceof $root.mat33)
+            return object;
+        var message = new $root.mat33();
+        if (object.x != null) {
+            if (typeof object.x !== "object")
+                throw TypeError(".mat33.x: object expected");
+            message.x = $root.vec3.fromObject(object.x);
+        }
+        if (object.y != null) {
+            if (typeof object.y !== "object")
+                throw TypeError(".mat33.y: object expected");
+            message.y = $root.vec3.fromObject(object.y);
+        }
+        if (object.z != null) {
+            if (typeof object.z !== "object")
+                throw TypeError(".mat33.z: object expected");
+            message.z = $root.vec3.fromObject(object.z);
+        }
+        return message;
+    };
+
+    /**
+     * Creates a mat33 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link mat33.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {mat33} mat33
+     */
+    mat33.from = mat33.fromObject;
+
+    /**
+     * Creates a plain object from a mat33 message. Also converts values to other types if specified.
+     * @param {mat33} message mat33
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    mat33.toObject = function toObject(message, options) {
+        if (!options)
+            options = {};
+        var object = {};
+        if (options.defaults) {
+            object.x = null;
+            object.y = null;
+            object.z = null;
+        }
+        if (message.x != null && message.hasOwnProperty("x"))
+            object.x = $root.vec3.toObject(message.x, options);
+        if (message.y != null && message.hasOwnProperty("y"))
+            object.y = $root.vec3.toObject(message.y, options);
+        if (message.z != null && message.hasOwnProperty("z"))
+            object.z = $root.vec3.toObject(message.z, options);
+        return object;
+    };
+
+    /**
+     * Creates a plain object from this mat33 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    mat33.prototype.toObject = function toObject(options) {
+        return this.constructor.toObject(this, options);
+    };
+
+    /**
+     * Converts this mat33 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    mat33.prototype.toJSON = function toJSON() {
+        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+    };
+
+    return mat33;
+})();
+
+$root.fmat33 = (function() {
+
+    /**
+     * Properties of a fmat33.
+     * @typedef fmat33$Properties
+     * @type {Object}
+     * @property {fvec3$Properties} [x] fmat33 x.
+     * @property {fvec3$Properties} [y] fmat33 y.
+     * @property {fvec3$Properties} [z] fmat33 z.
+     */
+
+    /**
+     * Constructs a new fmat33.
+     * @exports fmat33
+     * @constructor
+     * @param {fmat33$Properties=} [properties] Properties to set
+     */
+    function fmat33(properties) {
+        if (properties)
+            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                if (properties[keys[i]] != null)
+                    this[keys[i]] = properties[keys[i]];
+    }
+
+    /**
+     * fmat33 x.
+     * @type {(fvec3$Properties|null)}
+     */
+    fmat33.prototype.x = null;
+
+    /**
+     * fmat33 y.
+     * @type {(fvec3$Properties|null)}
+     */
+    fmat33.prototype.y = null;
+
+    /**
+     * fmat33 z.
+     * @type {(fvec3$Properties|null)}
+     */
+    fmat33.prototype.z = null;
+
+    /**
+     * Creates a new fmat33 instance using the specified properties.
+     * @param {fmat33$Properties=} [properties] Properties to set
+     * @returns {fmat33} fmat33 instance
+     */
+    fmat33.create = function create(properties) {
+        return new fmat33(properties);
+    };
+
+    /**
+     * Encodes the specified fmat33 message. Does not implicitly {@link fmat33.verify|verify} messages.
+     * @param {fmat33$Properties} message fmat33 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    fmat33.encode = function encode(message, writer) {
+        if (!writer)
+            writer = $Writer.create();
+        if (message.x != null && message.hasOwnProperty("x"))
+            $root.fvec3.encode(message.x, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+        if (message.y != null && message.hasOwnProperty("y"))
+            $root.fvec3.encode(message.y, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+        if (message.z != null && message.hasOwnProperty("z"))
+            $root.fvec3.encode(message.z, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+        return writer;
+    };
+
+    /**
+     * Encodes the specified fmat33 message, length delimited. Does not implicitly {@link fmat33.verify|verify} messages.
+     * @param {fmat33$Properties} message fmat33 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    fmat33.encodeDelimited = function encodeDelimited(message, writer) {
+        return this.encode(message, writer).ldelim();
+    };
+
+    /**
+     * Decodes a fmat33 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {fmat33} fmat33
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    fmat33.decode = function decode(reader, length) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader.create(reader);
+        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.fmat33();
+        while (reader.pos < end) {
+            var tag = reader.uint32();
+            switch (tag >>> 3) {
+            case 1:
+                message.x = $root.fvec3.decode(reader, reader.uint32());
+                break;
+            case 2:
+                message.y = $root.fvec3.decode(reader, reader.uint32());
+                break;
+            case 3:
+                message.z = $root.fvec3.decode(reader, reader.uint32());
+                break;
+            default:
+                reader.skipType(tag & 7);
+                break;
+            }
+        }
+        return message;
+    };
+
+    /**
+     * Decodes a fmat33 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {fmat33} fmat33
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    fmat33.decodeDelimited = function decodeDelimited(reader) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader(reader);
+        return this.decode(reader, reader.uint32());
+    };
+
+    /**
+     * Verifies a fmat33 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    fmat33.verify = function verify(message) {
+        if (typeof message !== "object" || message === null)
+            return "object expected";
+        if (message.x != null && message.hasOwnProperty("x")) {
+            var error = $root.fvec3.verify(message.x);
+            if (error)
+                return "x." + error;
+        }
+        if (message.y != null && message.hasOwnProperty("y")) {
+            var error = $root.fvec3.verify(message.y);
+            if (error)
+                return "y." + error;
+        }
+        if (message.z != null && message.hasOwnProperty("z")) {
+            var error = $root.fvec3.verify(message.z);
+            if (error)
+                return "z." + error;
+        }
+        return null;
+    };
+
+    /**
+     * Creates a fmat33 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {fmat33} fmat33
+     */
+    fmat33.fromObject = function fromObject(object) {
+        if (object instanceof $root.fmat33)
+            return object;
+        var message = new $root.fmat33();
+        if (object.x != null) {
+            if (typeof object.x !== "object")
+                throw TypeError(".fmat33.x: object expected");
+            message.x = $root.fvec3.fromObject(object.x);
+        }
+        if (object.y != null) {
+            if (typeof object.y !== "object")
+                throw TypeError(".fmat33.y: object expected");
+            message.y = $root.fvec3.fromObject(object.y);
+        }
+        if (object.z != null) {
+            if (typeof object.z !== "object")
+                throw TypeError(".fmat33.z: object expected");
+            message.z = $root.fvec3.fromObject(object.z);
+        }
+        return message;
+    };
+
+    /**
+     * Creates a fmat33 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link fmat33.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {fmat33} fmat33
+     */
+    fmat33.from = fmat33.fromObject;
+
+    /**
+     * Creates a plain object from a fmat33 message. Also converts values to other types if specified.
+     * @param {fmat33} message fmat33
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    fmat33.toObject = function toObject(message, options) {
+        if (!options)
+            options = {};
+        var object = {};
+        if (options.defaults) {
+            object.x = null;
+            object.y = null;
+            object.z = null;
+        }
+        if (message.x != null && message.hasOwnProperty("x"))
+            object.x = $root.fvec3.toObject(message.x, options);
+        if (message.y != null && message.hasOwnProperty("y"))
+            object.y = $root.fvec3.toObject(message.y, options);
+        if (message.z != null && message.hasOwnProperty("z"))
+            object.z = $root.fvec3.toObject(message.z, options);
+        return object;
+    };
+
+    /**
+     * Creates a plain object from this fmat33 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    fmat33.prototype.toObject = function toObject(options) {
+        return this.constructor.toObject(this, options);
+    };
+
+    /**
+     * Converts this fmat33 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    fmat33.prototype.toJSON = function toJSON() {
+        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+    };
+
+    return fmat33;
+})();
+
+$root.imat33 = (function() {
+
+    /**
+     * Properties of an imat33.
+     * @typedef imat33$Properties
+     * @type {Object}
+     * @property {ivec3$Properties} [x] imat33 x.
+     * @property {ivec3$Properties} [y] imat33 y.
+     * @property {ivec3$Properties} [z] imat33 z.
+     */
+
+    /**
+     * Constructs a new imat33.
+     * @exports imat33
+     * @constructor
+     * @param {imat33$Properties=} [properties] Properties to set
+     */
+    function imat33(properties) {
+        if (properties)
+            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                if (properties[keys[i]] != null)
+                    this[keys[i]] = properties[keys[i]];
+    }
+
+    /**
+     * imat33 x.
+     * @type {(ivec3$Properties|null)}
+     */
+    imat33.prototype.x = null;
+
+    /**
+     * imat33 y.
+     * @type {(ivec3$Properties|null)}
+     */
+    imat33.prototype.y = null;
+
+    /**
+     * imat33 z.
+     * @type {(ivec3$Properties|null)}
+     */
+    imat33.prototype.z = null;
+
+    /**
+     * Creates a new imat33 instance using the specified properties.
+     * @param {imat33$Properties=} [properties] Properties to set
+     * @returns {imat33} imat33 instance
+     */
+    imat33.create = function create(properties) {
+        return new imat33(properties);
+    };
+
+    /**
+     * Encodes the specified imat33 message. Does not implicitly {@link imat33.verify|verify} messages.
+     * @param {imat33$Properties} message imat33 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    imat33.encode = function encode(message, writer) {
+        if (!writer)
+            writer = $Writer.create();
+        if (message.x != null && message.hasOwnProperty("x"))
+            $root.ivec3.encode(message.x, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+        if (message.y != null && message.hasOwnProperty("y"))
+            $root.ivec3.encode(message.y, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+        if (message.z != null && message.hasOwnProperty("z"))
+            $root.ivec3.encode(message.z, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+        return writer;
+    };
+
+    /**
+     * Encodes the specified imat33 message, length delimited. Does not implicitly {@link imat33.verify|verify} messages.
+     * @param {imat33$Properties} message imat33 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    imat33.encodeDelimited = function encodeDelimited(message, writer) {
+        return this.encode(message, writer).ldelim();
+    };
+
+    /**
+     * Decodes an imat33 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {imat33} imat33
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    imat33.decode = function decode(reader, length) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader.create(reader);
+        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.imat33();
+        while (reader.pos < end) {
+            var tag = reader.uint32();
+            switch (tag >>> 3) {
+            case 1:
+                message.x = $root.ivec3.decode(reader, reader.uint32());
+                break;
+            case 2:
+                message.y = $root.ivec3.decode(reader, reader.uint32());
+                break;
+            case 3:
+                message.z = $root.ivec3.decode(reader, reader.uint32());
+                break;
+            default:
+                reader.skipType(tag & 7);
+                break;
+            }
+        }
+        return message;
+    };
+
+    /**
+     * Decodes an imat33 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {imat33} imat33
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    imat33.decodeDelimited = function decodeDelimited(reader) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader(reader);
+        return this.decode(reader, reader.uint32());
+    };
+
+    /**
+     * Verifies an imat33 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    imat33.verify = function verify(message) {
+        if (typeof message !== "object" || message === null)
+            return "object expected";
+        if (message.x != null && message.hasOwnProperty("x")) {
+            var error = $root.ivec3.verify(message.x);
+            if (error)
+                return "x." + error;
+        }
+        if (message.y != null && message.hasOwnProperty("y")) {
+            var error = $root.ivec3.verify(message.y);
+            if (error)
+                return "y." + error;
+        }
+        if (message.z != null && message.hasOwnProperty("z")) {
+            var error = $root.ivec3.verify(message.z);
+            if (error)
+                return "z." + error;
+        }
+        return null;
+    };
+
+    /**
+     * Creates an imat33 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {imat33} imat33
+     */
+    imat33.fromObject = function fromObject(object) {
+        if (object instanceof $root.imat33)
+            return object;
+        var message = new $root.imat33();
+        if (object.x != null) {
+            if (typeof object.x !== "object")
+                throw TypeError(".imat33.x: object expected");
+            message.x = $root.ivec3.fromObject(object.x);
+        }
+        if (object.y != null) {
+            if (typeof object.y !== "object")
+                throw TypeError(".imat33.y: object expected");
+            message.y = $root.ivec3.fromObject(object.y);
+        }
+        if (object.z != null) {
+            if (typeof object.z !== "object")
+                throw TypeError(".imat33.z: object expected");
+            message.z = $root.ivec3.fromObject(object.z);
+        }
+        return message;
+    };
+
+    /**
+     * Creates an imat33 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link imat33.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {imat33} imat33
+     */
+    imat33.from = imat33.fromObject;
+
+    /**
+     * Creates a plain object from an imat33 message. Also converts values to other types if specified.
+     * @param {imat33} message imat33
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    imat33.toObject = function toObject(message, options) {
+        if (!options)
+            options = {};
+        var object = {};
+        if (options.defaults) {
+            object.x = null;
+            object.y = null;
+            object.z = null;
+        }
+        if (message.x != null && message.hasOwnProperty("x"))
+            object.x = $root.ivec3.toObject(message.x, options);
+        if (message.y != null && message.hasOwnProperty("y"))
+            object.y = $root.ivec3.toObject(message.y, options);
+        if (message.z != null && message.hasOwnProperty("z"))
+            object.z = $root.ivec3.toObject(message.z, options);
+        return object;
+    };
+
+    /**
+     * Creates a plain object from this imat33 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    imat33.prototype.toObject = function toObject(options) {
+        return this.constructor.toObject(this, options);
+    };
+
+    /**
+     * Converts this imat33 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    imat33.prototype.toJSON = function toJSON() {
+        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+    };
+
+    return imat33;
+})();
+
+$root.umat33 = (function() {
+
+    /**
+     * Properties of an umat33.
+     * @typedef umat33$Properties
+     * @type {Object}
+     * @property {uvec3$Properties} [x] umat33 x.
+     * @property {uvec3$Properties} [y] umat33 y.
+     * @property {uvec3$Properties} [z] umat33 z.
+     */
+
+    /**
+     * Constructs a new umat33.
+     * @exports umat33
+     * @constructor
+     * @param {umat33$Properties=} [properties] Properties to set
+     */
+    function umat33(properties) {
+        if (properties)
+            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                if (properties[keys[i]] != null)
+                    this[keys[i]] = properties[keys[i]];
+    }
+
+    /**
+     * umat33 x.
+     * @type {(uvec3$Properties|null)}
+     */
+    umat33.prototype.x = null;
+
+    /**
+     * umat33 y.
+     * @type {(uvec3$Properties|null)}
+     */
+    umat33.prototype.y = null;
+
+    /**
+     * umat33 z.
+     * @type {(uvec3$Properties|null)}
+     */
+    umat33.prototype.z = null;
+
+    /**
+     * Creates a new umat33 instance using the specified properties.
+     * @param {umat33$Properties=} [properties] Properties to set
+     * @returns {umat33} umat33 instance
+     */
+    umat33.create = function create(properties) {
+        return new umat33(properties);
+    };
+
+    /**
+     * Encodes the specified umat33 message. Does not implicitly {@link umat33.verify|verify} messages.
+     * @param {umat33$Properties} message umat33 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    umat33.encode = function encode(message, writer) {
+        if (!writer)
+            writer = $Writer.create();
+        if (message.x != null && message.hasOwnProperty("x"))
+            $root.uvec3.encode(message.x, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+        if (message.y != null && message.hasOwnProperty("y"))
+            $root.uvec3.encode(message.y, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+        if (message.z != null && message.hasOwnProperty("z"))
+            $root.uvec3.encode(message.z, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+        return writer;
+    };
+
+    /**
+     * Encodes the specified umat33 message, length delimited. Does not implicitly {@link umat33.verify|verify} messages.
+     * @param {umat33$Properties} message umat33 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    umat33.encodeDelimited = function encodeDelimited(message, writer) {
+        return this.encode(message, writer).ldelim();
+    };
+
+    /**
+     * Decodes an umat33 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {umat33} umat33
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    umat33.decode = function decode(reader, length) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader.create(reader);
+        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.umat33();
+        while (reader.pos < end) {
+            var tag = reader.uint32();
+            switch (tag >>> 3) {
+            case 1:
+                message.x = $root.uvec3.decode(reader, reader.uint32());
+                break;
+            case 2:
+                message.y = $root.uvec3.decode(reader, reader.uint32());
+                break;
+            case 3:
+                message.z = $root.uvec3.decode(reader, reader.uint32());
+                break;
+            default:
+                reader.skipType(tag & 7);
+                break;
+            }
+        }
+        return message;
+    };
+
+    /**
+     * Decodes an umat33 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {umat33} umat33
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    umat33.decodeDelimited = function decodeDelimited(reader) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader(reader);
+        return this.decode(reader, reader.uint32());
+    };
+
+    /**
+     * Verifies an umat33 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    umat33.verify = function verify(message) {
+        if (typeof message !== "object" || message === null)
+            return "object expected";
+        if (message.x != null && message.hasOwnProperty("x")) {
+            var error = $root.uvec3.verify(message.x);
+            if (error)
+                return "x." + error;
+        }
+        if (message.y != null && message.hasOwnProperty("y")) {
+            var error = $root.uvec3.verify(message.y);
+            if (error)
+                return "y." + error;
+        }
+        if (message.z != null && message.hasOwnProperty("z")) {
+            var error = $root.uvec3.verify(message.z);
+            if (error)
+                return "z." + error;
+        }
+        return null;
+    };
+
+    /**
+     * Creates an umat33 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {umat33} umat33
+     */
+    umat33.fromObject = function fromObject(object) {
+        if (object instanceof $root.umat33)
+            return object;
+        var message = new $root.umat33();
+        if (object.x != null) {
+            if (typeof object.x !== "object")
+                throw TypeError(".umat33.x: object expected");
+            message.x = $root.uvec3.fromObject(object.x);
+        }
+        if (object.y != null) {
+            if (typeof object.y !== "object")
+                throw TypeError(".umat33.y: object expected");
+            message.y = $root.uvec3.fromObject(object.y);
+        }
+        if (object.z != null) {
+            if (typeof object.z !== "object")
+                throw TypeError(".umat33.z: object expected");
+            message.z = $root.uvec3.fromObject(object.z);
+        }
+        return message;
+    };
+
+    /**
+     * Creates an umat33 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link umat33.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {umat33} umat33
+     */
+    umat33.from = umat33.fromObject;
+
+    /**
+     * Creates a plain object from an umat33 message. Also converts values to other types if specified.
+     * @param {umat33} message umat33
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    umat33.toObject = function toObject(message, options) {
+        if (!options)
+            options = {};
+        var object = {};
+        if (options.defaults) {
+            object.x = null;
+            object.y = null;
+            object.z = null;
+        }
+        if (message.x != null && message.hasOwnProperty("x"))
+            object.x = $root.uvec3.toObject(message.x, options);
+        if (message.y != null && message.hasOwnProperty("y"))
+            object.y = $root.uvec3.toObject(message.y, options);
+        if (message.z != null && message.hasOwnProperty("z"))
+            object.z = $root.uvec3.toObject(message.z, options);
+        return object;
+    };
+
+    /**
+     * Creates a plain object from this umat33 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    umat33.prototype.toObject = function toObject(options) {
+        return this.constructor.toObject(this, options);
+    };
+
+    /**
+     * Converts this umat33 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    umat33.prototype.toJSON = function toJSON() {
+        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+    };
+
+    return umat33;
+})();
+
+$root.mat44 = (function() {
+
+    /**
+     * Properties of a mat44.
+     * @typedef mat44$Properties
+     * @type {Object}
+     * @property {vec4$Properties} [x] mat44 x.
+     * @property {vec4$Properties} [y] mat44 y.
+     * @property {vec4$Properties} [z] mat44 z.
+     * @property {vec4$Properties} [t] mat44 t.
+     */
+
+    /**
+     * Constructs a new mat44.
+     * @exports mat44
+     * @constructor
+     * @param {mat44$Properties=} [properties] Properties to set
+     */
+    function mat44(properties) {
+        if (properties)
+            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                if (properties[keys[i]] != null)
+                    this[keys[i]] = properties[keys[i]];
+    }
+
+    /**
+     * mat44 x.
+     * @type {(vec4$Properties|null)}
+     */
+    mat44.prototype.x = null;
+
+    /**
+     * mat44 y.
+     * @type {(vec4$Properties|null)}
+     */
+    mat44.prototype.y = null;
+
+    /**
+     * mat44 z.
+     * @type {(vec4$Properties|null)}
+     */
+    mat44.prototype.z = null;
+
+    /**
+     * mat44 t.
+     * @type {(vec4$Properties|null)}
+     */
+    mat44.prototype.t = null;
+
+    /**
+     * Creates a new mat44 instance using the specified properties.
+     * @param {mat44$Properties=} [properties] Properties to set
+     * @returns {mat44} mat44 instance
+     */
+    mat44.create = function create(properties) {
+        return new mat44(properties);
+    };
+
+    /**
+     * Encodes the specified mat44 message. Does not implicitly {@link mat44.verify|verify} messages.
+     * @param {mat44$Properties} message mat44 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    mat44.encode = function encode(message, writer) {
+        if (!writer)
+            writer = $Writer.create();
+        if (message.x != null && message.hasOwnProperty("x"))
+            $root.vec4.encode(message.x, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+        if (message.y != null && message.hasOwnProperty("y"))
+            $root.vec4.encode(message.y, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+        if (message.z != null && message.hasOwnProperty("z"))
+            $root.vec4.encode(message.z, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+        if (message.t != null && message.hasOwnProperty("t"))
+            $root.vec4.encode(message.t, writer.uint32(/* id 4, wireType 2 =*/34).fork()).ldelim();
+        return writer;
+    };
+
+    /**
+     * Encodes the specified mat44 message, length delimited. Does not implicitly {@link mat44.verify|verify} messages.
+     * @param {mat44$Properties} message mat44 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    mat44.encodeDelimited = function encodeDelimited(message, writer) {
+        return this.encode(message, writer).ldelim();
+    };
+
+    /**
+     * Decodes a mat44 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {mat44} mat44
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    mat44.decode = function decode(reader, length) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader.create(reader);
+        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.mat44();
+        while (reader.pos < end) {
+            var tag = reader.uint32();
+            switch (tag >>> 3) {
+            case 1:
+                message.x = $root.vec4.decode(reader, reader.uint32());
+                break;
+            case 2:
+                message.y = $root.vec4.decode(reader, reader.uint32());
+                break;
+            case 3:
+                message.z = $root.vec4.decode(reader, reader.uint32());
+                break;
+            case 4:
+                message.t = $root.vec4.decode(reader, reader.uint32());
+                break;
+            default:
+                reader.skipType(tag & 7);
+                break;
+            }
+        }
+        return message;
+    };
+
+    /**
+     * Decodes a mat44 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {mat44} mat44
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    mat44.decodeDelimited = function decodeDelimited(reader) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader(reader);
+        return this.decode(reader, reader.uint32());
+    };
+
+    /**
+     * Verifies a mat44 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    mat44.verify = function verify(message) {
+        if (typeof message !== "object" || message === null)
+            return "object expected";
+        if (message.x != null && message.hasOwnProperty("x")) {
+            var error = $root.vec4.verify(message.x);
+            if (error)
+                return "x." + error;
+        }
+        if (message.y != null && message.hasOwnProperty("y")) {
+            var error = $root.vec4.verify(message.y);
+            if (error)
+                return "y." + error;
+        }
+        if (message.z != null && message.hasOwnProperty("z")) {
+            var error = $root.vec4.verify(message.z);
+            if (error)
+                return "z." + error;
+        }
+        if (message.t != null && message.hasOwnProperty("t")) {
+            var error = $root.vec4.verify(message.t);
+            if (error)
+                return "t." + error;
+        }
+        return null;
+    };
+
+    /**
+     * Creates a mat44 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {mat44} mat44
+     */
+    mat44.fromObject = function fromObject(object) {
+        if (object instanceof $root.mat44)
+            return object;
+        var message = new $root.mat44();
+        if (object.x != null) {
+            if (typeof object.x !== "object")
+                throw TypeError(".mat44.x: object expected");
+            message.x = $root.vec4.fromObject(object.x);
+        }
+        if (object.y != null) {
+            if (typeof object.y !== "object")
+                throw TypeError(".mat44.y: object expected");
+            message.y = $root.vec4.fromObject(object.y);
+        }
+        if (object.z != null) {
+            if (typeof object.z !== "object")
+                throw TypeError(".mat44.z: object expected");
+            message.z = $root.vec4.fromObject(object.z);
+        }
+        if (object.t != null) {
+            if (typeof object.t !== "object")
+                throw TypeError(".mat44.t: object expected");
+            message.t = $root.vec4.fromObject(object.t);
+        }
+        return message;
+    };
+
+    /**
+     * Creates a mat44 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link mat44.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {mat44} mat44
+     */
+    mat44.from = mat44.fromObject;
+
+    /**
+     * Creates a plain object from a mat44 message. Also converts values to other types if specified.
+     * @param {mat44} message mat44
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    mat44.toObject = function toObject(message, options) {
+        if (!options)
+            options = {};
+        var object = {};
+        if (options.defaults) {
+            object.x = null;
+            object.y = null;
+            object.z = null;
+            object.t = null;
+        }
+        if (message.x != null && message.hasOwnProperty("x"))
+            object.x = $root.vec4.toObject(message.x, options);
+        if (message.y != null && message.hasOwnProperty("y"))
+            object.y = $root.vec4.toObject(message.y, options);
+        if (message.z != null && message.hasOwnProperty("z"))
+            object.z = $root.vec4.toObject(message.z, options);
+        if (message.t != null && message.hasOwnProperty("t"))
+            object.t = $root.vec4.toObject(message.t, options);
+        return object;
+    };
+
+    /**
+     * Creates a plain object from this mat44 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    mat44.prototype.toObject = function toObject(options) {
+        return this.constructor.toObject(this, options);
+    };
+
+    /**
+     * Converts this mat44 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    mat44.prototype.toJSON = function toJSON() {
+        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+    };
+
+    return mat44;
+})();
+
+$root.fmat44 = (function() {
+
+    /**
+     * Properties of a fmat44.
+     * @typedef fmat44$Properties
+     * @type {Object}
+     * @property {fvec4$Properties} [x] fmat44 x.
+     * @property {fvec4$Properties} [y] fmat44 y.
+     * @property {fvec4$Properties} [z] fmat44 z.
+     * @property {fvec4$Properties} [t] fmat44 t.
+     */
+
+    /**
+     * Constructs a new fmat44.
+     * @exports fmat44
+     * @constructor
+     * @param {fmat44$Properties=} [properties] Properties to set
+     */
+    function fmat44(properties) {
+        if (properties)
+            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                if (properties[keys[i]] != null)
+                    this[keys[i]] = properties[keys[i]];
+    }
+
+    /**
+     * fmat44 x.
+     * @type {(fvec4$Properties|null)}
+     */
+    fmat44.prototype.x = null;
+
+    /**
+     * fmat44 y.
+     * @type {(fvec4$Properties|null)}
+     */
+    fmat44.prototype.y = null;
+
+    /**
+     * fmat44 z.
+     * @type {(fvec4$Properties|null)}
+     */
+    fmat44.prototype.z = null;
+
+    /**
+     * fmat44 t.
+     * @type {(fvec4$Properties|null)}
+     */
+    fmat44.prototype.t = null;
+
+    /**
+     * Creates a new fmat44 instance using the specified properties.
+     * @param {fmat44$Properties=} [properties] Properties to set
+     * @returns {fmat44} fmat44 instance
+     */
+    fmat44.create = function create(properties) {
+        return new fmat44(properties);
+    };
+
+    /**
+     * Encodes the specified fmat44 message. Does not implicitly {@link fmat44.verify|verify} messages.
+     * @param {fmat44$Properties} message fmat44 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    fmat44.encode = function encode(message, writer) {
+        if (!writer)
+            writer = $Writer.create();
+        if (message.x != null && message.hasOwnProperty("x"))
+            $root.fvec4.encode(message.x, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+        if (message.y != null && message.hasOwnProperty("y"))
+            $root.fvec4.encode(message.y, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+        if (message.z != null && message.hasOwnProperty("z"))
+            $root.fvec4.encode(message.z, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+        if (message.t != null && message.hasOwnProperty("t"))
+            $root.fvec4.encode(message.t, writer.uint32(/* id 4, wireType 2 =*/34).fork()).ldelim();
+        return writer;
+    };
+
+    /**
+     * Encodes the specified fmat44 message, length delimited. Does not implicitly {@link fmat44.verify|verify} messages.
+     * @param {fmat44$Properties} message fmat44 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    fmat44.encodeDelimited = function encodeDelimited(message, writer) {
+        return this.encode(message, writer).ldelim();
+    };
+
+    /**
+     * Decodes a fmat44 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {fmat44} fmat44
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    fmat44.decode = function decode(reader, length) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader.create(reader);
+        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.fmat44();
+        while (reader.pos < end) {
+            var tag = reader.uint32();
+            switch (tag >>> 3) {
+            case 1:
+                message.x = $root.fvec4.decode(reader, reader.uint32());
+                break;
+            case 2:
+                message.y = $root.fvec4.decode(reader, reader.uint32());
+                break;
+            case 3:
+                message.z = $root.fvec4.decode(reader, reader.uint32());
+                break;
+            case 4:
+                message.t = $root.fvec4.decode(reader, reader.uint32());
+                break;
+            default:
+                reader.skipType(tag & 7);
+                break;
+            }
+        }
+        return message;
+    };
+
+    /**
+     * Decodes a fmat44 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {fmat44} fmat44
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    fmat44.decodeDelimited = function decodeDelimited(reader) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader(reader);
+        return this.decode(reader, reader.uint32());
+    };
+
+    /**
+     * Verifies a fmat44 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    fmat44.verify = function verify(message) {
+        if (typeof message !== "object" || message === null)
+            return "object expected";
+        if (message.x != null && message.hasOwnProperty("x")) {
+            var error = $root.fvec4.verify(message.x);
+            if (error)
+                return "x." + error;
+        }
+        if (message.y != null && message.hasOwnProperty("y")) {
+            var error = $root.fvec4.verify(message.y);
+            if (error)
+                return "y." + error;
+        }
+        if (message.z != null && message.hasOwnProperty("z")) {
+            var error = $root.fvec4.verify(message.z);
+            if (error)
+                return "z." + error;
+        }
+        if (message.t != null && message.hasOwnProperty("t")) {
+            var error = $root.fvec4.verify(message.t);
+            if (error)
+                return "t." + error;
+        }
+        return null;
+    };
+
+    /**
+     * Creates a fmat44 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {fmat44} fmat44
+     */
+    fmat44.fromObject = function fromObject(object) {
+        if (object instanceof $root.fmat44)
+            return object;
+        var message = new $root.fmat44();
+        if (object.x != null) {
+            if (typeof object.x !== "object")
+                throw TypeError(".fmat44.x: object expected");
+            message.x = $root.fvec4.fromObject(object.x);
+        }
+        if (object.y != null) {
+            if (typeof object.y !== "object")
+                throw TypeError(".fmat44.y: object expected");
+            message.y = $root.fvec4.fromObject(object.y);
+        }
+        if (object.z != null) {
+            if (typeof object.z !== "object")
+                throw TypeError(".fmat44.z: object expected");
+            message.z = $root.fvec4.fromObject(object.z);
+        }
+        if (object.t != null) {
+            if (typeof object.t !== "object")
+                throw TypeError(".fmat44.t: object expected");
+            message.t = $root.fvec4.fromObject(object.t);
+        }
+        return message;
+    };
+
+    /**
+     * Creates a fmat44 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link fmat44.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {fmat44} fmat44
+     */
+    fmat44.from = fmat44.fromObject;
+
+    /**
+     * Creates a plain object from a fmat44 message. Also converts values to other types if specified.
+     * @param {fmat44} message fmat44
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    fmat44.toObject = function toObject(message, options) {
+        if (!options)
+            options = {};
+        var object = {};
+        if (options.defaults) {
+            object.x = null;
+            object.y = null;
+            object.z = null;
+            object.t = null;
+        }
+        if (message.x != null && message.hasOwnProperty("x"))
+            object.x = $root.fvec4.toObject(message.x, options);
+        if (message.y != null && message.hasOwnProperty("y"))
+            object.y = $root.fvec4.toObject(message.y, options);
+        if (message.z != null && message.hasOwnProperty("z"))
+            object.z = $root.fvec4.toObject(message.z, options);
+        if (message.t != null && message.hasOwnProperty("t"))
+            object.t = $root.fvec4.toObject(message.t, options);
+        return object;
+    };
+
+    /**
+     * Creates a plain object from this fmat44 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    fmat44.prototype.toObject = function toObject(options) {
+        return this.constructor.toObject(this, options);
+    };
+
+    /**
+     * Converts this fmat44 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    fmat44.prototype.toJSON = function toJSON() {
+        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+    };
+
+    return fmat44;
+})();
+
+$root.imat44 = (function() {
+
+    /**
+     * Properties of an imat44.
+     * @typedef imat44$Properties
+     * @type {Object}
+     * @property {ivec4$Properties} [x] imat44 x.
+     * @property {ivec4$Properties} [y] imat44 y.
+     * @property {ivec4$Properties} [z] imat44 z.
+     * @property {ivec4$Properties} [t] imat44 t.
+     */
+
+    /**
+     * Constructs a new imat44.
+     * @exports imat44
+     * @constructor
+     * @param {imat44$Properties=} [properties] Properties to set
+     */
+    function imat44(properties) {
+        if (properties)
+            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                if (properties[keys[i]] != null)
+                    this[keys[i]] = properties[keys[i]];
+    }
+
+    /**
+     * imat44 x.
+     * @type {(ivec4$Properties|null)}
+     */
+    imat44.prototype.x = null;
+
+    /**
+     * imat44 y.
+     * @type {(ivec4$Properties|null)}
+     */
+    imat44.prototype.y = null;
+
+    /**
+     * imat44 z.
+     * @type {(ivec4$Properties|null)}
+     */
+    imat44.prototype.z = null;
+
+    /**
+     * imat44 t.
+     * @type {(ivec4$Properties|null)}
+     */
+    imat44.prototype.t = null;
+
+    /**
+     * Creates a new imat44 instance using the specified properties.
+     * @param {imat44$Properties=} [properties] Properties to set
+     * @returns {imat44} imat44 instance
+     */
+    imat44.create = function create(properties) {
+        return new imat44(properties);
+    };
+
+    /**
+     * Encodes the specified imat44 message. Does not implicitly {@link imat44.verify|verify} messages.
+     * @param {imat44$Properties} message imat44 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    imat44.encode = function encode(message, writer) {
+        if (!writer)
+            writer = $Writer.create();
+        if (message.x != null && message.hasOwnProperty("x"))
+            $root.ivec4.encode(message.x, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+        if (message.y != null && message.hasOwnProperty("y"))
+            $root.ivec4.encode(message.y, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+        if (message.z != null && message.hasOwnProperty("z"))
+            $root.ivec4.encode(message.z, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+        if (message.t != null && message.hasOwnProperty("t"))
+            $root.ivec4.encode(message.t, writer.uint32(/* id 4, wireType 2 =*/34).fork()).ldelim();
+        return writer;
+    };
+
+    /**
+     * Encodes the specified imat44 message, length delimited. Does not implicitly {@link imat44.verify|verify} messages.
+     * @param {imat44$Properties} message imat44 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    imat44.encodeDelimited = function encodeDelimited(message, writer) {
+        return this.encode(message, writer).ldelim();
+    };
+
+    /**
+     * Decodes an imat44 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {imat44} imat44
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    imat44.decode = function decode(reader, length) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader.create(reader);
+        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.imat44();
+        while (reader.pos < end) {
+            var tag = reader.uint32();
+            switch (tag >>> 3) {
+            case 1:
+                message.x = $root.ivec4.decode(reader, reader.uint32());
+                break;
+            case 2:
+                message.y = $root.ivec4.decode(reader, reader.uint32());
+                break;
+            case 3:
+                message.z = $root.ivec4.decode(reader, reader.uint32());
+                break;
+            case 4:
+                message.t = $root.ivec4.decode(reader, reader.uint32());
+                break;
+            default:
+                reader.skipType(tag & 7);
+                break;
+            }
+        }
+        return message;
+    };
+
+    /**
+     * Decodes an imat44 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {imat44} imat44
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    imat44.decodeDelimited = function decodeDelimited(reader) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader(reader);
+        return this.decode(reader, reader.uint32());
+    };
+
+    /**
+     * Verifies an imat44 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    imat44.verify = function verify(message) {
+        if (typeof message !== "object" || message === null)
+            return "object expected";
+        if (message.x != null && message.hasOwnProperty("x")) {
+            var error = $root.ivec4.verify(message.x);
+            if (error)
+                return "x." + error;
+        }
+        if (message.y != null && message.hasOwnProperty("y")) {
+            var error = $root.ivec4.verify(message.y);
+            if (error)
+                return "y." + error;
+        }
+        if (message.z != null && message.hasOwnProperty("z")) {
+            var error = $root.ivec4.verify(message.z);
+            if (error)
+                return "z." + error;
+        }
+        if (message.t != null && message.hasOwnProperty("t")) {
+            var error = $root.ivec4.verify(message.t);
+            if (error)
+                return "t." + error;
+        }
+        return null;
+    };
+
+    /**
+     * Creates an imat44 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {imat44} imat44
+     */
+    imat44.fromObject = function fromObject(object) {
+        if (object instanceof $root.imat44)
+            return object;
+        var message = new $root.imat44();
+        if (object.x != null) {
+            if (typeof object.x !== "object")
+                throw TypeError(".imat44.x: object expected");
+            message.x = $root.ivec4.fromObject(object.x);
+        }
+        if (object.y != null) {
+            if (typeof object.y !== "object")
+                throw TypeError(".imat44.y: object expected");
+            message.y = $root.ivec4.fromObject(object.y);
+        }
+        if (object.z != null) {
+            if (typeof object.z !== "object")
+                throw TypeError(".imat44.z: object expected");
+            message.z = $root.ivec4.fromObject(object.z);
+        }
+        if (object.t != null) {
+            if (typeof object.t !== "object")
+                throw TypeError(".imat44.t: object expected");
+            message.t = $root.ivec4.fromObject(object.t);
+        }
+        return message;
+    };
+
+    /**
+     * Creates an imat44 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link imat44.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {imat44} imat44
+     */
+    imat44.from = imat44.fromObject;
+
+    /**
+     * Creates a plain object from an imat44 message. Also converts values to other types if specified.
+     * @param {imat44} message imat44
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    imat44.toObject = function toObject(message, options) {
+        if (!options)
+            options = {};
+        var object = {};
+        if (options.defaults) {
+            object.x = null;
+            object.y = null;
+            object.z = null;
+            object.t = null;
+        }
+        if (message.x != null && message.hasOwnProperty("x"))
+            object.x = $root.ivec4.toObject(message.x, options);
+        if (message.y != null && message.hasOwnProperty("y"))
+            object.y = $root.ivec4.toObject(message.y, options);
+        if (message.z != null && message.hasOwnProperty("z"))
+            object.z = $root.ivec4.toObject(message.z, options);
+        if (message.t != null && message.hasOwnProperty("t"))
+            object.t = $root.ivec4.toObject(message.t, options);
+        return object;
+    };
+
+    /**
+     * Creates a plain object from this imat44 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    imat44.prototype.toObject = function toObject(options) {
+        return this.constructor.toObject(this, options);
+    };
+
+    /**
+     * Converts this imat44 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    imat44.prototype.toJSON = function toJSON() {
+        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+    };
+
+    return imat44;
+})();
+
+$root.umat44 = (function() {
+
+    /**
+     * Properties of an umat44.
+     * @typedef umat44$Properties
+     * @type {Object}
+     * @property {uvec4$Properties} [x] umat44 x.
+     * @property {uvec4$Properties} [y] umat44 y.
+     * @property {uvec4$Properties} [z] umat44 z.
+     * @property {uvec4$Properties} [t] umat44 t.
+     */
+
+    /**
+     * Constructs a new umat44.
+     * @exports umat44
+     * @constructor
+     * @param {umat44$Properties=} [properties] Properties to set
+     */
+    function umat44(properties) {
+        if (properties)
+            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                if (properties[keys[i]] != null)
+                    this[keys[i]] = properties[keys[i]];
+    }
+
+    /**
+     * umat44 x.
+     * @type {(uvec4$Properties|null)}
+     */
+    umat44.prototype.x = null;
+
+    /**
+     * umat44 y.
+     * @type {(uvec4$Properties|null)}
+     */
+    umat44.prototype.y = null;
+
+    /**
+     * umat44 z.
+     * @type {(uvec4$Properties|null)}
+     */
+    umat44.prototype.z = null;
+
+    /**
+     * umat44 t.
+     * @type {(uvec4$Properties|null)}
+     */
+    umat44.prototype.t = null;
+
+    /**
+     * Creates a new umat44 instance using the specified properties.
+     * @param {umat44$Properties=} [properties] Properties to set
+     * @returns {umat44} umat44 instance
+     */
+    umat44.create = function create(properties) {
+        return new umat44(properties);
+    };
+
+    /**
+     * Encodes the specified umat44 message. Does not implicitly {@link umat44.verify|verify} messages.
+     * @param {umat44$Properties} message umat44 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    umat44.encode = function encode(message, writer) {
+        if (!writer)
+            writer = $Writer.create();
+        if (message.x != null && message.hasOwnProperty("x"))
+            $root.uvec4.encode(message.x, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+        if (message.y != null && message.hasOwnProperty("y"))
+            $root.uvec4.encode(message.y, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+        if (message.z != null && message.hasOwnProperty("z"))
+            $root.uvec4.encode(message.z, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+        if (message.t != null && message.hasOwnProperty("t"))
+            $root.uvec4.encode(message.t, writer.uint32(/* id 4, wireType 2 =*/34).fork()).ldelim();
+        return writer;
+    };
+
+    /**
+     * Encodes the specified umat44 message, length delimited. Does not implicitly {@link umat44.verify|verify} messages.
+     * @param {umat44$Properties} message umat44 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    umat44.encodeDelimited = function encodeDelimited(message, writer) {
+        return this.encode(message, writer).ldelim();
+    };
+
+    /**
+     * Decodes an umat44 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {umat44} umat44
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    umat44.decode = function decode(reader, length) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader.create(reader);
+        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.umat44();
+        while (reader.pos < end) {
+            var tag = reader.uint32();
+            switch (tag >>> 3) {
+            case 1:
+                message.x = $root.uvec4.decode(reader, reader.uint32());
+                break;
+            case 2:
+                message.y = $root.uvec4.decode(reader, reader.uint32());
+                break;
+            case 3:
+                message.z = $root.uvec4.decode(reader, reader.uint32());
+                break;
+            case 4:
+                message.t = $root.uvec4.decode(reader, reader.uint32());
+                break;
+            default:
+                reader.skipType(tag & 7);
+                break;
+            }
+        }
+        return message;
+    };
+
+    /**
+     * Decodes an umat44 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {umat44} umat44
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    umat44.decodeDelimited = function decodeDelimited(reader) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader(reader);
+        return this.decode(reader, reader.uint32());
+    };
+
+    /**
+     * Verifies an umat44 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    umat44.verify = function verify(message) {
+        if (typeof message !== "object" || message === null)
+            return "object expected";
+        if (message.x != null && message.hasOwnProperty("x")) {
+            var error = $root.uvec4.verify(message.x);
+            if (error)
+                return "x." + error;
+        }
+        if (message.y != null && message.hasOwnProperty("y")) {
+            var error = $root.uvec4.verify(message.y);
+            if (error)
+                return "y." + error;
+        }
+        if (message.z != null && message.hasOwnProperty("z")) {
+            var error = $root.uvec4.verify(message.z);
+            if (error)
+                return "z." + error;
+        }
+        if (message.t != null && message.hasOwnProperty("t")) {
+            var error = $root.uvec4.verify(message.t);
+            if (error)
+                return "t." + error;
+        }
+        return null;
+    };
+
+    /**
+     * Creates an umat44 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {umat44} umat44
+     */
+    umat44.fromObject = function fromObject(object) {
+        if (object instanceof $root.umat44)
+            return object;
+        var message = new $root.umat44();
+        if (object.x != null) {
+            if (typeof object.x !== "object")
+                throw TypeError(".umat44.x: object expected");
+            message.x = $root.uvec4.fromObject(object.x);
+        }
+        if (object.y != null) {
+            if (typeof object.y !== "object")
+                throw TypeError(".umat44.y: object expected");
+            message.y = $root.uvec4.fromObject(object.y);
+        }
+        if (object.z != null) {
+            if (typeof object.z !== "object")
+                throw TypeError(".umat44.z: object expected");
+            message.z = $root.uvec4.fromObject(object.z);
+        }
+        if (object.t != null) {
+            if (typeof object.t !== "object")
+                throw TypeError(".umat44.t: object expected");
+            message.t = $root.uvec4.fromObject(object.t);
+        }
+        return message;
+    };
+
+    /**
+     * Creates an umat44 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link umat44.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {umat44} umat44
+     */
+    umat44.from = umat44.fromObject;
+
+    /**
+     * Creates a plain object from an umat44 message. Also converts values to other types if specified.
+     * @param {umat44} message umat44
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    umat44.toObject = function toObject(message, options) {
+        if (!options)
+            options = {};
+        var object = {};
+        if (options.defaults) {
+            object.x = null;
+            object.y = null;
+            object.z = null;
+            object.t = null;
+        }
+        if (message.x != null && message.hasOwnProperty("x"))
+            object.x = $root.uvec4.toObject(message.x, options);
+        if (message.y != null && message.hasOwnProperty("y"))
+            object.y = $root.uvec4.toObject(message.y, options);
+        if (message.z != null && message.hasOwnProperty("z"))
+            object.z = $root.uvec4.toObject(message.z, options);
+        if (message.t != null && message.hasOwnProperty("t"))
+            object.t = $root.uvec4.toObject(message.t, options);
+        return object;
+    };
+
+    /**
+     * Creates a plain object from this umat44 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    umat44.prototype.toObject = function toObject(options) {
+        return this.constructor.toObject(this, options);
+    };
+
+    /**
+     * Converts this umat44 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    umat44.prototype.toJSON = function toJSON() {
+        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+    };
+
+    return umat44;
+})();
+
+$root.vec = (function() {
+
+    /**
+     * Properties of a vec.
+     * @typedef vec$Properties
+     * @type {Object}
+     * @property {Array.<number>} [v] vec v.
+     */
+
+    /**
+     * Constructs a new vec.
+     * @exports vec
+     * @constructor
+     * @param {vec$Properties=} [properties] Properties to set
+     */
+    function vec(properties) {
+        this.v = [];
+        if (properties)
+            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                if (properties[keys[i]] != null)
+                    this[keys[i]] = properties[keys[i]];
+    }
+
+    /**
+     * vec v.
+     * @type {Array.<number>}
+     */
+    vec.prototype.v = $util.emptyArray;
+
+    /**
+     * Creates a new vec instance using the specified properties.
+     * @param {vec$Properties=} [properties] Properties to set
+     * @returns {vec} vec instance
+     */
+    vec.create = function create(properties) {
+        return new vec(properties);
+    };
+
+    /**
+     * Encodes the specified vec message. Does not implicitly {@link vec.verify|verify} messages.
+     * @param {vec$Properties} message vec message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    vec.encode = function encode(message, writer) {
+        if (!writer)
+            writer = $Writer.create();
+        if (message.v != null && message.v.length) {
+            writer.uint32(/* id 1, wireType 2 =*/10).fork();
+            for (var i = 0; i < message.v.length; ++i)
+                writer.double(message.v[i]);
+            writer.ldelim();
+        }
+        return writer;
+    };
+
+    /**
+     * Encodes the specified vec message, length delimited. Does not implicitly {@link vec.verify|verify} messages.
+     * @param {vec$Properties} message vec message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    vec.encodeDelimited = function encodeDelimited(message, writer) {
+        return this.encode(message, writer).ldelim();
+    };
+
+    /**
+     * Decodes a vec message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {vec} vec
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    vec.decode = function decode(reader, length) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader.create(reader);
+        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.vec();
+        while (reader.pos < end) {
+            var tag = reader.uint32();
+            switch (tag >>> 3) {
+            case 1:
+                if (!(message.v && message.v.length))
+                    message.v = [];
+                if ((tag & 7) === 2) {
+                    var end2 = reader.uint32() + reader.pos;
+                    while (reader.pos < end2)
+                        message.v.push(reader.double());
+                } else
+                    message.v.push(reader.double());
+                break;
+            default:
+                reader.skipType(tag & 7);
+                break;
+            }
+        }
+        return message;
+    };
+
+    /**
+     * Decodes a vec message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {vec} vec
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    vec.decodeDelimited = function decodeDelimited(reader) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader(reader);
+        return this.decode(reader, reader.uint32());
+    };
+
+    /**
+     * Verifies a vec message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    vec.verify = function verify(message) {
+        if (typeof message !== "object" || message === null)
+            return "object expected";
+        if (message.v != null && message.hasOwnProperty("v")) {
+            if (!Array.isArray(message.v))
+                return "v: array expected";
+            for (var i = 0; i < message.v.length; ++i)
+                if (typeof message.v[i] !== "number")
+                    return "v: number[] expected";
+        }
+        return null;
+    };
+
+    /**
+     * Creates a vec message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {vec} vec
+     */
+    vec.fromObject = function fromObject(object) {
+        if (object instanceof $root.vec)
+            return object;
+        var message = new $root.vec();
+        if (object.v) {
+            if (!Array.isArray(object.v))
+                throw TypeError(".vec.v: array expected");
+            message.v = [];
+            for (var i = 0; i < object.v.length; ++i)
+                message.v[i] = Number(object.v[i]);
+        }
+        return message;
+    };
+
+    /**
+     * Creates a vec message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link vec.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {vec} vec
+     */
+    vec.from = vec.fromObject;
+
+    /**
+     * Creates a plain object from a vec message. Also converts values to other types if specified.
+     * @param {vec} message vec
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    vec.toObject = function toObject(message, options) {
+        if (!options)
+            options = {};
+        var object = {};
+        if (options.arrays || options.defaults)
+            object.v = [];
+        if (message.v && message.v.length) {
+            object.v = [];
+            for (var j = 0; j < message.v.length; ++j)
+                object.v[j] = message.v[j];
+        }
+        return object;
+    };
+
+    /**
+     * Creates a plain object from this vec message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    vec.prototype.toObject = function toObject(options) {
+        return this.constructor.toObject(this, options);
+    };
+
+    /**
+     * Converts this vec to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    vec.prototype.toJSON = function toJSON() {
+        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+    };
+
+    return vec;
+})();
+
+$root.fvec = (function() {
+
+    /**
+     * Properties of a fvec.
+     * @typedef fvec$Properties
+     * @type {Object}
+     * @property {Array.<number>} [v] fvec v.
+     */
+
+    /**
+     * Constructs a new fvec.
+     * @exports fvec
+     * @constructor
+     * @param {fvec$Properties=} [properties] Properties to set
+     */
+    function fvec(properties) {
+        this.v = [];
+        if (properties)
+            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                if (properties[keys[i]] != null)
+                    this[keys[i]] = properties[keys[i]];
+    }
+
+    /**
+     * fvec v.
+     * @type {Array.<number>}
+     */
+    fvec.prototype.v = $util.emptyArray;
+
+    /**
+     * Creates a new fvec instance using the specified properties.
+     * @param {fvec$Properties=} [properties] Properties to set
+     * @returns {fvec} fvec instance
+     */
+    fvec.create = function create(properties) {
+        return new fvec(properties);
+    };
+
+    /**
+     * Encodes the specified fvec message. Does not implicitly {@link fvec.verify|verify} messages.
+     * @param {fvec$Properties} message fvec message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    fvec.encode = function encode(message, writer) {
+        if (!writer)
+            writer = $Writer.create();
+        if (message.v != null && message.v.length) {
+            writer.uint32(/* id 1, wireType 2 =*/10).fork();
+            for (var i = 0; i < message.v.length; ++i)
+                writer.float(message.v[i]);
+            writer.ldelim();
+        }
+        return writer;
+    };
+
+    /**
+     * Encodes the specified fvec message, length delimited. Does not implicitly {@link fvec.verify|verify} messages.
+     * @param {fvec$Properties} message fvec message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    fvec.encodeDelimited = function encodeDelimited(message, writer) {
+        return this.encode(message, writer).ldelim();
+    };
+
+    /**
+     * Decodes a fvec message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {fvec} fvec
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    fvec.decode = function decode(reader, length) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader.create(reader);
+        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.fvec();
+        while (reader.pos < end) {
+            var tag = reader.uint32();
+            switch (tag >>> 3) {
+            case 1:
+                if (!(message.v && message.v.length))
+                    message.v = [];
+                if ((tag & 7) === 2) {
+                    var end2 = reader.uint32() + reader.pos;
+                    while (reader.pos < end2)
+                        message.v.push(reader.float());
+                } else
+                    message.v.push(reader.float());
+                break;
+            default:
+                reader.skipType(tag & 7);
+                break;
+            }
+        }
+        return message;
+    };
+
+    /**
+     * Decodes a fvec message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {fvec} fvec
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    fvec.decodeDelimited = function decodeDelimited(reader) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader(reader);
+        return this.decode(reader, reader.uint32());
+    };
+
+    /**
+     * Verifies a fvec message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    fvec.verify = function verify(message) {
+        if (typeof message !== "object" || message === null)
+            return "object expected";
+        if (message.v != null && message.hasOwnProperty("v")) {
+            if (!Array.isArray(message.v))
+                return "v: array expected";
+            for (var i = 0; i < message.v.length; ++i)
+                if (typeof message.v[i] !== "number")
+                    return "v: number[] expected";
+        }
+        return null;
+    };
+
+    /**
+     * Creates a fvec message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {fvec} fvec
+     */
+    fvec.fromObject = function fromObject(object) {
+        if (object instanceof $root.fvec)
+            return object;
+        var message = new $root.fvec();
+        if (object.v) {
+            if (!Array.isArray(object.v))
+                throw TypeError(".fvec.v: array expected");
+            message.v = [];
+            for (var i = 0; i < object.v.length; ++i)
+                message.v[i] = Number(object.v[i]);
+        }
+        return message;
+    };
+
+    /**
+     * Creates a fvec message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link fvec.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {fvec} fvec
+     */
+    fvec.from = fvec.fromObject;
+
+    /**
+     * Creates a plain object from a fvec message. Also converts values to other types if specified.
+     * @param {fvec} message fvec
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    fvec.toObject = function toObject(message, options) {
+        if (!options)
+            options = {};
+        var object = {};
+        if (options.arrays || options.defaults)
+            object.v = [];
+        if (message.v && message.v.length) {
+            object.v = [];
+            for (var j = 0; j < message.v.length; ++j)
+                object.v[j] = message.v[j];
+        }
+        return object;
+    };
+
+    /**
+     * Creates a plain object from this fvec message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    fvec.prototype.toObject = function toObject(options) {
+        return this.constructor.toObject(this, options);
+    };
+
+    /**
+     * Converts this fvec to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    fvec.prototype.toJSON = function toJSON() {
+        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+    };
+
+    return fvec;
+})();
+
+$root.ivec = (function() {
+
+    /**
+     * Properties of an ivec.
+     * @typedef ivec$Properties
+     * @type {Object}
+     * @property {Array.<number>} [v] ivec v.
+     */
+
+    /**
+     * Constructs a new ivec.
+     * @exports ivec
+     * @constructor
+     * @param {ivec$Properties=} [properties] Properties to set
+     */
+    function ivec(properties) {
+        this.v = [];
+        if (properties)
+            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                if (properties[keys[i]] != null)
+                    this[keys[i]] = properties[keys[i]];
+    }
+
+    /**
+     * ivec v.
+     * @type {Array.<number>}
+     */
+    ivec.prototype.v = $util.emptyArray;
+
+    /**
+     * Creates a new ivec instance using the specified properties.
+     * @param {ivec$Properties=} [properties] Properties to set
+     * @returns {ivec} ivec instance
+     */
+    ivec.create = function create(properties) {
+        return new ivec(properties);
+    };
+
+    /**
+     * Encodes the specified ivec message. Does not implicitly {@link ivec.verify|verify} messages.
+     * @param {ivec$Properties} message ivec message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    ivec.encode = function encode(message, writer) {
+        if (!writer)
+            writer = $Writer.create();
+        if (message.v != null && message.v.length) {
+            writer.uint32(/* id 1, wireType 2 =*/10).fork();
+            for (var i = 0; i < message.v.length; ++i)
+                writer.sint32(message.v[i]);
+            writer.ldelim();
+        }
+        return writer;
+    };
+
+    /**
+     * Encodes the specified ivec message, length delimited. Does not implicitly {@link ivec.verify|verify} messages.
+     * @param {ivec$Properties} message ivec message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    ivec.encodeDelimited = function encodeDelimited(message, writer) {
+        return this.encode(message, writer).ldelim();
+    };
+
+    /**
+     * Decodes an ivec message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {ivec} ivec
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    ivec.decode = function decode(reader, length) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader.create(reader);
+        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.ivec();
+        while (reader.pos < end) {
+            var tag = reader.uint32();
+            switch (tag >>> 3) {
+            case 1:
+                if (!(message.v && message.v.length))
+                    message.v = [];
+                if ((tag & 7) === 2) {
+                    var end2 = reader.uint32() + reader.pos;
+                    while (reader.pos < end2)
+                        message.v.push(reader.sint32());
+                } else
+                    message.v.push(reader.sint32());
+                break;
+            default:
+                reader.skipType(tag & 7);
+                break;
+            }
+        }
+        return message;
+    };
+
+    /**
+     * Decodes an ivec message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {ivec} ivec
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    ivec.decodeDelimited = function decodeDelimited(reader) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader(reader);
+        return this.decode(reader, reader.uint32());
+    };
+
+    /**
+     * Verifies an ivec message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    ivec.verify = function verify(message) {
+        if (typeof message !== "object" || message === null)
+            return "object expected";
+        if (message.v != null && message.hasOwnProperty("v")) {
+            if (!Array.isArray(message.v))
+                return "v: array expected";
+            for (var i = 0; i < message.v.length; ++i)
+                if (!$util.isInteger(message.v[i]))
+                    return "v: integer[] expected";
+        }
+        return null;
+    };
+
+    /**
+     * Creates an ivec message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {ivec} ivec
+     */
+    ivec.fromObject = function fromObject(object) {
+        if (object instanceof $root.ivec)
+            return object;
+        var message = new $root.ivec();
+        if (object.v) {
+            if (!Array.isArray(object.v))
+                throw TypeError(".ivec.v: array expected");
+            message.v = [];
+            for (var i = 0; i < object.v.length; ++i)
+                message.v[i] = object.v[i] | 0;
+        }
+        return message;
+    };
+
+    /**
+     * Creates an ivec message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link ivec.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {ivec} ivec
+     */
+    ivec.from = ivec.fromObject;
+
+    /**
+     * Creates a plain object from an ivec message. Also converts values to other types if specified.
+     * @param {ivec} message ivec
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    ivec.toObject = function toObject(message, options) {
+        if (!options)
+            options = {};
+        var object = {};
+        if (options.arrays || options.defaults)
+            object.v = [];
+        if (message.v && message.v.length) {
+            object.v = [];
+            for (var j = 0; j < message.v.length; ++j)
+                object.v[j] = message.v[j];
+        }
+        return object;
+    };
+
+    /**
+     * Creates a plain object from this ivec message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    ivec.prototype.toObject = function toObject(options) {
+        return this.constructor.toObject(this, options);
+    };
+
+    /**
+     * Converts this ivec to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    ivec.prototype.toJSON = function toJSON() {
+        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+    };
+
+    return ivec;
+})();
+
+$root.uvec = (function() {
+
+    /**
+     * Properties of an uvec.
+     * @typedef uvec$Properties
+     * @type {Object}
+     * @property {Array.<number>} [v] uvec v.
+     */
+
+    /**
+     * Constructs a new uvec.
+     * @exports uvec
+     * @constructor
+     * @param {uvec$Properties=} [properties] Properties to set
+     */
+    function uvec(properties) {
+        this.v = [];
+        if (properties)
+            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                if (properties[keys[i]] != null)
+                    this[keys[i]] = properties[keys[i]];
+    }
+
+    /**
+     * uvec v.
+     * @type {Array.<number>}
+     */
+    uvec.prototype.v = $util.emptyArray;
+
+    /**
+     * Creates a new uvec instance using the specified properties.
+     * @param {uvec$Properties=} [properties] Properties to set
+     * @returns {uvec} uvec instance
+     */
+    uvec.create = function create(properties) {
+        return new uvec(properties);
+    };
+
+    /**
+     * Encodes the specified uvec message. Does not implicitly {@link uvec.verify|verify} messages.
+     * @param {uvec$Properties} message uvec message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    uvec.encode = function encode(message, writer) {
+        if (!writer)
+            writer = $Writer.create();
+        if (message.v != null && message.v.length) {
+            writer.uint32(/* id 1, wireType 2 =*/10).fork();
+            for (var i = 0; i < message.v.length; ++i)
+                writer.uint32(message.v[i]);
+            writer.ldelim();
+        }
+        return writer;
+    };
+
+    /**
+     * Encodes the specified uvec message, length delimited. Does not implicitly {@link uvec.verify|verify} messages.
+     * @param {uvec$Properties} message uvec message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    uvec.encodeDelimited = function encodeDelimited(message, writer) {
+        return this.encode(message, writer).ldelim();
+    };
+
+    /**
+     * Decodes an uvec message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {uvec} uvec
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    uvec.decode = function decode(reader, length) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader.create(reader);
+        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.uvec();
+        while (reader.pos < end) {
+            var tag = reader.uint32();
+            switch (tag >>> 3) {
+            case 1:
+                if (!(message.v && message.v.length))
+                    message.v = [];
+                if ((tag & 7) === 2) {
+                    var end2 = reader.uint32() + reader.pos;
+                    while (reader.pos < end2)
+                        message.v.push(reader.uint32());
+                } else
+                    message.v.push(reader.uint32());
+                break;
+            default:
+                reader.skipType(tag & 7);
+                break;
+            }
+        }
+        return message;
+    };
+
+    /**
+     * Decodes an uvec message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {uvec} uvec
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    uvec.decodeDelimited = function decodeDelimited(reader) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader(reader);
+        return this.decode(reader, reader.uint32());
+    };
+
+    /**
+     * Verifies an uvec message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    uvec.verify = function verify(message) {
+        if (typeof message !== "object" || message === null)
+            return "object expected";
+        if (message.v != null && message.hasOwnProperty("v")) {
+            if (!Array.isArray(message.v))
+                return "v: array expected";
+            for (var i = 0; i < message.v.length; ++i)
+                if (!$util.isInteger(message.v[i]))
+                    return "v: integer[] expected";
+        }
+        return null;
+    };
+
+    /**
+     * Creates an uvec message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {uvec} uvec
+     */
+    uvec.fromObject = function fromObject(object) {
+        if (object instanceof $root.uvec)
+            return object;
+        var message = new $root.uvec();
+        if (object.v) {
+            if (!Array.isArray(object.v))
+                throw TypeError(".uvec.v: array expected");
+            message.v = [];
+            for (var i = 0; i < object.v.length; ++i)
+                message.v[i] = object.v[i] >>> 0;
+        }
+        return message;
+    };
+
+    /**
+     * Creates an uvec message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link uvec.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {uvec} uvec
+     */
+    uvec.from = uvec.fromObject;
+
+    /**
+     * Creates a plain object from an uvec message. Also converts values to other types if specified.
+     * @param {uvec} message uvec
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    uvec.toObject = function toObject(message, options) {
+        if (!options)
+            options = {};
+        var object = {};
+        if (options.arrays || options.defaults)
+            object.v = [];
+        if (message.v && message.v.length) {
+            object.v = [];
+            for (var j = 0; j < message.v.length; ++j)
+                object.v[j] = message.v[j];
+        }
+        return object;
+    };
+
+    /**
+     * Creates a plain object from this uvec message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    uvec.prototype.toObject = function toObject(options) {
+        return this.constructor.toObject(this, options);
+    };
+
+    /**
+     * Converts this uvec to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    uvec.prototype.toJSON = function toJSON() {
+        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+    };
+
+    return uvec;
+})();
+
+$root.cvec = (function() {
+
+    /**
+     * Properties of a cvec.
+     * @typedef cvec$Properties
+     * @type {Object}
+     * @property {Uint8Array} [v] cvec v.
+     */
+
+    /**
+     * Constructs a new cvec.
+     * @exports cvec
+     * @constructor
+     * @param {cvec$Properties=} [properties] Properties to set
+     */
+    function cvec(properties) {
+        if (properties)
+            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                if (properties[keys[i]] != null)
+                    this[keys[i]] = properties[keys[i]];
+    }
+
+    /**
+     * cvec v.
+     * @type {Uint8Array}
+     */
+    cvec.prototype.v = $util.newBuffer([]);
+
+    /**
+     * Creates a new cvec instance using the specified properties.
+     * @param {cvec$Properties=} [properties] Properties to set
+     * @returns {cvec} cvec instance
+     */
+    cvec.create = function create(properties) {
+        return new cvec(properties);
+    };
+
+    /**
+     * Encodes the specified cvec message. Does not implicitly {@link cvec.verify|verify} messages.
+     * @param {cvec$Properties} message cvec message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    cvec.encode = function encode(message, writer) {
+        if (!writer)
+            writer = $Writer.create();
+        if (message.v != null && message.hasOwnProperty("v"))
+            writer.uint32(/* id 1, wireType 2 =*/10).bytes(message.v);
+        return writer;
+    };
+
+    /**
+     * Encodes the specified cvec message, length delimited. Does not implicitly {@link cvec.verify|verify} messages.
+     * @param {cvec$Properties} message cvec message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    cvec.encodeDelimited = function encodeDelimited(message, writer) {
+        return this.encode(message, writer).ldelim();
+    };
+
+    /**
+     * Decodes a cvec message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {cvec} cvec
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    cvec.decode = function decode(reader, length) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader.create(reader);
+        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.cvec();
+        while (reader.pos < end) {
+            var tag = reader.uint32();
+            switch (tag >>> 3) {
+            case 1:
+                message.v = reader.bytes();
+                break;
+            default:
+                reader.skipType(tag & 7);
+                break;
+            }
+        }
+        return message;
+    };
+
+    /**
+     * Decodes a cvec message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {cvec} cvec
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    cvec.decodeDelimited = function decodeDelimited(reader) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader(reader);
+        return this.decode(reader, reader.uint32());
+    };
+
+    /**
+     * Verifies a cvec message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    cvec.verify = function verify(message) {
+        if (typeof message !== "object" || message === null)
+            return "object expected";
+        if (message.v != null && message.hasOwnProperty("v"))
+            if (!(message.v && typeof message.v.length === "number" || $util.isString(message.v)))
+                return "v: buffer expected";
+        return null;
+    };
+
+    /**
+     * Creates a cvec message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {cvec} cvec
+     */
+    cvec.fromObject = function fromObject(object) {
+        if (object instanceof $root.cvec)
+            return object;
+        var message = new $root.cvec();
+        if (object.v != null)
+            if (typeof object.v === "string")
+                $util.base64.decode(object.v, message.v = $util.newBuffer($util.base64.length(object.v)), 0);
+            else if (object.v.length)
+                message.v = object.v;
+        return message;
+    };
+
+    /**
+     * Creates a cvec message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link cvec.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {cvec} cvec
+     */
+    cvec.from = cvec.fromObject;
+
+    /**
+     * Creates a plain object from a cvec message. Also converts values to other types if specified.
+     * @param {cvec} message cvec
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    cvec.toObject = function toObject(message, options) {
+        if (!options)
+            options = {};
+        var object = {};
+        if (options.defaults)
+            object.v = options.bytes === String ? "" : [];
+        if (message.v != null && message.hasOwnProperty("v"))
+            object.v = options.bytes === String ? $util.base64.encode(message.v, 0, message.v.length) : options.bytes === Array ? Array.prototype.slice.call(message.v) : message.v;
+        return object;
+    };
+
+    /**
+     * Creates a plain object from this cvec message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    cvec.prototype.toObject = function toObject(options) {
+        return this.constructor.toObject(this, options);
+    };
+
+    /**
+     * Converts this cvec to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    cvec.prototype.toJSON = function toJSON() {
+        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+    };
+
+    return cvec;
+})();
+
+$root.vec2 = (function() {
+
+    /**
+     * Properties of a vec2.
+     * @typedef vec2$Properties
+     * @type {Object}
+     * @property {number} [x] vec2 x.
+     * @property {number} [y] vec2 y.
+     */
+
+    /**
+     * Constructs a new vec2.
+     * @exports vec2
+     * @constructor
+     * @param {vec2$Properties=} [properties] Properties to set
+     */
+    function vec2(properties) {
+        if (properties)
+            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                if (properties[keys[i]] != null)
+                    this[keys[i]] = properties[keys[i]];
+    }
+
+    /**
+     * vec2 x.
+     * @type {number}
+     */
+    vec2.prototype.x = 0;
+
+    /**
+     * vec2 y.
+     * @type {number}
+     */
+    vec2.prototype.y = 0;
+
+    /**
+     * Creates a new vec2 instance using the specified properties.
+     * @param {vec2$Properties=} [properties] Properties to set
+     * @returns {vec2} vec2 instance
+     */
+    vec2.create = function create(properties) {
+        return new vec2(properties);
+    };
+
+    /**
+     * Encodes the specified vec2 message. Does not implicitly {@link vec2.verify|verify} messages.
+     * @param {vec2$Properties} message vec2 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    vec2.encode = function encode(message, writer) {
+        if (!writer)
+            writer = $Writer.create();
+        if (message.x != null && message.hasOwnProperty("x"))
+            writer.uint32(/* id 1, wireType 1 =*/9).double(message.x);
+        if (message.y != null && message.hasOwnProperty("y"))
+            writer.uint32(/* id 2, wireType 1 =*/17).double(message.y);
+        return writer;
+    };
+
+    /**
+     * Encodes the specified vec2 message, length delimited. Does not implicitly {@link vec2.verify|verify} messages.
+     * @param {vec2$Properties} message vec2 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    vec2.encodeDelimited = function encodeDelimited(message, writer) {
+        return this.encode(message, writer).ldelim();
+    };
+
+    /**
+     * Decodes a vec2 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {vec2} vec2
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    vec2.decode = function decode(reader, length) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader.create(reader);
+        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.vec2();
+        while (reader.pos < end) {
+            var tag = reader.uint32();
+            switch (tag >>> 3) {
+            case 1:
+                message.x = reader.double();
+                break;
+            case 2:
+                message.y = reader.double();
+                break;
+            default:
+                reader.skipType(tag & 7);
+                break;
+            }
+        }
+        return message;
+    };
+
+    /**
+     * Decodes a vec2 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {vec2} vec2
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    vec2.decodeDelimited = function decodeDelimited(reader) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader(reader);
+        return this.decode(reader, reader.uint32());
+    };
+
+    /**
+     * Verifies a vec2 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    vec2.verify = function verify(message) {
+        if (typeof message !== "object" || message === null)
+            return "object expected";
+        if (message.x != null && message.hasOwnProperty("x"))
+            if (typeof message.x !== "number")
+                return "x: number expected";
+        if (message.y != null && message.hasOwnProperty("y"))
+            if (typeof message.y !== "number")
+                return "y: number expected";
+        return null;
+    };
+
+    /**
+     * Creates a vec2 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {vec2} vec2
+     */
+    vec2.fromObject = function fromObject(object) {
+        if (object instanceof $root.vec2)
+            return object;
+        var message = new $root.vec2();
+        if (object.x != null)
+            message.x = Number(object.x);
+        if (object.y != null)
+            message.y = Number(object.y);
+        return message;
+    };
+
+    /**
+     * Creates a vec2 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link vec2.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {vec2} vec2
+     */
+    vec2.from = vec2.fromObject;
+
+    /**
+     * Creates a plain object from a vec2 message. Also converts values to other types if specified.
+     * @param {vec2} message vec2
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    vec2.toObject = function toObject(message, options) {
+        if (!options)
+            options = {};
+        var object = {};
+        if (options.defaults) {
+            object.x = 0;
+            object.y = 0;
+        }
+        if (message.x != null && message.hasOwnProperty("x"))
+            object.x = message.x;
+        if (message.y != null && message.hasOwnProperty("y"))
+            object.y = message.y;
+        return object;
+    };
+
+    /**
+     * Creates a plain object from this vec2 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    vec2.prototype.toObject = function toObject(options) {
+        return this.constructor.toObject(this, options);
+    };
+
+    /**
+     * Converts this vec2 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    vec2.prototype.toJSON = function toJSON() {
+        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+    };
+
+    return vec2;
+})();
+
+$root.fvec2 = (function() {
+
+    /**
+     * Properties of a fvec2.
+     * @typedef fvec2$Properties
+     * @type {Object}
+     * @property {number} [x] fvec2 x.
+     * @property {number} [y] fvec2 y.
+     */
+
+    /**
+     * Constructs a new fvec2.
+     * @exports fvec2
+     * @constructor
+     * @param {fvec2$Properties=} [properties] Properties to set
+     */
+    function fvec2(properties) {
+        if (properties)
+            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                if (properties[keys[i]] != null)
+                    this[keys[i]] = properties[keys[i]];
+    }
+
+    /**
+     * fvec2 x.
+     * @type {number}
+     */
+    fvec2.prototype.x = 0;
+
+    /**
+     * fvec2 y.
+     * @type {number}
+     */
+    fvec2.prototype.y = 0;
+
+    /**
+     * Creates a new fvec2 instance using the specified properties.
+     * @param {fvec2$Properties=} [properties] Properties to set
+     * @returns {fvec2} fvec2 instance
+     */
+    fvec2.create = function create(properties) {
+        return new fvec2(properties);
+    };
+
+    /**
+     * Encodes the specified fvec2 message. Does not implicitly {@link fvec2.verify|verify} messages.
+     * @param {fvec2$Properties} message fvec2 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    fvec2.encode = function encode(message, writer) {
+        if (!writer)
+            writer = $Writer.create();
+        if (message.x != null && message.hasOwnProperty("x"))
+            writer.uint32(/* id 1, wireType 5 =*/13).float(message.x);
+        if (message.y != null && message.hasOwnProperty("y"))
+            writer.uint32(/* id 2, wireType 5 =*/21).float(message.y);
+        return writer;
+    };
+
+    /**
+     * Encodes the specified fvec2 message, length delimited. Does not implicitly {@link fvec2.verify|verify} messages.
+     * @param {fvec2$Properties} message fvec2 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    fvec2.encodeDelimited = function encodeDelimited(message, writer) {
+        return this.encode(message, writer).ldelim();
+    };
+
+    /**
+     * Decodes a fvec2 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {fvec2} fvec2
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    fvec2.decode = function decode(reader, length) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader.create(reader);
+        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.fvec2();
+        while (reader.pos < end) {
+            var tag = reader.uint32();
+            switch (tag >>> 3) {
+            case 1:
+                message.x = reader.float();
+                break;
+            case 2:
+                message.y = reader.float();
+                break;
+            default:
+                reader.skipType(tag & 7);
+                break;
+            }
+        }
+        return message;
+    };
+
+    /**
+     * Decodes a fvec2 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {fvec2} fvec2
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    fvec2.decodeDelimited = function decodeDelimited(reader) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader(reader);
+        return this.decode(reader, reader.uint32());
+    };
+
+    /**
+     * Verifies a fvec2 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    fvec2.verify = function verify(message) {
+        if (typeof message !== "object" || message === null)
+            return "object expected";
+        if (message.x != null && message.hasOwnProperty("x"))
+            if (typeof message.x !== "number")
+                return "x: number expected";
+        if (message.y != null && message.hasOwnProperty("y"))
+            if (typeof message.y !== "number")
+                return "y: number expected";
+        return null;
+    };
+
+    /**
+     * Creates a fvec2 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {fvec2} fvec2
+     */
+    fvec2.fromObject = function fromObject(object) {
+        if (object instanceof $root.fvec2)
+            return object;
+        var message = new $root.fvec2();
+        if (object.x != null)
+            message.x = Number(object.x);
+        if (object.y != null)
+            message.y = Number(object.y);
+        return message;
+    };
+
+    /**
+     * Creates a fvec2 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link fvec2.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {fvec2} fvec2
+     */
+    fvec2.from = fvec2.fromObject;
+
+    /**
+     * Creates a plain object from a fvec2 message. Also converts values to other types if specified.
+     * @param {fvec2} message fvec2
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    fvec2.toObject = function toObject(message, options) {
+        if (!options)
+            options = {};
+        var object = {};
+        if (options.defaults) {
+            object.x = 0;
+            object.y = 0;
+        }
+        if (message.x != null && message.hasOwnProperty("x"))
+            object.x = message.x;
+        if (message.y != null && message.hasOwnProperty("y"))
+            object.y = message.y;
+        return object;
+    };
+
+    /**
+     * Creates a plain object from this fvec2 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    fvec2.prototype.toObject = function toObject(options) {
+        return this.constructor.toObject(this, options);
+    };
+
+    /**
+     * Converts this fvec2 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    fvec2.prototype.toJSON = function toJSON() {
+        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+    };
+
+    return fvec2;
+})();
+
+$root.ivec2 = (function() {
+
+    /**
+     * Properties of an ivec2.
+     * @typedef ivec2$Properties
+     * @type {Object}
+     * @property {number} [x] ivec2 x.
+     * @property {number} [y] ivec2 y.
+     */
+
+    /**
+     * Constructs a new ivec2.
+     * @exports ivec2
+     * @constructor
+     * @param {ivec2$Properties=} [properties] Properties to set
+     */
+    function ivec2(properties) {
+        if (properties)
+            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                if (properties[keys[i]] != null)
+                    this[keys[i]] = properties[keys[i]];
+    }
+
+    /**
+     * ivec2 x.
+     * @type {number}
+     */
+    ivec2.prototype.x = 0;
+
+    /**
+     * ivec2 y.
+     * @type {number}
+     */
+    ivec2.prototype.y = 0;
+
+    /**
+     * Creates a new ivec2 instance using the specified properties.
+     * @param {ivec2$Properties=} [properties] Properties to set
+     * @returns {ivec2} ivec2 instance
+     */
+    ivec2.create = function create(properties) {
+        return new ivec2(properties);
+    };
+
+    /**
+     * Encodes the specified ivec2 message. Does not implicitly {@link ivec2.verify|verify} messages.
+     * @param {ivec2$Properties} message ivec2 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    ivec2.encode = function encode(message, writer) {
+        if (!writer)
+            writer = $Writer.create();
+        if (message.x != null && message.hasOwnProperty("x"))
+            writer.uint32(/* id 1, wireType 0 =*/8).sint32(message.x);
+        if (message.y != null && message.hasOwnProperty("y"))
+            writer.uint32(/* id 2, wireType 0 =*/16).sint32(message.y);
+        return writer;
+    };
+
+    /**
+     * Encodes the specified ivec2 message, length delimited. Does not implicitly {@link ivec2.verify|verify} messages.
+     * @param {ivec2$Properties} message ivec2 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    ivec2.encodeDelimited = function encodeDelimited(message, writer) {
+        return this.encode(message, writer).ldelim();
+    };
+
+    /**
+     * Decodes an ivec2 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {ivec2} ivec2
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    ivec2.decode = function decode(reader, length) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader.create(reader);
+        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.ivec2();
+        while (reader.pos < end) {
+            var tag = reader.uint32();
+            switch (tag >>> 3) {
+            case 1:
+                message.x = reader.sint32();
+                break;
+            case 2:
+                message.y = reader.sint32();
+                break;
+            default:
+                reader.skipType(tag & 7);
+                break;
+            }
+        }
+        return message;
+    };
+
+    /**
+     * Decodes an ivec2 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {ivec2} ivec2
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    ivec2.decodeDelimited = function decodeDelimited(reader) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader(reader);
+        return this.decode(reader, reader.uint32());
+    };
+
+    /**
+     * Verifies an ivec2 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    ivec2.verify = function verify(message) {
+        if (typeof message !== "object" || message === null)
+            return "object expected";
+        if (message.x != null && message.hasOwnProperty("x"))
+            if (!$util.isInteger(message.x))
+                return "x: integer expected";
+        if (message.y != null && message.hasOwnProperty("y"))
+            if (!$util.isInteger(message.y))
+                return "y: integer expected";
+        return null;
+    };
+
+    /**
+     * Creates an ivec2 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {ivec2} ivec2
+     */
+    ivec2.fromObject = function fromObject(object) {
+        if (object instanceof $root.ivec2)
+            return object;
+        var message = new $root.ivec2();
+        if (object.x != null)
+            message.x = object.x | 0;
+        if (object.y != null)
+            message.y = object.y | 0;
+        return message;
+    };
+
+    /**
+     * Creates an ivec2 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link ivec2.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {ivec2} ivec2
+     */
+    ivec2.from = ivec2.fromObject;
+
+    /**
+     * Creates a plain object from an ivec2 message. Also converts values to other types if specified.
+     * @param {ivec2} message ivec2
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    ivec2.toObject = function toObject(message, options) {
+        if (!options)
+            options = {};
+        var object = {};
+        if (options.defaults) {
+            object.x = 0;
+            object.y = 0;
+        }
+        if (message.x != null && message.hasOwnProperty("x"))
+            object.x = message.x;
+        if (message.y != null && message.hasOwnProperty("y"))
+            object.y = message.y;
+        return object;
+    };
+
+    /**
+     * Creates a plain object from this ivec2 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    ivec2.prototype.toObject = function toObject(options) {
+        return this.constructor.toObject(this, options);
+    };
+
+    /**
+     * Converts this ivec2 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    ivec2.prototype.toJSON = function toJSON() {
+        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+    };
+
+    return ivec2;
+})();
+
+$root.uvec2 = (function() {
+
+    /**
+     * Properties of an uvec2.
+     * @typedef uvec2$Properties
+     * @type {Object}
+     * @property {number} [x] uvec2 x.
+     * @property {number} [y] uvec2 y.
+     */
+
+    /**
+     * Constructs a new uvec2.
+     * @exports uvec2
+     * @constructor
+     * @param {uvec2$Properties=} [properties] Properties to set
+     */
+    function uvec2(properties) {
+        if (properties)
+            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                if (properties[keys[i]] != null)
+                    this[keys[i]] = properties[keys[i]];
+    }
+
+    /**
+     * uvec2 x.
+     * @type {number}
+     */
+    uvec2.prototype.x = 0;
+
+    /**
+     * uvec2 y.
+     * @type {number}
+     */
+    uvec2.prototype.y = 0;
+
+    /**
+     * Creates a new uvec2 instance using the specified properties.
+     * @param {uvec2$Properties=} [properties] Properties to set
+     * @returns {uvec2} uvec2 instance
+     */
+    uvec2.create = function create(properties) {
+        return new uvec2(properties);
+    };
+
+    /**
+     * Encodes the specified uvec2 message. Does not implicitly {@link uvec2.verify|verify} messages.
+     * @param {uvec2$Properties} message uvec2 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    uvec2.encode = function encode(message, writer) {
+        if (!writer)
+            writer = $Writer.create();
+        if (message.x != null && message.hasOwnProperty("x"))
+            writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.x);
+        if (message.y != null && message.hasOwnProperty("y"))
+            writer.uint32(/* id 2, wireType 0 =*/16).uint32(message.y);
+        return writer;
+    };
+
+    /**
+     * Encodes the specified uvec2 message, length delimited. Does not implicitly {@link uvec2.verify|verify} messages.
+     * @param {uvec2$Properties} message uvec2 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    uvec2.encodeDelimited = function encodeDelimited(message, writer) {
+        return this.encode(message, writer).ldelim();
+    };
+
+    /**
+     * Decodes an uvec2 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {uvec2} uvec2
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    uvec2.decode = function decode(reader, length) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader.create(reader);
+        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.uvec2();
+        while (reader.pos < end) {
+            var tag = reader.uint32();
+            switch (tag >>> 3) {
+            case 1:
+                message.x = reader.uint32();
+                break;
+            case 2:
+                message.y = reader.uint32();
+                break;
+            default:
+                reader.skipType(tag & 7);
+                break;
+            }
+        }
+        return message;
+    };
+
+    /**
+     * Decodes an uvec2 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {uvec2} uvec2
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    uvec2.decodeDelimited = function decodeDelimited(reader) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader(reader);
+        return this.decode(reader, reader.uint32());
+    };
+
+    /**
+     * Verifies an uvec2 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    uvec2.verify = function verify(message) {
+        if (typeof message !== "object" || message === null)
+            return "object expected";
+        if (message.x != null && message.hasOwnProperty("x"))
+            if (!$util.isInteger(message.x))
+                return "x: integer expected";
+        if (message.y != null && message.hasOwnProperty("y"))
+            if (!$util.isInteger(message.y))
+                return "y: integer expected";
+        return null;
+    };
+
+    /**
+     * Creates an uvec2 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {uvec2} uvec2
+     */
+    uvec2.fromObject = function fromObject(object) {
+        if (object instanceof $root.uvec2)
+            return object;
+        var message = new $root.uvec2();
+        if (object.x != null)
+            message.x = object.x >>> 0;
+        if (object.y != null)
+            message.y = object.y >>> 0;
+        return message;
+    };
+
+    /**
+     * Creates an uvec2 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link uvec2.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {uvec2} uvec2
+     */
+    uvec2.from = uvec2.fromObject;
+
+    /**
+     * Creates a plain object from an uvec2 message. Also converts values to other types if specified.
+     * @param {uvec2} message uvec2
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    uvec2.toObject = function toObject(message, options) {
+        if (!options)
+            options = {};
+        var object = {};
+        if (options.defaults) {
+            object.x = 0;
+            object.y = 0;
+        }
+        if (message.x != null && message.hasOwnProperty("x"))
+            object.x = message.x;
+        if (message.y != null && message.hasOwnProperty("y"))
+            object.y = message.y;
+        return object;
+    };
+
+    /**
+     * Creates a plain object from this uvec2 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    uvec2.prototype.toObject = function toObject(options) {
+        return this.constructor.toObject(this, options);
+    };
+
+    /**
+     * Converts this uvec2 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    uvec2.prototype.toJSON = function toJSON() {
+        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+    };
+
+    return uvec2;
+})();
+
+$root.vec3 = (function() {
+
+    /**
+     * Properties of a vec3.
+     * @typedef vec3$Properties
+     * @type {Object}
+     * @property {number} [x] vec3 x.
+     * @property {number} [y] vec3 y.
+     * @property {number} [z] vec3 z.
+     */
+
+    /**
+     * Constructs a new vec3.
+     * @exports vec3
+     * @constructor
+     * @param {vec3$Properties=} [properties] Properties to set
+     */
+    function vec3(properties) {
+        if (properties)
+            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                if (properties[keys[i]] != null)
+                    this[keys[i]] = properties[keys[i]];
+    }
+
+    /**
+     * vec3 x.
+     * @type {number}
+     */
+    vec3.prototype.x = 0;
+
+    /**
+     * vec3 y.
+     * @type {number}
+     */
+    vec3.prototype.y = 0;
+
+    /**
+     * vec3 z.
+     * @type {number}
+     */
+    vec3.prototype.z = 0;
+
+    /**
+     * Creates a new vec3 instance using the specified properties.
+     * @param {vec3$Properties=} [properties] Properties to set
+     * @returns {vec3} vec3 instance
+     */
+    vec3.create = function create(properties) {
+        return new vec3(properties);
+    };
+
+    /**
+     * Encodes the specified vec3 message. Does not implicitly {@link vec3.verify|verify} messages.
+     * @param {vec3$Properties} message vec3 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    vec3.encode = function encode(message, writer) {
+        if (!writer)
+            writer = $Writer.create();
+        if (message.x != null && message.hasOwnProperty("x"))
+            writer.uint32(/* id 1, wireType 1 =*/9).double(message.x);
+        if (message.y != null && message.hasOwnProperty("y"))
+            writer.uint32(/* id 2, wireType 1 =*/17).double(message.y);
+        if (message.z != null && message.hasOwnProperty("z"))
+            writer.uint32(/* id 3, wireType 1 =*/25).double(message.z);
+        return writer;
+    };
+
+    /**
+     * Encodes the specified vec3 message, length delimited. Does not implicitly {@link vec3.verify|verify} messages.
+     * @param {vec3$Properties} message vec3 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    vec3.encodeDelimited = function encodeDelimited(message, writer) {
+        return this.encode(message, writer).ldelim();
+    };
+
+    /**
+     * Decodes a vec3 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {vec3} vec3
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    vec3.decode = function decode(reader, length) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader.create(reader);
+        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.vec3();
+        while (reader.pos < end) {
+            var tag = reader.uint32();
+            switch (tag >>> 3) {
+            case 1:
+                message.x = reader.double();
+                break;
+            case 2:
+                message.y = reader.double();
+                break;
+            case 3:
+                message.z = reader.double();
+                break;
+            default:
+                reader.skipType(tag & 7);
+                break;
+            }
+        }
+        return message;
+    };
+
+    /**
+     * Decodes a vec3 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {vec3} vec3
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    vec3.decodeDelimited = function decodeDelimited(reader) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader(reader);
+        return this.decode(reader, reader.uint32());
+    };
+
+    /**
+     * Verifies a vec3 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    vec3.verify = function verify(message) {
+        if (typeof message !== "object" || message === null)
+            return "object expected";
+        if (message.x != null && message.hasOwnProperty("x"))
+            if (typeof message.x !== "number")
+                return "x: number expected";
+        if (message.y != null && message.hasOwnProperty("y"))
+            if (typeof message.y !== "number")
+                return "y: number expected";
+        if (message.z != null && message.hasOwnProperty("z"))
+            if (typeof message.z !== "number")
+                return "z: number expected";
+        return null;
+    };
+
+    /**
+     * Creates a vec3 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {vec3} vec3
+     */
+    vec3.fromObject = function fromObject(object) {
+        if (object instanceof $root.vec3)
+            return object;
+        var message = new $root.vec3();
+        if (object.x != null)
+            message.x = Number(object.x);
+        if (object.y != null)
+            message.y = Number(object.y);
+        if (object.z != null)
+            message.z = Number(object.z);
+        return message;
+    };
+
+    /**
+     * Creates a vec3 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link vec3.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {vec3} vec3
+     */
+    vec3.from = vec3.fromObject;
+
+    /**
+     * Creates a plain object from a vec3 message. Also converts values to other types if specified.
+     * @param {vec3} message vec3
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    vec3.toObject = function toObject(message, options) {
+        if (!options)
+            options = {};
+        var object = {};
+        if (options.defaults) {
+            object.x = 0;
+            object.y = 0;
+            object.z = 0;
+        }
+        if (message.x != null && message.hasOwnProperty("x"))
+            object.x = message.x;
+        if (message.y != null && message.hasOwnProperty("y"))
+            object.y = message.y;
+        if (message.z != null && message.hasOwnProperty("z"))
+            object.z = message.z;
+        return object;
+    };
+
+    /**
+     * Creates a plain object from this vec3 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    vec3.prototype.toObject = function toObject(options) {
+        return this.constructor.toObject(this, options);
+    };
+
+    /**
+     * Converts this vec3 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    vec3.prototype.toJSON = function toJSON() {
+        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+    };
+
+    return vec3;
+})();
+
+$root.fvec3 = (function() {
+
+    /**
+     * Properties of a fvec3.
+     * @typedef fvec3$Properties
+     * @type {Object}
+     * @property {number} [x] fvec3 x.
+     * @property {number} [y] fvec3 y.
+     * @property {number} [z] fvec3 z.
+     */
+
+    /**
+     * Constructs a new fvec3.
+     * @exports fvec3
+     * @constructor
+     * @param {fvec3$Properties=} [properties] Properties to set
+     */
+    function fvec3(properties) {
+        if (properties)
+            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                if (properties[keys[i]] != null)
+                    this[keys[i]] = properties[keys[i]];
+    }
+
+    /**
+     * fvec3 x.
+     * @type {number}
+     */
+    fvec3.prototype.x = 0;
+
+    /**
+     * fvec3 y.
+     * @type {number}
+     */
+    fvec3.prototype.y = 0;
+
+    /**
+     * fvec3 z.
+     * @type {number}
+     */
+    fvec3.prototype.z = 0;
+
+    /**
+     * Creates a new fvec3 instance using the specified properties.
+     * @param {fvec3$Properties=} [properties] Properties to set
+     * @returns {fvec3} fvec3 instance
+     */
+    fvec3.create = function create(properties) {
+        return new fvec3(properties);
+    };
+
+    /**
+     * Encodes the specified fvec3 message. Does not implicitly {@link fvec3.verify|verify} messages.
+     * @param {fvec3$Properties} message fvec3 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    fvec3.encode = function encode(message, writer) {
+        if (!writer)
+            writer = $Writer.create();
+        if (message.x != null && message.hasOwnProperty("x"))
+            writer.uint32(/* id 1, wireType 5 =*/13).float(message.x);
+        if (message.y != null && message.hasOwnProperty("y"))
+            writer.uint32(/* id 2, wireType 5 =*/21).float(message.y);
+        if (message.z != null && message.hasOwnProperty("z"))
+            writer.uint32(/* id 3, wireType 5 =*/29).float(message.z);
+        return writer;
+    };
+
+    /**
+     * Encodes the specified fvec3 message, length delimited. Does not implicitly {@link fvec3.verify|verify} messages.
+     * @param {fvec3$Properties} message fvec3 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    fvec3.encodeDelimited = function encodeDelimited(message, writer) {
+        return this.encode(message, writer).ldelim();
+    };
+
+    /**
+     * Decodes a fvec3 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {fvec3} fvec3
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    fvec3.decode = function decode(reader, length) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader.create(reader);
+        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.fvec3();
+        while (reader.pos < end) {
+            var tag = reader.uint32();
+            switch (tag >>> 3) {
+            case 1:
+                message.x = reader.float();
+                break;
+            case 2:
+                message.y = reader.float();
+                break;
+            case 3:
+                message.z = reader.float();
+                break;
+            default:
+                reader.skipType(tag & 7);
+                break;
+            }
+        }
+        return message;
+    };
+
+    /**
+     * Decodes a fvec3 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {fvec3} fvec3
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    fvec3.decodeDelimited = function decodeDelimited(reader) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader(reader);
+        return this.decode(reader, reader.uint32());
+    };
+
+    /**
+     * Verifies a fvec3 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    fvec3.verify = function verify(message) {
+        if (typeof message !== "object" || message === null)
+            return "object expected";
+        if (message.x != null && message.hasOwnProperty("x"))
+            if (typeof message.x !== "number")
+                return "x: number expected";
+        if (message.y != null && message.hasOwnProperty("y"))
+            if (typeof message.y !== "number")
+                return "y: number expected";
+        if (message.z != null && message.hasOwnProperty("z"))
+            if (typeof message.z !== "number")
+                return "z: number expected";
+        return null;
+    };
+
+    /**
+     * Creates a fvec3 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {fvec3} fvec3
+     */
+    fvec3.fromObject = function fromObject(object) {
+        if (object instanceof $root.fvec3)
+            return object;
+        var message = new $root.fvec3();
+        if (object.x != null)
+            message.x = Number(object.x);
+        if (object.y != null)
+            message.y = Number(object.y);
+        if (object.z != null)
+            message.z = Number(object.z);
+        return message;
+    };
+
+    /**
+     * Creates a fvec3 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link fvec3.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {fvec3} fvec3
+     */
+    fvec3.from = fvec3.fromObject;
+
+    /**
+     * Creates a plain object from a fvec3 message. Also converts values to other types if specified.
+     * @param {fvec3} message fvec3
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    fvec3.toObject = function toObject(message, options) {
+        if (!options)
+            options = {};
+        var object = {};
+        if (options.defaults) {
+            object.x = 0;
+            object.y = 0;
+            object.z = 0;
+        }
+        if (message.x != null && message.hasOwnProperty("x"))
+            object.x = message.x;
+        if (message.y != null && message.hasOwnProperty("y"))
+            object.y = message.y;
+        if (message.z != null && message.hasOwnProperty("z"))
+            object.z = message.z;
+        return object;
+    };
+
+    /**
+     * Creates a plain object from this fvec3 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    fvec3.prototype.toObject = function toObject(options) {
+        return this.constructor.toObject(this, options);
+    };
+
+    /**
+     * Converts this fvec3 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    fvec3.prototype.toJSON = function toJSON() {
+        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+    };
+
+    return fvec3;
+})();
+
+$root.ivec3 = (function() {
+
+    /**
+     * Properties of an ivec3.
+     * @typedef ivec3$Properties
+     * @type {Object}
+     * @property {number} [x] ivec3 x.
+     * @property {number} [y] ivec3 y.
+     * @property {number} [z] ivec3 z.
+     */
+
+    /**
+     * Constructs a new ivec3.
+     * @exports ivec3
+     * @constructor
+     * @param {ivec3$Properties=} [properties] Properties to set
+     */
+    function ivec3(properties) {
+        if (properties)
+            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                if (properties[keys[i]] != null)
+                    this[keys[i]] = properties[keys[i]];
+    }
+
+    /**
+     * ivec3 x.
+     * @type {number}
+     */
+    ivec3.prototype.x = 0;
+
+    /**
+     * ivec3 y.
+     * @type {number}
+     */
+    ivec3.prototype.y = 0;
+
+    /**
+     * ivec3 z.
+     * @type {number}
+     */
+    ivec3.prototype.z = 0;
+
+    /**
+     * Creates a new ivec3 instance using the specified properties.
+     * @param {ivec3$Properties=} [properties] Properties to set
+     * @returns {ivec3} ivec3 instance
+     */
+    ivec3.create = function create(properties) {
+        return new ivec3(properties);
+    };
+
+    /**
+     * Encodes the specified ivec3 message. Does not implicitly {@link ivec3.verify|verify} messages.
+     * @param {ivec3$Properties} message ivec3 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    ivec3.encode = function encode(message, writer) {
+        if (!writer)
+            writer = $Writer.create();
+        if (message.x != null && message.hasOwnProperty("x"))
+            writer.uint32(/* id 1, wireType 0 =*/8).sint32(message.x);
+        if (message.y != null && message.hasOwnProperty("y"))
+            writer.uint32(/* id 2, wireType 0 =*/16).sint32(message.y);
+        if (message.z != null && message.hasOwnProperty("z"))
+            writer.uint32(/* id 3, wireType 0 =*/24).sint32(message.z);
+        return writer;
+    };
+
+    /**
+     * Encodes the specified ivec3 message, length delimited. Does not implicitly {@link ivec3.verify|verify} messages.
+     * @param {ivec3$Properties} message ivec3 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    ivec3.encodeDelimited = function encodeDelimited(message, writer) {
+        return this.encode(message, writer).ldelim();
+    };
+
+    /**
+     * Decodes an ivec3 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {ivec3} ivec3
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    ivec3.decode = function decode(reader, length) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader.create(reader);
+        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.ivec3();
+        while (reader.pos < end) {
+            var tag = reader.uint32();
+            switch (tag >>> 3) {
+            case 1:
+                message.x = reader.sint32();
+                break;
+            case 2:
+                message.y = reader.sint32();
+                break;
+            case 3:
+                message.z = reader.sint32();
+                break;
+            default:
+                reader.skipType(tag & 7);
+                break;
+            }
+        }
+        return message;
+    };
+
+    /**
+     * Decodes an ivec3 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {ivec3} ivec3
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    ivec3.decodeDelimited = function decodeDelimited(reader) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader(reader);
+        return this.decode(reader, reader.uint32());
+    };
+
+    /**
+     * Verifies an ivec3 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    ivec3.verify = function verify(message) {
+        if (typeof message !== "object" || message === null)
+            return "object expected";
+        if (message.x != null && message.hasOwnProperty("x"))
+            if (!$util.isInteger(message.x))
+                return "x: integer expected";
+        if (message.y != null && message.hasOwnProperty("y"))
+            if (!$util.isInteger(message.y))
+                return "y: integer expected";
+        if (message.z != null && message.hasOwnProperty("z"))
+            if (!$util.isInteger(message.z))
+                return "z: integer expected";
+        return null;
+    };
+
+    /**
+     * Creates an ivec3 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {ivec3} ivec3
+     */
+    ivec3.fromObject = function fromObject(object) {
+        if (object instanceof $root.ivec3)
+            return object;
+        var message = new $root.ivec3();
+        if (object.x != null)
+            message.x = object.x | 0;
+        if (object.y != null)
+            message.y = object.y | 0;
+        if (object.z != null)
+            message.z = object.z | 0;
+        return message;
+    };
+
+    /**
+     * Creates an ivec3 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link ivec3.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {ivec3} ivec3
+     */
+    ivec3.from = ivec3.fromObject;
+
+    /**
+     * Creates a plain object from an ivec3 message. Also converts values to other types if specified.
+     * @param {ivec3} message ivec3
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    ivec3.toObject = function toObject(message, options) {
+        if (!options)
+            options = {};
+        var object = {};
+        if (options.defaults) {
+            object.x = 0;
+            object.y = 0;
+            object.z = 0;
+        }
+        if (message.x != null && message.hasOwnProperty("x"))
+            object.x = message.x;
+        if (message.y != null && message.hasOwnProperty("y"))
+            object.y = message.y;
+        if (message.z != null && message.hasOwnProperty("z"))
+            object.z = message.z;
+        return object;
+    };
+
+    /**
+     * Creates a plain object from this ivec3 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    ivec3.prototype.toObject = function toObject(options) {
+        return this.constructor.toObject(this, options);
+    };
+
+    /**
+     * Converts this ivec3 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    ivec3.prototype.toJSON = function toJSON() {
+        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+    };
+
+    return ivec3;
+})();
+
+$root.uvec3 = (function() {
+
+    /**
+     * Properties of an uvec3.
+     * @typedef uvec3$Properties
+     * @type {Object}
+     * @property {number} [x] uvec3 x.
+     * @property {number} [y] uvec3 y.
+     * @property {number} [z] uvec3 z.
+     */
+
+    /**
+     * Constructs a new uvec3.
+     * @exports uvec3
+     * @constructor
+     * @param {uvec3$Properties=} [properties] Properties to set
+     */
+    function uvec3(properties) {
+        if (properties)
+            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                if (properties[keys[i]] != null)
+                    this[keys[i]] = properties[keys[i]];
+    }
+
+    /**
+     * uvec3 x.
+     * @type {number}
+     */
+    uvec3.prototype.x = 0;
+
+    /**
+     * uvec3 y.
+     * @type {number}
+     */
+    uvec3.prototype.y = 0;
+
+    /**
+     * uvec3 z.
+     * @type {number}
+     */
+    uvec3.prototype.z = 0;
+
+    /**
+     * Creates a new uvec3 instance using the specified properties.
+     * @param {uvec3$Properties=} [properties] Properties to set
+     * @returns {uvec3} uvec3 instance
+     */
+    uvec3.create = function create(properties) {
+        return new uvec3(properties);
+    };
+
+    /**
+     * Encodes the specified uvec3 message. Does not implicitly {@link uvec3.verify|verify} messages.
+     * @param {uvec3$Properties} message uvec3 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    uvec3.encode = function encode(message, writer) {
+        if (!writer)
+            writer = $Writer.create();
+        if (message.x != null && message.hasOwnProperty("x"))
+            writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.x);
+        if (message.y != null && message.hasOwnProperty("y"))
+            writer.uint32(/* id 2, wireType 0 =*/16).uint32(message.y);
+        if (message.z != null && message.hasOwnProperty("z"))
+            writer.uint32(/* id 3, wireType 0 =*/24).uint32(message.z);
+        return writer;
+    };
+
+    /**
+     * Encodes the specified uvec3 message, length delimited. Does not implicitly {@link uvec3.verify|verify} messages.
+     * @param {uvec3$Properties} message uvec3 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    uvec3.encodeDelimited = function encodeDelimited(message, writer) {
+        return this.encode(message, writer).ldelim();
+    };
+
+    /**
+     * Decodes an uvec3 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {uvec3} uvec3
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    uvec3.decode = function decode(reader, length) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader.create(reader);
+        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.uvec3();
+        while (reader.pos < end) {
+            var tag = reader.uint32();
+            switch (tag >>> 3) {
+            case 1:
+                message.x = reader.uint32();
+                break;
+            case 2:
+                message.y = reader.uint32();
+                break;
+            case 3:
+                message.z = reader.uint32();
+                break;
+            default:
+                reader.skipType(tag & 7);
+                break;
+            }
+        }
+        return message;
+    };
+
+    /**
+     * Decodes an uvec3 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {uvec3} uvec3
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    uvec3.decodeDelimited = function decodeDelimited(reader) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader(reader);
+        return this.decode(reader, reader.uint32());
+    };
+
+    /**
+     * Verifies an uvec3 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    uvec3.verify = function verify(message) {
+        if (typeof message !== "object" || message === null)
+            return "object expected";
+        if (message.x != null && message.hasOwnProperty("x"))
+            if (!$util.isInteger(message.x))
+                return "x: integer expected";
+        if (message.y != null && message.hasOwnProperty("y"))
+            if (!$util.isInteger(message.y))
+                return "y: integer expected";
+        if (message.z != null && message.hasOwnProperty("z"))
+            if (!$util.isInteger(message.z))
+                return "z: integer expected";
+        return null;
+    };
+
+    /**
+     * Creates an uvec3 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {uvec3} uvec3
+     */
+    uvec3.fromObject = function fromObject(object) {
+        if (object instanceof $root.uvec3)
+            return object;
+        var message = new $root.uvec3();
+        if (object.x != null)
+            message.x = object.x >>> 0;
+        if (object.y != null)
+            message.y = object.y >>> 0;
+        if (object.z != null)
+            message.z = object.z >>> 0;
+        return message;
+    };
+
+    /**
+     * Creates an uvec3 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link uvec3.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {uvec3} uvec3
+     */
+    uvec3.from = uvec3.fromObject;
+
+    /**
+     * Creates a plain object from an uvec3 message. Also converts values to other types if specified.
+     * @param {uvec3} message uvec3
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    uvec3.toObject = function toObject(message, options) {
+        if (!options)
+            options = {};
+        var object = {};
+        if (options.defaults) {
+            object.x = 0;
+            object.y = 0;
+            object.z = 0;
+        }
+        if (message.x != null && message.hasOwnProperty("x"))
+            object.x = message.x;
+        if (message.y != null && message.hasOwnProperty("y"))
+            object.y = message.y;
+        if (message.z != null && message.hasOwnProperty("z"))
+            object.z = message.z;
+        return object;
+    };
+
+    /**
+     * Creates a plain object from this uvec3 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    uvec3.prototype.toObject = function toObject(options) {
+        return this.constructor.toObject(this, options);
+    };
+
+    /**
+     * Converts this uvec3 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    uvec3.prototype.toJSON = function toJSON() {
+        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+    };
+
+    return uvec3;
+})();
+
+$root.vec4 = (function() {
+
+    /**
+     * Properties of a vec4.
+     * @typedef vec4$Properties
+     * @type {Object}
+     * @property {number} [x] vec4 x.
+     * @property {number} [y] vec4 y.
+     * @property {number} [z] vec4 z.
+     * @property {number} [t] vec4 t.
+     */
+
+    /**
+     * Constructs a new vec4.
+     * @exports vec4
+     * @constructor
+     * @param {vec4$Properties=} [properties] Properties to set
+     */
+    function vec4(properties) {
+        if (properties)
+            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                if (properties[keys[i]] != null)
+                    this[keys[i]] = properties[keys[i]];
+    }
+
+    /**
+     * vec4 x.
+     * @type {number}
+     */
+    vec4.prototype.x = 0;
+
+    /**
+     * vec4 y.
+     * @type {number}
+     */
+    vec4.prototype.y = 0;
+
+    /**
+     * vec4 z.
+     * @type {number}
+     */
+    vec4.prototype.z = 0;
+
+    /**
+     * vec4 t.
+     * @type {number}
+     */
+    vec4.prototype.t = 0;
+
+    /**
+     * Creates a new vec4 instance using the specified properties.
+     * @param {vec4$Properties=} [properties] Properties to set
+     * @returns {vec4} vec4 instance
+     */
+    vec4.create = function create(properties) {
+        return new vec4(properties);
+    };
+
+    /**
+     * Encodes the specified vec4 message. Does not implicitly {@link vec4.verify|verify} messages.
+     * @param {vec4$Properties} message vec4 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    vec4.encode = function encode(message, writer) {
+        if (!writer)
+            writer = $Writer.create();
+        if (message.x != null && message.hasOwnProperty("x"))
+            writer.uint32(/* id 1, wireType 1 =*/9).double(message.x);
+        if (message.y != null && message.hasOwnProperty("y"))
+            writer.uint32(/* id 2, wireType 1 =*/17).double(message.y);
+        if (message.z != null && message.hasOwnProperty("z"))
+            writer.uint32(/* id 3, wireType 1 =*/25).double(message.z);
+        if (message.t != null && message.hasOwnProperty("t"))
+            writer.uint32(/* id 4, wireType 1 =*/33).double(message.t);
+        return writer;
+    };
+
+    /**
+     * Encodes the specified vec4 message, length delimited. Does not implicitly {@link vec4.verify|verify} messages.
+     * @param {vec4$Properties} message vec4 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    vec4.encodeDelimited = function encodeDelimited(message, writer) {
+        return this.encode(message, writer).ldelim();
+    };
+
+    /**
+     * Decodes a vec4 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {vec4} vec4
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    vec4.decode = function decode(reader, length) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader.create(reader);
+        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.vec4();
+        while (reader.pos < end) {
+            var tag = reader.uint32();
+            switch (tag >>> 3) {
+            case 1:
+                message.x = reader.double();
+                break;
+            case 2:
+                message.y = reader.double();
+                break;
+            case 3:
+                message.z = reader.double();
+                break;
+            case 4:
+                message.t = reader.double();
+                break;
+            default:
+                reader.skipType(tag & 7);
+                break;
+            }
+        }
+        return message;
+    };
+
+    /**
+     * Decodes a vec4 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {vec4} vec4
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    vec4.decodeDelimited = function decodeDelimited(reader) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader(reader);
+        return this.decode(reader, reader.uint32());
+    };
+
+    /**
+     * Verifies a vec4 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    vec4.verify = function verify(message) {
+        if (typeof message !== "object" || message === null)
+            return "object expected";
+        if (message.x != null && message.hasOwnProperty("x"))
+            if (typeof message.x !== "number")
+                return "x: number expected";
+        if (message.y != null && message.hasOwnProperty("y"))
+            if (typeof message.y !== "number")
+                return "y: number expected";
+        if (message.z != null && message.hasOwnProperty("z"))
+            if (typeof message.z !== "number")
+                return "z: number expected";
+        if (message.t != null && message.hasOwnProperty("t"))
+            if (typeof message.t !== "number")
+                return "t: number expected";
+        return null;
+    };
+
+    /**
+     * Creates a vec4 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {vec4} vec4
+     */
+    vec4.fromObject = function fromObject(object) {
+        if (object instanceof $root.vec4)
+            return object;
+        var message = new $root.vec4();
+        if (object.x != null)
+            message.x = Number(object.x);
+        if (object.y != null)
+            message.y = Number(object.y);
+        if (object.z != null)
+            message.z = Number(object.z);
+        if (object.t != null)
+            message.t = Number(object.t);
+        return message;
+    };
+
+    /**
+     * Creates a vec4 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link vec4.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {vec4} vec4
+     */
+    vec4.from = vec4.fromObject;
+
+    /**
+     * Creates a plain object from a vec4 message. Also converts values to other types if specified.
+     * @param {vec4} message vec4
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    vec4.toObject = function toObject(message, options) {
+        if (!options)
+            options = {};
+        var object = {};
+        if (options.defaults) {
+            object.x = 0;
+            object.y = 0;
+            object.z = 0;
+            object.t = 0;
+        }
+        if (message.x != null && message.hasOwnProperty("x"))
+            object.x = message.x;
+        if (message.y != null && message.hasOwnProperty("y"))
+            object.y = message.y;
+        if (message.z != null && message.hasOwnProperty("z"))
+            object.z = message.z;
+        if (message.t != null && message.hasOwnProperty("t"))
+            object.t = message.t;
+        return object;
+    };
+
+    /**
+     * Creates a plain object from this vec4 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    vec4.prototype.toObject = function toObject(options) {
+        return this.constructor.toObject(this, options);
+    };
+
+    /**
+     * Converts this vec4 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    vec4.prototype.toJSON = function toJSON() {
+        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+    };
+
+    return vec4;
+})();
+
+$root.fvec4 = (function() {
+
+    /**
+     * Properties of a fvec4.
+     * @typedef fvec4$Properties
+     * @type {Object}
+     * @property {number} [x] fvec4 x.
+     * @property {number} [y] fvec4 y.
+     * @property {number} [z] fvec4 z.
+     * @property {number} [t] fvec4 t.
+     */
+
+    /**
+     * Constructs a new fvec4.
+     * @exports fvec4
+     * @constructor
+     * @param {fvec4$Properties=} [properties] Properties to set
+     */
+    function fvec4(properties) {
+        if (properties)
+            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                if (properties[keys[i]] != null)
+                    this[keys[i]] = properties[keys[i]];
+    }
+
+    /**
+     * fvec4 x.
+     * @type {number}
+     */
+    fvec4.prototype.x = 0;
+
+    /**
+     * fvec4 y.
+     * @type {number}
+     */
+    fvec4.prototype.y = 0;
+
+    /**
+     * fvec4 z.
+     * @type {number}
+     */
+    fvec4.prototype.z = 0;
+
+    /**
+     * fvec4 t.
+     * @type {number}
+     */
+    fvec4.prototype.t = 0;
+
+    /**
+     * Creates a new fvec4 instance using the specified properties.
+     * @param {fvec4$Properties=} [properties] Properties to set
+     * @returns {fvec4} fvec4 instance
+     */
+    fvec4.create = function create(properties) {
+        return new fvec4(properties);
+    };
+
+    /**
+     * Encodes the specified fvec4 message. Does not implicitly {@link fvec4.verify|verify} messages.
+     * @param {fvec4$Properties} message fvec4 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    fvec4.encode = function encode(message, writer) {
+        if (!writer)
+            writer = $Writer.create();
+        if (message.x != null && message.hasOwnProperty("x"))
+            writer.uint32(/* id 1, wireType 5 =*/13).float(message.x);
+        if (message.y != null && message.hasOwnProperty("y"))
+            writer.uint32(/* id 2, wireType 5 =*/21).float(message.y);
+        if (message.z != null && message.hasOwnProperty("z"))
+            writer.uint32(/* id 3, wireType 5 =*/29).float(message.z);
+        if (message.t != null && message.hasOwnProperty("t"))
+            writer.uint32(/* id 4, wireType 5 =*/37).float(message.t);
+        return writer;
+    };
+
+    /**
+     * Encodes the specified fvec4 message, length delimited. Does not implicitly {@link fvec4.verify|verify} messages.
+     * @param {fvec4$Properties} message fvec4 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    fvec4.encodeDelimited = function encodeDelimited(message, writer) {
+        return this.encode(message, writer).ldelim();
+    };
+
+    /**
+     * Decodes a fvec4 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {fvec4} fvec4
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    fvec4.decode = function decode(reader, length) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader.create(reader);
+        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.fvec4();
+        while (reader.pos < end) {
+            var tag = reader.uint32();
+            switch (tag >>> 3) {
+            case 1:
+                message.x = reader.float();
+                break;
+            case 2:
+                message.y = reader.float();
+                break;
+            case 3:
+                message.z = reader.float();
+                break;
+            case 4:
+                message.t = reader.float();
+                break;
+            default:
+                reader.skipType(tag & 7);
+                break;
+            }
+        }
+        return message;
+    };
+
+    /**
+     * Decodes a fvec4 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {fvec4} fvec4
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    fvec4.decodeDelimited = function decodeDelimited(reader) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader(reader);
+        return this.decode(reader, reader.uint32());
+    };
+
+    /**
+     * Verifies a fvec4 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    fvec4.verify = function verify(message) {
+        if (typeof message !== "object" || message === null)
+            return "object expected";
+        if (message.x != null && message.hasOwnProperty("x"))
+            if (typeof message.x !== "number")
+                return "x: number expected";
+        if (message.y != null && message.hasOwnProperty("y"))
+            if (typeof message.y !== "number")
+                return "y: number expected";
+        if (message.z != null && message.hasOwnProperty("z"))
+            if (typeof message.z !== "number")
+                return "z: number expected";
+        if (message.t != null && message.hasOwnProperty("t"))
+            if (typeof message.t !== "number")
+                return "t: number expected";
+        return null;
+    };
+
+    /**
+     * Creates a fvec4 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {fvec4} fvec4
+     */
+    fvec4.fromObject = function fromObject(object) {
+        if (object instanceof $root.fvec4)
+            return object;
+        var message = new $root.fvec4();
+        if (object.x != null)
+            message.x = Number(object.x);
+        if (object.y != null)
+            message.y = Number(object.y);
+        if (object.z != null)
+            message.z = Number(object.z);
+        if (object.t != null)
+            message.t = Number(object.t);
+        return message;
+    };
+
+    /**
+     * Creates a fvec4 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link fvec4.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {fvec4} fvec4
+     */
+    fvec4.from = fvec4.fromObject;
+
+    /**
+     * Creates a plain object from a fvec4 message. Also converts values to other types if specified.
+     * @param {fvec4} message fvec4
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    fvec4.toObject = function toObject(message, options) {
+        if (!options)
+            options = {};
+        var object = {};
+        if (options.defaults) {
+            object.x = 0;
+            object.y = 0;
+            object.z = 0;
+            object.t = 0;
+        }
+        if (message.x != null && message.hasOwnProperty("x"))
+            object.x = message.x;
+        if (message.y != null && message.hasOwnProperty("y"))
+            object.y = message.y;
+        if (message.z != null && message.hasOwnProperty("z"))
+            object.z = message.z;
+        if (message.t != null && message.hasOwnProperty("t"))
+            object.t = message.t;
+        return object;
+    };
+
+    /**
+     * Creates a plain object from this fvec4 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    fvec4.prototype.toObject = function toObject(options) {
+        return this.constructor.toObject(this, options);
+    };
+
+    /**
+     * Converts this fvec4 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    fvec4.prototype.toJSON = function toJSON() {
+        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+    };
+
+    return fvec4;
+})();
+
+$root.ivec4 = (function() {
+
+    /**
+     * Properties of an ivec4.
+     * @typedef ivec4$Properties
+     * @type {Object}
+     * @property {number} [x] ivec4 x.
+     * @property {number} [y] ivec4 y.
+     * @property {number} [z] ivec4 z.
+     * @property {number} [t] ivec4 t.
+     */
+
+    /**
+     * Constructs a new ivec4.
+     * @exports ivec4
+     * @constructor
+     * @param {ivec4$Properties=} [properties] Properties to set
+     */
+    function ivec4(properties) {
+        if (properties)
+            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                if (properties[keys[i]] != null)
+                    this[keys[i]] = properties[keys[i]];
+    }
+
+    /**
+     * ivec4 x.
+     * @type {number}
+     */
+    ivec4.prototype.x = 0;
+
+    /**
+     * ivec4 y.
+     * @type {number}
+     */
+    ivec4.prototype.y = 0;
+
+    /**
+     * ivec4 z.
+     * @type {number}
+     */
+    ivec4.prototype.z = 0;
+
+    /**
+     * ivec4 t.
+     * @type {number}
+     */
+    ivec4.prototype.t = 0;
+
+    /**
+     * Creates a new ivec4 instance using the specified properties.
+     * @param {ivec4$Properties=} [properties] Properties to set
+     * @returns {ivec4} ivec4 instance
+     */
+    ivec4.create = function create(properties) {
+        return new ivec4(properties);
+    };
+
+    /**
+     * Encodes the specified ivec4 message. Does not implicitly {@link ivec4.verify|verify} messages.
+     * @param {ivec4$Properties} message ivec4 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    ivec4.encode = function encode(message, writer) {
+        if (!writer)
+            writer = $Writer.create();
+        if (message.x != null && message.hasOwnProperty("x"))
+            writer.uint32(/* id 1, wireType 0 =*/8).sint32(message.x);
+        if (message.y != null && message.hasOwnProperty("y"))
+            writer.uint32(/* id 2, wireType 0 =*/16).sint32(message.y);
+        if (message.z != null && message.hasOwnProperty("z"))
+            writer.uint32(/* id 3, wireType 0 =*/24).sint32(message.z);
+        if (message.t != null && message.hasOwnProperty("t"))
+            writer.uint32(/* id 4, wireType 0 =*/32).sint32(message.t);
+        return writer;
+    };
+
+    /**
+     * Encodes the specified ivec4 message, length delimited. Does not implicitly {@link ivec4.verify|verify} messages.
+     * @param {ivec4$Properties} message ivec4 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    ivec4.encodeDelimited = function encodeDelimited(message, writer) {
+        return this.encode(message, writer).ldelim();
+    };
+
+    /**
+     * Decodes an ivec4 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {ivec4} ivec4
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    ivec4.decode = function decode(reader, length) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader.create(reader);
+        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.ivec4();
+        while (reader.pos < end) {
+            var tag = reader.uint32();
+            switch (tag >>> 3) {
+            case 1:
+                message.x = reader.sint32();
+                break;
+            case 2:
+                message.y = reader.sint32();
+                break;
+            case 3:
+                message.z = reader.sint32();
+                break;
+            case 4:
+                message.t = reader.sint32();
+                break;
+            default:
+                reader.skipType(tag & 7);
+                break;
+            }
+        }
+        return message;
+    };
+
+    /**
+     * Decodes an ivec4 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {ivec4} ivec4
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    ivec4.decodeDelimited = function decodeDelimited(reader) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader(reader);
+        return this.decode(reader, reader.uint32());
+    };
+
+    /**
+     * Verifies an ivec4 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    ivec4.verify = function verify(message) {
+        if (typeof message !== "object" || message === null)
+            return "object expected";
+        if (message.x != null && message.hasOwnProperty("x"))
+            if (!$util.isInteger(message.x))
+                return "x: integer expected";
+        if (message.y != null && message.hasOwnProperty("y"))
+            if (!$util.isInteger(message.y))
+                return "y: integer expected";
+        if (message.z != null && message.hasOwnProperty("z"))
+            if (!$util.isInteger(message.z))
+                return "z: integer expected";
+        if (message.t != null && message.hasOwnProperty("t"))
+            if (!$util.isInteger(message.t))
+                return "t: integer expected";
+        return null;
+    };
+
+    /**
+     * Creates an ivec4 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {ivec4} ivec4
+     */
+    ivec4.fromObject = function fromObject(object) {
+        if (object instanceof $root.ivec4)
+            return object;
+        var message = new $root.ivec4();
+        if (object.x != null)
+            message.x = object.x | 0;
+        if (object.y != null)
+            message.y = object.y | 0;
+        if (object.z != null)
+            message.z = object.z | 0;
+        if (object.t != null)
+            message.t = object.t | 0;
+        return message;
+    };
+
+    /**
+     * Creates an ivec4 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link ivec4.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {ivec4} ivec4
+     */
+    ivec4.from = ivec4.fromObject;
+
+    /**
+     * Creates a plain object from an ivec4 message. Also converts values to other types if specified.
+     * @param {ivec4} message ivec4
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    ivec4.toObject = function toObject(message, options) {
+        if (!options)
+            options = {};
+        var object = {};
+        if (options.defaults) {
+            object.x = 0;
+            object.y = 0;
+            object.z = 0;
+            object.t = 0;
+        }
+        if (message.x != null && message.hasOwnProperty("x"))
+            object.x = message.x;
+        if (message.y != null && message.hasOwnProperty("y"))
+            object.y = message.y;
+        if (message.z != null && message.hasOwnProperty("z"))
+            object.z = message.z;
+        if (message.t != null && message.hasOwnProperty("t"))
+            object.t = message.t;
+        return object;
+    };
+
+    /**
+     * Creates a plain object from this ivec4 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    ivec4.prototype.toObject = function toObject(options) {
+        return this.constructor.toObject(this, options);
+    };
+
+    /**
+     * Converts this ivec4 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    ivec4.prototype.toJSON = function toJSON() {
+        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+    };
+
+    return ivec4;
+})();
+
+$root.uvec4 = (function() {
+
+    /**
+     * Properties of an uvec4.
+     * @typedef uvec4$Properties
+     * @type {Object}
+     * @property {number} [x] uvec4 x.
+     * @property {number} [y] uvec4 y.
+     * @property {number} [z] uvec4 z.
+     * @property {number} [t] uvec4 t.
+     */
+
+    /**
+     * Constructs a new uvec4.
+     * @exports uvec4
+     * @constructor
+     * @param {uvec4$Properties=} [properties] Properties to set
+     */
+    function uvec4(properties) {
+        if (properties)
+            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                if (properties[keys[i]] != null)
+                    this[keys[i]] = properties[keys[i]];
+    }
+
+    /**
+     * uvec4 x.
+     * @type {number}
+     */
+    uvec4.prototype.x = 0;
+
+    /**
+     * uvec4 y.
+     * @type {number}
+     */
+    uvec4.prototype.y = 0;
+
+    /**
+     * uvec4 z.
+     * @type {number}
+     */
+    uvec4.prototype.z = 0;
+
+    /**
+     * uvec4 t.
+     * @type {number}
+     */
+    uvec4.prototype.t = 0;
+
+    /**
+     * Creates a new uvec4 instance using the specified properties.
+     * @param {uvec4$Properties=} [properties] Properties to set
+     * @returns {uvec4} uvec4 instance
+     */
+    uvec4.create = function create(properties) {
+        return new uvec4(properties);
+    };
+
+    /**
+     * Encodes the specified uvec4 message. Does not implicitly {@link uvec4.verify|verify} messages.
+     * @param {uvec4$Properties} message uvec4 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    uvec4.encode = function encode(message, writer) {
+        if (!writer)
+            writer = $Writer.create();
+        if (message.x != null && message.hasOwnProperty("x"))
+            writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.x);
+        if (message.y != null && message.hasOwnProperty("y"))
+            writer.uint32(/* id 2, wireType 0 =*/16).uint32(message.y);
+        if (message.z != null && message.hasOwnProperty("z"))
+            writer.uint32(/* id 3, wireType 0 =*/24).uint32(message.z);
+        if (message.t != null && message.hasOwnProperty("t"))
+            writer.uint32(/* id 4, wireType 0 =*/32).uint32(message.t);
+        return writer;
+    };
+
+    /**
+     * Encodes the specified uvec4 message, length delimited. Does not implicitly {@link uvec4.verify|verify} messages.
+     * @param {uvec4$Properties} message uvec4 message or plain object to encode
+     * @param {$protobuf.Writer} [writer] Writer to encode to
+     * @returns {$protobuf.Writer} Writer
+     */
+    uvec4.encodeDelimited = function encodeDelimited(message, writer) {
+        return this.encode(message, writer).ldelim();
+    };
+
+    /**
+     * Decodes an uvec4 message from the specified reader or buffer.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @param {number} [length] Message length if known beforehand
+     * @returns {uvec4} uvec4
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    uvec4.decode = function decode(reader, length) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader.create(reader);
+        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.uvec4();
+        while (reader.pos < end) {
+            var tag = reader.uint32();
+            switch (tag >>> 3) {
+            case 1:
+                message.x = reader.uint32();
+                break;
+            case 2:
+                message.y = reader.uint32();
+                break;
+            case 3:
+                message.z = reader.uint32();
+                break;
+            case 4:
+                message.t = reader.uint32();
+                break;
+            default:
+                reader.skipType(tag & 7);
+                break;
+            }
+        }
+        return message;
+    };
+
+    /**
+     * Decodes an uvec4 message from the specified reader or buffer, length delimited.
+     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+     * @returns {uvec4} uvec4
+     * @throws {Error} If the payload is not a reader or valid buffer
+     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+     */
+    uvec4.decodeDelimited = function decodeDelimited(reader) {
+        if (!(reader instanceof $Reader))
+            reader = $Reader(reader);
+        return this.decode(reader, reader.uint32());
+    };
+
+    /**
+     * Verifies an uvec4 message.
+     * @param {Object.<string,*>} message Plain object to verify
+     * @returns {?string} `null` if valid, otherwise the reason why it is not
+     */
+    uvec4.verify = function verify(message) {
+        if (typeof message !== "object" || message === null)
+            return "object expected";
+        if (message.x != null && message.hasOwnProperty("x"))
+            if (!$util.isInteger(message.x))
+                return "x: integer expected";
+        if (message.y != null && message.hasOwnProperty("y"))
+            if (!$util.isInteger(message.y))
+                return "y: integer expected";
+        if (message.z != null && message.hasOwnProperty("z"))
+            if (!$util.isInteger(message.z))
+                return "z: integer expected";
+        if (message.t != null && message.hasOwnProperty("t"))
+            if (!$util.isInteger(message.t))
+                return "t: integer expected";
+        return null;
+    };
+
+    /**
+     * Creates an uvec4 message from a plain object. Also converts values to their respective internal types.
+     * @param {Object.<string,*>} object Plain object
+     * @returns {uvec4} uvec4
+     */
+    uvec4.fromObject = function fromObject(object) {
+        if (object instanceof $root.uvec4)
+            return object;
+        var message = new $root.uvec4();
+        if (object.x != null)
+            message.x = object.x >>> 0;
+        if (object.y != null)
+            message.y = object.y >>> 0;
+        if (object.z != null)
+            message.z = object.z >>> 0;
+        if (object.t != null)
+            message.t = object.t >>> 0;
+        return message;
+    };
+
+    /**
+     * Creates an uvec4 message from a plain object. Also converts values to their respective internal types.
+     * This is an alias of {@link uvec4.fromObject}.
+     * @function
+     * @param {Object.<string,*>} object Plain object
+     * @returns {uvec4} uvec4
+     */
+    uvec4.from = uvec4.fromObject;
+
+    /**
+     * Creates a plain object from an uvec4 message. Also converts values to other types if specified.
+     * @param {uvec4} message uvec4
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    uvec4.toObject = function toObject(message, options) {
+        if (!options)
+            options = {};
+        var object = {};
+        if (options.defaults) {
+            object.x = 0;
+            object.y = 0;
+            object.z = 0;
+            object.t = 0;
+        }
+        if (message.x != null && message.hasOwnProperty("x"))
+            object.x = message.x;
+        if (message.y != null && message.hasOwnProperty("y"))
+            object.y = message.y;
+        if (message.z != null && message.hasOwnProperty("z"))
+            object.z = message.z;
+        if (message.t != null && message.hasOwnProperty("t"))
+            object.t = message.t;
+        return object;
+    };
+
+    /**
+     * Creates a plain object from this uvec4 message. Also converts values to other types if specified.
+     * @param {$protobuf.ConversionOptions} [options] Conversion options
+     * @returns {Object.<string,*>} Plain object
+     */
+    uvec4.prototype.toObject = function toObject(options) {
+        return this.constructor.toObject(this, options);
+    };
+
+    /**
+     * Converts this uvec4 to JSON.
+     * @returns {Object.<string,*>} JSON object
+     */
+    uvec4.prototype.toJSON = function toJSON() {
+        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+    };
+
+    return uvec4;
+})();
+
+/**
+ * PointerType enum.
+ * @exports PointerType
+ * @enum {number}
+ * @property {number} NONE=0 NONE value
+ * @property {number} RAW=1 RAW value
+ * @property {number} SHARED=2 SHARED value
+ * @property {number} UNIQUE=3 UNIQUE value
+ */
+$root.PointerType = (function() {
+    var valuesById = {}, values = Object.create(valuesById);
+    values[valuesById[0] = "NONE"] = 0;
+    values[valuesById[1] = "RAW"] = 1;
+    values[valuesById[2] = "SHARED"] = 2;
+    values[valuesById[3] = "UNIQUE"] = 3;
+    return values;
+})();
+
+$root.google = (function() {
+
+    /**
+     * Namespace google.
+     * @exports google
+     * @namespace
+     */
+    var google = {};
+
+    google.protobuf = (function() {
+
+        /**
+         * Namespace protobuf.
+         * @exports google.protobuf
+         * @namespace
+         */
+        var protobuf = {};
+
+        protobuf.FileDescriptorSet = (function() {
+
+            /**
+             * Properties of a FileDescriptorSet.
+             * @typedef google.protobuf.FileDescriptorSet$Properties
+             * @type {Object}
+             * @property {Array.<google.protobuf.FileDescriptorProto$Properties>} [file] FileDescriptorSet file.
+             */
+
+            /**
+             * Constructs a new FileDescriptorSet.
+             * @exports google.protobuf.FileDescriptorSet
+             * @constructor
+             * @param {google.protobuf.FileDescriptorSet$Properties=} [properties] Properties to set
+             */
+            function FileDescriptorSet(properties) {
+                this.file = [];
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * FileDescriptorSet file.
+             * @type {Array.<google.protobuf.FileDescriptorProto$Properties>}
+             */
+            FileDescriptorSet.prototype.file = $util.emptyArray;
+
+            /**
+             * Creates a new FileDescriptorSet instance using the specified properties.
+             * @param {google.protobuf.FileDescriptorSet$Properties=} [properties] Properties to set
+             * @returns {google.protobuf.FileDescriptorSet} FileDescriptorSet instance
+             */
+            FileDescriptorSet.create = function create(properties) {
+                return new FileDescriptorSet(properties);
+            };
+
+            /**
+             * Encodes the specified FileDescriptorSet message. Does not implicitly {@link google.protobuf.FileDescriptorSet.verify|verify} messages.
+             * @param {google.protobuf.FileDescriptorSet$Properties} message FileDescriptorSet message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            FileDescriptorSet.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.file != null && message.file.length)
+                    for (var i = 0; i < message.file.length; ++i)
+                        $root.google.protobuf.FileDescriptorProto.encode(message.file[i], writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified FileDescriptorSet message, length delimited. Does not implicitly {@link google.protobuf.FileDescriptorSet.verify|verify} messages.
+             * @param {google.protobuf.FileDescriptorSet$Properties} message FileDescriptorSet message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            FileDescriptorSet.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a FileDescriptorSet message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {google.protobuf.FileDescriptorSet} FileDescriptorSet
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            FileDescriptorSet.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.google.protobuf.FileDescriptorSet();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
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+                        if (!(message.file && message.file.length))
+                            message.file = [];
+                        message.file.push($root.google.protobuf.FileDescriptorProto.decode(reader, reader.uint32()));
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a FileDescriptorSet message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {google.protobuf.FileDescriptorSet} FileDescriptorSet
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            FileDescriptorSet.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a FileDescriptorSet message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            FileDescriptorSet.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.file != null && message.hasOwnProperty("file")) {
+                    if (!Array.isArray(message.file))
+                        return "file: array expected";
+                    for (var i = 0; i < message.file.length; ++i) {
+                        var error = $root.google.protobuf.FileDescriptorProto.verify(message.file[i]);
+                        if (error)
+                            return "file." + error;
+                    }
+                }
+                return null;
+            };
+
+            /**
+             * Creates a FileDescriptorSet message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.FileDescriptorSet} FileDescriptorSet
+             */
+            FileDescriptorSet.fromObject = function fromObject(object) {
+                if (object instanceof $root.google.protobuf.FileDescriptorSet)
+                    return object;
+                var message = new $root.google.protobuf.FileDescriptorSet();
+                if (object.file) {
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+                    message.file = [];
+                    for (var i = 0; i < object.file.length; ++i) {
+                        if (typeof object.file[i] !== "object")
+                            throw TypeError(".google.protobuf.FileDescriptorSet.file: object expected");
+                        message.file[i] = $root.google.protobuf.FileDescriptorProto.fromObject(object.file[i]);
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Creates a FileDescriptorSet message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link google.protobuf.FileDescriptorSet.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.FileDescriptorSet} FileDescriptorSet
+             */
+            FileDescriptorSet.from = FileDescriptorSet.fromObject;
+
+            /**
+             * Creates a plain object from a FileDescriptorSet message. Also converts values to other types if specified.
+             * @param {google.protobuf.FileDescriptorSet} message FileDescriptorSet
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            FileDescriptorSet.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.arrays || options.defaults)
+                    object.file = [];
+                if (message.file && message.file.length) {
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+                    for (var j = 0; j < message.file.length; ++j)
+                        object.file[j] = $root.google.protobuf.FileDescriptorProto.toObject(message.file[j], options);
+                }
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this FileDescriptorSet message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            FileDescriptorSet.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this FileDescriptorSet to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            FileDescriptorSet.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return FileDescriptorSet;
+        })();
+
+        protobuf.FileDescriptorProto = (function() {
+
+            /**
+             * Properties of a FileDescriptorProto.
+             * @typedef google.protobuf.FileDescriptorProto$Properties
+             * @type {Object}
+             * @property {string} [name] FileDescriptorProto name.
+             * @property {string} ["package"] FileDescriptorProto package.
+             * @property {Array.<string>} [dependency] FileDescriptorProto dependency.
+             * @property {Array.<number>} [publicDependency] FileDescriptorProto publicDependency.
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+             * @property {Array.<google.protobuf.ServiceDescriptorProto$Properties>} [service] FileDescriptorProto service.
+             * @property {Array.<google.protobuf.FieldDescriptorProto$Properties>} [extension] FileDescriptorProto extension.
+             * @property {google.protobuf.FileOptions$Properties} [options] FileDescriptorProto options.
+             * @property {google.protobuf.SourceCodeInfo$Properties} [sourceCodeInfo] FileDescriptorProto sourceCodeInfo.
+             * @property {string} [syntax] FileDescriptorProto syntax.
+             */
+
+            /**
+             * Constructs a new FileDescriptorProto.
+             * @exports google.protobuf.FileDescriptorProto
+             * @constructor
+             * @param {google.protobuf.FileDescriptorProto$Properties=} [properties] Properties to set
+             */
+            function FileDescriptorProto(properties) {
+                this.dependency = [];
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+                }
+                if (message.clientStreaming != null && message.hasOwnProperty("clientStreaming"))
+                    if (typeof message.clientStreaming !== "boolean")
+                        return "clientStreaming: boolean expected";
+                if (message.serverStreaming != null && message.hasOwnProperty("serverStreaming"))
+                    if (typeof message.serverStreaming !== "boolean")
+                        return "serverStreaming: boolean expected";
+                return null;
+            };
+
+            /**
+             * Creates a MethodDescriptorProto message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.MethodDescriptorProto} MethodDescriptorProto
+             */
+            MethodDescriptorProto.fromObject = function fromObject(object) {
+                if (object instanceof $root.google.protobuf.MethodDescriptorProto)
+                    return object;
+                var message = new $root.google.protobuf.MethodDescriptorProto();
+                if (object.name != null)
+                    message.name = String(object.name);
+                if (object.inputType != null)
+                    message.inputType = String(object.inputType);
+                if (object.outputType != null)
+                    message.outputType = String(object.outputType);
+                if (object.options != null) {
+                    if (typeof object.options !== "object")
+                        throw TypeError(".google.protobuf.MethodDescriptorProto.options: object expected");
+                    message.options = $root.google.protobuf.MethodOptions.fromObject(object.options);
+                }
+                if (object.clientStreaming != null)
+                    message.clientStreaming = Boolean(object.clientStreaming);
+                if (object.serverStreaming != null)
+                    message.serverStreaming = Boolean(object.serverStreaming);
+                return message;
+            };
+
+            /**
+             * Creates a MethodDescriptorProto message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link google.protobuf.MethodDescriptorProto.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.MethodDescriptorProto} MethodDescriptorProto
+             */
+            MethodDescriptorProto.from = MethodDescriptorProto.fromObject;
+
+            /**
+             * Creates a plain object from a MethodDescriptorProto message. Also converts values to other types if specified.
+             * @param {google.protobuf.MethodDescriptorProto} message MethodDescriptorProto
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            MethodDescriptorProto.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults) {
+                    object.name = "";
+                    object.inputType = "";
+                    object.outputType = "";
+                    object.options = null;
+                    object.clientStreaming = false;
+                    object.serverStreaming = false;
+                }
+                if (message.name != null && message.hasOwnProperty("name"))
+                    object.name = message.name;
+                if (message.inputType != null && message.hasOwnProperty("inputType"))
+                    object.inputType = message.inputType;
+                if (message.outputType != null && message.hasOwnProperty("outputType"))
+                    object.outputType = message.outputType;
+                if (message.options != null && message.hasOwnProperty("options"))
+                    object.options = $root.google.protobuf.MethodOptions.toObject(message.options, options);
+                if (message.clientStreaming != null && message.hasOwnProperty("clientStreaming"))
+                    object.clientStreaming = message.clientStreaming;
+                if (message.serverStreaming != null && message.hasOwnProperty("serverStreaming"))
+                    object.serverStreaming = message.serverStreaming;
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this MethodDescriptorProto message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            MethodDescriptorProto.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this MethodDescriptorProto to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            MethodDescriptorProto.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return MethodDescriptorProto;
+        })();
+
+        protobuf.FileOptions = (function() {
+
+            /**
+             * Properties of a FileOptions.
+             * @typedef google.protobuf.FileOptions$Properties
+             * @type {Object}
+             * @property {string} [javaPackage] FileOptions javaPackage.
+             * @property {string} [javaOuterClassname] FileOptions javaOuterClassname.
+             * @property {boolean} [javaMultipleFiles] FileOptions javaMultipleFiles.
+             * @property {boolean} [javaGenerateEqualsAndHash] FileOptions javaGenerateEqualsAndHash.
+             * @property {boolean} [javaStringCheckUtf8] FileOptions javaStringCheckUtf8.
+             * @property {google.protobuf.FileOptions.OptimizeMode} [optimizeFor] FileOptions optimizeFor.
+             * @property {string} [goPackage] FileOptions goPackage.
+             * @property {boolean} [ccGenericServices] FileOptions ccGenericServices.
+             * @property {boolean} [javaGenericServices] FileOptions javaGenericServices.
+             * @property {boolean} [pyGenericServices] FileOptions pyGenericServices.
+             * @property {boolean} [deprecated] FileOptions deprecated.
+             * @property {boolean} [ccEnableArenas] FileOptions ccEnableArenas.
+             * @property {string} [objcClassPrefix] FileOptions objcClassPrefix.
+             * @property {string} [csharpNamespace] FileOptions csharpNamespace.
+             * @property {Array.<google.protobuf.UninterpretedOption$Properties>} [uninterpretedOption] FileOptions uninterpretedOption.
+             */
+
+            /**
+             * Constructs a new FileOptions.
+             * @exports google.protobuf.FileOptions
+             * @constructor
+             * @param {google.protobuf.FileOptions$Properties=} [properties] Properties to set
+             */
+            function FileOptions(properties) {
+                this.uninterpretedOption = [];
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * FileOptions javaPackage.
+             * @type {string}
+             */
+            FileOptions.prototype.javaPackage = "";
+
+            /**
+             * FileOptions javaOuterClassname.
+             * @type {string}
+             */
+            FileOptions.prototype.javaOuterClassname = "";
+
+            /**
+             * FileOptions javaMultipleFiles.
+             * @type {boolean}
+             */
+            FileOptions.prototype.javaMultipleFiles = false;
+
+            /**
+             * FileOptions javaGenerateEqualsAndHash.
+             * @type {boolean}
+             */
+            FileOptions.prototype.javaGenerateEqualsAndHash = false;
+
+            /**
+             * FileOptions javaStringCheckUtf8.
+             * @type {boolean}
+             */
+            FileOptions.prototype.javaStringCheckUtf8 = false;
+
+            /**
+             * FileOptions optimizeFor.
+             * @type {google.protobuf.FileOptions.OptimizeMode}
+             */
+            FileOptions.prototype.optimizeFor = 1;
+
+            /**
+             * FileOptions goPackage.
+             * @type {string}
+             */
+            FileOptions.prototype.goPackage = "";
+
+            /**
+             * FileOptions ccGenericServices.
+             * @type {boolean}
+             */
+            FileOptions.prototype.ccGenericServices = false;
+
+            /**
+             * FileOptions javaGenericServices.
+             * @type {boolean}
+             */
+            FileOptions.prototype.javaGenericServices = false;
+
+            /**
+             * FileOptions pyGenericServices.
+             * @type {boolean}
+             */
+            FileOptions.prototype.pyGenericServices = false;
+
+            /**
+             * FileOptions deprecated.
+             * @type {boolean}
+             */
+            FileOptions.prototype.deprecated = false;
+
+            /**
+             * FileOptions ccEnableArenas.
+             * @type {boolean}
+             */
+            FileOptions.prototype.ccEnableArenas = false;
+
+            /**
+             * FileOptions objcClassPrefix.
+             * @type {string}
+             */
+            FileOptions.prototype.objcClassPrefix = "";
+
+            /**
+             * FileOptions csharpNamespace.
+             * @type {string}
+             */
+            FileOptions.prototype.csharpNamespace = "";
+
+            /**
+             * FileOptions uninterpretedOption.
+             * @type {Array.<google.protobuf.UninterpretedOption$Properties>}
+             */
+            FileOptions.prototype.uninterpretedOption = $util.emptyArray;
+
+            /**
+             * Creates a new FileOptions instance using the specified properties.
+             * @param {google.protobuf.FileOptions$Properties=} [properties] Properties to set
+             * @returns {google.protobuf.FileOptions} FileOptions instance
+             */
+            FileOptions.create = function create(properties) {
+                return new FileOptions(properties);
+            };
+
+            /**
+             * Encodes the specified FileOptions message. Does not implicitly {@link google.protobuf.FileOptions.verify|verify} messages.
+             * @param {google.protobuf.FileOptions$Properties} message FileOptions message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            FileOptions.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.javaPackage != null && message.hasOwnProperty("javaPackage"))
+                    writer.uint32(/* id 1, wireType 2 =*/10).string(message.javaPackage);
+                if (message.javaOuterClassname != null && message.hasOwnProperty("javaOuterClassname"))
+                    writer.uint32(/* id 8, wireType 2 =*/66).string(message.javaOuterClassname);
+                if (message.optimizeFor != null && message.hasOwnProperty("optimizeFor"))
+                    writer.uint32(/* id 9, wireType 0 =*/72).uint32(message.optimizeFor);
+                if (message.javaMultipleFiles != null && message.hasOwnProperty("javaMultipleFiles"))
+                    writer.uint32(/* id 10, wireType 0 =*/80).bool(message.javaMultipleFiles);
+                if (message.goPackage != null && message.hasOwnProperty("goPackage"))
+                    writer.uint32(/* id 11, wireType 2 =*/90).string(message.goPackage);
+                if (message.ccGenericServices != null && message.hasOwnProperty("ccGenericServices"))
+                    writer.uint32(/* id 16, wireType 0 =*/128).bool(message.ccGenericServices);
+                if (message.javaGenericServices != null && message.hasOwnProperty("javaGenericServices"))
+                    writer.uint32(/* id 17, wireType 0 =*/136).bool(message.javaGenericServices);
+                if (message.pyGenericServices != null && message.hasOwnProperty("pyGenericServices"))
+                    writer.uint32(/* id 18, wireType 0 =*/144).bool(message.pyGenericServices);
+                if (message.javaGenerateEqualsAndHash != null && message.hasOwnProperty("javaGenerateEqualsAndHash"))
+                    writer.uint32(/* id 20, wireType 0 =*/160).bool(message.javaGenerateEqualsAndHash);
+                if (message.deprecated != null && message.hasOwnProperty("deprecated"))
+                    writer.uint32(/* id 23, wireType 0 =*/184).bool(message.deprecated);
+                if (message.javaStringCheckUtf8 != null && message.hasOwnProperty("javaStringCheckUtf8"))
+                    writer.uint32(/* id 27, wireType 0 =*/216).bool(message.javaStringCheckUtf8);
+                if (message.ccEnableArenas != null && message.hasOwnProperty("ccEnableArenas"))
+                    writer.uint32(/* id 31, wireType 0 =*/248).bool(message.ccEnableArenas);
+                if (message.objcClassPrefix != null && message.hasOwnProperty("objcClassPrefix"))
+                    writer.uint32(/* id 36, wireType 2 =*/290).string(message.objcClassPrefix);
+                if (message.csharpNamespace != null && message.hasOwnProperty("csharpNamespace"))
+                    writer.uint32(/* id 37, wireType 2 =*/298).string(message.csharpNamespace);
+                if (message.uninterpretedOption != null && message.uninterpretedOption.length)
+                    for (var i = 0; i < message.uninterpretedOption.length; ++i)
+                        $root.google.protobuf.UninterpretedOption.encode(message.uninterpretedOption[i], writer.uint32(/* id 999, wireType 2 =*/7994).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified FileOptions message, length delimited. Does not implicitly {@link google.protobuf.FileOptions.verify|verify} messages.
+             * @param {google.protobuf.FileOptions$Properties} message FileOptions message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            FileOptions.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a FileOptions message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {google.protobuf.FileOptions} FileOptions
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            FileOptions.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.google.protobuf.FileOptions();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.javaPackage = reader.string();
+                        break;
+                    case 8:
+                        message.javaOuterClassname = reader.string();
+                        break;
+                    case 10:
+                        message.javaMultipleFiles = reader.bool();
+                        break;
+                    case 20:
+                        message.javaGenerateEqualsAndHash = reader.bool();
+                        break;
+                    case 27:
+                        message.javaStringCheckUtf8 = reader.bool();
+                        break;
+                    case 9:
+                        message.optimizeFor = reader.uint32();
+                        break;
+                    case 11:
+                        message.goPackage = reader.string();
+                        break;
+                    case 16:
+                        message.ccGenericServices = reader.bool();
+                        break;
+                    case 17:
+                        message.javaGenericServices = reader.bool();
+                        break;
+                    case 18:
+                        message.pyGenericServices = reader.bool();
+                        break;
+                    case 23:
+                        message.deprecated = reader.bool();
+                        break;
+                    case 31:
+                        message.ccEnableArenas = reader.bool();
+                        break;
+                    case 36:
+                        message.objcClassPrefix = reader.string();
+                        break;
+                    case 37:
+                        message.csharpNamespace = reader.string();
+                        break;
+                    case 999:
+                        if (!(message.uninterpretedOption && message.uninterpretedOption.length))
+                            message.uninterpretedOption = [];
+                        message.uninterpretedOption.push($root.google.protobuf.UninterpretedOption.decode(reader, reader.uint32()));
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a FileOptions message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {google.protobuf.FileOptions} FileOptions
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            FileOptions.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a FileOptions message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            FileOptions.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.javaPackage != null && message.hasOwnProperty("javaPackage"))
+                    if (!$util.isString(message.javaPackage))
+                        return "javaPackage: string expected";
+                if (message.javaOuterClassname != null && message.hasOwnProperty("javaOuterClassname"))
+                    if (!$util.isString(message.javaOuterClassname))
+                        return "javaOuterClassname: string expected";
+                if (message.javaMultipleFiles != null && message.hasOwnProperty("javaMultipleFiles"))
+                    if (typeof message.javaMultipleFiles !== "boolean")
+                        return "javaMultipleFiles: boolean expected";
+                if (message.javaGenerateEqualsAndHash != null && message.hasOwnProperty("javaGenerateEqualsAndHash"))
+                    if (typeof message.javaGenerateEqualsAndHash !== "boolean")
+                        return "javaGenerateEqualsAndHash: boolean expected";
+                if (message.javaStringCheckUtf8 != null && message.hasOwnProperty("javaStringCheckUtf8"))
+                    if (typeof message.javaStringCheckUtf8 !== "boolean")
+                        return "javaStringCheckUtf8: boolean expected";
+                if (message.optimizeFor != null && message.hasOwnProperty("optimizeFor"))
+                    switch (message.optimizeFor) {
+                    default:
+                        return "optimizeFor: enum value expected";
+                    case 1:
+                    case 2:
+                    case 3:
+                        break;
+                    }
+                if (message.goPackage != null && message.hasOwnProperty("goPackage"))
+                    if (!$util.isString(message.goPackage))
+                        return "goPackage: string expected";
+                if (message.ccGenericServices != null && message.hasOwnProperty("ccGenericServices"))
+                    if (typeof message.ccGenericServices !== "boolean")
+                        return "ccGenericServices: boolean expected";
+                if (message.javaGenericServices != null && message.hasOwnProperty("javaGenericServices"))
+                    if (typeof message.javaGenericServices !== "boolean")
+                        return "javaGenericServices: boolean expected";
+                if (message.pyGenericServices != null && message.hasOwnProperty("pyGenericServices"))
+                    if (typeof message.pyGenericServices !== "boolean")
+                        return "pyGenericServices: boolean expected";
+                if (message.deprecated != null && message.hasOwnProperty("deprecated"))
+                    if (typeof message.deprecated !== "boolean")
+                        return "deprecated: boolean expected";
+                if (message.ccEnableArenas != null && message.hasOwnProperty("ccEnableArenas"))
+                    if (typeof message.ccEnableArenas !== "boolean")
+                        return "ccEnableArenas: boolean expected";
+                if (message.objcClassPrefix != null && message.hasOwnProperty("objcClassPrefix"))
+                    if (!$util.isString(message.objcClassPrefix))
+                        return "objcClassPrefix: string expected";
+                if (message.csharpNamespace != null && message.hasOwnProperty("csharpNamespace"))
+                    if (!$util.isString(message.csharpNamespace))
+                        return "csharpNamespace: string expected";
+                if (message.uninterpretedOption != null && message.hasOwnProperty("uninterpretedOption")) {
+                    if (!Array.isArray(message.uninterpretedOption))
+                        return "uninterpretedOption: array expected";
+                    for (var i = 0; i < message.uninterpretedOption.length; ++i) {
+                        var error = $root.google.protobuf.UninterpretedOption.verify(message.uninterpretedOption[i]);
+                        if (error)
+                            return "uninterpretedOption." + error;
+                    }
+                }
+                return null;
+            };
+
+            /**
+             * Creates a FileOptions message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.FileOptions} FileOptions
+             */
+            FileOptions.fromObject = function fromObject(object) {
+                if (object instanceof $root.google.protobuf.FileOptions)
+                    return object;
+                var message = new $root.google.protobuf.FileOptions();
+                if (object.javaPackage != null)
+                    message.javaPackage = String(object.javaPackage);
+                if (object.javaOuterClassname != null)
+                    message.javaOuterClassname = String(object.javaOuterClassname);
+                if (object.javaMultipleFiles != null)
+                    message.javaMultipleFiles = Boolean(object.javaMultipleFiles);
+                if (object.javaGenerateEqualsAndHash != null)
+                    message.javaGenerateEqualsAndHash = Boolean(object.javaGenerateEqualsAndHash);
+                if (object.javaStringCheckUtf8 != null)
+                    message.javaStringCheckUtf8 = Boolean(object.javaStringCheckUtf8);
+                switch (object.optimizeFor) {
+                case "SPEED":
+                case 1:
+                    message.optimizeFor = 1;
+                    break;
+                case "CODE_SIZE":
+                case 2:
+                    message.optimizeFor = 2;
+                    break;
+                case "LITE_RUNTIME":
+                case 3:
+                    message.optimizeFor = 3;
+                    break;
+                }
+                if (object.goPackage != null)
+                    message.goPackage = String(object.goPackage);
+                if (object.ccGenericServices != null)
+                    message.ccGenericServices = Boolean(object.ccGenericServices);
+                if (object.javaGenericServices != null)
+                    message.javaGenericServices = Boolean(object.javaGenericServices);
+                if (object.pyGenericServices != null)
+                    message.pyGenericServices = Boolean(object.pyGenericServices);
+                if (object.deprecated != null)
+                    message.deprecated = Boolean(object.deprecated);
+                if (object.ccEnableArenas != null)
+                    message.ccEnableArenas = Boolean(object.ccEnableArenas);
+                if (object.objcClassPrefix != null)
+                    message.objcClassPrefix = String(object.objcClassPrefix);
+                if (object.csharpNamespace != null)
+                    message.csharpNamespace = String(object.csharpNamespace);
+                if (object.uninterpretedOption) {
+                    if (!Array.isArray(object.uninterpretedOption))
+                        throw TypeError(".google.protobuf.FileOptions.uninterpretedOption: array expected");
+                    message.uninterpretedOption = [];
+                    for (var i = 0; i < object.uninterpretedOption.length; ++i) {
+                        if (typeof object.uninterpretedOption[i] !== "object")
+                            throw TypeError(".google.protobuf.FileOptions.uninterpretedOption: object expected");
+                        message.uninterpretedOption[i] = $root.google.protobuf.UninterpretedOption.fromObject(object.uninterpretedOption[i]);
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Creates a FileOptions message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link google.protobuf.FileOptions.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.FileOptions} FileOptions
+             */
+            FileOptions.from = FileOptions.fromObject;
+
+            /**
+             * Creates a plain object from a FileOptions message. Also converts values to other types if specified.
+             * @param {google.protobuf.FileOptions} message FileOptions
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            FileOptions.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.arrays || options.defaults)
+                    object.uninterpretedOption = [];
+                if (options.defaults) {
+                    object.javaPackage = "";
+                    object.javaOuterClassname = "";
+                    object.optimizeFor = options.enums === String ? "SPEED" : 1;
+                    object.javaMultipleFiles = false;
+                    object.goPackage = "";
+                    object.ccGenericServices = false;
+                    object.javaGenericServices = false;
+                    object.pyGenericServices = false;
+                    object.javaGenerateEqualsAndHash = false;
+                    object.deprecated = false;
+                    object.javaStringCheckUtf8 = false;
+                    object.ccEnableArenas = false;
+                    object.objcClassPrefix = "";
+                    object.csharpNamespace = "";
+                }
+                if (message.javaPackage != null && message.hasOwnProperty("javaPackage"))
+                    object.javaPackage = message.javaPackage;
+                if (message.javaOuterClassname != null && message.hasOwnProperty("javaOuterClassname"))
+                    object.javaOuterClassname = message.javaOuterClassname;
+                if (message.optimizeFor != null && message.hasOwnProperty("optimizeFor"))
+                    object.optimizeFor = options.enums === String ? $root.google.protobuf.FileOptions.OptimizeMode[message.optimizeFor] : message.optimizeFor;
+                if (message.javaMultipleFiles != null && message.hasOwnProperty("javaMultipleFiles"))
+                    object.javaMultipleFiles = message.javaMultipleFiles;
+                if (message.goPackage != null && message.hasOwnProperty("goPackage"))
+                    object.goPackage = message.goPackage;
+                if (message.ccGenericServices != null && message.hasOwnProperty("ccGenericServices"))
+                    object.ccGenericServices = message.ccGenericServices;
+                if (message.javaGenericServices != null && message.hasOwnProperty("javaGenericServices"))
+                    object.javaGenericServices = message.javaGenericServices;
+                if (message.pyGenericServices != null && message.hasOwnProperty("pyGenericServices"))
+                    object.pyGenericServices = message.pyGenericServices;
+                if (message.javaGenerateEqualsAndHash != null && message.hasOwnProperty("javaGenerateEqualsAndHash"))
+                    object.javaGenerateEqualsAndHash = message.javaGenerateEqualsAndHash;
+                if (message.deprecated != null && message.hasOwnProperty("deprecated"))
+                    object.deprecated = message.deprecated;
+                if (message.javaStringCheckUtf8 != null && message.hasOwnProperty("javaStringCheckUtf8"))
+                    object.javaStringCheckUtf8 = message.javaStringCheckUtf8;
+                if (message.ccEnableArenas != null && message.hasOwnProperty("ccEnableArenas"))
+                    object.ccEnableArenas = message.ccEnableArenas;
+                if (message.objcClassPrefix != null && message.hasOwnProperty("objcClassPrefix"))
+                    object.objcClassPrefix = message.objcClassPrefix;
+                if (message.csharpNamespace != null && message.hasOwnProperty("csharpNamespace"))
+                    object.csharpNamespace = message.csharpNamespace;
+                if (message.uninterpretedOption && message.uninterpretedOption.length) {
+                    object.uninterpretedOption = [];
+                    for (var j = 0; j < message.uninterpretedOption.length; ++j)
+                        object.uninterpretedOption[j] = $root.google.protobuf.UninterpretedOption.toObject(message.uninterpretedOption[j], options);
+                }
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this FileOptions message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            FileOptions.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this FileOptions to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            FileOptions.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            /**
+             * OptimizeMode enum.
+             * @name OptimizeMode
+             * @memberof google.protobuf.FileOptions
+             * @enum {number}
+             * @property {number} SPEED=1 SPEED value
+             * @property {number} CODE_SIZE=2 CODE_SIZE value
+             * @property {number} LITE_RUNTIME=3 LITE_RUNTIME value
+             */
+            FileOptions.OptimizeMode = (function() {
+                var valuesById = {}, values = Object.create(valuesById);
+                values[valuesById[1] = "SPEED"] = 1;
+                values[valuesById[2] = "CODE_SIZE"] = 2;
+                values[valuesById[3] = "LITE_RUNTIME"] = 3;
+                return values;
+            })();
+
+            return FileOptions;
+        })();
+
+        protobuf.MessageOptions = (function() {
+
+            /**
+             * Properties of a MessageOptions.
+             * @typedef google.protobuf.MessageOptions$Properties
+             * @type {Object}
+             * @property {boolean} [messageSetWireFormat] MessageOptions messageSetWireFormat.
+             * @property {boolean} [noStandardDescriptorAccessor] MessageOptions noStandardDescriptorAccessor.
+             * @property {boolean} [deprecated] MessageOptions deprecated.
+             * @property {boolean} [mapEntry] MessageOptions mapEntry.
+             * @property {Array.<google.protobuf.UninterpretedOption$Properties>} [uninterpretedOption] MessageOptions uninterpretedOption.
+             */
+
+            /**
+             * Constructs a new MessageOptions.
+             * @exports google.protobuf.MessageOptions
+             * @constructor
+             * @param {google.protobuf.MessageOptions$Properties=} [properties] Properties to set
+             */
+            function MessageOptions(properties) {
+                this.uninterpretedOption = [];
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * MessageOptions messageSetWireFormat.
+             * @type {boolean}
+             */
+            MessageOptions.prototype.messageSetWireFormat = false;
+
+            /**
+             * MessageOptions noStandardDescriptorAccessor.
+             * @type {boolean}
+             */
+            MessageOptions.prototype.noStandardDescriptorAccessor = false;
+
+            /**
+             * MessageOptions deprecated.
+             * @type {boolean}
+             */
+            MessageOptions.prototype.deprecated = false;
+
+            /**
+             * MessageOptions mapEntry.
+             * @type {boolean}
+             */
+            MessageOptions.prototype.mapEntry = false;
+
+            /**
+             * MessageOptions uninterpretedOption.
+             * @type {Array.<google.protobuf.UninterpretedOption$Properties>}
+             */
+            MessageOptions.prototype.uninterpretedOption = $util.emptyArray;
+
+            /**
+             * Creates a new MessageOptions instance using the specified properties.
+             * @param {google.protobuf.MessageOptions$Properties=} [properties] Properties to set
+             * @returns {google.protobuf.MessageOptions} MessageOptions instance
+             */
+            MessageOptions.create = function create(properties) {
+                return new MessageOptions(properties);
+            };
+
+            /**
+             * Encodes the specified MessageOptions message. Does not implicitly {@link google.protobuf.MessageOptions.verify|verify} messages.
+             * @param {google.protobuf.MessageOptions$Properties} message MessageOptions message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            MessageOptions.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.messageSetWireFormat != null && message.hasOwnProperty("messageSetWireFormat"))
+                    writer.uint32(/* id 1, wireType 0 =*/8).bool(message.messageSetWireFormat);
+                if (message.noStandardDescriptorAccessor != null && message.hasOwnProperty("noStandardDescriptorAccessor"))
+                    writer.uint32(/* id 2, wireType 0 =*/16).bool(message.noStandardDescriptorAccessor);
+                if (message.deprecated != null && message.hasOwnProperty("deprecated"))
+                    writer.uint32(/* id 3, wireType 0 =*/24).bool(message.deprecated);
+                if (message.mapEntry != null && message.hasOwnProperty("mapEntry"))
+                    writer.uint32(/* id 7, wireType 0 =*/56).bool(message.mapEntry);
+                if (message.uninterpretedOption != null && message.uninterpretedOption.length)
+                    for (var i = 0; i < message.uninterpretedOption.length; ++i)
+                        $root.google.protobuf.UninterpretedOption.encode(message.uninterpretedOption[i], writer.uint32(/* id 999, wireType 2 =*/7994).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified MessageOptions message, length delimited. Does not implicitly {@link google.protobuf.MessageOptions.verify|verify} messages.
+             * @param {google.protobuf.MessageOptions$Properties} message MessageOptions message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            MessageOptions.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a MessageOptions message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {google.protobuf.MessageOptions} MessageOptions
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            MessageOptions.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.google.protobuf.MessageOptions();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.messageSetWireFormat = reader.bool();
+                        break;
+                    case 2:
+                        message.noStandardDescriptorAccessor = reader.bool();
+                        break;
+                    case 3:
+                        message.deprecated = reader.bool();
+                        break;
+                    case 7:
+                        message.mapEntry = reader.bool();
+                        break;
+                    case 999:
+                        if (!(message.uninterpretedOption && message.uninterpretedOption.length))
+                            message.uninterpretedOption = [];
+                        message.uninterpretedOption.push($root.google.protobuf.UninterpretedOption.decode(reader, reader.uint32()));
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a MessageOptions message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {google.protobuf.MessageOptions} MessageOptions
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            MessageOptions.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a MessageOptions message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            MessageOptions.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.messageSetWireFormat != null && message.hasOwnProperty("messageSetWireFormat"))
+                    if (typeof message.messageSetWireFormat !== "boolean")
+                        return "messageSetWireFormat: boolean expected";
+                if (message.noStandardDescriptorAccessor != null && message.hasOwnProperty("noStandardDescriptorAccessor"))
+                    if (typeof message.noStandardDescriptorAccessor !== "boolean")
+                        return "noStandardDescriptorAccessor: boolean expected";
+                if (message.deprecated != null && message.hasOwnProperty("deprecated"))
+                    if (typeof message.deprecated !== "boolean")
+                        return "deprecated: boolean expected";
+                if (message.mapEntry != null && message.hasOwnProperty("mapEntry"))
+                    if (typeof message.mapEntry !== "boolean")
+                        return "mapEntry: boolean expected";
+                if (message.uninterpretedOption != null && message.hasOwnProperty("uninterpretedOption")) {
+                    if (!Array.isArray(message.uninterpretedOption))
+                        return "uninterpretedOption: array expected";
+                    for (var i = 0; i < message.uninterpretedOption.length; ++i) {
+                        var error = $root.google.protobuf.UninterpretedOption.verify(message.uninterpretedOption[i]);
+                        if (error)
+                            return "uninterpretedOption." + error;
+                    }
+                }
+                return null;
+            };
+
+            /**
+             * Creates a MessageOptions message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.MessageOptions} MessageOptions
+             */
+            MessageOptions.fromObject = function fromObject(object) {
+                if (object instanceof $root.google.protobuf.MessageOptions)
+                    return object;
+                var message = new $root.google.protobuf.MessageOptions();
+                if (object.messageSetWireFormat != null)
+                    message.messageSetWireFormat = Boolean(object.messageSetWireFormat);
+                if (object.noStandardDescriptorAccessor != null)
+                    message.noStandardDescriptorAccessor = Boolean(object.noStandardDescriptorAccessor);
+                if (object.deprecated != null)
+                    message.deprecated = Boolean(object.deprecated);
+                if (object.mapEntry != null)
+                    message.mapEntry = Boolean(object.mapEntry);
+                if (object.uninterpretedOption) {
+                    if (!Array.isArray(object.uninterpretedOption))
+                        throw TypeError(".google.protobuf.MessageOptions.uninterpretedOption: array expected");
+                    message.uninterpretedOption = [];
+                    for (var i = 0; i < object.uninterpretedOption.length; ++i) {
+                        if (typeof object.uninterpretedOption[i] !== "object")
+                            throw TypeError(".google.protobuf.MessageOptions.uninterpretedOption: object expected");
+                        message.uninterpretedOption[i] = $root.google.protobuf.UninterpretedOption.fromObject(object.uninterpretedOption[i]);
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Creates a MessageOptions message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link google.protobuf.MessageOptions.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.MessageOptions} MessageOptions
+             */
+            MessageOptions.from = MessageOptions.fromObject;
+
+            /**
+             * Creates a plain object from a MessageOptions message. Also converts values to other types if specified.
+             * @param {google.protobuf.MessageOptions} message MessageOptions
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            MessageOptions.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.arrays || options.defaults)
+                    object.uninterpretedOption = [];
+                if (options.defaults) {
+                    object.messageSetWireFormat = false;
+                    object.noStandardDescriptorAccessor = false;
+                    object.deprecated = false;
+                    object.mapEntry = false;
+                }
+                if (message.messageSetWireFormat != null && message.hasOwnProperty("messageSetWireFormat"))
+                    object.messageSetWireFormat = message.messageSetWireFormat;
+                if (message.noStandardDescriptorAccessor != null && message.hasOwnProperty("noStandardDescriptorAccessor"))
+                    object.noStandardDescriptorAccessor = message.noStandardDescriptorAccessor;
+                if (message.deprecated != null && message.hasOwnProperty("deprecated"))
+                    object.deprecated = message.deprecated;
+                if (message.mapEntry != null && message.hasOwnProperty("mapEntry"))
+                    object.mapEntry = message.mapEntry;
+                if (message.uninterpretedOption && message.uninterpretedOption.length) {
+                    object.uninterpretedOption = [];
+                    for (var j = 0; j < message.uninterpretedOption.length; ++j)
+                        object.uninterpretedOption[j] = $root.google.protobuf.UninterpretedOption.toObject(message.uninterpretedOption[j], options);
+                }
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this MessageOptions message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            MessageOptions.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this MessageOptions to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            MessageOptions.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return MessageOptions;
+        })();
+
+        protobuf.FieldOptions = (function() {
+
+            /**
+             * Properties of a FieldOptions.
+             * @typedef google.protobuf.FieldOptions$Properties
+             * @type {Object}
+             * @property {google.protobuf.FieldOptions.CType} [ctype] FieldOptions ctype.
+             * @property {boolean} [packed] FieldOptions packed.
+             * @property {google.protobuf.FieldOptions.JSType} [jstype] FieldOptions jstype.
+             * @property {boolean} [lazy] FieldOptions lazy.
+             * @property {boolean} [deprecated] FieldOptions deprecated.
+             * @property {boolean} [weak] FieldOptions weak.
+             * @property {Array.<google.protobuf.UninterpretedOption$Properties>} [uninterpretedOption] FieldOptions uninterpretedOption.
+             * @property {PointerType} [".pointer"] FieldOptions .pointer.
+             * @property {number} [".arraySize"] FieldOptions .arraySize.
+             */
+
+            /**
+             * Constructs a new FieldOptions.
+             * @exports google.protobuf.FieldOptions
+             * @constructor
+             * @param {google.protobuf.FieldOptions$Properties=} [properties] Properties to set
+             */
+            function FieldOptions(properties) {
+                this.uninterpretedOption = [];
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * FieldOptions ctype.
+             * @type {google.protobuf.FieldOptions.CType}
+             */
+            FieldOptions.prototype.ctype = 0;
+
+            /**
+             * FieldOptions packed.
+             * @type {boolean}
+             */
+            FieldOptions.prototype.packed = false;
+
+            /**
+             * FieldOptions jstype.
+             * @type {google.protobuf.FieldOptions.JSType}
+             */
+            FieldOptions.prototype.jstype = 0;
+
+            /**
+             * FieldOptions lazy.
+             * @type {boolean}
+             */
+            FieldOptions.prototype.lazy = false;
+
+            /**
+             * FieldOptions deprecated.
+             * @type {boolean}
+             */
+            FieldOptions.prototype.deprecated = false;
+
+            /**
+             * FieldOptions weak.
+             * @type {boolean}
+             */
+            FieldOptions.prototype.weak = false;
+
+            /**
+             * FieldOptions uninterpretedOption.
+             * @type {Array.<google.protobuf.UninterpretedOption$Properties>}
+             */
+            FieldOptions.prototype.uninterpretedOption = $util.emptyArray;
+
+            /**
+             * FieldOptions .pointer.
+             * @type {PointerType}
+             */
+            FieldOptions.prototype[".pointer"] = 0;
+
+            /**
+             * FieldOptions .arraySize.
+             * @type {number}
+             */
+            FieldOptions.prototype[".arraySize"] = 0;
+
+            /**
+             * Creates a new FieldOptions instance using the specified properties.
+             * @param {google.protobuf.FieldOptions$Properties=} [properties] Properties to set
+             * @returns {google.protobuf.FieldOptions} FieldOptions instance
+             */
+            FieldOptions.create = function create(properties) {
+                return new FieldOptions(properties);
+            };
+
+            /**
+             * Encodes the specified FieldOptions message. Does not implicitly {@link google.protobuf.FieldOptions.verify|verify} messages.
+             * @param {google.protobuf.FieldOptions$Properties} message FieldOptions message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            FieldOptions.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.ctype != null && message.hasOwnProperty("ctype"))
+                    writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.ctype);
+                if (message.packed != null && message.hasOwnProperty("packed"))
+                    writer.uint32(/* id 2, wireType 0 =*/16).bool(message.packed);
+                if (message.deprecated != null && message.hasOwnProperty("deprecated"))
+                    writer.uint32(/* id 3, wireType 0 =*/24).bool(message.deprecated);
+                if (message.lazy != null && message.hasOwnProperty("lazy"))
+                    writer.uint32(/* id 5, wireType 0 =*/40).bool(message.lazy);
+                if (message.jstype != null && message.hasOwnProperty("jstype"))
+                    writer.uint32(/* id 6, wireType 0 =*/48).uint32(message.jstype);
+                if (message.weak != null && message.hasOwnProperty("weak"))
+                    writer.uint32(/* id 10, wireType 0 =*/80).bool(message.weak);
+                if (message.uninterpretedOption != null && message.uninterpretedOption.length)
+                    for (var i = 0; i < message.uninterpretedOption.length; ++i)
+                        $root.google.protobuf.UninterpretedOption.encode(message.uninterpretedOption[i], writer.uint32(/* id 999, wireType 2 =*/7994).fork()).ldelim();
+                if (message[".pointer"] != null && message.hasOwnProperty(".pointer"))
+                    writer.uint32(/* id 50000, wireType 0 =*/400000).uint32(message[".pointer"]);
+                if (message[".arraySize"] != null && message.hasOwnProperty(".arraySize"))
+                    writer.uint32(/* id 50001, wireType 0 =*/400008).uint32(message[".arraySize"]);
+                return writer;
+            };
+
+            /**
+             * Encodes the specified FieldOptions message, length delimited. Does not implicitly {@link google.protobuf.FieldOptions.verify|verify} messages.
+             * @param {google.protobuf.FieldOptions$Properties} message FieldOptions message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            FieldOptions.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a FieldOptions message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {google.protobuf.FieldOptions} FieldOptions
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            FieldOptions.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.google.protobuf.FieldOptions();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.ctype = reader.uint32();
+                        break;
+                    case 2:
+                        message.packed = reader.bool();
+                        break;
+                    case 6:
+                        message.jstype = reader.uint32();
+                        break;
+                    case 5:
+                        message.lazy = reader.bool();
+                        break;
+                    case 3:
+                        message.deprecated = reader.bool();
+                        break;
+                    case 10:
+                        message.weak = reader.bool();
+                        break;
+                    case 999:
+                        if (!(message.uninterpretedOption && message.uninterpretedOption.length))
+                            message.uninterpretedOption = [];
+                        message.uninterpretedOption.push($root.google.protobuf.UninterpretedOption.decode(reader, reader.uint32()));
+                        break;
+                    case 50000:
+                        message[".pointer"] = reader.uint32();
+                        break;
+                    case 50001:
+                        message[".arraySize"] = reader.uint32();
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a FieldOptions message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {google.protobuf.FieldOptions} FieldOptions
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            FieldOptions.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a FieldOptions message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            FieldOptions.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.ctype != null && message.hasOwnProperty("ctype"))
+                    switch (message.ctype) {
+                    default:
+                        return "ctype: enum value expected";
+                    case 0:
+                    case 1:
+                    case 2:
+                        break;
+                    }
+                if (message.packed != null && message.hasOwnProperty("packed"))
+                    if (typeof message.packed !== "boolean")
+                        return "packed: boolean expected";
+                if (message.jstype != null && message.hasOwnProperty("jstype"))
+                    switch (message.jstype) {
+                    default:
+                        return "jstype: enum value expected";
+                    case 0:
+                    case 1:
+                    case 2:
+                        break;
+                    }
+                if (message.lazy != null && message.hasOwnProperty("lazy"))
+                    if (typeof message.lazy !== "boolean")
+                        return "lazy: boolean expected";
+                if (message.deprecated != null && message.hasOwnProperty("deprecated"))
+                    if (typeof message.deprecated !== "boolean")
+                        return "deprecated: boolean expected";
+                if (message.weak != null && message.hasOwnProperty("weak"))
+                    if (typeof message.weak !== "boolean")
+                        return "weak: boolean expected";
+                if (message.uninterpretedOption != null && message.hasOwnProperty("uninterpretedOption")) {
+                    if (!Array.isArray(message.uninterpretedOption))
+                        return "uninterpretedOption: array expected";
+                    for (var i = 0; i < message.uninterpretedOption.length; ++i) {
+                        var error = $root.google.protobuf.UninterpretedOption.verify(message.uninterpretedOption[i]);
+                        if (error)
+                            return "uninterpretedOption." + error;
+                    }
+                }
+                if (message[".pointer"] != null && message.hasOwnProperty(".pointer"))
+                    switch (message[".pointer"]) {
+                    default:
+                        return ".pointer: enum value expected";
+                    case 0:
+                    case 1:
+                    case 2:
+                    case 3:
+                        break;
+                    }
+                if (message[".arraySize"] != null && message.hasOwnProperty(".arraySize"))
+                    if (!$util.isInteger(message[".arraySize"]))
+                        return ".arraySize: integer expected";
+                return null;
+            };
+
+            /**
+             * Creates a FieldOptions message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.FieldOptions} FieldOptions
+             */
+            FieldOptions.fromObject = function fromObject(object) {
+                if (object instanceof $root.google.protobuf.FieldOptions)
+                    return object;
+                var message = new $root.google.protobuf.FieldOptions();
+                switch (object.ctype) {
+                case "STRING":
+                case 0:
+                    message.ctype = 0;
+                    break;
+                case "CORD":
+                case 1:
+                    message.ctype = 1;
+                    break;
+                case "STRING_PIECE":
+                case 2:
+                    message.ctype = 2;
+                    break;
+                }
+                if (object.packed != null)
+                    message.packed = Boolean(object.packed);
+                switch (object.jstype) {
+                case "JS_NORMAL":
+                case 0:
+                    message.jstype = 0;
+                    break;
+                case "JS_STRING":
+                case 1:
+                    message.jstype = 1;
+                    break;
+                case "JS_NUMBER":
+                case 2:
+                    message.jstype = 2;
+                    break;
+                }
+                if (object.lazy != null)
+                    message.lazy = Boolean(object.lazy);
+                if (object.deprecated != null)
+                    message.deprecated = Boolean(object.deprecated);
+                if (object.weak != null)
+                    message.weak = Boolean(object.weak);
+                if (object.uninterpretedOption) {
+                    if (!Array.isArray(object.uninterpretedOption))
+                        throw TypeError(".google.protobuf.FieldOptions.uninterpretedOption: array expected");
+                    message.uninterpretedOption = [];
+                    for (var i = 0; i < object.uninterpretedOption.length; ++i) {
+                        if (typeof object.uninterpretedOption[i] !== "object")
+                            throw TypeError(".google.protobuf.FieldOptions.uninterpretedOption: object expected");
+                        message.uninterpretedOption[i] = $root.google.protobuf.UninterpretedOption.fromObject(object.uninterpretedOption[i]);
+                    }
+                }
+                switch (object[".pointer"]) {
+                case "NONE":
+                case 0:
+                    message[".pointer"] = 0;
+                    break;
+                case "RAW":
+                case 1:
+                    message[".pointer"] = 1;
+                    break;
+                case "SHARED":
+                case 2:
+                    message[".pointer"] = 2;
+                    break;
+                case "UNIQUE":
+                case 3:
+                    message[".pointer"] = 3;
+                    break;
+                }
+                if (object[".arraySize"] != null)
+                    message[".arraySize"] = object[".arraySize"] >>> 0;
+                return message;
+            };
+
+            /**
+             * Creates a FieldOptions message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link google.protobuf.FieldOptions.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.FieldOptions} FieldOptions
+             */
+            FieldOptions.from = FieldOptions.fromObject;
+
+            /**
+             * Creates a plain object from a FieldOptions message. Also converts values to other types if specified.
+             * @param {google.protobuf.FieldOptions} message FieldOptions
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            FieldOptions.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.arrays || options.defaults)
+                    object.uninterpretedOption = [];
+                if (options.defaults) {
+                    object.ctype = options.enums === String ? "STRING" : 0;
+                    object.packed = false;
+                    object.deprecated = false;
+                    object.lazy = false;
+                    object.jstype = options.enums === String ? "JS_NORMAL" : 0;
+                    object.weak = false;
+                    object[".pointer"] = options.enums === String ? "NONE" : 0;
+                    object[".arraySize"] = 0;
+                }
+                if (message.ctype != null && message.hasOwnProperty("ctype"))
+                    object.ctype = options.enums === String ? $root.google.protobuf.FieldOptions.CType[message.ctype] : message.ctype;
+                if (message.packed != null && message.hasOwnProperty("packed"))
+                    object.packed = message.packed;
+                if (message.deprecated != null && message.hasOwnProperty("deprecated"))
+                    object.deprecated = message.deprecated;
+                if (message.lazy != null && message.hasOwnProperty("lazy"))
+                    object.lazy = message.lazy;
+                if (message.jstype != null && message.hasOwnProperty("jstype"))
+                    object.jstype = options.enums === String ? $root.google.protobuf.FieldOptions.JSType[message.jstype] : message.jstype;
+                if (message.weak != null && message.hasOwnProperty("weak"))
+                    object.weak = message.weak;
+                if (message.uninterpretedOption && message.uninterpretedOption.length) {
+                    object.uninterpretedOption = [];
+                    for (var j = 0; j < message.uninterpretedOption.length; ++j)
+                        object.uninterpretedOption[j] = $root.google.protobuf.UninterpretedOption.toObject(message.uninterpretedOption[j], options);
+                }
+                if (message[".pointer"] != null && message.hasOwnProperty(".pointer"))
+                    object[".pointer"] = options.enums === String ? $root.PointerType[message[".pointer"]] : message[".pointer"];
+                if (message[".arraySize"] != null && message.hasOwnProperty(".arraySize"))
+                    object[".arraySize"] = message[".arraySize"];
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this FieldOptions message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            FieldOptions.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this FieldOptions to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            FieldOptions.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            /**
+             * CType enum.
+             * @name CType
+             * @memberof google.protobuf.FieldOptions
+             * @enum {number}
+             * @property {number} STRING=0 STRING value
+             * @property {number} CORD=1 CORD value
+             * @property {number} STRING_PIECE=2 STRING_PIECE value
+             */
+            FieldOptions.CType = (function() {
+                var valuesById = {}, values = Object.create(valuesById);
+                values[valuesById[0] = "STRING"] = 0;
+                values[valuesById[1] = "CORD"] = 1;
+                values[valuesById[2] = "STRING_PIECE"] = 2;
+                return values;
+            })();
+
+            /**
+             * JSType enum.
+             * @name JSType
+             * @memberof google.protobuf.FieldOptions
+             * @enum {number}
+             * @property {number} JS_NORMAL=0 JS_NORMAL value
+             * @property {number} JS_STRING=1 JS_STRING value
+             * @property {number} JS_NUMBER=2 JS_NUMBER value
+             */
+            FieldOptions.JSType = (function() {
+                var valuesById = {}, values = Object.create(valuesById);
+                values[valuesById[0] = "JS_NORMAL"] = 0;
+                values[valuesById[1] = "JS_STRING"] = 1;
+                values[valuesById[2] = "JS_NUMBER"] = 2;
+                return values;
+            })();
+
+            return FieldOptions;
+        })();
+
+        protobuf.OneofOptions = (function() {
+
+            /**
+             * Properties of an OneofOptions.
+             * @typedef google.protobuf.OneofOptions$Properties
+             * @type {Object}
+             * @property {Array.<google.protobuf.UninterpretedOption$Properties>} [uninterpretedOption] OneofOptions uninterpretedOption.
+             */
+
+            /**
+             * Constructs a new OneofOptions.
+             * @exports google.protobuf.OneofOptions
+             * @constructor
+             * @param {google.protobuf.OneofOptions$Properties=} [properties] Properties to set
+             */
+            function OneofOptions(properties) {
+                this.uninterpretedOption = [];
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * OneofOptions uninterpretedOption.
+             * @type {Array.<google.protobuf.UninterpretedOption$Properties>}
+             */
+            OneofOptions.prototype.uninterpretedOption = $util.emptyArray;
+
+            /**
+             * Creates a new OneofOptions instance using the specified properties.
+             * @param {google.protobuf.OneofOptions$Properties=} [properties] Properties to set
+             * @returns {google.protobuf.OneofOptions} OneofOptions instance
+             */
+            OneofOptions.create = function create(properties) {
+                return new OneofOptions(properties);
+            };
+
+            /**
+             * Encodes the specified OneofOptions message. Does not implicitly {@link google.protobuf.OneofOptions.verify|verify} messages.
+             * @param {google.protobuf.OneofOptions$Properties} message OneofOptions message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            OneofOptions.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.uninterpretedOption != null && message.uninterpretedOption.length)
+                    for (var i = 0; i < message.uninterpretedOption.length; ++i)
+                        $root.google.protobuf.UninterpretedOption.encode(message.uninterpretedOption[i], writer.uint32(/* id 999, wireType 2 =*/7994).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified OneofOptions message, length delimited. Does not implicitly {@link google.protobuf.OneofOptions.verify|verify} messages.
+             * @param {google.protobuf.OneofOptions$Properties} message OneofOptions message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            OneofOptions.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes an OneofOptions message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {google.protobuf.OneofOptions} OneofOptions
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            OneofOptions.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.google.protobuf.OneofOptions();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 999:
+                        if (!(message.uninterpretedOption && message.uninterpretedOption.length))
+                            message.uninterpretedOption = [];
+                        message.uninterpretedOption.push($root.google.protobuf.UninterpretedOption.decode(reader, reader.uint32()));
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes an OneofOptions message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {google.protobuf.OneofOptions} OneofOptions
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            OneofOptions.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies an OneofOptions message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            OneofOptions.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.uninterpretedOption != null && message.hasOwnProperty("uninterpretedOption")) {
+                    if (!Array.isArray(message.uninterpretedOption))
+                        return "uninterpretedOption: array expected";
+                    for (var i = 0; i < message.uninterpretedOption.length; ++i) {
+                        var error = $root.google.protobuf.UninterpretedOption.verify(message.uninterpretedOption[i]);
+                        if (error)
+                            return "uninterpretedOption." + error;
+                    }
+                }
+                return null;
+            };
+
+            /**
+             * Creates an OneofOptions message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.OneofOptions} OneofOptions
+             */
+            OneofOptions.fromObject = function fromObject(object) {
+                if (object instanceof $root.google.protobuf.OneofOptions)
+                    return object;
+                var message = new $root.google.protobuf.OneofOptions();
+                if (object.uninterpretedOption) {
+                    if (!Array.isArray(object.uninterpretedOption))
+                        throw TypeError(".google.protobuf.OneofOptions.uninterpretedOption: array expected");
+                    message.uninterpretedOption = [];
+                    for (var i = 0; i < object.uninterpretedOption.length; ++i) {
+                        if (typeof object.uninterpretedOption[i] !== "object")
+                            throw TypeError(".google.protobuf.OneofOptions.uninterpretedOption: object expected");
+                        message.uninterpretedOption[i] = $root.google.protobuf.UninterpretedOption.fromObject(object.uninterpretedOption[i]);
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Creates an OneofOptions message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link google.protobuf.OneofOptions.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.OneofOptions} OneofOptions
+             */
+            OneofOptions.from = OneofOptions.fromObject;
+
+            /**
+             * Creates a plain object from an OneofOptions message. Also converts values to other types if specified.
+             * @param {google.protobuf.OneofOptions} message OneofOptions
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            OneofOptions.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.arrays || options.defaults)
+                    object.uninterpretedOption = [];
+                if (message.uninterpretedOption && message.uninterpretedOption.length) {
+                    object.uninterpretedOption = [];
+                    for (var j = 0; j < message.uninterpretedOption.length; ++j)
+                        object.uninterpretedOption[j] = $root.google.protobuf.UninterpretedOption.toObject(message.uninterpretedOption[j], options);
+                }
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this OneofOptions message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            OneofOptions.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this OneofOptions to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            OneofOptions.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return OneofOptions;
+        })();
+
+        protobuf.EnumOptions = (function() {
+
+            /**
+             * Properties of an EnumOptions.
+             * @typedef google.protobuf.EnumOptions$Properties
+             * @type {Object}
+             * @property {boolean} [allowAlias] EnumOptions allowAlias.
+             * @property {boolean} [deprecated] EnumOptions deprecated.
+             * @property {Array.<google.protobuf.UninterpretedOption$Properties>} [uninterpretedOption] EnumOptions uninterpretedOption.
+             */
+
+            /**
+             * Constructs a new EnumOptions.
+             * @exports google.protobuf.EnumOptions
+             * @constructor
+             * @param {google.protobuf.EnumOptions$Properties=} [properties] Properties to set
+             */
+            function EnumOptions(properties) {
+                this.uninterpretedOption = [];
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * EnumOptions allowAlias.
+             * @type {boolean}
+             */
+            EnumOptions.prototype.allowAlias = false;
+
+            /**
+             * EnumOptions deprecated.
+             * @type {boolean}
+             */
+            EnumOptions.prototype.deprecated = false;
+
+            /**
+             * EnumOptions uninterpretedOption.
+             * @type {Array.<google.protobuf.UninterpretedOption$Properties>}
+             */
+            EnumOptions.prototype.uninterpretedOption = $util.emptyArray;
+
+            /**
+             * Creates a new EnumOptions instance using the specified properties.
+             * @param {google.protobuf.EnumOptions$Properties=} [properties] Properties to set
+             * @returns {google.protobuf.EnumOptions} EnumOptions instance
+             */
+            EnumOptions.create = function create(properties) {
+                return new EnumOptions(properties);
+            };
+
+            /**
+             * Encodes the specified EnumOptions message. Does not implicitly {@link google.protobuf.EnumOptions.verify|verify} messages.
+             * @param {google.protobuf.EnumOptions$Properties} message EnumOptions message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            EnumOptions.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.allowAlias != null && message.hasOwnProperty("allowAlias"))
+                    writer.uint32(/* id 2, wireType 0 =*/16).bool(message.allowAlias);
+                if (message.deprecated != null && message.hasOwnProperty("deprecated"))
+                    writer.uint32(/* id 3, wireType 0 =*/24).bool(message.deprecated);
+                if (message.uninterpretedOption != null && message.uninterpretedOption.length)
+                    for (var i = 0; i < message.uninterpretedOption.length; ++i)
+                        $root.google.protobuf.UninterpretedOption.encode(message.uninterpretedOption[i], writer.uint32(/* id 999, wireType 2 =*/7994).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified EnumOptions message, length delimited. Does not implicitly {@link google.protobuf.EnumOptions.verify|verify} messages.
+             * @param {google.protobuf.EnumOptions$Properties} message EnumOptions message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            EnumOptions.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes an EnumOptions message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {google.protobuf.EnumOptions} EnumOptions
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            EnumOptions.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.google.protobuf.EnumOptions();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 2:
+                        message.allowAlias = reader.bool();
+                        break;
+                    case 3:
+                        message.deprecated = reader.bool();
+                        break;
+                    case 999:
+                        if (!(message.uninterpretedOption && message.uninterpretedOption.length))
+                            message.uninterpretedOption = [];
+                        message.uninterpretedOption.push($root.google.protobuf.UninterpretedOption.decode(reader, reader.uint32()));
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes an EnumOptions message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {google.protobuf.EnumOptions} EnumOptions
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            EnumOptions.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies an EnumOptions message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            EnumOptions.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.allowAlias != null && message.hasOwnProperty("allowAlias"))
+                    if (typeof message.allowAlias !== "boolean")
+                        return "allowAlias: boolean expected";
+                if (message.deprecated != null && message.hasOwnProperty("deprecated"))
+                    if (typeof message.deprecated !== "boolean")
+                        return "deprecated: boolean expected";
+                if (message.uninterpretedOption != null && message.hasOwnProperty("uninterpretedOption")) {
+                    if (!Array.isArray(message.uninterpretedOption))
+                        return "uninterpretedOption: array expected";
+                    for (var i = 0; i < message.uninterpretedOption.length; ++i) {
+                        var error = $root.google.protobuf.UninterpretedOption.verify(message.uninterpretedOption[i]);
+                        if (error)
+                            return "uninterpretedOption." + error;
+                    }
+                }
+                return null;
+            };
+
+            /**
+             * Creates an EnumOptions message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.EnumOptions} EnumOptions
+             */
+            EnumOptions.fromObject = function fromObject(object) {
+                if (object instanceof $root.google.protobuf.EnumOptions)
+                    return object;
+                var message = new $root.google.protobuf.EnumOptions();
+                if (object.allowAlias != null)
+                    message.allowAlias = Boolean(object.allowAlias);
+                if (object.deprecated != null)
+                    message.deprecated = Boolean(object.deprecated);
+                if (object.uninterpretedOption) {
+                    if (!Array.isArray(object.uninterpretedOption))
+                        throw TypeError(".google.protobuf.EnumOptions.uninterpretedOption: array expected");
+                    message.uninterpretedOption = [];
+                    for (var i = 0; i < object.uninterpretedOption.length; ++i) {
+                        if (typeof object.uninterpretedOption[i] !== "object")
+                            throw TypeError(".google.protobuf.EnumOptions.uninterpretedOption: object expected");
+                        message.uninterpretedOption[i] = $root.google.protobuf.UninterpretedOption.fromObject(object.uninterpretedOption[i]);
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Creates an EnumOptions message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link google.protobuf.EnumOptions.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.EnumOptions} EnumOptions
+             */
+            EnumOptions.from = EnumOptions.fromObject;
+
+            /**
+             * Creates a plain object from an EnumOptions message. Also converts values to other types if specified.
+             * @param {google.protobuf.EnumOptions} message EnumOptions
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            EnumOptions.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.arrays || options.defaults)
+                    object.uninterpretedOption = [];
+                if (options.defaults) {
+                    object.allowAlias = false;
+                    object.deprecated = false;
+                }
+                if (message.allowAlias != null && message.hasOwnProperty("allowAlias"))
+                    object.allowAlias = message.allowAlias;
+                if (message.deprecated != null && message.hasOwnProperty("deprecated"))
+                    object.deprecated = message.deprecated;
+                if (message.uninterpretedOption && message.uninterpretedOption.length) {
+                    object.uninterpretedOption = [];
+                    for (var j = 0; j < message.uninterpretedOption.length; ++j)
+                        object.uninterpretedOption[j] = $root.google.protobuf.UninterpretedOption.toObject(message.uninterpretedOption[j], options);
+                }
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this EnumOptions message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            EnumOptions.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this EnumOptions to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            EnumOptions.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return EnumOptions;
+        })();
+
+        protobuf.EnumValueOptions = (function() {
+
+            /**
+             * Properties of an EnumValueOptions.
+             * @typedef google.protobuf.EnumValueOptions$Properties
+             * @type {Object}
+             * @property {boolean} [deprecated] EnumValueOptions deprecated.
+             * @property {Array.<google.protobuf.UninterpretedOption$Properties>} [uninterpretedOption] EnumValueOptions uninterpretedOption.
+             */
+
+            /**
+             * Constructs a new EnumValueOptions.
+             * @exports google.protobuf.EnumValueOptions
+             * @constructor
+             * @param {google.protobuf.EnumValueOptions$Properties=} [properties] Properties to set
+             */
+            function EnumValueOptions(properties) {
+                this.uninterpretedOption = [];
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * EnumValueOptions deprecated.
+             * @type {boolean}
+             */
+            EnumValueOptions.prototype.deprecated = false;
+
+            /**
+             * EnumValueOptions uninterpretedOption.
+             * @type {Array.<google.protobuf.UninterpretedOption$Properties>}
+             */
+            EnumValueOptions.prototype.uninterpretedOption = $util.emptyArray;
+
+            /**
+             * Creates a new EnumValueOptions instance using the specified properties.
+             * @param {google.protobuf.EnumValueOptions$Properties=} [properties] Properties to set
+             * @returns {google.protobuf.EnumValueOptions} EnumValueOptions instance
+             */
+            EnumValueOptions.create = function create(properties) {
+                return new EnumValueOptions(properties);
+            };
+
+            /**
+             * Encodes the specified EnumValueOptions message. Does not implicitly {@link google.protobuf.EnumValueOptions.verify|verify} messages.
+             * @param {google.protobuf.EnumValueOptions$Properties} message EnumValueOptions message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            EnumValueOptions.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.deprecated != null && message.hasOwnProperty("deprecated"))
+                    writer.uint32(/* id 1, wireType 0 =*/8).bool(message.deprecated);
+                if (message.uninterpretedOption != null && message.uninterpretedOption.length)
+                    for (var i = 0; i < message.uninterpretedOption.length; ++i)
+                        $root.google.protobuf.UninterpretedOption.encode(message.uninterpretedOption[i], writer.uint32(/* id 999, wireType 2 =*/7994).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified EnumValueOptions message, length delimited. Does not implicitly {@link google.protobuf.EnumValueOptions.verify|verify} messages.
+             * @param {google.protobuf.EnumValueOptions$Properties} message EnumValueOptions message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            EnumValueOptions.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes an EnumValueOptions message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {google.protobuf.EnumValueOptions} EnumValueOptions
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            EnumValueOptions.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.google.protobuf.EnumValueOptions();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.deprecated = reader.bool();
+                        break;
+                    case 999:
+                        if (!(message.uninterpretedOption && message.uninterpretedOption.length))
+                            message.uninterpretedOption = [];
+                        message.uninterpretedOption.push($root.google.protobuf.UninterpretedOption.decode(reader, reader.uint32()));
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes an EnumValueOptions message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {google.protobuf.EnumValueOptions} EnumValueOptions
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            EnumValueOptions.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies an EnumValueOptions message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            EnumValueOptions.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.deprecated != null && message.hasOwnProperty("deprecated"))
+                    if (typeof message.deprecated !== "boolean")
+                        return "deprecated: boolean expected";
+                if (message.uninterpretedOption != null && message.hasOwnProperty("uninterpretedOption")) {
+                    if (!Array.isArray(message.uninterpretedOption))
+                        return "uninterpretedOption: array expected";
+                    for (var i = 0; i < message.uninterpretedOption.length; ++i) {
+                        var error = $root.google.protobuf.UninterpretedOption.verify(message.uninterpretedOption[i]);
+                        if (error)
+                            return "uninterpretedOption." + error;
+                    }
+                }
+                return null;
+            };
+
+            /**
+             * Creates an EnumValueOptions message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.EnumValueOptions} EnumValueOptions
+             */
+            EnumValueOptions.fromObject = function fromObject(object) {
+                if (object instanceof $root.google.protobuf.EnumValueOptions)
+                    return object;
+                var message = new $root.google.protobuf.EnumValueOptions();
+                if (object.deprecated != null)
+                    message.deprecated = Boolean(object.deprecated);
+                if (object.uninterpretedOption) {
+                    if (!Array.isArray(object.uninterpretedOption))
+                        throw TypeError(".google.protobuf.EnumValueOptions.uninterpretedOption: array expected");
+                    message.uninterpretedOption = [];
+                    for (var i = 0; i < object.uninterpretedOption.length; ++i) {
+                        if (typeof object.uninterpretedOption[i] !== "object")
+                            throw TypeError(".google.protobuf.EnumValueOptions.uninterpretedOption: object expected");
+                        message.uninterpretedOption[i] = $root.google.protobuf.UninterpretedOption.fromObject(object.uninterpretedOption[i]);
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Creates an EnumValueOptions message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link google.protobuf.EnumValueOptions.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.EnumValueOptions} EnumValueOptions
+             */
+            EnumValueOptions.from = EnumValueOptions.fromObject;
+
+            /**
+             * Creates a plain object from an EnumValueOptions message. Also converts values to other types if specified.
+             * @param {google.protobuf.EnumValueOptions} message EnumValueOptions
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            EnumValueOptions.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.arrays || options.defaults)
+                    object.uninterpretedOption = [];
+                if (options.defaults)
+                    object.deprecated = false;
+                if (message.deprecated != null && message.hasOwnProperty("deprecated"))
+                    object.deprecated = message.deprecated;
+                if (message.uninterpretedOption && message.uninterpretedOption.length) {
+                    object.uninterpretedOption = [];
+                    for (var j = 0; j < message.uninterpretedOption.length; ++j)
+                        object.uninterpretedOption[j] = $root.google.protobuf.UninterpretedOption.toObject(message.uninterpretedOption[j], options);
+                }
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this EnumValueOptions message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            EnumValueOptions.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this EnumValueOptions to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            EnumValueOptions.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return EnumValueOptions;
+        })();
+
+        protobuf.ServiceOptions = (function() {
+
+            /**
+             * Properties of a ServiceOptions.
+             * @typedef google.protobuf.ServiceOptions$Properties
+             * @type {Object}
+             * @property {boolean} [deprecated] ServiceOptions deprecated.
+             * @property {Array.<google.protobuf.UninterpretedOption$Properties>} [uninterpretedOption] ServiceOptions uninterpretedOption.
+             */
+
+            /**
+             * Constructs a new ServiceOptions.
+             * @exports google.protobuf.ServiceOptions
+             * @constructor
+             * @param {google.protobuf.ServiceOptions$Properties=} [properties] Properties to set
+             */
+            function ServiceOptions(properties) {
+                this.uninterpretedOption = [];
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * ServiceOptions deprecated.
+             * @type {boolean}
+             */
+            ServiceOptions.prototype.deprecated = false;
+
+            /**
+             * ServiceOptions uninterpretedOption.
+             * @type {Array.<google.protobuf.UninterpretedOption$Properties>}
+             */
+            ServiceOptions.prototype.uninterpretedOption = $util.emptyArray;
+
+            /**
+             * Creates a new ServiceOptions instance using the specified properties.
+             * @param {google.protobuf.ServiceOptions$Properties=} [properties] Properties to set
+             * @returns {google.protobuf.ServiceOptions} ServiceOptions instance
+             */
+            ServiceOptions.create = function create(properties) {
+                return new ServiceOptions(properties);
+            };
+
+            /**
+             * Encodes the specified ServiceOptions message. Does not implicitly {@link google.protobuf.ServiceOptions.verify|verify} messages.
+             * @param {google.protobuf.ServiceOptions$Properties} message ServiceOptions message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            ServiceOptions.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.deprecated != null && message.hasOwnProperty("deprecated"))
+                    writer.uint32(/* id 33, wireType 0 =*/264).bool(message.deprecated);
+                if (message.uninterpretedOption != null && message.uninterpretedOption.length)
+                    for (var i = 0; i < message.uninterpretedOption.length; ++i)
+                        $root.google.protobuf.UninterpretedOption.encode(message.uninterpretedOption[i], writer.uint32(/* id 999, wireType 2 =*/7994).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified ServiceOptions message, length delimited. Does not implicitly {@link google.protobuf.ServiceOptions.verify|verify} messages.
+             * @param {google.protobuf.ServiceOptions$Properties} message ServiceOptions message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            ServiceOptions.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a ServiceOptions message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {google.protobuf.ServiceOptions} ServiceOptions
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            ServiceOptions.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.google.protobuf.ServiceOptions();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 33:
+                        message.deprecated = reader.bool();
+                        break;
+                    case 999:
+                        if (!(message.uninterpretedOption && message.uninterpretedOption.length))
+                            message.uninterpretedOption = [];
+                        message.uninterpretedOption.push($root.google.protobuf.UninterpretedOption.decode(reader, reader.uint32()));
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a ServiceOptions message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {google.protobuf.ServiceOptions} ServiceOptions
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            ServiceOptions.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a ServiceOptions message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            ServiceOptions.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.deprecated != null && message.hasOwnProperty("deprecated"))
+                    if (typeof message.deprecated !== "boolean")
+                        return "deprecated: boolean expected";
+                if (message.uninterpretedOption != null && message.hasOwnProperty("uninterpretedOption")) {
+                    if (!Array.isArray(message.uninterpretedOption))
+                        return "uninterpretedOption: array expected";
+                    for (var i = 0; i < message.uninterpretedOption.length; ++i) {
+                        var error = $root.google.protobuf.UninterpretedOption.verify(message.uninterpretedOption[i]);
+                        if (error)
+                            return "uninterpretedOption." + error;
+                    }
+                }
+                return null;
+            };
+
+            /**
+             * Creates a ServiceOptions message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.ServiceOptions} ServiceOptions
+             */
+            ServiceOptions.fromObject = function fromObject(object) {
+                if (object instanceof $root.google.protobuf.ServiceOptions)
+                    return object;
+                var message = new $root.google.protobuf.ServiceOptions();
+                if (object.deprecated != null)
+                    message.deprecated = Boolean(object.deprecated);
+                if (object.uninterpretedOption) {
+                    if (!Array.isArray(object.uninterpretedOption))
+                        throw TypeError(".google.protobuf.ServiceOptions.uninterpretedOption: array expected");
+                    message.uninterpretedOption = [];
+                    for (var i = 0; i < object.uninterpretedOption.length; ++i) {
+                        if (typeof object.uninterpretedOption[i] !== "object")
+                            throw TypeError(".google.protobuf.ServiceOptions.uninterpretedOption: object expected");
+                        message.uninterpretedOption[i] = $root.google.protobuf.UninterpretedOption.fromObject(object.uninterpretedOption[i]);
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Creates a ServiceOptions message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link google.protobuf.ServiceOptions.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.ServiceOptions} ServiceOptions
+             */
+            ServiceOptions.from = ServiceOptions.fromObject;
+
+            /**
+             * Creates a plain object from a ServiceOptions message. Also converts values to other types if specified.
+             * @param {google.protobuf.ServiceOptions} message ServiceOptions
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            ServiceOptions.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.arrays || options.defaults)
+                    object.uninterpretedOption = [];
+                if (options.defaults)
+                    object.deprecated = false;
+                if (message.deprecated != null && message.hasOwnProperty("deprecated"))
+                    object.deprecated = message.deprecated;
+                if (message.uninterpretedOption && message.uninterpretedOption.length) {
+                    object.uninterpretedOption = [];
+                    for (var j = 0; j < message.uninterpretedOption.length; ++j)
+                        object.uninterpretedOption[j] = $root.google.protobuf.UninterpretedOption.toObject(message.uninterpretedOption[j], options);
+                }
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this ServiceOptions message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            ServiceOptions.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this ServiceOptions to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            ServiceOptions.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return ServiceOptions;
+        })();
+
+        protobuf.MethodOptions = (function() {
+
+            /**
+             * Properties of a MethodOptions.
+             * @typedef google.protobuf.MethodOptions$Properties
+             * @type {Object}
+             * @property {boolean} [deprecated] MethodOptions deprecated.
+             * @property {Array.<google.protobuf.UninterpretedOption$Properties>} [uninterpretedOption] MethodOptions uninterpretedOption.
+             */
+
+            /**
+             * Constructs a new MethodOptions.
+             * @exports google.protobuf.MethodOptions
+             * @constructor
+             * @param {google.protobuf.MethodOptions$Properties=} [properties] Properties to set
+             */
+            function MethodOptions(properties) {
+                this.uninterpretedOption = [];
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * MethodOptions deprecated.
+             * @type {boolean}
+             */
+            MethodOptions.prototype.deprecated = false;
+
+            /**
+             * MethodOptions uninterpretedOption.
+             * @type {Array.<google.protobuf.UninterpretedOption$Properties>}
+             */
+            MethodOptions.prototype.uninterpretedOption = $util.emptyArray;
+
+            /**
+             * Creates a new MethodOptions instance using the specified properties.
+             * @param {google.protobuf.MethodOptions$Properties=} [properties] Properties to set
+             * @returns {google.protobuf.MethodOptions} MethodOptions instance
+             */
+            MethodOptions.create = function create(properties) {
+                return new MethodOptions(properties);
+            };
+
+            /**
+             * Encodes the specified MethodOptions message. Does not implicitly {@link google.protobuf.MethodOptions.verify|verify} messages.
+             * @param {google.protobuf.MethodOptions$Properties} message MethodOptions message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            MethodOptions.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.deprecated != null && message.hasOwnProperty("deprecated"))
+                    writer.uint32(/* id 33, wireType 0 =*/264).bool(message.deprecated);
+                if (message.uninterpretedOption != null && message.uninterpretedOption.length)
+                    for (var i = 0; i < message.uninterpretedOption.length; ++i)
+                        $root.google.protobuf.UninterpretedOption.encode(message.uninterpretedOption[i], writer.uint32(/* id 999, wireType 2 =*/7994).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified MethodOptions message, length delimited. Does not implicitly {@link google.protobuf.MethodOptions.verify|verify} messages.
+             * @param {google.protobuf.MethodOptions$Properties} message MethodOptions message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            MethodOptions.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a MethodOptions message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {google.protobuf.MethodOptions} MethodOptions
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            MethodOptions.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.google.protobuf.MethodOptions();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 33:
+                        message.deprecated = reader.bool();
+                        break;
+                    case 999:
+                        if (!(message.uninterpretedOption && message.uninterpretedOption.length))
+                            message.uninterpretedOption = [];
+                        message.uninterpretedOption.push($root.google.protobuf.UninterpretedOption.decode(reader, reader.uint32()));
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a MethodOptions message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {google.protobuf.MethodOptions} MethodOptions
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            MethodOptions.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a MethodOptions message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            MethodOptions.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.deprecated != null && message.hasOwnProperty("deprecated"))
+                    if (typeof message.deprecated !== "boolean")
+                        return "deprecated: boolean expected";
+                if (message.uninterpretedOption != null && message.hasOwnProperty("uninterpretedOption")) {
+                    if (!Array.isArray(message.uninterpretedOption))
+                        return "uninterpretedOption: array expected";
+                    for (var i = 0; i < message.uninterpretedOption.length; ++i) {
+                        var error = $root.google.protobuf.UninterpretedOption.verify(message.uninterpretedOption[i]);
+                        if (error)
+                            return "uninterpretedOption." + error;
+                    }
+                }
+                return null;
+            };
+
+            /**
+             * Creates a MethodOptions message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.MethodOptions} MethodOptions
+             */
+            MethodOptions.fromObject = function fromObject(object) {
+                if (object instanceof $root.google.protobuf.MethodOptions)
+                    return object;
+                var message = new $root.google.protobuf.MethodOptions();
+                if (object.deprecated != null)
+                    message.deprecated = Boolean(object.deprecated);
+                if (object.uninterpretedOption) {
+                    if (!Array.isArray(object.uninterpretedOption))
+                        throw TypeError(".google.protobuf.MethodOptions.uninterpretedOption: array expected");
+                    message.uninterpretedOption = [];
+                    for (var i = 0; i < object.uninterpretedOption.length; ++i) {
+                        if (typeof object.uninterpretedOption[i] !== "object")
+                            throw TypeError(".google.protobuf.MethodOptions.uninterpretedOption: object expected");
+                        message.uninterpretedOption[i] = $root.google.protobuf.UninterpretedOption.fromObject(object.uninterpretedOption[i]);
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Creates a MethodOptions message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link google.protobuf.MethodOptions.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.MethodOptions} MethodOptions
+             */
+            MethodOptions.from = MethodOptions.fromObject;
+
+            /**
+             * Creates a plain object from a MethodOptions message. Also converts values to other types if specified.
+             * @param {google.protobuf.MethodOptions} message MethodOptions
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            MethodOptions.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.arrays || options.defaults)
+                    object.uninterpretedOption = [];
+                if (options.defaults)
+                    object.deprecated = false;
+                if (message.deprecated != null && message.hasOwnProperty("deprecated"))
+                    object.deprecated = message.deprecated;
+                if (message.uninterpretedOption && message.uninterpretedOption.length) {
+                    object.uninterpretedOption = [];
+                    for (var j = 0; j < message.uninterpretedOption.length; ++j)
+                        object.uninterpretedOption[j] = $root.google.protobuf.UninterpretedOption.toObject(message.uninterpretedOption[j], options);
+                }
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this MethodOptions message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            MethodOptions.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this MethodOptions to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            MethodOptions.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return MethodOptions;
+        })();
+
+        protobuf.UninterpretedOption = (function() {
+
+            /**
+             * Properties of an UninterpretedOption.
+             * @typedef google.protobuf.UninterpretedOption$Properties
+             * @type {Object}
+             * @property {Array.<google.protobuf.UninterpretedOption.NamePart$Properties>} [name] UninterpretedOption name.
+             * @property {string} [identifierValue] UninterpretedOption identifierValue.
+             * @property {number|Long} [positiveIntValue] UninterpretedOption positiveIntValue.
+             * @property {number|Long} [negativeIntValue] UninterpretedOption negativeIntValue.
+             * @property {number} [doubleValue] UninterpretedOption doubleValue.
+             * @property {Uint8Array} [stringValue] UninterpretedOption stringValue.
+             * @property {string} [aggregateValue] UninterpretedOption aggregateValue.
+             */
+
+            /**
+             * Constructs a new UninterpretedOption.
+             * @exports google.protobuf.UninterpretedOption
+             * @constructor
+             * @param {google.protobuf.UninterpretedOption$Properties=} [properties] Properties to set
+             */
+            function UninterpretedOption(properties) {
+                this.name = [];
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * UninterpretedOption name.
+             * @type {Array.<google.protobuf.UninterpretedOption.NamePart$Properties>}
+             */
+            UninterpretedOption.prototype.name = $util.emptyArray;
+
+            /**
+             * UninterpretedOption identifierValue.
+             * @type {string}
+             */
+            UninterpretedOption.prototype.identifierValue = "";
+
+            /**
+             * UninterpretedOption positiveIntValue.
+             * @type {number|Long}
+             */
+            UninterpretedOption.prototype.positiveIntValue = $util.Long ? $util.Long.fromBits(0,0,true) : 0;
+
+            /**
+             * UninterpretedOption negativeIntValue.
+             * @type {number|Long}
+             */
+            UninterpretedOption.prototype.negativeIntValue = $util.Long ? $util.Long.fromBits(0,0,false) : 0;
+
+            /**
+             * UninterpretedOption doubleValue.
+             * @type {number}
+             */
+            UninterpretedOption.prototype.doubleValue = 0;
+
+            /**
+             * UninterpretedOption stringValue.
+             * @type {Uint8Array}
+             */
+            UninterpretedOption.prototype.stringValue = $util.newBuffer([]);
+
+            /**
+             * UninterpretedOption aggregateValue.
+             * @type {string}
+             */
+            UninterpretedOption.prototype.aggregateValue = "";
+
+            /**
+             * Creates a new UninterpretedOption instance using the specified properties.
+             * @param {google.protobuf.UninterpretedOption$Properties=} [properties] Properties to set
+             * @returns {google.protobuf.UninterpretedOption} UninterpretedOption instance
+             */
+            UninterpretedOption.create = function create(properties) {
+                return new UninterpretedOption(properties);
+            };
+
+            /**
+             * Encodes the specified UninterpretedOption message. Does not implicitly {@link google.protobuf.UninterpretedOption.verify|verify} messages.
+             * @param {google.protobuf.UninterpretedOption$Properties} message UninterpretedOption message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            UninterpretedOption.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.name != null && message.name.length)
+                    for (var i = 0; i < message.name.length; ++i)
+                        $root.google.protobuf.UninterpretedOption.NamePart.encode(message.name[i], writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                if (message.identifierValue != null && message.hasOwnProperty("identifierValue"))
+                    writer.uint32(/* id 3, wireType 2 =*/26).string(message.identifierValue);
+                if (message.positiveIntValue != null && message.hasOwnProperty("positiveIntValue"))
+                    writer.uint32(/* id 4, wireType 0 =*/32).uint64(message.positiveIntValue);
+                if (message.negativeIntValue != null && message.hasOwnProperty("negativeIntValue"))
+                    writer.uint32(/* id 5, wireType 0 =*/40).int64(message.negativeIntValue);
+                if (message.doubleValue != null && message.hasOwnProperty("doubleValue"))
+                    writer.uint32(/* id 6, wireType 1 =*/49).double(message.doubleValue);
+                if (message.stringValue != null && message.hasOwnProperty("stringValue"))
+                    writer.uint32(/* id 7, wireType 2 =*/58).bytes(message.stringValue);
+                if (message.aggregateValue != null && message.hasOwnProperty("aggregateValue"))
+                    writer.uint32(/* id 8, wireType 2 =*/66).string(message.aggregateValue);
+                return writer;
+            };
+
+            /**
+             * Encodes the specified UninterpretedOption message, length delimited. Does not implicitly {@link google.protobuf.UninterpretedOption.verify|verify} messages.
+             * @param {google.protobuf.UninterpretedOption$Properties} message UninterpretedOption message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            UninterpretedOption.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes an UninterpretedOption message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {google.protobuf.UninterpretedOption} UninterpretedOption
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            UninterpretedOption.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.google.protobuf.UninterpretedOption();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 2:
+                        if (!(message.name && message.name.length))
+                            message.name = [];
+                        message.name.push($root.google.protobuf.UninterpretedOption.NamePart.decode(reader, reader.uint32()));
+                        break;
+                    case 3:
+                        message.identifierValue = reader.string();
+                        break;
+                    case 4:
+                        message.positiveIntValue = reader.uint64();
+                        break;
+                    case 5:
+                        message.negativeIntValue = reader.int64();
+                        break;
+                    case 6:
+                        message.doubleValue = reader.double();
+                        break;
+                    case 7:
+                        message.stringValue = reader.bytes();
+                        break;
+                    case 8:
+                        message.aggregateValue = reader.string();
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes an UninterpretedOption message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {google.protobuf.UninterpretedOption} UninterpretedOption
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            UninterpretedOption.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies an UninterpretedOption message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            UninterpretedOption.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.name != null && message.hasOwnProperty("name")) {
+                    if (!Array.isArray(message.name))
+                        return "name: array expected";
+                    for (var i = 0; i < message.name.length; ++i) {
+                        var error = $root.google.protobuf.UninterpretedOption.NamePart.verify(message.name[i]);
+                        if (error)
+                            return "name." + error;
+                    }
+                }
+                if (message.identifierValue != null && message.hasOwnProperty("identifierValue"))
+                    if (!$util.isString(message.identifierValue))
+                        return "identifierValue: string expected";
+                if (message.positiveIntValue != null && message.hasOwnProperty("positiveIntValue"))
+                    if (!$util.isInteger(message.positiveIntValue) && !(message.positiveIntValue && $util.isInteger(message.positiveIntValue.low) && $util.isInteger(message.positiveIntValue.high)))
+                        return "positiveIntValue: integer|Long expected";
+                if (message.negativeIntValue != null && message.hasOwnProperty("negativeIntValue"))
+                    if (!$util.isInteger(message.negativeIntValue) && !(message.negativeIntValue && $util.isInteger(message.negativeIntValue.low) && $util.isInteger(message.negativeIntValue.high)))
+                        return "negativeIntValue: integer|Long expected";
+                if (message.doubleValue != null && message.hasOwnProperty("doubleValue"))
+                    if (typeof message.doubleValue !== "number")
+                        return "doubleValue: number expected";
+                if (message.stringValue != null && message.hasOwnProperty("stringValue"))
+                    if (!(message.stringValue && typeof message.stringValue.length === "number" || $util.isString(message.stringValue)))
+                        return "stringValue: buffer expected";
+                if (message.aggregateValue != null && message.hasOwnProperty("aggregateValue"))
+                    if (!$util.isString(message.aggregateValue))
+                        return "aggregateValue: string expected";
+                return null;
+            };
+
+            /**
+             * Creates an UninterpretedOption message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.UninterpretedOption} UninterpretedOption
+             */
+            UninterpretedOption.fromObject = function fromObject(object) {
+                if (object instanceof $root.google.protobuf.UninterpretedOption)
+                    return object;
+                var message = new $root.google.protobuf.UninterpretedOption();
+                if (object.name) {
+                    if (!Array.isArray(object.name))
+                        throw TypeError(".google.protobuf.UninterpretedOption.name: array expected");
+                    message.name = [];
+                    for (var i = 0; i < object.name.length; ++i) {
+                        if (typeof object.name[i] !== "object")
+                            throw TypeError(".google.protobuf.UninterpretedOption.name: object expected");
+                        message.name[i] = $root.google.protobuf.UninterpretedOption.NamePart.fromObject(object.name[i]);
+                    }
+                }
+                if (object.identifierValue != null)
+                    message.identifierValue = String(object.identifierValue);
+                if (object.positiveIntValue != null)
+                    if ($util.Long)
+                        (message.positiveIntValue = $util.Long.fromValue(object.positiveIntValue)).unsigned = true;
+                    else if (typeof object.positiveIntValue === "string")
+                        message.positiveIntValue = parseInt(object.positiveIntValue, 10);
+                    else if (typeof object.positiveIntValue === "number")
+                        message.positiveIntValue = object.positiveIntValue;
+                    else if (typeof object.positiveIntValue === "object")
+                        message.positiveIntValue = new $util.LongBits(object.positiveIntValue.low >>> 0, object.positiveIntValue.high >>> 0).toNumber(true);
+                if (object.negativeIntValue != null)
+                    if ($util.Long)
+                        (message.negativeIntValue = $util.Long.fromValue(object.negativeIntValue)).unsigned = false;
+                    else if (typeof object.negativeIntValue === "string")
+                        message.negativeIntValue = parseInt(object.negativeIntValue, 10);
+                    else if (typeof object.negativeIntValue === "number")
+                        message.negativeIntValue = object.negativeIntValue;
+                    else if (typeof object.negativeIntValue === "object")
+                        message.negativeIntValue = new $util.LongBits(object.negativeIntValue.low >>> 0, object.negativeIntValue.high >>> 0).toNumber();
+                if (object.doubleValue != null)
+                    message.doubleValue = Number(object.doubleValue);
+                if (object.stringValue != null)
+                    if (typeof object.stringValue === "string")
+                        $util.base64.decode(object.stringValue, message.stringValue = $util.newBuffer($util.base64.length(object.stringValue)), 0);
+                    else if (object.stringValue.length)
+                        message.stringValue = object.stringValue;
+                if (object.aggregateValue != null)
+                    message.aggregateValue = String(object.aggregateValue);
+                return message;
+            };
+
+            /**
+             * Creates an UninterpretedOption message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link google.protobuf.UninterpretedOption.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.UninterpretedOption} UninterpretedOption
+             */
+            UninterpretedOption.from = UninterpretedOption.fromObject;
+
+            /**
+             * Creates a plain object from an UninterpretedOption message. Also converts values to other types if specified.
+             * @param {google.protobuf.UninterpretedOption} message UninterpretedOption
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            UninterpretedOption.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.arrays || options.defaults)
+                    object.name = [];
+                if (options.defaults) {
+                    object.identifierValue = "";
+                    if ($util.Long) {
+                        var long = new $util.Long(0, 0, true);
+                        object.positiveIntValue = options.longs === String ? long.toString() : options.longs === Number ? long.toNumber() : long;
+                    } else
+                        object.positiveIntValue = options.longs === String ? "0" : 0;
+                    if ($util.Long) {
+                        var long = new $util.Long(0, 0, false);
+                        object.negativeIntValue = options.longs === String ? long.toString() : options.longs === Number ? long.toNumber() : long;
+                    } else
+                        object.negativeIntValue = options.longs === String ? "0" : 0;
+                    object.doubleValue = 0;
+                    object.stringValue = options.bytes === String ? "" : [];
+                    object.aggregateValue = "";
+                }
+                if (message.name && message.name.length) {
+                    object.name = [];
+                    for (var j = 0; j < message.name.length; ++j)
+                        object.name[j] = $root.google.protobuf.UninterpretedOption.NamePart.toObject(message.name[j], options);
+                }
+                if (message.identifierValue != null && message.hasOwnProperty("identifierValue"))
+                    object.identifierValue = message.identifierValue;
+                if (message.positiveIntValue != null && message.hasOwnProperty("positiveIntValue"))
+                    if (typeof message.positiveIntValue === "number")
+                        object.positiveIntValue = options.longs === String ? String(message.positiveIntValue) : message.positiveIntValue;
+                    else
+                        object.positiveIntValue = options.longs === String ? $util.Long.prototype.toString.call(message.positiveIntValue) : options.longs === Number ? new $util.LongBits(message.positiveIntValue.low >>> 0, message.positiveIntValue.high >>> 0).toNumber(true) : message.positiveIntValue;
+                if (message.negativeIntValue != null && message.hasOwnProperty("negativeIntValue"))
+                    if (typeof message.negativeIntValue === "number")
+                        object.negativeIntValue = options.longs === String ? String(message.negativeIntValue) : message.negativeIntValue;
+                    else
+                        object.negativeIntValue = options.longs === String ? $util.Long.prototype.toString.call(message.negativeIntValue) : options.longs === Number ? new $util.LongBits(message.negativeIntValue.low >>> 0, message.negativeIntValue.high >>> 0).toNumber() : message.negativeIntValue;
+                if (message.doubleValue != null && message.hasOwnProperty("doubleValue"))
+                    object.doubleValue = message.doubleValue;
+                if (message.stringValue != null && message.hasOwnProperty("stringValue"))
+                    object.stringValue = options.bytes === String ? $util.base64.encode(message.stringValue, 0, message.stringValue.length) : options.bytes === Array ? Array.prototype.slice.call(message.stringValue) : message.stringValue;
+                if (message.aggregateValue != null && message.hasOwnProperty("aggregateValue"))
+                    object.aggregateValue = message.aggregateValue;
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this UninterpretedOption message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            UninterpretedOption.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this UninterpretedOption to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            UninterpretedOption.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            UninterpretedOption.NamePart = (function() {
+
+                /**
+                 * Properties of a NamePart.
+                 * @typedef google.protobuf.UninterpretedOption.NamePart$Properties
+                 * @type {Object}
+                 * @property {string} namePart NamePart namePart.
+                 * @property {boolean} isExtension NamePart isExtension.
+                 */
+
+                /**
+                 * Constructs a new NamePart.
+                 * @exports google.protobuf.UninterpretedOption.NamePart
+                 * @constructor
+                 * @param {google.protobuf.UninterpretedOption.NamePart$Properties=} [properties] Properties to set
+                 */
+                function NamePart(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * NamePart namePart.
+                 * @type {string}
+                 */
+                NamePart.prototype.namePart = "";
+
+                /**
+                 * NamePart isExtension.
+                 * @type {boolean}
+                 */
+                NamePart.prototype.isExtension = false;
+
+                /**
+                 * Creates a new NamePart instance using the specified properties.
+                 * @param {google.protobuf.UninterpretedOption.NamePart$Properties=} [properties] Properties to set
+                 * @returns {google.protobuf.UninterpretedOption.NamePart} NamePart instance
+                 */
+                NamePart.create = function create(properties) {
+                    return new NamePart(properties);
+                };
+
+                /**
+                 * Encodes the specified NamePart message. Does not implicitly {@link google.protobuf.UninterpretedOption.NamePart.verify|verify} messages.
+                 * @param {google.protobuf.UninterpretedOption.NamePart$Properties} message NamePart message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                NamePart.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    writer.uint32(/* id 1, wireType 2 =*/10).string(message.namePart);
+                    writer.uint32(/* id 2, wireType 0 =*/16).bool(message.isExtension);
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified NamePart message, length delimited. Does not implicitly {@link google.protobuf.UninterpretedOption.NamePart.verify|verify} messages.
+                 * @param {google.protobuf.UninterpretedOption.NamePart$Properties} message NamePart message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                NamePart.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a NamePart message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {google.protobuf.UninterpretedOption.NamePart} NamePart
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                NamePart.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.google.protobuf.UninterpretedOption.NamePart();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.namePart = reader.string();
+                            break;
+                        case 2:
+                            message.isExtension = reader.bool();
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    if (!message.hasOwnProperty("namePart"))
+                        throw $util.ProtocolError("missing required 'namePart'", { instance: message });
+                    if (!message.hasOwnProperty("isExtension"))
+                        throw $util.ProtocolError("missing required 'isExtension'", { instance: message });
+                    return message;
+                };
+
+                /**
+                 * Decodes a NamePart message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {google.protobuf.UninterpretedOption.NamePart} NamePart
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                NamePart.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a NamePart message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                NamePart.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (!$util.isString(message.namePart))
+                        return "namePart: string expected";
+                    if (typeof message.isExtension !== "boolean")
+                        return "isExtension: boolean expected";
+                    return null;
+                };
+
+                /**
+                 * Creates a NamePart message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {google.protobuf.UninterpretedOption.NamePart} NamePart
+                 */
+                NamePart.fromObject = function fromObject(object) {
+                    if (object instanceof $root.google.protobuf.UninterpretedOption.NamePart)
+                        return object;
+                    var message = new $root.google.protobuf.UninterpretedOption.NamePart();
+                    if (object.namePart != null)
+                        message.namePart = String(object.namePart);
+                    if (object.isExtension != null)
+                        message.isExtension = Boolean(object.isExtension);
+                    return message;
+                };
+
+                /**
+                 * Creates a NamePart message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link google.protobuf.UninterpretedOption.NamePart.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {google.protobuf.UninterpretedOption.NamePart} NamePart
+                 */
+                NamePart.from = NamePart.fromObject;
+
+                /**
+                 * Creates a plain object from a NamePart message. Also converts values to other types if specified.
+                 * @param {google.protobuf.UninterpretedOption.NamePart} message NamePart
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                NamePart.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.defaults) {
+                        object.namePart = "";
+                        object.isExtension = false;
+                    }
+                    if (message.namePart != null && message.hasOwnProperty("namePart"))
+                        object.namePart = message.namePart;
+                    if (message.isExtension != null && message.hasOwnProperty("isExtension"))
+                        object.isExtension = message.isExtension;
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this NamePart message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                NamePart.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this NamePart to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                NamePart.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return NamePart;
+            })();
+
+            return UninterpretedOption;
+        })();
+
+        protobuf.SourceCodeInfo = (function() {
+
+            /**
+             * Properties of a SourceCodeInfo.
+             * @typedef google.protobuf.SourceCodeInfo$Properties
+             * @type {Object}
+             * @property {Array.<google.protobuf.SourceCodeInfo.Location$Properties>} [location] SourceCodeInfo location.
+             */
+
+            /**
+             * Constructs a new SourceCodeInfo.
+             * @exports google.protobuf.SourceCodeInfo
+             * @constructor
+             * @param {google.protobuf.SourceCodeInfo$Properties=} [properties] Properties to set
+             */
+            function SourceCodeInfo(properties) {
+                this.location = [];
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * SourceCodeInfo location.
+             * @type {Array.<google.protobuf.SourceCodeInfo.Location$Properties>}
+             */
+            SourceCodeInfo.prototype.location = $util.emptyArray;
+
+            /**
+             * Creates a new SourceCodeInfo instance using the specified properties.
+             * @param {google.protobuf.SourceCodeInfo$Properties=} [properties] Properties to set
+             * @returns {google.protobuf.SourceCodeInfo} SourceCodeInfo instance
+             */
+            SourceCodeInfo.create = function create(properties) {
+                return new SourceCodeInfo(properties);
+            };
+
+            /**
+             * Encodes the specified SourceCodeInfo message. Does not implicitly {@link google.protobuf.SourceCodeInfo.verify|verify} messages.
+             * @param {google.protobuf.SourceCodeInfo$Properties} message SourceCodeInfo message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            SourceCodeInfo.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.location != null && message.location.length)
+                    for (var i = 0; i < message.location.length; ++i)
+                        $root.google.protobuf.SourceCodeInfo.Location.encode(message.location[i], writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified SourceCodeInfo message, length delimited. Does not implicitly {@link google.protobuf.SourceCodeInfo.verify|verify} messages.
+             * @param {google.protobuf.SourceCodeInfo$Properties} message SourceCodeInfo message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            SourceCodeInfo.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a SourceCodeInfo message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {google.protobuf.SourceCodeInfo} SourceCodeInfo
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            SourceCodeInfo.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.google.protobuf.SourceCodeInfo();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        if (!(message.location && message.location.length))
+                            message.location = [];
+                        message.location.push($root.google.protobuf.SourceCodeInfo.Location.decode(reader, reader.uint32()));
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a SourceCodeInfo message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {google.protobuf.SourceCodeInfo} SourceCodeInfo
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            SourceCodeInfo.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a SourceCodeInfo message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            SourceCodeInfo.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.location != null && message.hasOwnProperty("location")) {
+                    if (!Array.isArray(message.location))
+                        return "location: array expected";
+                    for (var i = 0; i < message.location.length; ++i) {
+                        var error = $root.google.protobuf.SourceCodeInfo.Location.verify(message.location[i]);
+                        if (error)
+                            return "location." + error;
+                    }
+                }
+                return null;
+            };
+
+            /**
+             * Creates a SourceCodeInfo message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.SourceCodeInfo} SourceCodeInfo
+             */
+            SourceCodeInfo.fromObject = function fromObject(object) {
+                if (object instanceof $root.google.protobuf.SourceCodeInfo)
+                    return object;
+                var message = new $root.google.protobuf.SourceCodeInfo();
+                if (object.location) {
+                    if (!Array.isArray(object.location))
+                        throw TypeError(".google.protobuf.SourceCodeInfo.location: array expected");
+                    message.location = [];
+                    for (var i = 0; i < object.location.length; ++i) {
+                        if (typeof object.location[i] !== "object")
+                            throw TypeError(".google.protobuf.SourceCodeInfo.location: object expected");
+                        message.location[i] = $root.google.protobuf.SourceCodeInfo.Location.fromObject(object.location[i]);
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Creates a SourceCodeInfo message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link google.protobuf.SourceCodeInfo.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.SourceCodeInfo} SourceCodeInfo
+             */
+            SourceCodeInfo.from = SourceCodeInfo.fromObject;
+
+            /**
+             * Creates a plain object from a SourceCodeInfo message. Also converts values to other types if specified.
+             * @param {google.protobuf.SourceCodeInfo} message SourceCodeInfo
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            SourceCodeInfo.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.arrays || options.defaults)
+                    object.location = [];
+                if (message.location && message.location.length) {
+                    object.location = [];
+                    for (var j = 0; j < message.location.length; ++j)
+                        object.location[j] = $root.google.protobuf.SourceCodeInfo.Location.toObject(message.location[j], options);
+                }
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this SourceCodeInfo message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            SourceCodeInfo.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this SourceCodeInfo to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            SourceCodeInfo.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            SourceCodeInfo.Location = (function() {
+
+                /**
+                 * Properties of a Location.
+                 * @typedef google.protobuf.SourceCodeInfo.Location$Properties
+                 * @type {Object}
+                 * @property {Array.<number>} [path] Location path.
+                 * @property {Array.<number>} [span] Location span.
+                 * @property {string} [leadingComments] Location leadingComments.
+                 * @property {string} [trailingComments] Location trailingComments.
+                 * @property {Array.<string>} [leadingDetachedComments] Location leadingDetachedComments.
+                 */
+
+                /**
+                 * Constructs a new Location.
+                 * @exports google.protobuf.SourceCodeInfo.Location
+                 * @constructor
+                 * @param {google.protobuf.SourceCodeInfo.Location$Properties=} [properties] Properties to set
+                 */
+                function Location(properties) {
+                    this.path = [];
+                    this.span = [];
+                    this.leadingDetachedComments = [];
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * Location path.
+                 * @type {Array.<number>}
+                 */
+                Location.prototype.path = $util.emptyArray;
+
+                /**
+                 * Location span.
+                 * @type {Array.<number>}
+                 */
+                Location.prototype.span = $util.emptyArray;
+
+                /**
+                 * Location leadingComments.
+                 * @type {string}
+                 */
+                Location.prototype.leadingComments = "";
+
+                /**
+                 * Location trailingComments.
+                 * @type {string}
+                 */
+                Location.prototype.trailingComments = "";
+
+                /**
+                 * Location leadingDetachedComments.
+                 * @type {Array.<string>}
+                 */
+                Location.prototype.leadingDetachedComments = $util.emptyArray;
+
+                /**
+                 * Creates a new Location instance using the specified properties.
+                 * @param {google.protobuf.SourceCodeInfo.Location$Properties=} [properties] Properties to set
+                 * @returns {google.protobuf.SourceCodeInfo.Location} Location instance
+                 */
+                Location.create = function create(properties) {
+                    return new Location(properties);
+                };
+
+                /**
+                 * Encodes the specified Location message. Does not implicitly {@link google.protobuf.SourceCodeInfo.Location.verify|verify} messages.
+                 * @param {google.protobuf.SourceCodeInfo.Location$Properties} message Location message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Location.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.path != null && message.path.length) {
+                        writer.uint32(/* id 1, wireType 2 =*/10).fork();
+                        for (var i = 0; i < message.path.length; ++i)
+                            writer.int32(message.path[i]);
+                        writer.ldelim();
+                    }
+                    if (message.span != null && message.span.length) {
+                        writer.uint32(/* id 2, wireType 2 =*/18).fork();
+                        for (var i = 0; i < message.span.length; ++i)
+                            writer.int32(message.span[i]);
+                        writer.ldelim();
+                    }
+                    if (message.leadingComments != null && message.hasOwnProperty("leadingComments"))
+                        writer.uint32(/* id 3, wireType 2 =*/26).string(message.leadingComments);
+                    if (message.trailingComments != null && message.hasOwnProperty("trailingComments"))
+                        writer.uint32(/* id 4, wireType 2 =*/34).string(message.trailingComments);
+                    if (message.leadingDetachedComments != null && message.leadingDetachedComments.length)
+                        for (var i = 0; i < message.leadingDetachedComments.length; ++i)
+                            writer.uint32(/* id 6, wireType 2 =*/50).string(message.leadingDetachedComments[i]);
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified Location message, length delimited. Does not implicitly {@link google.protobuf.SourceCodeInfo.Location.verify|verify} messages.
+                 * @param {google.protobuf.SourceCodeInfo.Location$Properties} message Location message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Location.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a Location message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {google.protobuf.SourceCodeInfo.Location} Location
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Location.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.google.protobuf.SourceCodeInfo.Location();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            if (!(message.path && message.path.length))
+                                message.path = [];
+                            if ((tag & 7) === 2) {
+                                var end2 = reader.uint32() + reader.pos;
+                                while (reader.pos < end2)
+                                    message.path.push(reader.int32());
+                            } else
+                                message.path.push(reader.int32());
+                            break;
+                        case 2:
+                            if (!(message.span && message.span.length))
+                                message.span = [];
+                            if ((tag & 7) === 2) {
+                                var end2 = reader.uint32() + reader.pos;
+                                while (reader.pos < end2)
+                                    message.span.push(reader.int32());
+                            } else
+                                message.span.push(reader.int32());
+                            break;
+                        case 3:
+                            message.leadingComments = reader.string();
+                            break;
+                        case 4:
+                            message.trailingComments = reader.string();
+                            break;
+                        case 6:
+                            if (!(message.leadingDetachedComments && message.leadingDetachedComments.length))
+                                message.leadingDetachedComments = [];
+                            message.leadingDetachedComments.push(reader.string());
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a Location message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {google.protobuf.SourceCodeInfo.Location} Location
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Location.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a Location message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                Location.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.path != null && message.hasOwnProperty("path")) {
+                        if (!Array.isArray(message.path))
+                            return "path: array expected";
+                        for (var i = 0; i < message.path.length; ++i)
+                            if (!$util.isInteger(message.path[i]))
+                                return "path: integer[] expected";
+                    }
+                    if (message.span != null && message.hasOwnProperty("span")) {
+                        if (!Array.isArray(message.span))
+                            return "span: array expected";
+                        for (var i = 0; i < message.span.length; ++i)
+                            if (!$util.isInteger(message.span[i]))
+                                return "span: integer[] expected";
+                    }
+                    if (message.leadingComments != null && message.hasOwnProperty("leadingComments"))
+                        if (!$util.isString(message.leadingComments))
+                            return "leadingComments: string expected";
+                    if (message.trailingComments != null && message.hasOwnProperty("trailingComments"))
+                        if (!$util.isString(message.trailingComments))
+                            return "trailingComments: string expected";
+                    if (message.leadingDetachedComments != null && message.hasOwnProperty("leadingDetachedComments")) {
+                        if (!Array.isArray(message.leadingDetachedComments))
+                            return "leadingDetachedComments: array expected";
+                        for (var i = 0; i < message.leadingDetachedComments.length; ++i)
+                            if (!$util.isString(message.leadingDetachedComments[i]))
+                                return "leadingDetachedComments: string[] expected";
+                    }
+                    return null;
+                };
+
+                /**
+                 * Creates a Location message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {google.protobuf.SourceCodeInfo.Location} Location
+                 */
+                Location.fromObject = function fromObject(object) {
+                    if (object instanceof $root.google.protobuf.SourceCodeInfo.Location)
+                        return object;
+                    var message = new $root.google.protobuf.SourceCodeInfo.Location();
+                    if (object.path) {
+                        if (!Array.isArray(object.path))
+                            throw TypeError(".google.protobuf.SourceCodeInfo.Location.path: array expected");
+                        message.path = [];
+                        for (var i = 0; i < object.path.length; ++i)
+                            message.path[i] = object.path[i] | 0;
+                    }
+                    if (object.span) {
+                        if (!Array.isArray(object.span))
+                            throw TypeError(".google.protobuf.SourceCodeInfo.Location.span: array expected");
+                        message.span = [];
+                        for (var i = 0; i < object.span.length; ++i)
+                            message.span[i] = object.span[i] | 0;
+                    }
+                    if (object.leadingComments != null)
+                        message.leadingComments = String(object.leadingComments);
+                    if (object.trailingComments != null)
+                        message.trailingComments = String(object.trailingComments);
+                    if (object.leadingDetachedComments) {
+                        if (!Array.isArray(object.leadingDetachedComments))
+                            throw TypeError(".google.protobuf.SourceCodeInfo.Location.leadingDetachedComments: array expected");
+                        message.leadingDetachedComments = [];
+                        for (var i = 0; i < object.leadingDetachedComments.length; ++i)
+                            message.leadingDetachedComments[i] = String(object.leadingDetachedComments[i]);
+                    }
+                    return message;
+                };
+
+                /**
+                 * Creates a Location message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link google.protobuf.SourceCodeInfo.Location.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {google.protobuf.SourceCodeInfo.Location} Location
+                 */
+                Location.from = Location.fromObject;
+
+                /**
+                 * Creates a plain object from a Location message. Also converts values to other types if specified.
+                 * @param {google.protobuf.SourceCodeInfo.Location} message Location
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Location.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.arrays || options.defaults) {
+                        object.path = [];
+                        object.span = [];
+                        object.leadingDetachedComments = [];
+                    }
+                    if (options.defaults) {
+                        object.leadingComments = "";
+                        object.trailingComments = "";
+                    }
+                    if (message.path && message.path.length) {
+                        object.path = [];
+                        for (var j = 0; j < message.path.length; ++j)
+                            object.path[j] = message.path[j];
+                    }
+                    if (message.span && message.span.length) {
+                        object.span = [];
+                        for (var j = 0; j < message.span.length; ++j)
+                            object.span[j] = message.span[j];
+                    }
+                    if (message.leadingComments != null && message.hasOwnProperty("leadingComments"))
+                        object.leadingComments = message.leadingComments;
+                    if (message.trailingComments != null && message.hasOwnProperty("trailingComments"))
+                        object.trailingComments = message.trailingComments;
+                    if (message.leadingDetachedComments && message.leadingDetachedComments.length) {
+                        object.leadingDetachedComments = [];
+                        for (var j = 0; j < message.leadingDetachedComments.length; ++j)
+                            object.leadingDetachedComments[j] = message.leadingDetachedComments[j];
+                    }
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this Location message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Location.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this Location to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                Location.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return Location;
+            })();
+
+            return SourceCodeInfo;
+        })();
+
+        protobuf.GeneratedCodeInfo = (function() {
+
+            /**
+             * Properties of a GeneratedCodeInfo.
+             * @typedef google.protobuf.GeneratedCodeInfo$Properties
+             * @type {Object}
+             * @property {Array.<google.protobuf.GeneratedCodeInfo.Annotation$Properties>} [annotation] GeneratedCodeInfo annotation.
+             */
+
+            /**
+             * Constructs a new GeneratedCodeInfo.
+             * @exports google.protobuf.GeneratedCodeInfo
+             * @constructor
+             * @param {google.protobuf.GeneratedCodeInfo$Properties=} [properties] Properties to set
+             */
+            function GeneratedCodeInfo(properties) {
+                this.annotation = [];
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * GeneratedCodeInfo annotation.
+             * @type {Array.<google.protobuf.GeneratedCodeInfo.Annotation$Properties>}
+             */
+            GeneratedCodeInfo.prototype.annotation = $util.emptyArray;
+
+            /**
+             * Creates a new GeneratedCodeInfo instance using the specified properties.
+             * @param {google.protobuf.GeneratedCodeInfo$Properties=} [properties] Properties to set
+             * @returns {google.protobuf.GeneratedCodeInfo} GeneratedCodeInfo instance
+             */
+            GeneratedCodeInfo.create = function create(properties) {
+                return new GeneratedCodeInfo(properties);
+            };
+
+            /**
+             * Encodes the specified GeneratedCodeInfo message. Does not implicitly {@link google.protobuf.GeneratedCodeInfo.verify|verify} messages.
+             * @param {google.protobuf.GeneratedCodeInfo$Properties} message GeneratedCodeInfo message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            GeneratedCodeInfo.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.annotation != null && message.annotation.length)
+                    for (var i = 0; i < message.annotation.length; ++i)
+                        $root.google.protobuf.GeneratedCodeInfo.Annotation.encode(message.annotation[i], writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified GeneratedCodeInfo message, length delimited. Does not implicitly {@link google.protobuf.GeneratedCodeInfo.verify|verify} messages.
+             * @param {google.protobuf.GeneratedCodeInfo$Properties} message GeneratedCodeInfo message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            GeneratedCodeInfo.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a GeneratedCodeInfo message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {google.protobuf.GeneratedCodeInfo} GeneratedCodeInfo
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            GeneratedCodeInfo.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.google.protobuf.GeneratedCodeInfo();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        if (!(message.annotation && message.annotation.length))
+                            message.annotation = [];
+                        message.annotation.push($root.google.protobuf.GeneratedCodeInfo.Annotation.decode(reader, reader.uint32()));
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a GeneratedCodeInfo message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {google.protobuf.GeneratedCodeInfo} GeneratedCodeInfo
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            GeneratedCodeInfo.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a GeneratedCodeInfo message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            GeneratedCodeInfo.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.annotation != null && message.hasOwnProperty("annotation")) {
+                    if (!Array.isArray(message.annotation))
+                        return "annotation: array expected";
+                    for (var i = 0; i < message.annotation.length; ++i) {
+                        var error = $root.google.protobuf.GeneratedCodeInfo.Annotation.verify(message.annotation[i]);
+                        if (error)
+                            return "annotation." + error;
+                    }
+                }
+                return null;
+            };
+
+            /**
+             * Creates a GeneratedCodeInfo message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.GeneratedCodeInfo} GeneratedCodeInfo
+             */
+            GeneratedCodeInfo.fromObject = function fromObject(object) {
+                if (object instanceof $root.google.protobuf.GeneratedCodeInfo)
+                    return object;
+                var message = new $root.google.protobuf.GeneratedCodeInfo();
+                if (object.annotation) {
+                    if (!Array.isArray(object.annotation))
+                        throw TypeError(".google.protobuf.GeneratedCodeInfo.annotation: array expected");
+                    message.annotation = [];
+                    for (var i = 0; i < object.annotation.length; ++i) {
+                        if (typeof object.annotation[i] !== "object")
+                            throw TypeError(".google.protobuf.GeneratedCodeInfo.annotation: object expected");
+                        message.annotation[i] = $root.google.protobuf.GeneratedCodeInfo.Annotation.fromObject(object.annotation[i]);
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Creates a GeneratedCodeInfo message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link google.protobuf.GeneratedCodeInfo.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.GeneratedCodeInfo} GeneratedCodeInfo
+             */
+            GeneratedCodeInfo.from = GeneratedCodeInfo.fromObject;
+
+            /**
+             * Creates a plain object from a GeneratedCodeInfo message. Also converts values to other types if specified.
+             * @param {google.protobuf.GeneratedCodeInfo} message GeneratedCodeInfo
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            GeneratedCodeInfo.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.arrays || options.defaults)
+                    object.annotation = [];
+                if (message.annotation && message.annotation.length) {
+                    object.annotation = [];
+                    for (var j = 0; j < message.annotation.length; ++j)
+                        object.annotation[j] = $root.google.protobuf.GeneratedCodeInfo.Annotation.toObject(message.annotation[j], options);
+                }
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this GeneratedCodeInfo message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            GeneratedCodeInfo.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this GeneratedCodeInfo to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            GeneratedCodeInfo.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            GeneratedCodeInfo.Annotation = (function() {
+
+                /**
+                 * Properties of an Annotation.
+                 * @typedef google.protobuf.GeneratedCodeInfo.Annotation$Properties
+                 * @type {Object}
+                 * @property {Array.<number>} [path] Annotation path.
+                 * @property {string} [sourceFile] Annotation sourceFile.
+                 * @property {number} [begin] Annotation begin.
+                 * @property {number} [end] Annotation end.
+                 */
+
+                /**
+                 * Constructs a new Annotation.
+                 * @exports google.protobuf.GeneratedCodeInfo.Annotation
+                 * @constructor
+                 * @param {google.protobuf.GeneratedCodeInfo.Annotation$Properties=} [properties] Properties to set
+                 */
+                function Annotation(properties) {
+                    this.path = [];
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * Annotation path.
+                 * @type {Array.<number>}
+                 */
+                Annotation.prototype.path = $util.emptyArray;
+
+                /**
+                 * Annotation sourceFile.
+                 * @type {string}
+                 */
+                Annotation.prototype.sourceFile = "";
+
+                /**
+                 * Annotation begin.
+                 * @type {number}
+                 */
+                Annotation.prototype.begin = 0;
+
+                /**
+                 * Annotation end.
+                 * @type {number}
+                 */
+                Annotation.prototype.end = 0;
+
+                /**
+                 * Creates a new Annotation instance using the specified properties.
+                 * @param {google.protobuf.GeneratedCodeInfo.Annotation$Properties=} [properties] Properties to set
+                 * @returns {google.protobuf.GeneratedCodeInfo.Annotation} Annotation instance
+                 */
+                Annotation.create = function create(properties) {
+                    return new Annotation(properties);
+                };
+
+                /**
+                 * Encodes the specified Annotation message. Does not implicitly {@link google.protobuf.GeneratedCodeInfo.Annotation.verify|verify} messages.
+                 * @param {google.protobuf.GeneratedCodeInfo.Annotation$Properties} message Annotation message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Annotation.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.path != null && message.path.length) {
+                        writer.uint32(/* id 1, wireType 2 =*/10).fork();
+                        for (var i = 0; i < message.path.length; ++i)
+                            writer.int32(message.path[i]);
+                        writer.ldelim();
+                    }
+                    if (message.sourceFile != null && message.hasOwnProperty("sourceFile"))
+                        writer.uint32(/* id 2, wireType 2 =*/18).string(message.sourceFile);
+                    if (message.begin != null && message.hasOwnProperty("begin"))
+                        writer.uint32(/* id 3, wireType 0 =*/24).int32(message.begin);
+                    if (message.end != null && message.hasOwnProperty("end"))
+                        writer.uint32(/* id 4, wireType 0 =*/32).int32(message.end);
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified Annotation message, length delimited. Does not implicitly {@link google.protobuf.GeneratedCodeInfo.Annotation.verify|verify} messages.
+                 * @param {google.protobuf.GeneratedCodeInfo.Annotation$Properties} message Annotation message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Annotation.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes an Annotation message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {google.protobuf.GeneratedCodeInfo.Annotation} Annotation
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Annotation.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.google.protobuf.GeneratedCodeInfo.Annotation();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            if (!(message.path && message.path.length))
+                                message.path = [];
+                            if ((tag & 7) === 2) {
+                                var end2 = reader.uint32() + reader.pos;
+                                while (reader.pos < end2)
+                                    message.path.push(reader.int32());
+                            } else
+                                message.path.push(reader.int32());
+                            break;
+                        case 2:
+                            message.sourceFile = reader.string();
+                            break;
+                        case 3:
+                            message.begin = reader.int32();
+                            break;
+                        case 4:
+                            message.end = reader.int32();
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes an Annotation message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {google.protobuf.GeneratedCodeInfo.Annotation} Annotation
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Annotation.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies an Annotation message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                Annotation.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.path != null && message.hasOwnProperty("path")) {
+                        if (!Array.isArray(message.path))
+                            return "path: array expected";
+                        for (var i = 0; i < message.path.length; ++i)
+                            if (!$util.isInteger(message.path[i]))
+                                return "path: integer[] expected";
+                    }
+                    if (message.sourceFile != null && message.hasOwnProperty("sourceFile"))
+                        if (!$util.isString(message.sourceFile))
+                            return "sourceFile: string expected";
+                    if (message.begin != null && message.hasOwnProperty("begin"))
+                        if (!$util.isInteger(message.begin))
+                            return "begin: integer expected";
+                    if (message.end != null && message.hasOwnProperty("end"))
+                        if (!$util.isInteger(message.end))
+                            return "end: integer expected";
+                    return null;
+                };
+
+                /**
+                 * Creates an Annotation message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {google.protobuf.GeneratedCodeInfo.Annotation} Annotation
+                 */
+                Annotation.fromObject = function fromObject(object) {
+                    if (object instanceof $root.google.protobuf.GeneratedCodeInfo.Annotation)
+                        return object;
+                    var message = new $root.google.protobuf.GeneratedCodeInfo.Annotation();
+                    if (object.path) {
+                        if (!Array.isArray(object.path))
+                            throw TypeError(".google.protobuf.GeneratedCodeInfo.Annotation.path: array expected");
+                        message.path = [];
+                        for (var i = 0; i < object.path.length; ++i)
+                            message.path[i] = object.path[i] | 0;
+                    }
+                    if (object.sourceFile != null)
+                        message.sourceFile = String(object.sourceFile);
+                    if (object.begin != null)
+                        message.begin = object.begin | 0;
+                    if (object.end != null)
+                        message.end = object.end | 0;
+                    return message;
+                };
+
+                /**
+                 * Creates an Annotation message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link google.protobuf.GeneratedCodeInfo.Annotation.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {google.protobuf.GeneratedCodeInfo.Annotation} Annotation
+                 */
+                Annotation.from = Annotation.fromObject;
+
+                /**
+                 * Creates a plain object from an Annotation message. Also converts values to other types if specified.
+                 * @param {google.protobuf.GeneratedCodeInfo.Annotation} message Annotation
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Annotation.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.arrays || options.defaults)
+                        object.path = [];
+                    if (options.defaults) {
+                        object.sourceFile = "";
+                        object.begin = 0;
+                        object.end = 0;
+                    }
+                    if (message.path && message.path.length) {
+                        object.path = [];
+                        for (var j = 0; j < message.path.length; ++j)
+                            object.path[j] = message.path[j];
+                    }
+                    if (message.sourceFile != null && message.hasOwnProperty("sourceFile"))
+                        object.sourceFile = message.sourceFile;
+                    if (message.begin != null && message.hasOwnProperty("begin"))
+                        object.begin = message.begin;
+                    if (message.end != null && message.hasOwnProperty("end"))
+                        object.end = message.end;
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this Annotation message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Annotation.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this Annotation to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                Annotation.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return Annotation;
+            })();
+
+            return GeneratedCodeInfo;
+        })();
+
+        protobuf.Duration = (function() {
+
+            /**
+             * Properties of a Duration.
+             * @typedef google.protobuf.Duration$Properties
+             * @type {Object}
+             * @property {number|Long} [seconds] Duration seconds.
+             * @property {number} [nanos] Duration nanos.
+             */
+
+            /**
+             * Constructs a new Duration.
+             * @exports google.protobuf.Duration
+             * @constructor
+             * @param {google.protobuf.Duration$Properties=} [properties] Properties to set
+             */
+            function Duration(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Duration seconds.
+             * @type {number|Long}
+             */
+            Duration.prototype.seconds = $util.Long ? $util.Long.fromBits(0,0,false) : 0;
+
+            /**
+             * Duration nanos.
+             * @type {number}
+             */
+            Duration.prototype.nanos = 0;
+
+            /**
+             * Creates a new Duration instance using the specified properties.
+             * @param {google.protobuf.Duration$Properties=} [properties] Properties to set
+             * @returns {google.protobuf.Duration} Duration instance
+             */
+            Duration.create = function create(properties) {
+                return new Duration(properties);
+            };
+
+            /**
+             * Encodes the specified Duration message. Does not implicitly {@link google.protobuf.Duration.verify|verify} messages.
+             * @param {google.protobuf.Duration$Properties} message Duration message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            Duration.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.seconds != null && message.hasOwnProperty("seconds"))
+                    writer.uint32(/* id 1, wireType 0 =*/8).int64(message.seconds);
+                if (message.nanos != null && message.hasOwnProperty("nanos"))
+                    writer.uint32(/* id 2, wireType 0 =*/16).int32(message.nanos);
+                return writer;
+            };
+
+            /**
+             * Encodes the specified Duration message, length delimited. Does not implicitly {@link google.protobuf.Duration.verify|verify} messages.
+             * @param {google.protobuf.Duration$Properties} message Duration message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            Duration.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a Duration message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {google.protobuf.Duration} Duration
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            Duration.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.google.protobuf.Duration();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.seconds = reader.int64();
+                        break;
+                    case 2:
+                        message.nanos = reader.int32();
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a Duration message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {google.protobuf.Duration} Duration
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            Duration.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a Duration message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            Duration.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.seconds != null && message.hasOwnProperty("seconds"))
+                    if (!$util.isInteger(message.seconds) && !(message.seconds && $util.isInteger(message.seconds.low) && $util.isInteger(message.seconds.high)))
+                        return "seconds: integer|Long expected";
+                if (message.nanos != null && message.hasOwnProperty("nanos"))
+                    if (!$util.isInteger(message.nanos))
+                        return "nanos: integer expected";
+                return null;
+            };
+
+            /**
+             * Creates a Duration message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.Duration} Duration
+             */
+            Duration.fromObject = function fromObject(object) {
+                if (object instanceof $root.google.protobuf.Duration)
+                    return object;
+                var message = new $root.google.protobuf.Duration();
+                if (object.seconds != null)
+                    if ($util.Long)
+                        (message.seconds = $util.Long.fromValue(object.seconds)).unsigned = false;
+                    else if (typeof object.seconds === "string")
+                        message.seconds = parseInt(object.seconds, 10);
+                    else if (typeof object.seconds === "number")
+                        message.seconds = object.seconds;
+                    else if (typeof object.seconds === "object")
+                        message.seconds = new $util.LongBits(object.seconds.low >>> 0, object.seconds.high >>> 0).toNumber();
+                if (object.nanos != null)
+                    message.nanos = object.nanos | 0;
+                return message;
+            };
+
+            /**
+             * Creates a Duration message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link google.protobuf.Duration.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.Duration} Duration
+             */
+            Duration.from = Duration.fromObject;
+
+            /**
+             * Creates a plain object from a Duration message. Also converts values to other types if specified.
+             * @param {google.protobuf.Duration} message Duration
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            Duration.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults) {
+                    if ($util.Long) {
+                        var long = new $util.Long(0, 0, false);
+                        object.seconds = options.longs === String ? long.toString() : options.longs === Number ? long.toNumber() : long;
+                    } else
+                        object.seconds = options.longs === String ? "0" : 0;
+                    object.nanos = 0;
+                }
+                if (message.seconds != null && message.hasOwnProperty("seconds"))
+                    if (typeof message.seconds === "number")
+                        object.seconds = options.longs === String ? String(message.seconds) : message.seconds;
+                    else
+                        object.seconds = options.longs === String ? $util.Long.prototype.toString.call(message.seconds) : options.longs === Number ? new $util.LongBits(message.seconds.low >>> 0, message.seconds.high >>> 0).toNumber() : message.seconds;
+                if (message.nanos != null && message.hasOwnProperty("nanos"))
+                    object.nanos = message.nanos;
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this Duration message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            Duration.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this Duration to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            Duration.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return Duration;
+        })();
+
+        protobuf.Timestamp = (function() {
+
+            /**
+             * Properties of a Timestamp.
+             * @typedef google.protobuf.Timestamp$Properties
+             * @type {Object}
+             * @property {number|Long} [seconds] Timestamp seconds.
+             * @property {number} [nanos] Timestamp nanos.
+             */
+
+            /**
+             * Constructs a new Timestamp.
+             * @exports google.protobuf.Timestamp
+             * @constructor
+             * @param {google.protobuf.Timestamp$Properties=} [properties] Properties to set
+             */
+            function Timestamp(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Timestamp seconds.
+             * @type {number|Long}
+             */
+            Timestamp.prototype.seconds = $util.Long ? $util.Long.fromBits(0,0,false) : 0;
+
+            /**
+             * Timestamp nanos.
+             * @type {number}
+             */
+            Timestamp.prototype.nanos = 0;
+
+            /**
+             * Creates a new Timestamp instance using the specified properties.
+             * @param {google.protobuf.Timestamp$Properties=} [properties] Properties to set
+             * @returns {google.protobuf.Timestamp} Timestamp instance
+             */
+            Timestamp.create = function create(properties) {
+                return new Timestamp(properties);
+            };
+
+            /**
+             * Encodes the specified Timestamp message. Does not implicitly {@link google.protobuf.Timestamp.verify|verify} messages.
+             * @param {google.protobuf.Timestamp$Properties} message Timestamp message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            Timestamp.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.seconds != null && message.hasOwnProperty("seconds"))
+                    writer.uint32(/* id 1, wireType 0 =*/8).int64(message.seconds);
+                if (message.nanos != null && message.hasOwnProperty("nanos"))
+                    writer.uint32(/* id 2, wireType 0 =*/16).int32(message.nanos);
+                return writer;
+            };
+
+            /**
+             * Encodes the specified Timestamp message, length delimited. Does not implicitly {@link google.protobuf.Timestamp.verify|verify} messages.
+             * @param {google.protobuf.Timestamp$Properties} message Timestamp message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            Timestamp.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a Timestamp message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {google.protobuf.Timestamp} Timestamp
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            Timestamp.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.google.protobuf.Timestamp();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.seconds = reader.int64();
+                        break;
+                    case 2:
+                        message.nanos = reader.int32();
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a Timestamp message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {google.protobuf.Timestamp} Timestamp
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            Timestamp.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a Timestamp message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            Timestamp.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.seconds != null && message.hasOwnProperty("seconds"))
+                    if (!$util.isInteger(message.seconds) && !(message.seconds && $util.isInteger(message.seconds.low) && $util.isInteger(message.seconds.high)))
+                        return "seconds: integer|Long expected";
+                if (message.nanos != null && message.hasOwnProperty("nanos"))
+                    if (!$util.isInteger(message.nanos))
+                        return "nanos: integer expected";
+                return null;
+            };
+
+            /**
+             * Creates a Timestamp message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.Timestamp} Timestamp
+             */
+            Timestamp.fromObject = function fromObject(object) {
+                if (object instanceof $root.google.protobuf.Timestamp)
+                    return object;
+                var message = new $root.google.protobuf.Timestamp();
+                if (object.seconds != null)
+                    if ($util.Long)
+                        (message.seconds = $util.Long.fromValue(object.seconds)).unsigned = false;
+                    else if (typeof object.seconds === "string")
+                        message.seconds = parseInt(object.seconds, 10);
+                    else if (typeof object.seconds === "number")
+                        message.seconds = object.seconds;
+                    else if (typeof object.seconds === "object")
+                        message.seconds = new $util.LongBits(object.seconds.low >>> 0, object.seconds.high >>> 0).toNumber();
+                if (object.nanos != null)
+                    message.nanos = object.nanos | 0;
+                return message;
+            };
+
+            /**
+             * Creates a Timestamp message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link google.protobuf.Timestamp.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {google.protobuf.Timestamp} Timestamp
+             */
+            Timestamp.from = Timestamp.fromObject;
+
+            /**
+             * Creates a plain object from a Timestamp message. Also converts values to other types if specified.
+             * @param {google.protobuf.Timestamp} message Timestamp
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            Timestamp.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults) {
+                    if ($util.Long) {
+                        var long = new $util.Long(0, 0, false);
+                        object.seconds = options.longs === String ? long.toString() : options.longs === Number ? long.toNumber() : long;
+                    } else
+                        object.seconds = options.longs === String ? "0" : 0;
+                    object.nanos = 0;
+                }
+                if (message.seconds != null && message.hasOwnProperty("seconds"))
+                    if (typeof message.seconds === "number")
+                        object.seconds = options.longs === String ? String(message.seconds) : message.seconds;
+                    else
+                        object.seconds = options.longs === String ? $util.Long.prototype.toString.call(message.seconds) : options.longs === Number ? new $util.LongBits(message.seconds.low >>> 0, message.seconds.high >>> 0).toNumber() : message.seconds;
+                if (message.nanos != null && message.hasOwnProperty("nanos"))
+                    object.nanos = message.nanos;
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this Timestamp message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            Timestamp.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this Timestamp to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            Timestamp.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return Timestamp;
+        })();
+
+        return protobuf;
+    })();
+
+    return google;
+})();
+
+$root.message = (function() {
+
+    /**
+     * Namespace message.
+     * @exports message
+     * @namespace
+     */
+    var message = {};
+
+    message.Line = (function() {
+
+        /**
+         * Properties of a Line.
+         * @typedef message.Line$Properties
+         * @type {Object}
+         * @property {vec2$Properties} [normal] Line normal.
+         * @property {number} [distance] Line distance.
+         */
+
+        /**
+         * Constructs a new Line.
+         * @exports message.Line
+         * @constructor
+         * @param {message.Line$Properties=} [properties] Properties to set
+         */
+        function Line(properties) {
+            if (properties)
+                for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                    if (properties[keys[i]] != null)
+                        this[keys[i]] = properties[keys[i]];
+        }
+
+        /**
+         * Line normal.
+         * @type {(vec2$Properties|null)}
+         */
+        Line.prototype.normal = null;
+
+        /**
+         * Line distance.
+         * @type {number}
+         */
+        Line.prototype.distance = 0;
+
+        /**
+         * Creates a new Line instance using the specified properties.
+         * @param {message.Line$Properties=} [properties] Properties to set
+         * @returns {message.Line} Line instance
+         */
+        Line.create = function create(properties) {
+            return new Line(properties);
+        };
+
+        /**
+         * Encodes the specified Line message. Does not implicitly {@link message.Line.verify|verify} messages.
+         * @param {message.Line$Properties} message Line message or plain object to encode
+         * @param {$protobuf.Writer} [writer] Writer to encode to
+         * @returns {$protobuf.Writer} Writer
+         */
+        Line.encode = function encode(message, writer) {
+            if (!writer)
+                writer = $Writer.create();
+            if (message.normal != null && message.hasOwnProperty("normal"))
+                $root.vec2.encode(message.normal, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+            if (message.distance != null && message.hasOwnProperty("distance"))
+                writer.uint32(/* id 2, wireType 1 =*/17).double(message.distance);
+            return writer;
+        };
+
+        /**
+         * Encodes the specified Line message, length delimited. Does not implicitly {@link message.Line.verify|verify} messages.
+         * @param {message.Line$Properties} message Line message or plain object to encode
+         * @param {$protobuf.Writer} [writer] Writer to encode to
+         * @returns {$protobuf.Writer} Writer
+         */
+        Line.encodeDelimited = function encodeDelimited(message, writer) {
+            return this.encode(message, writer).ldelim();
+        };
+
+        /**
+         * Decodes a Line message from the specified reader or buffer.
+         * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+         * @param {number} [length] Message length if known beforehand
+         * @returns {message.Line} Line
+         * @throws {Error} If the payload is not a reader or valid buffer
+         * @throws {$protobuf.util.ProtocolError} If required fields are missing
+         */
+        Line.decode = function decode(reader, length) {
+            if (!(reader instanceof $Reader))
+                reader = $Reader.create(reader);
+            var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.Line();
+            while (reader.pos < end) {
+                var tag = reader.uint32();
+                switch (tag >>> 3) {
+                case 1:
+                    message.normal = $root.vec2.decode(reader, reader.uint32());
+                    break;
+                case 2:
+                    message.distance = reader.double();
+                    break;
+                default:
+                    reader.skipType(tag & 7);
+                    break;
+                }
+            }
+            return message;
+        };
+
+        /**
+         * Decodes a Line message from the specified reader or buffer, length delimited.
+         * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+         * @returns {message.Line} Line
+         * @throws {Error} If the payload is not a reader or valid buffer
+         * @throws {$protobuf.util.ProtocolError} If required fields are missing
+         */
+        Line.decodeDelimited = function decodeDelimited(reader) {
+            if (!(reader instanceof $Reader))
+                reader = $Reader(reader);
+            return this.decode(reader, reader.uint32());
+        };
+
+        /**
+         * Verifies a Line message.
+         * @param {Object.<string,*>} message Plain object to verify
+         * @returns {?string} `null` if valid, otherwise the reason why it is not
+         */
+        Line.verify = function verify(message) {
+            if (typeof message !== "object" || message === null)
+                return "object expected";
+            if (message.normal != null && message.hasOwnProperty("normal")) {
+                var error = $root.vec2.verify(message.normal);
+                if (error)
+                    return "normal." + error;
+            }
+            if (message.distance != null && message.hasOwnProperty("distance"))
+                if (typeof message.distance !== "number")
+                    return "distance: number expected";
+            return null;
+        };
+
+        /**
+         * Creates a Line message from a plain object. Also converts values to their respective internal types.
+         * @param {Object.<string,*>} object Plain object
+         * @returns {message.Line} Line
+         */
+        Line.fromObject = function fromObject(object) {
+            if (object instanceof $root.message.Line)
+                return object;
+            var message = new $root.message.Line();
+            if (object.normal != null) {
+                if (typeof object.normal !== "object")
+                    throw TypeError(".message.Line.normal: object expected");
+                message.normal = $root.vec2.fromObject(object.normal);
+            }
+            if (object.distance != null)
+                message.distance = Number(object.distance);
+            return message;
+        };
+
+        /**
+         * Creates a Line message from a plain object. Also converts values to their respective internal types.
+         * This is an alias of {@link message.Line.fromObject}.
+         * @function
+         * @param {Object.<string,*>} object Plain object
+         * @returns {message.Line} Line
+         */
+        Line.from = Line.fromObject;
+
+        /**
+         * Creates a plain object from a Line message. Also converts values to other types if specified.
+         * @param {message.Line} message Line
+         * @param {$protobuf.ConversionOptions} [options] Conversion options
+         * @returns {Object.<string,*>} Plain object
+         */
+        Line.toObject = function toObject(message, options) {
+            if (!options)
+                options = {};
+            var object = {};
+            if (options.defaults) {
+                object.normal = null;
+                object.distance = 0;
+            }
+            if (message.normal != null && message.hasOwnProperty("normal"))
+                object.normal = $root.vec2.toObject(message.normal, options);
+            if (message.distance != null && message.hasOwnProperty("distance"))
+                object.distance = message.distance;
+            return object;
+        };
+
+        /**
+         * Creates a plain object from this Line message. Also converts values to other types if specified.
+         * @param {$protobuf.ConversionOptions} [options] Conversion options
+         * @returns {Object.<string,*>} Plain object
+         */
+        Line.prototype.toObject = function toObject(options) {
+            return this.constructor.toObject(this, options);
+        };
+
+        /**
+         * Converts this Line to JSON.
+         * @returns {Object.<string,*>} JSON object
+         */
+        Line.prototype.toJSON = function toJSON() {
+            return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+        };
+
+        return Line;
+    })();
+
+    message.Circle = (function() {
+
+        /**
+         * Properties of a Circle.
+         * @typedef message.Circle$Properties
+         * @type {Object}
+         * @property {number} [radius] Circle radius.
+         * @property {vec2$Properties} [centre] Circle centre.
+         */
+
+        /**
+         * Constructs a new Circle.
+         * @exports message.Circle
+         * @constructor
+         * @param {message.Circle$Properties=} [properties] Properties to set
+         */
+        function Circle(properties) {
+            if (properties)
+                for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                    if (properties[keys[i]] != null)
+                        this[keys[i]] = properties[keys[i]];
+        }
+
+        /**
+         * Circle radius.
+         * @type {number}
+         */
+        Circle.prototype.radius = 0;
+
+        /**
+         * Circle centre.
+         * @type {(vec2$Properties|null)}
+         */
+        Circle.prototype.centre = null;
+
+        /**
+         * Creates a new Circle instance using the specified properties.
+         * @param {message.Circle$Properties=} [properties] Properties to set
+         * @returns {message.Circle} Circle instance
+         */
+        Circle.create = function create(properties) {
+            return new Circle(properties);
+        };
+
+        /**
+         * Encodes the specified Circle message. Does not implicitly {@link message.Circle.verify|verify} messages.
+         * @param {message.Circle$Properties} message Circle message or plain object to encode
+         * @param {$protobuf.Writer} [writer] Writer to encode to
+         * @returns {$protobuf.Writer} Writer
+         */
+        Circle.encode = function encode(message, writer) {
+            if (!writer)
+                writer = $Writer.create();
+            if (message.radius != null && message.hasOwnProperty("radius"))
+                writer.uint32(/* id 1, wireType 1 =*/9).double(message.radius);
+            if (message.centre != null && message.hasOwnProperty("centre"))
+                $root.vec2.encode(message.centre, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+            return writer;
+        };
+
+        /**
+         * Encodes the specified Circle message, length delimited. Does not implicitly {@link message.Circle.verify|verify} messages.
+         * @param {message.Circle$Properties} message Circle message or plain object to encode
+         * @param {$protobuf.Writer} [writer] Writer to encode to
+         * @returns {$protobuf.Writer} Writer
+         */
+        Circle.encodeDelimited = function encodeDelimited(message, writer) {
+            return this.encode(message, writer).ldelim();
+        };
+
+        /**
+         * Decodes a Circle message from the specified reader or buffer.
+         * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+         * @param {number} [length] Message length if known beforehand
+         * @returns {message.Circle} Circle
+         * @throws {Error} If the payload is not a reader or valid buffer
+         * @throws {$protobuf.util.ProtocolError} If required fields are missing
+         */
+        Circle.decode = function decode(reader, length) {
+            if (!(reader instanceof $Reader))
+                reader = $Reader.create(reader);
+            var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.Circle();
+            while (reader.pos < end) {
+                var tag = reader.uint32();
+                switch (tag >>> 3) {
+                case 1:
+                    message.radius = reader.double();
+                    break;
+                case 2:
+                    message.centre = $root.vec2.decode(reader, reader.uint32());
+                    break;
+                default:
+                    reader.skipType(tag & 7);
+                    break;
+                }
+            }
+            return message;
+        };
+
+        /**
+         * Decodes a Circle message from the specified reader or buffer, length delimited.
+         * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+         * @returns {message.Circle} Circle
+         * @throws {Error} If the payload is not a reader or valid buffer
+         * @throws {$protobuf.util.ProtocolError} If required fields are missing
+         */
+        Circle.decodeDelimited = function decodeDelimited(reader) {
+            if (!(reader instanceof $Reader))
+                reader = $Reader(reader);
+            return this.decode(reader, reader.uint32());
+        };
+
+        /**
+         * Verifies a Circle message.
+         * @param {Object.<string,*>} message Plain object to verify
+         * @returns {?string} `null` if valid, otherwise the reason why it is not
+         */
+        Circle.verify = function verify(message) {
+            if (typeof message !== "object" || message === null)
+                return "object expected";
+            if (message.radius != null && message.hasOwnProperty("radius"))
+                if (typeof message.radius !== "number")
+                    return "radius: number expected";
+            if (message.centre != null && message.hasOwnProperty("centre")) {
+                var error = $root.vec2.verify(message.centre);
+                if (error)
+                    return "centre." + error;
+            }
+            return null;
+        };
+
+        /**
+         * Creates a Circle message from a plain object. Also converts values to their respective internal types.
+         * @param {Object.<string,*>} object Plain object
+         * @returns {message.Circle} Circle
+         */
+        Circle.fromObject = function fromObject(object) {
+            if (object instanceof $root.message.Circle)
+                return object;
+            var message = new $root.message.Circle();
+            if (object.radius != null)
+                message.radius = Number(object.radius);
+            if (object.centre != null) {
+                if (typeof object.centre !== "object")
+                    throw TypeError(".message.Circle.centre: object expected");
+                message.centre = $root.vec2.fromObject(object.centre);
+            }
+            return message;
+        };
+
+        /**
+         * Creates a Circle message from a plain object. Also converts values to their respective internal types.
+         * This is an alias of {@link message.Circle.fromObject}.
+         * @function
+         * @param {Object.<string,*>} object Plain object
+         * @returns {message.Circle} Circle
+         */
+        Circle.from = Circle.fromObject;
+
+        /**
+         * Creates a plain object from a Circle message. Also converts values to other types if specified.
+         * @param {message.Circle} message Circle
+         * @param {$protobuf.ConversionOptions} [options] Conversion options
+         * @returns {Object.<string,*>} Plain object
+         */
+        Circle.toObject = function toObject(message, options) {
+            if (!options)
+                options = {};
+            var object = {};
+            if (options.defaults) {
+                object.radius = 0;
+                object.centre = null;
+            }
+            if (message.radius != null && message.hasOwnProperty("radius"))
+                object.radius = message.radius;
+            if (message.centre != null && message.hasOwnProperty("centre"))
+                object.centre = $root.vec2.toObject(message.centre, options);
+            return object;
+        };
+
+        /**
+         * Creates a plain object from this Circle message. Also converts values to other types if specified.
+         * @param {$protobuf.ConversionOptions} [options] Conversion options
+         * @returns {Object.<string,*>} Plain object
+         */
+        Circle.prototype.toObject = function toObject(options) {
+            return this.constructor.toObject(this, options);
+        };
+
+        /**
+         * Converts this Circle to JSON.
+         * @returns {Object.<string,*>} JSON object
+         */
+        Circle.prototype.toJSON = function toJSON() {
+            return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+        };
+
+        return Circle;
+    })();
+
+    message.Ellipse = (function() {
+
+        /**
+         * Properties of an Ellipse.
+         * @typedef message.Ellipse$Properties
+         * @type {Object}
+         * @property {mat33$Properties} [ellipse] Ellipse ellipse.
+         */
+
+        /**
+         * Constructs a new Ellipse.
+         * @exports message.Ellipse
+         * @constructor
+         * @param {message.Ellipse$Properties=} [properties] Properties to set
+         */
+        function Ellipse(properties) {
+            if (properties)
+                for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                    if (properties[keys[i]] != null)
+                        this[keys[i]] = properties[keys[i]];
+        }
+
+        /**
+         * Ellipse ellipse.
+         * @type {(mat33$Properties|null)}
+         */
+        Ellipse.prototype.ellipse = null;
+
+        /**
+         * Creates a new Ellipse instance using the specified properties.
+         * @param {message.Ellipse$Properties=} [properties] Properties to set
+         * @returns {message.Ellipse} Ellipse instance
+         */
+        Ellipse.create = function create(properties) {
+            return new Ellipse(properties);
+        };
+
+        /**
+         * Encodes the specified Ellipse message. Does not implicitly {@link message.Ellipse.verify|verify} messages.
+         * @param {message.Ellipse$Properties} message Ellipse message or plain object to encode
+         * @param {$protobuf.Writer} [writer] Writer to encode to
+         * @returns {$protobuf.Writer} Writer
+         */
+        Ellipse.encode = function encode(message, writer) {
+            if (!writer)
+                writer = $Writer.create();
+            if (message.ellipse != null && message.hasOwnProperty("ellipse"))
+                $root.mat33.encode(message.ellipse, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+            return writer;
+        };
+
+        /**
+         * Encodes the specified Ellipse message, length delimited. Does not implicitly {@link message.Ellipse.verify|verify} messages.
+         * @param {message.Ellipse$Properties} message Ellipse message or plain object to encode
+         * @param {$protobuf.Writer} [writer] Writer to encode to
+         * @returns {$protobuf.Writer} Writer
+         */
+        Ellipse.encodeDelimited = function encodeDelimited(message, writer) {
+            return this.encode(message, writer).ldelim();
+        };
+
+        /**
+         * Decodes an Ellipse message from the specified reader or buffer.
+         * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+         * @param {number} [length] Message length if known beforehand
+         * @returns {message.Ellipse} Ellipse
+         * @throws {Error} If the payload is not a reader or valid buffer
+         * @throws {$protobuf.util.ProtocolError} If required fields are missing
+         */
+        Ellipse.decode = function decode(reader, length) {
+            if (!(reader instanceof $Reader))
+                reader = $Reader.create(reader);
+            var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.Ellipse();
+            while (reader.pos < end) {
+                var tag = reader.uint32();
+                switch (tag >>> 3) {
+                case 1:
+                    message.ellipse = $root.mat33.decode(reader, reader.uint32());
+                    break;
+                default:
+                    reader.skipType(tag & 7);
+                    break;
+                }
+            }
+            return message;
+        };
+
+        /**
+         * Decodes an Ellipse message from the specified reader or buffer, length delimited.
+         * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+         * @returns {message.Ellipse} Ellipse
+         * @throws {Error} If the payload is not a reader or valid buffer
+         * @throws {$protobuf.util.ProtocolError} If required fields are missing
+         */
+        Ellipse.decodeDelimited = function decodeDelimited(reader) {
+            if (!(reader instanceof $Reader))
+                reader = $Reader(reader);
+            return this.decode(reader, reader.uint32());
+        };
+
+        /**
+         * Verifies an Ellipse message.
+         * @param {Object.<string,*>} message Plain object to verify
+         * @returns {?string} `null` if valid, otherwise the reason why it is not
+         */
+        Ellipse.verify = function verify(message) {
+            if (typeof message !== "object" || message === null)
+                return "object expected";
+            if (message.ellipse != null && message.hasOwnProperty("ellipse")) {
+                var error = $root.mat33.verify(message.ellipse);
+                if (error)
+                    return "ellipse." + error;
+            }
+            return null;
+        };
+
+        /**
+         * Creates an Ellipse message from a plain object. Also converts values to their respective internal types.
+         * @param {Object.<string,*>} object Plain object
+         * @returns {message.Ellipse} Ellipse
+         */
+        Ellipse.fromObject = function fromObject(object) {
+            if (object instanceof $root.message.Ellipse)
+                return object;
+            var message = new $root.message.Ellipse();
+            if (object.ellipse != null) {
+                if (typeof object.ellipse !== "object")
+                    throw TypeError(".message.Ellipse.ellipse: object expected");
+                message.ellipse = $root.mat33.fromObject(object.ellipse);
+            }
+            return message;
+        };
+
+        /**
+         * Creates an Ellipse message from a plain object. Also converts values to their respective internal types.
+         * This is an alias of {@link message.Ellipse.fromObject}.
+         * @function
+         * @param {Object.<string,*>} object Plain object
+         * @returns {message.Ellipse} Ellipse
+         */
+        Ellipse.from = Ellipse.fromObject;
+
+        /**
+         * Creates a plain object from an Ellipse message. Also converts values to other types if specified.
+         * @param {message.Ellipse} message Ellipse
+         * @param {$protobuf.ConversionOptions} [options] Conversion options
+         * @returns {Object.<string,*>} Plain object
+         */
+        Ellipse.toObject = function toObject(message, options) {
+            if (!options)
+                options = {};
+            var object = {};
+            if (options.defaults)
+                object.ellipse = null;
+            if (message.ellipse != null && message.hasOwnProperty("ellipse"))
+                object.ellipse = $root.mat33.toObject(message.ellipse, options);
+            return object;
+        };
+
+        /**
+         * Creates a plain object from this Ellipse message. Also converts values to other types if specified.
+         * @param {$protobuf.ConversionOptions} [options] Conversion options
+         * @returns {Object.<string,*>} Plain object
+         */
+        Ellipse.prototype.toObject = function toObject(options) {
+            return this.constructor.toObject(this, options);
+        };
+
+        /**
+         * Converts this Ellipse to JSON.
+         * @returns {Object.<string,*>} JSON object
+         */
+        Ellipse.prototype.toJSON = function toJSON() {
+            return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+        };
+
+        return Ellipse;
+    })();
+
+    message.Quad = (function() {
+
+        /**
+         * Properties of a Quad.
+         * @typedef message.Quad$Properties
+         * @type {Object}
+         * @property {vec2$Properties} [tl] Quad tl.
+         * @property {vec2$Properties} [tr] Quad tr.
+         * @property {vec2$Properties} [bl] Quad bl.
+         * @property {vec2$Properties} [br] Quad br.
+         */
+
+        /**
+         * Constructs a new Quad.
+         * @exports message.Quad
+         * @constructor
+         * @param {message.Quad$Properties=} [properties] Properties to set
+         */
+        function Quad(properties) {
+            if (properties)
+                for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                    if (properties[keys[i]] != null)
+                        this[keys[i]] = properties[keys[i]];
+        }
+
+        /**
+         * Quad tl.
+         * @type {(vec2$Properties|null)}
+         */
+        Quad.prototype.tl = null;
+
+        /**
+         * Quad tr.
+         * @type {(vec2$Properties|null)}
+         */
+        Quad.prototype.tr = null;
+
+        /**
+         * Quad bl.
+         * @type {(vec2$Properties|null)}
+         */
+        Quad.prototype.bl = null;
+
+        /**
+         * Quad br.
+         * @type {(vec2$Properties|null)}
+         */
+        Quad.prototype.br = null;
+
+        /**
+         * Creates a new Quad instance using the specified properties.
+         * @param {message.Quad$Properties=} [properties] Properties to set
+         * @returns {message.Quad} Quad instance
+         */
+        Quad.create = function create(properties) {
+            return new Quad(properties);
+        };
+
+        /**
+         * Encodes the specified Quad message. Does not implicitly {@link message.Quad.verify|verify} messages.
+         * @param {message.Quad$Properties} message Quad message or plain object to encode
+         * @param {$protobuf.Writer} [writer] Writer to encode to
+         * @returns {$protobuf.Writer} Writer
+         */
+        Quad.encode = function encode(message, writer) {
+            if (!writer)
+                writer = $Writer.create();
+            if (message.tl != null && message.hasOwnProperty("tl"))
+                $root.vec2.encode(message.tl, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+            if (message.tr != null && message.hasOwnProperty("tr"))
+                $root.vec2.encode(message.tr, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+            if (message.bl != null && message.hasOwnProperty("bl"))
+                $root.vec2.encode(message.bl, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+            if (message.br != null && message.hasOwnProperty("br"))
+                $root.vec2.encode(message.br, writer.uint32(/* id 4, wireType 2 =*/34).fork()).ldelim();
+            return writer;
+        };
+
+        /**
+         * Encodes the specified Quad message, length delimited. Does not implicitly {@link message.Quad.verify|verify} messages.
+         * @param {message.Quad$Properties} message Quad message or plain object to encode
+         * @param {$protobuf.Writer} [writer] Writer to encode to
+         * @returns {$protobuf.Writer} Writer
+         */
+        Quad.encodeDelimited = function encodeDelimited(message, writer) {
+            return this.encode(message, writer).ldelim();
+        };
+
+        /**
+         * Decodes a Quad message from the specified reader or buffer.
+         * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+         * @param {number} [length] Message length if known beforehand
+         * @returns {message.Quad} Quad
+         * @throws {Error} If the payload is not a reader or valid buffer
+         * @throws {$protobuf.util.ProtocolError} If required fields are missing
+         */
+        Quad.decode = function decode(reader, length) {
+            if (!(reader instanceof $Reader))
+                reader = $Reader.create(reader);
+            var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.Quad();
+            while (reader.pos < end) {
+                var tag = reader.uint32();
+                switch (tag >>> 3) {
+                case 1:
+                    message.tl = $root.vec2.decode(reader, reader.uint32());
+                    break;
+                case 2:
+                    message.tr = $root.vec2.decode(reader, reader.uint32());
+                    break;
+                case 3:
+                    message.bl = $root.vec2.decode(reader, reader.uint32());
+                    break;
+                case 4:
+                    message.br = $root.vec2.decode(reader, reader.uint32());
+                    break;
+                default:
+                    reader.skipType(tag & 7);
+                    break;
+                }
+            }
+            return message;
+        };
+
+        /**
+         * Decodes a Quad message from the specified reader or buffer, length delimited.
+         * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+         * @returns {message.Quad} Quad
+         * @throws {Error} If the payload is not a reader or valid buffer
+         * @throws {$protobuf.util.ProtocolError} If required fields are missing
+         */
+        Quad.decodeDelimited = function decodeDelimited(reader) {
+            if (!(reader instanceof $Reader))
+                reader = $Reader(reader);
+            return this.decode(reader, reader.uint32());
+        };
+
+        /**
+         * Verifies a Quad message.
+         * @param {Object.<string,*>} message Plain object to verify
+         * @returns {?string} `null` if valid, otherwise the reason why it is not
+         */
+        Quad.verify = function verify(message) {
+            if (typeof message !== "object" || message === null)
+                return "object expected";
+            if (message.tl != null && message.hasOwnProperty("tl")) {
+                var error = $root.vec2.verify(message.tl);
+                if (error)
+                    return "tl." + error;
+            }
+            if (message.tr != null && message.hasOwnProperty("tr")) {
+                var error = $root.vec2.verify(message.tr);
+                if (error)
+                    return "tr." + error;
+            }
+            if (message.bl != null && message.hasOwnProperty("bl")) {
+                var error = $root.vec2.verify(message.bl);
+                if (error)
+                    return "bl." + error;
+            }
+            if (message.br != null && message.hasOwnProperty("br")) {
+                var error = $root.vec2.verify(message.br);
+                if (error)
+                    return "br." + error;
+            }
+            return null;
+        };
+
+        /**
+         * Creates a Quad message from a plain object. Also converts values to their respective internal types.
+         * @param {Object.<string,*>} object Plain object
+         * @returns {message.Quad} Quad
+         */
+        Quad.fromObject = function fromObject(object) {
+            if (object instanceof $root.message.Quad)
+                return object;
+            var message = new $root.message.Quad();
+            if (object.tl != null) {
+                if (typeof object.tl !== "object")
+                    throw TypeError(".message.Quad.tl: object expected");
+                message.tl = $root.vec2.fromObject(object.tl);
+            }
+            if (object.tr != null) {
+                if (typeof object.tr !== "object")
+                    throw TypeError(".message.Quad.tr: object expected");
+                message.tr = $root.vec2.fromObject(object.tr);
+            }
+            if (object.bl != null) {
+                if (typeof object.bl !== "object")
+                    throw TypeError(".message.Quad.bl: object expected");
+                message.bl = $root.vec2.fromObject(object.bl);
+            }
+            if (object.br != null) {
+                if (typeof object.br !== "object")
+                    throw TypeError(".message.Quad.br: object expected");
+                message.br = $root.vec2.fromObject(object.br);
+            }
+            return message;
+        };
+
+        /**
+         * Creates a Quad message from a plain object. Also converts values to their respective internal types.
+         * This is an alias of {@link message.Quad.fromObject}.
+         * @function
+         * @param {Object.<string,*>} object Plain object
+         * @returns {message.Quad} Quad
+         */
+        Quad.from = Quad.fromObject;
+
+        /**
+         * Creates a plain object from a Quad message. Also converts values to other types if specified.
+         * @param {message.Quad} message Quad
+         * @param {$protobuf.ConversionOptions} [options] Conversion options
+         * @returns {Object.<string,*>} Plain object
+         */
+        Quad.toObject = function toObject(message, options) {
+            if (!options)
+                options = {};
+            var object = {};
+            if (options.defaults) {
+                object.tl = null;
+                object.tr = null;
+                object.bl = null;
+                object.br = null;
+            }
+            if (message.tl != null && message.hasOwnProperty("tl"))
+                object.tl = $root.vec2.toObject(message.tl, options);
+            if (message.tr != null && message.hasOwnProperty("tr"))
+                object.tr = $root.vec2.toObject(message.tr, options);
+            if (message.bl != null && message.hasOwnProperty("bl"))
+                object.bl = $root.vec2.toObject(message.bl, options);
+            if (message.br != null && message.hasOwnProperty("br"))
+                object.br = $root.vec2.toObject(message.br, options);
+            return object;
+        };
+
+        /**
+         * Creates a plain object from this Quad message. Also converts values to other types if specified.
+         * @param {$protobuf.ConversionOptions} [options] Conversion options
+         * @returns {Object.<string,*>} Plain object
+         */
+        Quad.prototype.toObject = function toObject(options) {
+            return this.constructor.toObject(this, options);
+        };
+
+        /**
+         * Converts this Quad to JSON.
+         * @returns {Object.<string,*>} JSON object
+         */
+        Quad.prototype.toJSON = function toJSON() {
+            return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+        };
+
+        return Quad;
+    })();
+
+    message.Polygon = (function() {
+
+        /**
+         * Properties of a Polygon.
+         * @typedef message.Polygon$Properties
+         * @type {Object}
+         * @property {vec2$Properties} [point] Polygon point.
+         */
+
+        /**
+         * Constructs a new Polygon.
+         * @exports message.Polygon
+         * @constructor
+         * @param {message.Polygon$Properties=} [properties] Properties to set
+         */
+        function Polygon(properties) {
+            if (properties)
+                for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                    if (properties[keys[i]] != null)
+                        this[keys[i]] = properties[keys[i]];
+        }
+
+        /**
+         * Polygon point.
+         * @type {(vec2$Properties|null)}
+         */
+        Polygon.prototype.point = null;
+
+        /**
+         * Creates a new Polygon instance using the specified properties.
+         * @param {message.Polygon$Properties=} [properties] Properties to set
+         * @returns {message.Polygon} Polygon instance
+         */
+        Polygon.create = function create(properties) {
+            return new Polygon(properties);
+        };
+
+        /**
+         * Encodes the specified Polygon message. Does not implicitly {@link message.Polygon.verify|verify} messages.
+         * @param {message.Polygon$Properties} message Polygon message or plain object to encode
+         * @param {$protobuf.Writer} [writer] Writer to encode to
+         * @returns {$protobuf.Writer} Writer
+         */
+        Polygon.encode = function encode(message, writer) {
+            if (!writer)
+                writer = $Writer.create();
+            if (message.point != null && message.hasOwnProperty("point"))
+                $root.vec2.encode(message.point, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+            return writer;
+        };
+
+        /**
+         * Encodes the specified Polygon message, length delimited. Does not implicitly {@link message.Polygon.verify|verify} messages.
+         * @param {message.Polygon$Properties} message Polygon message or plain object to encode
+         * @param {$protobuf.Writer} [writer] Writer to encode to
+         * @returns {$protobuf.Writer} Writer
+         */
+        Polygon.encodeDelimited = function encodeDelimited(message, writer) {
+            return this.encode(message, writer).ldelim();
+        };
+
+        /**
+         * Decodes a Polygon message from the specified reader or buffer.
+         * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+         * @param {number} [length] Message length if known beforehand
+         * @returns {message.Polygon} Polygon
+         * @throws {Error} If the payload is not a reader or valid buffer
+         * @throws {$protobuf.util.ProtocolError} If required fields are missing
+         */
+        Polygon.decode = function decode(reader, length) {
+            if (!(reader instanceof $Reader))
+                reader = $Reader.create(reader);
+            var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.Polygon();
+            while (reader.pos < end) {
+                var tag = reader.uint32();
+                switch (tag >>> 3) {
+                case 1:
+                    message.point = $root.vec2.decode(reader, reader.uint32());
+                    break;
+                default:
+                    reader.skipType(tag & 7);
+                    break;
+                }
+            }
+            return message;
+        };
+
+        /**
+         * Decodes a Polygon message from the specified reader or buffer, length delimited.
+         * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+         * @returns {message.Polygon} Polygon
+         * @throws {Error} If the payload is not a reader or valid buffer
+         * @throws {$protobuf.util.ProtocolError} If required fields are missing
+         */
+        Polygon.decodeDelimited = function decodeDelimited(reader) {
+            if (!(reader instanceof $Reader))
+                reader = $Reader(reader);
+            return this.decode(reader, reader.uint32());
+        };
+
+        /**
+         * Verifies a Polygon message.
+         * @param {Object.<string,*>} message Plain object to verify
+         * @returns {?string} `null` if valid, otherwise the reason why it is not
+         */
+        Polygon.verify = function verify(message) {
+            if (typeof message !== "object" || message === null)
+                return "object expected";
+            if (message.point != null && message.hasOwnProperty("point")) {
+                var error = $root.vec2.verify(message.point);
+                if (error)
+                    return "point." + error;
+            }
+            return null;
+        };
+
+        /**
+         * Creates a Polygon message from a plain object. Also converts values to their respective internal types.
+         * @param {Object.<string,*>} object Plain object
+         * @returns {message.Polygon} Polygon
+         */
+        Polygon.fromObject = function fromObject(object) {
+            if (object instanceof $root.message.Polygon)
+                return object;
+            var message = new $root.message.Polygon();
+            if (object.point != null) {
+                if (typeof object.point !== "object")
+                    throw TypeError(".message.Polygon.point: object expected");
+                message.point = $root.vec2.fromObject(object.point);
+            }
+            return message;
+        };
+
+        /**
+         * Creates a Polygon message from a plain object. Also converts values to their respective internal types.
+         * This is an alias of {@link message.Polygon.fromObject}.
+         * @function
+         * @param {Object.<string,*>} object Plain object
+         * @returns {message.Polygon} Polygon
+         */
+        Polygon.from = Polygon.fromObject;
+
+        /**
+         * Creates a plain object from a Polygon message. Also converts values to other types if specified.
+         * @param {message.Polygon} message Polygon
+         * @param {$protobuf.ConversionOptions} [options] Conversion options
+         * @returns {Object.<string,*>} Plain object
+         */
+        Polygon.toObject = function toObject(message, options) {
+            if (!options)
+                options = {};
+            var object = {};
+            if (options.defaults)
+                object.point = null;
+            if (message.point != null && message.hasOwnProperty("point"))
+                object.point = $root.vec2.toObject(message.point, options);
+            return object;
+        };
+
+        /**
+         * Creates a plain object from this Polygon message. Also converts values to other types if specified.
+         * @param {$protobuf.ConversionOptions} [options] Conversion options
+         * @returns {Object.<string,*>} Plain object
+         */
+        Polygon.prototype.toObject = function toObject(options) {
+            return this.constructor.toObject(this, options);
+        };
+
+        /**
+         * Converts this Polygon to JSON.
+         * @returns {Object.<string,*>} JSON object
+         */
+        Polygon.prototype.toJSON = function toJSON() {
+            return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+        };
+
+        return Polygon;
+    })();
+
+    message.audio = (function() {
+
+        /**
+         * Namespace audio.
+         * @exports message.audio
+         * @namespace
+         */
+        var audio = {};
+
+        audio.Beat = (function() {
+
+            /**
+             * Properties of a Beat.
+             * @typedef message.audio.Beat$Properties
+             * @type {Object}
+             * @property {google.protobuf.Timestamp$Properties} [timestamp] Beat timestamp.
+             * @property {google.protobuf.Duration$Properties} [period] Beat period.
+             */
+
+            /**
+             * Constructs a new Beat.
+             * @exports message.audio.Beat
+             * @constructor
+             * @param {message.audio.Beat$Properties=} [properties] Properties to set
+             */
+            function Beat(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Beat timestamp.
+             * @type {(google.protobuf.Timestamp$Properties|null)}
+             */
+            Beat.prototype.timestamp = null;
+
+            /**
+             * Beat period.
+             * @type {(google.protobuf.Duration$Properties|null)}
+             */
+            Beat.prototype.period = null;
+
+            /**
+             * Creates a new Beat instance using the specified properties.
+             * @param {message.audio.Beat$Properties=} [properties] Properties to set
+             * @returns {message.audio.Beat} Beat instance
+             */
+            Beat.create = function create(properties) {
+                return new Beat(properties);
+            };
+
+            /**
+             * Encodes the specified Beat message. Does not implicitly {@link message.audio.Beat.verify|verify} messages.
+             * @param {message.audio.Beat$Properties} message Beat message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            Beat.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.timestamp != null && message.hasOwnProperty("timestamp"))
+                    $root.google.protobuf.Timestamp.encode(message.timestamp, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                if (message.period != null && message.hasOwnProperty("period"))
+                    $root.google.protobuf.Duration.encode(message.period, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified Beat message, length delimited. Does not implicitly {@link message.audio.Beat.verify|verify} messages.
+             * @param {message.audio.Beat$Properties} message Beat message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            Beat.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a Beat message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.audio.Beat} Beat
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            Beat.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.audio.Beat();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.timestamp = $root.google.protobuf.Timestamp.decode(reader, reader.uint32());
+                        break;
+                    case 2:
+                        message.period = $root.google.protobuf.Duration.decode(reader, reader.uint32());
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a Beat message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.audio.Beat} Beat
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            Beat.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a Beat message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            Beat.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.timestamp != null && message.hasOwnProperty("timestamp")) {
+                    var error = $root.google.protobuf.Timestamp.verify(message.timestamp);
+                    if (error)
+                        return "timestamp." + error;
+                }
+                if (message.period != null && message.hasOwnProperty("period")) {
+                    var error = $root.google.protobuf.Duration.verify(message.period);
+                    if (error)
+                        return "period." + error;
+                }
+                return null;
+            };
+
+            /**
+             * Creates a Beat message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.audio.Beat} Beat
+             */
+            Beat.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.audio.Beat)
+                    return object;
+                var message = new $root.message.audio.Beat();
+                if (object.timestamp != null) {
+                    if (typeof object.timestamp !== "object")
+                        throw TypeError(".message.audio.Beat.timestamp: object expected");
+                    message.timestamp = $root.google.protobuf.Timestamp.fromObject(object.timestamp);
+                }
+                if (object.period != null) {
+                    if (typeof object.period !== "object")
+                        throw TypeError(".message.audio.Beat.period: object expected");
+                    message.period = $root.google.protobuf.Duration.fromObject(object.period);
+                }
+                return message;
+            };
+
+            /**
+             * Creates a Beat message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.audio.Beat.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.audio.Beat} Beat
+             */
+            Beat.from = Beat.fromObject;
+
+            /**
+             * Creates a plain object from a Beat message. Also converts values to other types if specified.
+             * @param {message.audio.Beat} message Beat
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            Beat.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults) {
+                    object.timestamp = null;
+                    object.period = null;
+                }
+                if (message.timestamp != null && message.hasOwnProperty("timestamp"))
+                    object.timestamp = $root.google.protobuf.Timestamp.toObject(message.timestamp, options);
+                if (message.period != null && message.hasOwnProperty("period"))
+                    object.period = $root.google.protobuf.Duration.toObject(message.period, options);
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this Beat message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            Beat.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this Beat to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            Beat.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return Beat;
+        })();
+
+        return audio;
+    })();
+
+    message.behaviour = (function() {
+
+        /**
+         * Namespace behaviour.
+         * @exports message.behaviour
+         * @namespace
+         */
+        var behaviour = {};
+
+        behaviour.Behaviour = (function() {
+
+            /**
+             * Properties of a Behaviour.
+             * @typedef message.behaviour.Behaviour$Properties
+             * @type {Object}
+             * @property {message.behaviour.Behaviour.State} [state] Behaviour state.
+             */
+
+            /**
+             * Constructs a new Behaviour.
+             * @exports message.behaviour.Behaviour
+             * @constructor
+             * @param {message.behaviour.Behaviour$Properties=} [properties] Properties to set
+             */
+            function Behaviour(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Behaviour state.
+             * @type {message.behaviour.Behaviour.State}
+             */
+            Behaviour.prototype.state = 0;
+
+            /**
+             * Creates a new Behaviour instance using the specified properties.
+             * @param {message.behaviour.Behaviour$Properties=} [properties] Properties to set
+             * @returns {message.behaviour.Behaviour} Behaviour instance
+             */
+            Behaviour.create = function create(properties) {
+                return new Behaviour(properties);
+            };
+
+            /**
+             * Encodes the specified Behaviour message. Does not implicitly {@link message.behaviour.Behaviour.verify|verify} messages.
+             * @param {message.behaviour.Behaviour$Properties} message Behaviour message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            Behaviour.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.state != null && message.hasOwnProperty("state"))
+                    writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.state);
+                return writer;
+            };
+
+            /**
+             * Encodes the specified Behaviour message, length delimited. Does not implicitly {@link message.behaviour.Behaviour.verify|verify} messages.
+             * @param {message.behaviour.Behaviour$Properties} message Behaviour message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            Behaviour.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a Behaviour message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.behaviour.Behaviour} Behaviour
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            Behaviour.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.behaviour.Behaviour();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.state = reader.uint32();
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a Behaviour message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.behaviour.Behaviour} Behaviour
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            Behaviour.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a Behaviour message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            Behaviour.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.state != null && message.hasOwnProperty("state"))
+                    switch (message.state) {
+                    default:
+                        return "state: enum value expected";
+                    case 0:
+                    case 1:
+                    case 2:
+                    case 3:
+                    case 4:
+                    case 5:
+                    case 6:
+                    case 7:
+                    case 8:
+                    case 9:
+                    case 10:
+                    case 11:
+                    case 12:
+                    case 13:
+                    case 14:
+                        break;
+                    }
+                return null;
+            };
+
+            /**
+             * Creates a Behaviour message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.Behaviour} Behaviour
+             */
+            Behaviour.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.behaviour.Behaviour)
+                    return object;
+                var message = new $root.message.behaviour.Behaviour();
+                switch (object.state) {
+                case "UNKNOWN":
+                case 0:
+                    message.state = 0;
+                    break;
+                case "INIT":
+                case 1:
+                    message.state = 1;
+                    break;
+                case "SEARCH_FOR_BALL":
+                case 2:
+                    message.state = 2;
+                    break;
+                case "SEARCH_FOR_GOALS":
+                case 3:
+                    message.state = 3;
+                    break;
+                case "WALK_TO_BALL":
+                case 4:
+                    message.state = 4;
+                    break;
+                case "PICKED_UP":
+                case 5:
+                    message.state = 5;
+                    break;
+                case "INITIAL":
+                case 6:
+                    message.state = 6;
+                    break;
+                case "READY":
+                case 7:
+                    message.state = 7;
+                    break;
+                case "SET":
+                case 8:
+                    message.state = 8;
+                    break;
+                case "TIMEOUT":
+                case 9:
+                    message.state = 9;
+                    break;
+                case "FINISHED":
+                case 10:
+                    message.state = 10;
+                    break;
+                case "PENALISED":
+                case 11:
+                    message.state = 11;
+                    break;
+                case "GOALIE_WALK":
+                case 12:
+                    message.state = 12;
+                    break;
+                case "MOVE_TO_CENTRE":
+                case 13:
+                    message.state = 13;
+                    break;
+                case "LOCALISING":
+                case 14:
+                    message.state = 14;
+                    break;
+                }
+                return message;
+            };
+
+            /**
+             * Creates a Behaviour message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.behaviour.Behaviour.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.Behaviour} Behaviour
+             */
+            Behaviour.from = Behaviour.fromObject;
+
+            /**
+             * Creates a plain object from a Behaviour message. Also converts values to other types if specified.
+             * @param {message.behaviour.Behaviour} message Behaviour
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            Behaviour.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults)
+                    object.state = options.enums === String ? "UNKNOWN" : 0;
+                if (message.state != null && message.hasOwnProperty("state"))
+                    object.state = options.enums === String ? $root.message.behaviour.Behaviour.State[message.state] : message.state;
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this Behaviour message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            Behaviour.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this Behaviour to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            Behaviour.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            /**
+             * State enum.
+             * @name State
+             * @memberof message.behaviour.Behaviour
+             * @enum {number}
+             * @property {number} UNKNOWN=0 UNKNOWN value
+             * @property {number} INIT=1 INIT value
+             * @property {number} SEARCH_FOR_BALL=2 SEARCH_FOR_BALL value
+             * @property {number} SEARCH_FOR_GOALS=3 SEARCH_FOR_GOALS value
+             * @property {number} WALK_TO_BALL=4 WALK_TO_BALL value
+             * @property {number} PICKED_UP=5 PICKED_UP value
+             * @property {number} INITIAL=6 INITIAL value
+             * @property {number} READY=7 READY value
+             * @property {number} SET=8 SET value
+             * @property {number} TIMEOUT=9 TIMEOUT value
+             * @property {number} FINISHED=10 FINISHED value
+             * @property {number} PENALISED=11 PENALISED value
+             * @property {number} GOALIE_WALK=12 GOALIE_WALK value
+             * @property {number} MOVE_TO_CENTRE=13 MOVE_TO_CENTRE value
+             * @property {number} LOCALISING=14 LOCALISING value
+             */
+            Behaviour.State = (function() {
+                var valuesById = {}, values = Object.create(valuesById);
+                values[valuesById[0] = "UNKNOWN"] = 0;
+                values[valuesById[1] = "INIT"] = 1;
+                values[valuesById[2] = "SEARCH_FOR_BALL"] = 2;
+                values[valuesById[3] = "SEARCH_FOR_GOALS"] = 3;
+                values[valuesById[4] = "WALK_TO_BALL"] = 4;
+                values[valuesById[5] = "PICKED_UP"] = 5;
+                values[valuesById[6] = "INITIAL"] = 6;
+                values[valuesById[7] = "READY"] = 7;
+                values[valuesById[8] = "SET"] = 8;
+                values[valuesById[9] = "TIMEOUT"] = 9;
+                values[valuesById[10] = "FINISHED"] = 10;
+                values[valuesById[11] = "PENALISED"] = 11;
+                values[valuesById[12] = "GOALIE_WALK"] = 12;
+                values[valuesById[13] = "MOVE_TO_CENTRE"] = 13;
+                values[valuesById[14] = "LOCALISING"] = 14;
+                return values;
+            })();
+
+            return Behaviour;
+        })();
+
+        behaviour.FieldTarget = (function() {
+
+            /**
+             * Properties of a FieldTarget.
+             * @typedef message.behaviour.FieldTarget$Properties
+             * @type {Object}
+             * @property {message.behaviour.FieldTarget.Target} [target] FieldTarget target.
+             */
+
+            /**
+             * Constructs a new FieldTarget.
+             * @exports message.behaviour.FieldTarget
+             * @constructor
+             * @param {message.behaviour.FieldTarget$Properties=} [properties] Properties to set
+             */
+            function FieldTarget(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * FieldTarget target.
+             * @type {message.behaviour.FieldTarget.Target}
+             */
+            FieldTarget.prototype.target = 0;
+
+            /**
+             * Creates a new FieldTarget instance using the specified properties.
+             * @param {message.behaviour.FieldTarget$Properties=} [properties] Properties to set
+             * @returns {message.behaviour.FieldTarget} FieldTarget instance
+             */
+            FieldTarget.create = function create(properties) {
+                return new FieldTarget(properties);
+            };
+
+            /**
+             * Encodes the specified FieldTarget message. Does not implicitly {@link message.behaviour.FieldTarget.verify|verify} messages.
+             * @param {message.behaviour.FieldTarget$Properties} message FieldTarget message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            FieldTarget.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.target != null && message.hasOwnProperty("target"))
+                    writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.target);
+                return writer;
+            };
+
+            /**
+             * Encodes the specified FieldTarget message, length delimited. Does not implicitly {@link message.behaviour.FieldTarget.verify|verify} messages.
+             * @param {message.behaviour.FieldTarget$Properties} message FieldTarget message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            FieldTarget.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a FieldTarget message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.behaviour.FieldTarget} FieldTarget
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            FieldTarget.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.behaviour.FieldTarget();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.target = reader.uint32();
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a FieldTarget message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.behaviour.FieldTarget} FieldTarget
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            FieldTarget.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a FieldTarget message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            FieldTarget.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.target != null && message.hasOwnProperty("target"))
+                    switch (message.target) {
+                    default:
+                        return "target: enum value expected";
+                    case 0:
+                    case 1:
+                    case 2:
+                        break;
+                    }
+                return null;
+            };
+
+            /**
+             * Creates a FieldTarget message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.FieldTarget} FieldTarget
+             */
+            FieldTarget.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.behaviour.FieldTarget)
+                    return object;
+                var message = new $root.message.behaviour.FieldTarget();
+                switch (object.target) {
+                case "SELF":
+                case 0:
+                    message.target = 0;
+                    break;
+                case "BALL":
+                case 1:
+                    message.target = 1;
+                    break;
+                case "GOAL":
+                case 2:
+                    message.target = 2;
+                    break;
+                }
+                return message;
+            };
+
+            /**
+             * Creates a FieldTarget message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.behaviour.FieldTarget.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.FieldTarget} FieldTarget
+             */
+            FieldTarget.from = FieldTarget.fromObject;
+
+            /**
+             * Creates a plain object from a FieldTarget message. Also converts values to other types if specified.
+             * @param {message.behaviour.FieldTarget} message FieldTarget
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            FieldTarget.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults)
+                    object.target = options.enums === String ? "SELF" : 0;
+                if (message.target != null && message.hasOwnProperty("target"))
+                    object.target = options.enums === String ? $root.message.behaviour.FieldTarget.Target[message.target] : message.target;
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this FieldTarget message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            FieldTarget.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this FieldTarget to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            FieldTarget.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            /**
+             * Target enum.
+             * @name Target
+             * @memberof message.behaviour.FieldTarget
+             * @enum {number}
+             * @property {number} SELF=0 SELF value
+             * @property {number} BALL=1 BALL value
+             * @property {number} GOAL=2 GOAL value
+             */
+            FieldTarget.Target = (function() {
+                var valuesById = {}, values = Object.create(valuesById);
+                values[valuesById[0] = "SELF"] = 0;
+                values[valuesById[1] = "BALL"] = 1;
+                values[valuesById[2] = "GOAL"] = 2;
+                return values;
+            })();
+
+            return FieldTarget;
+        })();
+
+        behaviour.FixedWalkFinished = (function() {
+
+            /**
+             * Properties of a FixedWalkFinished.
+             * @typedef message.behaviour.FixedWalkFinished$Properties
+             * @type {Object}
+             */
+
+            /**
+             * Constructs a new FixedWalkFinished.
+             * @exports message.behaviour.FixedWalkFinished
+             * @constructor
+             * @param {message.behaviour.FixedWalkFinished$Properties=} [properties] Properties to set
+             */
+            function FixedWalkFinished(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Creates a new FixedWalkFinished instance using the specified properties.
+             * @param {message.behaviour.FixedWalkFinished$Properties=} [properties] Properties to set
+             * @returns {message.behaviour.FixedWalkFinished} FixedWalkFinished instance
+             */
+            FixedWalkFinished.create = function create(properties) {
+                return new FixedWalkFinished(properties);
+            };
+
+            /**
+             * Encodes the specified FixedWalkFinished message. Does not implicitly {@link message.behaviour.FixedWalkFinished.verify|verify} messages.
+             * @param {message.behaviour.FixedWalkFinished$Properties} message FixedWalkFinished message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            FixedWalkFinished.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified FixedWalkFinished message, length delimited. Does not implicitly {@link message.behaviour.FixedWalkFinished.verify|verify} messages.
+             * @param {message.behaviour.FixedWalkFinished$Properties} message FixedWalkFinished message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            FixedWalkFinished.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a FixedWalkFinished message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.behaviour.FixedWalkFinished} FixedWalkFinished
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            FixedWalkFinished.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.behaviour.FixedWalkFinished();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a FixedWalkFinished message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.behaviour.FixedWalkFinished} FixedWalkFinished
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            FixedWalkFinished.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a FixedWalkFinished message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            FixedWalkFinished.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                return null;
+            };
+
+            /**
+             * Creates a FixedWalkFinished message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.FixedWalkFinished} FixedWalkFinished
+             */
+            FixedWalkFinished.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.behaviour.FixedWalkFinished)
+                    return object;
+                return new $root.message.behaviour.FixedWalkFinished();
+            };
+
+            /**
+             * Creates a FixedWalkFinished message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.behaviour.FixedWalkFinished.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.FixedWalkFinished} FixedWalkFinished
+             */
+            FixedWalkFinished.from = FixedWalkFinished.fromObject;
+
+            /**
+             * Creates a plain object from a FixedWalkFinished message. Also converts values to other types if specified.
+             * @param {message.behaviour.FixedWalkFinished} message FixedWalkFinished
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            FixedWalkFinished.toObject = function toObject() {
+                return {};
+            };
+
+            /**
+             * Creates a plain object from this FixedWalkFinished message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            FixedWalkFinished.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this FixedWalkFinished to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            FixedWalkFinished.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return FixedWalkFinished;
+        })();
+
+        behaviour.WalkConfigSaved = (function() {
+
+            /**
+             * Properties of a WalkConfigSaved.
+             * @typedef message.behaviour.WalkConfigSaved$Properties
+             * @type {Object}
+             */
+
+            /**
+             * Constructs a new WalkConfigSaved.
+             * @exports message.behaviour.WalkConfigSaved
+             * @constructor
+             * @param {message.behaviour.WalkConfigSaved$Properties=} [properties] Properties to set
+             */
+            function WalkConfigSaved(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Creates a new WalkConfigSaved instance using the specified properties.
+             * @param {message.behaviour.WalkConfigSaved$Properties=} [properties] Properties to set
+             * @returns {message.behaviour.WalkConfigSaved} WalkConfigSaved instance
+             */
+            WalkConfigSaved.create = function create(properties) {
+                return new WalkConfigSaved(properties);
+            };
+
+            /**
+             * Encodes the specified WalkConfigSaved message. Does not implicitly {@link message.behaviour.WalkConfigSaved.verify|verify} messages.
+             * @param {message.behaviour.WalkConfigSaved$Properties} message WalkConfigSaved message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            WalkConfigSaved.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified WalkConfigSaved message, length delimited. Does not implicitly {@link message.behaviour.WalkConfigSaved.verify|verify} messages.
+             * @param {message.behaviour.WalkConfigSaved$Properties} message WalkConfigSaved message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            WalkConfigSaved.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a WalkConfigSaved message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.behaviour.WalkConfigSaved} WalkConfigSaved
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            WalkConfigSaved.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.behaviour.WalkConfigSaved();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a WalkConfigSaved message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.behaviour.WalkConfigSaved} WalkConfigSaved
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            WalkConfigSaved.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a WalkConfigSaved message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            WalkConfigSaved.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                return null;
+            };
+
+            /**
+             * Creates a WalkConfigSaved message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.WalkConfigSaved} WalkConfigSaved
+             */
+            WalkConfigSaved.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.behaviour.WalkConfigSaved)
+                    return object;
+                return new $root.message.behaviour.WalkConfigSaved();
+            };
+
+            /**
+             * Creates a WalkConfigSaved message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.behaviour.WalkConfigSaved.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.WalkConfigSaved} WalkConfigSaved
+             */
+            WalkConfigSaved.from = WalkConfigSaved.fromObject;
+
+            /**
+             * Creates a plain object from a WalkConfigSaved message. Also converts values to other types if specified.
+             * @param {message.behaviour.WalkConfigSaved} message WalkConfigSaved
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            WalkConfigSaved.toObject = function toObject() {
+                return {};
+            };
+
+            /**
+             * Creates a plain object from this WalkConfigSaved message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            WalkConfigSaved.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this WalkConfigSaved to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            WalkConfigSaved.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return WalkConfigSaved;
+        })();
+
+        behaviour.CancelFixedWalk = (function() {
+
+            /**
+             * Properties of a CancelFixedWalk.
+             * @typedef message.behaviour.CancelFixedWalk$Properties
+             * @type {Object}
+             */
+
+            /**
+             * Constructs a new CancelFixedWalk.
+             * @exports message.behaviour.CancelFixedWalk
+             * @constructor
+             * @param {message.behaviour.CancelFixedWalk$Properties=} [properties] Properties to set
+             */
+            function CancelFixedWalk(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Creates a new CancelFixedWalk instance using the specified properties.
+             * @param {message.behaviour.CancelFixedWalk$Properties=} [properties] Properties to set
+             * @returns {message.behaviour.CancelFixedWalk} CancelFixedWalk instance
+             */
+            CancelFixedWalk.create = function create(properties) {
+                return new CancelFixedWalk(properties);
+            };
+
+            /**
+             * Encodes the specified CancelFixedWalk message. Does not implicitly {@link message.behaviour.CancelFixedWalk.verify|verify} messages.
+             * @param {message.behaviour.CancelFixedWalk$Properties} message CancelFixedWalk message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            CancelFixedWalk.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified CancelFixedWalk message, length delimited. Does not implicitly {@link message.behaviour.CancelFixedWalk.verify|verify} messages.
+             * @param {message.behaviour.CancelFixedWalk$Properties} message CancelFixedWalk message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            CancelFixedWalk.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a CancelFixedWalk message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.behaviour.CancelFixedWalk} CancelFixedWalk
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            CancelFixedWalk.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.behaviour.CancelFixedWalk();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a CancelFixedWalk message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.behaviour.CancelFixedWalk} CancelFixedWalk
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            CancelFixedWalk.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a CancelFixedWalk message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            CancelFixedWalk.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                return null;
+            };
+
+            /**
+             * Creates a CancelFixedWalk message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.CancelFixedWalk} CancelFixedWalk
+             */
+            CancelFixedWalk.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.behaviour.CancelFixedWalk)
+                    return object;
+                return new $root.message.behaviour.CancelFixedWalk();
+            };
+
+            /**
+             * Creates a CancelFixedWalk message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.behaviour.CancelFixedWalk.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.CancelFixedWalk} CancelFixedWalk
+             */
+            CancelFixedWalk.from = CancelFixedWalk.fromObject;
+
+            /**
+             * Creates a plain object from a CancelFixedWalk message. Also converts values to other types if specified.
+             * @param {message.behaviour.CancelFixedWalk} message CancelFixedWalk
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            CancelFixedWalk.toObject = function toObject() {
+                return {};
+            };
+
+            /**
+             * Creates a plain object from this CancelFixedWalk message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            CancelFixedWalk.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this CancelFixedWalk to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            CancelFixedWalk.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return CancelFixedWalk;
+        })();
+
+        behaviour.WalkOptimiserCommand = (function() {
+
+            /**
+             * Properties of a WalkOptimiserCommand.
+             * @typedef message.behaviour.WalkOptimiserCommand$Properties
+             * @type {Object}
+             * @property {string} [walkConfig] WalkOptimiserCommand walkConfig.
+             */
+
+            /**
+             * Constructs a new WalkOptimiserCommand.
+             * @exports message.behaviour.WalkOptimiserCommand
+             * @constructor
+             * @param {message.behaviour.WalkOptimiserCommand$Properties=} [properties] Properties to set
+             */
+            function WalkOptimiserCommand(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * WalkOptimiserCommand walkConfig.
+             * @type {string}
+             */
+            WalkOptimiserCommand.prototype.walkConfig = "";
+
+            /**
+             * Creates a new WalkOptimiserCommand instance using the specified properties.
+             * @param {message.behaviour.WalkOptimiserCommand$Properties=} [properties] Properties to set
+             * @returns {message.behaviour.WalkOptimiserCommand} WalkOptimiserCommand instance
+             */
+            WalkOptimiserCommand.create = function create(properties) {
+                return new WalkOptimiserCommand(properties);
+            };
+
+            /**
+             * Encodes the specified WalkOptimiserCommand message. Does not implicitly {@link message.behaviour.WalkOptimiserCommand.verify|verify} messages.
+             * @param {message.behaviour.WalkOptimiserCommand$Properties} message WalkOptimiserCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            WalkOptimiserCommand.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.walkConfig != null && message.hasOwnProperty("walkConfig"))
+                    writer.uint32(/* id 1, wireType 2 =*/10).string(message.walkConfig);
+                return writer;
+            };
+
+            /**
+             * Encodes the specified WalkOptimiserCommand message, length delimited. Does not implicitly {@link message.behaviour.WalkOptimiserCommand.verify|verify} messages.
+             * @param {message.behaviour.WalkOptimiserCommand$Properties} message WalkOptimiserCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            WalkOptimiserCommand.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a WalkOptimiserCommand message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.behaviour.WalkOptimiserCommand} WalkOptimiserCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            WalkOptimiserCommand.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.behaviour.WalkOptimiserCommand();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.walkConfig = reader.string();
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a WalkOptimiserCommand message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.behaviour.WalkOptimiserCommand} WalkOptimiserCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            WalkOptimiserCommand.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a WalkOptimiserCommand message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            WalkOptimiserCommand.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.walkConfig != null && message.hasOwnProperty("walkConfig"))
+                    if (!$util.isString(message.walkConfig))
+                        return "walkConfig: string expected";
+                return null;
+            };
+
+            /**
+             * Creates a WalkOptimiserCommand message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.WalkOptimiserCommand} WalkOptimiserCommand
+             */
+            WalkOptimiserCommand.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.behaviour.WalkOptimiserCommand)
+                    return object;
+                var message = new $root.message.behaviour.WalkOptimiserCommand();
+                if (object.walkConfig != null)
+                    message.walkConfig = String(object.walkConfig);
+                return message;
+            };
+
+            /**
+             * Creates a WalkOptimiserCommand message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.behaviour.WalkOptimiserCommand.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.WalkOptimiserCommand} WalkOptimiserCommand
+             */
+            WalkOptimiserCommand.from = WalkOptimiserCommand.fromObject;
+
+            /**
+             * Creates a plain object from a WalkOptimiserCommand message. Also converts values to other types if specified.
+             * @param {message.behaviour.WalkOptimiserCommand} message WalkOptimiserCommand
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            WalkOptimiserCommand.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults)
+                    object.walkConfig = "";
+                if (message.walkConfig != null && message.hasOwnProperty("walkConfig"))
+                    object.walkConfig = message.walkConfig;
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this WalkOptimiserCommand message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            WalkOptimiserCommand.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this WalkOptimiserCommand to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            WalkOptimiserCommand.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return WalkOptimiserCommand;
+        })();
+
+        behaviour.FixedWalkCommand = (function() {
+
+            /**
+             * Properties of a FixedWalkCommand.
+             * @typedef message.behaviour.FixedWalkCommand$Properties
+             * @type {Object}
+             * @property {Array.<message.behaviour.FixedWalkCommand.WalkSegment$Properties>} [segments] FixedWalkCommand segments.
+             */
+
+            /**
+             * Constructs a new FixedWalkCommand.
+             * @exports message.behaviour.FixedWalkCommand
+             * @constructor
+             * @param {message.behaviour.FixedWalkCommand$Properties=} [properties] Properties to set
+             */
+            function FixedWalkCommand(properties) {
+                this.segments = [];
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * FixedWalkCommand segments.
+             * @type {Array.<message.behaviour.FixedWalkCommand.WalkSegment$Properties>}
+             */
+            FixedWalkCommand.prototype.segments = $util.emptyArray;
+
+            /**
+             * Creates a new FixedWalkCommand instance using the specified properties.
+             * @param {message.behaviour.FixedWalkCommand$Properties=} [properties] Properties to set
+             * @returns {message.behaviour.FixedWalkCommand} FixedWalkCommand instance
+             */
+            FixedWalkCommand.create = function create(properties) {
+                return new FixedWalkCommand(properties);
+            };
+
+            /**
+             * Encodes the specified FixedWalkCommand message. Does not implicitly {@link message.behaviour.FixedWalkCommand.verify|verify} messages.
+             * @param {message.behaviour.FixedWalkCommand$Properties} message FixedWalkCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            FixedWalkCommand.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.segments != null && message.segments.length)
+                    for (var i = 0; i < message.segments.length; ++i)
+                        $root.message.behaviour.FixedWalkCommand.WalkSegment.encode(message.segments[i], writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified FixedWalkCommand message, length delimited. Does not implicitly {@link message.behaviour.FixedWalkCommand.verify|verify} messages.
+             * @param {message.behaviour.FixedWalkCommand$Properties} message FixedWalkCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            FixedWalkCommand.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a FixedWalkCommand message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.behaviour.FixedWalkCommand} FixedWalkCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            FixedWalkCommand.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.behaviour.FixedWalkCommand();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        if (!(message.segments && message.segments.length))
+                            message.segments = [];
+                        message.segments.push($root.message.behaviour.FixedWalkCommand.WalkSegment.decode(reader, reader.uint32()));
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a FixedWalkCommand message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.behaviour.FixedWalkCommand} FixedWalkCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            FixedWalkCommand.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a FixedWalkCommand message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            FixedWalkCommand.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.segments != null && message.hasOwnProperty("segments")) {
+                    if (!Array.isArray(message.segments))
+                        return "segments: array expected";
+                    for (var i = 0; i < message.segments.length; ++i) {
+                        var error = $root.message.behaviour.FixedWalkCommand.WalkSegment.verify(message.segments[i]);
+                        if (error)
+                            return "segments." + error;
+                    }
+                }
+                return null;
+            };
+
+            /**
+             * Creates a FixedWalkCommand message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.FixedWalkCommand} FixedWalkCommand
+             */
+            FixedWalkCommand.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.behaviour.FixedWalkCommand)
+                    return object;
+                var message = new $root.message.behaviour.FixedWalkCommand();
+                if (object.segments) {
+                    if (!Array.isArray(object.segments))
+                        throw TypeError(".message.behaviour.FixedWalkCommand.segments: array expected");
+                    message.segments = [];
+                    for (var i = 0; i < object.segments.length; ++i) {
+                        if (typeof object.segments[i] !== "object")
+                            throw TypeError(".message.behaviour.FixedWalkCommand.segments: object expected");
+                        message.segments[i] = $root.message.behaviour.FixedWalkCommand.WalkSegment.fromObject(object.segments[i]);
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Creates a FixedWalkCommand message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.behaviour.FixedWalkCommand.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.FixedWalkCommand} FixedWalkCommand
+             */
+            FixedWalkCommand.from = FixedWalkCommand.fromObject;
+
+            /**
+             * Creates a plain object from a FixedWalkCommand message. Also converts values to other types if specified.
+             * @param {message.behaviour.FixedWalkCommand} message FixedWalkCommand
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            FixedWalkCommand.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.arrays || options.defaults)
+                    object.segments = [];
+                if (message.segments && message.segments.length) {
+                    object.segments = [];
+                    for (var j = 0; j < message.segments.length; ++j)
+                        object.segments[j] = $root.message.behaviour.FixedWalkCommand.WalkSegment.toObject(message.segments[j], options);
+                }
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this FixedWalkCommand message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            FixedWalkCommand.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this FixedWalkCommand to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            FixedWalkCommand.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            FixedWalkCommand.WalkSegment = (function() {
+
+                /**
+                 * Properties of a WalkSegment.
+                 * @typedef message.behaviour.FixedWalkCommand.WalkSegment$Properties
+                 * @type {Object}
+                 * @property {vec2$Properties} [direction] WalkSegment direction.
+                 * @property {number} [curvePeriod] WalkSegment curvePeriod.
+                 * @property {number} [normalisedVelocity] WalkSegment normalisedVelocity.
+                 * @property {number} [normalisedAngularVelocity] WalkSegment normalisedAngularVelocity.
+                 * @property {google.protobuf.Duration$Properties} [duration] WalkSegment duration.
+                 */
+
+                /**
+                 * Constructs a new WalkSegment.
+                 * @exports message.behaviour.FixedWalkCommand.WalkSegment
+                 * @constructor
+                 * @param {message.behaviour.FixedWalkCommand.WalkSegment$Properties=} [properties] Properties to set
+                 */
+                function WalkSegment(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * WalkSegment direction.
+                 * @type {(vec2$Properties|null)}
+                 */
+                WalkSegment.prototype.direction = null;
+
+                /**
+                 * WalkSegment curvePeriod.
+                 * @type {number}
+                 */
+                WalkSegment.prototype.curvePeriod = 0;
+
+                /**
+                 * WalkSegment normalisedVelocity.
+                 * @type {number}
+                 */
+                WalkSegment.prototype.normalisedVelocity = 0;
+
+                /**
+                 * WalkSegment normalisedAngularVelocity.
+                 * @type {number}
+                 */
+                WalkSegment.prototype.normalisedAngularVelocity = 0;
+
+                /**
+                 * WalkSegment duration.
+                 * @type {(google.protobuf.Duration$Properties|null)}
+                 */
+                WalkSegment.prototype.duration = null;
+
+                /**
+                 * Creates a new WalkSegment instance using the specified properties.
+                 * @param {message.behaviour.FixedWalkCommand.WalkSegment$Properties=} [properties] Properties to set
+                 * @returns {message.behaviour.FixedWalkCommand.WalkSegment} WalkSegment instance
+                 */
+                WalkSegment.create = function create(properties) {
+                    return new WalkSegment(properties);
+                };
+
+                /**
+                 * Encodes the specified WalkSegment message. Does not implicitly {@link message.behaviour.FixedWalkCommand.WalkSegment.verify|verify} messages.
+                 * @param {message.behaviour.FixedWalkCommand.WalkSegment$Properties} message WalkSegment message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                WalkSegment.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.direction != null && message.hasOwnProperty("direction"))
+                        $root.vec2.encode(message.direction, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                    if (message.curvePeriod != null && message.hasOwnProperty("curvePeriod"))
+                        writer.uint32(/* id 2, wireType 1 =*/17).double(message.curvePeriod);
+                    if (message.normalisedVelocity != null && message.hasOwnProperty("normalisedVelocity"))
+                        writer.uint32(/* id 3, wireType 1 =*/25).double(message.normalisedVelocity);
+                    if (message.normalisedAngularVelocity != null && message.hasOwnProperty("normalisedAngularVelocity"))
+                        writer.uint32(/* id 4, wireType 1 =*/33).double(message.normalisedAngularVelocity);
+                    if (message.duration != null && message.hasOwnProperty("duration"))
+                        $root.google.protobuf.Duration.encode(message.duration, writer.uint32(/* id 5, wireType 2 =*/42).fork()).ldelim();
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified WalkSegment message, length delimited. Does not implicitly {@link message.behaviour.FixedWalkCommand.WalkSegment.verify|verify} messages.
+                 * @param {message.behaviour.FixedWalkCommand.WalkSegment$Properties} message WalkSegment message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                WalkSegment.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a WalkSegment message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.behaviour.FixedWalkCommand.WalkSegment} WalkSegment
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                WalkSegment.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.behaviour.FixedWalkCommand.WalkSegment();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.direction = $root.vec2.decode(reader, reader.uint32());
+                            break;
+                        case 2:
+                            message.curvePeriod = reader.double();
+                            break;
+                        case 3:
+                            message.normalisedVelocity = reader.double();
+                            break;
+                        case 4:
+                            message.normalisedAngularVelocity = reader.double();
+                            break;
+                        case 5:
+                            message.duration = $root.google.protobuf.Duration.decode(reader, reader.uint32());
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a WalkSegment message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.behaviour.FixedWalkCommand.WalkSegment} WalkSegment
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                WalkSegment.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a WalkSegment message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                WalkSegment.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.direction != null && message.hasOwnProperty("direction")) {
+                        var error = $root.vec2.verify(message.direction);
+                        if (error)
+                            return "direction." + error;
+                    }
+                    if (message.curvePeriod != null && message.hasOwnProperty("curvePeriod"))
+                        if (typeof message.curvePeriod !== "number")
+                            return "curvePeriod: number expected";
+                    if (message.normalisedVelocity != null && message.hasOwnProperty("normalisedVelocity"))
+                        if (typeof message.normalisedVelocity !== "number")
+                            return "normalisedVelocity: number expected";
+                    if (message.normalisedAngularVelocity != null && message.hasOwnProperty("normalisedAngularVelocity"))
+                        if (typeof message.normalisedAngularVelocity !== "number")
+                            return "normalisedAngularVelocity: number expected";
+                    if (message.duration != null && message.hasOwnProperty("duration")) {
+                        var error = $root.google.protobuf.Duration.verify(message.duration);
+                        if (error)
+                            return "duration." + error;
+                    }
+                    return null;
+                };
+
+                /**
+                 * Creates a WalkSegment message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.behaviour.FixedWalkCommand.WalkSegment} WalkSegment
+                 */
+                WalkSegment.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.behaviour.FixedWalkCommand.WalkSegment)
+                        return object;
+                    var message = new $root.message.behaviour.FixedWalkCommand.WalkSegment();
+                    if (object.direction != null) {
+                        if (typeof object.direction !== "object")
+                            throw TypeError(".message.behaviour.FixedWalkCommand.WalkSegment.direction: object expected");
+                        message.direction = $root.vec2.fromObject(object.direction);
+                    }
+                    if (object.curvePeriod != null)
+                        message.curvePeriod = Number(object.curvePeriod);
+                    if (object.normalisedVelocity != null)
+                        message.normalisedVelocity = Number(object.normalisedVelocity);
+                    if (object.normalisedAngularVelocity != null)
+                        message.normalisedAngularVelocity = Number(object.normalisedAngularVelocity);
+                    if (object.duration != null) {
+                        if (typeof object.duration !== "object")
+                            throw TypeError(".message.behaviour.FixedWalkCommand.WalkSegment.duration: object expected");
+                        message.duration = $root.google.protobuf.Duration.fromObject(object.duration);
+                    }
+                    return message;
+                };
+
+                /**
+                 * Creates a WalkSegment message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.behaviour.FixedWalkCommand.WalkSegment.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.behaviour.FixedWalkCommand.WalkSegment} WalkSegment
+                 */
+                WalkSegment.from = WalkSegment.fromObject;
+
+                /**
+                 * Creates a plain object from a WalkSegment message. Also converts values to other types if specified.
+                 * @param {message.behaviour.FixedWalkCommand.WalkSegment} message WalkSegment
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                WalkSegment.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.defaults) {
+                        object.direction = null;
+                        object.curvePeriod = 0;
+                        object.normalisedVelocity = 0;
+                        object.normalisedAngularVelocity = 0;
+                        object.duration = null;
+                    }
+                    if (message.direction != null && message.hasOwnProperty("direction"))
+                        object.direction = $root.vec2.toObject(message.direction, options);
+                    if (message.curvePeriod != null && message.hasOwnProperty("curvePeriod"))
+                        object.curvePeriod = message.curvePeriod;
+                    if (message.normalisedVelocity != null && message.hasOwnProperty("normalisedVelocity"))
+                        object.normalisedVelocity = message.normalisedVelocity;
+                    if (message.normalisedAngularVelocity != null && message.hasOwnProperty("normalisedAngularVelocity"))
+                        object.normalisedAngularVelocity = message.normalisedAngularVelocity;
+                    if (message.duration != null && message.hasOwnProperty("duration"))
+                        object.duration = $root.google.protobuf.Duration.toObject(message.duration, options);
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this WalkSegment message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                WalkSegment.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this WalkSegment to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                WalkSegment.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return WalkSegment;
+            })();
+
+            return FixedWalkCommand;
+        })();
+
+        behaviour.KickPlan = (function() {
+
+            /**
+             * Properties of a KickPlan.
+             * @typedef message.behaviour.KickPlan$Properties
+             * @type {Object}
+             * @property {vec2$Properties} [target] KickPlan target.
+             * @property {message.behaviour.KickPlan.KickType} [kickType] KickPlan kickType.
+             */
+
+            /**
+             * Constructs a new KickPlan.
+             * @exports message.behaviour.KickPlan
+             * @constructor
+             * @param {message.behaviour.KickPlan$Properties=} [properties] Properties to set
+             */
+            function KickPlan(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * KickPlan target.
+             * @type {(vec2$Properties|null)}
+             */
+            KickPlan.prototype.target = null;
+
+            /**
+             * KickPlan kickType.
+             * @type {message.behaviour.KickPlan.KickType}
+             */
+            KickPlan.prototype.kickType = 0;
+
+            /**
+             * Creates a new KickPlan instance using the specified properties.
+             * @param {message.behaviour.KickPlan$Properties=} [properties] Properties to set
+             * @returns {message.behaviour.KickPlan} KickPlan instance
+             */
+            KickPlan.create = function create(properties) {
+                return new KickPlan(properties);
+            };
+
+            /**
+             * Encodes the specified KickPlan message. Does not implicitly {@link message.behaviour.KickPlan.verify|verify} messages.
+             * @param {message.behaviour.KickPlan$Properties} message KickPlan message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            KickPlan.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.target != null && message.hasOwnProperty("target"))
+                    $root.vec2.encode(message.target, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                if (message.kickType != null && message.hasOwnProperty("kickType"))
+                    writer.uint32(/* id 2, wireType 0 =*/16).uint32(message.kickType);
+                return writer;
+            };
+
+            /**
+             * Encodes the specified KickPlan message, length delimited. Does not implicitly {@link message.behaviour.KickPlan.verify|verify} messages.
+             * @param {message.behaviour.KickPlan$Properties} message KickPlan message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            KickPlan.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a KickPlan message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.behaviour.KickPlan} KickPlan
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            KickPlan.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.behaviour.KickPlan();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.target = $root.vec2.decode(reader, reader.uint32());
+                        break;
+                    case 2:
+                        message.kickType = reader.uint32();
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a KickPlan message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.behaviour.KickPlan} KickPlan
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            KickPlan.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a KickPlan message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            KickPlan.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.target != null && message.hasOwnProperty("target")) {
+                    var error = $root.vec2.verify(message.target);
+                    if (error)
+                        return "target." + error;
+                }
+                if (message.kickType != null && message.hasOwnProperty("kickType"))
+                    switch (message.kickType) {
+                    default:
+                        return "kickType: enum value expected";
+                    case 0:
+                    case 1:
+                        break;
+                    }
+                return null;
+            };
+
+            /**
+             * Creates a KickPlan message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.KickPlan} KickPlan
+             */
+            KickPlan.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.behaviour.KickPlan)
+                    return object;
+                var message = new $root.message.behaviour.KickPlan();
+                if (object.target != null) {
+                    if (typeof object.target !== "object")
+                        throw TypeError(".message.behaviour.KickPlan.target: object expected");
+                    message.target = $root.vec2.fromObject(object.target);
+                }
+                switch (object.kickType) {
+                case "SCRIPTED":
+                case 0:
+                    message.kickType = 0;
+                    break;
+                case "IK_KICK":
+                case 1:
+                    message.kickType = 1;
+                    break;
+                }
+                return message;
+            };
+
+            /**
+             * Creates a KickPlan message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.behaviour.KickPlan.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.KickPlan} KickPlan
+             */
+            KickPlan.from = KickPlan.fromObject;
+
+            /**
+             * Creates a plain object from a KickPlan message. Also converts values to other types if specified.
+             * @param {message.behaviour.KickPlan} message KickPlan
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            KickPlan.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults) {
+                    object.target = null;
+                    object.kickType = options.enums === String ? "SCRIPTED" : 0;
+                }
+                if (message.target != null && message.hasOwnProperty("target"))
+                    object.target = $root.vec2.toObject(message.target, options);
+                if (message.kickType != null && message.hasOwnProperty("kickType"))
+                    object.kickType = options.enums === String ? $root.message.behaviour.KickPlan.KickType[message.kickType] : message.kickType;
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this KickPlan message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            KickPlan.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this KickPlan to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            KickPlan.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            /**
+             * KickType enum.
+             * @name KickType
+             * @memberof message.behaviour.KickPlan
+             * @enum {number}
+             * @property {number} SCRIPTED=0 SCRIPTED value
+             * @property {number} IK_KICK=1 IK_KICK value
+             */
+            KickPlan.KickType = (function() {
+                var valuesById = {}, values = Object.create(valuesById);
+                values[valuesById[0] = "SCRIPTED"] = 0;
+                values[valuesById[1] = "IK_KICK"] = 1;
+                return values;
+            })();
+
+            return KickPlan;
+        })();
+
+        behaviour.WantsToKick = (function() {
+
+            /**
+             * Properties of a WantsToKick.
+             * @typedef message.behaviour.WantsToKick$Properties
+             * @type {Object}
+             * @property {boolean} [kick] WantsToKick kick.
+             */
+
+            /**
+             * Constructs a new WantsToKick.
+             * @exports message.behaviour.WantsToKick
+             * @constructor
+             * @param {message.behaviour.WantsToKick$Properties=} [properties] Properties to set
+             */
+            function WantsToKick(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * WantsToKick kick.
+             * @type {boolean}
+             */
+            WantsToKick.prototype.kick = false;
+
+            /**
+             * Creates a new WantsToKick instance using the specified properties.
+             * @param {message.behaviour.WantsToKick$Properties=} [properties] Properties to set
+             * @returns {message.behaviour.WantsToKick} WantsToKick instance
+             */
+            WantsToKick.create = function create(properties) {
+                return new WantsToKick(properties);
+            };
+
+            /**
+             * Encodes the specified WantsToKick message. Does not implicitly {@link message.behaviour.WantsToKick.verify|verify} messages.
+             * @param {message.behaviour.WantsToKick$Properties} message WantsToKick message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            WantsToKick.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.kick != null && message.hasOwnProperty("kick"))
+                    writer.uint32(/* id 1, wireType 0 =*/8).bool(message.kick);
+                return writer;
+            };
+
+            /**
+             * Encodes the specified WantsToKick message, length delimited. Does not implicitly {@link message.behaviour.WantsToKick.verify|verify} messages.
+             * @param {message.behaviour.WantsToKick$Properties} message WantsToKick message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            WantsToKick.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a WantsToKick message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.behaviour.WantsToKick} WantsToKick
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            WantsToKick.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.behaviour.WantsToKick();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.kick = reader.bool();
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a WantsToKick message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.behaviour.WantsToKick} WantsToKick
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            WantsToKick.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a WantsToKick message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            WantsToKick.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.kick != null && message.hasOwnProperty("kick"))
+                    if (typeof message.kick !== "boolean")
+                        return "kick: boolean expected";
+                return null;
+            };
+
+            /**
+             * Creates a WantsToKick message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.WantsToKick} WantsToKick
+             */
+            WantsToKick.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.behaviour.WantsToKick)
+                    return object;
+                var message = new $root.message.behaviour.WantsToKick();
+                if (object.kick != null)
+                    message.kick = Boolean(object.kick);
+                return message;
+            };
+
+            /**
+             * Creates a WantsToKick message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.behaviour.WantsToKick.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.WantsToKick} WantsToKick
+             */
+            WantsToKick.from = WantsToKick.fromObject;
+
+            /**
+             * Creates a plain object from a WantsToKick message. Also converts values to other types if specified.
+             * @param {message.behaviour.WantsToKick} message WantsToKick
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            WantsToKick.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults)
+                    object.kick = false;
+                if (message.kick != null && message.hasOwnProperty("kick"))
+                    object.kick = message.kick;
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this WantsToKick message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            WantsToKick.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this WantsToKick to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            WantsToKick.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return WantsToKick;
+        })();
+
+        behaviour.Look = (function() {
+
+            /**
+             * Properties of a Look.
+             * @typedef message.behaviour.Look$Properties
+             * @type {Object}
+             */
+
+            /**
+             * Constructs a new Look.
+             * @exports message.behaviour.Look
+             * @constructor
+             * @param {message.behaviour.Look$Properties=} [properties] Properties to set
+             */
+            function Look(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Creates a new Look instance using the specified properties.
+             * @param {message.behaviour.Look$Properties=} [properties] Properties to set
+             * @returns {message.behaviour.Look} Look instance
+             */
+            Look.create = function create(properties) {
+                return new Look(properties);
+            };
+
+            /**
+             * Encodes the specified Look message. Does not implicitly {@link message.behaviour.Look.verify|verify} messages.
+             * @param {message.behaviour.Look$Properties} message Look message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            Look.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified Look message, length delimited. Does not implicitly {@link message.behaviour.Look.verify|verify} messages.
+             * @param {message.behaviour.Look$Properties} message Look message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            Look.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a Look message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.behaviour.Look} Look
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            Look.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.behaviour.Look();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a Look message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.behaviour.Look} Look
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            Look.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a Look message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            Look.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                return null;
+            };
+
+            /**
+             * Creates a Look message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.Look} Look
+             */
+            Look.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.behaviour.Look)
+                    return object;
+                return new $root.message.behaviour.Look();
+            };
+
+            /**
+             * Creates a Look message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.behaviour.Look.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.Look} Look
+             */
+            Look.from = Look.fromObject;
+
+            /**
+             * Creates a plain object from a Look message. Also converts values to other types if specified.
+             * @param {message.behaviour.Look} message Look
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            Look.toObject = function toObject() {
+                return {};
+            };
+
+            /**
+             * Creates a plain object from this Look message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            Look.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this Look to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            Look.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            Look.Fixation = (function() {
+
+                /**
+                 * Properties of a Fixation.
+                 * @typedef message.behaviour.Look.Fixation$Properties
+                 * @type {Object}
+                 * @property {vec2$Properties} [angle] Fixation angle.
+                 * @property {vec2$Properties} [arcSize] Fixation arcSize.
+                 */
+
+                /**
+                 * Constructs a new Fixation.
+                 * @exports message.behaviour.Look.Fixation
+                 * @constructor
+                 * @param {message.behaviour.Look.Fixation$Properties=} [properties] Properties to set
+                 */
+                function Fixation(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * Fixation angle.
+                 * @type {(vec2$Properties|null)}
+                 */
+                Fixation.prototype.angle = null;
+
+                /**
+                 * Fixation arcSize.
+                 * @type {(vec2$Properties|null)}
+                 */
+                Fixation.prototype.arcSize = null;
+
+                /**
+                 * Creates a new Fixation instance using the specified properties.
+                 * @param {message.behaviour.Look.Fixation$Properties=} [properties] Properties to set
+                 * @returns {message.behaviour.Look.Fixation} Fixation instance
+                 */
+                Fixation.create = function create(properties) {
+                    return new Fixation(properties);
+                };
+
+                /**
+                 * Encodes the specified Fixation message. Does not implicitly {@link message.behaviour.Look.Fixation.verify|verify} messages.
+                 * @param {message.behaviour.Look.Fixation$Properties} message Fixation message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Fixation.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.angle != null && message.hasOwnProperty("angle"))
+                        $root.vec2.encode(message.angle, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                    if (message.arcSize != null && message.hasOwnProperty("arcSize"))
+                        $root.vec2.encode(message.arcSize, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified Fixation message, length delimited. Does not implicitly {@link message.behaviour.Look.Fixation.verify|verify} messages.
+                 * @param {message.behaviour.Look.Fixation$Properties} message Fixation message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Fixation.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a Fixation message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.behaviour.Look.Fixation} Fixation
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Fixation.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.behaviour.Look.Fixation();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.angle = $root.vec2.decode(reader, reader.uint32());
+                            break;
+                        case 2:
+                            message.arcSize = $root.vec2.decode(reader, reader.uint32());
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a Fixation message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.behaviour.Look.Fixation} Fixation
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Fixation.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a Fixation message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                Fixation.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.angle != null && message.hasOwnProperty("angle")) {
+                        var error = $root.vec2.verify(message.angle);
+                        if (error)
+                            return "angle." + error;
+                    }
+                    if (message.arcSize != null && message.hasOwnProperty("arcSize")) {
+                        var error = $root.vec2.verify(message.arcSize);
+                        if (error)
+                            return "arcSize." + error;
+                    }
+                    return null;
+                };
+
+                /**
+                 * Creates a Fixation message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.behaviour.Look.Fixation} Fixation
+                 */
+                Fixation.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.behaviour.Look.Fixation)
+                        return object;
+                    var message = new $root.message.behaviour.Look.Fixation();
+                    if (object.angle != null) {
+                        if (typeof object.angle !== "object")
+                            throw TypeError(".message.behaviour.Look.Fixation.angle: object expected");
+                        message.angle = $root.vec2.fromObject(object.angle);
+                    }
+                    if (object.arcSize != null) {
+                        if (typeof object.arcSize !== "object")
+                            throw TypeError(".message.behaviour.Look.Fixation.arcSize: object expected");
+                        message.arcSize = $root.vec2.fromObject(object.arcSize);
+                    }
+                    return message;
+                };
+
+                /**
+                 * Creates a Fixation message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.behaviour.Look.Fixation.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.behaviour.Look.Fixation} Fixation
+                 */
+                Fixation.from = Fixation.fromObject;
+
+                /**
+                 * Creates a plain object from a Fixation message. Also converts values to other types if specified.
+                 * @param {message.behaviour.Look.Fixation} message Fixation
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Fixation.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.defaults) {
+                        object.angle = null;
+                        object.arcSize = null;
+                    }
+                    if (message.angle != null && message.hasOwnProperty("angle"))
+                        object.angle = $root.vec2.toObject(message.angle, options);
+                    if (message.arcSize != null && message.hasOwnProperty("arcSize"))
+                        object.arcSize = $root.vec2.toObject(message.arcSize, options);
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this Fixation message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Fixation.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this Fixation to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                Fixation.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return Fixation;
+            })();
+
+            Look.Saccade = (function() {
+
+                /**
+                 * Properties of a Saccade.
+                 * @typedef message.behaviour.Look.Saccade$Properties
+                 * @type {Object}
+                 * @property {google.protobuf.Duration$Properties} [dwellTime] Saccade dwellTime.
+                 * @property {vec2$Properties} [angle] Saccade angle.
+                 * @property {vec2$Properties} [arcSize] Saccade arcSize.
+                 */
+
+                /**
+                 * Constructs a new Saccade.
+                 * @exports message.behaviour.Look.Saccade
+                 * @constructor
+                 * @param {message.behaviour.Look.Saccade$Properties=} [properties] Properties to set
+                 */
+                function Saccade(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * Saccade dwellTime.
+                 * @type {(google.protobuf.Duration$Properties|null)}
+                 */
+                Saccade.prototype.dwellTime = null;
+
+                /**
+                 * Saccade angle.
+                 * @type {(vec2$Properties|null)}
+                 */
+                Saccade.prototype.angle = null;
+
+                /**
+                 * Saccade arcSize.
+                 * @type {(vec2$Properties|null)}
+                 */
+                Saccade.prototype.arcSize = null;
+
+                /**
+                 * Creates a new Saccade instance using the specified properties.
+                 * @param {message.behaviour.Look.Saccade$Properties=} [properties] Properties to set
+                 * @returns {message.behaviour.Look.Saccade} Saccade instance
+                 */
+                Saccade.create = function create(properties) {
+                    return new Saccade(properties);
+                };
+
+                /**
+                 * Encodes the specified Saccade message. Does not implicitly {@link message.behaviour.Look.Saccade.verify|verify} messages.
+                 * @param {message.behaviour.Look.Saccade$Properties} message Saccade message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Saccade.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.dwellTime != null && message.hasOwnProperty("dwellTime"))
+                        $root.google.protobuf.Duration.encode(message.dwellTime, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                    if (message.angle != null && message.hasOwnProperty("angle"))
+                        $root.vec2.encode(message.angle, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                    if (message.arcSize != null && message.hasOwnProperty("arcSize"))
+                        $root.vec2.encode(message.arcSize, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified Saccade message, length delimited. Does not implicitly {@link message.behaviour.Look.Saccade.verify|verify} messages.
+                 * @param {message.behaviour.Look.Saccade$Properties} message Saccade message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Saccade.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a Saccade message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.behaviour.Look.Saccade} Saccade
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Saccade.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.behaviour.Look.Saccade();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.dwellTime = $root.google.protobuf.Duration.decode(reader, reader.uint32());
+                            break;
+                        case 2:
+                            message.angle = $root.vec2.decode(reader, reader.uint32());
+                            break;
+                        case 3:
+                            message.arcSize = $root.vec2.decode(reader, reader.uint32());
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a Saccade message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.behaviour.Look.Saccade} Saccade
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Saccade.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a Saccade message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                Saccade.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.dwellTime != null && message.hasOwnProperty("dwellTime")) {
+                        var error = $root.google.protobuf.Duration.verify(message.dwellTime);
+                        if (error)
+                            return "dwellTime." + error;
+                    }
+                    if (message.angle != null && message.hasOwnProperty("angle")) {
+                        var error = $root.vec2.verify(message.angle);
+                        if (error)
+                            return "angle." + error;
+                    }
+                    if (message.arcSize != null && message.hasOwnProperty("arcSize")) {
+                        var error = $root.vec2.verify(message.arcSize);
+                        if (error)
+                            return "arcSize." + error;
+                    }
+                    return null;
+                };
+
+                /**
+                 * Creates a Saccade message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.behaviour.Look.Saccade} Saccade
+                 */
+                Saccade.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.behaviour.Look.Saccade)
+                        return object;
+                    var message = new $root.message.behaviour.Look.Saccade();
+                    if (object.dwellTime != null) {
+                        if (typeof object.dwellTime !== "object")
+                            throw TypeError(".message.behaviour.Look.Saccade.dwellTime: object expected");
+                        message.dwellTime = $root.google.protobuf.Duration.fromObject(object.dwellTime);
+                    }
+                    if (object.angle != null) {
+                        if (typeof object.angle !== "object")
+                            throw TypeError(".message.behaviour.Look.Saccade.angle: object expected");
+                        message.angle = $root.vec2.fromObject(object.angle);
+                    }
+                    if (object.arcSize != null) {
+                        if (typeof object.arcSize !== "object")
+                            throw TypeError(".message.behaviour.Look.Saccade.arcSize: object expected");
+                        message.arcSize = $root.vec2.fromObject(object.arcSize);
+                    }
+                    return message;
+                };
+
+                /**
+                 * Creates a Saccade message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.behaviour.Look.Saccade.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.behaviour.Look.Saccade} Saccade
+                 */
+                Saccade.from = Saccade.fromObject;
+
+                /**
+                 * Creates a plain object from a Saccade message. Also converts values to other types if specified.
+                 * @param {message.behaviour.Look.Saccade} message Saccade
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Saccade.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.defaults) {
+                        object.dwellTime = null;
+                        object.angle = null;
+                        object.arcSize = null;
+                    }
+                    if (message.dwellTime != null && message.hasOwnProperty("dwellTime"))
+                        object.dwellTime = $root.google.protobuf.Duration.toObject(message.dwellTime, options);
+                    if (message.angle != null && message.hasOwnProperty("angle"))
+                        object.angle = $root.vec2.toObject(message.angle, options);
+                    if (message.arcSize != null && message.hasOwnProperty("arcSize"))
+                        object.arcSize = $root.vec2.toObject(message.arcSize, options);
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this Saccade message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Saccade.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this Saccade to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                Saccade.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return Saccade;
+            })();
+
+            Look.Pan = (function() {
+
+                /**
+                 * Properties of a Pan.
+                 * @typedef message.behaviour.Look.Pan$Properties
+                 * @type {Object}
+                 * @property {vec2$Properties} [angle] Pan angle.
+                 * @property {vec2$Properties} [arcSize] Pan arcSize.
+                 */
+
+                /**
+                 * Constructs a new Pan.
+                 * @exports message.behaviour.Look.Pan
+                 * @constructor
+                 * @param {message.behaviour.Look.Pan$Properties=} [properties] Properties to set
+                 */
+                function Pan(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * Pan angle.
+                 * @type {(vec2$Properties|null)}
+                 */
+                Pan.prototype.angle = null;
+
+                /**
+                 * Pan arcSize.
+                 * @type {(vec2$Properties|null)}
+                 */
+                Pan.prototype.arcSize = null;
+
+                /**
+                 * Creates a new Pan instance using the specified properties.
+                 * @param {message.behaviour.Look.Pan$Properties=} [properties] Properties to set
+                 * @returns {message.behaviour.Look.Pan} Pan instance
+                 */
+                Pan.create = function create(properties) {
+                    return new Pan(properties);
+                };
+
+                /**
+                 * Encodes the specified Pan message. Does not implicitly {@link message.behaviour.Look.Pan.verify|verify} messages.
+                 * @param {message.behaviour.Look.Pan$Properties} message Pan message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Pan.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.angle != null && message.hasOwnProperty("angle"))
+                        $root.vec2.encode(message.angle, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                    if (message.arcSize != null && message.hasOwnProperty("arcSize"))
+                        $root.vec2.encode(message.arcSize, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified Pan message, length delimited. Does not implicitly {@link message.behaviour.Look.Pan.verify|verify} messages.
+                 * @param {message.behaviour.Look.Pan$Properties} message Pan message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Pan.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a Pan message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.behaviour.Look.Pan} Pan
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Pan.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.behaviour.Look.Pan();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.angle = $root.vec2.decode(reader, reader.uint32());
+                            break;
+                        case 2:
+                            message.arcSize = $root.vec2.decode(reader, reader.uint32());
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a Pan message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.behaviour.Look.Pan} Pan
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Pan.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a Pan message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                Pan.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.angle != null && message.hasOwnProperty("angle")) {
+                        var error = $root.vec2.verify(message.angle);
+                        if (error)
+                            return "angle." + error;
+                    }
+                    if (message.arcSize != null && message.hasOwnProperty("arcSize")) {
+                        var error = $root.vec2.verify(message.arcSize);
+                        if (error)
+                            return "arcSize." + error;
+                    }
+                    return null;
+                };
+
+                /**
+                 * Creates a Pan message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.behaviour.Look.Pan} Pan
+                 */
+                Pan.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.behaviour.Look.Pan)
+                        return object;
+                    var message = new $root.message.behaviour.Look.Pan();
+                    if (object.angle != null) {
+                        if (typeof object.angle !== "object")
+                            throw TypeError(".message.behaviour.Look.Pan.angle: object expected");
+                        message.angle = $root.vec2.fromObject(object.angle);
+                    }
+                    if (object.arcSize != null) {
+                        if (typeof object.arcSize !== "object")
+                            throw TypeError(".message.behaviour.Look.Pan.arcSize: object expected");
+                        message.arcSize = $root.vec2.fromObject(object.arcSize);
+                    }
+                    return message;
+                };
+
+                /**
+                 * Creates a Pan message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.behaviour.Look.Pan.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.behaviour.Look.Pan} Pan
+                 */
+                Pan.from = Pan.fromObject;
+
+                /**
+                 * Creates a plain object from a Pan message. Also converts values to other types if specified.
+                 * @param {message.behaviour.Look.Pan} message Pan
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Pan.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.defaults) {
+                        object.angle = null;
+                        object.arcSize = null;
+                    }
+                    if (message.angle != null && message.hasOwnProperty("angle"))
+                        object.angle = $root.vec2.toObject(message.angle, options);
+                    if (message.arcSize != null && message.hasOwnProperty("arcSize"))
+                        object.arcSize = $root.vec2.toObject(message.arcSize, options);
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this Pan message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Pan.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this Pan to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                Pan.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return Pan;
+            })();
+
+            Look.PanSelection = (function() {
+
+                /**
+                 * Properties of a PanSelection.
+                 * @typedef message.behaviour.Look.PanSelection$Properties
+                 * @type {Object}
+                 * @property {boolean} [lookAtGoalInsteadOfBall] PanSelection lookAtGoalInsteadOfBall.
+                 */
+
+                /**
+                 * Constructs a new PanSelection.
+                 * @exports message.behaviour.Look.PanSelection
+                 * @constructor
+                 * @param {message.behaviour.Look.PanSelection$Properties=} [properties] Properties to set
+                 */
+                function PanSelection(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * PanSelection lookAtGoalInsteadOfBall.
+                 * @type {boolean}
+                 */
+                PanSelection.prototype.lookAtGoalInsteadOfBall = false;
+
+                /**
+                 * Creates a new PanSelection instance using the specified properties.
+                 * @param {message.behaviour.Look.PanSelection$Properties=} [properties] Properties to set
+                 * @returns {message.behaviour.Look.PanSelection} PanSelection instance
+                 */
+                PanSelection.create = function create(properties) {
+                    return new PanSelection(properties);
+                };
+
+                /**
+                 * Encodes the specified PanSelection message. Does not implicitly {@link message.behaviour.Look.PanSelection.verify|verify} messages.
+                 * @param {message.behaviour.Look.PanSelection$Properties} message PanSelection message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                PanSelection.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.lookAtGoalInsteadOfBall != null && message.hasOwnProperty("lookAtGoalInsteadOfBall"))
+                        writer.uint32(/* id 1, wireType 0 =*/8).bool(message.lookAtGoalInsteadOfBall);
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified PanSelection message, length delimited. Does not implicitly {@link message.behaviour.Look.PanSelection.verify|verify} messages.
+                 * @param {message.behaviour.Look.PanSelection$Properties} message PanSelection message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                PanSelection.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a PanSelection message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.behaviour.Look.PanSelection} PanSelection
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                PanSelection.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.behaviour.Look.PanSelection();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.lookAtGoalInsteadOfBall = reader.bool();
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a PanSelection message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.behaviour.Look.PanSelection} PanSelection
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                PanSelection.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a PanSelection message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                PanSelection.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.lookAtGoalInsteadOfBall != null && message.hasOwnProperty("lookAtGoalInsteadOfBall"))
+                        if (typeof message.lookAtGoalInsteadOfBall !== "boolean")
+                            return "lookAtGoalInsteadOfBall: boolean expected";
+                    return null;
+                };
+
+                /**
+                 * Creates a PanSelection message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.behaviour.Look.PanSelection} PanSelection
+                 */
+                PanSelection.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.behaviour.Look.PanSelection)
+                        return object;
+                    var message = new $root.message.behaviour.Look.PanSelection();
+                    if (object.lookAtGoalInsteadOfBall != null)
+                        message.lookAtGoalInsteadOfBall = Boolean(object.lookAtGoalInsteadOfBall);
+                    return message;
+                };
+
+                /**
+                 * Creates a PanSelection message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.behaviour.Look.PanSelection.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.behaviour.Look.PanSelection} PanSelection
+                 */
+                PanSelection.from = PanSelection.fromObject;
+
+                /**
+                 * Creates a plain object from a PanSelection message. Also converts values to other types if specified.
+                 * @param {message.behaviour.Look.PanSelection} message PanSelection
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                PanSelection.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.defaults)
+                        object.lookAtGoalInsteadOfBall = false;
+                    if (message.lookAtGoalInsteadOfBall != null && message.hasOwnProperty("lookAtGoalInsteadOfBall"))
+                        object.lookAtGoalInsteadOfBall = message.lookAtGoalInsteadOfBall;
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this PanSelection message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                PanSelection.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this PanSelection to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                PanSelection.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return PanSelection;
+            })();
+
+            return Look;
+        })();
+
+        behaviour.MotionCommand = (function() {
+
+            /**
+             * Properties of a MotionCommand.
+             * @typedef message.behaviour.MotionCommand$Properties
+             * @type {Object}
+             * @property {message.behaviour.MotionCommand.Type} [type] MotionCommand type.
+             * @property {vec3$Properties} [goalState] MotionCommand goalState.
+             * @property {vec2$Properties} [kickTarget] MotionCommand kickTarget.
+             * @property {vec3$Properties} [walkCommand] MotionCommand walkCommand.
+             */
+
+            /**
+             * Constructs a new MotionCommand.
+             * @exports message.behaviour.MotionCommand
+             * @constructor
+             * @param {message.behaviour.MotionCommand$Properties=} [properties] Properties to set
+             */
+            function MotionCommand(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * MotionCommand type.
+             * @type {message.behaviour.MotionCommand.Type}
+             */
+            MotionCommand.prototype.type = 0;
+
+            /**
+             * MotionCommand goalState.
+             * @type {(vec3$Properties|null)}
+             */
+            MotionCommand.prototype.goalState = null;
+
+            /**
+             * MotionCommand kickTarget.
+             * @type {(vec2$Properties|null)}
+             */
+            MotionCommand.prototype.kickTarget = null;
+
+            /**
+             * MotionCommand walkCommand.
+             * @type {(vec3$Properties|null)}
+             */
+            MotionCommand.prototype.walkCommand = null;
+
+            /**
+             * Creates a new MotionCommand instance using the specified properties.
+             * @param {message.behaviour.MotionCommand$Properties=} [properties] Properties to set
+             * @returns {message.behaviour.MotionCommand} MotionCommand instance
+             */
+            MotionCommand.create = function create(properties) {
+                return new MotionCommand(properties);
+            };
+
+            /**
+             * Encodes the specified MotionCommand message. Does not implicitly {@link message.behaviour.MotionCommand.verify|verify} messages.
+             * @param {message.behaviour.MotionCommand$Properties} message MotionCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            MotionCommand.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.type != null && message.hasOwnProperty("type"))
+                    writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.type);
+                if (message.goalState != null && message.hasOwnProperty("goalState"))
+                    $root.vec3.encode(message.goalState, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                if (message.kickTarget != null && message.hasOwnProperty("kickTarget"))
+                    $root.vec2.encode(message.kickTarget, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+                if (message.walkCommand != null && message.hasOwnProperty("walkCommand"))
+                    $root.vec3.encode(message.walkCommand, writer.uint32(/* id 4, wireType 2 =*/34).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified MotionCommand message, length delimited. Does not implicitly {@link message.behaviour.MotionCommand.verify|verify} messages.
+             * @param {message.behaviour.MotionCommand$Properties} message MotionCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            MotionCommand.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a MotionCommand message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.behaviour.MotionCommand} MotionCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            MotionCommand.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.behaviour.MotionCommand();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.type = reader.uint32();
+                        break;
+                    case 2:
+                        message.goalState = $root.vec3.decode(reader, reader.uint32());
+                        break;
+                    case 3:
+                        message.kickTarget = $root.vec2.decode(reader, reader.uint32());
+                        break;
+                    case 4:
+                        message.walkCommand = $root.vec3.decode(reader, reader.uint32());
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a MotionCommand message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.behaviour.MotionCommand} MotionCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            MotionCommand.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a MotionCommand message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            MotionCommand.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.type != null && message.hasOwnProperty("type"))
+                    switch (message.type) {
+                    default:
+                        return "type: enum value expected";
+                    case 0:
+                    case 1:
+                    case 2:
+                    case 3:
+                        break;
+                    }
+                if (message.goalState != null && message.hasOwnProperty("goalState")) {
+                    var error = $root.vec3.verify(message.goalState);
+                    if (error)
+                        return "goalState." + error;
+                }
+                if (message.kickTarget != null && message.hasOwnProperty("kickTarget")) {
+                    var error = $root.vec2.verify(message.kickTarget);
+                    if (error)
+                        return "kickTarget." + error;
+                }
+                if (message.walkCommand != null && message.hasOwnProperty("walkCommand")) {
+                    var error = $root.vec3.verify(message.walkCommand);
+                    if (error)
+                        return "walkCommand." + error;
+                }
+                return null;
+            };
+
+            /**
+             * Creates a MotionCommand message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.MotionCommand} MotionCommand
+             */
+            MotionCommand.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.behaviour.MotionCommand)
+                    return object;
+                var message = new $root.message.behaviour.MotionCommand();
+                switch (object.type) {
+                case "StandStill":
+                case 0:
+                    message.type = 0;
+                    break;
+                case "WalkToState":
+                case 1:
+                    message.type = 1;
+                    break;
+                case "BallApproach":
+                case 2:
+                    message.type = 2;
+                    break;
+                case "DirectCommand":
+                case 3:
+                    message.type = 3;
+                    break;
+                }
+                if (object.goalState != null) {
+                    if (typeof object.goalState !== "object")
+                        throw TypeError(".message.behaviour.MotionCommand.goalState: object expected");
+                    message.goalState = $root.vec3.fromObject(object.goalState);
+                }
+                if (object.kickTarget != null) {
+                    if (typeof object.kickTarget !== "object")
+                        throw TypeError(".message.behaviour.MotionCommand.kickTarget: object expected");
+                    message.kickTarget = $root.vec2.fromObject(object.kickTarget);
+                }
+                if (object.walkCommand != null) {
+                    if (typeof object.walkCommand !== "object")
+                        throw TypeError(".message.behaviour.MotionCommand.walkCommand: object expected");
+                    message.walkCommand = $root.vec3.fromObject(object.walkCommand);
+                }
+                return message;
+            };
+
+            /**
+             * Creates a MotionCommand message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.behaviour.MotionCommand.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.MotionCommand} MotionCommand
+             */
+            MotionCommand.from = MotionCommand.fromObject;
+
+            /**
+             * Creates a plain object from a MotionCommand message. Also converts values to other types if specified.
+             * @param {message.behaviour.MotionCommand} message MotionCommand
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            MotionCommand.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults) {
+                    object.type = options.enums === String ? "StandStill" : 0;
+                    object.goalState = null;
+                    object.kickTarget = null;
+                    object.walkCommand = null;
+                }
+                if (message.type != null && message.hasOwnProperty("type"))
+                    object.type = options.enums === String ? $root.message.behaviour.MotionCommand.Type[message.type] : message.type;
+                if (message.goalState != null && message.hasOwnProperty("goalState"))
+                    object.goalState = $root.vec3.toObject(message.goalState, options);
+                if (message.kickTarget != null && message.hasOwnProperty("kickTarget"))
+                    object.kickTarget = $root.vec2.toObject(message.kickTarget, options);
+                if (message.walkCommand != null && message.hasOwnProperty("walkCommand"))
+                    object.walkCommand = $root.vec3.toObject(message.walkCommand, options);
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this MotionCommand message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            MotionCommand.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this MotionCommand to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            MotionCommand.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            /**
+             * Type enum.
+             * @name Type
+             * @memberof message.behaviour.MotionCommand
+             * @enum {number}
+             * @property {number} StandStill=0 StandStill value
+             * @property {number} WalkToState=1 WalkToState value
+             * @property {number} BallApproach=2 BallApproach value
+             * @property {number} DirectCommand=3 DirectCommand value
+             */
+            MotionCommand.Type = (function() {
+                var valuesById = {}, values = Object.create(valuesById);
+                values[valuesById[0] = "StandStill"] = 0;
+                values[valuesById[1] = "WalkToState"] = 1;
+                values[valuesById[2] = "BallApproach"] = 2;
+                values[valuesById[3] = "DirectCommand"] = 3;
+                return values;
+            })();
+
+            return MotionCommand;
+        })();
+
+        behaviour.Nod = (function() {
+
+            /**
+             * Properties of a Nod.
+             * @typedef message.behaviour.Nod$Properties
+             * @type {Object}
+             * @property {boolean} [value] Nod value.
+             */
+
+            /**
+             * Constructs a new Nod.
+             * @exports message.behaviour.Nod
+             * @constructor
+             * @param {message.behaviour.Nod$Properties=} [properties] Properties to set
+             */
+            function Nod(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Nod value.
+             * @type {boolean}
+             */
+            Nod.prototype.value = false;
+
+            /**
+             * Creates a new Nod instance using the specified properties.
+             * @param {message.behaviour.Nod$Properties=} [properties] Properties to set
+             * @returns {message.behaviour.Nod} Nod instance
+             */
+            Nod.create = function create(properties) {
+                return new Nod(properties);
+            };
+
+            /**
+             * Encodes the specified Nod message. Does not implicitly {@link message.behaviour.Nod.verify|verify} messages.
+             * @param {message.behaviour.Nod$Properties} message Nod message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            Nod.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.value != null && message.hasOwnProperty("value"))
+                    writer.uint32(/* id 1, wireType 0 =*/8).bool(message.value);
+                return writer;
+            };
+
+            /**
+             * Encodes the specified Nod message, length delimited. Does not implicitly {@link message.behaviour.Nod.verify|verify} messages.
+             * @param {message.behaviour.Nod$Properties} message Nod message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            Nod.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a Nod message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.behaviour.Nod} Nod
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            Nod.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.behaviour.Nod();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.value = reader.bool();
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a Nod message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.behaviour.Nod} Nod
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            Nod.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a Nod message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            Nod.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.value != null && message.hasOwnProperty("value"))
+                    if (typeof message.value !== "boolean")
+                        return "value: boolean expected";
+                return null;
+            };
+
+            /**
+             * Creates a Nod message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.Nod} Nod
+             */
+            Nod.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.behaviour.Nod)
+                    return object;
+                var message = new $root.message.behaviour.Nod();
+                if (object.value != null)
+                    message.value = Boolean(object.value);
+                return message;
+            };
+
+            /**
+             * Creates a Nod message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.behaviour.Nod.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.Nod} Nod
+             */
+            Nod.from = Nod.fromObject;
+
+            /**
+             * Creates a plain object from a Nod message. Also converts values to other types if specified.
+             * @param {message.behaviour.Nod} message Nod
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            Nod.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults)
+                    object.value = false;
+                if (message.value != null && message.hasOwnProperty("value"))
+                    object.value = message.value;
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this Nod message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            Nod.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this Nod to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            Nod.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return Nod;
+        })();
+
+        behaviour.ServoCommand = (function() {
+
+            /**
+             * Properties of a ServoCommand.
+             * @typedef message.behaviour.ServoCommand$Properties
+             * @type {Object}
+             * @property {number|Long} [source] ServoCommand source.
+             * @property {google.protobuf.Timestamp$Properties} [time] ServoCommand time.
+             * @property {number} [id] ServoCommand id.
+             * @property {number} [position] ServoCommand position.
+             * @property {number} [gain] ServoCommand gain.
+             * @property {number} [torque] ServoCommand torque.
+             */
+
+            /**
+             * Constructs a new ServoCommand.
+             * @exports message.behaviour.ServoCommand
+             * @constructor
+             * @param {message.behaviour.ServoCommand$Properties=} [properties] Properties to set
+             */
+            function ServoCommand(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * ServoCommand source.
+             * @type {number|Long}
+             */
+            ServoCommand.prototype.source = $util.Long ? $util.Long.fromBits(0,0,true) : 0;
+
+            /**
+             * ServoCommand time.
+             * @type {(google.protobuf.Timestamp$Properties|null)}
+             */
+            ServoCommand.prototype.time = null;
+
+            /**
+             * ServoCommand id.
+             * @type {number}
+             */
+            ServoCommand.prototype.id = 0;
+
+            /**
+             * ServoCommand position.
+             * @type {number}
+             */
+            ServoCommand.prototype.position = 0;
+
+            /**
+             * ServoCommand gain.
+             * @type {number}
+             */
+            ServoCommand.prototype.gain = 0;
+
+            /**
+             * ServoCommand torque.
+             * @type {number}
+             */
+            ServoCommand.prototype.torque = 0;
+
+            /**
+             * Creates a new ServoCommand instance using the specified properties.
+             * @param {message.behaviour.ServoCommand$Properties=} [properties] Properties to set
+             * @returns {message.behaviour.ServoCommand} ServoCommand instance
+             */
+            ServoCommand.create = function create(properties) {
+                return new ServoCommand(properties);
+            };
+
+            /**
+             * Encodes the specified ServoCommand message. Does not implicitly {@link message.behaviour.ServoCommand.verify|verify} messages.
+             * @param {message.behaviour.ServoCommand$Properties} message ServoCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            ServoCommand.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.source != null && message.hasOwnProperty("source"))
+                    writer.uint32(/* id 1, wireType 0 =*/8).uint64(message.source);
+                if (message.time != null && message.hasOwnProperty("time"))
+                    $root.google.protobuf.Timestamp.encode(message.time, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                if (message.id != null && message.hasOwnProperty("id"))
+                    writer.uint32(/* id 3, wireType 0 =*/24).uint32(message.id);
+                if (message.position != null && message.hasOwnProperty("position"))
+                    writer.uint32(/* id 4, wireType 5 =*/37).float(message.position);
+                if (message.gain != null && message.hasOwnProperty("gain"))
+                    writer.uint32(/* id 5, wireType 5 =*/45).float(message.gain);
+                if (message.torque != null && message.hasOwnProperty("torque"))
+                    writer.uint32(/* id 6, wireType 5 =*/53).float(message.torque);
+                return writer;
+            };
+
+            /**
+             * Encodes the specified ServoCommand message, length delimited. Does not implicitly {@link message.behaviour.ServoCommand.verify|verify} messages.
+             * @param {message.behaviour.ServoCommand$Properties} message ServoCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            ServoCommand.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a ServoCommand message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.behaviour.ServoCommand} ServoCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            ServoCommand.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.behaviour.ServoCommand();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.source = reader.uint64();
+                        break;
+                    case 2:
+                        message.time = $root.google.protobuf.Timestamp.decode(reader, reader.uint32());
+                        break;
+                    case 3:
+                        message.id = reader.uint32();
+                        break;
+                    case 4:
+                        message.position = reader.float();
+                        break;
+                    case 5:
+                        message.gain = reader.float();
+                        break;
+                    case 6:
+                        message.torque = reader.float();
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a ServoCommand message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.behaviour.ServoCommand} ServoCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            ServoCommand.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a ServoCommand message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            ServoCommand.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.source != null && message.hasOwnProperty("source"))
+                    if (!$util.isInteger(message.source) && !(message.source && $util.isInteger(message.source.low) && $util.isInteger(message.source.high)))
+                        return "source: integer|Long expected";
+                if (message.time != null && message.hasOwnProperty("time")) {
+                    var error = $root.google.protobuf.Timestamp.verify(message.time);
+                    if (error)
+                        return "time." + error;
+                }
+                if (message.id != null && message.hasOwnProperty("id"))
+                    if (!$util.isInteger(message.id))
+                        return "id: integer expected";
+                if (message.position != null && message.hasOwnProperty("position"))
+                    if (typeof message.position !== "number")
+                        return "position: number expected";
+                if (message.gain != null && message.hasOwnProperty("gain"))
+                    if (typeof message.gain !== "number")
+                        return "gain: number expected";
+                if (message.torque != null && message.hasOwnProperty("torque"))
+                    if (typeof message.torque !== "number")
+                        return "torque: number expected";
+                return null;
+            };
+
+            /**
+             * Creates a ServoCommand message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.ServoCommand} ServoCommand
+             */
+            ServoCommand.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.behaviour.ServoCommand)
+                    return object;
+                var message = new $root.message.behaviour.ServoCommand();
+                if (object.source != null)
+                    if ($util.Long)
+                        (message.source = $util.Long.fromValue(object.source)).unsigned = true;
+                    else if (typeof object.source === "string")
+                        message.source = parseInt(object.source, 10);
+                    else if (typeof object.source === "number")
+                        message.source = object.source;
+                    else if (typeof object.source === "object")
+                        message.source = new $util.LongBits(object.source.low >>> 0, object.source.high >>> 0).toNumber(true);
+                if (object.time != null) {
+                    if (typeof object.time !== "object")
+                        throw TypeError(".message.behaviour.ServoCommand.time: object expected");
+                    message.time = $root.google.protobuf.Timestamp.fromObject(object.time);
+                }
+                if (object.id != null)
+                    message.id = object.id >>> 0;
+                if (object.position != null)
+                    message.position = Number(object.position);
+                if (object.gain != null)
+                    message.gain = Number(object.gain);
+                if (object.torque != null)
+                    message.torque = Number(object.torque);
+                return message;
+            };
+
+            /**
+             * Creates a ServoCommand message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.behaviour.ServoCommand.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.ServoCommand} ServoCommand
+             */
+            ServoCommand.from = ServoCommand.fromObject;
+
+            /**
+             * Creates a plain object from a ServoCommand message. Also converts values to other types if specified.
+             * @param {message.behaviour.ServoCommand} message ServoCommand
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            ServoCommand.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults) {
+                    if ($util.Long) {
+                        var long = new $util.Long(0, 0, true);
+                        object.source = options.longs === String ? long.toString() : options.longs === Number ? long.toNumber() : long;
+                    } else
+                        object.source = options.longs === String ? "0" : 0;
+                    object.time = null;
+                    object.id = 0;
+                    object.position = 0;
+                    object.gain = 0;
+                    object.torque = 0;
+                }
+                if (message.source != null && message.hasOwnProperty("source"))
+                    if (typeof message.source === "number")
+                        object.source = options.longs === String ? String(message.source) : message.source;
+                    else
+                        object.source = options.longs === String ? $util.Long.prototype.toString.call(message.source) : options.longs === Number ? new $util.LongBits(message.source.low >>> 0, message.source.high >>> 0).toNumber(true) : message.source;
+                if (message.time != null && message.hasOwnProperty("time"))
+                    object.time = $root.google.protobuf.Timestamp.toObject(message.time, options);
+                if (message.id != null && message.hasOwnProperty("id"))
+                    object.id = message.id;
+                if (message.position != null && message.hasOwnProperty("position"))
+                    object.position = message.position;
+                if (message.gain != null && message.hasOwnProperty("gain"))
+                    object.gain = message.gain;
+                if (message.torque != null && message.hasOwnProperty("torque"))
+                    object.torque = message.torque;
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this ServoCommand message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            ServoCommand.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this ServoCommand to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            ServoCommand.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return ServoCommand;
+        })();
+
+        behaviour.SoccerObjectPriority = (function() {
+
+            /**
+             * Properties of a SoccerObjectPriority.
+             * @typedef message.behaviour.SoccerObjectPriority$Properties
+             * @type {Object}
+             * @property {number} [ball] SoccerObjectPriority ball.
+             * @property {number} [goal] SoccerObjectPriority goal.
+             * @property {number} [line] SoccerObjectPriority line.
+             * @property {message.behaviour.SoccerObjectPriority.SearchType} [searchType] SoccerObjectPriority searchType.
+             */
+
+            /**
+             * Constructs a new SoccerObjectPriority.
+             * @exports message.behaviour.SoccerObjectPriority
+             * @constructor
+             * @param {message.behaviour.SoccerObjectPriority$Properties=} [properties] Properties to set
+             */
+            function SoccerObjectPriority(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * SoccerObjectPriority ball.
+             * @type {number}
+             */
+            SoccerObjectPriority.prototype.ball = 0;
+
+            /**
+             * SoccerObjectPriority goal.
+             * @type {number}
+             */
+            SoccerObjectPriority.prototype.goal = 0;
+
+            /**
+             * SoccerObjectPriority line.
+             * @type {number}
+             */
+            SoccerObjectPriority.prototype.line = 0;
+
+            /**
+             * SoccerObjectPriority searchType.
+             * @type {message.behaviour.SoccerObjectPriority.SearchType}
+             */
+            SoccerObjectPriority.prototype.searchType = 0;
+
+            /**
+             * Creates a new SoccerObjectPriority instance using the specified properties.
+             * @param {message.behaviour.SoccerObjectPriority$Properties=} [properties] Properties to set
+             * @returns {message.behaviour.SoccerObjectPriority} SoccerObjectPriority instance
+             */
+            SoccerObjectPriority.create = function create(properties) {
+                return new SoccerObjectPriority(properties);
+            };
+
+            /**
+             * Encodes the specified SoccerObjectPriority message. Does not implicitly {@link message.behaviour.SoccerObjectPriority.verify|verify} messages.
+             * @param {message.behaviour.SoccerObjectPriority$Properties} message SoccerObjectPriority message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            SoccerObjectPriority.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.ball != null && message.hasOwnProperty("ball"))
+                    writer.uint32(/* id 1, wireType 0 =*/8).int32(message.ball);
+                if (message.goal != null && message.hasOwnProperty("goal"))
+                    writer.uint32(/* id 2, wireType 0 =*/16).int32(message.goal);
+                if (message.line != null && message.hasOwnProperty("line"))
+                    writer.uint32(/* id 3, wireType 0 =*/24).int32(message.line);
+                if (message.searchType != null && message.hasOwnProperty("searchType"))
+                    writer.uint32(/* id 4, wireType 0 =*/32).uint32(message.searchType);
+                return writer;
+            };
+
+            /**
+             * Encodes the specified SoccerObjectPriority message, length delimited. Does not implicitly {@link message.behaviour.SoccerObjectPriority.verify|verify} messages.
+             * @param {message.behaviour.SoccerObjectPriority$Properties} message SoccerObjectPriority message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            SoccerObjectPriority.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a SoccerObjectPriority message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.behaviour.SoccerObjectPriority} SoccerObjectPriority
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            SoccerObjectPriority.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.behaviour.SoccerObjectPriority();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.ball = reader.int32();
+                        break;
+                    case 2:
+                        message.goal = reader.int32();
+                        break;
+                    case 3:
+                        message.line = reader.int32();
+                        break;
+                    case 4:
+                        message.searchType = reader.uint32();
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a SoccerObjectPriority message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.behaviour.SoccerObjectPriority} SoccerObjectPriority
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            SoccerObjectPriority.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a SoccerObjectPriority message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            SoccerObjectPriority.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.ball != null && message.hasOwnProperty("ball"))
+                    if (!$util.isInteger(message.ball))
+                        return "ball: integer expected";
+                if (message.goal != null && message.hasOwnProperty("goal"))
+                    if (!$util.isInteger(message.goal))
+                        return "goal: integer expected";
+                if (message.line != null && message.hasOwnProperty("line"))
+                    if (!$util.isInteger(message.line))
+                        return "line: integer expected";
+                if (message.searchType != null && message.hasOwnProperty("searchType"))
+                    switch (message.searchType) {
+                    default:
+                        return "searchType: enum value expected";
+                    case 0:
+                    case 1:
+                    case 2:
+                    case 3:
+                    case 4:
+                    case 5:
+                    case 6:
+                    case 7:
+                        break;
+                    }
+                return null;
+            };
+
+            /**
+             * Creates a SoccerObjectPriority message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.SoccerObjectPriority} SoccerObjectPriority
+             */
+            SoccerObjectPriority.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.behaviour.SoccerObjectPriority)
+                    return object;
+                var message = new $root.message.behaviour.SoccerObjectPriority();
+                if (object.ball != null)
+                    message.ball = object.ball | 0;
+                if (object.goal != null)
+                    message.goal = object.goal | 0;
+                if (object.line != null)
+                    message.line = object.line | 0;
+                switch (object.searchType) {
+                case "LOST":
+                case 0:
+                    message.searchType = 0;
+                    break;
+                case "FIND_ADDITIONAL_OBJECTS":
+                case 1:
+                    message.searchType = 1;
+                    break;
+                case "GOAL_SEARCH":
+                case 2:
+                    message.searchType = 2;
+                    break;
+                case "GOAL_LEFT":
+                case 3:
+                    message.searchType = 3;
+                    break;
+                case "GOAL_RIGHT":
+                case 4:
+                    message.searchType = 4;
+                    break;
+                case "GROUND_LEFT":
+                case 5:
+                    message.searchType = 5;
+                    break;
+                case "GROUND_RIGHT":
+                case 6:
+                    message.searchType = 6;
+                    break;
+                case "OTHE":
+                case 7:
+                    message.searchType = 7;
+                    break;
+                }
+                return message;
+            };
+
+            /**
+             * Creates a SoccerObjectPriority message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.behaviour.SoccerObjectPriority.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.SoccerObjectPriority} SoccerObjectPriority
+             */
+            SoccerObjectPriority.from = SoccerObjectPriority.fromObject;
+
+            /**
+             * Creates a plain object from a SoccerObjectPriority message. Also converts values to other types if specified.
+             * @param {message.behaviour.SoccerObjectPriority} message SoccerObjectPriority
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            SoccerObjectPriority.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults) {
+                    object.ball = 0;
+                    object.goal = 0;
+                    object.line = 0;
+                    object.searchType = options.enums === String ? "LOST" : 0;
+                }
+                if (message.ball != null && message.hasOwnProperty("ball"))
+                    object.ball = message.ball;
+                if (message.goal != null && message.hasOwnProperty("goal"))
+                    object.goal = message.goal;
+                if (message.line != null && message.hasOwnProperty("line"))
+                    object.line = message.line;
+                if (message.searchType != null && message.hasOwnProperty("searchType"))
+                    object.searchType = options.enums === String ? $root.message.behaviour.SoccerObjectPriority.SearchType[message.searchType] : message.searchType;
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this SoccerObjectPriority message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            SoccerObjectPriority.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this SoccerObjectPriority to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            SoccerObjectPriority.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            /**
+             * SearchType enum.
+             * @name SearchType
+             * @memberof message.behaviour.SoccerObjectPriority
+             * @enum {number}
+             * @property {number} LOST=0 LOST value
+             * @property {number} FIND_ADDITIONAL_OBJECTS=1 FIND_ADDITIONAL_OBJECTS value
+             * @property {number} GOAL_SEARCH=2 GOAL_SEARCH value
+             * @property {number} GOAL_LEFT=3 GOAL_LEFT value
+             * @property {number} GOAL_RIGHT=4 GOAL_RIGHT value
+             * @property {number} GROUND_LEFT=5 GROUND_LEFT value
+             * @property {number} GROUND_RIGHT=6 GROUND_RIGHT value
+             * @property {number} OTHE=7 OTHE value
+             */
+            SoccerObjectPriority.SearchType = (function() {
+                var valuesById = {}, values = Object.create(valuesById);
+                values[valuesById[0] = "LOST"] = 0;
+                values[valuesById[1] = "FIND_ADDITIONAL_OBJECTS"] = 1;
+                values[valuesById[2] = "GOAL_SEARCH"] = 2;
+                values[valuesById[3] = "GOAL_LEFT"] = 3;
+                values[valuesById[4] = "GOAL_RIGHT"] = 4;
+                values[valuesById[5] = "GROUND_LEFT"] = 5;
+                values[valuesById[6] = "GROUND_RIGHT"] = 6;
+                values[valuesById[7] = "OTHE"] = 7;
+                return values;
+            })();
+
+            return SoccerObjectPriority;
+        })();
+
+        behaviour.Subsumption = (function() {
+
+            /**
+             * Properties of a Subsumption.
+             * @typedef message.behaviour.Subsumption$Properties
+             * @type {Object}
+             * @property {Array.<message.behaviour.Subsumption.ActionRegister$Properties>} [actionRegister] Subsumption actionRegister.
+             * @property {Array.<message.behaviour.Subsumption.ActionStateChange$Properties>} [actionStateChange] Subsumption actionStateChange.
+             * @property {Array.<message.behaviour.Subsumption.ActionPriorites$Properties>} [actionPriorityChange] Subsumption actionPriorityChange.
+             */
+
+            /**
+             * Constructs a new Subsumption.
+             * @exports message.behaviour.Subsumption
+             * @constructor
+             * @param {message.behaviour.Subsumption$Properties=} [properties] Properties to set
+             */
+            function Subsumption(properties) {
+                this.actionRegister = [];
+                this.actionStateChange = [];
+                this.actionPriorityChange = [];
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Subsumption actionRegister.
+             * @type {Array.<message.behaviour.Subsumption.ActionRegister$Properties>}
+             */
+            Subsumption.prototype.actionRegister = $util.emptyArray;
+
+            /**
+             * Subsumption actionStateChange.
+             * @type {Array.<message.behaviour.Subsumption.ActionStateChange$Properties>}
+             */
+            Subsumption.prototype.actionStateChange = $util.emptyArray;
+
+            /**
+             * Subsumption actionPriorityChange.
+             * @type {Array.<message.behaviour.Subsumption.ActionPriorites$Properties>}
+             */
+            Subsumption.prototype.actionPriorityChange = $util.emptyArray;
+
+            /**
+             * Creates a new Subsumption instance using the specified properties.
+             * @param {message.behaviour.Subsumption$Properties=} [properties] Properties to set
+             * @returns {message.behaviour.Subsumption} Subsumption instance
+             */
+            Subsumption.create = function create(properties) {
+                return new Subsumption(properties);
+            };
+
+            /**
+             * Encodes the specified Subsumption message. Does not implicitly {@link message.behaviour.Subsumption.verify|verify} messages.
+             * @param {message.behaviour.Subsumption$Properties} message Subsumption message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            Subsumption.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.actionRegister != null && message.actionRegister.length)
+                    for (var i = 0; i < message.actionRegister.length; ++i)
+                        $root.message.behaviour.Subsumption.ActionRegister.encode(message.actionRegister[i], writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                if (message.actionStateChange != null && message.actionStateChange.length)
+                    for (var i = 0; i < message.actionStateChange.length; ++i)
+                        $root.message.behaviour.Subsumption.ActionStateChange.encode(message.actionStateChange[i], writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                if (message.actionPriorityChange != null && message.actionPriorityChange.length)
+                    for (var i = 0; i < message.actionPriorityChange.length; ++i)
+                        $root.message.behaviour.Subsumption.ActionPriorites.encode(message.actionPriorityChange[i], writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified Subsumption message, length delimited. Does not implicitly {@link message.behaviour.Subsumption.verify|verify} messages.
+             * @param {message.behaviour.Subsumption$Properties} message Subsumption message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            Subsumption.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a Subsumption message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.behaviour.Subsumption} Subsumption
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            Subsumption.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.behaviour.Subsumption();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        if (!(message.actionRegister && message.actionRegister.length))
+                            message.actionRegister = [];
+                        message.actionRegister.push($root.message.behaviour.Subsumption.ActionRegister.decode(reader, reader.uint32()));
+                        break;
+                    case 2:
+                        if (!(message.actionStateChange && message.actionStateChange.length))
+                            message.actionStateChange = [];
+                        message.actionStateChange.push($root.message.behaviour.Subsumption.ActionStateChange.decode(reader, reader.uint32()));
+                        break;
+                    case 3:
+                        if (!(message.actionPriorityChange && message.actionPriorityChange.length))
+                            message.actionPriorityChange = [];
+                        message.actionPriorityChange.push($root.message.behaviour.Subsumption.ActionPriorites.decode(reader, reader.uint32()));
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a Subsumption message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.behaviour.Subsumption} Subsumption
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            Subsumption.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a Subsumption message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            Subsumption.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.actionRegister != null && message.hasOwnProperty("actionRegister")) {
+                    if (!Array.isArray(message.actionRegister))
+                        return "actionRegister: array expected";
+                    for (var i = 0; i < message.actionRegister.length; ++i) {
+                        var error = $root.message.behaviour.Subsumption.ActionRegister.verify(message.actionRegister[i]);
+                        if (error)
+                            return "actionRegister." + error;
+                    }
+                }
+                if (message.actionStateChange != null && message.hasOwnProperty("actionStateChange")) {
+                    if (!Array.isArray(message.actionStateChange))
+                        return "actionStateChange: array expected";
+                    for (var i = 0; i < message.actionStateChange.length; ++i) {
+                        var error = $root.message.behaviour.Subsumption.ActionStateChange.verify(message.actionStateChange[i]);
+                        if (error)
+                            return "actionStateChange." + error;
+                    }
+                }
+                if (message.actionPriorityChange != null && message.hasOwnProperty("actionPriorityChange")) {
+                    if (!Array.isArray(message.actionPriorityChange))
+                        return "actionPriorityChange: array expected";
+                    for (var i = 0; i < message.actionPriorityChange.length; ++i) {
+                        var error = $root.message.behaviour.Subsumption.ActionPriorites.verify(message.actionPriorityChange[i]);
+                        if (error)
+                            return "actionPriorityChange." + error;
+                    }
+                }
+                return null;
+            };
+
+            /**
+             * Creates a Subsumption message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.Subsumption} Subsumption
+             */
+            Subsumption.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.behaviour.Subsumption)
+                    return object;
+                var message = new $root.message.behaviour.Subsumption();
+                if (object.actionRegister) {
+                    if (!Array.isArray(object.actionRegister))
+                        throw TypeError(".message.behaviour.Subsumption.actionRegister: array expected");
+                    message.actionRegister = [];
+                    for (var i = 0; i < object.actionRegister.length; ++i) {
+                        if (typeof object.actionRegister[i] !== "object")
+                            throw TypeError(".message.behaviour.Subsumption.actionRegister: object expected");
+                        message.actionRegister[i] = $root.message.behaviour.Subsumption.ActionRegister.fromObject(object.actionRegister[i]);
+                    }
+                }
+                if (object.actionStateChange) {
+                    if (!Array.isArray(object.actionStateChange))
+                        throw TypeError(".message.behaviour.Subsumption.actionStateChange: array expected");
+                    message.actionStateChange = [];
+                    for (var i = 0; i < object.actionStateChange.length; ++i) {
+                        if (typeof object.actionStateChange[i] !== "object")
+                            throw TypeError(".message.behaviour.Subsumption.actionStateChange: object expected");
+                        message.actionStateChange[i] = $root.message.behaviour.Subsumption.ActionStateChange.fromObject(object.actionStateChange[i]);
+                    }
+                }
+                if (object.actionPriorityChange) {
+                    if (!Array.isArray(object.actionPriorityChange))
+                        throw TypeError(".message.behaviour.Subsumption.actionPriorityChange: array expected");
+                    message.actionPriorityChange = [];
+                    for (var i = 0; i < object.actionPriorityChange.length; ++i) {
+                        if (typeof object.actionPriorityChange[i] !== "object")
+                            throw TypeError(".message.behaviour.Subsumption.actionPriorityChange: object expected");
+                        message.actionPriorityChange[i] = $root.message.behaviour.Subsumption.ActionPriorites.fromObject(object.actionPriorityChange[i]);
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Creates a Subsumption message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.behaviour.Subsumption.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.Subsumption} Subsumption
+             */
+            Subsumption.from = Subsumption.fromObject;
+
+            /**
+             * Creates a plain object from a Subsumption message. Also converts values to other types if specified.
+             * @param {message.behaviour.Subsumption} message Subsumption
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            Subsumption.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.arrays || options.defaults) {
+                    object.actionRegister = [];
+                    object.actionStateChange = [];
+                    object.actionPriorityChange = [];
+                }
+                if (message.actionRegister && message.actionRegister.length) {
+                    object.actionRegister = [];
+                    for (var j = 0; j < message.actionRegister.length; ++j)
+                        object.actionRegister[j] = $root.message.behaviour.Subsumption.ActionRegister.toObject(message.actionRegister[j], options);
+                }
+                if (message.actionStateChange && message.actionStateChange.length) {
+                    object.actionStateChange = [];
+                    for (var j = 0; j < message.actionStateChange.length; ++j)
+                        object.actionStateChange[j] = $root.message.behaviour.Subsumption.ActionStateChange.toObject(message.actionStateChange[j], options);
+                }
+                if (message.actionPriorityChange && message.actionPriorityChange.length) {
+                    object.actionPriorityChange = [];
+                    for (var j = 0; j < message.actionPriorityChange.length; ++j)
+                        object.actionPriorityChange[j] = $root.message.behaviour.Subsumption.ActionPriorites.toObject(message.actionPriorityChange[j], options);
+                }
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this Subsumption message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            Subsumption.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this Subsumption to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            Subsumption.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            Subsumption.LimbSet = (function() {
+
+                /**
+                 * Properties of a LimbSet.
+                 * @typedef message.behaviour.Subsumption.LimbSet$Properties
+                 * @type {Object}
+                 * @property {number} [priority] LimbSet priority.
+                 * @property {Array.<number>} [limbs] LimbSet limbs.
+                 */
+
+                /**
+                 * Constructs a new LimbSet.
+                 * @exports message.behaviour.Subsumption.LimbSet
+                 * @constructor
+                 * @param {message.behaviour.Subsumption.LimbSet$Properties=} [properties] Properties to set
+                 */
+                function LimbSet(properties) {
+                    this.limbs = [];
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * LimbSet priority.
+                 * @type {number}
+                 */
+                LimbSet.prototype.priority = 0;
+
+                /**
+                 * LimbSet limbs.
+                 * @type {Array.<number>}
+                 */
+                LimbSet.prototype.limbs = $util.emptyArray;
+
+                /**
+                 * Creates a new LimbSet instance using the specified properties.
+                 * @param {message.behaviour.Subsumption.LimbSet$Properties=} [properties] Properties to set
+                 * @returns {message.behaviour.Subsumption.LimbSet} LimbSet instance
+                 */
+                LimbSet.create = function create(properties) {
+                    return new LimbSet(properties);
+                };
+
+                /**
+                 * Encodes the specified LimbSet message. Does not implicitly {@link message.behaviour.Subsumption.LimbSet.verify|verify} messages.
+                 * @param {message.behaviour.Subsumption.LimbSet$Properties} message LimbSet message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                LimbSet.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.priority != null && message.hasOwnProperty("priority"))
+                        writer.uint32(/* id 1, wireType 5 =*/13).float(message.priority);
+                    if (message.limbs != null && message.limbs.length) {
+                        writer.uint32(/* id 2, wireType 2 =*/18).fork();
+                        for (var i = 0; i < message.limbs.length; ++i)
+                            writer.uint32(message.limbs[i]);
+                        writer.ldelim();
+                    }
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified LimbSet message, length delimited. Does not implicitly {@link message.behaviour.Subsumption.LimbSet.verify|verify} messages.
+                 * @param {message.behaviour.Subsumption.LimbSet$Properties} message LimbSet message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                LimbSet.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a LimbSet message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.behaviour.Subsumption.LimbSet} LimbSet
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                LimbSet.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.behaviour.Subsumption.LimbSet();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.priority = reader.float();
+                            break;
+                        case 2:
+                            if (!(message.limbs && message.limbs.length))
+                                message.limbs = [];
+                            if ((tag & 7) === 2) {
+                                var end2 = reader.uint32() + reader.pos;
+                                while (reader.pos < end2)
+                                    message.limbs.push(reader.uint32());
+                            } else
+                                message.limbs.push(reader.uint32());
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a LimbSet message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.behaviour.Subsumption.LimbSet} LimbSet
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                LimbSet.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a LimbSet message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                LimbSet.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.priority != null && message.hasOwnProperty("priority"))
+                        if (typeof message.priority !== "number")
+                            return "priority: number expected";
+                    if (message.limbs != null && message.hasOwnProperty("limbs")) {
+                        if (!Array.isArray(message.limbs))
+                            return "limbs: array expected";
+                        for (var i = 0; i < message.limbs.length; ++i)
+                            if (!$util.isInteger(message.limbs[i]))
+                                return "limbs: integer[] expected";
+                    }
+                    return null;
+                };
+
+                /**
+                 * Creates a LimbSet message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.behaviour.Subsumption.LimbSet} LimbSet
+                 */
+                LimbSet.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.behaviour.Subsumption.LimbSet)
+                        return object;
+                    var message = new $root.message.behaviour.Subsumption.LimbSet();
+                    if (object.priority != null)
+                        message.priority = Number(object.priority);
+                    if (object.limbs) {
+                        if (!Array.isArray(object.limbs))
+                            throw TypeError(".message.behaviour.Subsumption.LimbSet.limbs: array expected");
+                        message.limbs = [];
+                        for (var i = 0; i < object.limbs.length; ++i)
+                            message.limbs[i] = object.limbs[i] >>> 0;
+                    }
+                    return message;
+                };
+
+                /**
+                 * Creates a LimbSet message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.behaviour.Subsumption.LimbSet.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.behaviour.Subsumption.LimbSet} LimbSet
+                 */
+                LimbSet.from = LimbSet.fromObject;
+
+                /**
+                 * Creates a plain object from a LimbSet message. Also converts values to other types if specified.
+                 * @param {message.behaviour.Subsumption.LimbSet} message LimbSet
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                LimbSet.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.arrays || options.defaults)
+                        object.limbs = [];
+                    if (options.defaults)
+                        object.priority = 0;
+                    if (message.priority != null && message.hasOwnProperty("priority"))
+                        object.priority = message.priority;
+                    if (message.limbs && message.limbs.length) {
+                        object.limbs = [];
+                        for (var j = 0; j < message.limbs.length; ++j)
+                            object.limbs[j] = message.limbs[j];
+                    }
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this LimbSet message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                LimbSet.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this LimbSet to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                LimbSet.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return LimbSet;
+            })();
+
+            Subsumption.ActionRegister = (function() {
+
+                /**
+                 * Properties of an ActionRegister.
+                 * @typedef message.behaviour.Subsumption.ActionRegister$Properties
+                 * @type {Object}
+                 * @property {number} [id] ActionRegister id.
+                 * @property {string} [name] ActionRegister name.
+                 * @property {Array.<message.behaviour.Subsumption.LimbSet$Properties>} [limbSet] ActionRegister limbSet.
+                 */
+
+                /**
+                 * Constructs a new ActionRegister.
+                 * @exports message.behaviour.Subsumption.ActionRegister
+                 * @constructor
+                 * @param {message.behaviour.Subsumption.ActionRegister$Properties=} [properties] Properties to set
+                 */
+                function ActionRegister(properties) {
+                    this.limbSet = [];
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * ActionRegister id.
+                 * @type {number}
+                 */
+                ActionRegister.prototype.id = 0;
+
+                /**
+                 * ActionRegister name.
+                 * @type {string}
+                 */
+                ActionRegister.prototype.name = "";
+
+                /**
+                 * ActionRegister limbSet.
+                 * @type {Array.<message.behaviour.Subsumption.LimbSet$Properties>}
+                 */
+                ActionRegister.prototype.limbSet = $util.emptyArray;
+
+                /**
+                 * Creates a new ActionRegister instance using the specified properties.
+                 * @param {message.behaviour.Subsumption.ActionRegister$Properties=} [properties] Properties to set
+                 * @returns {message.behaviour.Subsumption.ActionRegister} ActionRegister instance
+                 */
+                ActionRegister.create = function create(properties) {
+                    return new ActionRegister(properties);
+                };
+
+                /**
+                 * Encodes the specified ActionRegister message. Does not implicitly {@link message.behaviour.Subsumption.ActionRegister.verify|verify} messages.
+                 * @param {message.behaviour.Subsumption.ActionRegister$Properties} message ActionRegister message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                ActionRegister.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.id != null && message.hasOwnProperty("id"))
+                        writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.id);
+                    if (message.name != null && message.hasOwnProperty("name"))
+                        writer.uint32(/* id 2, wireType 2 =*/18).string(message.name);
+                    if (message.limbSet != null && message.limbSet.length)
+                        for (var i = 0; i < message.limbSet.length; ++i)
+                            $root.message.behaviour.Subsumption.LimbSet.encode(message.limbSet[i], writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified ActionRegister message, length delimited. Does not implicitly {@link message.behaviour.Subsumption.ActionRegister.verify|verify} messages.
+                 * @param {message.behaviour.Subsumption.ActionRegister$Properties} message ActionRegister message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                ActionRegister.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes an ActionRegister message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.behaviour.Subsumption.ActionRegister} ActionRegister
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                ActionRegister.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.behaviour.Subsumption.ActionRegister();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.id = reader.uint32();
+                            break;
+                        case 2:
+                            message.name = reader.string();
+                            break;
+                        case 3:
+                            if (!(message.limbSet && message.limbSet.length))
+                                message.limbSet = [];
+                            message.limbSet.push($root.message.behaviour.Subsumption.LimbSet.decode(reader, reader.uint32()));
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes an ActionRegister message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.behaviour.Subsumption.ActionRegister} ActionRegister
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                ActionRegister.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies an ActionRegister message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                ActionRegister.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.id != null && message.hasOwnProperty("id"))
+                        if (!$util.isInteger(message.id))
+                            return "id: integer expected";
+                    if (message.name != null && message.hasOwnProperty("name"))
+                        if (!$util.isString(message.name))
+                            return "name: string expected";
+                    if (message.limbSet != null && message.hasOwnProperty("limbSet")) {
+                        if (!Array.isArray(message.limbSet))
+                            return "limbSet: array expected";
+                        for (var i = 0; i < message.limbSet.length; ++i) {
+                            var error = $root.message.behaviour.Subsumption.LimbSet.verify(message.limbSet[i]);
+                            if (error)
+                                return "limbSet." + error;
+                        }
+                    }
+                    return null;
+                };
+
+                /**
+                 * Creates an ActionRegister message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.behaviour.Subsumption.ActionRegister} ActionRegister
+                 */
+                ActionRegister.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.behaviour.Subsumption.ActionRegister)
+                        return object;
+                    var message = new $root.message.behaviour.Subsumption.ActionRegister();
+                    if (object.id != null)
+                        message.id = object.id >>> 0;
+                    if (object.name != null)
+                        message.name = String(object.name);
+                    if (object.limbSet) {
+                        if (!Array.isArray(object.limbSet))
+                            throw TypeError(".message.behaviour.Subsumption.ActionRegister.limbSet: array expected");
+                        message.limbSet = [];
+                        for (var i = 0; i < object.limbSet.length; ++i) {
+                            if (typeof object.limbSet[i] !== "object")
+                                throw TypeError(".message.behaviour.Subsumption.ActionRegister.limbSet: object expected");
+                            message.limbSet[i] = $root.message.behaviour.Subsumption.LimbSet.fromObject(object.limbSet[i]);
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Creates an ActionRegister message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.behaviour.Subsumption.ActionRegister.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.behaviour.Subsumption.ActionRegister} ActionRegister
+                 */
+                ActionRegister.from = ActionRegister.fromObject;
+
+                /**
+                 * Creates a plain object from an ActionRegister message. Also converts values to other types if specified.
+                 * @param {message.behaviour.Subsumption.ActionRegister} message ActionRegister
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                ActionRegister.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.arrays || options.defaults)
+                        object.limbSet = [];
+                    if (options.defaults) {
+                        object.id = 0;
+                        object.name = "";
+                    }
+                    if (message.id != null && message.hasOwnProperty("id"))
+                        object.id = message.id;
+                    if (message.name != null && message.hasOwnProperty("name"))
+                        object.name = message.name;
+                    if (message.limbSet && message.limbSet.length) {
+                        object.limbSet = [];
+                        for (var j = 0; j < message.limbSet.length; ++j)
+                            object.limbSet[j] = $root.message.behaviour.Subsumption.LimbSet.toObject(message.limbSet[j], options);
+                    }
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this ActionRegister message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                ActionRegister.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this ActionRegister to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                ActionRegister.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return ActionRegister;
+            })();
+
+            Subsumption.ActionStateChange = (function() {
+
+                /**
+                 * Properties of an ActionStateChange.
+                 * @typedef message.behaviour.Subsumption.ActionStateChange$Properties
+                 * @type {Object}
+                 * @property {message.behaviour.Subsumption.ActionStateChange.State} [state] ActionStateChange state.
+                 * @property {string} [name] ActionStateChange name.
+                 * @property {Array.<number>} [limbs] ActionStateChange limbs.
+                 */
+
+                /**
+                 * Constructs a new ActionStateChange.
+                 * @exports message.behaviour.Subsumption.ActionStateChange
+                 * @constructor
+                 * @param {message.behaviour.Subsumption.ActionStateChange$Properties=} [properties] Properties to set
+                 */
+                function ActionStateChange(properties) {
+                    this.limbs = [];
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * ActionStateChange state.
+                 * @type {message.behaviour.Subsumption.ActionStateChange.State}
+                 */
+                ActionStateChange.prototype.state = 0;
+
+                /**
+                 * ActionStateChange name.
+                 * @type {string}
+                 */
+                ActionStateChange.prototype.name = "";
+
+                /**
+                 * ActionStateChange limbs.
+                 * @type {Array.<number>}
+                 */
+                ActionStateChange.prototype.limbs = $util.emptyArray;
+
+                /**
+                 * Creates a new ActionStateChange instance using the specified properties.
+                 * @param {message.behaviour.Subsumption.ActionStateChange$Properties=} [properties] Properties to set
+                 * @returns {message.behaviour.Subsumption.ActionStateChange} ActionStateChange instance
+                 */
+                ActionStateChange.create = function create(properties) {
+                    return new ActionStateChange(properties);
+                };
+
+                /**
+                 * Encodes the specified ActionStateChange message. Does not implicitly {@link message.behaviour.Subsumption.ActionStateChange.verify|verify} messages.
+                 * @param {message.behaviour.Subsumption.ActionStateChange$Properties} message ActionStateChange message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                ActionStateChange.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.state != null && message.hasOwnProperty("state"))
+                        writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.state);
+                    if (message.name != null && message.hasOwnProperty("name"))
+                        writer.uint32(/* id 2, wireType 2 =*/18).string(message.name);
+                    if (message.limbs != null && message.limbs.length) {
+                        writer.uint32(/* id 3, wireType 2 =*/26).fork();
+                        for (var i = 0; i < message.limbs.length; ++i)
+                            writer.uint32(message.limbs[i]);
+                        writer.ldelim();
+                    }
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified ActionStateChange message, length delimited. Does not implicitly {@link message.behaviour.Subsumption.ActionStateChange.verify|verify} messages.
+                 * @param {message.behaviour.Subsumption.ActionStateChange$Properties} message ActionStateChange message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                ActionStateChange.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes an ActionStateChange message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.behaviour.Subsumption.ActionStateChange} ActionStateChange
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                ActionStateChange.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.behaviour.Subsumption.ActionStateChange();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.state = reader.uint32();
+                            break;
+                        case 2:
+                            message.name = reader.string();
+                            break;
+                        case 3:
+                            if (!(message.limbs && message.limbs.length))
+                                message.limbs = [];
+                            if ((tag & 7) === 2) {
+                                var end2 = reader.uint32() + reader.pos;
+                                while (reader.pos < end2)
+                                    message.limbs.push(reader.uint32());
+                            } else
+                                message.limbs.push(reader.uint32());
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes an ActionStateChange message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.behaviour.Subsumption.ActionStateChange} ActionStateChange
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                ActionStateChange.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies an ActionStateChange message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                ActionStateChange.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.state != null && message.hasOwnProperty("state"))
+                        switch (message.state) {
+                        default:
+                            return "state: enum value expected";
+                        case 0:
+                        case 1:
+                        case 2:
+                            break;
+                        }
+                    if (message.name != null && message.hasOwnProperty("name"))
+                        if (!$util.isString(message.name))
+                            return "name: string expected";
+                    if (message.limbs != null && message.hasOwnProperty("limbs")) {
+                        if (!Array.isArray(message.limbs))
+                            return "limbs: array expected";
+                        for (var i = 0; i < message.limbs.length; ++i)
+                            if (!$util.isInteger(message.limbs[i]))
+                                return "limbs: integer[] expected";
+                    }
+                    return null;
+                };
+
+                /**
+                 * Creates an ActionStateChange message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.behaviour.Subsumption.ActionStateChange} ActionStateChange
+                 */
+                ActionStateChange.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.behaviour.Subsumption.ActionStateChange)
+                        return object;
+                    var message = new $root.message.behaviour.Subsumption.ActionStateChange();
+                    switch (object.state) {
+                    case "UNKNOWN":
+                    case 0:
+                        message.state = 0;
+                        break;
+                    case "START":
+                    case 1:
+                        message.state = 1;
+                        break;
+                    case "KILL":
+                    case 2:
+                        message.state = 2;
+                        break;
+                    }
+                    if (object.name != null)
+                        message.name = String(object.name);
+                    if (object.limbs) {
+                        if (!Array.isArray(object.limbs))
+                            throw TypeError(".message.behaviour.Subsumption.ActionStateChange.limbs: array expected");
+                        message.limbs = [];
+                        for (var i = 0; i < object.limbs.length; ++i)
+                            message.limbs[i] = object.limbs[i] >>> 0;
+                    }
+                    return message;
+                };
+
+                /**
+                 * Creates an ActionStateChange message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.behaviour.Subsumption.ActionStateChange.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.behaviour.Subsumption.ActionStateChange} ActionStateChange
+                 */
+                ActionStateChange.from = ActionStateChange.fromObject;
+
+                /**
+                 * Creates a plain object from an ActionStateChange message. Also converts values to other types if specified.
+                 * @param {message.behaviour.Subsumption.ActionStateChange} message ActionStateChange
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                ActionStateChange.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.arrays || options.defaults)
+                        object.limbs = [];
+                    if (options.defaults) {
+                        object.state = options.enums === String ? "UNKNOWN" : 0;
+                        object.name = "";
+                    }
+                    if (message.state != null && message.hasOwnProperty("state"))
+                        object.state = options.enums === String ? $root.message.behaviour.Subsumption.ActionStateChange.State[message.state] : message.state;
+                    if (message.name != null && message.hasOwnProperty("name"))
+                        object.name = message.name;
+                    if (message.limbs && message.limbs.length) {
+                        object.limbs = [];
+                        for (var j = 0; j < message.limbs.length; ++j)
+                            object.limbs[j] = message.limbs[j];
+                    }
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this ActionStateChange message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                ActionStateChange.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this ActionStateChange to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                ActionStateChange.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                /**
+                 * State enum.
+                 * @name State
+                 * @memberof message.behaviour.Subsumption.ActionStateChange
+                 * @enum {number}
+                 * @property {number} UNKNOWN=0 UNKNOWN value
+                 * @property {number} START=1 START value
+                 * @property {number} KILL=2 KILL value
+                 */
+                ActionStateChange.State = (function() {
+                    var valuesById = {}, values = Object.create(valuesById);
+                    values[valuesById[0] = "UNKNOWN"] = 0;
+                    values[valuesById[1] = "START"] = 1;
+                    values[valuesById[2] = "KILL"] = 2;
+                    return values;
+                })();
+
+                return ActionStateChange;
+            })();
+
+            Subsumption.ActionPriorites = (function() {
+
+                /**
+                 * Properties of an ActionPriorites.
+                 * @typedef message.behaviour.Subsumption.ActionPriorites$Properties
+                 * @type {Object}
+                 * @property {number} [id] ActionPriorites id.
+                 * @property {Array.<number>} [priorities] ActionPriorites priorities.
+                 */
+
+                /**
+                 * Constructs a new ActionPriorites.
+                 * @exports message.behaviour.Subsumption.ActionPriorites
+                 * @constructor
+                 * @param {message.behaviour.Subsumption.ActionPriorites$Properties=} [properties] Properties to set
+                 */
+                function ActionPriorites(properties) {
+                    this.priorities = [];
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * ActionPriorites id.
+                 * @type {number}
+                 */
+                ActionPriorites.prototype.id = 0;
+
+                /**
+                 * ActionPriorites priorities.
+                 * @type {Array.<number>}
+                 */
+                ActionPriorites.prototype.priorities = $util.emptyArray;
+
+                /**
+                 * Creates a new ActionPriorites instance using the specified properties.
+                 * @param {message.behaviour.Subsumption.ActionPriorites$Properties=} [properties] Properties to set
+                 * @returns {message.behaviour.Subsumption.ActionPriorites} ActionPriorites instance
+                 */
+                ActionPriorites.create = function create(properties) {
+                    return new ActionPriorites(properties);
+                };
+
+                /**
+                 * Encodes the specified ActionPriorites message. Does not implicitly {@link message.behaviour.Subsumption.ActionPriorites.verify|verify} messages.
+                 * @param {message.behaviour.Subsumption.ActionPriorites$Properties} message ActionPriorites message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                ActionPriorites.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.id != null && message.hasOwnProperty("id"))
+                        writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.id);
+                    if (message.priorities != null && message.priorities.length) {
+                        writer.uint32(/* id 2, wireType 2 =*/18).fork();
+                        for (var i = 0; i < message.priorities.length; ++i)
+                            writer.float(message.priorities[i]);
+                        writer.ldelim();
+                    }
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified ActionPriorites message, length delimited. Does not implicitly {@link message.behaviour.Subsumption.ActionPriorites.verify|verify} messages.
+                 * @param {message.behaviour.Subsumption.ActionPriorites$Properties} message ActionPriorites message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                ActionPriorites.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes an ActionPriorites message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.behaviour.Subsumption.ActionPriorites} ActionPriorites
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                ActionPriorites.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.behaviour.Subsumption.ActionPriorites();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.id = reader.uint32();
+                            break;
+                        case 2:
+                            if (!(message.priorities && message.priorities.length))
+                                message.priorities = [];
+                            if ((tag & 7) === 2) {
+                                var end2 = reader.uint32() + reader.pos;
+                                while (reader.pos < end2)
+                                    message.priorities.push(reader.float());
+                            } else
+                                message.priorities.push(reader.float());
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes an ActionPriorites message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.behaviour.Subsumption.ActionPriorites} ActionPriorites
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                ActionPriorites.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies an ActionPriorites message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                ActionPriorites.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.id != null && message.hasOwnProperty("id"))
+                        if (!$util.isInteger(message.id))
+                            return "id: integer expected";
+                    if (message.priorities != null && message.hasOwnProperty("priorities")) {
+                        if (!Array.isArray(message.priorities))
+                            return "priorities: array expected";
+                        for (var i = 0; i < message.priorities.length; ++i)
+                            if (typeof message.priorities[i] !== "number")
+                                return "priorities: number[] expected";
+                    }
+                    return null;
+                };
+
+                /**
+                 * Creates an ActionPriorites message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.behaviour.Subsumption.ActionPriorites} ActionPriorites
+                 */
+                ActionPriorites.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.behaviour.Subsumption.ActionPriorites)
+                        return object;
+                    var message = new $root.message.behaviour.Subsumption.ActionPriorites();
+                    if (object.id != null)
+                        message.id = object.id >>> 0;
+                    if (object.priorities) {
+                        if (!Array.isArray(object.priorities))
+                            throw TypeError(".message.behaviour.Subsumption.ActionPriorites.priorities: array expected");
+                        message.priorities = [];
+                        for (var i = 0; i < object.priorities.length; ++i)
+                            message.priorities[i] = Number(object.priorities[i]);
+                    }
+                    return message;
+                };
+
+                /**
+                 * Creates an ActionPriorites message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.behaviour.Subsumption.ActionPriorites.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.behaviour.Subsumption.ActionPriorites} ActionPriorites
+                 */
+                ActionPriorites.from = ActionPriorites.fromObject;
+
+                /**
+                 * Creates a plain object from an ActionPriorites message. Also converts values to other types if specified.
+                 * @param {message.behaviour.Subsumption.ActionPriorites} message ActionPriorites
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                ActionPriorites.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.arrays || options.defaults)
+                        object.priorities = [];
+                    if (options.defaults)
+                        object.id = 0;
+                    if (message.id != null && message.hasOwnProperty("id"))
+                        object.id = message.id;
+                    if (message.priorities && message.priorities.length) {
+                        object.priorities = [];
+                        for (var j = 0; j < message.priorities.length; ++j)
+                            object.priorities[j] = message.priorities[j];
+                    }
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this ActionPriorites message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                ActionPriorites.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this ActionPriorites to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                ActionPriorites.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return ActionPriorites;
+            })();
+
+            return Subsumption;
+        })();
+
+        behaviour.WalkPath = (function() {
+
+            /**
+             * Properties of a WalkPath.
+             * @typedef message.behaviour.WalkPath$Properties
+             * @type {Object}
+             * @property {Array.<vec3$Properties>} [states] WalkPath states.
+             * @property {vec3$Properties} [ballSpace] WalkPath ballSpace.
+             * @property {vec3$Properties} [start] WalkPath start.
+             * @property {vec3$Properties} [goal] WalkPath goal.
+             * @property {message.behaviour.MotionCommand$Properties} [command] WalkPath command.
+             */
+
+            /**
+             * Constructs a new WalkPath.
+             * @exports message.behaviour.WalkPath
+             * @constructor
+             * @param {message.behaviour.WalkPath$Properties=} [properties] Properties to set
+             */
+            function WalkPath(properties) {
+                this.states = [];
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * WalkPath states.
+             * @type {Array.<vec3$Properties>}
+             */
+            WalkPath.prototype.states = $util.emptyArray;
+
+            /**
+             * WalkPath ballSpace.
+             * @type {(vec3$Properties|null)}
+             */
+            WalkPath.prototype.ballSpace = null;
+
+            /**
+             * WalkPath start.
+             * @type {(vec3$Properties|null)}
+             */
+            WalkPath.prototype.start = null;
+
+            /**
+             * WalkPath goal.
+             * @type {(vec3$Properties|null)}
+             */
+            WalkPath.prototype.goal = null;
+
+            /**
+             * WalkPath command.
+             * @type {(message.behaviour.MotionCommand$Properties|null)}
+             */
+            WalkPath.prototype.command = null;
+
+            /**
+             * Creates a new WalkPath instance using the specified properties.
+             * @param {message.behaviour.WalkPath$Properties=} [properties] Properties to set
+             * @returns {message.behaviour.WalkPath} WalkPath instance
+             */
+            WalkPath.create = function create(properties) {
+                return new WalkPath(properties);
+            };
+
+            /**
+             * Encodes the specified WalkPath message. Does not implicitly {@link message.behaviour.WalkPath.verify|verify} messages.
+             * @param {message.behaviour.WalkPath$Properties} message WalkPath message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            WalkPath.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.states != null && message.states.length)
+                    for (var i = 0; i < message.states.length; ++i)
+                        $root.vec3.encode(message.states[i], writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                if (message.ballSpace != null && message.hasOwnProperty("ballSpace"))
+                    $root.vec3.encode(message.ballSpace, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                if (message.start != null && message.hasOwnProperty("start"))
+                    $root.vec3.encode(message.start, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+                if (message.goal != null && message.hasOwnProperty("goal"))
+                    $root.vec3.encode(message.goal, writer.uint32(/* id 4, wireType 2 =*/34).fork()).ldelim();
+                if (message.command != null && message.hasOwnProperty("command"))
+                    $root.message.behaviour.MotionCommand.encode(message.command, writer.uint32(/* id 5, wireType 2 =*/42).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified WalkPath message, length delimited. Does not implicitly {@link message.behaviour.WalkPath.verify|verify} messages.
+             * @param {message.behaviour.WalkPath$Properties} message WalkPath message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            WalkPath.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a WalkPath message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.behaviour.WalkPath} WalkPath
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            WalkPath.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.behaviour.WalkPath();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        if (!(message.states && message.states.length))
+                            message.states = [];
+                        message.states.push($root.vec3.decode(reader, reader.uint32()));
+                        break;
+                    case 2:
+                        message.ballSpace = $root.vec3.decode(reader, reader.uint32());
+                        break;
+                    case 3:
+                        message.start = $root.vec3.decode(reader, reader.uint32());
+                        break;
+                    case 4:
+                        message.goal = $root.vec3.decode(reader, reader.uint32());
+                        break;
+                    case 5:
+                        message.command = $root.message.behaviour.MotionCommand.decode(reader, reader.uint32());
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a WalkPath message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.behaviour.WalkPath} WalkPath
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            WalkPath.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a WalkPath message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            WalkPath.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.states != null && message.hasOwnProperty("states")) {
+                    if (!Array.isArray(message.states))
+                        return "states: array expected";
+                    for (var i = 0; i < message.states.length; ++i) {
+                        var error = $root.vec3.verify(message.states[i]);
+                        if (error)
+                            return "states." + error;
+                    }
+                }
+                if (message.ballSpace != null && message.hasOwnProperty("ballSpace")) {
+                    var error = $root.vec3.verify(message.ballSpace);
+                    if (error)
+                        return "ballSpace." + error;
+                }
+                if (message.start != null && message.hasOwnProperty("start")) {
+                    var error = $root.vec3.verify(message.start);
+                    if (error)
+                        return "start." + error;
+                }
+                if (message.goal != null && message.hasOwnProperty("goal")) {
+                    var error = $root.vec3.verify(message.goal);
+                    if (error)
+                        return "goal." + error;
+                }
+                if (message.command != null && message.hasOwnProperty("command")) {
+                    var error = $root.message.behaviour.MotionCommand.verify(message.command);
+                    if (error)
+                        return "command." + error;
+                }
+                return null;
+            };
+
+            /**
+             * Creates a WalkPath message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.WalkPath} WalkPath
+             */
+            WalkPath.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.behaviour.WalkPath)
+                    return object;
+                var message = new $root.message.behaviour.WalkPath();
+                if (object.states) {
+                    if (!Array.isArray(object.states))
+                        throw TypeError(".message.behaviour.WalkPath.states: array expected");
+                    message.states = [];
+                    for (var i = 0; i < object.states.length; ++i) {
+                        if (typeof object.states[i] !== "object")
+                            throw TypeError(".message.behaviour.WalkPath.states: object expected");
+                        message.states[i] = $root.vec3.fromObject(object.states[i]);
+                    }
+                }
+                if (object.ballSpace != null) {
+                    if (typeof object.ballSpace !== "object")
+                        throw TypeError(".message.behaviour.WalkPath.ballSpace: object expected");
+                    message.ballSpace = $root.vec3.fromObject(object.ballSpace);
+                }
+                if (object.start != null) {
+                    if (typeof object.start !== "object")
+                        throw TypeError(".message.behaviour.WalkPath.start: object expected");
+                    message.start = $root.vec3.fromObject(object.start);
+                }
+                if (object.goal != null) {
+                    if (typeof object.goal !== "object")
+                        throw TypeError(".message.behaviour.WalkPath.goal: object expected");
+                    message.goal = $root.vec3.fromObject(object.goal);
+                }
+                if (object.command != null) {
+                    if (typeof object.command !== "object")
+                        throw TypeError(".message.behaviour.WalkPath.command: object expected");
+                    message.command = $root.message.behaviour.MotionCommand.fromObject(object.command);
+                }
+                return message;
+            };
+
+            /**
+             * Creates a WalkPath message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.behaviour.WalkPath.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.behaviour.WalkPath} WalkPath
+             */
+            WalkPath.from = WalkPath.fromObject;
+
+            /**
+             * Creates a plain object from a WalkPath message. Also converts values to other types if specified.
+             * @param {message.behaviour.WalkPath} message WalkPath
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            WalkPath.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.arrays || options.defaults)
+                    object.states = [];
+                if (options.defaults) {
+                    object.ballSpace = null;
+                    object.start = null;
+                    object.goal = null;
+                    object.command = null;
+                }
+                if (message.states && message.states.length) {
+                    object.states = [];
+                    for (var j = 0; j < message.states.length; ++j)
+                        object.states[j] = $root.vec3.toObject(message.states[j], options);
+                }
+                if (message.ballSpace != null && message.hasOwnProperty("ballSpace"))
+                    object.ballSpace = $root.vec3.toObject(message.ballSpace, options);
+                if (message.start != null && message.hasOwnProperty("start"))
+                    object.start = $root.vec3.toObject(message.start, options);
+                if (message.goal != null && message.hasOwnProperty("goal"))
+                    object.goal = $root.vec3.toObject(message.goal, options);
+                if (message.command != null && message.hasOwnProperty("command"))
+                    object.command = $root.message.behaviour.MotionCommand.toObject(message.command, options);
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this WalkPath message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            WalkPath.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this WalkPath to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            WalkPath.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return WalkPath;
+        })();
+
+        return behaviour;
+    })();
+
+    message.input = (function() {
+
+        /**
+         * Namespace input.
+         * @exports message.input
+         * @namespace
+         */
+        var input = {};
+
+        input.CameraParameters = (function() {
+
+            /**
+             * Properties of a CameraParameters.
+             * @typedef message.input.CameraParameters$Properties
+             * @type {Object}
+             * @property {uvec2$Properties} [imageSizePixels] CameraParameters imageSizePixels.
+             * @property {vec2$Properties} [FOV] CameraParameters FOV.
+             * @property {vec2$Properties} [pixelsToTanThetaFactor] CameraParameters pixelsToTanThetaFactor.
+             * @property {number} [focalLengthPixels] CameraParameters focalLengthPixels.
+             * @property {number} [distortionFactor] CameraParameters distortionFactor.
+             */
+
+            /**
+             * Constructs a new CameraParameters.
+             * @exports message.input.CameraParameters
+             * @constructor
+             * @param {message.input.CameraParameters$Properties=} [properties] Properties to set
+             */
+            function CameraParameters(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * CameraParameters imageSizePixels.
+             * @type {(uvec2$Properties|null)}
+             */
+            CameraParameters.prototype.imageSizePixels = null;
+
+            /**
+             * CameraParameters FOV.
+             * @type {(vec2$Properties|null)}
+             */
+            CameraParameters.prototype.FOV = null;
+
+            /**
+             * CameraParameters pixelsToTanThetaFactor.
+             * @type {(vec2$Properties|null)}
+             */
+            CameraParameters.prototype.pixelsToTanThetaFactor = null;
+
+            /**
+             * CameraParameters focalLengthPixels.
+             * @type {number}
+             */
+            CameraParameters.prototype.focalLengthPixels = 0;
+
+            /**
+             * CameraParameters distortionFactor.
+             * @type {number}
+             */
+            CameraParameters.prototype.distortionFactor = 0;
+
+            /**
+             * Creates a new CameraParameters instance using the specified properties.
+             * @param {message.input.CameraParameters$Properties=} [properties] Properties to set
+             * @returns {message.input.CameraParameters} CameraParameters instance
+             */
+            CameraParameters.create = function create(properties) {
+                return new CameraParameters(properties);
+            };
+
+            /**
+             * Encodes the specified CameraParameters message. Does not implicitly {@link message.input.CameraParameters.verify|verify} messages.
+             * @param {message.input.CameraParameters$Properties} message CameraParameters message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            CameraParameters.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.imageSizePixels != null && message.hasOwnProperty("imageSizePixels"))
+                    $root.uvec2.encode(message.imageSizePixels, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                if (message.FOV != null && message.hasOwnProperty("FOV"))
+                    $root.vec2.encode(message.FOV, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                if (message.pixelsToTanThetaFactor != null && message.hasOwnProperty("pixelsToTanThetaFactor"))
+                    $root.vec2.encode(message.pixelsToTanThetaFactor, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+                if (message.focalLengthPixels != null && message.hasOwnProperty("focalLengthPixels"))
+                    writer.uint32(/* id 4, wireType 1 =*/33).double(message.focalLengthPixels);
+                if (message.distortionFactor != null && message.hasOwnProperty("distortionFactor"))
+                    writer.uint32(/* id 5, wireType 1 =*/41).double(message.distortionFactor);
+                return writer;
+            };
+
+            /**
+             * Encodes the specified CameraParameters message, length delimited. Does not implicitly {@link message.input.CameraParameters.verify|verify} messages.
+             * @param {message.input.CameraParameters$Properties} message CameraParameters message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            CameraParameters.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a CameraParameters message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.input.CameraParameters} CameraParameters
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            CameraParameters.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.CameraParameters();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.imageSizePixels = $root.uvec2.decode(reader, reader.uint32());
+                        break;
+                    case 2:
+                        message.FOV = $root.vec2.decode(reader, reader.uint32());
+                        break;
+                    case 3:
+                        message.pixelsToTanThetaFactor = $root.vec2.decode(reader, reader.uint32());
+                        break;
+                    case 4:
+                        message.focalLengthPixels = reader.double();
+                        break;
+                    case 5:
+                        message.distortionFactor = reader.double();
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a CameraParameters message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.input.CameraParameters} CameraParameters
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            CameraParameters.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a CameraParameters message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            CameraParameters.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.imageSizePixels != null && message.hasOwnProperty("imageSizePixels")) {
+                    var error = $root.uvec2.verify(message.imageSizePixels);
+                    if (error)
+                        return "imageSizePixels." + error;
+                }
+                if (message.FOV != null && message.hasOwnProperty("FOV")) {
+                    var error = $root.vec2.verify(message.FOV);
+                    if (error)
+                        return "FOV." + error;
+                }
+                if (message.pixelsToTanThetaFactor != null && message.hasOwnProperty("pixelsToTanThetaFactor")) {
+                    var error = $root.vec2.verify(message.pixelsToTanThetaFactor);
+                    if (error)
+                        return "pixelsToTanThetaFactor." + error;
+                }
+                if (message.focalLengthPixels != null && message.hasOwnProperty("focalLengthPixels"))
+                    if (typeof message.focalLengthPixels !== "number")
+                        return "focalLengthPixels: number expected";
+                if (message.distortionFactor != null && message.hasOwnProperty("distortionFactor"))
+                    if (typeof message.distortionFactor !== "number")
+                        return "distortionFactor: number expected";
+                return null;
+            };
+
+            /**
+             * Creates a CameraParameters message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.CameraParameters} CameraParameters
+             */
+            CameraParameters.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.input.CameraParameters)
+                    return object;
+                var message = new $root.message.input.CameraParameters();
+                if (object.imageSizePixels != null) {
+                    if (typeof object.imageSizePixels !== "object")
+                        throw TypeError(".message.input.CameraParameters.imageSizePixels: object expected");
+                    message.imageSizePixels = $root.uvec2.fromObject(object.imageSizePixels);
+                }
+                if (object.FOV != null) {
+                    if (typeof object.FOV !== "object")
+                        throw TypeError(".message.input.CameraParameters.FOV: object expected");
+                    message.FOV = $root.vec2.fromObject(object.FOV);
+                }
+                if (object.pixelsToTanThetaFactor != null) {
+                    if (typeof object.pixelsToTanThetaFactor !== "object")
+                        throw TypeError(".message.input.CameraParameters.pixelsToTanThetaFactor: object expected");
+                    message.pixelsToTanThetaFactor = $root.vec2.fromObject(object.pixelsToTanThetaFactor);
+                }
+                if (object.focalLengthPixels != null)
+                    message.focalLengthPixels = Number(object.focalLengthPixels);
+                if (object.distortionFactor != null)
+                    message.distortionFactor = Number(object.distortionFactor);
+                return message;
+            };
+
+            /**
+             * Creates a CameraParameters message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.input.CameraParameters.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.CameraParameters} CameraParameters
+             */
+            CameraParameters.from = CameraParameters.fromObject;
+
+            /**
+             * Creates a plain object from a CameraParameters message. Also converts values to other types if specified.
+             * @param {message.input.CameraParameters} message CameraParameters
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            CameraParameters.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults) {
+                    object.imageSizePixels = null;
+                    object.FOV = null;
+                    object.pixelsToTanThetaFactor = null;
+                    object.focalLengthPixels = 0;
+                    object.distortionFactor = 0;
+                }
+                if (message.imageSizePixels != null && message.hasOwnProperty("imageSizePixels"))
+                    object.imageSizePixels = $root.uvec2.toObject(message.imageSizePixels, options);
+                if (message.FOV != null && message.hasOwnProperty("FOV"))
+                    object.FOV = $root.vec2.toObject(message.FOV, options);
+                if (message.pixelsToTanThetaFactor != null && message.hasOwnProperty("pixelsToTanThetaFactor"))
+                    object.pixelsToTanThetaFactor = $root.vec2.toObject(message.pixelsToTanThetaFactor, options);
+                if (message.focalLengthPixels != null && message.hasOwnProperty("focalLengthPixels"))
+                    object.focalLengthPixels = message.focalLengthPixels;
+                if (message.distortionFactor != null && message.hasOwnProperty("distortionFactor"))
+                    object.distortionFactor = message.distortionFactor;
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this CameraParameters message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            CameraParameters.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this CameraParameters to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            CameraParameters.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return CameraParameters;
+        })();
+
+        input.GameEvents = (function() {
+
+            /**
+             * Properties of a GameEvents.
+             * @typedef message.input.GameEvents$Properties
+             * @type {Object}
+             */
+
+            /**
+             * Constructs a new GameEvents.
+             * @exports message.input.GameEvents
+             * @constructor
+             * @param {message.input.GameEvents$Properties=} [properties] Properties to set
+             */
+            function GameEvents(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Creates a new GameEvents instance using the specified properties.
+             * @param {message.input.GameEvents$Properties=} [properties] Properties to set
+             * @returns {message.input.GameEvents} GameEvents instance
+             */
+            GameEvents.create = function create(properties) {
+                return new GameEvents(properties);
+            };
+
+            /**
+             * Encodes the specified GameEvents message. Does not implicitly {@link message.input.GameEvents.verify|verify} messages.
+             * @param {message.input.GameEvents$Properties} message GameEvents message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            GameEvents.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified GameEvents message, length delimited. Does not implicitly {@link message.input.GameEvents.verify|verify} messages.
+             * @param {message.input.GameEvents$Properties} message GameEvents message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            GameEvents.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a GameEvents message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.input.GameEvents} GameEvents
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            GameEvents.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.GameEvents();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a GameEvents message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.input.GameEvents} GameEvents
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            GameEvents.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a GameEvents message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            GameEvents.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                return null;
+            };
+
+            /**
+             * Creates a GameEvents message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.GameEvents} GameEvents
+             */
+            GameEvents.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.input.GameEvents)
+                    return object;
+                return new $root.message.input.GameEvents();
+            };
+
+            /**
+             * Creates a GameEvents message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.input.GameEvents.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.GameEvents} GameEvents
+             */
+            GameEvents.from = GameEvents.fromObject;
+
+            /**
+             * Creates a plain object from a GameEvents message. Also converts values to other types if specified.
+             * @param {message.input.GameEvents} message GameEvents
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            GameEvents.toObject = function toObject() {
+                return {};
+            };
+
+            /**
+             * Creates a plain object from this GameEvents message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            GameEvents.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this GameEvents to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            GameEvents.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            /**
+             * Context enum.
+             * @name Context
+             * @memberof message.input.GameEvents
+             * @enum {number}
+             * @property {number} UNKNOWN_CONTEXT=0 UNKNOWN_CONTEXT value
+             * @property {number} SELF=1 SELF value
+             * @property {number} TEAM=2 TEAM value
+             * @property {number} OPPONENT=3 OPPONENT value
+             * @property {number} UNKNOWN=4 UNKNOWN value
+             */
+            GameEvents.Context = (function() {
+                var valuesById = {}, values = Object.create(valuesById);
+                values[valuesById[0] = "UNKNOWN_CONTEXT"] = 0;
+                values[valuesById[1] = "SELF"] = 1;
+                values[valuesById[2] = "TEAM"] = 2;
+                values[valuesById[3] = "OPPONENT"] = 3;
+                values[valuesById[4] = "UNKNOWN"] = 4;
+                return values;
+            })();
+
+            /**
+             * TeamColour enum.
+             * @name TeamColour
+             * @memberof message.input.GameEvents
+             * @enum {number}
+             * @property {number} UNKNOWN_TEAM_COLOUR=0 UNKNOWN_TEAM_COLOUR value
+             * @property {number} CYAN=1 CYAN value
+             * @property {number} MAGENTA=2 MAGENTA value
+             */
+            GameEvents.TeamColour = (function() {
+                var valuesById = {}, values = Object.create(valuesById);
+                values[valuesById[0] = "UNKNOWN_TEAM_COLOUR"] = 0;
+                values[valuesById[1] = "CYAN"] = 1;
+                values[valuesById[2] = "MAGENTA"] = 2;
+                return values;
+            })();
+
+            GameEvents.Score = (function() {
+
+                /**
+                 * Properties of a Score.
+                 * @typedef message.input.GameEvents.Score$Properties
+                 * @type {Object}
+                 * @property {number} [ownScore] Score ownScore.
+                 * @property {number} [opponentScore] Score opponentScore.
+                 */
+
+                /**
+                 * Constructs a new Score.
+                 * @exports message.input.GameEvents.Score
+                 * @constructor
+                 * @param {message.input.GameEvents.Score$Properties=} [properties] Properties to set
+                 */
+                function Score(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * Score ownScore.
+                 * @type {number}
+                 */
+                Score.prototype.ownScore = 0;
+
+                /**
+                 * Score opponentScore.
+                 * @type {number}
+                 */
+                Score.prototype.opponentScore = 0;
+
+                /**
+                 * Creates a new Score instance using the specified properties.
+                 * @param {message.input.GameEvents.Score$Properties=} [properties] Properties to set
+                 * @returns {message.input.GameEvents.Score} Score instance
+                 */
+                Score.create = function create(properties) {
+                    return new Score(properties);
+                };
+
+                /**
+                 * Encodes the specified Score message. Does not implicitly {@link message.input.GameEvents.Score.verify|verify} messages.
+                 * @param {message.input.GameEvents.Score$Properties} message Score message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Score.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.ownScore != null && message.hasOwnProperty("ownScore"))
+                        writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.ownScore);
+                    if (message.opponentScore != null && message.hasOwnProperty("opponentScore"))
+                        writer.uint32(/* id 2, wireType 0 =*/16).uint32(message.opponentScore);
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified Score message, length delimited. Does not implicitly {@link message.input.GameEvents.Score.verify|verify} messages.
+                 * @param {message.input.GameEvents.Score$Properties} message Score message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Score.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a Score message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.GameEvents.Score} Score
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Score.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.GameEvents.Score();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.ownScore = reader.uint32();
+                            break;
+                        case 2:
+                            message.opponentScore = reader.uint32();
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a Score message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.GameEvents.Score} Score
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Score.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a Score message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                Score.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.ownScore != null && message.hasOwnProperty("ownScore"))
+                        if (!$util.isInteger(message.ownScore))
+                            return "ownScore: integer expected";
+                    if (message.opponentScore != null && message.hasOwnProperty("opponentScore"))
+                        if (!$util.isInteger(message.opponentScore))
+                            return "opponentScore: integer expected";
+                    return null;
+                };
+
+                /**
+                 * Creates a Score message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameEvents.Score} Score
+                 */
+                Score.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.input.GameEvents.Score)
+                        return object;
+                    var message = new $root.message.input.GameEvents.Score();
+                    if (object.ownScore != null)
+                        message.ownScore = object.ownScore >>> 0;
+                    if (object.opponentScore != null)
+                        message.opponentScore = object.opponentScore >>> 0;
+                    return message;
+                };
+
+                /**
+                 * Creates a Score message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.GameEvents.Score.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameEvents.Score} Score
+                 */
+                Score.from = Score.fromObject;
+
+                /**
+                 * Creates a plain object from a Score message. Also converts values to other types if specified.
+                 * @param {message.input.GameEvents.Score} message Score
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Score.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.defaults) {
+                        object.ownScore = 0;
+                        object.opponentScore = 0;
+                    }
+                    if (message.ownScore != null && message.hasOwnProperty("ownScore"))
+                        object.ownScore = message.ownScore;
+                    if (message.opponentScore != null && message.hasOwnProperty("opponentScore"))
+                        object.opponentScore = message.opponentScore;
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this Score message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Score.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this Score to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                Score.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return Score;
+            })();
+
+            GameEvents.GoalScored = (function() {
+
+                /**
+                 * Properties of a GoalScored.
+                 * @typedef message.input.GameEvents.GoalScored$Properties
+                 * @type {Object}
+                 * @property {message.input.GameEvents.Context} [context] GoalScored context.
+                 * @property {number} [totalScore] GoalScored totalScore.
+                 */
+
+                /**
+                 * Constructs a new GoalScored.
+                 * @exports message.input.GameEvents.GoalScored
+                 * @constructor
+                 * @param {message.input.GameEvents.GoalScored$Properties=} [properties] Properties to set
+                 */
+                function GoalScored(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * GoalScored context.
+                 * @type {message.input.GameEvents.Context}
+                 */
+                GoalScored.prototype.context = 0;
+
+                /**
+                 * GoalScored totalScore.
+                 * @type {number}
+                 */
+                GoalScored.prototype.totalScore = 0;
+
+                /**
+                 * Creates a new GoalScored instance using the specified properties.
+                 * @param {message.input.GameEvents.GoalScored$Properties=} [properties] Properties to set
+                 * @returns {message.input.GameEvents.GoalScored} GoalScored instance
+                 */
+                GoalScored.create = function create(properties) {
+                    return new GoalScored(properties);
+                };
+
+                /**
+                 * Encodes the specified GoalScored message. Does not implicitly {@link message.input.GameEvents.GoalScored.verify|verify} messages.
+                 * @param {message.input.GameEvents.GoalScored$Properties} message GoalScored message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                GoalScored.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.context != null && message.hasOwnProperty("context"))
+                        writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.context);
+                    if (message.totalScore != null && message.hasOwnProperty("totalScore"))
+                        writer.uint32(/* id 2, wireType 0 =*/16).uint32(message.totalScore);
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified GoalScored message, length delimited. Does not implicitly {@link message.input.GameEvents.GoalScored.verify|verify} messages.
+                 * @param {message.input.GameEvents.GoalScored$Properties} message GoalScored message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                GoalScored.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a GoalScored message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.GameEvents.GoalScored} GoalScored
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                GoalScored.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.GameEvents.GoalScored();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.context = reader.uint32();
+                            break;
+                        case 2:
+                            message.totalScore = reader.uint32();
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a GoalScored message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.GameEvents.GoalScored} GoalScored
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                GoalScored.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a GoalScored message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                GoalScored.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.context != null && message.hasOwnProperty("context"))
+                        switch (message.context) {
+                        default:
+                            return "context: enum value expected";
+                        case 0:
+                        case 1:
+                        case 2:
+                        case 3:
+                        case 4:
+                            break;
+                        }
+                    if (message.totalScore != null && message.hasOwnProperty("totalScore"))
+                        if (!$util.isInteger(message.totalScore))
+                            return "totalScore: integer expected";
+                    return null;
+                };
+
+                /**
+                 * Creates a GoalScored message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameEvents.GoalScored} GoalScored
+                 */
+                GoalScored.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.input.GameEvents.GoalScored)
+                        return object;
+                    var message = new $root.message.input.GameEvents.GoalScored();
+                    switch (object.context) {
+                    case "UNKNOWN_CONTEXT":
+                    case 0:
+                        message.context = 0;
+                        break;
+                    case "SELF":
+                    case 1:
+                        message.context = 1;
+                        break;
+                    case "TEAM":
+                    case 2:
+                        message.context = 2;
+                        break;
+                    case "OPPONENT":
+                    case 3:
+                        message.context = 3;
+                        break;
+                    case "UNKNOWN":
+                    case 4:
+                        message.context = 4;
+                        break;
+                    }
+                    if (object.totalScore != null)
+                        message.totalScore = object.totalScore >>> 0;
+                    return message;
+                };
+
+                /**
+                 * Creates a GoalScored message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.GameEvents.GoalScored.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameEvents.GoalScored} GoalScored
+                 */
+                GoalScored.from = GoalScored.fromObject;
+
+                /**
+                 * Creates a plain object from a GoalScored message. Also converts values to other types if specified.
+                 * @param {message.input.GameEvents.GoalScored} message GoalScored
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                GoalScored.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.defaults) {
+                        object.context = options.enums === String ? "UNKNOWN_CONTEXT" : 0;
+                        object.totalScore = 0;
+                    }
+                    if (message.context != null && message.hasOwnProperty("context"))
+                        object.context = options.enums === String ? $root.message.input.GameEvents.Context[message.context] : message.context;
+                    if (message.totalScore != null && message.hasOwnProperty("totalScore"))
+                        object.totalScore = message.totalScore;
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this GoalScored message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                GoalScored.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this GoalScored to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                GoalScored.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return GoalScored;
+            })();
+
+            GameEvents.Penalisation = (function() {
+
+                /**
+                 * Properties of a Penalisation.
+                 * @typedef message.input.GameEvents.Penalisation$Properties
+                 * @type {Object}
+                 * @property {message.input.GameEvents.Context} [context] Penalisation context.
+                 * @property {number} [robotId] Penalisation robotId.
+                 * @property {google.protobuf.Timestamp$Properties} [ends] Penalisation ends.
+                 * @property {message.input.GameState.Data.PenaltyReason} [reason] Penalisation reason.
+                 */
+
+                /**
+                 * Constructs a new Penalisation.
+                 * @exports message.input.GameEvents.Penalisation
+                 * @constructor
+                 * @param {message.input.GameEvents.Penalisation$Properties=} [properties] Properties to set
+                 */
+                function Penalisation(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * Penalisation context.
+                 * @type {message.input.GameEvents.Context}
+                 */
+                Penalisation.prototype.context = 0;
+
+                /**
+                 * Penalisation robotId.
+                 * @type {number}
+                 */
+                Penalisation.prototype.robotId = 0;
+
+                /**
+                 * Penalisation ends.
+                 * @type {(google.protobuf.Timestamp$Properties|null)}
+                 */
+                Penalisation.prototype.ends = null;
+
+                /**
+                 * Penalisation reason.
+                 * @type {message.input.GameState.Data.PenaltyReason}
+                 */
+                Penalisation.prototype.reason = 0;
+
+                /**
+                 * Creates a new Penalisation instance using the specified properties.
+                 * @param {message.input.GameEvents.Penalisation$Properties=} [properties] Properties to set
+                 * @returns {message.input.GameEvents.Penalisation} Penalisation instance
+                 */
+                Penalisation.create = function create(properties) {
+                    return new Penalisation(properties);
+                };
+
+                /**
+                 * Encodes the specified Penalisation message. Does not implicitly {@link message.input.GameEvents.Penalisation.verify|verify} messages.
+                 * @param {message.input.GameEvents.Penalisation$Properties} message Penalisation message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Penalisation.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.context != null && message.hasOwnProperty("context"))
+                        writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.context);
+                    if (message.robotId != null && message.hasOwnProperty("robotId"))
+                        writer.uint32(/* id 2, wireType 0 =*/16).uint32(message.robotId);
+                    if (message.ends != null && message.hasOwnProperty("ends"))
+                        $root.google.protobuf.Timestamp.encode(message.ends, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+                    if (message.reason != null && message.hasOwnProperty("reason"))
+                        writer.uint32(/* id 4, wireType 0 =*/32).uint32(message.reason);
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified Penalisation message, length delimited. Does not implicitly {@link message.input.GameEvents.Penalisation.verify|verify} messages.
+                 * @param {message.input.GameEvents.Penalisation$Properties} message Penalisation message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Penalisation.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a Penalisation message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.GameEvents.Penalisation} Penalisation
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Penalisation.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.GameEvents.Penalisation();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.context = reader.uint32();
+                            break;
+                        case 2:
+                            message.robotId = reader.uint32();
+                            break;
+                        case 3:
+                            message.ends = $root.google.protobuf.Timestamp.decode(reader, reader.uint32());
+                            break;
+                        case 4:
+                            message.reason = reader.uint32();
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a Penalisation message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.GameEvents.Penalisation} Penalisation
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Penalisation.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a Penalisation message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                Penalisation.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.context != null && message.hasOwnProperty("context"))
+                        switch (message.context) {
+                        default:
+                            return "context: enum value expected";
+                        case 0:
+                        case 1:
+                        case 2:
+                        case 3:
+                        case 4:
+                            break;
+                        }
+                    if (message.robotId != null && message.hasOwnProperty("robotId"))
+                        if (!$util.isInteger(message.robotId))
+                            return "robotId: integer expected";
+                    if (message.ends != null && message.hasOwnProperty("ends")) {
+                        var error = $root.google.protobuf.Timestamp.verify(message.ends);
+                        if (error)
+                            return "ends." + error;
+                    }
+                    if (message.reason != null && message.hasOwnProperty("reason"))
+                        switch (message.reason) {
+                        default:
+                            return "reason: enum value expected";
+                        case 0:
+                        case 1:
+                        case 2:
+                        case 3:
+                        case 4:
+                        case 5:
+                        case 6:
+                        case 7:
+                        case 8:
+                        case 9:
+                        case 10:
+                            break;
+                        }
+                    return null;
+                };
+
+                /**
+                 * Creates a Penalisation message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameEvents.Penalisation} Penalisation
+                 */
+                Penalisation.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.input.GameEvents.Penalisation)
+                        return object;
+                    var message = new $root.message.input.GameEvents.Penalisation();
+                    switch (object.context) {
+                    case "UNKNOWN_CONTEXT":
+                    case 0:
+                        message.context = 0;
+                        break;
+                    case "SELF":
+                    case 1:
+                        message.context = 1;
+                        break;
+                    case "TEAM":
+                    case 2:
+                        message.context = 2;
+                        break;
+                    case "OPPONENT":
+                    case 3:
+                        message.context = 3;
+                        break;
+                    case "UNKNOWN":
+                    case 4:
+                        message.context = 4;
+                        break;
+                    }
+                    if (object.robotId != null)
+                        message.robotId = object.robotId >>> 0;
+                    if (object.ends != null) {
+                        if (typeof object.ends !== "object")
+                            throw TypeError(".message.input.GameEvents.Penalisation.ends: object expected");
+                        message.ends = $root.google.protobuf.Timestamp.fromObject(object.ends);
+                    }
+                    switch (object.reason) {
+                    case "UNKNOWN_PENALTY_REASON":
+                    case 0:
+                        message.reason = 0;
+                        break;
+                    case "UNPENALISED":
+                    case 1:
+                        message.reason = 1;
+                        break;
+                    case "BALL_MANIPULATION":
+                    case 2:
+                        message.reason = 2;
+                        break;
+                    case "PHYSICAL_CONTACT":
+                    case 3:
+                        message.reason = 3;
+                        break;
+                    case "ILLEGAL_ATTACK":
+                    case 4:
+                        message.reason = 4;
+                        break;
+                    case "ILLEGAL_DEFENSE":
+                    case 5:
+                        message.reason = 5;
+                        break;
+                    case "REQUEST_FOR_PICKUP":
+                    case 6:
+                        message.reason = 6;
+                        break;
+                    case "REQUEST_FOR_SERVICE":
+                    case 7:
+                        message.reason = 7;
+                        break;
+                    case "REQUEST_FOR_PICKUP_TO_SERVICE":
+                    case 8:
+                        message.reason = 8;
+                        break;
+                    case "SUBSTITUTE":
+                    case 9:
+                        message.reason = 9;
+                        break;
+                    case "MANUAL":
+                    case 10:
+                        message.reason = 10;
+                        break;
+                    }
+                    return message;
+                };
+
+                /**
+                 * Creates a Penalisation message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.GameEvents.Penalisation.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameEvents.Penalisation} Penalisation
+                 */
+                Penalisation.from = Penalisation.fromObject;
+
+                /**
+                 * Creates a plain object from a Penalisation message. Also converts values to other types if specified.
+                 * @param {message.input.GameEvents.Penalisation} message Penalisation
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Penalisation.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.defaults) {
+                        object.context = options.enums === String ? "UNKNOWN_CONTEXT" : 0;
+                        object.robotId = 0;
+                        object.ends = null;
+                        object.reason = options.enums === String ? "UNKNOWN_PENALTY_REASON" : 0;
+                    }
+                    if (message.context != null && message.hasOwnProperty("context"))
+                        object.context = options.enums === String ? $root.message.input.GameEvents.Context[message.context] : message.context;
+                    if (message.robotId != null && message.hasOwnProperty("robotId"))
+                        object.robotId = message.robotId;
+                    if (message.ends != null && message.hasOwnProperty("ends"))
+                        object.ends = $root.google.protobuf.Timestamp.toObject(message.ends, options);
+                    if (message.reason != null && message.hasOwnProperty("reason"))
+                        object.reason = options.enums === String ? $root.message.input.GameState.Data.PenaltyReason[message.reason] : message.reason;
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this Penalisation message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Penalisation.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this Penalisation to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                Penalisation.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return Penalisation;
+            })();
+
+            GameEvents.Unpenalisation = (function() {
+
+                /**
+                 * Properties of an Unpenalisation.
+                 * @typedef message.input.GameEvents.Unpenalisation$Properties
+                 * @type {Object}
+                 * @property {message.input.GameEvents.Context} [context] Unpenalisation context.
+                 * @property {number} [robotId] Unpenalisation robotId.
+                 */
+
+                /**
+                 * Constructs a new Unpenalisation.
+                 * @exports message.input.GameEvents.Unpenalisation
+                 * @constructor
+                 * @param {message.input.GameEvents.Unpenalisation$Properties=} [properties] Properties to set
+                 */
+                function Unpenalisation(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * Unpenalisation context.
+                 * @type {message.input.GameEvents.Context}
+                 */
+                Unpenalisation.prototype.context = 0;
+
+                /**
+                 * Unpenalisation robotId.
+                 * @type {number}
+                 */
+                Unpenalisation.prototype.robotId = 0;
+
+                /**
+                 * Creates a new Unpenalisation instance using the specified properties.
+                 * @param {message.input.GameEvents.Unpenalisation$Properties=} [properties] Properties to set
+                 * @returns {message.input.GameEvents.Unpenalisation} Unpenalisation instance
+                 */
+                Unpenalisation.create = function create(properties) {
+                    return new Unpenalisation(properties);
+                };
+
+                /**
+                 * Encodes the specified Unpenalisation message. Does not implicitly {@link message.input.GameEvents.Unpenalisation.verify|verify} messages.
+                 * @param {message.input.GameEvents.Unpenalisation$Properties} message Unpenalisation message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Unpenalisation.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.context != null && message.hasOwnProperty("context"))
+                        writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.context);
+                    if (message.robotId != null && message.hasOwnProperty("robotId"))
+                        writer.uint32(/* id 2, wireType 0 =*/16).uint32(message.robotId);
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified Unpenalisation message, length delimited. Does not implicitly {@link message.input.GameEvents.Unpenalisation.verify|verify} messages.
+                 * @param {message.input.GameEvents.Unpenalisation$Properties} message Unpenalisation message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Unpenalisation.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes an Unpenalisation message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.GameEvents.Unpenalisation} Unpenalisation
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Unpenalisation.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.GameEvents.Unpenalisation();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.context = reader.uint32();
+                            break;
+                        case 2:
+                            message.robotId = reader.uint32();
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes an Unpenalisation message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.GameEvents.Unpenalisation} Unpenalisation
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Unpenalisation.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies an Unpenalisation message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                Unpenalisation.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.context != null && message.hasOwnProperty("context"))
+                        switch (message.context) {
+                        default:
+                            return "context: enum value expected";
+                        case 0:
+                        case 1:
+                        case 2:
+                        case 3:
+                        case 4:
+                            break;
+                        }
+                    if (message.robotId != null && message.hasOwnProperty("robotId"))
+                        if (!$util.isInteger(message.robotId))
+                            return "robotId: integer expected";
+                    return null;
+                };
+
+                /**
+                 * Creates an Unpenalisation message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameEvents.Unpenalisation} Unpenalisation
+                 */
+                Unpenalisation.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.input.GameEvents.Unpenalisation)
+                        return object;
+                    var message = new $root.message.input.GameEvents.Unpenalisation();
+                    switch (object.context) {
+                    case "UNKNOWN_CONTEXT":
+                    case 0:
+                        message.context = 0;
+                        break;
+                    case "SELF":
+                    case 1:
+                        message.context = 1;
+                        break;
+                    case "TEAM":
+                    case 2:
+                        message.context = 2;
+                        break;
+                    case "OPPONENT":
+                    case 3:
+                        message.context = 3;
+                        break;
+                    case "UNKNOWN":
+                    case 4:
+                        message.context = 4;
+                        break;
+                    }
+                    if (object.robotId != null)
+                        message.robotId = object.robotId >>> 0;
+                    return message;
+                };
+
+                /**
+                 * Creates an Unpenalisation message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.GameEvents.Unpenalisation.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameEvents.Unpenalisation} Unpenalisation
+                 */
+                Unpenalisation.from = Unpenalisation.fromObject;
+
+                /**
+                 * Creates a plain object from an Unpenalisation message. Also converts values to other types if specified.
+                 * @param {message.input.GameEvents.Unpenalisation} message Unpenalisation
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Unpenalisation.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.defaults) {
+                        object.context = options.enums === String ? "UNKNOWN_CONTEXT" : 0;
+                        object.robotId = 0;
+                    }
+                    if (message.context != null && message.hasOwnProperty("context"))
+                        object.context = options.enums === String ? $root.message.input.GameEvents.Context[message.context] : message.context;
+                    if (message.robotId != null && message.hasOwnProperty("robotId"))
+                        object.robotId = message.robotId;
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this Unpenalisation message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Unpenalisation.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this Unpenalisation to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                Unpenalisation.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return Unpenalisation;
+            })();
+
+            GameEvents.CoachMessage = (function() {
+
+                /**
+                 * Properties of a CoachMessage.
+                 * @typedef message.input.GameEvents.CoachMessage$Properties
+                 * @type {Object}
+                 * @property {message.input.GameEvents.Context} [context] CoachMessage context.
+                 * @property {string} [message] CoachMessage message.
+                 */
+
+                /**
+                 * Constructs a new CoachMessage.
+                 * @exports message.input.GameEvents.CoachMessage
+                 * @constructor
+                 * @param {message.input.GameEvents.CoachMessage$Properties=} [properties] Properties to set
+                 */
+                function CoachMessage(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * CoachMessage context.
+                 * @type {message.input.GameEvents.Context}
+                 */
+                CoachMessage.prototype.context = 0;
+
+                /**
+                 * CoachMessage message.
+                 * @type {string}
+                 */
+                CoachMessage.prototype.message = "";
+
+                /**
+                 * Creates a new CoachMessage instance using the specified properties.
+                 * @param {message.input.GameEvents.CoachMessage$Properties=} [properties] Properties to set
+                 * @returns {message.input.GameEvents.CoachMessage} CoachMessage instance
+                 */
+                CoachMessage.create = function create(properties) {
+                    return new CoachMessage(properties);
+                };
+
+                /**
+                 * Encodes the specified CoachMessage message. Does not implicitly {@link message.input.GameEvents.CoachMessage.verify|verify} messages.
+                 * @param {message.input.GameEvents.CoachMessage$Properties} message CoachMessage message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                CoachMessage.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.context != null && message.hasOwnProperty("context"))
+                        writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.context);
+                    if (message.message != null && message.hasOwnProperty("message"))
+                        writer.uint32(/* id 2, wireType 2 =*/18).string(message.message);
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified CoachMessage message, length delimited. Does not implicitly {@link message.input.GameEvents.CoachMessage.verify|verify} messages.
+                 * @param {message.input.GameEvents.CoachMessage$Properties} message CoachMessage message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                CoachMessage.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a CoachMessage message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.GameEvents.CoachMessage} CoachMessage
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                CoachMessage.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.GameEvents.CoachMessage();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.context = reader.uint32();
+                            break;
+                        case 2:
+                            message.message = reader.string();
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a CoachMessage message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.GameEvents.CoachMessage} CoachMessage
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                CoachMessage.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a CoachMessage message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                CoachMessage.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.context != null && message.hasOwnProperty("context"))
+                        switch (message.context) {
+                        default:
+                            return "context: enum value expected";
+                        case 0:
+                        case 1:
+                        case 2:
+                        case 3:
+                        case 4:
+                            break;
+                        }
+                    if (message.message != null && message.hasOwnProperty("message"))
+                        if (!$util.isString(message.message))
+                            return "message: string expected";
+                    return null;
+                };
+
+                /**
+                 * Creates a CoachMessage message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameEvents.CoachMessage} CoachMessage
+                 */
+                CoachMessage.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.input.GameEvents.CoachMessage)
+                        return object;
+                    var message = new $root.message.input.GameEvents.CoachMessage();
+                    switch (object.context) {
+                    case "UNKNOWN_CONTEXT":
+                    case 0:
+                        message.context = 0;
+                        break;
+                    case "SELF":
+                    case 1:
+                        message.context = 1;
+                        break;
+                    case "TEAM":
+                    case 2:
+                        message.context = 2;
+                        break;
+                    case "OPPONENT":
+                    case 3:
+                        message.context = 3;
+                        break;
+                    case "UNKNOWN":
+                    case 4:
+                        message.context = 4;
+                        break;
+                    }
+                    if (object.message != null)
+                        message.message = String(object.message);
+                    return message;
+                };
+
+                /**
+                 * Creates a CoachMessage message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.GameEvents.CoachMessage.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameEvents.CoachMessage} CoachMessage
+                 */
+                CoachMessage.from = CoachMessage.fromObject;
+
+                /**
+                 * Creates a plain object from a CoachMessage message. Also converts values to other types if specified.
+                 * @param {message.input.GameEvents.CoachMessage} message CoachMessage
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                CoachMessage.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.defaults) {
+                        object.context = options.enums === String ? "UNKNOWN_CONTEXT" : 0;
+                        object.message = "";
+                    }
+                    if (message.context != null && message.hasOwnProperty("context"))
+                        object.context = options.enums === String ? $root.message.input.GameEvents.Context[message.context] : message.context;
+                    if (message.message != null && message.hasOwnProperty("message"))
+                        object.message = message.message;
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this CoachMessage message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                CoachMessage.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this CoachMessage to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                CoachMessage.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return CoachMessage;
+            })();
+
+            GameEvents.HalfTime = (function() {
+
+                /**
+                 * Properties of a HalfTime.
+                 * @typedef message.input.GameEvents.HalfTime$Properties
+                 * @type {Object}
+                 * @property {boolean} [firstHalf] HalfTime firstHalf.
+                 */
+
+                /**
+                 * Constructs a new HalfTime.
+                 * @exports message.input.GameEvents.HalfTime
+                 * @constructor
+                 * @param {message.input.GameEvents.HalfTime$Properties=} [properties] Properties to set
+                 */
+                function HalfTime(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * HalfTime firstHalf.
+                 * @type {boolean}
+                 */
+                HalfTime.prototype.firstHalf = false;
+
+                /**
+                 * Creates a new HalfTime instance using the specified properties.
+                 * @param {message.input.GameEvents.HalfTime$Properties=} [properties] Properties to set
+                 * @returns {message.input.GameEvents.HalfTime} HalfTime instance
+                 */
+                HalfTime.create = function create(properties) {
+                    return new HalfTime(properties);
+                };
+
+                /**
+                 * Encodes the specified HalfTime message. Does not implicitly {@link message.input.GameEvents.HalfTime.verify|verify} messages.
+                 * @param {message.input.GameEvents.HalfTime$Properties} message HalfTime message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                HalfTime.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.firstHalf != null && message.hasOwnProperty("firstHalf"))
+                        writer.uint32(/* id 1, wireType 0 =*/8).bool(message.firstHalf);
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified HalfTime message, length delimited. Does not implicitly {@link message.input.GameEvents.HalfTime.verify|verify} messages.
+                 * @param {message.input.GameEvents.HalfTime$Properties} message HalfTime message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                HalfTime.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a HalfTime message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.GameEvents.HalfTime} HalfTime
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                HalfTime.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.GameEvents.HalfTime();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.firstHalf = reader.bool();
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a HalfTime message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.GameEvents.HalfTime} HalfTime
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                HalfTime.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a HalfTime message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                HalfTime.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.firstHalf != null && message.hasOwnProperty("firstHalf"))
+                        if (typeof message.firstHalf !== "boolean")
+                            return "firstHalf: boolean expected";
+                    return null;
+                };
+
+                /**
+                 * Creates a HalfTime message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameEvents.HalfTime} HalfTime
+                 */
+                HalfTime.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.input.GameEvents.HalfTime)
+                        return object;
+                    var message = new $root.message.input.GameEvents.HalfTime();
+                    if (object.firstHalf != null)
+                        message.firstHalf = Boolean(object.firstHalf);
+                    return message;
+                };
+
+                /**
+                 * Creates a HalfTime message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.GameEvents.HalfTime.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameEvents.HalfTime} HalfTime
+                 */
+                HalfTime.from = HalfTime.fromObject;
+
+                /**
+                 * Creates a plain object from a HalfTime message. Also converts values to other types if specified.
+                 * @param {message.input.GameEvents.HalfTime} message HalfTime
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                HalfTime.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.defaults)
+                        object.firstHalf = false;
+                    if (message.firstHalf != null && message.hasOwnProperty("firstHalf"))
+                        object.firstHalf = message.firstHalf;
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this HalfTime message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                HalfTime.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this HalfTime to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                HalfTime.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return HalfTime;
+            })();
+
+            GameEvents.BallKickedOut = (function() {
+
+                /**
+                 * Properties of a BallKickedOut.
+                 * @typedef message.input.GameEvents.BallKickedOut$Properties
+                 * @type {Object}
+                 * @property {message.input.GameEvents.Context} [context] BallKickedOut context.
+                 * @property {google.protobuf.Timestamp$Properties} [time] BallKickedOut time.
+                 */
+
+                /**
+                 * Constructs a new BallKickedOut.
+                 * @exports message.input.GameEvents.BallKickedOut
+                 * @constructor
+                 * @param {message.input.GameEvents.BallKickedOut$Properties=} [properties] Properties to set
+                 */
+                function BallKickedOut(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * BallKickedOut context.
+                 * @type {message.input.GameEvents.Context}
+                 */
+                BallKickedOut.prototype.context = 0;
+
+                /**
+                 * BallKickedOut time.
+                 * @type {(google.protobuf.Timestamp$Properties|null)}
+                 */
+                BallKickedOut.prototype.time = null;
+
+                /**
+                 * Creates a new BallKickedOut instance using the specified properties.
+                 * @param {message.input.GameEvents.BallKickedOut$Properties=} [properties] Properties to set
+                 * @returns {message.input.GameEvents.BallKickedOut} BallKickedOut instance
+                 */
+                BallKickedOut.create = function create(properties) {
+                    return new BallKickedOut(properties);
+                };
+
+                /**
+                 * Encodes the specified BallKickedOut message. Does not implicitly {@link message.input.GameEvents.BallKickedOut.verify|verify} messages.
+                 * @param {message.input.GameEvents.BallKickedOut$Properties} message BallKickedOut message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                BallKickedOut.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.context != null && message.hasOwnProperty("context"))
+                        writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.context);
+                    if (message.time != null && message.hasOwnProperty("time"))
+                        $root.google.protobuf.Timestamp.encode(message.time, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified BallKickedOut message, length delimited. Does not implicitly {@link message.input.GameEvents.BallKickedOut.verify|verify} messages.
+                 * @param {message.input.GameEvents.BallKickedOut$Properties} message BallKickedOut message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                BallKickedOut.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a BallKickedOut message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.GameEvents.BallKickedOut} BallKickedOut
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                BallKickedOut.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.GameEvents.BallKickedOut();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.context = reader.uint32();
+                            break;
+                        case 3:
+                            message.time = $root.google.protobuf.Timestamp.decode(reader, reader.uint32());
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a BallKickedOut message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.GameEvents.BallKickedOut} BallKickedOut
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                BallKickedOut.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a BallKickedOut message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                BallKickedOut.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.context != null && message.hasOwnProperty("context"))
+                        switch (message.context) {
+                        default:
+                            return "context: enum value expected";
+                        case 0:
+                        case 1:
+                        case 2:
+                        case 3:
+                        case 4:
+                            break;
+                        }
+                    if (message.time != null && message.hasOwnProperty("time")) {
+                        var error = $root.google.protobuf.Timestamp.verify(message.time);
+                        if (error)
+                            return "time." + error;
+                    }
+                    return null;
+                };
+
+                /**
+                 * Creates a BallKickedOut message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameEvents.BallKickedOut} BallKickedOut
+                 */
+                BallKickedOut.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.input.GameEvents.BallKickedOut)
+                        return object;
+                    var message = new $root.message.input.GameEvents.BallKickedOut();
+                    switch (object.context) {
+                    case "UNKNOWN_CONTEXT":
+                    case 0:
+                        message.context = 0;
+                        break;
+                    case "SELF":
+                    case 1:
+                        message.context = 1;
+                        break;
+                    case "TEAM":
+                    case 2:
+                        message.context = 2;
+                        break;
+                    case "OPPONENT":
+                    case 3:
+                        message.context = 3;
+                        break;
+                    case "UNKNOWN":
+                    case 4:
+                        message.context = 4;
+                        break;
+                    }
+                    if (object.time != null) {
+                        if (typeof object.time !== "object")
+                            throw TypeError(".message.input.GameEvents.BallKickedOut.time: object expected");
+                        message.time = $root.google.protobuf.Timestamp.fromObject(object.time);
+                    }
+                    return message;
+                };
+
+                /**
+                 * Creates a BallKickedOut message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.GameEvents.BallKickedOut.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameEvents.BallKickedOut} BallKickedOut
+                 */
+                BallKickedOut.from = BallKickedOut.fromObject;
+
+                /**
+                 * Creates a plain object from a BallKickedOut message. Also converts values to other types if specified.
+                 * @param {message.input.GameEvents.BallKickedOut} message BallKickedOut
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                BallKickedOut.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.defaults) {
+                        object.context = options.enums === String ? "UNKNOWN_CONTEXT" : 0;
+                        object.time = null;
+                    }
+                    if (message.context != null && message.hasOwnProperty("context"))
+                        object.context = options.enums === String ? $root.message.input.GameEvents.Context[message.context] : message.context;
+                    if (message.time != null && message.hasOwnProperty("time"))
+                        object.time = $root.google.protobuf.Timestamp.toObject(message.time, options);
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this BallKickedOut message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                BallKickedOut.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this BallKickedOut to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                BallKickedOut.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return BallKickedOut;
+            })();
+
+            GameEvents.KickOffTeam = (function() {
+
+                /**
+                 * Properties of a KickOffTeam.
+                 * @typedef message.input.GameEvents.KickOffTeam$Properties
+                 * @type {Object}
+                 * @property {message.input.GameEvents.Context} [context] KickOffTeam context.
+                 */
+
+                /**
+                 * Constructs a new KickOffTeam.
+                 * @exports message.input.GameEvents.KickOffTeam
+                 * @constructor
+                 * @param {message.input.GameEvents.KickOffTeam$Properties=} [properties] Properties to set
+                 */
+                function KickOffTeam(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * KickOffTeam context.
+                 * @type {message.input.GameEvents.Context}
+                 */
+                KickOffTeam.prototype.context = 0;
+
+                /**
+                 * Creates a new KickOffTeam instance using the specified properties.
+                 * @param {message.input.GameEvents.KickOffTeam$Properties=} [properties] Properties to set
+                 * @returns {message.input.GameEvents.KickOffTeam} KickOffTeam instance
+                 */
+                KickOffTeam.create = function create(properties) {
+                    return new KickOffTeam(properties);
+                };
+
+                /**
+                 * Encodes the specified KickOffTeam message. Does not implicitly {@link message.input.GameEvents.KickOffTeam.verify|verify} messages.
+                 * @param {message.input.GameEvents.KickOffTeam$Properties} message KickOffTeam message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                KickOffTeam.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.context != null && message.hasOwnProperty("context"))
+                        writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.context);
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified KickOffTeam message, length delimited. Does not implicitly {@link message.input.GameEvents.KickOffTeam.verify|verify} messages.
+                 * @param {message.input.GameEvents.KickOffTeam$Properties} message KickOffTeam message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                KickOffTeam.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a KickOffTeam message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.GameEvents.KickOffTeam} KickOffTeam
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                KickOffTeam.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.GameEvents.KickOffTeam();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.context = reader.uint32();
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a KickOffTeam message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.GameEvents.KickOffTeam} KickOffTeam
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                KickOffTeam.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a KickOffTeam message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                KickOffTeam.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.context != null && message.hasOwnProperty("context"))
+                        switch (message.context) {
+                        default:
+                            return "context: enum value expected";
+                        case 0:
+                        case 1:
+                        case 2:
+                        case 3:
+                        case 4:
+                            break;
+                        }
+                    return null;
+                };
+
+                /**
+                 * Creates a KickOffTeam message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameEvents.KickOffTeam} KickOffTeam
+                 */
+                KickOffTeam.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.input.GameEvents.KickOffTeam)
+                        return object;
+                    var message = new $root.message.input.GameEvents.KickOffTeam();
+                    switch (object.context) {
+                    case "UNKNOWN_CONTEXT":
+                    case 0:
+                        message.context = 0;
+                        break;
+                    case "SELF":
+                    case 1:
+                        message.context = 1;
+                        break;
+                    case "TEAM":
+                    case 2:
+                        message.context = 2;
+                        break;
+                    case "OPPONENT":
+                    case 3:
+                        message.context = 3;
+                        break;
+                    case "UNKNOWN":
+                    case 4:
+                        message.context = 4;
+                        break;
+                    }
+                    return message;
+                };
+
+                /**
+                 * Creates a KickOffTeam message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.GameEvents.KickOffTeam.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameEvents.KickOffTeam} KickOffTeam
+                 */
+                KickOffTeam.from = KickOffTeam.fromObject;
+
+                /**
+                 * Creates a plain object from a KickOffTeam message. Also converts values to other types if specified.
+                 * @param {message.input.GameEvents.KickOffTeam} message KickOffTeam
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                KickOffTeam.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.defaults)
+                        object.context = options.enums === String ? "UNKNOWN_CONTEXT" : 0;
+                    if (message.context != null && message.hasOwnProperty("context"))
+                        object.context = options.enums === String ? $root.message.input.GameEvents.Context[message.context] : message.context;
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this KickOffTeam message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                KickOffTeam.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this KickOffTeam to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                KickOffTeam.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return KickOffTeam;
+            })();
+
+            GameEvents.GamePhase = (function() {
+
+                /**
+                 * Properties of a GamePhase.
+                 * @typedef message.input.GameEvents.GamePhase$Properties
+                 * @type {Object}
+                 * @property {message.input.GameState.Data.Phase} [phase] GamePhase phase.
+                 * @property {google.protobuf.Timestamp$Properties} [readyTime] GamePhase readyTime.
+                 * @property {google.protobuf.Timestamp$Properties} [endHalf] GamePhase endHalf.
+                 * @property {google.protobuf.Timestamp$Properties} [ballFree] GamePhase ballFree.
+                 * @property {google.protobuf.Timestamp$Properties} [ends] GamePhase ends.
+                 * @property {google.protobuf.Timestamp$Properties} [nextHalf] GamePhase nextHalf.
+                 */
+
+                /**
+                 * Constructs a new GamePhase.
+                 * @exports message.input.GameEvents.GamePhase
+                 * @constructor
+                 * @param {message.input.GameEvents.GamePhase$Properties=} [properties] Properties to set
+                 */
+                function GamePhase(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * GamePhase phase.
+                 * @type {message.input.GameState.Data.Phase}
+                 */
+                GamePhase.prototype.phase = 0;
+
+                /**
+                 * GamePhase readyTime.
+                 * @type {(google.protobuf.Timestamp$Properties|null)}
+                 */
+                GamePhase.prototype.readyTime = null;
+
+                /**
+                 * GamePhase endHalf.
+                 * @type {(google.protobuf.Timestamp$Properties|null)}
+                 */
+                GamePhase.prototype.endHalf = null;
+
+                /**
+                 * GamePhase ballFree.
+                 * @type {(google.protobuf.Timestamp$Properties|null)}
+                 */
+                GamePhase.prototype.ballFree = null;
+
+                /**
+                 * GamePhase ends.
+                 * @type {(google.protobuf.Timestamp$Properties|null)}
+                 */
+                GamePhase.prototype.ends = null;
+
+                /**
+                 * GamePhase nextHalf.
+                 * @type {(google.protobuf.Timestamp$Properties|null)}
+                 */
+                GamePhase.prototype.nextHalf = null;
+
+                /**
+                 * Creates a new GamePhase instance using the specified properties.
+                 * @param {message.input.GameEvents.GamePhase$Properties=} [properties] Properties to set
+                 * @returns {message.input.GameEvents.GamePhase} GamePhase instance
+                 */
+                GamePhase.create = function create(properties) {
+                    return new GamePhase(properties);
+                };
+
+                /**
+                 * Encodes the specified GamePhase message. Does not implicitly {@link message.input.GameEvents.GamePhase.verify|verify} messages.
+                 * @param {message.input.GameEvents.GamePhase$Properties} message GamePhase message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                GamePhase.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.phase != null && message.hasOwnProperty("phase"))
+                        writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.phase);
+                    if (message.readyTime != null && message.hasOwnProperty("readyTime"))
+                        $root.google.protobuf.Timestamp.encode(message.readyTime, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                    if (message.endHalf != null && message.hasOwnProperty("endHalf"))
+                        $root.google.protobuf.Timestamp.encode(message.endHalf, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+                    if (message.ballFree != null && message.hasOwnProperty("ballFree"))
+                        $root.google.protobuf.Timestamp.encode(message.ballFree, writer.uint32(/* id 4, wireType 2 =*/34).fork()).ldelim();
+                    if (message.ends != null && message.hasOwnProperty("ends"))
+                        $root.google.protobuf.Timestamp.encode(message.ends, writer.uint32(/* id 5, wireType 2 =*/42).fork()).ldelim();
+                    if (message.nextHalf != null && message.hasOwnProperty("nextHalf"))
+                        $root.google.protobuf.Timestamp.encode(message.nextHalf, writer.uint32(/* id 6, wireType 2 =*/50).fork()).ldelim();
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified GamePhase message, length delimited. Does not implicitly {@link message.input.GameEvents.GamePhase.verify|verify} messages.
+                 * @param {message.input.GameEvents.GamePhase$Properties} message GamePhase message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                GamePhase.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a GamePhase message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.GameEvents.GamePhase} GamePhase
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                GamePhase.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.GameEvents.GamePhase();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.phase = reader.uint32();
+                            break;
+                        case 2:
+                            message.readyTime = $root.google.protobuf.Timestamp.decode(reader, reader.uint32());
+                            break;
+                        case 3:
+                            message.endHalf = $root.google.protobuf.Timestamp.decode(reader, reader.uint32());
+                            break;
+                        case 4:
+                            message.ballFree = $root.google.protobuf.Timestamp.decode(reader, reader.uint32());
+                            break;
+                        case 5:
+                            message.ends = $root.google.protobuf.Timestamp.decode(reader, reader.uint32());
+                            break;
+                        case 6:
+                            message.nextHalf = $root.google.protobuf.Timestamp.decode(reader, reader.uint32());
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a GamePhase message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.GameEvents.GamePhase} GamePhase
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                GamePhase.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a GamePhase message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                GamePhase.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.phase != null && message.hasOwnProperty("phase"))
+                        switch (message.phase) {
+                        default:
+                            return "phase: enum value expected";
+                        case 0:
+                        case 1:
+                        case 2:
+                        case 3:
+                        case 4:
+                        case 5:
+                        case 6:
+                            break;
+                        }
+                    if (message.readyTime != null && message.hasOwnProperty("readyTime")) {
+                        var error = $root.google.protobuf.Timestamp.verify(message.readyTime);
+                        if (error)
+                            return "readyTime." + error;
+                    }
+                    if (message.endHalf != null && message.hasOwnProperty("endHalf")) {
+                        var error = $root.google.protobuf.Timestamp.verify(message.endHalf);
+                        if (error)
+                            return "endHalf." + error;
+                    }
+                    if (message.ballFree != null && message.hasOwnProperty("ballFree")) {
+                        var error = $root.google.protobuf.Timestamp.verify(message.ballFree);
+                        if (error)
+                            return "ballFree." + error;
+                    }
+                    if (message.ends != null && message.hasOwnProperty("ends")) {
+                        var error = $root.google.protobuf.Timestamp.verify(message.ends);
+                        if (error)
+                            return "ends." + error;
+                    }
+                    if (message.nextHalf != null && message.hasOwnProperty("nextHalf")) {
+                        var error = $root.google.protobuf.Timestamp.verify(message.nextHalf);
+                        if (error)
+                            return "nextHalf." + error;
+                    }
+                    return null;
+                };
+
+                /**
+                 * Creates a GamePhase message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameEvents.GamePhase} GamePhase
+                 */
+                GamePhase.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.input.GameEvents.GamePhase)
+                        return object;
+                    var message = new $root.message.input.GameEvents.GamePhase();
+                    switch (object.phase) {
+                    case "UNKNOWN_PHASE":
+                    case 0:
+                        message.phase = 0;
+                        break;
+                    case "INITIAL":
+                    case 1:
+                        message.phase = 1;
+                        break;
+                    case "READY":
+                    case 2:
+                        message.phase = 2;
+                        break;
+                    case "SET":
+                    case 3:
+                        message.phase = 3;
+                        break;
+                    case "PLAYING":
+                    case 4:
+                        message.phase = 4;
+                        break;
+                    case "TIMEOUT":
+                    case 5:
+                        message.phase = 5;
+                        break;
+                    case "FINISHED":
+                    case 6:
+                        message.phase = 6;
+                        break;
+                    }
+                    if (object.readyTime != null) {
+                        if (typeof object.readyTime !== "object")
+                            throw TypeError(".message.input.GameEvents.GamePhase.readyTime: object expected");
+                        message.readyTime = $root.google.protobuf.Timestamp.fromObject(object.readyTime);
+                    }
+                    if (object.endHalf != null) {
+                        if (typeof object.endHalf !== "object")
+                            throw TypeError(".message.input.GameEvents.GamePhase.endHalf: object expected");
+                        message.endHalf = $root.google.protobuf.Timestamp.fromObject(object.endHalf);
+                    }
+                    if (object.ballFree != null) {
+                        if (typeof object.ballFree !== "object")
+                            throw TypeError(".message.input.GameEvents.GamePhase.ballFree: object expected");
+                        message.ballFree = $root.google.protobuf.Timestamp.fromObject(object.ballFree);
+                    }
+                    if (object.ends != null) {
+                        if (typeof object.ends !== "object")
+                            throw TypeError(".message.input.GameEvents.GamePhase.ends: object expected");
+                        message.ends = $root.google.protobuf.Timestamp.fromObject(object.ends);
+                    }
+                    if (object.nextHalf != null) {
+                        if (typeof object.nextHalf !== "object")
+                            throw TypeError(".message.input.GameEvents.GamePhase.nextHalf: object expected");
+                        message.nextHalf = $root.google.protobuf.Timestamp.fromObject(object.nextHalf);
+                    }
+                    return message;
+                };
+
+                /**
+                 * Creates a GamePhase message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.GameEvents.GamePhase.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameEvents.GamePhase} GamePhase
+                 */
+                GamePhase.from = GamePhase.fromObject;
+
+                /**
+                 * Creates a plain object from a GamePhase message. Also converts values to other types if specified.
+                 * @param {message.input.GameEvents.GamePhase} message GamePhase
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                GamePhase.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.defaults) {
+                        object.phase = options.enums === String ? "UNKNOWN_PHASE" : 0;
+                        object.readyTime = null;
+                        object.endHalf = null;
+                        object.ballFree = null;
+                        object.ends = null;
+                        object.nextHalf = null;
+                    }
+                    if (message.phase != null && message.hasOwnProperty("phase"))
+                        object.phase = options.enums === String ? $root.message.input.GameState.Data.Phase[message.phase] : message.phase;
+                    if (message.readyTime != null && message.hasOwnProperty("readyTime"))
+                        object.readyTime = $root.google.protobuf.Timestamp.toObject(message.readyTime, options);
+                    if (message.endHalf != null && message.hasOwnProperty("endHalf"))
+                        object.endHalf = $root.google.protobuf.Timestamp.toObject(message.endHalf, options);
+                    if (message.ballFree != null && message.hasOwnProperty("ballFree"))
+                        object.ballFree = $root.google.protobuf.Timestamp.toObject(message.ballFree, options);
+                    if (message.ends != null && message.hasOwnProperty("ends"))
+                        object.ends = $root.google.protobuf.Timestamp.toObject(message.ends, options);
+                    if (message.nextHalf != null && message.hasOwnProperty("nextHalf"))
+                        object.nextHalf = $root.google.protobuf.Timestamp.toObject(message.nextHalf, options);
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this GamePhase message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                GamePhase.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this GamePhase to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                GamePhase.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return GamePhase;
+            })();
+
+            GameEvents.GameMode = (function() {
+
+                /**
+                 * Properties of a GameMode.
+                 * @typedef message.input.GameEvents.GameMode$Properties
+                 * @type {Object}
+                 * @property {message.input.GameState.Data.Mode} [mode] GameMode mode.
+                 */
+
+                /**
+                 * Constructs a new GameMode.
+                 * @exports message.input.GameEvents.GameMode
+                 * @constructor
+                 * @param {message.input.GameEvents.GameMode$Properties=} [properties] Properties to set
+                 */
+                function GameMode(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * GameMode mode.
+                 * @type {message.input.GameState.Data.Mode}
+                 */
+                GameMode.prototype.mode = 0;
+
+                /**
+                 * Creates a new GameMode instance using the specified properties.
+                 * @param {message.input.GameEvents.GameMode$Properties=} [properties] Properties to set
+                 * @returns {message.input.GameEvents.GameMode} GameMode instance
+                 */
+                GameMode.create = function create(properties) {
+                    return new GameMode(properties);
+                };
+
+                /**
+                 * Encodes the specified GameMode message. Does not implicitly {@link message.input.GameEvents.GameMode.verify|verify} messages.
+                 * @param {message.input.GameEvents.GameMode$Properties} message GameMode message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                GameMode.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.mode != null && message.hasOwnProperty("mode"))
+                        writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.mode);
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified GameMode message, length delimited. Does not implicitly {@link message.input.GameEvents.GameMode.verify|verify} messages.
+                 * @param {message.input.GameEvents.GameMode$Properties} message GameMode message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                GameMode.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a GameMode message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.GameEvents.GameMode} GameMode
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                GameMode.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.GameEvents.GameMode();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.mode = reader.uint32();
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a GameMode message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.GameEvents.GameMode} GameMode
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                GameMode.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a GameMode message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                GameMode.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.mode != null && message.hasOwnProperty("mode"))
+                        switch (message.mode) {
+                        default:
+                            return "mode: enum value expected";
+                        case 0:
+                        case 1:
+                        case 2:
+                        case 3:
+                            break;
+                        }
+                    return null;
+                };
+
+                /**
+                 * Creates a GameMode message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameEvents.GameMode} GameMode
+                 */
+                GameMode.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.input.GameEvents.GameMode)
+                        return object;
+                    var message = new $root.message.input.GameEvents.GameMode();
+                    switch (object.mode) {
+                    case "UNKNOWN_MODE":
+                    case 0:
+                        message.mode = 0;
+                        break;
+                    case "NORMAL":
+                    case 1:
+                        message.mode = 1;
+                        break;
+                    case "PENALTY_SHOOTOUT":
+                    case 2:
+                        message.mode = 2;
+                        break;
+                    case "OVERTIME":
+                    case 3:
+                        message.mode = 3;
+                        break;
+                    }
+                    return message;
+                };
+
+                /**
+                 * Creates a GameMode message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.GameEvents.GameMode.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameEvents.GameMode} GameMode
+                 */
+                GameMode.from = GameMode.fromObject;
+
+                /**
+                 * Creates a plain object from a GameMode message. Also converts values to other types if specified.
+                 * @param {message.input.GameEvents.GameMode} message GameMode
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                GameMode.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.defaults)
+                        object.mode = options.enums === String ? "UNKNOWN_MODE" : 0;
+                    if (message.mode != null && message.hasOwnProperty("mode"))
+                        object.mode = options.enums === String ? $root.message.input.GameState.Data.Mode[message.mode] : message.mode;
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this GameMode message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                GameMode.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this GameMode to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                GameMode.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return GameMode;
+            })();
+
+            return GameEvents;
+        })();
+
+        input.GameState = (function() {
+
+            /**
+             * Properties of a GameState.
+             * @typedef message.input.GameState$Properties
+             * @type {Object}
+             * @property {message.input.GameState.Data$Properties} [data] GameState data.
+             * @property {string} [event] GameState event.
+             */
+
+            /**
+             * Constructs a new GameState.
+             * @exports message.input.GameState
+             * @constructor
+             * @param {message.input.GameState$Properties=} [properties] Properties to set
+             */
+            function GameState(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * GameState data.
+             * @type {(message.input.GameState.Data$Properties|null)}
+             */
+            GameState.prototype.data = null;
+
+            /**
+             * GameState event.
+             * @type {string}
+             */
+            GameState.prototype.event = "";
+
+            /**
+             * Creates a new GameState instance using the specified properties.
+             * @param {message.input.GameState$Properties=} [properties] Properties to set
+             * @returns {message.input.GameState} GameState instance
+             */
+            GameState.create = function create(properties) {
+                return new GameState(properties);
+            };
+
+            /**
+             * Encodes the specified GameState message. Does not implicitly {@link message.input.GameState.verify|verify} messages.
+             * @param {message.input.GameState$Properties} message GameState message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            GameState.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.data != null && message.hasOwnProperty("data"))
+                    $root.message.input.GameState.Data.encode(message.data, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                if (message.event != null && message.hasOwnProperty("event"))
+                    writer.uint32(/* id 2, wireType 2 =*/18).string(message.event);
+                return writer;
+            };
+
+            /**
+             * Encodes the specified GameState message, length delimited. Does not implicitly {@link message.input.GameState.verify|verify} messages.
+             * @param {message.input.GameState$Properties} message GameState message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            GameState.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a GameState message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.input.GameState} GameState
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            GameState.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.GameState();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.data = $root.message.input.GameState.Data.decode(reader, reader.uint32());
+                        break;
+                    case 2:
+                        message.event = reader.string();
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a GameState message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.input.GameState} GameState
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            GameState.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a GameState message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            GameState.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.data != null && message.hasOwnProperty("data")) {
+                    var error = $root.message.input.GameState.Data.verify(message.data);
+                    if (error)
+                        return "data." + error;
+                }
+                if (message.event != null && message.hasOwnProperty("event"))
+                    if (!$util.isString(message.event))
+                        return "event: string expected";
+                return null;
+            };
+
+            /**
+             * Creates a GameState message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.GameState} GameState
+             */
+            GameState.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.input.GameState)
+                    return object;
+                var message = new $root.message.input.GameState();
+                if (object.data != null) {
+                    if (typeof object.data !== "object")
+                        throw TypeError(".message.input.GameState.data: object expected");
+                    message.data = $root.message.input.GameState.Data.fromObject(object.data);
+                }
+                if (object.event != null)
+                    message.event = String(object.event);
+                return message;
+            };
+
+            /**
+             * Creates a GameState message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.input.GameState.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.GameState} GameState
+             */
+            GameState.from = GameState.fromObject;
+
+            /**
+             * Creates a plain object from a GameState message. Also converts values to other types if specified.
+             * @param {message.input.GameState} message GameState
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            GameState.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults) {
+                    object.data = null;
+                    object.event = "";
+                }
+                if (message.data != null && message.hasOwnProperty("data"))
+                    object.data = $root.message.input.GameState.Data.toObject(message.data, options);
+                if (message.event != null && message.hasOwnProperty("event"))
+                    object.event = message.event;
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this GameState message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            GameState.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this GameState to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            GameState.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            GameState.Data = (function() {
+
+                /**
+                 * Properties of a Data.
+                 * @typedef message.input.GameState.Data$Properties
+                 * @type {Object}
+                 * @property {message.input.GameState.Data.Phase} [phase] Data phase.
+                 * @property {message.input.GameState.Data.Mode} [mode] Data mode.
+                 * @property {boolean} [firstHalf] Data firstHalf.
+                 * @property {boolean} [kickedOutByUs] Data kickedOutByUs.
+                 * @property {google.protobuf.Timestamp$Properties} [kickedOutTime] Data kickedOutTime.
+                 * @property {boolean} [ourKickOff] Data ourKickOff.
+                 * @property {google.protobuf.Timestamp$Properties} [primaryTime] Data primaryTime.
+                 * @property {google.protobuf.Timestamp$Properties} [secondaryTime] Data secondaryTime.
+                 * @property {message.input.GameState.Data.Team$Properties} [team] Data team.
+                 * @property {message.input.GameState.Data.Team$Properties} [opponent] Data opponent.
+                 * @property {message.input.GameState.Data.Robot$Properties} [self] Data self.
+                 */
+
+                /**
+                 * Constructs a new Data.
+                 * @exports message.input.GameState.Data
+                 * @constructor
+                 * @param {message.input.GameState.Data$Properties=} [properties] Properties to set
+                 */
+                function Data(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * Data phase.
+                 * @type {message.input.GameState.Data.Phase}
+                 */
+                Data.prototype.phase = 0;
+
+                /**
+                 * Data mode.
+                 * @type {message.input.GameState.Data.Mode}
+                 */
+                Data.prototype.mode = 0;
+
+                /**
+                 * Data firstHalf.
+                 * @type {boolean}
+                 */
+                Data.prototype.firstHalf = false;
+
+                /**
+                 * Data kickedOutByUs.
+                 * @type {boolean}
+                 */
+                Data.prototype.kickedOutByUs = false;
+
+                /**
+                 * Data kickedOutTime.
+                 * @type {(google.protobuf.Timestamp$Properties|null)}
+                 */
+                Data.prototype.kickedOutTime = null;
+
+                /**
+                 * Data ourKickOff.
+                 * @type {boolean}
+                 */
+                Data.prototype.ourKickOff = false;
+
+                /**
+                 * Data primaryTime.
+                 * @type {(google.protobuf.Timestamp$Properties|null)}
+                 */
+                Data.prototype.primaryTime = null;
+
+                /**
+                 * Data secondaryTime.
+                 * @type {(google.protobuf.Timestamp$Properties|null)}
+                 */
+                Data.prototype.secondaryTime = null;
+
+                /**
+                 * Data team.
+                 * @type {(message.input.GameState.Data.Team$Properties|null)}
+                 */
+                Data.prototype.team = null;
+
+                /**
+                 * Data opponent.
+                 * @type {(message.input.GameState.Data.Team$Properties|null)}
+                 */
+                Data.prototype.opponent = null;
+
+                /**
+                 * Data self.
+                 * @type {(message.input.GameState.Data.Robot$Properties|null)}
+                 */
+                Data.prototype.self = null;
+
+                /**
+                 * Creates a new Data instance using the specified properties.
+                 * @param {message.input.GameState.Data$Properties=} [properties] Properties to set
+                 * @returns {message.input.GameState.Data} Data instance
+                 */
+                Data.create = function create(properties) {
+                    return new Data(properties);
+                };
+
+                /**
+                 * Encodes the specified Data message. Does not implicitly {@link message.input.GameState.Data.verify|verify} messages.
+                 * @param {message.input.GameState.Data$Properties} message Data message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Data.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.phase != null && message.hasOwnProperty("phase"))
+                        writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.phase);
+                    if (message.mode != null && message.hasOwnProperty("mode"))
+                        writer.uint32(/* id 2, wireType 0 =*/16).uint32(message.mode);
+                    if (message.firstHalf != null && message.hasOwnProperty("firstHalf"))
+                        writer.uint32(/* id 3, wireType 0 =*/24).bool(message.firstHalf);
+                    if (message.kickedOutByUs != null && message.hasOwnProperty("kickedOutByUs"))
+                        writer.uint32(/* id 4, wireType 0 =*/32).bool(message.kickedOutByUs);
+                    if (message.kickedOutTime != null && message.hasOwnProperty("kickedOutTime"))
+                        $root.google.protobuf.Timestamp.encode(message.kickedOutTime, writer.uint32(/* id 5, wireType 2 =*/42).fork()).ldelim();
+                    if (message.ourKickOff != null && message.hasOwnProperty("ourKickOff"))
+                        writer.uint32(/* id 6, wireType 0 =*/48).bool(message.ourKickOff);
+                    if (message.primaryTime != null && message.hasOwnProperty("primaryTime"))
+                        $root.google.protobuf.Timestamp.encode(message.primaryTime, writer.uint32(/* id 7, wireType 2 =*/58).fork()).ldelim();
+                    if (message.secondaryTime != null && message.hasOwnProperty("secondaryTime"))
+                        $root.google.protobuf.Timestamp.encode(message.secondaryTime, writer.uint32(/* id 8, wireType 2 =*/66).fork()).ldelim();
+                    if (message.team != null && message.hasOwnProperty("team"))
+                        $root.message.input.GameState.Data.Team.encode(message.team, writer.uint32(/* id 9, wireType 2 =*/74).fork()).ldelim();
+                    if (message.opponent != null && message.hasOwnProperty("opponent"))
+                        $root.message.input.GameState.Data.Team.encode(message.opponent, writer.uint32(/* id 10, wireType 2 =*/82).fork()).ldelim();
+                    if (message.self != null && message.hasOwnProperty("self"))
+                        $root.message.input.GameState.Data.Robot.encode(message.self, writer.uint32(/* id 11, wireType 2 =*/90).fork()).ldelim();
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified Data message, length delimited. Does not implicitly {@link message.input.GameState.Data.verify|verify} messages.
+                 * @param {message.input.GameState.Data$Properties} message Data message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Data.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a Data message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.GameState.Data} Data
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Data.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.GameState.Data();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.phase = reader.uint32();
+                            break;
+                        case 2:
+                            message.mode = reader.uint32();
+                            break;
+                        case 3:
+                            message.firstHalf = reader.bool();
+                            break;
+                        case 4:
+                            message.kickedOutByUs = reader.bool();
+                            break;
+                        case 5:
+                            message.kickedOutTime = $root.google.protobuf.Timestamp.decode(reader, reader.uint32());
+                            break;
+                        case 6:
+                            message.ourKickOff = reader.bool();
+                            break;
+                        case 7:
+                            message.primaryTime = $root.google.protobuf.Timestamp.decode(reader, reader.uint32());
+                            break;
+                        case 8:
+                            message.secondaryTime = $root.google.protobuf.Timestamp.decode(reader, reader.uint32());
+                            break;
+                        case 9:
+                            message.team = $root.message.input.GameState.Data.Team.decode(reader, reader.uint32());
+                            break;
+                        case 10:
+                            message.opponent = $root.message.input.GameState.Data.Team.decode(reader, reader.uint32());
+                            break;
+                        case 11:
+                            message.self = $root.message.input.GameState.Data.Robot.decode(reader, reader.uint32());
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a Data message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.GameState.Data} Data
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Data.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a Data message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                Data.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.phase != null && message.hasOwnProperty("phase"))
+                        switch (message.phase) {
+                        default:
+                            return "phase: enum value expected";
+                        case 0:
+                        case 1:
+                        case 2:
+                        case 3:
+                        case 4:
+                        case 5:
+                        case 6:
+                            break;
+                        }
+                    if (message.mode != null && message.hasOwnProperty("mode"))
+                        switch (message.mode) {
+                        default:
+                            return "mode: enum value expected";
+                        case 0:
+                        case 1:
+                        case 2:
+                        case 3:
+                            break;
+                        }
+                    if (message.firstHalf != null && message.hasOwnProperty("firstHalf"))
+                        if (typeof message.firstHalf !== "boolean")
+                            return "firstHalf: boolean expected";
+                    if (message.kickedOutByUs != null && message.hasOwnProperty("kickedOutByUs"))
+                        if (typeof message.kickedOutByUs !== "boolean")
+                            return "kickedOutByUs: boolean expected";
+                    if (message.kickedOutTime != null && message.hasOwnProperty("kickedOutTime")) {
+                        var error = $root.google.protobuf.Timestamp.verify(message.kickedOutTime);
+                        if (error)
+                            return "kickedOutTime." + error;
+                    }
+                    if (message.ourKickOff != null && message.hasOwnProperty("ourKickOff"))
+                        if (typeof message.ourKickOff !== "boolean")
+                            return "ourKickOff: boolean expected";
+                    if (message.primaryTime != null && message.hasOwnProperty("primaryTime")) {
+                        var error = $root.google.protobuf.Timestamp.verify(message.primaryTime);
+                        if (error)
+                            return "primaryTime." + error;
+                    }
+                    if (message.secondaryTime != null && message.hasOwnProperty("secondaryTime")) {
+                        var error = $root.google.protobuf.Timestamp.verify(message.secondaryTime);
+                        if (error)
+                            return "secondaryTime." + error;
+                    }
+                    if (message.team != null && message.hasOwnProperty("team")) {
+                        var error = $root.message.input.GameState.Data.Team.verify(message.team);
+                        if (error)
+                            return "team." + error;
+                    }
+                    if (message.opponent != null && message.hasOwnProperty("opponent")) {
+                        var error = $root.message.input.GameState.Data.Team.verify(message.opponent);
+                        if (error)
+                            return "opponent." + error;
+                    }
+                    if (message.self != null && message.hasOwnProperty("self")) {
+                        var error = $root.message.input.GameState.Data.Robot.verify(message.self);
+                        if (error)
+                            return "self." + error;
+                    }
+                    return null;
+                };
+
+                /**
+                 * Creates a Data message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameState.Data} Data
+                 */
+                Data.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.input.GameState.Data)
+                        return object;
+                    var message = new $root.message.input.GameState.Data();
+                    switch (object.phase) {
+                    case "UNKNOWN_PHASE":
+                    case 0:
+                        message.phase = 0;
+                        break;
+                    case "INITIAL":
+                    case 1:
+                        message.phase = 1;
+                        break;
+                    case "READY":
+                    case 2:
+                        message.phase = 2;
+                        break;
+                    case "SET":
+                    case 3:
+                        message.phase = 3;
+                        break;
+                    case "PLAYING":
+                    case 4:
+                        message.phase = 4;
+                        break;
+                    case "TIMEOUT":
+                    case 5:
+                        message.phase = 5;
+                        break;
+                    case "FINISHED":
+                    case 6:
+                        message.phase = 6;
+                        break;
+                    }
+                    switch (object.mode) {
+                    case "UNKNOWN_MODE":
+                    case 0:
+                        message.mode = 0;
+                        break;
+                    case "NORMAL":
+                    case 1:
+                        message.mode = 1;
+                        break;
+                    case "PENALTY_SHOOTOUT":
+                    case 2:
+                        message.mode = 2;
+                        break;
+                    case "OVERTIME":
+                    case 3:
+                        message.mode = 3;
+                        break;
+                    }
+                    if (object.firstHalf != null)
+                        message.firstHalf = Boolean(object.firstHalf);
+                    if (object.kickedOutByUs != null)
+                        message.kickedOutByUs = Boolean(object.kickedOutByUs);
+                    if (object.kickedOutTime != null) {
+                        if (typeof object.kickedOutTime !== "object")
+                            throw TypeError(".message.input.GameState.Data.kickedOutTime: object expected");
+                        message.kickedOutTime = $root.google.protobuf.Timestamp.fromObject(object.kickedOutTime);
+                    }
+                    if (object.ourKickOff != null)
+                        message.ourKickOff = Boolean(object.ourKickOff);
+                    if (object.primaryTime != null) {
+                        if (typeof object.primaryTime !== "object")
+                            throw TypeError(".message.input.GameState.Data.primaryTime: object expected");
+                        message.primaryTime = $root.google.protobuf.Timestamp.fromObject(object.primaryTime);
+                    }
+                    if (object.secondaryTime != null) {
+                        if (typeof object.secondaryTime !== "object")
+                            throw TypeError(".message.input.GameState.Data.secondaryTime: object expected");
+                        message.secondaryTime = $root.google.protobuf.Timestamp.fromObject(object.secondaryTime);
+                    }
+                    if (object.team != null) {
+                        if (typeof object.team !== "object")
+                            throw TypeError(".message.input.GameState.Data.team: object expected");
+                        message.team = $root.message.input.GameState.Data.Team.fromObject(object.team);
+                    }
+                    if (object.opponent != null) {
+                        if (typeof object.opponent !== "object")
+                            throw TypeError(".message.input.GameState.Data.opponent: object expected");
+                        message.opponent = $root.message.input.GameState.Data.Team.fromObject(object.opponent);
+                    }
+                    if (object.self != null) {
+                        if (typeof object.self !== "object")
+                            throw TypeError(".message.input.GameState.Data.self: object expected");
+                        message.self = $root.message.input.GameState.Data.Robot.fromObject(object.self);
+                    }
+                    return message;
+                };
+
+                /**
+                 * Creates a Data message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.GameState.Data.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.GameState.Data} Data
+                 */
+                Data.from = Data.fromObject;
+
+                /**
+                 * Creates a plain object from a Data message. Also converts values to other types if specified.
+                 * @param {message.input.GameState.Data} message Data
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Data.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.defaults) {
+                        object.phase = options.enums === String ? "UNKNOWN_PHASE" : 0;
+                        object.mode = options.enums === String ? "UNKNOWN_MODE" : 0;
+                        object.firstHalf = false;
+                        object.kickedOutByUs = false;
+                        object.kickedOutTime = null;
+                        object.ourKickOff = false;
+                        object.primaryTime = null;
+                        object.secondaryTime = null;
+                        object.team = null;
+                        object.opponent = null;
+                        object.self = null;
+                    }
+                    if (message.phase != null && message.hasOwnProperty("phase"))
+                        object.phase = options.enums === String ? $root.message.input.GameState.Data.Phase[message.phase] : message.phase;
+                    if (message.mode != null && message.hasOwnProperty("mode"))
+                        object.mode = options.enums === String ? $root.message.input.GameState.Data.Mode[message.mode] : message.mode;
+                    if (message.firstHalf != null && message.hasOwnProperty("firstHalf"))
+                        object.firstHalf = message.firstHalf;
+                    if (message.kickedOutByUs != null && message.hasOwnProperty("kickedOutByUs"))
+                        object.kickedOutByUs = message.kickedOutByUs;
+                    if (message.kickedOutTime != null && message.hasOwnProperty("kickedOutTime"))
+                        object.kickedOutTime = $root.google.protobuf.Timestamp.toObject(message.kickedOutTime, options);
+                    if (message.ourKickOff != null && message.hasOwnProperty("ourKickOff"))
+                        object.ourKickOff = message.ourKickOff;
+                    if (message.primaryTime != null && message.hasOwnProperty("primaryTime"))
+                        object.primaryTime = $root.google.protobuf.Timestamp.toObject(message.primaryTime, options);
+                    if (message.secondaryTime != null && message.hasOwnProperty("secondaryTime"))
+                        object.secondaryTime = $root.google.protobuf.Timestamp.toObject(message.secondaryTime, options);
+                    if (message.team != null && message.hasOwnProperty("team"))
+                        object.team = $root.message.input.GameState.Data.Team.toObject(message.team, options);
+                    if (message.opponent != null && message.hasOwnProperty("opponent"))
+                        object.opponent = $root.message.input.GameState.Data.Team.toObject(message.opponent, options);
+                    if (message.self != null && message.hasOwnProperty("self"))
+                        object.self = $root.message.input.GameState.Data.Robot.toObject(message.self, options);
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this Data message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Data.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this Data to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                Data.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                /**
+                 * Mode enum.
+                 * @name Mode
+                 * @memberof message.input.GameState.Data
+                 * @enum {number}
+                 * @property {number} UNKNOWN_MODE=0 UNKNOWN_MODE value
+                 * @property {number} NORMAL=1 NORMAL value
+                 * @property {number} PENALTY_SHOOTOUT=2 PENALTY_SHOOTOUT value
+                 * @property {number} OVERTIME=3 OVERTIME value
+                 */
+                Data.Mode = (function() {
+                    var valuesById = {}, values = Object.create(valuesById);
+                    values[valuesById[0] = "UNKNOWN_MODE"] = 0;
+                    values[valuesById[1] = "NORMAL"] = 1;
+                    values[valuesById[2] = "PENALTY_SHOOTOUT"] = 2;
+                    values[valuesById[3] = "OVERTIME"] = 3;
+                    return values;
+                })();
+
+                /**
+                 * Phase enum.
+                 * @name Phase
+                 * @memberof message.input.GameState.Data
+                 * @enum {number}
+                 * @property {number} UNKNOWN_PHASE=0 UNKNOWN_PHASE value
+                 * @property {number} INITIAL=1 INITIAL value
+                 * @property {number} READY=2 READY value
+                 * @property {number} SET=3 SET value
+                 * @property {number} PLAYING=4 PLAYING value
+                 * @property {number} TIMEOUT=5 TIMEOUT value
+                 * @property {number} FINISHED=6 FINISHED value
+                 */
+                Data.Phase = (function() {
+                    var valuesById = {}, values = Object.create(valuesById);
+                    values[valuesById[0] = "UNKNOWN_PHASE"] = 0;
+                    values[valuesById[1] = "INITIAL"] = 1;
+                    values[valuesById[2] = "READY"] = 2;
+                    values[valuesById[3] = "SET"] = 3;
+                    values[valuesById[4] = "PLAYING"] = 4;
+                    values[valuesById[5] = "TIMEOUT"] = 5;
+                    values[valuesById[6] = "FINISHED"] = 6;
+                    return values;
+                })();
+
+                /**
+                 * PenaltyReason enum.
+                 * @name PenaltyReason
+                 * @memberof message.input.GameState.Data
+                 * @enum {number}
+                 * @property {number} UNKNOWN_PENALTY_REASON=0 UNKNOWN_PENALTY_REASON value
+                 * @property {number} UNPENALISED=1 UNPENALISED value
+                 * @property {number} BALL_MANIPULATION=2 BALL_MANIPULATION value
+                 * @property {number} PHYSICAL_CONTACT=3 PHYSICAL_CONTACT value
+                 * @property {number} ILLEGAL_ATTACK=4 ILLEGAL_ATTACK value
+                 * @property {number} ILLEGAL_DEFENSE=5 ILLEGAL_DEFENSE value
+                 * @property {number} REQUEST_FOR_PICKUP=6 REQUEST_FOR_PICKUP value
+                 * @property {number} REQUEST_FOR_SERVICE=7 REQUEST_FOR_SERVICE value
+                 * @property {number} REQUEST_FOR_PICKUP_TO_SERVICE=8 REQUEST_FOR_PICKUP_TO_SERVICE value
+                 * @property {number} SUBSTITUTE=9 SUBSTITUTE value
+                 * @property {number} MANUAL=10 MANUAL value
+                 */
+                Data.PenaltyReason = (function() {
+                    var valuesById = {}, values = Object.create(valuesById);
+                    values[valuesById[0] = "UNKNOWN_PENALTY_REASON"] = 0;
+                    values[valuesById[1] = "UNPENALISED"] = 1;
+                    values[valuesById[2] = "BALL_MANIPULATION"] = 2;
+                    values[valuesById[3] = "PHYSICAL_CONTACT"] = 3;
+                    values[valuesById[4] = "ILLEGAL_ATTACK"] = 4;
+                    values[valuesById[5] = "ILLEGAL_DEFENSE"] = 5;
+                    values[valuesById[6] = "REQUEST_FOR_PICKUP"] = 6;
+                    values[valuesById[7] = "REQUEST_FOR_SERVICE"] = 7;
+                    values[valuesById[8] = "REQUEST_FOR_PICKUP_TO_SERVICE"] = 8;
+                    values[valuesById[9] = "SUBSTITUTE"] = 9;
+                    values[valuesById[10] = "MANUAL"] = 10;
+                    return values;
+                })();
+
+                Data.Robot = (function() {
+
+                    /**
+                     * Properties of a Robot.
+                     * @typedef message.input.GameState.Data.Robot$Properties
+                     * @type {Object}
+                     * @property {number} [id] Robot id.
+                     * @property {message.input.GameState.Data.PenaltyReason} [penaltyReason] Robot penaltyReason.
+                     * @property {google.protobuf.Timestamp$Properties} [unpenalised] Robot unpenalised.
+                     */
+
+                    /**
+                     * Constructs a new Robot.
+                     * @exports message.input.GameState.Data.Robot
+                     * @constructor
+                     * @param {message.input.GameState.Data.Robot$Properties=} [properties] Properties to set
+                     */
+                    function Robot(properties) {
+                        if (properties)
+                            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                                if (properties[keys[i]] != null)
+                                    this[keys[i]] = properties[keys[i]];
+                    }
+
+                    /**
+                     * Robot id.
+                     * @type {number}
+                     */
+                    Robot.prototype.id = 0;
+
+                    /**
+                     * Robot penaltyReason.
+                     * @type {message.input.GameState.Data.PenaltyReason}
+                     */
+                    Robot.prototype.penaltyReason = 0;
+
+                    /**
+                     * Robot unpenalised.
+                     * @type {(google.protobuf.Timestamp$Properties|null)}
+                     */
+                    Robot.prototype.unpenalised = null;
+
+                    /**
+                     * Creates a new Robot instance using the specified properties.
+                     * @param {message.input.GameState.Data.Robot$Properties=} [properties] Properties to set
+                     * @returns {message.input.GameState.Data.Robot} Robot instance
+                     */
+                    Robot.create = function create(properties) {
+                        return new Robot(properties);
+                    };
+
+                    /**
+                     * Encodes the specified Robot message. Does not implicitly {@link message.input.GameState.Data.Robot.verify|verify} messages.
+                     * @param {message.input.GameState.Data.Robot$Properties} message Robot message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    Robot.encode = function encode(message, writer) {
+                        if (!writer)
+                            writer = $Writer.create();
+                        if (message.id != null && message.hasOwnProperty("id"))
+                            writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.id);
+                        if (message.penaltyReason != null && message.hasOwnProperty("penaltyReason"))
+                            writer.uint32(/* id 2, wireType 0 =*/16).uint32(message.penaltyReason);
+                        if (message.unpenalised != null && message.hasOwnProperty("unpenalised"))
+                            $root.google.protobuf.Timestamp.encode(message.unpenalised, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+                        return writer;
+                    };
+
+                    /**
+                     * Encodes the specified Robot message, length delimited. Does not implicitly {@link message.input.GameState.Data.Robot.verify|verify} messages.
+                     * @param {message.input.GameState.Data.Robot$Properties} message Robot message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    Robot.encodeDelimited = function encodeDelimited(message, writer) {
+                        return this.encode(message, writer).ldelim();
+                    };
+
+                    /**
+                     * Decodes a Robot message from the specified reader or buffer.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @param {number} [length] Message length if known beforehand
+                     * @returns {message.input.GameState.Data.Robot} Robot
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    Robot.decode = function decode(reader, length) {
+                        if (!(reader instanceof $Reader))
+                            reader = $Reader.create(reader);
+                        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.GameState.Data.Robot();
+                        while (reader.pos < end) {
+                            var tag = reader.uint32();
+                            switch (tag >>> 3) {
+                            case 1:
+                                message.id = reader.uint32();
+                                break;
+                            case 2:
+                                message.penaltyReason = reader.uint32();
+                                break;
+                            case 3:
+                                message.unpenalised = $root.google.protobuf.Timestamp.decode(reader, reader.uint32());
+                                break;
+                            default:
+                                reader.skipType(tag & 7);
+                                break;
+                            }
+                        }
+                        return message;
+                    };
+
+                    /**
+                     * Decodes a Robot message from the specified reader or buffer, length delimited.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @returns {message.input.GameState.Data.Robot} Robot
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    Robot.decodeDelimited = function decodeDelimited(reader) {
+                        if (!(reader instanceof $Reader))
+                            reader = $Reader(reader);
+                        return this.decode(reader, reader.uint32());
+                    };
+
+                    /**
+                     * Verifies a Robot message.
+                     * @param {Object.<string,*>} message Plain object to verify
+                     * @returns {?string} `null` if valid, otherwise the reason why it is not
+                     */
+                    Robot.verify = function verify(message) {
+                        if (typeof message !== "object" || message === null)
+                            return "object expected";
+                        if (message.id != null && message.hasOwnProperty("id"))
+                            if (!$util.isInteger(message.id))
+                                return "id: integer expected";
+                        if (message.penaltyReason != null && message.hasOwnProperty("penaltyReason"))
+                            switch (message.penaltyReason) {
+                            default:
+                                return "penaltyReason: enum value expected";
+                            case 0:
+                            case 1:
+                            case 2:
+                            case 3:
+                            case 4:
+                            case 5:
+                            case 6:
+                            case 7:
+                            case 8:
+                            case 9:
+                            case 10:
+                                break;
+                            }
+                        if (message.unpenalised != null && message.hasOwnProperty("unpenalised")) {
+                            var error = $root.google.protobuf.Timestamp.verify(message.unpenalised);
+                            if (error)
+                                return "unpenalised." + error;
+                        }
+                        return null;
+                    };
+
+                    /**
+                     * Creates a Robot message from a plain object. Also converts values to their respective internal types.
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.input.GameState.Data.Robot} Robot
+                     */
+                    Robot.fromObject = function fromObject(object) {
+                        if (object instanceof $root.message.input.GameState.Data.Robot)
+                            return object;
+                        var message = new $root.message.input.GameState.Data.Robot();
+                        if (object.id != null)
+                            message.id = object.id >>> 0;
+                        switch (object.penaltyReason) {
+                        case "UNKNOWN_PENALTY_REASON":
+                        case 0:
+                            message.penaltyReason = 0;
+                            break;
+                        case "UNPENALISED":
+                        case 1:
+                            message.penaltyReason = 1;
+                            break;
+                        case "BALL_MANIPULATION":
+                        case 2:
+                            message.penaltyReason = 2;
+                            break;
+                        case "PHYSICAL_CONTACT":
+                        case 3:
+                            message.penaltyReason = 3;
+                            break;
+                        case "ILLEGAL_ATTACK":
+                        case 4:
+                            message.penaltyReason = 4;
+                            break;
+                        case "ILLEGAL_DEFENSE":
+                        case 5:
+                            message.penaltyReason = 5;
+                            break;
+                        case "REQUEST_FOR_PICKUP":
+                        case 6:
+                            message.penaltyReason = 6;
+                            break;
+                        case "REQUEST_FOR_SERVICE":
+                        case 7:
+                            message.penaltyReason = 7;
+                            break;
+                        case "REQUEST_FOR_PICKUP_TO_SERVICE":
+                        case 8:
+                            message.penaltyReason = 8;
+                            break;
+                        case "SUBSTITUTE":
+                        case 9:
+                            message.penaltyReason = 9;
+                            break;
+                        case "MANUAL":
+                        case 10:
+                            message.penaltyReason = 10;
+                            break;
+                        }
+                        if (object.unpenalised != null) {
+                            if (typeof object.unpenalised !== "object")
+                                throw TypeError(".message.input.GameState.Data.Robot.unpenalised: object expected");
+                            message.unpenalised = $root.google.protobuf.Timestamp.fromObject(object.unpenalised);
+                        }
+                        return message;
+                    };
+
+                    /**
+                     * Creates a Robot message from a plain object. Also converts values to their respective internal types.
+                     * This is an alias of {@link message.input.GameState.Data.Robot.fromObject}.
+                     * @function
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.input.GameState.Data.Robot} Robot
+                     */
+                    Robot.from = Robot.fromObject;
+
+                    /**
+                     * Creates a plain object from a Robot message. Also converts values to other types if specified.
+                     * @param {message.input.GameState.Data.Robot} message Robot
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    Robot.toObject = function toObject(message, options) {
+                        if (!options)
+                            options = {};
+                        var object = {};
+                        if (options.defaults) {
+                            object.id = 0;
+                            object.penaltyReason = options.enums === String ? "UNKNOWN_PENALTY_REASON" : 0;
+                            object.unpenalised = null;
+                        }
+                        if (message.id != null && message.hasOwnProperty("id"))
+                            object.id = message.id;
+                        if (message.penaltyReason != null && message.hasOwnProperty("penaltyReason"))
+                            object.penaltyReason = options.enums === String ? $root.message.input.GameState.Data.PenaltyReason[message.penaltyReason] : message.penaltyReason;
+                        if (message.unpenalised != null && message.hasOwnProperty("unpenalised"))
+                            object.unpenalised = $root.google.protobuf.Timestamp.toObject(message.unpenalised, options);
+                        return object;
+                    };
+
+                    /**
+                     * Creates a plain object from this Robot message. Also converts values to other types if specified.
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    Robot.prototype.toObject = function toObject(options) {
+                        return this.constructor.toObject(this, options);
+                    };
+
+                    /**
+                     * Converts this Robot to JSON.
+                     * @returns {Object.<string,*>} JSON object
+                     */
+                    Robot.prototype.toJSON = function toJSON() {
+                        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                    };
+
+                    return Robot;
+                })();
+
+                Data.Team = (function() {
+
+                    /**
+                     * Properties of a Team.
+                     * @typedef message.input.GameState.Data.Team$Properties
+                     * @type {Object}
+                     * @property {number} [teamId] Team teamId.
+                     * @property {number} [score] Team score.
+                     * @property {string} [coachMessage] Team coachMessage.
+                     * @property {Array.<message.input.GameState.Data.Robot$Properties>} [players] Team players.
+                     */
+
+                    /**
+                     * Constructs a new Team.
+                     * @exports message.input.GameState.Data.Team
+                     * @constructor
+                     * @param {message.input.GameState.Data.Team$Properties=} [properties] Properties to set
+                     */
+                    function Team(properties) {
+                        this.players = [];
+                        if (properties)
+                            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                                if (properties[keys[i]] != null)
+                                    this[keys[i]] = properties[keys[i]];
+                    }
+
+                    /**
+                     * Team teamId.
+                     * @type {number}
+                     */
+                    Team.prototype.teamId = 0;
+
+                    /**
+                     * Team score.
+                     * @type {number}
+                     */
+                    Team.prototype.score = 0;
+
+                    /**
+                     * Team coachMessage.
+                     * @type {string}
+                     */
+                    Team.prototype.coachMessage = "";
+
+                    /**
+                     * Team players.
+                     * @type {Array.<message.input.GameState.Data.Robot$Properties>}
+                     */
+                    Team.prototype.players = $util.emptyArray;
+
+                    /**
+                     * Creates a new Team instance using the specified properties.
+                     * @param {message.input.GameState.Data.Team$Properties=} [properties] Properties to set
+                     * @returns {message.input.GameState.Data.Team} Team instance
+                     */
+                    Team.create = function create(properties) {
+                        return new Team(properties);
+                    };
+
+                    /**
+                     * Encodes the specified Team message. Does not implicitly {@link message.input.GameState.Data.Team.verify|verify} messages.
+                     * @param {message.input.GameState.Data.Team$Properties} message Team message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    Team.encode = function encode(message, writer) {
+                        if (!writer)
+                            writer = $Writer.create();
+                        if (message.teamId != null && message.hasOwnProperty("teamId"))
+                            writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.teamId);
+                        if (message.score != null && message.hasOwnProperty("score"))
+                            writer.uint32(/* id 2, wireType 0 =*/16).uint32(message.score);
+                        if (message.coachMessage != null && message.hasOwnProperty("coachMessage"))
+                            writer.uint32(/* id 3, wireType 2 =*/26).string(message.coachMessage);
+                        if (message.players != null && message.players.length)
+                            for (var i = 0; i < message.players.length; ++i)
+                                $root.message.input.GameState.Data.Robot.encode(message.players[i], writer.uint32(/* id 4, wireType 2 =*/34).fork()).ldelim();
+                        return writer;
+                    };
+
+                    /**
+                     * Encodes the specified Team message, length delimited. Does not implicitly {@link message.input.GameState.Data.Team.verify|verify} messages.
+                     * @param {message.input.GameState.Data.Team$Properties} message Team message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    Team.encodeDelimited = function encodeDelimited(message, writer) {
+                        return this.encode(message, writer).ldelim();
+                    };
+
+                    /**
+                     * Decodes a Team message from the specified reader or buffer.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @param {number} [length] Message length if known beforehand
+                     * @returns {message.input.GameState.Data.Team} Team
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    Team.decode = function decode(reader, length) {
+                        if (!(reader instanceof $Reader))
+                            reader = $Reader.create(reader);
+                        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.GameState.Data.Team();
+                        while (reader.pos < end) {
+                            var tag = reader.uint32();
+                            switch (tag >>> 3) {
+                            case 1:
+                                message.teamId = reader.uint32();
+                                break;
+                            case 2:
+                                message.score = reader.uint32();
+                                break;
+                            case 3:
+                                message.coachMessage = reader.string();
+                                break;
+                            case 4:
+                                if (!(message.players && message.players.length))
+                                    message.players = [];
+                                message.players.push($root.message.input.GameState.Data.Robot.decode(reader, reader.uint32()));
+                                break;
+                            default:
+                                reader.skipType(tag & 7);
+                                break;
+                            }
+                        }
+                        return message;
+                    };
+
+                    /**
+                     * Decodes a Team message from the specified reader or buffer, length delimited.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @returns {message.input.GameState.Data.Team} Team
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    Team.decodeDelimited = function decodeDelimited(reader) {
+                        if (!(reader instanceof $Reader))
+                            reader = $Reader(reader);
+                        return this.decode(reader, reader.uint32());
+                    };
+
+                    /**
+                     * Verifies a Team message.
+                     * @param {Object.<string,*>} message Plain object to verify
+                     * @returns {?string} `null` if valid, otherwise the reason why it is not
+                     */
+                    Team.verify = function verify(message) {
+                        if (typeof message !== "object" || message === null)
+                            return "object expected";
+                        if (message.teamId != null && message.hasOwnProperty("teamId"))
+                            if (!$util.isInteger(message.teamId))
+                                return "teamId: integer expected";
+                        if (message.score != null && message.hasOwnProperty("score"))
+                            if (!$util.isInteger(message.score))
+                                return "score: integer expected";
+                        if (message.coachMessage != null && message.hasOwnProperty("coachMessage"))
+                            if (!$util.isString(message.coachMessage))
+                                return "coachMessage: string expected";
+                        if (message.players != null && message.hasOwnProperty("players")) {
+                            if (!Array.isArray(message.players))
+                                return "players: array expected";
+                            for (var i = 0; i < message.players.length; ++i) {
+                                var error = $root.message.input.GameState.Data.Robot.verify(message.players[i]);
+                                if (error)
+                                    return "players." + error;
+                            }
+                        }
+                        return null;
+                    };
+
+                    /**
+                     * Creates a Team message from a plain object. Also converts values to their respective internal types.
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.input.GameState.Data.Team} Team
+                     */
+                    Team.fromObject = function fromObject(object) {
+                        if (object instanceof $root.message.input.GameState.Data.Team)
+                            return object;
+                        var message = new $root.message.input.GameState.Data.Team();
+                        if (object.teamId != null)
+                            message.teamId = object.teamId >>> 0;
+                        if (object.score != null)
+                            message.score = object.score >>> 0;
+                        if (object.coachMessage != null)
+                            message.coachMessage = String(object.coachMessage);
+                        if (object.players) {
+                            if (!Array.isArray(object.players))
+                                throw TypeError(".message.input.GameState.Data.Team.players: array expected");
+                            message.players = [];
+                            for (var i = 0; i < object.players.length; ++i) {
+                                if (typeof object.players[i] !== "object")
+                                    throw TypeError(".message.input.GameState.Data.Team.players: object expected");
+                                message.players[i] = $root.message.input.GameState.Data.Robot.fromObject(object.players[i]);
+                            }
+                        }
+                        return message;
+                    };
+
+                    /**
+                     * Creates a Team message from a plain object. Also converts values to their respective internal types.
+                     * This is an alias of {@link message.input.GameState.Data.Team.fromObject}.
+                     * @function
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.input.GameState.Data.Team} Team
+                     */
+                    Team.from = Team.fromObject;
+
+                    /**
+                     * Creates a plain object from a Team message. Also converts values to other types if specified.
+                     * @param {message.input.GameState.Data.Team} message Team
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    Team.toObject = function toObject(message, options) {
+                        if (!options)
+                            options = {};
+                        var object = {};
+                        if (options.arrays || options.defaults)
+                            object.players = [];
+                        if (options.defaults) {
+                            object.teamId = 0;
+                            object.score = 0;
+                            object.coachMessage = "";
+                        }
+                        if (message.teamId != null && message.hasOwnProperty("teamId"))
+                            object.teamId = message.teamId;
+                        if (message.score != null && message.hasOwnProperty("score"))
+                            object.score = message.score;
+                        if (message.coachMessage != null && message.hasOwnProperty("coachMessage"))
+                            object.coachMessage = message.coachMessage;
+                        if (message.players && message.players.length) {
+                            object.players = [];
+                            for (var j = 0; j < message.players.length; ++j)
+                                object.players[j] = $root.message.input.GameState.Data.Robot.toObject(message.players[j], options);
+                        }
+                        return object;
+                    };
+
+                    /**
+                     * Creates a plain object from this Team message. Also converts values to other types if specified.
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    Team.prototype.toObject = function toObject(options) {
+                        return this.constructor.toObject(this, options);
+                    };
+
+                    /**
+                     * Converts this Team to JSON.
+                     * @returns {Object.<string,*>} JSON object
+                     */
+                    Team.prototype.toJSON = function toJSON() {
+                        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                    };
+
+                    return Team;
+                })();
+
+                return Data;
+            })();
+
+            return GameState;
+        })();
+
+        input.Image = (function() {
+
+            /**
+             * Properties of an Image.
+             * @typedef message.input.Image$Properties
+             * @type {Object}
+             * @property {number} [format] Image format.
+             * @property {uvec2$Properties} [dimensions] Image dimensions.
+             * @property {Uint8Array} [data] Image data.
+             * @property {number} [cameraId] Image cameraId.
+             * @property {string} [serialNumber] Image serialNumber.
+             * @property {google.protobuf.Timestamp$Properties} [timestamp] Image timestamp.
+             */
+
+            /**
+             * Constructs a new Image.
+             * @exports message.input.Image
+             * @constructor
+             * @param {message.input.Image$Properties=} [properties] Properties to set
+             */
+            function Image(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Image format.
+             * @type {number}
+             */
+            Image.prototype.format = 0;
+
+            /**
+             * Image dimensions.
+             * @type {(uvec2$Properties|null)}
+             */
+            Image.prototype.dimensions = null;
+
+            /**
+             * Image data.
+             * @type {Uint8Array}
+             */
+            Image.prototype.data = $util.newBuffer([]);
+
+            /**
+             * Image cameraId.
+             * @type {number}
+             */
+            Image.prototype.cameraId = 0;
+
+            /**
+             * Image serialNumber.
+             * @type {string}
+             */
+            Image.prototype.serialNumber = "";
+
+            /**
+             * Image timestamp.
+             * @type {(google.protobuf.Timestamp$Properties|null)}
+             */
+            Image.prototype.timestamp = null;
+
+            /**
+             * Creates a new Image instance using the specified properties.
+             * @param {message.input.Image$Properties=} [properties] Properties to set
+             * @returns {message.input.Image} Image instance
+             */
+            Image.create = function create(properties) {
+                return new Image(properties);
+            };
+
+            /**
+             * Encodes the specified Image message. Does not implicitly {@link message.input.Image.verify|verify} messages.
+             * @param {message.input.Image$Properties} message Image message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            Image.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.format != null && message.hasOwnProperty("format"))
+                    writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.format);
+                if (message.dimensions != null && message.hasOwnProperty("dimensions"))
+                    $root.uvec2.encode(message.dimensions, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                if (message.data != null && message.hasOwnProperty("data"))
+                    writer.uint32(/* id 3, wireType 2 =*/26).bytes(message.data);
+                if (message.cameraId != null && message.hasOwnProperty("cameraId"))
+                    writer.uint32(/* id 4, wireType 0 =*/32).uint32(message.cameraId);
+                if (message.serialNumber != null && message.hasOwnProperty("serialNumber"))
+                    writer.uint32(/* id 5, wireType 2 =*/42).string(message.serialNumber);
+                if (message.timestamp != null && message.hasOwnProperty("timestamp"))
+                    $root.google.protobuf.Timestamp.encode(message.timestamp, writer.uint32(/* id 6, wireType 2 =*/50).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified Image message, length delimited. Does not implicitly {@link message.input.Image.verify|verify} messages.
+             * @param {message.input.Image$Properties} message Image message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            Image.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes an Image message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.input.Image} Image
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            Image.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.Image();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.format = reader.uint32();
+                        break;
+                    case 2:
+                        message.dimensions = $root.uvec2.decode(reader, reader.uint32());
+                        break;
+                    case 3:
+                        message.data = reader.bytes();
+                        break;
+                    case 4:
+                        message.cameraId = reader.uint32();
+                        break;
+                    case 5:
+                        message.serialNumber = reader.string();
+                        break;
+                    case 6:
+                        message.timestamp = $root.google.protobuf.Timestamp.decode(reader, reader.uint32());
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes an Image message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.input.Image} Image
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            Image.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies an Image message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            Image.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.format != null && message.hasOwnProperty("format"))
+                    if (!$util.isInteger(message.format))
+                        return "format: integer expected";
+                if (message.dimensions != null && message.hasOwnProperty("dimensions")) {
+                    var error = $root.uvec2.verify(message.dimensions);
+                    if (error)
+                        return "dimensions." + error;
+                }
+                if (message.data != null && message.hasOwnProperty("data"))
+                    if (!(message.data && typeof message.data.length === "number" || $util.isString(message.data)))
+                        return "data: buffer expected";
+                if (message.cameraId != null && message.hasOwnProperty("cameraId"))
+                    if (!$util.isInteger(message.cameraId))
+                        return "cameraId: integer expected";
+                if (message.serialNumber != null && message.hasOwnProperty("serialNumber"))
+                    if (!$util.isString(message.serialNumber))
+                        return "serialNumber: string expected";
+                if (message.timestamp != null && message.hasOwnProperty("timestamp")) {
+                    var error = $root.google.protobuf.Timestamp.verify(message.timestamp);
+                    if (error)
+                        return "timestamp." + error;
+                }
+                return null;
+            };
+
+            /**
+             * Creates an Image message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.Image} Image
+             */
+            Image.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.input.Image)
+                    return object;
+                var message = new $root.message.input.Image();
+                if (object.format != null)
+                    message.format = object.format >>> 0;
+                if (object.dimensions != null) {
+                    if (typeof object.dimensions !== "object")
+                        throw TypeError(".message.input.Image.dimensions: object expected");
+                    message.dimensions = $root.uvec2.fromObject(object.dimensions);
+                }
+                if (object.data != null)
+                    if (typeof object.data === "string")
+                        $util.base64.decode(object.data, message.data = $util.newBuffer($util.base64.length(object.data)), 0);
+                    else if (object.data.length)
+                        message.data = object.data;
+                if (object.cameraId != null)
+                    message.cameraId = object.cameraId >>> 0;
+                if (object.serialNumber != null)
+                    message.serialNumber = String(object.serialNumber);
+                if (object.timestamp != null) {
+                    if (typeof object.timestamp !== "object")
+                        throw TypeError(".message.input.Image.timestamp: object expected");
+                    message.timestamp = $root.google.protobuf.Timestamp.fromObject(object.timestamp);
+                }
+                return message;
+            };
+
+            /**
+             * Creates an Image message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.input.Image.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.Image} Image
+             */
+            Image.from = Image.fromObject;
+
+            /**
+             * Creates a plain object from an Image message. Also converts values to other types if specified.
+             * @param {message.input.Image} message Image
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            Image.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults) {
+                    object.format = 0;
+                    object.dimensions = null;
+                    object.data = options.bytes === String ? "" : [];
+                    object.cameraId = 0;
+                    object.serialNumber = "";
+                    object.timestamp = null;
+                }
+                if (message.format != null && message.hasOwnProperty("format"))
+                    object.format = message.format;
+                if (message.dimensions != null && message.hasOwnProperty("dimensions"))
+                    object.dimensions = $root.uvec2.toObject(message.dimensions, options);
+                if (message.data != null && message.hasOwnProperty("data"))
+                    object.data = options.bytes === String ? $util.base64.encode(message.data, 0, message.data.length) : options.bytes === Array ? Array.prototype.slice.call(message.data) : message.data;
+                if (message.cameraId != null && message.hasOwnProperty("cameraId"))
+                    object.cameraId = message.cameraId;
+                if (message.serialNumber != null && message.hasOwnProperty("serialNumber"))
+                    object.serialNumber = message.serialNumber;
+                if (message.timestamp != null && message.hasOwnProperty("timestamp"))
+                    object.timestamp = $root.google.protobuf.Timestamp.toObject(message.timestamp, options);
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this Image message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            Image.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this Image to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            Image.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return Image;
+        })();
+
+        input.ImageFragment = (function() {
+
+            /**
+             * Properties of an ImageFragment.
+             * @typedef message.input.ImageFragment$Properties
+             * @type {Object}
+             * @property {message.input.Image$Properties} [image] ImageFragment image.
+             * @property {number} [start] ImageFragment start.
+             * @property {number} [end] ImageFragment end.
+             * @property {fmat44$Properties} [camToFeet] ImageFragment camToFeet.
+             */
+
+            /**
+             * Constructs a new ImageFragment.
+             * @exports message.input.ImageFragment
+             * @constructor
+             * @param {message.input.ImageFragment$Properties=} [properties] Properties to set
+             */
+            function ImageFragment(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * ImageFragment image.
+             * @type {(message.input.Image$Properties|null)}
+             */
+            ImageFragment.prototype.image = null;
+
+            /**
+             * ImageFragment start.
+             * @type {number}
+             */
+            ImageFragment.prototype.start = 0;
+
+            /**
+             * ImageFragment end.
+             * @type {number}
+             */
+            ImageFragment.prototype.end = 0;
+
+            /**
+             * ImageFragment camToFeet.
+             * @type {(fmat44$Properties|null)}
+             */
+            ImageFragment.prototype.camToFeet = null;
+
+            /**
+             * Creates a new ImageFragment instance using the specified properties.
+             * @param {message.input.ImageFragment$Properties=} [properties] Properties to set
+             * @returns {message.input.ImageFragment} ImageFragment instance
+             */
+            ImageFragment.create = function create(properties) {
+                return new ImageFragment(properties);
+            };
+
+            /**
+             * Encodes the specified ImageFragment message. Does not implicitly {@link message.input.ImageFragment.verify|verify} messages.
+             * @param {message.input.ImageFragment$Properties} message ImageFragment message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            ImageFragment.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.image != null && message.hasOwnProperty("image"))
+                    $root.message.input.Image.encode(message.image, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                if (message.start != null && message.hasOwnProperty("start"))
+                    writer.uint32(/* id 5, wireType 0 =*/40).uint32(message.start);
+                if (message.end != null && message.hasOwnProperty("end"))
+                    writer.uint32(/* id 6, wireType 0 =*/48).uint32(message.end);
+                if (message.camToFeet != null && message.hasOwnProperty("camToFeet"))
+                    $root.fmat44.encode(message.camToFeet, writer.uint32(/* id 7, wireType 2 =*/58).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified ImageFragment message, length delimited. Does not implicitly {@link message.input.ImageFragment.verify|verify} messages.
+             * @param {message.input.ImageFragment$Properties} message ImageFragment message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            ImageFragment.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes an ImageFragment message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.input.ImageFragment} ImageFragment
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            ImageFragment.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.ImageFragment();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.image = $root.message.input.Image.decode(reader, reader.uint32());
+                        break;
+                    case 5:
+                        message.start = reader.uint32();
+                        break;
+                    case 6:
+                        message.end = reader.uint32();
+                        break;
+                    case 7:
+                        message.camToFeet = $root.fmat44.decode(reader, reader.uint32());
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes an ImageFragment message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.input.ImageFragment} ImageFragment
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            ImageFragment.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies an ImageFragment message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            ImageFragment.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.image != null && message.hasOwnProperty("image")) {
+                    var error = $root.message.input.Image.verify(message.image);
+                    if (error)
+                        return "image." + error;
+                }
+                if (message.start != null && message.hasOwnProperty("start"))
+                    if (!$util.isInteger(message.start))
+                        return "start: integer expected";
+                if (message.end != null && message.hasOwnProperty("end"))
+                    if (!$util.isInteger(message.end))
+                        return "end: integer expected";
+                if (message.camToFeet != null && message.hasOwnProperty("camToFeet")) {
+                    var error = $root.fmat44.verify(message.camToFeet);
+                    if (error)
+                        return "camToFeet." + error;
+                }
+                return null;
+            };
+
+            /**
+             * Creates an ImageFragment message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.ImageFragment} ImageFragment
+             */
+            ImageFragment.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.input.ImageFragment)
+                    return object;
+                var message = new $root.message.input.ImageFragment();
+                if (object.image != null) {
+                    if (typeof object.image !== "object")
+                        throw TypeError(".message.input.ImageFragment.image: object expected");
+                    message.image = $root.message.input.Image.fromObject(object.image);
+                }
+                if (object.start != null)
+                    message.start = object.start >>> 0;
+                if (object.end != null)
+                    message.end = object.end >>> 0;
+                if (object.camToFeet != null) {
+                    if (typeof object.camToFeet !== "object")
+                        throw TypeError(".message.input.ImageFragment.camToFeet: object expected");
+                    message.camToFeet = $root.fmat44.fromObject(object.camToFeet);
+                }
+                return message;
+            };
+
+            /**
+             * Creates an ImageFragment message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.input.ImageFragment.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.ImageFragment} ImageFragment
+             */
+            ImageFragment.from = ImageFragment.fromObject;
+
+            /**
+             * Creates a plain object from an ImageFragment message. Also converts values to other types if specified.
+             * @param {message.input.ImageFragment} message ImageFragment
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            ImageFragment.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults) {
+                    object.image = null;
+                    object.start = 0;
+                    object.end = 0;
+                    object.camToFeet = null;
+                }
+                if (message.image != null && message.hasOwnProperty("image"))
+                    object.image = $root.message.input.Image.toObject(message.image, options);
+                if (message.start != null && message.hasOwnProperty("start"))
+                    object.start = message.start;
+                if (message.end != null && message.hasOwnProperty("end"))
+                    object.end = message.end;
+                if (message.camToFeet != null && message.hasOwnProperty("camToFeet"))
+                    object.camToFeet = $root.fmat44.toObject(message.camToFeet, options);
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this ImageFragment message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            ImageFragment.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this ImageFragment to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            ImageFragment.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return ImageFragment;
+        })();
+
+        input.MotionCapture = (function() {
+
+            /**
+             * Properties of a MotionCapture.
+             * @typedef message.input.MotionCapture$Properties
+             * @type {Object}
+             * @property {number} [frameNumber] MotionCapture frameNumber.
+             * @property {number} [latency] MotionCapture latency.
+             * @property {number} [timecode] MotionCapture timecode.
+             * @property {number} [timecodeSub] MotionCapture timecodeSub.
+             * @property {number} [timestamp] MotionCapture timestamp.
+             * @property {boolean} [recording] MotionCapture recording.
+             * @property {boolean} [trackedModelsChanged] MotionCapture trackedModelsChanged.
+             * @property {Array.<message.input.MotionCapture.MarkerSet$Properties>} [markerSets] MotionCapture markerSets.
+             * @property {Array.<message.input.MotionCapture.Marker$Properties>} [markers] MotionCapture markers.
+             * @property {Array.<message.input.MotionCapture.RigidBody$Properties>} [rigidBodies] MotionCapture rigidBodies.
+             * @property {Array.<message.input.MotionCapture.Skeleton$Properties>} [skeletons] MotionCapture skeletons.
+             * @property {Array.<message.input.MotionCapture.LabeledMarker$Properties>} [labeledMarkers] MotionCapture labeledMarkers.
+             * @property {Array.<message.input.MotionCapture.ForcePlate$Properties>} [forcePlates] MotionCapture forcePlates.
+             */
+
+            /**
+             * Constructs a new MotionCapture.
+             * @exports message.input.MotionCapture
+             * @constructor
+             * @param {message.input.MotionCapture$Properties=} [properties] Properties to set
+             */
+            function MotionCapture(properties) {
+                this.markerSets = [];
+                this.markers = [];
+                this.rigidBodies = [];
+                this.skeletons = [];
+                this.labeledMarkers = [];
+                this.forcePlates = [];
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * MotionCapture frameNumber.
+             * @type {number}
+             */
+            MotionCapture.prototype.frameNumber = 0;
+
+            /**
+             * MotionCapture latency.
+             * @type {number}
+             */
+            MotionCapture.prototype.latency = 0;
+
+            /**
+             * MotionCapture timecode.
+             * @type {number}
+             */
+            MotionCapture.prototype.timecode = 0;
+
+            /**
+             * MotionCapture timecodeSub.
+             * @type {number}
+             */
+            MotionCapture.prototype.timecodeSub = 0;
+
+            /**
+             * MotionCapture timestamp.
+             * @type {number}
+             */
+            MotionCapture.prototype.timestamp = 0;
+
+            /**
+             * MotionCapture recording.
+             * @type {boolean}
+             */
+            MotionCapture.prototype.recording = false;
+
+            /**
+             * MotionCapture trackedModelsChanged.
+             * @type {boolean}
+             */
+            MotionCapture.prototype.trackedModelsChanged = false;
+
+            /**
+             * MotionCapture markerSets.
+             * @type {Array.<message.input.MotionCapture.MarkerSet$Properties>}
+             */
+            MotionCapture.prototype.markerSets = $util.emptyArray;
+
+            /**
+             * MotionCapture markers.
+             * @type {Array.<message.input.MotionCapture.Marker$Properties>}
+             */
+            MotionCapture.prototype.markers = $util.emptyArray;
+
+            /**
+             * MotionCapture rigidBodies.
+             * @type {Array.<message.input.MotionCapture.RigidBody$Properties>}
+             */
+            MotionCapture.prototype.rigidBodies = $util.emptyArray;
+
+            /**
+             * MotionCapture skeletons.
+             * @type {Array.<message.input.MotionCapture.Skeleton$Properties>}
+             */
+            MotionCapture.prototype.skeletons = $util.emptyArray;
+
+            /**
+             * MotionCapture labeledMarkers.
+             * @type {Array.<message.input.MotionCapture.LabeledMarker$Properties>}
+             */
+            MotionCapture.prototype.labeledMarkers = $util.emptyArray;
+
+            /**
+             * MotionCapture forcePlates.
+             * @type {Array.<message.input.MotionCapture.ForcePlate$Properties>}
+             */
+            MotionCapture.prototype.forcePlates = $util.emptyArray;
+
+            /**
+             * Creates a new MotionCapture instance using the specified properties.
+             * @param {message.input.MotionCapture$Properties=} [properties] Properties to set
+             * @returns {message.input.MotionCapture} MotionCapture instance
+             */
+            MotionCapture.create = function create(properties) {
+                return new MotionCapture(properties);
+            };
+
+            /**
+             * Encodes the specified MotionCapture message. Does not implicitly {@link message.input.MotionCapture.verify|verify} messages.
+             * @param {message.input.MotionCapture$Properties} message MotionCapture message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            MotionCapture.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.frameNumber != null && message.hasOwnProperty("frameNumber"))
+                    writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.frameNumber);
+                if (message.latency != null && message.hasOwnProperty("latency"))
+                    writer.uint32(/* id 2, wireType 5 =*/21).float(message.latency);
+                if (message.timecode != null && message.hasOwnProperty("timecode"))
+                    writer.uint32(/* id 3, wireType 0 =*/24).uint32(message.timecode);
+                if (message.timecodeSub != null && message.hasOwnProperty("timecodeSub"))
+                    writer.uint32(/* id 4, wireType 0 =*/32).uint32(message.timecodeSub);
+                if (message.timestamp != null && message.hasOwnProperty("timestamp"))
+                    writer.uint32(/* id 5, wireType 1 =*/41).double(message.timestamp);
+                if (message.recording != null && message.hasOwnProperty("recording"))
+                    writer.uint32(/* id 6, wireType 0 =*/48).bool(message.recording);
+                if (message.trackedModelsChanged != null && message.hasOwnProperty("trackedModelsChanged"))
+                    writer.uint32(/* id 7, wireType 0 =*/56).bool(message.trackedModelsChanged);
+                if (message.markerSets != null && message.markerSets.length)
+                    for (var i = 0; i < message.markerSets.length; ++i)
+                        $root.message.input.MotionCapture.MarkerSet.encode(message.markerSets[i], writer.uint32(/* id 8, wireType 2 =*/66).fork()).ldelim();
+                if (message.markers != null && message.markers.length)
+                    for (var i = 0; i < message.markers.length; ++i)
+                        $root.message.input.MotionCapture.Marker.encode(message.markers[i], writer.uint32(/* id 9, wireType 2 =*/74).fork()).ldelim();
+                if (message.rigidBodies != null && message.rigidBodies.length)
+                    for (var i = 0; i < message.rigidBodies.length; ++i)
+                        $root.message.input.MotionCapture.RigidBody.encode(message.rigidBodies[i], writer.uint32(/* id 10, wireType 2 =*/82).fork()).ldelim();
+                if (message.skeletons != null && message.skeletons.length)
+                    for (var i = 0; i < message.skeletons.length; ++i)
+                        $root.message.input.MotionCapture.Skeleton.encode(message.skeletons[i], writer.uint32(/* id 11, wireType 2 =*/90).fork()).ldelim();
+                if (message.labeledMarkers != null && message.labeledMarkers.length)
+                    for (var i = 0; i < message.labeledMarkers.length; ++i)
+                        $root.message.input.MotionCapture.LabeledMarker.encode(message.labeledMarkers[i], writer.uint32(/* id 12, wireType 2 =*/98).fork()).ldelim();
+                if (message.forcePlates != null && message.forcePlates.length)
+                    for (var i = 0; i < message.forcePlates.length; ++i)
+                        $root.message.input.MotionCapture.ForcePlate.encode(message.forcePlates[i], writer.uint32(/* id 13, wireType 2 =*/106).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified MotionCapture message, length delimited. Does not implicitly {@link message.input.MotionCapture.verify|verify} messages.
+             * @param {message.input.MotionCapture$Properties} message MotionCapture message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            MotionCapture.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a MotionCapture message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.input.MotionCapture} MotionCapture
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            MotionCapture.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.MotionCapture();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.frameNumber = reader.uint32();
+                        break;
+                    case 2:
+                        message.latency = reader.float();
+                        break;
+                    case 3:
+                        message.timecode = reader.uint32();
+                        break;
+                    case 4:
+                        message.timecodeSub = reader.uint32();
+                        break;
+                    case 5:
+                        message.timestamp = reader.double();
+                        break;
+                    case 6:
+                        message.recording = reader.bool();
+                        break;
+                    case 7:
+                        message.trackedModelsChanged = reader.bool();
+                        break;
+                    case 8:
+                        if (!(message.markerSets && message.markerSets.length))
+                            message.markerSets = [];
+                        message.markerSets.push($root.message.input.MotionCapture.MarkerSet.decode(reader, reader.uint32()));
+                        break;
+                    case 9:
+                        if (!(message.markers && message.markers.length))
+                            message.markers = [];
+                        message.markers.push($root.message.input.MotionCapture.Marker.decode(reader, reader.uint32()));
+                        break;
+                    case 10:
+                        if (!(message.rigidBodies && message.rigidBodies.length))
+                            message.rigidBodies = [];
+                        message.rigidBodies.push($root.message.input.MotionCapture.RigidBody.decode(reader, reader.uint32()));
+                        break;
+                    case 11:
+                        if (!(message.skeletons && message.skeletons.length))
+                            message.skeletons = [];
+                        message.skeletons.push($root.message.input.MotionCapture.Skeleton.decode(reader, reader.uint32()));
+                        break;
+                    case 12:
+                        if (!(message.labeledMarkers && message.labeledMarkers.length))
+                            message.labeledMarkers = [];
+                        message.labeledMarkers.push($root.message.input.MotionCapture.LabeledMarker.decode(reader, reader.uint32()));
+                        break;
+                    case 13:
+                        if (!(message.forcePlates && message.forcePlates.length))
+                            message.forcePlates = [];
+                        message.forcePlates.push($root.message.input.MotionCapture.ForcePlate.decode(reader, reader.uint32()));
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a MotionCapture message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.input.MotionCapture} MotionCapture
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            MotionCapture.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a MotionCapture message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            MotionCapture.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.frameNumber != null && message.hasOwnProperty("frameNumber"))
+                    if (!$util.isInteger(message.frameNumber))
+                        return "frameNumber: integer expected";
+                if (message.latency != null && message.hasOwnProperty("latency"))
+                    if (typeof message.latency !== "number")
+                        return "latency: number expected";
+                if (message.timecode != null && message.hasOwnProperty("timecode"))
+                    if (!$util.isInteger(message.timecode))
+                        return "timecode: integer expected";
+                if (message.timecodeSub != null && message.hasOwnProperty("timecodeSub"))
+                    if (!$util.isInteger(message.timecodeSub))
+                        return "timecodeSub: integer expected";
+                if (message.timestamp != null && message.hasOwnProperty("timestamp"))
+                    if (typeof message.timestamp !== "number")
+                        return "timestamp: number expected";
+                if (message.recording != null && message.hasOwnProperty("recording"))
+                    if (typeof message.recording !== "boolean")
+                        return "recording: boolean expected";
+                if (message.trackedModelsChanged != null && message.hasOwnProperty("trackedModelsChanged"))
+                    if (typeof message.trackedModelsChanged !== "boolean")
+                        return "trackedModelsChanged: boolean expected";
+                if (message.markerSets != null && message.hasOwnProperty("markerSets")) {
+                    if (!Array.isArray(message.markerSets))
+                        return "markerSets: array expected";
+                    for (var i = 0; i < message.markerSets.length; ++i) {
+                        var error = $root.message.input.MotionCapture.MarkerSet.verify(message.markerSets[i]);
+                        if (error)
+                            return "markerSets." + error;
+                    }
+                }
+                if (message.markers != null && message.hasOwnProperty("markers")) {
+                    if (!Array.isArray(message.markers))
+                        return "markers: array expected";
+                    for (var i = 0; i < message.markers.length; ++i) {
+                        var error = $root.message.input.MotionCapture.Marker.verify(message.markers[i]);
+                        if (error)
+                            return "markers." + error;
+                    }
+                }
+                if (message.rigidBodies != null && message.hasOwnProperty("rigidBodies")) {
+                    if (!Array.isArray(message.rigidBodies))
+                        return "rigidBodies: array expected";
+                    for (var i = 0; i < message.rigidBodies.length; ++i) {
+                        var error = $root.message.input.MotionCapture.RigidBody.verify(message.rigidBodies[i]);
+                        if (error)
+                            return "rigidBodies." + error;
+                    }
+                }
+                if (message.skeletons != null && message.hasOwnProperty("skeletons")) {
+                    if (!Array.isArray(message.skeletons))
+                        return "skeletons: array expected";
+                    for (var i = 0; i < message.skeletons.length; ++i) {
+                        var error = $root.message.input.MotionCapture.Skeleton.verify(message.skeletons[i]);
+                        if (error)
+                            return "skeletons." + error;
+                    }
+                }
+                if (message.labeledMarkers != null && message.hasOwnProperty("labeledMarkers")) {
+                    if (!Array.isArray(message.labeledMarkers))
+                        return "labeledMarkers: array expected";
+                    for (var i = 0; i < message.labeledMarkers.length; ++i) {
+                        var error = $root.message.input.MotionCapture.LabeledMarker.verify(message.labeledMarkers[i]);
+                        if (error)
+                            return "labeledMarkers." + error;
+                    }
+                }
+                if (message.forcePlates != null && message.hasOwnProperty("forcePlates")) {
+                    if (!Array.isArray(message.forcePlates))
+                        return "forcePlates: array expected";
+                    for (var i = 0; i < message.forcePlates.length; ++i) {
+                        var error = $root.message.input.MotionCapture.ForcePlate.verify(message.forcePlates[i]);
+                        if (error)
+                            return "forcePlates." + error;
+                    }
+                }
+                return null;
+            };
+
+            /**
+             * Creates a MotionCapture message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.MotionCapture} MotionCapture
+             */
+            MotionCapture.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.input.MotionCapture)
+                    return object;
+                var message = new $root.message.input.MotionCapture();
+                if (object.frameNumber != null)
+                    message.frameNumber = object.frameNumber >>> 0;
+                if (object.latency != null)
+                    message.latency = Number(object.latency);
+                if (object.timecode != null)
+                    message.timecode = object.timecode >>> 0;
+                if (object.timecodeSub != null)
+                    message.timecodeSub = object.timecodeSub >>> 0;
+                if (object.timestamp != null)
+                    message.timestamp = Number(object.timestamp);
+                if (object.recording != null)
+                    message.recording = Boolean(object.recording);
+                if (object.trackedModelsChanged != null)
+                    message.trackedModelsChanged = Boolean(object.trackedModelsChanged);
+                if (object.markerSets) {
+                    if (!Array.isArray(object.markerSets))
+                        throw TypeError(".message.input.MotionCapture.markerSets: array expected");
+                    message.markerSets = [];
+                    for (var i = 0; i < object.markerSets.length; ++i) {
+                        if (typeof object.markerSets[i] !== "object")
+                            throw TypeError(".message.input.MotionCapture.markerSets: object expected");
+                        message.markerSets[i] = $root.message.input.MotionCapture.MarkerSet.fromObject(object.markerSets[i]);
+                    }
+                }
+                if (object.markers) {
+                    if (!Array.isArray(object.markers))
+                        throw TypeError(".message.input.MotionCapture.markers: array expected");
+                    message.markers = [];
+                    for (var i = 0; i < object.markers.length; ++i) {
+                        if (typeof object.markers[i] !== "object")
+                            throw TypeError(".message.input.MotionCapture.markers: object expected");
+                        message.markers[i] = $root.message.input.MotionCapture.Marker.fromObject(object.markers[i]);
+                    }
+                }
+                if (object.rigidBodies) {
+                    if (!Array.isArray(object.rigidBodies))
+                        throw TypeError(".message.input.MotionCapture.rigidBodies: array expected");
+                    message.rigidBodies = [];
+                    for (var i = 0; i < object.rigidBodies.length; ++i) {
+                        if (typeof object.rigidBodies[i] !== "object")
+                            throw TypeError(".message.input.MotionCapture.rigidBodies: object expected");
+                        message.rigidBodies[i] = $root.message.input.MotionCapture.RigidBody.fromObject(object.rigidBodies[i]);
+                    }
+                }
+                if (object.skeletons) {
+                    if (!Array.isArray(object.skeletons))
+                        throw TypeError(".message.input.MotionCapture.skeletons: array expected");
+                    message.skeletons = [];
+                    for (var i = 0; i < object.skeletons.length; ++i) {
+                        if (typeof object.skeletons[i] !== "object")
+                            throw TypeError(".message.input.MotionCapture.skeletons: object expected");
+                        message.skeletons[i] = $root.message.input.MotionCapture.Skeleton.fromObject(object.skeletons[i]);
+                    }
+                }
+                if (object.labeledMarkers) {
+                    if (!Array.isArray(object.labeledMarkers))
+                        throw TypeError(".message.input.MotionCapture.labeledMarkers: array expected");
+                    message.labeledMarkers = [];
+                    for (var i = 0; i < object.labeledMarkers.length; ++i) {
+                        if (typeof object.labeledMarkers[i] !== "object")
+                            throw TypeError(".message.input.MotionCapture.labeledMarkers: object expected");
+                        message.labeledMarkers[i] = $root.message.input.MotionCapture.LabeledMarker.fromObject(object.labeledMarkers[i]);
+                    }
+                }
+                if (object.forcePlates) {
+                    if (!Array.isArray(object.forcePlates))
+                        throw TypeError(".message.input.MotionCapture.forcePlates: array expected");
+                    message.forcePlates = [];
+                    for (var i = 0; i < object.forcePlates.length; ++i) {
+                        if (typeof object.forcePlates[i] !== "object")
+                            throw TypeError(".message.input.MotionCapture.forcePlates: object expected");
+                        message.forcePlates[i] = $root.message.input.MotionCapture.ForcePlate.fromObject(object.forcePlates[i]);
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Creates a MotionCapture message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.input.MotionCapture.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.MotionCapture} MotionCapture
+             */
+            MotionCapture.from = MotionCapture.fromObject;
+
+            /**
+             * Creates a plain object from a MotionCapture message. Also converts values to other types if specified.
+             * @param {message.input.MotionCapture} message MotionCapture
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            MotionCapture.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.arrays || options.defaults) {
+                    object.markerSets = [];
+                    object.markers = [];
+                    object.rigidBodies = [];
+                    object.skeletons = [];
+                    object.labeledMarkers = [];
+                    object.forcePlates = [];
+                }
+                if (options.defaults) {
+                    object.frameNumber = 0;
+                    object.latency = 0;
+                    object.timecode = 0;
+                    object.timecodeSub = 0;
+                    object.timestamp = 0;
+                    object.recording = false;
+                    object.trackedModelsChanged = false;
+                }
+                if (message.frameNumber != null && message.hasOwnProperty("frameNumber"))
+                    object.frameNumber = message.frameNumber;
+                if (message.latency != null && message.hasOwnProperty("latency"))
+                    object.latency = message.latency;
+                if (message.timecode != null && message.hasOwnProperty("timecode"))
+                    object.timecode = message.timecode;
+                if (message.timecodeSub != null && message.hasOwnProperty("timecodeSub"))
+                    object.timecodeSub = message.timecodeSub;
+                if (message.timestamp != null && message.hasOwnProperty("timestamp"))
+                    object.timestamp = message.timestamp;
+                if (message.recording != null && message.hasOwnProperty("recording"))
+                    object.recording = message.recording;
+                if (message.trackedModelsChanged != null && message.hasOwnProperty("trackedModelsChanged"))
+                    object.trackedModelsChanged = message.trackedModelsChanged;
+                if (message.markerSets && message.markerSets.length) {
+                    object.markerSets = [];
+                    for (var j = 0; j < message.markerSets.length; ++j)
+                        object.markerSets[j] = $root.message.input.MotionCapture.MarkerSet.toObject(message.markerSets[j], options);
+                }
+                if (message.markers && message.markers.length) {
+                    object.markers = [];
+                    for (var j = 0; j < message.markers.length; ++j)
+                        object.markers[j] = $root.message.input.MotionCapture.Marker.toObject(message.markers[j], options);
+                }
+                if (message.rigidBodies && message.rigidBodies.length) {
+                    object.rigidBodies = [];
+                    for (var j = 0; j < message.rigidBodies.length; ++j)
+                        object.rigidBodies[j] = $root.message.input.MotionCapture.RigidBody.toObject(message.rigidBodies[j], options);
+                }
+                if (message.skeletons && message.skeletons.length) {
+                    object.skeletons = [];
+                    for (var j = 0; j < message.skeletons.length; ++j)
+                        object.skeletons[j] = $root.message.input.MotionCapture.Skeleton.toObject(message.skeletons[j], options);
+                }
+                if (message.labeledMarkers && message.labeledMarkers.length) {
+                    object.labeledMarkers = [];
+                    for (var j = 0; j < message.labeledMarkers.length; ++j)
+                        object.labeledMarkers[j] = $root.message.input.MotionCapture.LabeledMarker.toObject(message.labeledMarkers[j], options);
+                }
+                if (message.forcePlates && message.forcePlates.length) {
+                    object.forcePlates = [];
+                    for (var j = 0; j < message.forcePlates.length; ++j)
+                        object.forcePlates[j] = $root.message.input.MotionCapture.ForcePlate.toObject(message.forcePlates[j], options);
+                }
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this MotionCapture message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            MotionCapture.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this MotionCapture to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            MotionCapture.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            MotionCapture.Marker = (function() {
+
+                /**
+                 * Properties of a Marker.
+                 * @typedef message.input.MotionCapture.Marker$Properties
+                 * @type {Object}
+                 * @property {number} [id] Marker id.
+                 * @property {fvec3$Properties} [position] Marker position.
+                 * @property {number} [size] Marker size.
+                 */
+
+                /**
+                 * Constructs a new Marker.
+                 * @exports message.input.MotionCapture.Marker
+                 * @constructor
+                 * @param {message.input.MotionCapture.Marker$Properties=} [properties] Properties to set
+                 */
+                function Marker(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * Marker id.
+                 * @type {number}
+                 */
+                Marker.prototype.id = 0;
+
+                /**
+                 * Marker position.
+                 * @type {(fvec3$Properties|null)}
+                 */
+                Marker.prototype.position = null;
+
+                /**
+                 * Marker size.
+                 * @type {number}
+                 */
+                Marker.prototype.size = 0;
+
+                /**
+                 * Creates a new Marker instance using the specified properties.
+                 * @param {message.input.MotionCapture.Marker$Properties=} [properties] Properties to set
+                 * @returns {message.input.MotionCapture.Marker} Marker instance
+                 */
+                Marker.create = function create(properties) {
+                    return new Marker(properties);
+                };
+
+                /**
+                 * Encodes the specified Marker message. Does not implicitly {@link message.input.MotionCapture.Marker.verify|verify} messages.
+                 * @param {message.input.MotionCapture.Marker$Properties} message Marker message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Marker.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.id != null && message.hasOwnProperty("id"))
+                        writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.id);
+                    if (message.position != null && message.hasOwnProperty("position"))
+                        $root.fvec3.encode(message.position, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                    if (message.size != null && message.hasOwnProperty("size"))
+                        writer.uint32(/* id 3, wireType 5 =*/29).float(message.size);
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified Marker message, length delimited. Does not implicitly {@link message.input.MotionCapture.Marker.verify|verify} messages.
+                 * @param {message.input.MotionCapture.Marker$Properties} message Marker message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Marker.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a Marker message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.MotionCapture.Marker} Marker
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Marker.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.MotionCapture.Marker();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.id = reader.uint32();
+                            break;
+                        case 2:
+                            message.position = $root.fvec3.decode(reader, reader.uint32());
+                            break;
+                        case 3:
+                            message.size = reader.float();
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a Marker message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.MotionCapture.Marker} Marker
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Marker.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a Marker message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                Marker.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.id != null && message.hasOwnProperty("id"))
+                        if (!$util.isInteger(message.id))
+                            return "id: integer expected";
+                    if (message.position != null && message.hasOwnProperty("position")) {
+                        var error = $root.fvec3.verify(message.position);
+                        if (error)
+                            return "position." + error;
+                    }
+                    if (message.size != null && message.hasOwnProperty("size"))
+                        if (typeof message.size !== "number")
+                            return "size: number expected";
+                    return null;
+                };
+
+                /**
+                 * Creates a Marker message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.MotionCapture.Marker} Marker
+                 */
+                Marker.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.input.MotionCapture.Marker)
+                        return object;
+                    var message = new $root.message.input.MotionCapture.Marker();
+                    if (object.id != null)
+                        message.id = object.id >>> 0;
+                    if (object.position != null) {
+                        if (typeof object.position !== "object")
+                            throw TypeError(".message.input.MotionCapture.Marker.position: object expected");
+                        message.position = $root.fvec3.fromObject(object.position);
+                    }
+                    if (object.size != null)
+                        message.size = Number(object.size);
+                    return message;
+                };
+
+                /**
+                 * Creates a Marker message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.MotionCapture.Marker.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.MotionCapture.Marker} Marker
+                 */
+                Marker.from = Marker.fromObject;
+
+                /**
+                 * Creates a plain object from a Marker message. Also converts values to other types if specified.
+                 * @param {message.input.MotionCapture.Marker} message Marker
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Marker.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.defaults) {
+                        object.id = 0;
+                        object.position = null;
+                        object.size = 0;
+                    }
+                    if (message.id != null && message.hasOwnProperty("id"))
+                        object.id = message.id;
+                    if (message.position != null && message.hasOwnProperty("position"))
+                        object.position = $root.fvec3.toObject(message.position, options);
+                    if (message.size != null && message.hasOwnProperty("size"))
+                        object.size = message.size;
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this Marker message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Marker.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this Marker to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                Marker.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return Marker;
+            })();
+
+            MotionCapture.MarkerSet = (function() {
+
+                /**
+                 * Properties of a MarkerSet.
+                 * @typedef message.input.MotionCapture.MarkerSet$Properties
+                 * @type {Object}
+                 * @property {string} [name] MarkerSet name.
+                 * @property {Array.<message.input.MotionCapture.Marker$Properties>} [markers] MarkerSet markers.
+                 */
+
+                /**
+                 * Constructs a new MarkerSet.
+                 * @exports message.input.MotionCapture.MarkerSet
+                 * @constructor
+                 * @param {message.input.MotionCapture.MarkerSet$Properties=} [properties] Properties to set
+                 */
+                function MarkerSet(properties) {
+                    this.markers = [];
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * MarkerSet name.
+                 * @type {string}
+                 */
+                MarkerSet.prototype.name = "";
+
+                /**
+                 * MarkerSet markers.
+                 * @type {Array.<message.input.MotionCapture.Marker$Properties>}
+                 */
+                MarkerSet.prototype.markers = $util.emptyArray;
+
+                /**
+                 * Creates a new MarkerSet instance using the specified properties.
+                 * @param {message.input.MotionCapture.MarkerSet$Properties=} [properties] Properties to set
+                 * @returns {message.input.MotionCapture.MarkerSet} MarkerSet instance
+                 */
+                MarkerSet.create = function create(properties) {
+                    return new MarkerSet(properties);
+                };
+
+                /**
+                 * Encodes the specified MarkerSet message. Does not implicitly {@link message.input.MotionCapture.MarkerSet.verify|verify} messages.
+                 * @param {message.input.MotionCapture.MarkerSet$Properties} message MarkerSet message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                MarkerSet.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.name != null && message.hasOwnProperty("name"))
+                        writer.uint32(/* id 1, wireType 2 =*/10).string(message.name);
+                    if (message.markers != null && message.markers.length)
+                        for (var i = 0; i < message.markers.length; ++i)
+                            $root.message.input.MotionCapture.Marker.encode(message.markers[i], writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified MarkerSet message, length delimited. Does not implicitly {@link message.input.MotionCapture.MarkerSet.verify|verify} messages.
+                 * @param {message.input.MotionCapture.MarkerSet$Properties} message MarkerSet message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                MarkerSet.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a MarkerSet message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.MotionCapture.MarkerSet} MarkerSet
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                MarkerSet.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.MotionCapture.MarkerSet();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.name = reader.string();
+                            break;
+                        case 2:
+                            if (!(message.markers && message.markers.length))
+                                message.markers = [];
+                            message.markers.push($root.message.input.MotionCapture.Marker.decode(reader, reader.uint32()));
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a MarkerSet message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.MotionCapture.MarkerSet} MarkerSet
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                MarkerSet.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a MarkerSet message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                MarkerSet.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.name != null && message.hasOwnProperty("name"))
+                        if (!$util.isString(message.name))
+                            return "name: string expected";
+                    if (message.markers != null && message.hasOwnProperty("markers")) {
+                        if (!Array.isArray(message.markers))
+                            return "markers: array expected";
+                        for (var i = 0; i < message.markers.length; ++i) {
+                            var error = $root.message.input.MotionCapture.Marker.verify(message.markers[i]);
+                            if (error)
+                                return "markers." + error;
+                        }
+                    }
+                    return null;
+                };
+
+                /**
+                 * Creates a MarkerSet message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.MotionCapture.MarkerSet} MarkerSet
+                 */
+                MarkerSet.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.input.MotionCapture.MarkerSet)
+                        return object;
+                    var message = new $root.message.input.MotionCapture.MarkerSet();
+                    if (object.name != null)
+                        message.name = String(object.name);
+                    if (object.markers) {
+                        if (!Array.isArray(object.markers))
+                            throw TypeError(".message.input.MotionCapture.MarkerSet.markers: array expected");
+                        message.markers = [];
+                        for (var i = 0; i < object.markers.length; ++i) {
+                            if (typeof object.markers[i] !== "object")
+                                throw TypeError(".message.input.MotionCapture.MarkerSet.markers: object expected");
+                            message.markers[i] = $root.message.input.MotionCapture.Marker.fromObject(object.markers[i]);
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Creates a MarkerSet message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.MotionCapture.MarkerSet.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.MotionCapture.MarkerSet} MarkerSet
+                 */
+                MarkerSet.from = MarkerSet.fromObject;
+
+                /**
+                 * Creates a plain object from a MarkerSet message. Also converts values to other types if specified.
+                 * @param {message.input.MotionCapture.MarkerSet} message MarkerSet
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                MarkerSet.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.arrays || options.defaults)
+                        object.markers = [];
+                    if (options.defaults)
+                        object.name = "";
+                    if (message.name != null && message.hasOwnProperty("name"))
+                        object.name = message.name;
+                    if (message.markers && message.markers.length) {
+                        object.markers = [];
+                        for (var j = 0; j < message.markers.length; ++j)
+                            object.markers[j] = $root.message.input.MotionCapture.Marker.toObject(message.markers[j], options);
+                    }
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this MarkerSet message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                MarkerSet.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this MarkerSet to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                MarkerSet.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return MarkerSet;
+            })();
+
+            MotionCapture.RigidBody = (function() {
+
+                /**
+                 * Properties of a RigidBody.
+                 * @typedef message.input.MotionCapture.RigidBody$Properties
+                 * @type {Object}
+                 * @property {number} [id] RigidBody id.
+                 * @property {fvec3$Properties} [position] RigidBody position.
+                 * @property {fvec4$Properties} [rotation] RigidBody rotation.
+                 * @property {Array.<message.input.MotionCapture.Marker$Properties>} [markers] RigidBody markers.
+                 * @property {number} [error] RigidBody error.
+                 * @property {boolean} [trackingValid] RigidBody trackingValid.
+                 * @property {string} [name] RigidBody name.
+                 * @property {fvec3$Properties} [offset] RigidBody offset.
+                 * @property {number} [parent] RigidBody parent.
+                 * @property {Array.<number>} [children] RigidBody children.
+                 */
+
+                /**
+                 * Constructs a new RigidBody.
+                 * @exports message.input.MotionCapture.RigidBody
+                 * @constructor
+                 * @param {message.input.MotionCapture.RigidBody$Properties=} [properties] Properties to set
+                 */
+                function RigidBody(properties) {
+                    this.markers = [];
+                    this.children = [];
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * RigidBody id.
+                 * @type {number}
+                 */
+                RigidBody.prototype.id = 0;
+
+                /**
+                 * RigidBody position.
+                 * @type {(fvec3$Properties|null)}
+                 */
+                RigidBody.prototype.position = null;
+
+                /**
+                 * RigidBody rotation.
+                 * @type {(fvec4$Properties|null)}
+                 */
+                RigidBody.prototype.rotation = null;
+
+                /**
+                 * RigidBody markers.
+                 * @type {Array.<message.input.MotionCapture.Marker$Properties>}
+                 */
+                RigidBody.prototype.markers = $util.emptyArray;
+
+                /**
+                 * RigidBody error.
+                 * @type {number}
+                 */
+                RigidBody.prototype.error = 0;
+
+                /**
+                 * RigidBody trackingValid.
+                 * @type {boolean}
+                 */
+                RigidBody.prototype.trackingValid = false;
+
+                /**
+                 * RigidBody name.
+                 * @type {string}
+                 */
+                RigidBody.prototype.name = "";
+
+                /**
+                 * RigidBody offset.
+                 * @type {(fvec3$Properties|null)}
+                 */
+                RigidBody.prototype.offset = null;
+
+                /**
+                 * RigidBody parent.
+                 * @type {number}
+                 */
+                RigidBody.prototype.parent = 0;
+
+                /**
+                 * RigidBody children.
+                 * @type {Array.<number>}
+                 */
+                RigidBody.prototype.children = $util.emptyArray;
+
+                /**
+                 * Creates a new RigidBody instance using the specified properties.
+                 * @param {message.input.MotionCapture.RigidBody$Properties=} [properties] Properties to set
+                 * @returns {message.input.MotionCapture.RigidBody} RigidBody instance
+                 */
+                RigidBody.create = function create(properties) {
+                    return new RigidBody(properties);
+                };
+
+                /**
+                 * Encodes the specified RigidBody message. Does not implicitly {@link message.input.MotionCapture.RigidBody.verify|verify} messages.
+                 * @param {message.input.MotionCapture.RigidBody$Properties} message RigidBody message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                RigidBody.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.id != null && message.hasOwnProperty("id"))
+                        writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.id);
+                    if (message.position != null && message.hasOwnProperty("position"))
+                        $root.fvec3.encode(message.position, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                    if (message.rotation != null && message.hasOwnProperty("rotation"))
+                        $root.fvec4.encode(message.rotation, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+                    if (message.markers != null && message.markers.length)
+                        for (var i = 0; i < message.markers.length; ++i)
+                            $root.message.input.MotionCapture.Marker.encode(message.markers[i], writer.uint32(/* id 4, wireType 2 =*/34).fork()).ldelim();
+                    if (message.error != null && message.hasOwnProperty("error"))
+                        writer.uint32(/* id 5, wireType 5 =*/45).float(message.error);
+                    if (message.trackingValid != null && message.hasOwnProperty("trackingValid"))
+                        writer.uint32(/* id 6, wireType 0 =*/48).bool(message.trackingValid);
+                    if (message.name != null && message.hasOwnProperty("name"))
+                        writer.uint32(/* id 7, wireType 2 =*/58).string(message.name);
+                    if (message.offset != null && message.hasOwnProperty("offset"))
+                        $root.fvec3.encode(message.offset, writer.uint32(/* id 8, wireType 2 =*/66).fork()).ldelim();
+                    if (message.parent != null && message.hasOwnProperty("parent"))
+                        writer.uint32(/* id 9, wireType 0 =*/72).uint32(message.parent);
+                    if (message.children != null && message.children.length) {
+                        writer.uint32(/* id 10, wireType 2 =*/82).fork();
+                        for (var i = 0; i < message.children.length; ++i)
+                            writer.uint32(message.children[i]);
+                        writer.ldelim();
+                    }
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified RigidBody message, length delimited. Does not implicitly {@link message.input.MotionCapture.RigidBody.verify|verify} messages.
+                 * @param {message.input.MotionCapture.RigidBody$Properties} message RigidBody message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                RigidBody.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a RigidBody message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.MotionCapture.RigidBody} RigidBody
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                RigidBody.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.MotionCapture.RigidBody();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.id = reader.uint32();
+                            break;
+                        case 2:
+                            message.position = $root.fvec3.decode(reader, reader.uint32());
+                            break;
+                        case 3:
+                            message.rotation = $root.fvec4.decode(reader, reader.uint32());
+                            break;
+                        case 4:
+                            if (!(message.markers && message.markers.length))
+                                message.markers = [];
+                            message.markers.push($root.message.input.MotionCapture.Marker.decode(reader, reader.uint32()));
+                            break;
+                        case 5:
+                            message.error = reader.float();
+                            break;
+                        case 6:
+                            message.trackingValid = reader.bool();
+                            break;
+                        case 7:
+                            message.name = reader.string();
+                            break;
+                        case 8:
+                            message.offset = $root.fvec3.decode(reader, reader.uint32());
+                            break;
+                        case 9:
+                            message.parent = reader.uint32();
+                            break;
+                        case 10:
+                            if (!(message.children && message.children.length))
+                                message.children = [];
+                            if ((tag & 7) === 2) {
+                                var end2 = reader.uint32() + reader.pos;
+                                while (reader.pos < end2)
+                                    message.children.push(reader.uint32());
+                            } else
+                                message.children.push(reader.uint32());
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a RigidBody message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.MotionCapture.RigidBody} RigidBody
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                RigidBody.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a RigidBody message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                RigidBody.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.id != null && message.hasOwnProperty("id"))
+                        if (!$util.isInteger(message.id))
+                            return "id: integer expected";
+                    if (message.position != null && message.hasOwnProperty("position")) {
+                        var error = $root.fvec3.verify(message.position);
+                        if (error)
+                            return "position." + error;
+                    }
+                    if (message.rotation != null && message.hasOwnProperty("rotation")) {
+                        var error = $root.fvec4.verify(message.rotation);
+                        if (error)
+                            return "rotation." + error;
+                    }
+                    if (message.markers != null && message.hasOwnProperty("markers")) {
+                        if (!Array.isArray(message.markers))
+                            return "markers: array expected";
+                        for (var i = 0; i < message.markers.length; ++i) {
+                            var error = $root.message.input.MotionCapture.Marker.verify(message.markers[i]);
+                            if (error)
+                                return "markers." + error;
+                        }
+                    }
+                    if (message.error != null && message.hasOwnProperty("error"))
+                        if (typeof message.error !== "number")
+                            return "error: number expected";
+                    if (message.trackingValid != null && message.hasOwnProperty("trackingValid"))
+                        if (typeof message.trackingValid !== "boolean")
+                            return "trackingValid: boolean expected";
+                    if (message.name != null && message.hasOwnProperty("name"))
+                        if (!$util.isString(message.name))
+                            return "name: string expected";
+                    if (message.offset != null && message.hasOwnProperty("offset")) {
+                        var error = $root.fvec3.verify(message.offset);
+                        if (error)
+                            return "offset." + error;
+                    }
+                    if (message.parent != null && message.hasOwnProperty("parent"))
+                        if (!$util.isInteger(message.parent))
+                            return "parent: integer expected";
+                    if (message.children != null && message.hasOwnProperty("children")) {
+                        if (!Array.isArray(message.children))
+                            return "children: array expected";
+                        for (var i = 0; i < message.children.length; ++i)
+                            if (!$util.isInteger(message.children[i]))
+                                return "children: integer[] expected";
+                    }
+                    return null;
+                };
+
+                /**
+                 * Creates a RigidBody message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.MotionCapture.RigidBody} RigidBody
+                 */
+                RigidBody.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.input.MotionCapture.RigidBody)
+                        return object;
+                    var message = new $root.message.input.MotionCapture.RigidBody();
+                    if (object.id != null)
+                        message.id = object.id >>> 0;
+                    if (object.position != null) {
+                        if (typeof object.position !== "object")
+                            throw TypeError(".message.input.MotionCapture.RigidBody.position: object expected");
+                        message.position = $root.fvec3.fromObject(object.position);
+                    }
+                    if (object.rotation != null) {
+                        if (typeof object.rotation !== "object")
+                            throw TypeError(".message.input.MotionCapture.RigidBody.rotation: object expected");
+                        message.rotation = $root.fvec4.fromObject(object.rotation);
+                    }
+                    if (object.markers) {
+                        if (!Array.isArray(object.markers))
+                            throw TypeError(".message.input.MotionCapture.RigidBody.markers: array expected");
+                        message.markers = [];
+                        for (var i = 0; i < object.markers.length; ++i) {
+                            if (typeof object.markers[i] !== "object")
+                                throw TypeError(".message.input.MotionCapture.RigidBody.markers: object expected");
+                            message.markers[i] = $root.message.input.MotionCapture.Marker.fromObject(object.markers[i]);
+                        }
+                    }
+                    if (object.error != null)
+                        message.error = Number(object.error);
+                    if (object.trackingValid != null)
+                        message.trackingValid = Boolean(object.trackingValid);
+                    if (object.name != null)
+                        message.name = String(object.name);
+                    if (object.offset != null) {
+                        if (typeof object.offset !== "object")
+                            throw TypeError(".message.input.MotionCapture.RigidBody.offset: object expected");
+                        message.offset = $root.fvec3.fromObject(object.offset);
+                    }
+                    if (object.parent != null)
+                        message.parent = object.parent >>> 0;
+                    if (object.children) {
+                        if (!Array.isArray(object.children))
+                            throw TypeError(".message.input.MotionCapture.RigidBody.children: array expected");
+                        message.children = [];
+                        for (var i = 0; i < object.children.length; ++i)
+                            message.children[i] = object.children[i] >>> 0;
+                    }
+                    return message;
+                };
+
+                /**
+                 * Creates a RigidBody message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.MotionCapture.RigidBody.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.MotionCapture.RigidBody} RigidBody
+                 */
+                RigidBody.from = RigidBody.fromObject;
+
+                /**
+                 * Creates a plain object from a RigidBody message. Also converts values to other types if specified.
+                 * @param {message.input.MotionCapture.RigidBody} message RigidBody
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                RigidBody.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.arrays || options.defaults) {
+                        object.markers = [];
+                        object.children = [];
+                    }
+                    if (options.defaults) {
+                        object.id = 0;
+                        object.position = null;
+                        object.rotation = null;
+                        object.error = 0;
+                        object.trackingValid = false;
+                        object.name = "";
+                        object.offset = null;
+                        object.parent = 0;
+                    }
+                    if (message.id != null && message.hasOwnProperty("id"))
+                        object.id = message.id;
+                    if (message.position != null && message.hasOwnProperty("position"))
+                        object.position = $root.fvec3.toObject(message.position, options);
+                    if (message.rotation != null && message.hasOwnProperty("rotation"))
+                        object.rotation = $root.fvec4.toObject(message.rotation, options);
+                    if (message.markers && message.markers.length) {
+                        object.markers = [];
+                        for (var j = 0; j < message.markers.length; ++j)
+                            object.markers[j] = $root.message.input.MotionCapture.Marker.toObject(message.markers[j], options);
+                    }
+                    if (message.error != null && message.hasOwnProperty("error"))
+                        object.error = message.error;
+                    if (message.trackingValid != null && message.hasOwnProperty("trackingValid"))
+                        object.trackingValid = message.trackingValid;
+                    if (message.name != null && message.hasOwnProperty("name"))
+                        object.name = message.name;
+                    if (message.offset != null && message.hasOwnProperty("offset"))
+                        object.offset = $root.fvec3.toObject(message.offset, options);
+                    if (message.parent != null && message.hasOwnProperty("parent"))
+                        object.parent = message.parent;
+                    if (message.children && message.children.length) {
+                        object.children = [];
+                        for (var j = 0; j < message.children.length; ++j)
+                            object.children[j] = message.children[j];
+                    }
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this RigidBody message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                RigidBody.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this RigidBody to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                RigidBody.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return RigidBody;
+            })();
+
+            MotionCapture.Skeleton = (function() {
+
+                /**
+                 * Properties of a Skeleton.
+                 * @typedef message.input.MotionCapture.Skeleton$Properties
+                 * @type {Object}
+                 * @property {number} [id] Skeleton id.
+                 * @property {Array.<message.input.MotionCapture.RigidBody$Properties>} [bones] Skeleton bones.
+                 * @property {string} [name] Skeleton name.
+                 */
+
+                /**
+                 * Constructs a new Skeleton.
+                 * @exports message.input.MotionCapture.Skeleton
+                 * @constructor
+                 * @param {message.input.MotionCapture.Skeleton$Properties=} [properties] Properties to set
+                 */
+                function Skeleton(properties) {
+                    this.bones = [];
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * Skeleton id.
+                 * @type {number}
+                 */
+                Skeleton.prototype.id = 0;
+
+                /**
+                 * Skeleton bones.
+                 * @type {Array.<message.input.MotionCapture.RigidBody$Properties>}
+                 */
+                Skeleton.prototype.bones = $util.emptyArray;
+
+                /**
+                 * Skeleton name.
+                 * @type {string}
+                 */
+                Skeleton.prototype.name = "";
+
+                /**
+                 * Creates a new Skeleton instance using the specified properties.
+                 * @param {message.input.MotionCapture.Skeleton$Properties=} [properties] Properties to set
+                 * @returns {message.input.MotionCapture.Skeleton} Skeleton instance
+                 */
+                Skeleton.create = function create(properties) {
+                    return new Skeleton(properties);
+                };
+
+                /**
+                 * Encodes the specified Skeleton message. Does not implicitly {@link message.input.MotionCapture.Skeleton.verify|verify} messages.
+                 * @param {message.input.MotionCapture.Skeleton$Properties} message Skeleton message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Skeleton.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.id != null && message.hasOwnProperty("id"))
+                        writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.id);
+                    if (message.bones != null && message.bones.length)
+                        for (var i = 0; i < message.bones.length; ++i)
+                            $root.message.input.MotionCapture.RigidBody.encode(message.bones[i], writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                    if (message.name != null && message.hasOwnProperty("name"))
+                        writer.uint32(/* id 3, wireType 2 =*/26).string(message.name);
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified Skeleton message, length delimited. Does not implicitly {@link message.input.MotionCapture.Skeleton.verify|verify} messages.
+                 * @param {message.input.MotionCapture.Skeleton$Properties} message Skeleton message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Skeleton.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a Skeleton message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.MotionCapture.Skeleton} Skeleton
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Skeleton.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.MotionCapture.Skeleton();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.id = reader.uint32();
+                            break;
+                        case 2:
+                            if (!(message.bones && message.bones.length))
+                                message.bones = [];
+                            message.bones.push($root.message.input.MotionCapture.RigidBody.decode(reader, reader.uint32()));
+                            break;
+                        case 3:
+                            message.name = reader.string();
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a Skeleton message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.MotionCapture.Skeleton} Skeleton
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Skeleton.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a Skeleton message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                Skeleton.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.id != null && message.hasOwnProperty("id"))
+                        if (!$util.isInteger(message.id))
+                            return "id: integer expected";
+                    if (message.bones != null && message.hasOwnProperty("bones")) {
+                        if (!Array.isArray(message.bones))
+                            return "bones: array expected";
+                        for (var i = 0; i < message.bones.length; ++i) {
+                            var error = $root.message.input.MotionCapture.RigidBody.verify(message.bones[i]);
+                            if (error)
+                                return "bones." + error;
+                        }
+                    }
+                    if (message.name != null && message.hasOwnProperty("name"))
+                        if (!$util.isString(message.name))
+                            return "name: string expected";
+                    return null;
+                };
+
+                /**
+                 * Creates a Skeleton message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.MotionCapture.Skeleton} Skeleton
+                 */
+                Skeleton.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.input.MotionCapture.Skeleton)
+                        return object;
+                    var message = new $root.message.input.MotionCapture.Skeleton();
+                    if (object.id != null)
+                        message.id = object.id >>> 0;
+                    if (object.bones) {
+                        if (!Array.isArray(object.bones))
+                            throw TypeError(".message.input.MotionCapture.Skeleton.bones: array expected");
+                        message.bones = [];
+                        for (var i = 0; i < object.bones.length; ++i) {
+                            if (typeof object.bones[i] !== "object")
+                                throw TypeError(".message.input.MotionCapture.Skeleton.bones: object expected");
+                            message.bones[i] = $root.message.input.MotionCapture.RigidBody.fromObject(object.bones[i]);
+                        }
+                    }
+                    if (object.name != null)
+                        message.name = String(object.name);
+                    return message;
+                };
+
+                /**
+                 * Creates a Skeleton message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.MotionCapture.Skeleton.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.MotionCapture.Skeleton} Skeleton
+                 */
+                Skeleton.from = Skeleton.fromObject;
+
+                /**
+                 * Creates a plain object from a Skeleton message. Also converts values to other types if specified.
+                 * @param {message.input.MotionCapture.Skeleton} message Skeleton
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Skeleton.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.arrays || options.defaults)
+                        object.bones = [];
+                    if (options.defaults) {
+                        object.id = 0;
+                        object.name = "";
+                    }
+                    if (message.id != null && message.hasOwnProperty("id"))
+                        object.id = message.id;
+                    if (message.bones && message.bones.length) {
+                        object.bones = [];
+                        for (var j = 0; j < message.bones.length; ++j)
+                            object.bones[j] = $root.message.input.MotionCapture.RigidBody.toObject(message.bones[j], options);
+                    }
+                    if (message.name != null && message.hasOwnProperty("name"))
+                        object.name = message.name;
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this Skeleton message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Skeleton.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this Skeleton to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                Skeleton.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return Skeleton;
+            })();
+
+            MotionCapture.LabeledMarker = (function() {
+
+                /**
+                 * Properties of a LabeledMarker.
+                 * @typedef message.input.MotionCapture.LabeledMarker$Properties
+                 * @type {Object}
+                 * @property {message.input.MotionCapture.Marker$Properties} [marker] LabeledMarker marker.
+                 * @property {boolean} [occluded] LabeledMarker occluded.
+                 * @property {boolean} [pointCloudSolved] LabeledMarker pointCloudSolved.
+                 * @property {boolean} [modelSolved] LabeledMarker modelSolved.
+                 */
+
+                /**
+                 * Constructs a new LabeledMarker.
+                 * @exports message.input.MotionCapture.LabeledMarker
+                 * @constructor
+                 * @param {message.input.MotionCapture.LabeledMarker$Properties=} [properties] Properties to set
+                 */
+                function LabeledMarker(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * LabeledMarker marker.
+                 * @type {(message.input.MotionCapture.Marker$Properties|null)}
+                 */
+                LabeledMarker.prototype.marker = null;
+
+                /**
+                 * LabeledMarker occluded.
+                 * @type {boolean}
+                 */
+                LabeledMarker.prototype.occluded = false;
+
+                /**
+                 * LabeledMarker pointCloudSolved.
+                 * @type {boolean}
+                 */
+                LabeledMarker.prototype.pointCloudSolved = false;
+
+                /**
+                 * LabeledMarker modelSolved.
+                 * @type {boolean}
+                 */
+                LabeledMarker.prototype.modelSolved = false;
+
+                /**
+                 * Creates a new LabeledMarker instance using the specified properties.
+                 * @param {message.input.MotionCapture.LabeledMarker$Properties=} [properties] Properties to set
+                 * @returns {message.input.MotionCapture.LabeledMarker} LabeledMarker instance
+                 */
+                LabeledMarker.create = function create(properties) {
+                    return new LabeledMarker(properties);
+                };
+
+                /**
+                 * Encodes the specified LabeledMarker message. Does not implicitly {@link message.input.MotionCapture.LabeledMarker.verify|verify} messages.
+                 * @param {message.input.MotionCapture.LabeledMarker$Properties} message LabeledMarker message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                LabeledMarker.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.marker != null && message.hasOwnProperty("marker"))
+                        $root.message.input.MotionCapture.Marker.encode(message.marker, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                    if (message.occluded != null && message.hasOwnProperty("occluded"))
+                        writer.uint32(/* id 2, wireType 0 =*/16).bool(message.occluded);
+                    if (message.pointCloudSolved != null && message.hasOwnProperty("pointCloudSolved"))
+                        writer.uint32(/* id 3, wireType 0 =*/24).bool(message.pointCloudSolved);
+                    if (message.modelSolved != null && message.hasOwnProperty("modelSolved"))
+                        writer.uint32(/* id 4, wireType 0 =*/32).bool(message.modelSolved);
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified LabeledMarker message, length delimited. Does not implicitly {@link message.input.MotionCapture.LabeledMarker.verify|verify} messages.
+                 * @param {message.input.MotionCapture.LabeledMarker$Properties} message LabeledMarker message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                LabeledMarker.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a LabeledMarker message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.MotionCapture.LabeledMarker} LabeledMarker
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                LabeledMarker.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.MotionCapture.LabeledMarker();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.marker = $root.message.input.MotionCapture.Marker.decode(reader, reader.uint32());
+                            break;
+                        case 2:
+                            message.occluded = reader.bool();
+                            break;
+                        case 3:
+                            message.pointCloudSolved = reader.bool();
+                            break;
+                        case 4:
+                            message.modelSolved = reader.bool();
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a LabeledMarker message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.MotionCapture.LabeledMarker} LabeledMarker
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                LabeledMarker.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a LabeledMarker message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                LabeledMarker.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.marker != null && message.hasOwnProperty("marker")) {
+                        var error = $root.message.input.MotionCapture.Marker.verify(message.marker);
+                        if (error)
+                            return "marker." + error;
+                    }
+                    if (message.occluded != null && message.hasOwnProperty("occluded"))
+                        if (typeof message.occluded !== "boolean")
+                            return "occluded: boolean expected";
+                    if (message.pointCloudSolved != null && message.hasOwnProperty("pointCloudSolved"))
+                        if (typeof message.pointCloudSolved !== "boolean")
+                            return "pointCloudSolved: boolean expected";
+                    if (message.modelSolved != null && message.hasOwnProperty("modelSolved"))
+                        if (typeof message.modelSolved !== "boolean")
+                            return "modelSolved: boolean expected";
+                    return null;
+                };
+
+                /**
+                 * Creates a LabeledMarker message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.MotionCapture.LabeledMarker} LabeledMarker
+                 */
+                LabeledMarker.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.input.MotionCapture.LabeledMarker)
+                        return object;
+                    var message = new $root.message.input.MotionCapture.LabeledMarker();
+                    if (object.marker != null) {
+                        if (typeof object.marker !== "object")
+                            throw TypeError(".message.input.MotionCapture.LabeledMarker.marker: object expected");
+                        message.marker = $root.message.input.MotionCapture.Marker.fromObject(object.marker);
+                    }
+                    if (object.occluded != null)
+                        message.occluded = Boolean(object.occluded);
+                    if (object.pointCloudSolved != null)
+                        message.pointCloudSolved = Boolean(object.pointCloudSolved);
+                    if (object.modelSolved != null)
+                        message.modelSolved = Boolean(object.modelSolved);
+                    return message;
+                };
+
+                /**
+                 * Creates a LabeledMarker message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.MotionCapture.LabeledMarker.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.MotionCapture.LabeledMarker} LabeledMarker
+                 */
+                LabeledMarker.from = LabeledMarker.fromObject;
+
+                /**
+                 * Creates a plain object from a LabeledMarker message. Also converts values to other types if specified.
+                 * @param {message.input.MotionCapture.LabeledMarker} message LabeledMarker
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                LabeledMarker.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.defaults) {
+                        object.marker = null;
+                        object.occluded = false;
+                        object.pointCloudSolved = false;
+                        object.modelSolved = false;
+                    }
+                    if (message.marker != null && message.hasOwnProperty("marker"))
+                        object.marker = $root.message.input.MotionCapture.Marker.toObject(message.marker, options);
+                    if (message.occluded != null && message.hasOwnProperty("occluded"))
+                        object.occluded = message.occluded;
+                    if (message.pointCloudSolved != null && message.hasOwnProperty("pointCloudSolved"))
+                        object.pointCloudSolved = message.pointCloudSolved;
+                    if (message.modelSolved != null && message.hasOwnProperty("modelSolved"))
+                        object.modelSolved = message.modelSolved;
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this LabeledMarker message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                LabeledMarker.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this LabeledMarker to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                LabeledMarker.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return LabeledMarker;
+            })();
+
+            MotionCapture.Channel = (function() {
+
+                /**
+                 * Properties of a Channel.
+                 * @typedef message.input.MotionCapture.Channel$Properties
+                 * @type {Object}
+                 * @property {Array.<number>} [channel] Channel channel.
+                 */
+
+                /**
+                 * Constructs a new Channel.
+                 * @exports message.input.MotionCapture.Channel
+                 * @constructor
+                 * @param {message.input.MotionCapture.Channel$Properties=} [properties] Properties to set
+                 */
+                function Channel(properties) {
+                    this.channel = [];
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * Channel channel.
+                 * @type {Array.<number>}
+                 */
+                Channel.prototype.channel = $util.emptyArray;
+
+                /**
+                 * Creates a new Channel instance using the specified properties.
+                 * @param {message.input.MotionCapture.Channel$Properties=} [properties] Properties to set
+                 * @returns {message.input.MotionCapture.Channel} Channel instance
+                 */
+                Channel.create = function create(properties) {
+                    return new Channel(properties);
+                };
+
+                /**
+                 * Encodes the specified Channel message. Does not implicitly {@link message.input.MotionCapture.Channel.verify|verify} messages.
+                 * @param {message.input.MotionCapture.Channel$Properties} message Channel message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Channel.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.channel != null && message.channel.length) {
+                        writer.uint32(/* id 1, wireType 2 =*/10).fork();
+                        for (var i = 0; i < message.channel.length; ++i)
+                            writer.float(message.channel[i]);
+                        writer.ldelim();
+                    }
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified Channel message, length delimited. Does not implicitly {@link message.input.MotionCapture.Channel.verify|verify} messages.
+                 * @param {message.input.MotionCapture.Channel$Properties} message Channel message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Channel.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a Channel message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.MotionCapture.Channel} Channel
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Channel.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.MotionCapture.Channel();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            if (!(message.channel && message.channel.length))
+                                message.channel = [];
+                            if ((tag & 7) === 2) {
+                                var end2 = reader.uint32() + reader.pos;
+                                while (reader.pos < end2)
+                                    message.channel.push(reader.float());
+                            } else
+                                message.channel.push(reader.float());
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a Channel message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.MotionCapture.Channel} Channel
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Channel.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a Channel message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                Channel.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.channel != null && message.hasOwnProperty("channel")) {
+                        if (!Array.isArray(message.channel))
+                            return "channel: array expected";
+                        for (var i = 0; i < message.channel.length; ++i)
+                            if (typeof message.channel[i] !== "number")
+                                return "channel: number[] expected";
+                    }
+                    return null;
+                };
+
+                /**
+                 * Creates a Channel message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.MotionCapture.Channel} Channel
+                 */
+                Channel.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.input.MotionCapture.Channel)
+                        return object;
+                    var message = new $root.message.input.MotionCapture.Channel();
+                    if (object.channel) {
+                        if (!Array.isArray(object.channel))
+                            throw TypeError(".message.input.MotionCapture.Channel.channel: array expected");
+                        message.channel = [];
+                        for (var i = 0; i < object.channel.length; ++i)
+                            message.channel[i] = Number(object.channel[i]);
+                    }
+                    return message;
+                };
+
+                /**
+                 * Creates a Channel message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.MotionCapture.Channel.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.MotionCapture.Channel} Channel
+                 */
+                Channel.from = Channel.fromObject;
+
+                /**
+                 * Creates a plain object from a Channel message. Also converts values to other types if specified.
+                 * @param {message.input.MotionCapture.Channel} message Channel
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Channel.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.arrays || options.defaults)
+                        object.channel = [];
+                    if (message.channel && message.channel.length) {
+                        object.channel = [];
+                        for (var j = 0; j < message.channel.length; ++j)
+                            object.channel[j] = message.channel[j];
+                    }
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this Channel message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Channel.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this Channel to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                Channel.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return Channel;
+            })();
+
+            MotionCapture.ForcePlate = (function() {
+
+                /**
+                 * Properties of a ForcePlate.
+                 * @typedef message.input.MotionCapture.ForcePlate$Properties
+                 * @type {Object}
+                 * @property {number} [id] ForcePlate id.
+                 * @property {Array.<message.input.MotionCapture.Channel$Properties>} [channels] ForcePlate channels.
+                 */
+
+                /**
+                 * Constructs a new ForcePlate.
+                 * @exports message.input.MotionCapture.ForcePlate
+                 * @constructor
+                 * @param {message.input.MotionCapture.ForcePlate$Properties=} [properties] Properties to set
+                 */
+                function ForcePlate(properties) {
+                    this.channels = [];
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * ForcePlate id.
+                 * @type {number}
+                 */
+                ForcePlate.prototype.id = 0;
+
+                /**
+                 * ForcePlate channels.
+                 * @type {Array.<message.input.MotionCapture.Channel$Properties>}
+                 */
+                ForcePlate.prototype.channels = $util.emptyArray;
+
+                /**
+                 * Creates a new ForcePlate instance using the specified properties.
+                 * @param {message.input.MotionCapture.ForcePlate$Properties=} [properties] Properties to set
+                 * @returns {message.input.MotionCapture.ForcePlate} ForcePlate instance
+                 */
+                ForcePlate.create = function create(properties) {
+                    return new ForcePlate(properties);
+                };
+
+                /**
+                 * Encodes the specified ForcePlate message. Does not implicitly {@link message.input.MotionCapture.ForcePlate.verify|verify} messages.
+                 * @param {message.input.MotionCapture.ForcePlate$Properties} message ForcePlate message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                ForcePlate.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.id != null && message.hasOwnProperty("id"))
+                        writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.id);
+                    if (message.channels != null && message.channels.length)
+                        for (var i = 0; i < message.channels.length; ++i)
+                            $root.message.input.MotionCapture.Channel.encode(message.channels[i], writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified ForcePlate message, length delimited. Does not implicitly {@link message.input.MotionCapture.ForcePlate.verify|verify} messages.
+                 * @param {message.input.MotionCapture.ForcePlate$Properties} message ForcePlate message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                ForcePlate.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a ForcePlate message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.MotionCapture.ForcePlate} ForcePlate
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                ForcePlate.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.MotionCapture.ForcePlate();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.id = reader.uint32();
+                            break;
+                        case 2:
+                            if (!(message.channels && message.channels.length))
+                                message.channels = [];
+                            message.channels.push($root.message.input.MotionCapture.Channel.decode(reader, reader.uint32()));
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a ForcePlate message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.MotionCapture.ForcePlate} ForcePlate
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                ForcePlate.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a ForcePlate message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                ForcePlate.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.id != null && message.hasOwnProperty("id"))
+                        if (!$util.isInteger(message.id))
+                            return "id: integer expected";
+                    if (message.channels != null && message.hasOwnProperty("channels")) {
+                        if (!Array.isArray(message.channels))
+                            return "channels: array expected";
+                        for (var i = 0; i < message.channels.length; ++i) {
+                            var error = $root.message.input.MotionCapture.Channel.verify(message.channels[i]);
+                            if (error)
+                                return "channels." + error;
+                        }
+                    }
+                    return null;
+                };
+
+                /**
+                 * Creates a ForcePlate message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.MotionCapture.ForcePlate} ForcePlate
+                 */
+                ForcePlate.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.input.MotionCapture.ForcePlate)
+                        return object;
+                    var message = new $root.message.input.MotionCapture.ForcePlate();
+                    if (object.id != null)
+                        message.id = object.id >>> 0;
+                    if (object.channels) {
+                        if (!Array.isArray(object.channels))
+                            throw TypeError(".message.input.MotionCapture.ForcePlate.channels: array expected");
+                        message.channels = [];
+                        for (var i = 0; i < object.channels.length; ++i) {
+                            if (typeof object.channels[i] !== "object")
+                                throw TypeError(".message.input.MotionCapture.ForcePlate.channels: object expected");
+                            message.channels[i] = $root.message.input.MotionCapture.Channel.fromObject(object.channels[i]);
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Creates a ForcePlate message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.MotionCapture.ForcePlate.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.MotionCapture.ForcePlate} ForcePlate
+                 */
+                ForcePlate.from = ForcePlate.fromObject;
+
+                /**
+                 * Creates a plain object from a ForcePlate message. Also converts values to other types if specified.
+                 * @param {message.input.MotionCapture.ForcePlate} message ForcePlate
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                ForcePlate.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.arrays || options.defaults)
+                        object.channels = [];
+                    if (options.defaults)
+                        object.id = 0;
+                    if (message.id != null && message.hasOwnProperty("id"))
+                        object.id = message.id;
+                    if (message.channels && message.channels.length) {
+                        object.channels = [];
+                        for (var j = 0; j < message.channels.length; ++j)
+                            object.channels[j] = $root.message.input.MotionCapture.Channel.toObject(message.channels[j], options);
+                    }
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this ForcePlate message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                ForcePlate.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this ForcePlate to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                ForcePlate.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return ForcePlate;
+            })();
+
+            return MotionCapture;
+        })();
+
+        input.WalkingDetected = (function() {
+
+            /**
+             * Properties of a WalkingDetected.
+             * @typedef message.input.WalkingDetected$Properties
+             * @type {Object}
+             */
+
+            /**
+             * Constructs a new WalkingDetected.
+             * @exports message.input.WalkingDetected
+             * @constructor
+             * @param {message.input.WalkingDetected$Properties=} [properties] Properties to set
+             */
+            function WalkingDetected(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Creates a new WalkingDetected instance using the specified properties.
+             * @param {message.input.WalkingDetected$Properties=} [properties] Properties to set
+             * @returns {message.input.WalkingDetected} WalkingDetected instance
+             */
+            WalkingDetected.create = function create(properties) {
+                return new WalkingDetected(properties);
+            };
+
+            /**
+             * Encodes the specified WalkingDetected message. Does not implicitly {@link message.input.WalkingDetected.verify|verify} messages.
+             * @param {message.input.WalkingDetected$Properties} message WalkingDetected message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            WalkingDetected.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified WalkingDetected message, length delimited. Does not implicitly {@link message.input.WalkingDetected.verify|verify} messages.
+             * @param {message.input.WalkingDetected$Properties} message WalkingDetected message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            WalkingDetected.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a WalkingDetected message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.input.WalkingDetected} WalkingDetected
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            WalkingDetected.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.WalkingDetected();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a WalkingDetected message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.input.WalkingDetected} WalkingDetected
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            WalkingDetected.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a WalkingDetected message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            WalkingDetected.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                return null;
+            };
+
+            /**
+             * Creates a WalkingDetected message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.WalkingDetected} WalkingDetected
+             */
+            WalkingDetected.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.input.WalkingDetected)
+                    return object;
+                return new $root.message.input.WalkingDetected();
+            };
+
+            /**
+             * Creates a WalkingDetected message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.input.WalkingDetected.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.WalkingDetected} WalkingDetected
+             */
+            WalkingDetected.from = WalkingDetected.fromObject;
+
+            /**
+             * Creates a plain object from a WalkingDetected message. Also converts values to other types if specified.
+             * @param {message.input.WalkingDetected} message WalkingDetected
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            WalkingDetected.toObject = function toObject() {
+                return {};
+            };
+
+            /**
+             * Creates a plain object from this WalkingDetected message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            WalkingDetected.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this WalkingDetected to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            WalkingDetected.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return WalkingDetected;
+        })();
+
+        input.BendingDetected = (function() {
+
+            /**
+             * Properties of a BendingDetected.
+             * @typedef message.input.BendingDetected$Properties
+             * @type {Object}
+             */
+
+            /**
+             * Constructs a new BendingDetected.
+             * @exports message.input.BendingDetected
+             * @constructor
+             * @param {message.input.BendingDetected$Properties=} [properties] Properties to set
+             */
+            function BendingDetected(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Creates a new BendingDetected instance using the specified properties.
+             * @param {message.input.BendingDetected$Properties=} [properties] Properties to set
+             * @returns {message.input.BendingDetected} BendingDetected instance
+             */
+            BendingDetected.create = function create(properties) {
+                return new BendingDetected(properties);
+            };
+
+            /**
+             * Encodes the specified BendingDetected message. Does not implicitly {@link message.input.BendingDetected.verify|verify} messages.
+             * @param {message.input.BendingDetected$Properties} message BendingDetected message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            BendingDetected.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified BendingDetected message, length delimited. Does not implicitly {@link message.input.BendingDetected.verify|verify} messages.
+             * @param {message.input.BendingDetected$Properties} message BendingDetected message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            BendingDetected.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a BendingDetected message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.input.BendingDetected} BendingDetected
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            BendingDetected.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.BendingDetected();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a BendingDetected message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.input.BendingDetected} BendingDetected
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            BendingDetected.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a BendingDetected message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            BendingDetected.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                return null;
+            };
+
+            /**
+             * Creates a BendingDetected message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.BendingDetected} BendingDetected
+             */
+            BendingDetected.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.input.BendingDetected)
+                    return object;
+                return new $root.message.input.BendingDetected();
+            };
+
+            /**
+             * Creates a BendingDetected message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.input.BendingDetected.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.BendingDetected} BendingDetected
+             */
+            BendingDetected.from = BendingDetected.fromObject;
+
+            /**
+             * Creates a plain object from a BendingDetected message. Also converts values to other types if specified.
+             * @param {message.input.BendingDetected} message BendingDetected
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            BendingDetected.toObject = function toObject() {
+                return {};
+            };
+
+            /**
+             * Creates a plain object from this BendingDetected message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            BendingDetected.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this BendingDetected to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            BendingDetected.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return BendingDetected;
+        })();
+
+        input.KickingDetected = (function() {
+
+            /**
+             * Properties of a KickingDetected.
+             * @typedef message.input.KickingDetected$Properties
+             * @type {Object}
+             */
+
+            /**
+             * Constructs a new KickingDetected.
+             * @exports message.input.KickingDetected
+             * @constructor
+             * @param {message.input.KickingDetected$Properties=} [properties] Properties to set
+             */
+            function KickingDetected(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Creates a new KickingDetected instance using the specified properties.
+             * @param {message.input.KickingDetected$Properties=} [properties] Properties to set
+             * @returns {message.input.KickingDetected} KickingDetected instance
+             */
+            KickingDetected.create = function create(properties) {
+                return new KickingDetected(properties);
+            };
+
+            /**
+             * Encodes the specified KickingDetected message. Does not implicitly {@link message.input.KickingDetected.verify|verify} messages.
+             * @param {message.input.KickingDetected$Properties} message KickingDetected message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            KickingDetected.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified KickingDetected message, length delimited. Does not implicitly {@link message.input.KickingDetected.verify|verify} messages.
+             * @param {message.input.KickingDetected$Properties} message KickingDetected message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            KickingDetected.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a KickingDetected message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.input.KickingDetected} KickingDetected
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            KickingDetected.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.KickingDetected();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a KickingDetected message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.input.KickingDetected} KickingDetected
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            KickingDetected.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a KickingDetected message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            KickingDetected.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                return null;
+            };
+
+            /**
+             * Creates a KickingDetected message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.KickingDetected} KickingDetected
+             */
+            KickingDetected.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.input.KickingDetected)
+                    return object;
+                return new $root.message.input.KickingDetected();
+            };
+
+            /**
+             * Creates a KickingDetected message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.input.KickingDetected.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.KickingDetected} KickingDetected
+             */
+            KickingDetected.from = KickingDetected.fromObject;
+
+            /**
+             * Creates a plain object from a KickingDetected message. Also converts values to other types if specified.
+             * @param {message.input.KickingDetected} message KickingDetected
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            KickingDetected.toObject = function toObject() {
+                return {};
+            };
+
+            /**
+             * Creates a plain object from this KickingDetected message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            KickingDetected.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this KickingDetected to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            KickingDetected.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return KickingDetected;
+        })();
+
+        input.SittingDetected = (function() {
+
+            /**
+             * Properties of a SittingDetected.
+             * @typedef message.input.SittingDetected$Properties
+             * @type {Object}
+             */
+
+            /**
+             * Constructs a new SittingDetected.
+             * @exports message.input.SittingDetected
+             * @constructor
+             * @param {message.input.SittingDetected$Properties=} [properties] Properties to set
+             */
+            function SittingDetected(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Creates a new SittingDetected instance using the specified properties.
+             * @param {message.input.SittingDetected$Properties=} [properties] Properties to set
+             * @returns {message.input.SittingDetected} SittingDetected instance
+             */
+            SittingDetected.create = function create(properties) {
+                return new SittingDetected(properties);
+            };
+
+            /**
+             * Encodes the specified SittingDetected message. Does not implicitly {@link message.input.SittingDetected.verify|verify} messages.
+             * @param {message.input.SittingDetected$Properties} message SittingDetected message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            SittingDetected.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified SittingDetected message, length delimited. Does not implicitly {@link message.input.SittingDetected.verify|verify} messages.
+             * @param {message.input.SittingDetected$Properties} message SittingDetected message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            SittingDetected.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a SittingDetected message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.input.SittingDetected} SittingDetected
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            SittingDetected.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.SittingDetected();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a SittingDetected message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.input.SittingDetected} SittingDetected
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            SittingDetected.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a SittingDetected message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            SittingDetected.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                return null;
+            };
+
+            /**
+             * Creates a SittingDetected message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.SittingDetected} SittingDetected
+             */
+            SittingDetected.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.input.SittingDetected)
+                    return object;
+                return new $root.message.input.SittingDetected();
+            };
+
+            /**
+             * Creates a SittingDetected message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.input.SittingDetected.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.SittingDetected} SittingDetected
+             */
+            SittingDetected.from = SittingDetected.fromObject;
+
+            /**
+             * Creates a plain object from a SittingDetected message. Also converts values to other types if specified.
+             * @param {message.input.SittingDetected} message SittingDetected
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            SittingDetected.toObject = function toObject() {
+                return {};
+            };
+
+            /**
+             * Creates a plain object from this SittingDetected message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            SittingDetected.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this SittingDetected to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            SittingDetected.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return SittingDetected;
+        })();
+
+        input.StandingDetected = (function() {
+
+            /**
+             * Properties of a StandingDetected.
+             * @typedef message.input.StandingDetected$Properties
+             * @type {Object}
+             */
+
+            /**
+             * Constructs a new StandingDetected.
+             * @exports message.input.StandingDetected
+             * @constructor
+             * @param {message.input.StandingDetected$Properties=} [properties] Properties to set
+             */
+            function StandingDetected(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Creates a new StandingDetected instance using the specified properties.
+             * @param {message.input.StandingDetected$Properties=} [properties] Properties to set
+             * @returns {message.input.StandingDetected} StandingDetected instance
+             */
+            StandingDetected.create = function create(properties) {
+                return new StandingDetected(properties);
+            };
+
+            /**
+             * Encodes the specified StandingDetected message. Does not implicitly {@link message.input.StandingDetected.verify|verify} messages.
+             * @param {message.input.StandingDetected$Properties} message StandingDetected message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            StandingDetected.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified StandingDetected message, length delimited. Does not implicitly {@link message.input.StandingDetected.verify|verify} messages.
+             * @param {message.input.StandingDetected$Properties} message StandingDetected message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            StandingDetected.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a StandingDetected message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.input.StandingDetected} StandingDetected
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            StandingDetected.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.StandingDetected();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a StandingDetected message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.input.StandingDetected} StandingDetected
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            StandingDetected.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a StandingDetected message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            StandingDetected.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                return null;
+            };
+
+            /**
+             * Creates a StandingDetected message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.StandingDetected} StandingDetected
+             */
+            StandingDetected.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.input.StandingDetected)
+                    return object;
+                return new $root.message.input.StandingDetected();
+            };
+
+            /**
+             * Creates a StandingDetected message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.input.StandingDetected.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.StandingDetected} StandingDetected
+             */
+            StandingDetected.from = StandingDetected.fromObject;
+
+            /**
+             * Creates a plain object from a StandingDetected message. Also converts values to other types if specified.
+             * @param {message.input.StandingDetected} message StandingDetected
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            StandingDetected.toObject = function toObject() {
+                return {};
+            };
+
+            /**
+             * Creates a plain object from this StandingDetected message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            StandingDetected.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this StandingDetected to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            StandingDetected.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return StandingDetected;
+        })();
+
+        input.FallingDetected = (function() {
+
+            /**
+             * Properties of a FallingDetected.
+             * @typedef message.input.FallingDetected$Properties
+             * @type {Object}
+             * @property {number} [x] FallingDetected x.
+             * @property {number} [y] FallingDetected y.
+             * @property {number} [z] FallingDetected z.
+             */
+
+            /**
+             * Constructs a new FallingDetected.
+             * @exports message.input.FallingDetected
+             * @constructor
+             * @param {message.input.FallingDetected$Properties=} [properties] Properties to set
+             */
+            function FallingDetected(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * FallingDetected x.
+             * @type {number}
+             */
+            FallingDetected.prototype.x = 0;
+
+            /**
+             * FallingDetected y.
+             * @type {number}
+             */
+            FallingDetected.prototype.y = 0;
+
+            /**
+             * FallingDetected z.
+             * @type {number}
+             */
+            FallingDetected.prototype.z = 0;
+
+            /**
+             * Creates a new FallingDetected instance using the specified properties.
+             * @param {message.input.FallingDetected$Properties=} [properties] Properties to set
+             * @returns {message.input.FallingDetected} FallingDetected instance
+             */
+            FallingDetected.create = function create(properties) {
+                return new FallingDetected(properties);
+            };
+
+            /**
+             * Encodes the specified FallingDetected message. Does not implicitly {@link message.input.FallingDetected.verify|verify} messages.
+             * @param {message.input.FallingDetected$Properties} message FallingDetected message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            FallingDetected.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.x != null && message.hasOwnProperty("x"))
+                    writer.uint32(/* id 1, wireType 1 =*/9).double(message.x);
+                if (message.y != null && message.hasOwnProperty("y"))
+                    writer.uint32(/* id 2, wireType 1 =*/17).double(message.y);
+                if (message.z != null && message.hasOwnProperty("z"))
+                    writer.uint32(/* id 3, wireType 1 =*/25).double(message.z);
+                return writer;
+            };
+
+            /**
+             * Encodes the specified FallingDetected message, length delimited. Does not implicitly {@link message.input.FallingDetected.verify|verify} messages.
+             * @param {message.input.FallingDetected$Properties} message FallingDetected message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            FallingDetected.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a FallingDetected message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.input.FallingDetected} FallingDetected
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            FallingDetected.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.FallingDetected();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.x = reader.double();
+                        break;
+                    case 2:
+                        message.y = reader.double();
+                        break;
+                    case 3:
+                        message.z = reader.double();
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a FallingDetected message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.input.FallingDetected} FallingDetected
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            FallingDetected.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a FallingDetected message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            FallingDetected.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.x != null && message.hasOwnProperty("x"))
+                    if (typeof message.x !== "number")
+                        return "x: number expected";
+                if (message.y != null && message.hasOwnProperty("y"))
+                    if (typeof message.y !== "number")
+                        return "y: number expected";
+                if (message.z != null && message.hasOwnProperty("z"))
+                    if (typeof message.z !== "number")
+                        return "z: number expected";
+                return null;
+            };
+
+            /**
+             * Creates a FallingDetected message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.FallingDetected} FallingDetected
+             */
+            FallingDetected.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.input.FallingDetected)
+                    return object;
+                var message = new $root.message.input.FallingDetected();
+                if (object.x != null)
+                    message.x = Number(object.x);
+                if (object.y != null)
+                    message.y = Number(object.y);
+                if (object.z != null)
+                    message.z = Number(object.z);
+                return message;
+            };
+
+            /**
+             * Creates a FallingDetected message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.input.FallingDetected.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.FallingDetected} FallingDetected
+             */
+            FallingDetected.from = FallingDetected.fromObject;
+
+            /**
+             * Creates a plain object from a FallingDetected message. Also converts values to other types if specified.
+             * @param {message.input.FallingDetected} message FallingDetected
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            FallingDetected.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults) {
+                    object.x = 0;
+                    object.y = 0;
+                    object.z = 0;
+                }
+                if (message.x != null && message.hasOwnProperty("x"))
+                    object.x = message.x;
+                if (message.y != null && message.hasOwnProperty("y"))
+                    object.y = message.y;
+                if (message.z != null && message.hasOwnProperty("z"))
+                    object.z = message.z;
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this FallingDetected message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            FallingDetected.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this FallingDetected to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            FallingDetected.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return FallingDetected;
+        })();
+
+        input.PresenceUserState = (function() {
+
+            /**
+             * Properties of a PresenceUserState.
+             * @typedef message.input.PresenceUserState$Properties
+             * @type {Object}
+             * @property {fmat44$Properties} [headPose] PresenceUserState headPose.
+             */
+
+            /**
+             * Constructs a new PresenceUserState.
+             * @exports message.input.PresenceUserState
+             * @constructor
+             * @param {message.input.PresenceUserState$Properties=} [properties] Properties to set
+             */
+            function PresenceUserState(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * PresenceUserState headPose.
+             * @type {(fmat44$Properties|null)}
+             */
+            PresenceUserState.prototype.headPose = null;
+
+            /**
+             * Creates a new PresenceUserState instance using the specified properties.
+             * @param {message.input.PresenceUserState$Properties=} [properties] Properties to set
+             * @returns {message.input.PresenceUserState} PresenceUserState instance
+             */
+            PresenceUserState.create = function create(properties) {
+                return new PresenceUserState(properties);
+            };
+
+            /**
+             * Encodes the specified PresenceUserState message. Does not implicitly {@link message.input.PresenceUserState.verify|verify} messages.
+             * @param {message.input.PresenceUserState$Properties} message PresenceUserState message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            PresenceUserState.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.headPose != null && message.hasOwnProperty("headPose"))
+                    $root.fmat44.encode(message.headPose, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified PresenceUserState message, length delimited. Does not implicitly {@link message.input.PresenceUserState.verify|verify} messages.
+             * @param {message.input.PresenceUserState$Properties} message PresenceUserState message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            PresenceUserState.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a PresenceUserState message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.input.PresenceUserState} PresenceUserState
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            PresenceUserState.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.PresenceUserState();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.headPose = $root.fmat44.decode(reader, reader.uint32());
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a PresenceUserState message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.input.PresenceUserState} PresenceUserState
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            PresenceUserState.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a PresenceUserState message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            PresenceUserState.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.headPose != null && message.hasOwnProperty("headPose")) {
+                    var error = $root.fmat44.verify(message.headPose);
+                    if (error)
+                        return "headPose." + error;
+                }
+                return null;
+            };
+
+            /**
+             * Creates a PresenceUserState message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.PresenceUserState} PresenceUserState
+             */
+            PresenceUserState.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.input.PresenceUserState)
+                    return object;
+                var message = new $root.message.input.PresenceUserState();
+                if (object.headPose != null) {
+                    if (typeof object.headPose !== "object")
+                        throw TypeError(".message.input.PresenceUserState.headPose: object expected");
+                    message.headPose = $root.fmat44.fromObject(object.headPose);
+                }
+                return message;
+            };
+
+            /**
+             * Creates a PresenceUserState message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.input.PresenceUserState.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.PresenceUserState} PresenceUserState
+             */
+            PresenceUserState.from = PresenceUserState.fromObject;
+
+            /**
+             * Creates a plain object from a PresenceUserState message. Also converts values to other types if specified.
+             * @param {message.input.PresenceUserState} message PresenceUserState
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            PresenceUserState.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults)
+                    object.headPose = null;
+                if (message.headPose != null && message.hasOwnProperty("headPose"))
+                    object.headPose = $root.fmat44.toObject(message.headPose, options);
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this PresenceUserState message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            PresenceUserState.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this PresenceUserState to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            PresenceUserState.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return PresenceUserState;
+        })();
+
+        input.PushDetection = (function() {
+
+            /**
+             * Properties of a PushDetection.
+             * @typedef message.input.PushDetection$Properties
+             * @type {Object}
+             * @property {boolean} [forward] PushDetection forward.
+             */
+
+            /**
+             * Constructs a new PushDetection.
+             * @exports message.input.PushDetection
+             * @constructor
+             * @param {message.input.PushDetection$Properties=} [properties] Properties to set
+             */
+            function PushDetection(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * PushDetection forward.
+             * @type {boolean}
+             */
+            PushDetection.prototype.forward = false;
+
+            /**
+             * Creates a new PushDetection instance using the specified properties.
+             * @param {message.input.PushDetection$Properties=} [properties] Properties to set
+             * @returns {message.input.PushDetection} PushDetection instance
+             */
+            PushDetection.create = function create(properties) {
+                return new PushDetection(properties);
+            };
+
+            /**
+             * Encodes the specified PushDetection message. Does not implicitly {@link message.input.PushDetection.verify|verify} messages.
+             * @param {message.input.PushDetection$Properties} message PushDetection message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            PushDetection.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.forward != null && message.hasOwnProperty("forward"))
+                    writer.uint32(/* id 1, wireType 0 =*/8).bool(message.forward);
+                return writer;
+            };
+
+            /**
+             * Encodes the specified PushDetection message, length delimited. Does not implicitly {@link message.input.PushDetection.verify|verify} messages.
+             * @param {message.input.PushDetection$Properties} message PushDetection message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            PushDetection.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a PushDetection message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.input.PushDetection} PushDetection
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            PushDetection.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.PushDetection();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.forward = reader.bool();
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a PushDetection message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.input.PushDetection} PushDetection
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            PushDetection.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a PushDetection message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            PushDetection.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.forward != null && message.hasOwnProperty("forward"))
+                    if (typeof message.forward !== "boolean")
+                        return "forward: boolean expected";
+                return null;
+            };
+
+            /**
+             * Creates a PushDetection message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.PushDetection} PushDetection
+             */
+            PushDetection.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.input.PushDetection)
+                    return object;
+                var message = new $root.message.input.PushDetection();
+                if (object.forward != null)
+                    message.forward = Boolean(object.forward);
+                return message;
+            };
+
+            /**
+             * Creates a PushDetection message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.input.PushDetection.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.PushDetection} PushDetection
+             */
+            PushDetection.from = PushDetection.fromObject;
+
+            /**
+             * Creates a plain object from a PushDetection message. Also converts values to other types if specified.
+             * @param {message.input.PushDetection} message PushDetection
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            PushDetection.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults)
+                    object.forward = false;
+                if (message.forward != null && message.hasOwnProperty("forward"))
+                    object.forward = message.forward;
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this PushDetection message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            PushDetection.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this PushDetection to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            PushDetection.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return PushDetection;
+        })();
+
+        input.Sensors = (function() {
+
+            /**
+             * Properties of a Sensors.
+             * @typedef message.input.Sensors$Properties
+             * @type {Object}
+             * @property {google.protobuf.Timestamp$Properties} [timestamp] Sensors timestamp.
+             * @property {vec3$Properties} [accelerometer] Sensors accelerometer.
+             * @property {vec3$Properties} [gyroscope] Sensors gyroscope.
+             * @property {mat44$Properties} [world] Sensors world.
+             * @property {Array.<message.input.Sensors.FSR$Properties>} [fsr] Sensors fsr.
+             * @property {Array.<message.input.Sensors.Servo$Properties>} [servo] Sensors servo.
+             * @property {Array.<message.input.Sensors.Button$Properties>} [button] Sensors button.
+             * @property {Array.<message.input.Sensors.LED$Properties>} [led] Sensors led.
+             * @property {number} [voltage] Sensors voltage.
+             * @property {number} [battery] Sensors battery.
+             * @property {vec3$Properties} [centreOfPressure] Sensors centreOfPressure.
+             * @property {mat22$Properties} [robotToIMU] Sensors robotToIMU.
+             * @property {boolean} [leftFootDown] Sensors leftFootDown.
+             * @property {boolean} [rightFootDown] Sensors rightFootDown.
+             * @property {Object.<string,mat44$Properties>} [forwardKinematics] Sensors forwardKinematics.
+             * @property {number} [bodyCentreHeight] Sensors bodyCentreHeight.
+             * @property {vec4$Properties} [centreOfMass] Sensors centreOfMass.
+             * @property {mat44$Properties} [bodyToGround] Sensors bodyToGround.
+             * @property {mat44$Properties} [camToGround] Sensors camToGround.
+             */
+
+            /**
+             * Constructs a new Sensors.
+             * @exports message.input.Sensors
+             * @constructor
+             * @param {message.input.Sensors$Properties=} [properties] Properties to set
+             */
+            function Sensors(properties) {
+                this.fsr = [];
+                this.servo = [];
+                this.button = [];
+                this.led = [];
+                this.forwardKinematics = {};
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Sensors timestamp.
+             * @type {(google.protobuf.Timestamp$Properties|null)}
+             */
+            Sensors.prototype.timestamp = null;
+
+            /**
+             * Sensors accelerometer.
+             * @type {(vec3$Properties|null)}
+             */
+            Sensors.prototype.accelerometer = null;
+
+            /**
+             * Sensors gyroscope.
+             * @type {(vec3$Properties|null)}
+             */
+            Sensors.prototype.gyroscope = null;
+
+            /**
+             * Sensors world.
+             * @type {(mat44$Properties|null)}
+             */
+            Sensors.prototype.world = null;
+
+            /**
+             * Sensors fsr.
+             * @type {Array.<message.input.Sensors.FSR$Properties>}
+             */
+            Sensors.prototype.fsr = $util.emptyArray;
+
+            /**
+             * Sensors servo.
+             * @type {Array.<message.input.Sensors.Servo$Properties>}
+             */
+            Sensors.prototype.servo = $util.emptyArray;
+
+            /**
+             * Sensors button.
+             * @type {Array.<message.input.Sensors.Button$Properties>}
+             */
+            Sensors.prototype.button = $util.emptyArray;
+
+            /**
+             * Sensors led.
+             * @type {Array.<message.input.Sensors.LED$Properties>}
+             */
+            Sensors.prototype.led = $util.emptyArray;
+
+            /**
+             * Sensors voltage.
+             * @type {number}
+             */
+            Sensors.prototype.voltage = 0;
+
+            /**
+             * Sensors battery.
+             * @type {number}
+             */
+            Sensors.prototype.battery = 0;
+
+            /**
+             * Sensors centreOfPressure.
+             * @type {(vec3$Properties|null)}
+             */
+            Sensors.prototype.centreOfPressure = null;
+
+            /**
+             * Sensors robotToIMU.
+             * @type {(mat22$Properties|null)}
+             */
+            Sensors.prototype.robotToIMU = null;
+
+            /**
+             * Sensors leftFootDown.
+             * @type {boolean}
+             */
+            Sensors.prototype.leftFootDown = false;
+
+            /**
+             * Sensors rightFootDown.
+             * @type {boolean}
+             */
+            Sensors.prototype.rightFootDown = false;
+
+            /**
+             * Sensors forwardKinematics.
+             * @type {Object.<string,mat44$Properties>}
+             */
+            Sensors.prototype.forwardKinematics = $util.emptyObject;
+
+            /**
+             * Sensors bodyCentreHeight.
+             * @type {number}
+             */
+            Sensors.prototype.bodyCentreHeight = 0;
+
+            /**
+             * Sensors centreOfMass.
+             * @type {(vec4$Properties|null)}
+             */
+            Sensors.prototype.centreOfMass = null;
+
+            /**
+             * Sensors bodyToGround.
+             * @type {(mat44$Properties|null)}
+             */
+            Sensors.prototype.bodyToGround = null;
+
+            /**
+             * Sensors camToGround.
+             * @type {(mat44$Properties|null)}
+             */
+            Sensors.prototype.camToGround = null;
+
+            /**
+             * Creates a new Sensors instance using the specified properties.
+             * @param {message.input.Sensors$Properties=} [properties] Properties to set
+             * @returns {message.input.Sensors} Sensors instance
+             */
+            Sensors.create = function create(properties) {
+                return new Sensors(properties);
+            };
+
+            /**
+             * Encodes the specified Sensors message. Does not implicitly {@link message.input.Sensors.verify|verify} messages.
+             * @param {message.input.Sensors$Properties} message Sensors message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            Sensors.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.timestamp != null && message.hasOwnProperty("timestamp"))
+                    $root.google.protobuf.Timestamp.encode(message.timestamp, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                if (message.accelerometer != null && message.hasOwnProperty("accelerometer"))
+                    $root.vec3.encode(message.accelerometer, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                if (message.gyroscope != null && message.hasOwnProperty("gyroscope"))
+                    $root.vec3.encode(message.gyroscope, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+                if (message.world != null && message.hasOwnProperty("world"))
+                    $root.mat44.encode(message.world, writer.uint32(/* id 4, wireType 2 =*/34).fork()).ldelim();
+                if (message.fsr != null && message.fsr.length)
+                    for (var i = 0; i < message.fsr.length; ++i)
+                        $root.message.input.Sensors.FSR.encode(message.fsr[i], writer.uint32(/* id 5, wireType 2 =*/42).fork()).ldelim();
+                if (message.servo != null && message.servo.length)
+                    for (var i = 0; i < message.servo.length; ++i)
+                        $root.message.input.Sensors.Servo.encode(message.servo[i], writer.uint32(/* id 6, wireType 2 =*/50).fork()).ldelim();
+                if (message.button != null && message.button.length)
+                    for (var i = 0; i < message.button.length; ++i)
+                        $root.message.input.Sensors.Button.encode(message.button[i], writer.uint32(/* id 7, wireType 2 =*/58).fork()).ldelim();
+                if (message.led != null && message.led.length)
+                    for (var i = 0; i < message.led.length; ++i)
+                        $root.message.input.Sensors.LED.encode(message.led[i], writer.uint32(/* id 8, wireType 2 =*/66).fork()).ldelim();
+                if (message.voltage != null && message.hasOwnProperty("voltage"))
+                    writer.uint32(/* id 9, wireType 5 =*/77).float(message.voltage);
+                if (message.battery != null && message.hasOwnProperty("battery"))
+                    writer.uint32(/* id 10, wireType 5 =*/85).float(message.battery);
+                if (message.centreOfPressure != null && message.hasOwnProperty("centreOfPressure"))
+                    $root.vec3.encode(message.centreOfPressure, writer.uint32(/* id 11, wireType 2 =*/90).fork()).ldelim();
+                if (message.robotToIMU != null && message.hasOwnProperty("robotToIMU"))
+                    $root.mat22.encode(message.robotToIMU, writer.uint32(/* id 12, wireType 2 =*/98).fork()).ldelim();
+                if (message.leftFootDown != null && message.hasOwnProperty("leftFootDown"))
+                    writer.uint32(/* id 13, wireType 0 =*/104).bool(message.leftFootDown);
+                if (message.rightFootDown != null && message.hasOwnProperty("rightFootDown"))
+                    writer.uint32(/* id 14, wireType 0 =*/112).bool(message.rightFootDown);
+                if (message.forwardKinematics != null && message.hasOwnProperty("forwardKinematics"))
+                    for (var keys = Object.keys(message.forwardKinematics), i = 0; i < keys.length; ++i) {
+                        writer.uint32(/* id 15, wireType 2 =*/122).fork().uint32(/* id 1, wireType 0 =*/8).uint32(keys[i]);
+                        $root.mat44.encode(message.forwardKinematics[keys[i]], writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim().ldelim();
+                    }
+                if (message.bodyCentreHeight != null && message.hasOwnProperty("bodyCentreHeight"))
+                    writer.uint32(/* id 16, wireType 5 =*/133).float(message.bodyCentreHeight);
+                if (message.centreOfMass != null && message.hasOwnProperty("centreOfMass"))
+                    $root.vec4.encode(message.centreOfMass, writer.uint32(/* id 17, wireType 2 =*/138).fork()).ldelim();
+                if (message.bodyToGround != null && message.hasOwnProperty("bodyToGround"))
+                    $root.mat44.encode(message.bodyToGround, writer.uint32(/* id 18, wireType 2 =*/146).fork()).ldelim();
+                if (message.camToGround != null && message.hasOwnProperty("camToGround"))
+                    $root.mat44.encode(message.camToGround, writer.uint32(/* id 19, wireType 2 =*/154).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified Sensors message, length delimited. Does not implicitly {@link message.input.Sensors.verify|verify} messages.
+             * @param {message.input.Sensors$Properties} message Sensors message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            Sensors.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a Sensors message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.input.Sensors} Sensors
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            Sensors.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.Sensors(), key;
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.timestamp = $root.google.protobuf.Timestamp.decode(reader, reader.uint32());
+                        break;
+                    case 2:
+                        message.accelerometer = $root.vec3.decode(reader, reader.uint32());
+                        break;
+                    case 3:
+                        message.gyroscope = $root.vec3.decode(reader, reader.uint32());
+                        break;
+                    case 4:
+                        message.world = $root.mat44.decode(reader, reader.uint32());
+                        break;
+                    case 5:
+                        if (!(message.fsr && message.fsr.length))
+                            message.fsr = [];
+                        message.fsr.push($root.message.input.Sensors.FSR.decode(reader, reader.uint32()));
+                        break;
+                    case 6:
+                        if (!(message.servo && message.servo.length))
+                            message.servo = [];
+                        message.servo.push($root.message.input.Sensors.Servo.decode(reader, reader.uint32()));
+                        break;
+                    case 7:
+                        if (!(message.button && message.button.length))
+                            message.button = [];
+                        message.button.push($root.message.input.Sensors.Button.decode(reader, reader.uint32()));
+                        break;
+                    case 8:
+                        if (!(message.led && message.led.length))
+                            message.led = [];
+                        message.led.push($root.message.input.Sensors.LED.decode(reader, reader.uint32()));
+                        break;
+                    case 9:
+                        message.voltage = reader.float();
+                        break;
+                    case 10:
+                        message.battery = reader.float();
+                        break;
+                    case 11:
+                        message.centreOfPressure = $root.vec3.decode(reader, reader.uint32());
+                        break;
+                    case 12:
+                        message.robotToIMU = $root.mat22.decode(reader, reader.uint32());
+                        break;
+                    case 13:
+                        message.leftFootDown = reader.bool();
+                        break;
+                    case 14:
+                        message.rightFootDown = reader.bool();
+                        break;
+                    case 15:
+                        reader.skip().pos++;
+                        if (message.forwardKinematics === $util.emptyObject)
+                            message.forwardKinematics = {};
+                        key = reader.uint32();
+                        reader.pos++;
+                        message.forwardKinematics[key] = $root.mat44.decode(reader, reader.uint32());
+                        break;
+                    case 16:
+                        message.bodyCentreHeight = reader.float();
+                        break;
+                    case 17:
+                        message.centreOfMass = $root.vec4.decode(reader, reader.uint32());
+                        break;
+                    case 18:
+                        message.bodyToGround = $root.mat44.decode(reader, reader.uint32());
+                        break;
+                    case 19:
+                        message.camToGround = $root.mat44.decode(reader, reader.uint32());
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a Sensors message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.input.Sensors} Sensors
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            Sensors.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a Sensors message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            Sensors.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.timestamp != null && message.hasOwnProperty("timestamp")) {
+                    var error = $root.google.protobuf.Timestamp.verify(message.timestamp);
+                    if (error)
+                        return "timestamp." + error;
+                }
+                if (message.accelerometer != null && message.hasOwnProperty("accelerometer")) {
+                    var error = $root.vec3.verify(message.accelerometer);
+                    if (error)
+                        return "accelerometer." + error;
+                }
+                if (message.gyroscope != null && message.hasOwnProperty("gyroscope")) {
+                    var error = $root.vec3.verify(message.gyroscope);
+                    if (error)
+                        return "gyroscope." + error;
+                }
+                if (message.world != null && message.hasOwnProperty("world")) {
+                    var error = $root.mat44.verify(message.world);
+                    if (error)
+                        return "world." + error;
+                }
+                if (message.fsr != null && message.hasOwnProperty("fsr")) {
+                    if (!Array.isArray(message.fsr))
+                        return "fsr: array expected";
+                    for (var i = 0; i < message.fsr.length; ++i) {
+                        var error = $root.message.input.Sensors.FSR.verify(message.fsr[i]);
+                        if (error)
+                            return "fsr." + error;
+                    }
+                }
+                if (message.servo != null && message.hasOwnProperty("servo")) {
+                    if (!Array.isArray(message.servo))
+                        return "servo: array expected";
+                    for (var i = 0; i < message.servo.length; ++i) {
+                        var error = $root.message.input.Sensors.Servo.verify(message.servo[i]);
+                        if (error)
+                            return "servo." + error;
+                    }
+                }
+                if (message.button != null && message.hasOwnProperty("button")) {
+                    if (!Array.isArray(message.button))
+                        return "button: array expected";
+                    for (var i = 0; i < message.button.length; ++i) {
+                        var error = $root.message.input.Sensors.Button.verify(message.button[i]);
+                        if (error)
+                            return "button." + error;
+                    }
+                }
+                if (message.led != null && message.hasOwnProperty("led")) {
+                    if (!Array.isArray(message.led))
+                        return "led: array expected";
+                    for (var i = 0; i < message.led.length; ++i) {
+                        var error = $root.message.input.Sensors.LED.verify(message.led[i]);
+                        if (error)
+                            return "led." + error;
+                    }
+                }
+                if (message.voltage != null && message.hasOwnProperty("voltage"))
+                    if (typeof message.voltage !== "number")
+                        return "voltage: number expected";
+                if (message.battery != null && message.hasOwnProperty("battery"))
+                    if (typeof message.battery !== "number")
+                        return "battery: number expected";
+                if (message.centreOfPressure != null && message.hasOwnProperty("centreOfPressure")) {
+                    var error = $root.vec3.verify(message.centreOfPressure);
+                    if (error)
+                        return "centreOfPressure." + error;
+                }
+                if (message.robotToIMU != null && message.hasOwnProperty("robotToIMU")) {
+                    var error = $root.mat22.verify(message.robotToIMU);
+                    if (error)
+                        return "robotToIMU." + error;
+                }
+                if (message.leftFootDown != null && message.hasOwnProperty("leftFootDown"))
+                    if (typeof message.leftFootDown !== "boolean")
+                        return "leftFootDown: boolean expected";
+                if (message.rightFootDown != null && message.hasOwnProperty("rightFootDown"))
+                    if (typeof message.rightFootDown !== "boolean")
+                        return "rightFootDown: boolean expected";
+                if (message.forwardKinematics != null && message.hasOwnProperty("forwardKinematics")) {
+                    if (!$util.isObject(message.forwardKinematics))
+                        return "forwardKinematics: object expected";
+                    var key = Object.keys(message.forwardKinematics);
+                    for (var i = 0; i < key.length; ++i) {
+                        if (!$util.key32Re.test(key[i]))
+                            return "forwardKinematics: integer key{k:uint32} expected";
+                        var error = $root.mat44.verify(message.forwardKinematics[key[i]]);
+                        if (error)
+                            return "forwardKinematics." + error;
+                    }
+                }
+                if (message.bodyCentreHeight != null && message.hasOwnProperty("bodyCentreHeight"))
+                    if (typeof message.bodyCentreHeight !== "number")
+                        return "bodyCentreHeight: number expected";
+                if (message.centreOfMass != null && message.hasOwnProperty("centreOfMass")) {
+                    var error = $root.vec4.verify(message.centreOfMass);
+                    if (error)
+                        return "centreOfMass." + error;
+                }
+                if (message.bodyToGround != null && message.hasOwnProperty("bodyToGround")) {
+                    var error = $root.mat44.verify(message.bodyToGround);
+                    if (error)
+                        return "bodyToGround." + error;
+                }
+                if (message.camToGround != null && message.hasOwnProperty("camToGround")) {
+                    var error = $root.mat44.verify(message.camToGround);
+                    if (error)
+                        return "camToGround." + error;
+                }
+                return null;
+            };
+
+            /**
+             * Creates a Sensors message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.Sensors} Sensors
+             */
+            Sensors.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.input.Sensors)
+                    return object;
+                var message = new $root.message.input.Sensors();
+                if (object.timestamp != null) {
+                    if (typeof object.timestamp !== "object")
+                        throw TypeError(".message.input.Sensors.timestamp: object expected");
+                    message.timestamp = $root.google.protobuf.Timestamp.fromObject(object.timestamp);
+                }
+                if (object.accelerometer != null) {
+                    if (typeof object.accelerometer !== "object")
+                        throw TypeError(".message.input.Sensors.accelerometer: object expected");
+                    message.accelerometer = $root.vec3.fromObject(object.accelerometer);
+                }
+                if (object.gyroscope != null) {
+                    if (typeof object.gyroscope !== "object")
+                        throw TypeError(".message.input.Sensors.gyroscope: object expected");
+                    message.gyroscope = $root.vec3.fromObject(object.gyroscope);
+                }
+                if (object.world != null) {
+                    if (typeof object.world !== "object")
+                        throw TypeError(".message.input.Sensors.world: object expected");
+                    message.world = $root.mat44.fromObject(object.world);
+                }
+                if (object.fsr) {
+                    if (!Array.isArray(object.fsr))
+                        throw TypeError(".message.input.Sensors.fsr: array expected");
+                    message.fsr = [];
+                    for (var i = 0; i < object.fsr.length; ++i) {
+                        if (typeof object.fsr[i] !== "object")
+                            throw TypeError(".message.input.Sensors.fsr: object expected");
+                        message.fsr[i] = $root.message.input.Sensors.FSR.fromObject(object.fsr[i]);
+                    }
+                }
+                if (object.servo) {
+                    if (!Array.isArray(object.servo))
+                        throw TypeError(".message.input.Sensors.servo: array expected");
+                    message.servo = [];
+                    for (var i = 0; i < object.servo.length; ++i) {
+                        if (typeof object.servo[i] !== "object")
+                            throw TypeError(".message.input.Sensors.servo: object expected");
+                        message.servo[i] = $root.message.input.Sensors.Servo.fromObject(object.servo[i]);
+                    }
+                }
+                if (object.button) {
+                    if (!Array.isArray(object.button))
+                        throw TypeError(".message.input.Sensors.button: array expected");
+                    message.button = [];
+                    for (var i = 0; i < object.button.length; ++i) {
+                        if (typeof object.button[i] !== "object")
+                            throw TypeError(".message.input.Sensors.button: object expected");
+                        message.button[i] = $root.message.input.Sensors.Button.fromObject(object.button[i]);
+                    }
+                }
+                if (object.led) {
+                    if (!Array.isArray(object.led))
+                        throw TypeError(".message.input.Sensors.led: array expected");
+                    message.led = [];
+                    for (var i = 0; i < object.led.length; ++i) {
+                        if (typeof object.led[i] !== "object")
+                            throw TypeError(".message.input.Sensors.led: object expected");
+                        message.led[i] = $root.message.input.Sensors.LED.fromObject(object.led[i]);
+                    }
+                }
+                if (object.voltage != null)
+                    message.voltage = Number(object.voltage);
+                if (object.battery != null)
+                    message.battery = Number(object.battery);
+                if (object.centreOfPressure != null) {
+                    if (typeof object.centreOfPressure !== "object")
+                        throw TypeError(".message.input.Sensors.centreOfPressure: object expected");
+                    message.centreOfPressure = $root.vec3.fromObject(object.centreOfPressure);
+                }
+                if (object.robotToIMU != null) {
+                    if (typeof object.robotToIMU !== "object")
+                        throw TypeError(".message.input.Sensors.robotToIMU: object expected");
+                    message.robotToIMU = $root.mat22.fromObject(object.robotToIMU);
+                }
+                if (object.leftFootDown != null)
+                    message.leftFootDown = Boolean(object.leftFootDown);
+                if (object.rightFootDown != null)
+                    message.rightFootDown = Boolean(object.rightFootDown);
+                if (object.forwardKinematics) {
+                    if (typeof object.forwardKinematics !== "object")
+                        throw TypeError(".message.input.Sensors.forwardKinematics: object expected");
+                    message.forwardKinematics = {};
+                    for (var keys = Object.keys(object.forwardKinematics), i = 0; i < keys.length; ++i) {
+                        if (typeof object.forwardKinematics[keys[i]] !== "object")
+                            throw TypeError(".message.input.Sensors.forwardKinematics: object expected");
+                        message.forwardKinematics[keys[i]] = $root.mat44.fromObject(object.forwardKinematics[keys[i]]);
+                    }
+                }
+                if (object.bodyCentreHeight != null)
+                    message.bodyCentreHeight = Number(object.bodyCentreHeight);
+                if (object.centreOfMass != null) {
+                    if (typeof object.centreOfMass !== "object")
+                        throw TypeError(".message.input.Sensors.centreOfMass: object expected");
+                    message.centreOfMass = $root.vec4.fromObject(object.centreOfMass);
+                }
+                if (object.bodyToGround != null) {
+                    if (typeof object.bodyToGround !== "object")
+                        throw TypeError(".message.input.Sensors.bodyToGround: object expected");
+                    message.bodyToGround = $root.mat44.fromObject(object.bodyToGround);
+                }
+                if (object.camToGround != null) {
+                    if (typeof object.camToGround !== "object")
+                        throw TypeError(".message.input.Sensors.camToGround: object expected");
+                    message.camToGround = $root.mat44.fromObject(object.camToGround);
+                }
+                return message;
+            };
+
+            /**
+             * Creates a Sensors message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.input.Sensors.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.Sensors} Sensors
+             */
+            Sensors.from = Sensors.fromObject;
+
+            /**
+             * Creates a plain object from a Sensors message. Also converts values to other types if specified.
+             * @param {message.input.Sensors} message Sensors
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            Sensors.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.arrays || options.defaults) {
+                    object.fsr = [];
+                    object.servo = [];
+                    object.button = [];
+                    object.led = [];
+                }
+                if (options.objects || options.defaults)
+                    object.forwardKinematics = {};
+                if (options.defaults) {
+                    object.timestamp = null;
+                    object.accelerometer = null;
+                    object.gyroscope = null;
+                    object.world = null;
+                    object.voltage = 0;
+                    object.battery = 0;
+                    object.centreOfPressure = null;
+                    object.robotToIMU = null;
+                    object.leftFootDown = false;
+                    object.rightFootDown = false;
+                    object.bodyCentreHeight = 0;
+                    object.centreOfMass = null;
+                    object.bodyToGround = null;
+                    object.camToGround = null;
+                }
+                if (message.timestamp != null && message.hasOwnProperty("timestamp"))
+                    object.timestamp = $root.google.protobuf.Timestamp.toObject(message.timestamp, options);
+                if (message.accelerometer != null && message.hasOwnProperty("accelerometer"))
+                    object.accelerometer = $root.vec3.toObject(message.accelerometer, options);
+                if (message.gyroscope != null && message.hasOwnProperty("gyroscope"))
+                    object.gyroscope = $root.vec3.toObject(message.gyroscope, options);
+                if (message.world != null && message.hasOwnProperty("world"))
+                    object.world = $root.mat44.toObject(message.world, options);
+                if (message.fsr && message.fsr.length) {
+                    object.fsr = [];
+                    for (var j = 0; j < message.fsr.length; ++j)
+                        object.fsr[j] = $root.message.input.Sensors.FSR.toObject(message.fsr[j], options);
+                }
+                if (message.servo && message.servo.length) {
+                    object.servo = [];
+                    for (var j = 0; j < message.servo.length; ++j)
+                        object.servo[j] = $root.message.input.Sensors.Servo.toObject(message.servo[j], options);
+                }
+                if (message.button && message.button.length) {
+                    object.button = [];
+                    for (var j = 0; j < message.button.length; ++j)
+                        object.button[j] = $root.message.input.Sensors.Button.toObject(message.button[j], options);
+                }
+                if (message.led && message.led.length) {
+                    object.led = [];
+                    for (var j = 0; j < message.led.length; ++j)
+                        object.led[j] = $root.message.input.Sensors.LED.toObject(message.led[j], options);
+                }
+                if (message.voltage != null && message.hasOwnProperty("voltage"))
+                    object.voltage = message.voltage;
+                if (message.battery != null && message.hasOwnProperty("battery"))
+                    object.battery = message.battery;
+                if (message.centreOfPressure != null && message.hasOwnProperty("centreOfPressure"))
+                    object.centreOfPressure = $root.vec3.toObject(message.centreOfPressure, options);
+                if (message.robotToIMU != null && message.hasOwnProperty("robotToIMU"))
+                    object.robotToIMU = $root.mat22.toObject(message.robotToIMU, options);
+                if (message.leftFootDown != null && message.hasOwnProperty("leftFootDown"))
+                    object.leftFootDown = message.leftFootDown;
+                if (message.rightFootDown != null && message.hasOwnProperty("rightFootDown"))
+                    object.rightFootDown = message.rightFootDown;
+                var keys2;
+                if (message.forwardKinematics && (keys2 = Object.keys(message.forwardKinematics)).length) {
+                    object.forwardKinematics = {};
+                    for (var j = 0; j < keys2.length; ++j)
+                        object.forwardKinematics[keys2[j]] = $root.mat44.toObject(message.forwardKinematics[keys2[j]], options);
+                }
+                if (message.bodyCentreHeight != null && message.hasOwnProperty("bodyCentreHeight"))
+                    object.bodyCentreHeight = message.bodyCentreHeight;
+                if (message.centreOfMass != null && message.hasOwnProperty("centreOfMass"))
+                    object.centreOfMass = $root.vec4.toObject(message.centreOfMass, options);
+                if (message.bodyToGround != null && message.hasOwnProperty("bodyToGround"))
+                    object.bodyToGround = $root.mat44.toObject(message.bodyToGround, options);
+                if (message.camToGround != null && message.hasOwnProperty("camToGround"))
+                    object.camToGround = $root.mat44.toObject(message.camToGround, options);
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this Sensors message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            Sensors.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this Sensors to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            Sensors.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            Sensors.Servo = (function() {
+
+                /**
+                 * Properties of a Servo.
+                 * @typedef message.input.Sensors.Servo$Properties
+                 * @type {Object}
+                 * @property {number} [errorFlags] Servo errorFlags.
+                 * @property {number} [id] Servo id.
+                 * @property {boolean} [enabled] Servo enabled.
+                 * @property {number} [pGain] Servo pGain.
+                 * @property {number} [iGain] Servo iGain.
+                 * @property {number} [dGain] Servo dGain.
+                 * @property {number} [goalPosition] Servo goalPosition.
+                 * @property {number} [goalVelocity] Servo goalVelocity.
+                 * @property {number} [presentPosition] Servo presentPosition.
+                 * @property {number} [presentVelocity] Servo presentVelocity.
+                 * @property {number} [load] Servo load.
+                 * @property {number} [voltage] Servo voltage.
+                 * @property {number} [temperature] Servo temperature.
+                 */
+
+                /**
+                 * Constructs a new Servo.
+                 * @exports message.input.Sensors.Servo
+                 * @constructor
+                 * @param {message.input.Sensors.Servo$Properties=} [properties] Properties to set
+                 */
+                function Servo(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * Servo errorFlags.
+                 * @type {number}
+                 */
+                Servo.prototype.errorFlags = 0;
+
+                /**
+                 * Servo id.
+                 * @type {number}
+                 */
+                Servo.prototype.id = 0;
+
+                /**
+                 * Servo enabled.
+                 * @type {boolean}
+                 */
+                Servo.prototype.enabled = false;
+
+                /**
+                 * Servo pGain.
+                 * @type {number}
+                 */
+                Servo.prototype.pGain = 0;
+
+                /**
+                 * Servo iGain.
+                 * @type {number}
+                 */
+                Servo.prototype.iGain = 0;
+
+                /**
+                 * Servo dGain.
+                 * @type {number}
+                 */
+                Servo.prototype.dGain = 0;
+
+                /**
+                 * Servo goalPosition.
+                 * @type {number}
+                 */
+                Servo.prototype.goalPosition = 0;
+
+                /**
+                 * Servo goalVelocity.
+                 * @type {number}
+                 */
+                Servo.prototype.goalVelocity = 0;
+
+                /**
+                 * Servo presentPosition.
+                 * @type {number}
+                 */
+                Servo.prototype.presentPosition = 0;
+
+                /**
+                 * Servo presentVelocity.
+                 * @type {number}
+                 */
+                Servo.prototype.presentVelocity = 0;
+
+                /**
+                 * Servo load.
+                 * @type {number}
+                 */
+                Servo.prototype.load = 0;
+
+                /**
+                 * Servo voltage.
+                 * @type {number}
+                 */
+                Servo.prototype.voltage = 0;
+
+                /**
+                 * Servo temperature.
+                 * @type {number}
+                 */
+                Servo.prototype.temperature = 0;
+
+                /**
+                 * Creates a new Servo instance using the specified properties.
+                 * @param {message.input.Sensors.Servo$Properties=} [properties] Properties to set
+                 * @returns {message.input.Sensors.Servo} Servo instance
+                 */
+                Servo.create = function create(properties) {
+                    return new Servo(properties);
+                };
+
+                /**
+                 * Encodes the specified Servo message. Does not implicitly {@link message.input.Sensors.Servo.verify|verify} messages.
+                 * @param {message.input.Sensors.Servo$Properties} message Servo message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Servo.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.errorFlags != null && message.hasOwnProperty("errorFlags"))
+                        writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.errorFlags);
+                    if (message.id != null && message.hasOwnProperty("id"))
+                        writer.uint32(/* id 2, wireType 0 =*/16).uint32(message.id);
+                    if (message.enabled != null && message.hasOwnProperty("enabled"))
+                        writer.uint32(/* id 3, wireType 0 =*/24).bool(message.enabled);
+                    if (message.pGain != null && message.hasOwnProperty("pGain"))
+                        writer.uint32(/* id 4, wireType 5 =*/37).float(message.pGain);
+                    if (message.iGain != null && message.hasOwnProperty("iGain"))
+                        writer.uint32(/* id 5, wireType 5 =*/45).float(message.iGain);
+                    if (message.dGain != null && message.hasOwnProperty("dGain"))
+                        writer.uint32(/* id 6, wireType 5 =*/53).float(message.dGain);
+                    if (message.goalPosition != null && message.hasOwnProperty("goalPosition"))
+                        writer.uint32(/* id 7, wireType 5 =*/61).float(message.goalPosition);
+                    if (message.goalVelocity != null && message.hasOwnProperty("goalVelocity"))
+                        writer.uint32(/* id 8, wireType 5 =*/69).float(message.goalVelocity);
+                    if (message.presentPosition != null && message.hasOwnProperty("presentPosition"))
+                        writer.uint32(/* id 9, wireType 5 =*/77).float(message.presentPosition);
+                    if (message.presentVelocity != null && message.hasOwnProperty("presentVelocity"))
+                        writer.uint32(/* id 10, wireType 5 =*/85).float(message.presentVelocity);
+                    if (message.load != null && message.hasOwnProperty("load"))
+                        writer.uint32(/* id 11, wireType 5 =*/93).float(message.load);
+                    if (message.voltage != null && message.hasOwnProperty("voltage"))
+                        writer.uint32(/* id 12, wireType 5 =*/101).float(message.voltage);
+                    if (message.temperature != null && message.hasOwnProperty("temperature"))
+                        writer.uint32(/* id 13, wireType 5 =*/109).float(message.temperature);
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified Servo message, length delimited. Does not implicitly {@link message.input.Sensors.Servo.verify|verify} messages.
+                 * @param {message.input.Sensors.Servo$Properties} message Servo message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Servo.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a Servo message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.Sensors.Servo} Servo
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Servo.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.Sensors.Servo();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.errorFlags = reader.uint32();
+                            break;
+                        case 2:
+                            message.id = reader.uint32();
+                            break;
+                        case 3:
+                            message.enabled = reader.bool();
+                            break;
+                        case 4:
+                            message.pGain = reader.float();
+                            break;
+                        case 5:
+                            message.iGain = reader.float();
+                            break;
+                        case 6:
+                            message.dGain = reader.float();
+                            break;
+                        case 7:
+                            message.goalPosition = reader.float();
+                            break;
+                        case 8:
+                            message.goalVelocity = reader.float();
+                            break;
+                        case 9:
+                            message.presentPosition = reader.float();
+                            break;
+                        case 10:
+                            message.presentVelocity = reader.float();
+                            break;
+                        case 11:
+                            message.load = reader.float();
+                            break;
+                        case 12:
+                            message.voltage = reader.float();
+                            break;
+                        case 13:
+                            message.temperature = reader.float();
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a Servo message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.Sensors.Servo} Servo
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Servo.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a Servo message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                Servo.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.errorFlags != null && message.hasOwnProperty("errorFlags"))
+                        if (!$util.isInteger(message.errorFlags))
+                            return "errorFlags: integer expected";
+                    if (message.id != null && message.hasOwnProperty("id"))
+                        if (!$util.isInteger(message.id))
+                            return "id: integer expected";
+                    if (message.enabled != null && message.hasOwnProperty("enabled"))
+                        if (typeof message.enabled !== "boolean")
+                            return "enabled: boolean expected";
+                    if (message.pGain != null && message.hasOwnProperty("pGain"))
+                        if (typeof message.pGain !== "number")
+                            return "pGain: number expected";
+                    if (message.iGain != null && message.hasOwnProperty("iGain"))
+                        if (typeof message.iGain !== "number")
+                            return "iGain: number expected";
+                    if (message.dGain != null && message.hasOwnProperty("dGain"))
+                        if (typeof message.dGain !== "number")
+                            return "dGain: number expected";
+                    if (message.goalPosition != null && message.hasOwnProperty("goalPosition"))
+                        if (typeof message.goalPosition !== "number")
+                            return "goalPosition: number expected";
+                    if (message.goalVelocity != null && message.hasOwnProperty("goalVelocity"))
+                        if (typeof message.goalVelocity !== "number")
+                            return "goalVelocity: number expected";
+                    if (message.presentPosition != null && message.hasOwnProperty("presentPosition"))
+                        if (typeof message.presentPosition !== "number")
+                            return "presentPosition: number expected";
+                    if (message.presentVelocity != null && message.hasOwnProperty("presentVelocity"))
+                        if (typeof message.presentVelocity !== "number")
+                            return "presentVelocity: number expected";
+                    if (message.load != null && message.hasOwnProperty("load"))
+                        if (typeof message.load !== "number")
+                            return "load: number expected";
+                    if (message.voltage != null && message.hasOwnProperty("voltage"))
+                        if (typeof message.voltage !== "number")
+                            return "voltage: number expected";
+                    if (message.temperature != null && message.hasOwnProperty("temperature"))
+                        if (typeof message.temperature !== "number")
+                            return "temperature: number expected";
+                    return null;
+                };
+
+                /**
+                 * Creates a Servo message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.Sensors.Servo} Servo
+                 */
+                Servo.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.input.Sensors.Servo)
+                        return object;
+                    var message = new $root.message.input.Sensors.Servo();
+                    if (object.errorFlags != null)
+                        message.errorFlags = object.errorFlags >>> 0;
+                    if (object.id != null)
+                        message.id = object.id >>> 0;
+                    if (object.enabled != null)
+                        message.enabled = Boolean(object.enabled);
+                    if (object.pGain != null)
+                        message.pGain = Number(object.pGain);
+                    if (object.iGain != null)
+                        message.iGain = Number(object.iGain);
+                    if (object.dGain != null)
+                        message.dGain = Number(object.dGain);
+                    if (object.goalPosition != null)
+                        message.goalPosition = Number(object.goalPosition);
+                    if (object.goalVelocity != null)
+                        message.goalVelocity = Number(object.goalVelocity);
+                    if (object.presentPosition != null)
+                        message.presentPosition = Number(object.presentPosition);
+                    if (object.presentVelocity != null)
+                        message.presentVelocity = Number(object.presentVelocity);
+                    if (object.load != null)
+                        message.load = Number(object.load);
+                    if (object.voltage != null)
+                        message.voltage = Number(object.voltage);
+                    if (object.temperature != null)
+                        message.temperature = Number(object.temperature);
+                    return message;
+                };
+
+                /**
+                 * Creates a Servo message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.Sensors.Servo.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.Sensors.Servo} Servo
+                 */
+                Servo.from = Servo.fromObject;
+
+                /**
+                 * Creates a plain object from a Servo message. Also converts values to other types if specified.
+                 * @param {message.input.Sensors.Servo} message Servo
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Servo.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.defaults) {
+                        object.errorFlags = 0;
+                        object.id = 0;
+                        object.enabled = false;
+                        object.pGain = 0;
+                        object.iGain = 0;
+                        object.dGain = 0;
+                        object.goalPosition = 0;
+                        object.goalVelocity = 0;
+                        object.presentPosition = 0;
+                        object.presentVelocity = 0;
+                        object.load = 0;
+                        object.voltage = 0;
+                        object.temperature = 0;
+                    }
+                    if (message.errorFlags != null && message.hasOwnProperty("errorFlags"))
+                        object.errorFlags = message.errorFlags;
+                    if (message.id != null && message.hasOwnProperty("id"))
+                        object.id = message.id;
+                    if (message.enabled != null && message.hasOwnProperty("enabled"))
+                        object.enabled = message.enabled;
+                    if (message.pGain != null && message.hasOwnProperty("pGain"))
+                        object.pGain = message.pGain;
+                    if (message.iGain != null && message.hasOwnProperty("iGain"))
+                        object.iGain = message.iGain;
+                    if (message.dGain != null && message.hasOwnProperty("dGain"))
+                        object.dGain = message.dGain;
+                    if (message.goalPosition != null && message.hasOwnProperty("goalPosition"))
+                        object.goalPosition = message.goalPosition;
+                    if (message.goalVelocity != null && message.hasOwnProperty("goalVelocity"))
+                        object.goalVelocity = message.goalVelocity;
+                    if (message.presentPosition != null && message.hasOwnProperty("presentPosition"))
+                        object.presentPosition = message.presentPosition;
+                    if (message.presentVelocity != null && message.hasOwnProperty("presentVelocity"))
+                        object.presentVelocity = message.presentVelocity;
+                    if (message.load != null && message.hasOwnProperty("load"))
+                        object.load = message.load;
+                    if (message.voltage != null && message.hasOwnProperty("voltage"))
+                        object.voltage = message.voltage;
+                    if (message.temperature != null && message.hasOwnProperty("temperature"))
+                        object.temperature = message.temperature;
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this Servo message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Servo.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this Servo to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                Servo.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return Servo;
+            })();
+
+            Sensors.Button = (function() {
+
+                /**
+                 * Properties of a Button.
+                 * @typedef message.input.Sensors.Button$Properties
+                 * @type {Object}
+                 * @property {number} [id] Button id.
+                 * @property {boolean} [value] Button value.
+                 */
+
+                /**
+                 * Constructs a new Button.
+                 * @exports message.input.Sensors.Button
+                 * @constructor
+                 * @param {message.input.Sensors.Button$Properties=} [properties] Properties to set
+                 */
+                function Button(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * Button id.
+                 * @type {number}
+                 */
+                Button.prototype.id = 0;
+
+                /**
+                 * Button value.
+                 * @type {boolean}
+                 */
+                Button.prototype.value = false;
+
+                /**
+                 * Creates a new Button instance using the specified properties.
+                 * @param {message.input.Sensors.Button$Properties=} [properties] Properties to set
+                 * @returns {message.input.Sensors.Button} Button instance
+                 */
+                Button.create = function create(properties) {
+                    return new Button(properties);
+                };
+
+                /**
+                 * Encodes the specified Button message. Does not implicitly {@link message.input.Sensors.Button.verify|verify} messages.
+                 * @param {message.input.Sensors.Button$Properties} message Button message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Button.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.id != null && message.hasOwnProperty("id"))
+                        writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.id);
+                    if (message.value != null && message.hasOwnProperty("value"))
+                        writer.uint32(/* id 2, wireType 0 =*/16).bool(message.value);
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified Button message, length delimited. Does not implicitly {@link message.input.Sensors.Button.verify|verify} messages.
+                 * @param {message.input.Sensors.Button$Properties} message Button message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Button.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a Button message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.Sensors.Button} Button
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Button.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.Sensors.Button();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.id = reader.uint32();
+                            break;
+                        case 2:
+                            message.value = reader.bool();
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a Button message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.Sensors.Button} Button
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Button.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a Button message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                Button.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.id != null && message.hasOwnProperty("id"))
+                        if (!$util.isInteger(message.id))
+                            return "id: integer expected";
+                    if (message.value != null && message.hasOwnProperty("value"))
+                        if (typeof message.value !== "boolean")
+                            return "value: boolean expected";
+                    return null;
+                };
+
+                /**
+                 * Creates a Button message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.Sensors.Button} Button
+                 */
+                Button.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.input.Sensors.Button)
+                        return object;
+                    var message = new $root.message.input.Sensors.Button();
+                    if (object.id != null)
+                        message.id = object.id >>> 0;
+                    if (object.value != null)
+                        message.value = Boolean(object.value);
+                    return message;
+                };
+
+                /**
+                 * Creates a Button message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.Sensors.Button.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.Sensors.Button} Button
+                 */
+                Button.from = Button.fromObject;
+
+                /**
+                 * Creates a plain object from a Button message. Also converts values to other types if specified.
+                 * @param {message.input.Sensors.Button} message Button
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Button.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.defaults) {
+                        object.id = 0;
+                        object.value = false;
+                    }
+                    if (message.id != null && message.hasOwnProperty("id"))
+                        object.id = message.id;
+                    if (message.value != null && message.hasOwnProperty("value"))
+                        object.value = message.value;
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this Button message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Button.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this Button to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                Button.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return Button;
+            })();
+
+            Sensors.LED = (function() {
+
+                /**
+                 * Properties of a LED.
+                 * @typedef message.input.Sensors.LED$Properties
+                 * @type {Object}
+                 * @property {number} [id] LED id.
+                 * @property {number} [colour] LED colour.
+                 */
+
+                /**
+                 * Constructs a new LED.
+                 * @exports message.input.Sensors.LED
+                 * @constructor
+                 * @param {message.input.Sensors.LED$Properties=} [properties] Properties to set
+                 */
+                function LED(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * LED id.
+                 * @type {number}
+                 */
+                LED.prototype.id = 0;
+
+                /**
+                 * LED colour.
+                 * @type {number}
+                 */
+                LED.prototype.colour = 0;
+
+                /**
+                 * Creates a new LED instance using the specified properties.
+                 * @param {message.input.Sensors.LED$Properties=} [properties] Properties to set
+                 * @returns {message.input.Sensors.LED} LED instance
+                 */
+                LED.create = function create(properties) {
+                    return new LED(properties);
+                };
+
+                /**
+                 * Encodes the specified LED message. Does not implicitly {@link message.input.Sensors.LED.verify|verify} messages.
+                 * @param {message.input.Sensors.LED$Properties} message LED message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                LED.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.id != null && message.hasOwnProperty("id"))
+                        writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.id);
+                    if (message.colour != null && message.hasOwnProperty("colour"))
+                        writer.uint32(/* id 2, wireType 0 =*/16).uint32(message.colour);
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified LED message, length delimited. Does not implicitly {@link message.input.Sensors.LED.verify|verify} messages.
+                 * @param {message.input.Sensors.LED$Properties} message LED message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                LED.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a LED message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.Sensors.LED} LED
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                LED.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.Sensors.LED();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.id = reader.uint32();
+                            break;
+                        case 2:
+                            message.colour = reader.uint32();
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a LED message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.Sensors.LED} LED
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                LED.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a LED message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                LED.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.id != null && message.hasOwnProperty("id"))
+                        if (!$util.isInteger(message.id))
+                            return "id: integer expected";
+                    if (message.colour != null && message.hasOwnProperty("colour"))
+                        if (!$util.isInteger(message.colour))
+                            return "colour: integer expected";
+                    return null;
+                };
+
+                /**
+                 * Creates a LED message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.Sensors.LED} LED
+                 */
+                LED.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.input.Sensors.LED)
+                        return object;
+                    var message = new $root.message.input.Sensors.LED();
+                    if (object.id != null)
+                        message.id = object.id >>> 0;
+                    if (object.colour != null)
+                        message.colour = object.colour >>> 0;
+                    return message;
+                };
+
+                /**
+                 * Creates a LED message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.Sensors.LED.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.Sensors.LED} LED
+                 */
+                LED.from = LED.fromObject;
+
+                /**
+                 * Creates a plain object from a LED message. Also converts values to other types if specified.
+                 * @param {message.input.Sensors.LED} message LED
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                LED.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.defaults) {
+                        object.id = 0;
+                        object.colour = 0;
+                    }
+                    if (message.id != null && message.hasOwnProperty("id"))
+                        object.id = message.id;
+                    if (message.colour != null && message.hasOwnProperty("colour"))
+                        object.colour = message.colour;
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this LED message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                LED.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this LED to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                LED.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return LED;
+            })();
+
+            Sensors.FSR = (function() {
+
+                /**
+                 * Properties of a FSR.
+                 * @typedef message.input.Sensors.FSR$Properties
+                 * @type {Object}
+                 * @property {Array.<number>} [value] FSR value.
+                 * @property {vec2$Properties} [centre] FSR centre.
+                 */
+
+                /**
+                 * Constructs a new FSR.
+                 * @exports message.input.Sensors.FSR
+                 * @constructor
+                 * @param {message.input.Sensors.FSR$Properties=} [properties] Properties to set
+                 */
+                function FSR(properties) {
+                    this.value = [];
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * FSR value.
+                 * @type {Array.<number>}
+                 */
+                FSR.prototype.value = $util.emptyArray;
+
+                /**
+                 * FSR centre.
+                 * @type {(vec2$Properties|null)}
+                 */
+                FSR.prototype.centre = null;
+
+                /**
+                 * Creates a new FSR instance using the specified properties.
+                 * @param {message.input.Sensors.FSR$Properties=} [properties] Properties to set
+                 * @returns {message.input.Sensors.FSR} FSR instance
+                 */
+                FSR.create = function create(properties) {
+                    return new FSR(properties);
+                };
+
+                /**
+                 * Encodes the specified FSR message. Does not implicitly {@link message.input.Sensors.FSR.verify|verify} messages.
+                 * @param {message.input.Sensors.FSR$Properties} message FSR message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                FSR.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.value != null && message.value.length) {
+                        writer.uint32(/* id 1, wireType 2 =*/10).fork();
+                        for (var i = 0; i < message.value.length; ++i)
+                            writer.float(message.value[i]);
+                        writer.ldelim();
+                    }
+                    if (message.centre != null && message.hasOwnProperty("centre"))
+                        $root.vec2.encode(message.centre, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified FSR message, length delimited. Does not implicitly {@link message.input.Sensors.FSR.verify|verify} messages.
+                 * @param {message.input.Sensors.FSR$Properties} message FSR message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                FSR.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a FSR message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.input.Sensors.FSR} FSR
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                FSR.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.Sensors.FSR();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            if (!(message.value && message.value.length))
+                                message.value = [];
+                            if ((tag & 7) === 2) {
+                                var end2 = reader.uint32() + reader.pos;
+                                while (reader.pos < end2)
+                                    message.value.push(reader.float());
+                            } else
+                                message.value.push(reader.float());
+                            break;
+                        case 2:
+                            message.centre = $root.vec2.decode(reader, reader.uint32());
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a FSR message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.input.Sensors.FSR} FSR
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                FSR.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a FSR message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                FSR.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.value != null && message.hasOwnProperty("value")) {
+                        if (!Array.isArray(message.value))
+                            return "value: array expected";
+                        for (var i = 0; i < message.value.length; ++i)
+                            if (typeof message.value[i] !== "number")
+                                return "value: number[] expected";
+                    }
+                    if (message.centre != null && message.hasOwnProperty("centre")) {
+                        var error = $root.vec2.verify(message.centre);
+                        if (error)
+                            return "centre." + error;
+                    }
+                    return null;
+                };
+
+                /**
+                 * Creates a FSR message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.Sensors.FSR} FSR
+                 */
+                FSR.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.input.Sensors.FSR)
+                        return object;
+                    var message = new $root.message.input.Sensors.FSR();
+                    if (object.value) {
+                        if (!Array.isArray(object.value))
+                            throw TypeError(".message.input.Sensors.FSR.value: array expected");
+                        message.value = [];
+                        for (var i = 0; i < object.value.length; ++i)
+                            message.value[i] = Number(object.value[i]);
+                    }
+                    if (object.centre != null) {
+                        if (typeof object.centre !== "object")
+                            throw TypeError(".message.input.Sensors.FSR.centre: object expected");
+                        message.centre = $root.vec2.fromObject(object.centre);
+                    }
+                    return message;
+                };
+
+                /**
+                 * Creates a FSR message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.input.Sensors.FSR.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.input.Sensors.FSR} FSR
+                 */
+                FSR.from = FSR.fromObject;
+
+                /**
+                 * Creates a plain object from a FSR message. Also converts values to other types if specified.
+                 * @param {message.input.Sensors.FSR} message FSR
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                FSR.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.arrays || options.defaults)
+                        object.value = [];
+                    if (options.defaults)
+                        object.centre = null;
+                    if (message.value && message.value.length) {
+                        object.value = [];
+                        for (var j = 0; j < message.value.length; ++j)
+                            object.value[j] = message.value[j];
+                    }
+                    if (message.centre != null && message.hasOwnProperty("centre"))
+                        object.centre = $root.vec2.toObject(message.centre, options);
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this FSR message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                FSR.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this FSR to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                FSR.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return FSR;
+            })();
+
+            return Sensors;
+        })();
+
+        input.SoundChunkSettings = (function() {
+
+            /**
+             * Properties of a SoundChunkSettings.
+             * @typedef message.input.SoundChunkSettings$Properties
+             * @type {Object}
+             * @property {number|Long} [sampleRate] The number of samples that are taken each second for the sound chunks
+             * @property {number|Long} [channels] The number of channels that the sound chunks will have
+             * @property {number|Long} [chunkSize] The number of frames (a frame is a single sample for all channels) that each emitted chunk will have
+             */
+
+            /**
+             * Constructs a new SoundChunkSettings.
+             * @classdesc TODO document
+             * 
+             * @author Trent Houliston
+             * @exports message.input.SoundChunkSettings
+             * @constructor
+             * @param {message.input.SoundChunkSettings$Properties=} [properties] Properties to set
+             */
+            function SoundChunkSettings(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * The number of samples that are taken each second for the sound chunks
+             * @type {number|Long}
+             */
+            SoundChunkSettings.prototype.sampleRate = $util.Long ? $util.Long.fromBits(0,0,true) : 0;
+
+            /**
+             * The number of channels that the sound chunks will have
+             * @type {number|Long}
+             */
+            SoundChunkSettings.prototype.channels = $util.Long ? $util.Long.fromBits(0,0,true) : 0;
+
+            /**
+             * The number of frames (a frame is a single sample for all channels) that each emitted chunk will have
+             * @type {number|Long}
+             */
+            SoundChunkSettings.prototype.chunkSize = $util.Long ? $util.Long.fromBits(0,0,true) : 0;
+
+            /**
+             * Creates a new SoundChunkSettings instance using the specified properties.
+             * @param {message.input.SoundChunkSettings$Properties=} [properties] Properties to set
+             * @returns {message.input.SoundChunkSettings} SoundChunkSettings instance
+             */
+            SoundChunkSettings.create = function create(properties) {
+                return new SoundChunkSettings(properties);
+            };
+
+            /**
+             * Encodes the specified SoundChunkSettings message. Does not implicitly {@link message.input.SoundChunkSettings.verify|verify} messages.
+             * @param {message.input.SoundChunkSettings$Properties} message SoundChunkSettings message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            SoundChunkSettings.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.sampleRate != null && message.hasOwnProperty("sampleRate"))
+                    writer.uint32(/* id 1, wireType 0 =*/8).uint64(message.sampleRate);
+                if (message.channels != null && message.hasOwnProperty("channels"))
+                    writer.uint32(/* id 2, wireType 0 =*/16).uint64(message.channels);
+                if (message.chunkSize != null && message.hasOwnProperty("chunkSize"))
+                    writer.uint32(/* id 3, wireType 0 =*/24).uint64(message.chunkSize);
+                return writer;
+            };
+
+            /**
+             * Encodes the specified SoundChunkSettings message, length delimited. Does not implicitly {@link message.input.SoundChunkSettings.verify|verify} messages.
+             * @param {message.input.SoundChunkSettings$Properties} message SoundChunkSettings message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            SoundChunkSettings.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a SoundChunkSettings message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.input.SoundChunkSettings} SoundChunkSettings
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            SoundChunkSettings.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.SoundChunkSettings();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.sampleRate = reader.uint64();
+                        break;
+                    case 2:
+                        message.channels = reader.uint64();
+                        break;
+                    case 3:
+                        message.chunkSize = reader.uint64();
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a SoundChunkSettings message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.input.SoundChunkSettings} SoundChunkSettings
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            SoundChunkSettings.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a SoundChunkSettings message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            SoundChunkSettings.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.sampleRate != null && message.hasOwnProperty("sampleRate"))
+                    if (!$util.isInteger(message.sampleRate) && !(message.sampleRate && $util.isInteger(message.sampleRate.low) && $util.isInteger(message.sampleRate.high)))
+                        return "sampleRate: integer|Long expected";
+                if (message.channels != null && message.hasOwnProperty("channels"))
+                    if (!$util.isInteger(message.channels) && !(message.channels && $util.isInteger(message.channels.low) && $util.isInteger(message.channels.high)))
+                        return "channels: integer|Long expected";
+                if (message.chunkSize != null && message.hasOwnProperty("chunkSize"))
+                    if (!$util.isInteger(message.chunkSize) && !(message.chunkSize && $util.isInteger(message.chunkSize.low) && $util.isInteger(message.chunkSize.high)))
+                        return "chunkSize: integer|Long expected";
+                return null;
+            };
+
+            /**
+             * Creates a SoundChunkSettings message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.SoundChunkSettings} SoundChunkSettings
+             */
+            SoundChunkSettings.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.input.SoundChunkSettings)
+                    return object;
+                var message = new $root.message.input.SoundChunkSettings();
+                if (object.sampleRate != null)
+                    if ($util.Long)
+                        (message.sampleRate = $util.Long.fromValue(object.sampleRate)).unsigned = true;
+                    else if (typeof object.sampleRate === "string")
+                        message.sampleRate = parseInt(object.sampleRate, 10);
+                    else if (typeof object.sampleRate === "number")
+                        message.sampleRate = object.sampleRate;
+                    else if (typeof object.sampleRate === "object")
+                        message.sampleRate = new $util.LongBits(object.sampleRate.low >>> 0, object.sampleRate.high >>> 0).toNumber(true);
+                if (object.channels != null)
+                    if ($util.Long)
+                        (message.channels = $util.Long.fromValue(object.channels)).unsigned = true;
+                    else if (typeof object.channels === "string")
+                        message.channels = parseInt(object.channels, 10);
+                    else if (typeof object.channels === "number")
+                        message.channels = object.channels;
+                    else if (typeof object.channels === "object")
+                        message.channels = new $util.LongBits(object.channels.low >>> 0, object.channels.high >>> 0).toNumber(true);
+                if (object.chunkSize != null)
+                    if ($util.Long)
+                        (message.chunkSize = $util.Long.fromValue(object.chunkSize)).unsigned = true;
+                    else if (typeof object.chunkSize === "string")
+                        message.chunkSize = parseInt(object.chunkSize, 10);
+                    else if (typeof object.chunkSize === "number")
+                        message.chunkSize = object.chunkSize;
+                    else if (typeof object.chunkSize === "object")
+                        message.chunkSize = new $util.LongBits(object.chunkSize.low >>> 0, object.chunkSize.high >>> 0).toNumber(true);
+                return message;
+            };
+
+            /**
+             * Creates a SoundChunkSettings message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.input.SoundChunkSettings.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.SoundChunkSettings} SoundChunkSettings
+             */
+            SoundChunkSettings.from = SoundChunkSettings.fromObject;
+
+            /**
+             * Creates a plain object from a SoundChunkSettings message. Also converts values to other types if specified.
+             * @param {message.input.SoundChunkSettings} message SoundChunkSettings
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            SoundChunkSettings.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults) {
+                    if ($util.Long) {
+                        var long = new $util.Long(0, 0, true);
+                        object.sampleRate = options.longs === String ? long.toString() : options.longs === Number ? long.toNumber() : long;
+                    } else
+                        object.sampleRate = options.longs === String ? "0" : 0;
+                    if ($util.Long) {
+                        var long = new $util.Long(0, 0, true);
+                        object.channels = options.longs === String ? long.toString() : options.longs === Number ? long.toNumber() : long;
+                    } else
+                        object.channels = options.longs === String ? "0" : 0;
+                    if ($util.Long) {
+                        var long = new $util.Long(0, 0, true);
+                        object.chunkSize = options.longs === String ? long.toString() : options.longs === Number ? long.toNumber() : long;
+                    } else
+                        object.chunkSize = options.longs === String ? "0" : 0;
+                }
+                if (message.sampleRate != null && message.hasOwnProperty("sampleRate"))
+                    if (typeof message.sampleRate === "number")
+                        object.sampleRate = options.longs === String ? String(message.sampleRate) : message.sampleRate;
+                    else
+                        object.sampleRate = options.longs === String ? $util.Long.prototype.toString.call(message.sampleRate) : options.longs === Number ? new $util.LongBits(message.sampleRate.low >>> 0, message.sampleRate.high >>> 0).toNumber(true) : message.sampleRate;
+                if (message.channels != null && message.hasOwnProperty("channels"))
+                    if (typeof message.channels === "number")
+                        object.channels = options.longs === String ? String(message.channels) : message.channels;
+                    else
+                        object.channels = options.longs === String ? $util.Long.prototype.toString.call(message.channels) : options.longs === Number ? new $util.LongBits(message.channels.low >>> 0, message.channels.high >>> 0).toNumber(true) : message.channels;
+                if (message.chunkSize != null && message.hasOwnProperty("chunkSize"))
+                    if (typeof message.chunkSize === "number")
+                        object.chunkSize = options.longs === String ? String(message.chunkSize) : message.chunkSize;
+                    else
+                        object.chunkSize = options.longs === String ? $util.Long.prototype.toString.call(message.chunkSize) : options.longs === Number ? new $util.LongBits(message.chunkSize.low >>> 0, message.chunkSize.high >>> 0).toNumber(true) : message.chunkSize;
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this SoundChunkSettings message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            SoundChunkSettings.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this SoundChunkSettings to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            SoundChunkSettings.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return SoundChunkSettings;
+        })();
+
+        input.SoundFileStart = (function() {
+
+            /**
+             * Properties of a SoundFileStart.
+             * @typedef message.input.SoundFileStart$Properties
+             * @type {Object}
+             * @property {string} [fileName] SoundFileStart fileName.
+             * @property {google.protobuf.Timestamp$Properties} [time] SoundFileStart time.
+             */
+
+            /**
+             * Constructs a new SoundFileStart.
+             * @exports message.input.SoundFileStart
+             * @constructor
+             * @param {message.input.SoundFileStart$Properties=} [properties] Properties to set
+             */
+            function SoundFileStart(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * SoundFileStart fileName.
+             * @type {string}
+             */
+            SoundFileStart.prototype.fileName = "";
+
+            /**
+             * SoundFileStart time.
+             * @type {(google.protobuf.Timestamp$Properties|null)}
+             */
+            SoundFileStart.prototype.time = null;
+
+            /**
+             * Creates a new SoundFileStart instance using the specified properties.
+             * @param {message.input.SoundFileStart$Properties=} [properties] Properties to set
+             * @returns {message.input.SoundFileStart} SoundFileStart instance
+             */
+            SoundFileStart.create = function create(properties) {
+                return new SoundFileStart(properties);
+            };
+
+            /**
+             * Encodes the specified SoundFileStart message. Does not implicitly {@link message.input.SoundFileStart.verify|verify} messages.
+             * @param {message.input.SoundFileStart$Properties} message SoundFileStart message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            SoundFileStart.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.fileName != null && message.hasOwnProperty("fileName"))
+                    writer.uint32(/* id 1, wireType 2 =*/10).string(message.fileName);
+                if (message.time != null && message.hasOwnProperty("time"))
+                    $root.google.protobuf.Timestamp.encode(message.time, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified SoundFileStart message, length delimited. Does not implicitly {@link message.input.SoundFileStart.verify|verify} messages.
+             * @param {message.input.SoundFileStart$Properties} message SoundFileStart message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            SoundFileStart.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a SoundFileStart message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.input.SoundFileStart} SoundFileStart
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            SoundFileStart.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.SoundFileStart();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.fileName = reader.string();
+                        break;
+                    case 2:
+                        message.time = $root.google.protobuf.Timestamp.decode(reader, reader.uint32());
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a SoundFileStart message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.input.SoundFileStart} SoundFileStart
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            SoundFileStart.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a SoundFileStart message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            SoundFileStart.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.fileName != null && message.hasOwnProperty("fileName"))
+                    if (!$util.isString(message.fileName))
+                        return "fileName: string expected";
+                if (message.time != null && message.hasOwnProperty("time")) {
+                    var error = $root.google.protobuf.Timestamp.verify(message.time);
+                    if (error)
+                        return "time." + error;
+                }
+                return null;
+            };
+
+            /**
+             * Creates a SoundFileStart message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.SoundFileStart} SoundFileStart
+             */
+            SoundFileStart.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.input.SoundFileStart)
+                    return object;
+                var message = new $root.message.input.SoundFileStart();
+                if (object.fileName != null)
+                    message.fileName = String(object.fileName);
+                if (object.time != null) {
+                    if (typeof object.time !== "object")
+                        throw TypeError(".message.input.SoundFileStart.time: object expected");
+                    message.time = $root.google.protobuf.Timestamp.fromObject(object.time);
+                }
+                return message;
+            };
+
+            /**
+             * Creates a SoundFileStart message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.input.SoundFileStart.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.SoundFileStart} SoundFileStart
+             */
+            SoundFileStart.from = SoundFileStart.fromObject;
+
+            /**
+             * Creates a plain object from a SoundFileStart message. Also converts values to other types if specified.
+             * @param {message.input.SoundFileStart} message SoundFileStart
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            SoundFileStart.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults) {
+                    object.fileName = "";
+                    object.time = null;
+                }
+                if (message.fileName != null && message.hasOwnProperty("fileName"))
+                    object.fileName = message.fileName;
+                if (message.time != null && message.hasOwnProperty("time"))
+                    object.time = $root.google.protobuf.Timestamp.toObject(message.time, options);
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this SoundFileStart message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            SoundFileStart.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this SoundFileStart to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            SoundFileStart.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return SoundFileStart;
+        })();
+
+        input.SoundChunk = (function() {
+
+            /**
+             * Properties of a SoundChunk.
+             * @typedef message.input.SoundChunk$Properties
+             * @type {Object}
+             * @property {google.protobuf.Timestamp$Properties} [endTime] SoundChunk endTime.
+             * @property {Array.<number>} [data] SoundChunk data.
+             */
+
+            /**
+             * Constructs a new SoundChunk.
+             * @classdesc TODO document
+             * 
+             * @author Jake Woods
+             * @exports message.input.SoundChunk
+             * @constructor
+             * @param {message.input.SoundChunk$Properties=} [properties] Properties to set
+             */
+            function SoundChunk(properties) {
+                this.data = [];
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * SoundChunk endTime.
+             * @type {(google.protobuf.Timestamp$Properties|null)}
+             */
+            SoundChunk.prototype.endTime = null;
+
+            /**
+             * SoundChunk data.
+             * @type {Array.<number>}
+             */
+            SoundChunk.prototype.data = $util.emptyArray;
+
+            /**
+             * Creates a new SoundChunk instance using the specified properties.
+             * @param {message.input.SoundChunk$Properties=} [properties] Properties to set
+             * @returns {message.input.SoundChunk} SoundChunk instance
+             */
+            SoundChunk.create = function create(properties) {
+                return new SoundChunk(properties);
+            };
+
+            /**
+             * Encodes the specified SoundChunk message. Does not implicitly {@link message.input.SoundChunk.verify|verify} messages.
+             * @param {message.input.SoundChunk$Properties} message SoundChunk message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            SoundChunk.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.endTime != null && message.hasOwnProperty("endTime"))
+                    $root.google.protobuf.Timestamp.encode(message.endTime, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                if (message.data != null && message.data.length) {
+                    writer.uint32(/* id 2, wireType 2 =*/18).fork();
+                    for (var i = 0; i < message.data.length; ++i)
+                        writer.int32(message.data[i]);
+                    writer.ldelim();
+                }
+                return writer;
+            };
+
+            /**
+             * Encodes the specified SoundChunk message, length delimited. Does not implicitly {@link message.input.SoundChunk.verify|verify} messages.
+             * @param {message.input.SoundChunk$Properties} message SoundChunk message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            SoundChunk.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a SoundChunk message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.input.SoundChunk} SoundChunk
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            SoundChunk.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.input.SoundChunk();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.endTime = $root.google.protobuf.Timestamp.decode(reader, reader.uint32());
+                        break;
+                    case 2:
+                        if (!(message.data && message.data.length))
+                            message.data = [];
+                        if ((tag & 7) === 2) {
+                            var end2 = reader.uint32() + reader.pos;
+                            while (reader.pos < end2)
+                                message.data.push(reader.int32());
+                        } else
+                            message.data.push(reader.int32());
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a SoundChunk message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.input.SoundChunk} SoundChunk
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            SoundChunk.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a SoundChunk message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            SoundChunk.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.endTime != null && message.hasOwnProperty("endTime")) {
+                    var error = $root.google.protobuf.Timestamp.verify(message.endTime);
+                    if (error)
+                        return "endTime." + error;
+                }
+                if (message.data != null && message.hasOwnProperty("data")) {
+                    if (!Array.isArray(message.data))
+                        return "data: array expected";
+                    for (var i = 0; i < message.data.length; ++i)
+                        if (!$util.isInteger(message.data[i]))
+                            return "data: integer[] expected";
+                }
+                return null;
+            };
+
+            /**
+             * Creates a SoundChunk message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.SoundChunk} SoundChunk
+             */
+            SoundChunk.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.input.SoundChunk)
+                    return object;
+                var message = new $root.message.input.SoundChunk();
+                if (object.endTime != null) {
+                    if (typeof object.endTime !== "object")
+                        throw TypeError(".message.input.SoundChunk.endTime: object expected");
+                    message.endTime = $root.google.protobuf.Timestamp.fromObject(object.endTime);
+                }
+                if (object.data) {
+                    if (!Array.isArray(object.data))
+                        throw TypeError(".message.input.SoundChunk.data: array expected");
+                    message.data = [];
+                    for (var i = 0; i < object.data.length; ++i)
+                        message.data[i] = object.data[i] | 0;
+                }
+                return message;
+            };
+
+            /**
+             * Creates a SoundChunk message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.input.SoundChunk.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.input.SoundChunk} SoundChunk
+             */
+            SoundChunk.from = SoundChunk.fromObject;
+
+            /**
+             * Creates a plain object from a SoundChunk message. Also converts values to other types if specified.
+             * @param {message.input.SoundChunk} message SoundChunk
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            SoundChunk.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.arrays || options.defaults)
+                    object.data = [];
+                if (options.defaults)
+                    object.endTime = null;
+                if (message.endTime != null && message.hasOwnProperty("endTime"))
+                    object.endTime = $root.google.protobuf.Timestamp.toObject(message.endTime, options);
+                if (message.data && message.data.length) {
+                    object.data = [];
+                    for (var j = 0; j < message.data.length; ++j)
+                        object.data[j] = message.data[j];
+                }
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this SoundChunk message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            SoundChunk.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this SoundChunk to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            SoundChunk.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return SoundChunk;
+        })();
+
+        return input;
+    })();
+
+    message.localisation = (function() {
+
+        /**
+         * Namespace localisation.
+         * @exports message.localisation
+         * @namespace
+         */
+        var localisation = {};
+
+        localisation.FieldObject = (function() {
+
+            /**
+             * Properties of a FieldObject.
+             * @typedef message.localisation.FieldObject$Properties
+             * @type {Object}
+             * @property {string} [name] FieldObject name.
+             * @property {Array.<message.localisation.Model$Properties>} [models] FieldObject models.
+             */
+
+            /**
+             * Constructs a new FieldObject.
+             * @exports message.localisation.FieldObject
+             * @constructor
+             * @param {message.localisation.FieldObject$Properties=} [properties] Properties to set
+             */
+            function FieldObject(properties) {
+                this.models = [];
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * FieldObject name.
+             * @type {string}
+             */
+            FieldObject.prototype.name = "";
+
+            /**
+             * FieldObject models.
+             * @type {Array.<message.localisation.Model$Properties>}
+             */
+            FieldObject.prototype.models = $util.emptyArray;
+
+            /**
+             * Creates a new FieldObject instance using the specified properties.
+             * @param {message.localisation.FieldObject$Properties=} [properties] Properties to set
+             * @returns {message.localisation.FieldObject} FieldObject instance
+             */
+            FieldObject.create = function create(properties) {
+                return new FieldObject(properties);
+            };
+
+            /**
+             * Encodes the specified FieldObject message. Does not implicitly {@link message.localisation.FieldObject.verify|verify} messages.
+             * @param {message.localisation.FieldObject$Properties} message FieldObject message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            FieldObject.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.name != null && message.hasOwnProperty("name"))
+                    writer.uint32(/* id 1, wireType 2 =*/10).string(message.name);
+                if (message.models != null && message.models.length)
+                    for (var i = 0; i < message.models.length; ++i)
+                        $root.message.localisation.Model.encode(message.models[i], writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified FieldObject message, length delimited. Does not implicitly {@link message.localisation.FieldObject.verify|verify} messages.
+             * @param {message.localisation.FieldObject$Properties} message FieldObject message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            FieldObject.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a FieldObject message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.localisation.FieldObject} FieldObject
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            FieldObject.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.localisation.FieldObject();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.name = reader.string();
+                        break;
+                    case 2:
+                        if (!(message.models && message.models.length))
+                            message.models = [];
+                        message.models.push($root.message.localisation.Model.decode(reader, reader.uint32()));
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a FieldObject message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.localisation.FieldObject} FieldObject
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            FieldObject.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a FieldObject message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            FieldObject.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.name != null && message.hasOwnProperty("name"))
+                    if (!$util.isString(message.name))
+                        return "name: string expected";
+                if (message.models != null && message.hasOwnProperty("models")) {
+                    if (!Array.isArray(message.models))
+                        return "models: array expected";
+                    for (var i = 0; i < message.models.length; ++i) {
+                        var error = $root.message.localisation.Model.verify(message.models[i]);
+                        if (error)
+                            return "models." + error;
+                    }
+                }
+                return null;
+            };
+
+            /**
+             * Creates a FieldObject message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.localisation.FieldObject} FieldObject
+             */
+            FieldObject.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.localisation.FieldObject)
+                    return object;
+                var message = new $root.message.localisation.FieldObject();
+                if (object.name != null)
+                    message.name = String(object.name);
+                if (object.models) {
+                    if (!Array.isArray(object.models))
+                        throw TypeError(".message.localisation.FieldObject.models: array expected");
+                    message.models = [];
+                    for (var i = 0; i < object.models.length; ++i) {
+                        if (typeof object.models[i] !== "object")
+                            throw TypeError(".message.localisation.FieldObject.models: object expected");
+                        message.models[i] = $root.message.localisation.Model.fromObject(object.models[i]);
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Creates a FieldObject message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.localisation.FieldObject.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.localisation.FieldObject} FieldObject
+             */
+            FieldObject.from = FieldObject.fromObject;
+
+            /**
+             * Creates a plain object from a FieldObject message. Also converts values to other types if specified.
+             * @param {message.localisation.FieldObject} message FieldObject
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            FieldObject.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.arrays || options.defaults)
+                    object.models = [];
+                if (options.defaults)
+                    object.name = "";
+                if (message.name != null && message.hasOwnProperty("name"))
+                    object.name = message.name;
+                if (message.models && message.models.length) {
+                    object.models = [];
+                    for (var j = 0; j < message.models.length; ++j)
+                        object.models[j] = $root.message.localisation.Model.toObject(message.models[j], options);
+                }
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this FieldObject message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            FieldObject.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this FieldObject to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            FieldObject.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return FieldObject;
+        })();
+
+        localisation.LocalisationObject = (function() {
+
+            /**
+             * Properties of a LocalisationObject.
+             * @typedef message.localisation.LocalisationObject$Properties
+             * @type {Object}
+             * @property {vec2$Properties} [position] LocalisationObject position.
+             * @property {mat22$Properties} [positionCov] LocalisationObject positionCov.
+             * @property {google.protobuf.Timestamp$Properties} [lastMeasurementTime] LocalisationObject lastMeasurementTime.
+             */
+
+            /**
+             * Constructs a new LocalisationObject.
+             * @exports message.localisation.LocalisationObject
+             * @constructor
+             * @param {message.localisation.LocalisationObject$Properties=} [properties] Properties to set
+             */
+            function LocalisationObject(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * LocalisationObject position.
+             * @type {(vec2$Properties|null)}
+             */
+            LocalisationObject.prototype.position = null;
+
+            /**
+             * LocalisationObject positionCov.
+             * @type {(mat22$Properties|null)}
+             */
+            LocalisationObject.prototype.positionCov = null;
+
+            /**
+             * LocalisationObject lastMeasurementTime.
+             * @type {(google.protobuf.Timestamp$Properties|null)}
+             */
+            LocalisationObject.prototype.lastMeasurementTime = null;
+
+            /**
+             * Creates a new LocalisationObject instance using the specified properties.
+             * @param {message.localisation.LocalisationObject$Properties=} [properties] Properties to set
+             * @returns {message.localisation.LocalisationObject} LocalisationObject instance
+             */
+            LocalisationObject.create = function create(properties) {
+                return new LocalisationObject(properties);
+            };
+
+            /**
+             * Encodes the specified LocalisationObject message. Does not implicitly {@link message.localisation.LocalisationObject.verify|verify} messages.
+             * @param {message.localisation.LocalisationObject$Properties} message LocalisationObject message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            LocalisationObject.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.position != null && message.hasOwnProperty("position"))
+                    $root.vec2.encode(message.position, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                if (message.positionCov != null && message.hasOwnProperty("positionCov"))
+                    $root.mat22.encode(message.positionCov, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                if (message.lastMeasurementTime != null && message.hasOwnProperty("lastMeasurementTime"))
+                    $root.google.protobuf.Timestamp.encode(message.lastMeasurementTime, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified LocalisationObject message, length delimited. Does not implicitly {@link message.localisation.LocalisationObject.verify|verify} messages.
+             * @param {message.localisation.LocalisationObject$Properties} message LocalisationObject message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            LocalisationObject.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a LocalisationObject message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.localisation.LocalisationObject} LocalisationObject
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            LocalisationObject.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.localisation.LocalisationObject();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.position = $root.vec2.decode(reader, reader.uint32());
+                        break;
+                    case 2:
+                        message.positionCov = $root.mat22.decode(reader, reader.uint32());
+                        break;
+                    case 3:
+                        message.lastMeasurementTime = $root.google.protobuf.Timestamp.decode(reader, reader.uint32());
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a LocalisationObject message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.localisation.LocalisationObject} LocalisationObject
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            LocalisationObject.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a LocalisationObject message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            LocalisationObject.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.position != null && message.hasOwnProperty("position")) {
+                    var error = $root.vec2.verify(message.position);
+                    if (error)
+                        return "position." + error;
+                }
+                if (message.positionCov != null && message.hasOwnProperty("positionCov")) {
+                    var error = $root.mat22.verify(message.positionCov);
+                    if (error)
+                        return "positionCov." + error;
+                }
+                if (message.lastMeasurementTime != null && message.hasOwnProperty("lastMeasurementTime")) {
+                    var error = $root.google.protobuf.Timestamp.verify(message.lastMeasurementTime);
+                    if (error)
+                        return "lastMeasurementTime." + error;
+                }
+                return null;
+            };
+
+            /**
+             * Creates a LocalisationObject message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.localisation.LocalisationObject} LocalisationObject
+             */
+            LocalisationObject.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.localisation.LocalisationObject)
+                    return object;
+                var message = new $root.message.localisation.LocalisationObject();
+                if (object.position != null) {
+                    if (typeof object.position !== "object")
+                        throw TypeError(".message.localisation.LocalisationObject.position: object expected");
+                    message.position = $root.vec2.fromObject(object.position);
+                }
+                if (object.positionCov != null) {
+                    if (typeof object.positionCov !== "object")
+                        throw TypeError(".message.localisation.LocalisationObject.positionCov: object expected");
+                    message.positionCov = $root.mat22.fromObject(object.positionCov);
+                }
+                if (object.lastMeasurementTime != null) {
+                    if (typeof object.lastMeasurementTime !== "object")
+                        throw TypeError(".message.localisation.LocalisationObject.lastMeasurementTime: object expected");
+                    message.lastMeasurementTime = $root.google.protobuf.Timestamp.fromObject(object.lastMeasurementTime);
+                }
+                return message;
+            };
+
+            /**
+             * Creates a LocalisationObject message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.localisation.LocalisationObject.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.localisation.LocalisationObject} LocalisationObject
+             */
+            LocalisationObject.from = LocalisationObject.fromObject;
+
+            /**
+             * Creates a plain object from a LocalisationObject message. Also converts values to other types if specified.
+             * @param {message.localisation.LocalisationObject} message LocalisationObject
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            LocalisationObject.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults) {
+                    object.position = null;
+                    object.positionCov = null;
+                    object.lastMeasurementTime = null;
+                }
+                if (message.position != null && message.hasOwnProperty("position"))
+                    object.position = $root.vec2.toObject(message.position, options);
+                if (message.positionCov != null && message.hasOwnProperty("positionCov"))
+                    object.positionCov = $root.mat22.toObject(message.positionCov, options);
+                if (message.lastMeasurementTime != null && message.hasOwnProperty("lastMeasurementTime"))
+                    object.lastMeasurementTime = $root.google.protobuf.Timestamp.toObject(message.lastMeasurementTime, options);
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this LocalisationObject message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            LocalisationObject.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this LocalisationObject to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            LocalisationObject.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return LocalisationObject;
+        })();
+
+        localisation.Ball = (function() {
+
+            /**
+             * Properties of a Ball.
+             * @typedef message.localisation.Ball$Properties
+             * @type {Object}
+             * @property {message.localisation.LocalisationObject$Properties} [locObject] Ball locObject.
+             * @property {vec2$Properties} [velocity] Ball velocity.
+             * @property {boolean} [worldSpace] Ball worldSpace.
+             */
+
+            /**
+             * Constructs a new Ball.
+             * @exports message.localisation.Ball
+             * @constructor
+             * @param {message.localisation.Ball$Properties=} [properties] Properties to set
+             */
+            function Ball(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Ball locObject.
+             * @type {(message.localisation.LocalisationObject$Properties|null)}
+             */
+            Ball.prototype.locObject = null;
+
+            /**
+             * Ball velocity.
+             * @type {(vec2$Properties|null)}
+             */
+            Ball.prototype.velocity = null;
+
+            /**
+             * Ball worldSpace.
+             * @type {boolean}
+             */
+            Ball.prototype.worldSpace = false;
+
+            /**
+             * Creates a new Ball instance using the specified properties.
+             * @param {message.localisation.Ball$Properties=} [properties] Properties to set
+             * @returns {message.localisation.Ball} Ball instance
+             */
+            Ball.create = function create(properties) {
+                return new Ball(properties);
+            };
+
+            /**
+             * Encodes the specified Ball message. Does not implicitly {@link message.localisation.Ball.verify|verify} messages.
+             * @param {message.localisation.Ball$Properties} message Ball message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            Ball.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.locObject != null && message.hasOwnProperty("locObject"))
+                    $root.message.localisation.LocalisationObject.encode(message.locObject, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                if (message.velocity != null && message.hasOwnProperty("velocity"))
+                    $root.vec2.encode(message.velocity, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                if (message.worldSpace != null && message.hasOwnProperty("worldSpace"))
+                    writer.uint32(/* id 3, wireType 0 =*/24).bool(message.worldSpace);
+                return writer;
+            };
+
+            /**
+             * Encodes the specified Ball message, length delimited. Does not implicitly {@link message.localisation.Ball.verify|verify} messages.
+             * @param {message.localisation.Ball$Properties} message Ball message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            Ball.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a Ball message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.localisation.Ball} Ball
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            Ball.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.localisation.Ball();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.locObject = $root.message.localisation.LocalisationObject.decode(reader, reader.uint32());
+                        break;
+                    case 2:
+                        message.velocity = $root.vec2.decode(reader, reader.uint32());
+                        break;
+                    case 3:
+                        message.worldSpace = reader.bool();
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a Ball message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.localisation.Ball} Ball
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            Ball.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a Ball message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            Ball.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.locObject != null && message.hasOwnProperty("locObject")) {
+                    var error = $root.message.localisation.LocalisationObject.verify(message.locObject);
+                    if (error)
+                        return "locObject." + error;
+                }
+                if (message.velocity != null && message.hasOwnProperty("velocity")) {
+                    var error = $root.vec2.verify(message.velocity);
+                    if (error)
+                        return "velocity." + error;
+                }
+                if (message.worldSpace != null && message.hasOwnProperty("worldSpace"))
+                    if (typeof message.worldSpace !== "boolean")
+                        return "worldSpace: boolean expected";
+                return null;
+            };
+
+            /**
+             * Creates a Ball message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.localisation.Ball} Ball
+             */
+            Ball.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.localisation.Ball)
+                    return object;
+                var message = new $root.message.localisation.Ball();
+                if (object.locObject != null) {
+                    if (typeof object.locObject !== "object")
+                        throw TypeError(".message.localisation.Ball.locObject: object expected");
+                    message.locObject = $root.message.localisation.LocalisationObject.fromObject(object.locObject);
+                }
+                if (object.velocity != null) {
+                    if (typeof object.velocity !== "object")
+                        throw TypeError(".message.localisation.Ball.velocity: object expected");
+                    message.velocity = $root.vec2.fromObject(object.velocity);
+                }
+                if (object.worldSpace != null)
+                    message.worldSpace = Boolean(object.worldSpace);
+                return message;
+            };
+
+            /**
+             * Creates a Ball message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.localisation.Ball.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.localisation.Ball} Ball
+             */
+            Ball.from = Ball.fromObject;
+
+            /**
+             * Creates a plain object from a Ball message. Also converts values to other types if specified.
+             * @param {message.localisation.Ball} message Ball
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            Ball.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults) {
+                    object.locObject = null;
+                    object.velocity = null;
+                    object.worldSpace = false;
+                }
+                if (message.locObject != null && message.hasOwnProperty("locObject"))
+                    object.locObject = $root.message.localisation.LocalisationObject.toObject(message.locObject, options);
+                if (message.velocity != null && message.hasOwnProperty("velocity"))
+                    object.velocity = $root.vec2.toObject(message.velocity, options);
+                if (message.worldSpace != null && message.hasOwnProperty("worldSpace"))
+                    object.worldSpace = message.worldSpace;
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this Ball message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            Ball.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this Ball to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            Ball.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return Ball;
+        })();
+
+        localisation.Self = (function() {
+
+            /**
+             * Properties of a Self.
+             * @typedef message.localisation.Self$Properties
+             * @type {Object}
+             * @property {message.localisation.LocalisationObject$Properties} [locObject] Self locObject.
+             * @property {vec2$Properties} [heading] Self heading.
+             * @property {vec2$Properties} [velocity] Self velocity.
+             * @property {mat22$Properties} [robotToWorldRotation] Self robotToWorldRotation.
+             */
+
+            /**
+             * Constructs a new Self.
+             * @exports message.localisation.Self
+             * @constructor
+             * @param {message.localisation.Self$Properties=} [properties] Properties to set
+             */
+            function Self(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Self locObject.
+             * @type {(message.localisation.LocalisationObject$Properties|null)}
+             */
+            Self.prototype.locObject = null;
+
+            /**
+             * Self heading.
+             * @type {(vec2$Properties|null)}
+             */
+            Self.prototype.heading = null;
+
+            /**
+             * Self velocity.
+             * @type {(vec2$Properties|null)}
+             */
+            Self.prototype.velocity = null;
+
+            /**
+             * Self robotToWorldRotation.
+             * @type {(mat22$Properties|null)}
+             */
+            Self.prototype.robotToWorldRotation = null;
+
+            /**
+             * Creates a new Self instance using the specified properties.
+             * @param {message.localisation.Self$Properties=} [properties] Properties to set
+             * @returns {message.localisation.Self} Self instance
+             */
+            Self.create = function create(properties) {
+                return new Self(properties);
+            };
+
+            /**
+             * Encodes the specified Self message. Does not implicitly {@link message.localisation.Self.verify|verify} messages.
+             * @param {message.localisation.Self$Properties} message Self message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            Self.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.locObject != null && message.hasOwnProperty("locObject"))
+                    $root.message.localisation.LocalisationObject.encode(message.locObject, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                if (message.heading != null && message.hasOwnProperty("heading"))
+                    $root.vec2.encode(message.heading, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                if (message.velocity != null && message.hasOwnProperty("velocity"))
+                    $root.vec2.encode(message.velocity, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+                if (message.robotToWorldRotation != null && message.hasOwnProperty("robotToWorldRotation"))
+                    $root.mat22.encode(message.robotToWorldRotation, writer.uint32(/* id 4, wireType 2 =*/34).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified Self message, length delimited. Does not implicitly {@link message.localisation.Self.verify|verify} messages.
+             * @param {message.localisation.Self$Properties} message Self message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            Self.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a Self message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.localisation.Self} Self
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            Self.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.localisation.Self();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.locObject = $root.message.localisation.LocalisationObject.decode(reader, reader.uint32());
+                        break;
+                    case 2:
+                        message.heading = $root.vec2.decode(reader, reader.uint32());
+                        break;
+                    case 3:
+                        message.velocity = $root.vec2.decode(reader, reader.uint32());
+                        break;
+                    case 4:
+                        message.robotToWorldRotation = $root.mat22.decode(reader, reader.uint32());
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a Self message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.localisation.Self} Self
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            Self.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a Self message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            Self.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.locObject != null && message.hasOwnProperty("locObject")) {
+                    var error = $root.message.localisation.LocalisationObject.verify(message.locObject);
+                    if (error)
+                        return "locObject." + error;
+                }
+                if (message.heading != null && message.hasOwnProperty("heading")) {
+                    var error = $root.vec2.verify(message.heading);
+                    if (error)
+                        return "heading." + error;
+                }
+                if (message.velocity != null && message.hasOwnProperty("velocity")) {
+                    var error = $root.vec2.verify(message.velocity);
+                    if (error)
+                        return "velocity." + error;
+                }
+                if (message.robotToWorldRotation != null && message.hasOwnProperty("robotToWorldRotation")) {
+                    var error = $root.mat22.verify(message.robotToWorldRotation);
+                    if (error)
+                        return "robotToWorldRotation." + error;
+                }
+                return null;
+            };
+
+            /**
+             * Creates a Self message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.localisation.Self} Self
+             */
+            Self.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.localisation.Self)
+                    return object;
+                var message = new $root.message.localisation.Self();
+                if (object.locObject != null) {
+                    if (typeof object.locObject !== "object")
+                        throw TypeError(".message.localisation.Self.locObject: object expected");
+                    message.locObject = $root.message.localisation.LocalisationObject.fromObject(object.locObject);
+                }
+                if (object.heading != null) {
+                    if (typeof object.heading !== "object")
+                        throw TypeError(".message.localisation.Self.heading: object expected");
+                    message.heading = $root.vec2.fromObject(object.heading);
+                }
+                if (object.velocity != null) {
+                    if (typeof object.velocity !== "object")
+                        throw TypeError(".message.localisation.Self.velocity: object expected");
+                    message.velocity = $root.vec2.fromObject(object.velocity);
+                }
+                if (object.robotToWorldRotation != null) {
+                    if (typeof object.robotToWorldRotation !== "object")
+                        throw TypeError(".message.localisation.Self.robotToWorldRotation: object expected");
+                    message.robotToWorldRotation = $root.mat22.fromObject(object.robotToWorldRotation);
+                }
+                return message;
+            };
+
+            /**
+             * Creates a Self message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.localisation.Self.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.localisation.Self} Self
+             */
+            Self.from = Self.fromObject;
+
+            /**
+             * Creates a plain object from a Self message. Also converts values to other types if specified.
+             * @param {message.localisation.Self} message Self
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            Self.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults) {
+                    object.locObject = null;
+                    object.heading = null;
+                    object.velocity = null;
+                    object.robotToWorldRotation = null;
+                }
+                if (message.locObject != null && message.hasOwnProperty("locObject"))
+                    object.locObject = $root.message.localisation.LocalisationObject.toObject(message.locObject, options);
+                if (message.heading != null && message.hasOwnProperty("heading"))
+                    object.heading = $root.vec2.toObject(message.heading, options);
+                if (message.velocity != null && message.hasOwnProperty("velocity"))
+                    object.velocity = $root.vec2.toObject(message.velocity, options);
+                if (message.robotToWorldRotation != null && message.hasOwnProperty("robotToWorldRotation"))
+                    object.robotToWorldRotation = $root.mat22.toObject(message.robotToWorldRotation, options);
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this Self message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            Self.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this Self to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            Self.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return Self;
+        })();
+
+        localisation.Model = (function() {
+
+            /**
+             * Properties of a Model.
+             * @typedef message.localisation.Model$Properties
+             * @type {Object}
+             * @property {number} [modelId] Model modelId.
+             * @property {number} [wmX] Model wmX.
+             * @property {number} [wmY] Model wmY.
+             * @property {number} [sdX] Model sdX.
+             * @property {number} [sdY] Model sdY.
+             * @property {number} [srXx] Model srXx.
+             * @property {number} [srXy] Model srXy.
+             * @property {number} [srYy] Model srYy.
+             * @property {number} [heading] Model heading.
+             * @property {number} [sdHeading] Model sdHeading.
+             * @property {boolean} [lost] Model lost.
+             */
+
+            /**
+             * Constructs a new Model.
+             * @exports message.localisation.Model
+             * @constructor
+             * @param {message.localisation.Model$Properties=} [properties] Properties to set
+             */
+            function Model(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Model modelId.
+             * @type {number}
+             */
+            Model.prototype.modelId = 0;
+
+            /**
+             * Model wmX.
+             * @type {number}
+             */
+            Model.prototype.wmX = 0;
+
+            /**
+             * Model wmY.
+             * @type {number}
+             */
+            Model.prototype.wmY = 0;
+
+            /**
+             * Model sdX.
+             * @type {number}
+             */
+            Model.prototype.sdX = 0;
+
+            /**
+             * Model sdY.
+             * @type {number}
+             */
+            Model.prototype.sdY = 0;
+
+            /**
+             * Model srXx.
+             * @type {number}
+             */
+            Model.prototype.srXx = 0;
+
+            /**
+             * Model srXy.
+             * @type {number}
+             */
+            Model.prototype.srXy = 0;
+
+            /**
+             * Model srYy.
+             * @type {number}
+             */
+            Model.prototype.srYy = 0;
+
+            /**
+             * Model heading.
+             * @type {number}
+             */
+            Model.prototype.heading = 0;
+
+            /**
+             * Model sdHeading.
+             * @type {number}
+             */
+            Model.prototype.sdHeading = 0;
+
+            /**
+             * Model lost.
+             * @type {boolean}
+             */
+            Model.prototype.lost = false;
+
+            /**
+             * Creates a new Model instance using the specified properties.
+             * @param {message.localisation.Model$Properties=} [properties] Properties to set
+             * @returns {message.localisation.Model} Model instance
+             */
+            Model.create = function create(properties) {
+                return new Model(properties);
+            };
+
+            /**
+             * Encodes the specified Model message. Does not implicitly {@link message.localisation.Model.verify|verify} messages.
+             * @param {message.localisation.Model$Properties} message Model message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            Model.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.modelId != null && message.hasOwnProperty("modelId"))
+                    writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.modelId);
+                if (message.wmX != null && message.hasOwnProperty("wmX"))
+                    writer.uint32(/* id 2, wireType 5 =*/21).float(message.wmX);
+                if (message.wmY != null && message.hasOwnProperty("wmY"))
+                    writer.uint32(/* id 3, wireType 5 =*/29).float(message.wmY);
+                if (message.sdX != null && message.hasOwnProperty("sdX"))
+                    writer.uint32(/* id 4, wireType 5 =*/37).float(message.sdX);
+                if (message.sdY != null && message.hasOwnProperty("sdY"))
+                    writer.uint32(/* id 5, wireType 5 =*/45).float(message.sdY);
+                if (message.srXx != null && message.hasOwnProperty("srXx"))
+                    writer.uint32(/* id 6, wireType 5 =*/53).float(message.srXx);
+                if (message.srXy != null && message.hasOwnProperty("srXy"))
+                    writer.uint32(/* id 7, wireType 5 =*/61).float(message.srXy);
+                if (message.srYy != null && message.hasOwnProperty("srYy"))
+                    writer.uint32(/* id 8, wireType 5 =*/69).float(message.srYy);
+                if (message.heading != null && message.hasOwnProperty("heading"))
+                    writer.uint32(/* id 9, wireType 5 =*/77).float(message.heading);
+                if (message.sdHeading != null && message.hasOwnProperty("sdHeading"))
+                    writer.uint32(/* id 10, wireType 5 =*/85).float(message.sdHeading);
+                if (message.lost != null && message.hasOwnProperty("lost"))
+                    writer.uint32(/* id 11, wireType 0 =*/88).bool(message.lost);
+                return writer;
+            };
+
+            /**
+             * Encodes the specified Model message, length delimited. Does not implicitly {@link message.localisation.Model.verify|verify} messages.
+             * @param {message.localisation.Model$Properties} message Model message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            Model.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a Model message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.localisation.Model} Model
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            Model.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.localisation.Model();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.modelId = reader.uint32();
+                        break;
+                    case 2:
+                        message.wmX = reader.float();
+                        break;
+                    case 3:
+                        message.wmY = reader.float();
+                        break;
+                    case 4:
+                        message.sdX = reader.float();
+                        break;
+                    case 5:
+                        message.sdY = reader.float();
+                        break;
+                    case 6:
+                        message.srXx = reader.float();
+                        break;
+                    case 7:
+                        message.srXy = reader.float();
+                        break;
+                    case 8:
+                        message.srYy = reader.float();
+                        break;
+                    case 9:
+                        message.heading = reader.float();
+                        break;
+                    case 10:
+                        message.sdHeading = reader.float();
+                        break;
+                    case 11:
+                        message.lost = reader.bool();
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a Model message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.localisation.Model} Model
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            Model.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a Model message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            Model.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.modelId != null && message.hasOwnProperty("modelId"))
+                    if (!$util.isInteger(message.modelId))
+                        return "modelId: integer expected";
+                if (message.wmX != null && message.hasOwnProperty("wmX"))
+                    if (typeof message.wmX !== "number")
+                        return "wmX: number expected";
+                if (message.wmY != null && message.hasOwnProperty("wmY"))
+                    if (typeof message.wmY !== "number")
+                        return "wmY: number expected";
+                if (message.sdX != null && message.hasOwnProperty("sdX"))
+                    if (typeof message.sdX !== "number")
+                        return "sdX: number expected";
+                if (message.sdY != null && message.hasOwnProperty("sdY"))
+                    if (typeof message.sdY !== "number")
+                        return "sdY: number expected";
+                if (message.srXx != null && message.hasOwnProperty("srXx"))
+                    if (typeof message.srXx !== "number")
+                        return "srXx: number expected";
+                if (message.srXy != null && message.hasOwnProperty("srXy"))
+                    if (typeof message.srXy !== "number")
+                        return "srXy: number expected";
+                if (message.srYy != null && message.hasOwnProperty("srYy"))
+                    if (typeof message.srYy !== "number")
+                        return "srYy: number expected";
+                if (message.heading != null && message.hasOwnProperty("heading"))
+                    if (typeof message.heading !== "number")
+                        return "heading: number expected";
+                if (message.sdHeading != null && message.hasOwnProperty("sdHeading"))
+                    if (typeof message.sdHeading !== "number")
+                        return "sdHeading: number expected";
+                if (message.lost != null && message.hasOwnProperty("lost"))
+                    if (typeof message.lost !== "boolean")
+                        return "lost: boolean expected";
+                return null;
+            };
+
+            /**
+             * Creates a Model message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.localisation.Model} Model
+             */
+            Model.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.localisation.Model)
+                    return object;
+                var message = new $root.message.localisation.Model();
+                if (object.modelId != null)
+                    message.modelId = object.modelId >>> 0;
+                if (object.wmX != null)
+                    message.wmX = Number(object.wmX);
+                if (object.wmY != null)
+                    message.wmY = Number(object.wmY);
+                if (object.sdX != null)
+                    message.sdX = Number(object.sdX);
+                if (object.sdY != null)
+                    message.sdY = Number(object.sdY);
+                if (object.srXx != null)
+                    message.srXx = Number(object.srXx);
+                if (object.srXy != null)
+                    message.srXy = Number(object.srXy);
+                if (object.srYy != null)
+                    message.srYy = Number(object.srYy);
+                if (object.heading != null)
+                    message.heading = Number(object.heading);
+                if (object.sdHeading != null)
+                    message.sdHeading = Number(object.sdHeading);
+                if (object.lost != null)
+                    message.lost = Boolean(object.lost);
+                return message;
+            };
+
+            /**
+             * Creates a Model message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.localisation.Model.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.localisation.Model} Model
+             */
+            Model.from = Model.fromObject;
+
+            /**
+             * Creates a plain object from a Model message. Also converts values to other types if specified.
+             * @param {message.localisation.Model} message Model
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            Model.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults) {
+                    object.modelId = 0;
+                    object.wmX = 0;
+                    object.wmY = 0;
+                    object.sdX = 0;
+                    object.sdY = 0;
+                    object.srXx = 0;
+                    object.srXy = 0;
+                    object.srYy = 0;
+                    object.heading = 0;
+                    object.sdHeading = 0;
+                    object.lost = false;
+                }
+                if (message.modelId != null && message.hasOwnProperty("modelId"))
+                    object.modelId = message.modelId;
+                if (message.wmX != null && message.hasOwnProperty("wmX"))
+                    object.wmX = message.wmX;
+                if (message.wmY != null && message.hasOwnProperty("wmY"))
+                    object.wmY = message.wmY;
+                if (message.sdX != null && message.hasOwnProperty("sdX"))
+                    object.sdX = message.sdX;
+                if (message.sdY != null && message.hasOwnProperty("sdY"))
+                    object.sdY = message.sdY;
+                if (message.srXx != null && message.hasOwnProperty("srXx"))
+                    object.srXx = message.srXx;
+                if (message.srXy != null && message.hasOwnProperty("srXy"))
+                    object.srXy = message.srXy;
+                if (message.srYy != null && message.hasOwnProperty("srYy"))
+                    object.srYy = message.srYy;
+                if (message.heading != null && message.hasOwnProperty("heading"))
+                    object.heading = message.heading;
+                if (message.sdHeading != null && message.hasOwnProperty("sdHeading"))
+                    object.sdHeading = message.sdHeading;
+                if (message.lost != null && message.hasOwnProperty("lost"))
+                    object.lost = message.lost;
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this Model message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            Model.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this Model to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            Model.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return Model;
+        })();
+
+        localisation.LocalisationFieldObject = (function() {
+
+            /**
+             * Properties of a LocalisationFieldObject.
+             * @typedef message.localisation.LocalisationFieldObject$Properties
+             * @type {Object}
+             * @property {string} [name] LocalisationFieldObject name.
+             * @property {Array.<message.localisation.Model$Properties>} [models] LocalisationFieldObject models.
+             */
+
+            /**
+             * Constructs a new LocalisationFieldObject.
+             * @exports message.localisation.LocalisationFieldObject
+             * @constructor
+             * @param {message.localisation.LocalisationFieldObject$Properties=} [properties] Properties to set
+             */
+            function LocalisationFieldObject(properties) {
+                this.models = [];
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * LocalisationFieldObject name.
+             * @type {string}
+             */
+            LocalisationFieldObject.prototype.name = "";
+
+            /**
+             * LocalisationFieldObject models.
+             * @type {Array.<message.localisation.Model$Properties>}
+             */
+            LocalisationFieldObject.prototype.models = $util.emptyArray;
+
+            /**
+             * Creates a new LocalisationFieldObject instance using the specified properties.
+             * @param {message.localisation.LocalisationFieldObject$Properties=} [properties] Properties to set
+             * @returns {message.localisation.LocalisationFieldObject} LocalisationFieldObject instance
+             */
+            LocalisationFieldObject.create = function create(properties) {
+                return new LocalisationFieldObject(properties);
+            };
+
+            /**
+             * Encodes the specified LocalisationFieldObject message. Does not implicitly {@link message.localisation.LocalisationFieldObject.verify|verify} messages.
+             * @param {message.localisation.LocalisationFieldObject$Properties} message LocalisationFieldObject message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            LocalisationFieldObject.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.name != null && message.hasOwnProperty("name"))
+                    writer.uint32(/* id 1, wireType 2 =*/10).string(message.name);
+                if (message.models != null && message.models.length)
+                    for (var i = 0; i < message.models.length; ++i)
+                        $root.message.localisation.Model.encode(message.models[i], writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified LocalisationFieldObject message, length delimited. Does not implicitly {@link message.localisation.LocalisationFieldObject.verify|verify} messages.
+             * @param {message.localisation.LocalisationFieldObject$Properties} message LocalisationFieldObject message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            LocalisationFieldObject.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a LocalisationFieldObject message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.localisation.LocalisationFieldObject} LocalisationFieldObject
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            LocalisationFieldObject.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.localisation.LocalisationFieldObject();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.name = reader.string();
+                        break;
+                    case 2:
+                        if (!(message.models && message.models.length))
+                            message.models = [];
+                        message.models.push($root.message.localisation.Model.decode(reader, reader.uint32()));
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a LocalisationFieldObject message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.localisation.LocalisationFieldObject} LocalisationFieldObject
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            LocalisationFieldObject.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a LocalisationFieldObject message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            LocalisationFieldObject.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.name != null && message.hasOwnProperty("name"))
+                    if (!$util.isString(message.name))
+                        return "name: string expected";
+                if (message.models != null && message.hasOwnProperty("models")) {
+                    if (!Array.isArray(message.models))
+                        return "models: array expected";
+                    for (var i = 0; i < message.models.length; ++i) {
+                        var error = $root.message.localisation.Model.verify(message.models[i]);
+                        if (error)
+                            return "models." + error;
+                    }
+                }
+                return null;
+            };
+
+            /**
+             * Creates a LocalisationFieldObject message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.localisation.LocalisationFieldObject} LocalisationFieldObject
+             */
+            LocalisationFieldObject.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.localisation.LocalisationFieldObject)
+                    return object;
+                var message = new $root.message.localisation.LocalisationFieldObject();
+                if (object.name != null)
+                    message.name = String(object.name);
+                if (object.models) {
+                    if (!Array.isArray(object.models))
+                        throw TypeError(".message.localisation.LocalisationFieldObject.models: array expected");
+                    message.models = [];
+                    for (var i = 0; i < object.models.length; ++i) {
+                        if (typeof object.models[i] !== "object")
+                            throw TypeError(".message.localisation.LocalisationFieldObject.models: object expected");
+                        message.models[i] = $root.message.localisation.Model.fromObject(object.models[i]);
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Creates a LocalisationFieldObject message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.localisation.LocalisationFieldObject.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.localisation.LocalisationFieldObject} LocalisationFieldObject
+             */
+            LocalisationFieldObject.from = LocalisationFieldObject.fromObject;
+
+            /**
+             * Creates a plain object from a LocalisationFieldObject message. Also converts values to other types if specified.
+             * @param {message.localisation.LocalisationFieldObject} message LocalisationFieldObject
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            LocalisationFieldObject.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.arrays || options.defaults)
+                    object.models = [];
+                if (options.defaults)
+                    object.name = "";
+                if (message.name != null && message.hasOwnProperty("name"))
+                    object.name = message.name;
+                if (message.models && message.models.length) {
+                    object.models = [];
+                    for (var j = 0; j < message.models.length; ++j)
+                        object.models[j] = $root.message.localisation.Model.toObject(message.models[j], options);
+                }
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this LocalisationFieldObject message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            LocalisationFieldObject.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this LocalisationFieldObject to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            LocalisationFieldObject.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return LocalisationFieldObject;
+        })();
+
+        localisation.Localisation = (function() {
+
+            /**
+             * Properties of a Localisation.
+             * @typedef message.localisation.Localisation$Properties
+             * @type {Object}
+             * @property {Array.<message.localisation.LocalisationFieldObject$Properties>} [fieldObject] Localisation fieldObject.
+             */
+
+            /**
+             * Constructs a new Localisation.
+             * @exports message.localisation.Localisation
+             * @constructor
+             * @param {message.localisation.Localisation$Properties=} [properties] Properties to set
+             */
+            function Localisation(properties) {
+                this.fieldObject = [];
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Localisation fieldObject.
+             * @type {Array.<message.localisation.LocalisationFieldObject$Properties>}
+             */
+            Localisation.prototype.fieldObject = $util.emptyArray;
+
+            /**
+             * Creates a new Localisation instance using the specified properties.
+             * @param {message.localisation.Localisation$Properties=} [properties] Properties to set
+             * @returns {message.localisation.Localisation} Localisation instance
+             */
+            Localisation.create = function create(properties) {
+                return new Localisation(properties);
+            };
+
+            /**
+             * Encodes the specified Localisation message. Does not implicitly {@link message.localisation.Localisation.verify|verify} messages.
+             * @param {message.localisation.Localisation$Properties} message Localisation message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            Localisation.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.fieldObject != null && message.fieldObject.length)
+                    for (var i = 0; i < message.fieldObject.length; ++i)
+                        $root.message.localisation.LocalisationFieldObject.encode(message.fieldObject[i], writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified Localisation message, length delimited. Does not implicitly {@link message.localisation.Localisation.verify|verify} messages.
+             * @param {message.localisation.Localisation$Properties} message Localisation message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            Localisation.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a Localisation message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.localisation.Localisation} Localisation
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            Localisation.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.localisation.Localisation();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        if (!(message.fieldObject && message.fieldObject.length))
+                            message.fieldObject = [];
+                        message.fieldObject.push($root.message.localisation.LocalisationFieldObject.decode(reader, reader.uint32()));
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a Localisation message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.localisation.Localisation} Localisation
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            Localisation.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a Localisation message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            Localisation.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.fieldObject != null && message.hasOwnProperty("fieldObject")) {
+                    if (!Array.isArray(message.fieldObject))
+                        return "fieldObject: array expected";
+                    for (var i = 0; i < message.fieldObject.length; ++i) {
+                        var error = $root.message.localisation.LocalisationFieldObject.verify(message.fieldObject[i]);
+                        if (error)
+                            return "fieldObject." + error;
+                    }
+                }
+                return null;
+            };
+
+            /**
+             * Creates a Localisation message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.localisation.Localisation} Localisation
+             */
+            Localisation.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.localisation.Localisation)
+                    return object;
+                var message = new $root.message.localisation.Localisation();
+                if (object.fieldObject) {
+                    if (!Array.isArray(object.fieldObject))
+                        throw TypeError(".message.localisation.Localisation.fieldObject: array expected");
+                    message.fieldObject = [];
+                    for (var i = 0; i < object.fieldObject.length; ++i) {
+                        if (typeof object.fieldObject[i] !== "object")
+                            throw TypeError(".message.localisation.Localisation.fieldObject: object expected");
+                        message.fieldObject[i] = $root.message.localisation.LocalisationFieldObject.fromObject(object.fieldObject[i]);
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Creates a Localisation message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.localisation.Localisation.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.localisation.Localisation} Localisation
+             */
+            Localisation.from = Localisation.fromObject;
+
+            /**
+             * Creates a plain object from a Localisation message. Also converts values to other types if specified.
+             * @param {message.localisation.Localisation} message Localisation
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            Localisation.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.arrays || options.defaults)
+                    object.fieldObject = [];
+                if (message.fieldObject && message.fieldObject.length) {
+                    object.fieldObject = [];
+                    for (var j = 0; j < message.fieldObject.length; ++j)
+                        object.fieldObject[j] = $root.message.localisation.LocalisationFieldObject.toObject(message.fieldObject[j], options);
+                }
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this Localisation message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            Localisation.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this Localisation to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            Localisation.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return Localisation;
+        })();
+
+        localisation.ResetRobotHypotheses = (function() {
+
+            /**
+             * Properties of a ResetRobotHypotheses.
+             * @typedef message.localisation.ResetRobotHypotheses$Properties
+             * @type {Object}
+             * @property {Array.<message.localisation.ResetRobotHypotheses.Self$Properties>} [hypotheses] ResetRobotHypotheses hypotheses.
+             */
+
+            /**
+             * Constructs a new ResetRobotHypotheses.
+             * @exports message.localisation.ResetRobotHypotheses
+             * @constructor
+             * @param {message.localisation.ResetRobotHypotheses$Properties=} [properties] Properties to set
+             */
+            function ResetRobotHypotheses(properties) {
+                this.hypotheses = [];
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * ResetRobotHypotheses hypotheses.
+             * @type {Array.<message.localisation.ResetRobotHypotheses.Self$Properties>}
+             */
+            ResetRobotHypotheses.prototype.hypotheses = $util.emptyArray;
+
+            /**
+             * Creates a new ResetRobotHypotheses instance using the specified properties.
+             * @param {message.localisation.ResetRobotHypotheses$Properties=} [properties] Properties to set
+             * @returns {message.localisation.ResetRobotHypotheses} ResetRobotHypotheses instance
+             */
+            ResetRobotHypotheses.create = function create(properties) {
+                return new ResetRobotHypotheses(properties);
+            };
+
+            /**
+             * Encodes the specified ResetRobotHypotheses message. Does not implicitly {@link message.localisation.ResetRobotHypotheses.verify|verify} messages.
+             * @param {message.localisation.ResetRobotHypotheses$Properties} message ResetRobotHypotheses message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            ResetRobotHypotheses.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.hypotheses != null && message.hypotheses.length)
+                    for (var i = 0; i < message.hypotheses.length; ++i)
+                        $root.message.localisation.ResetRobotHypotheses.Self.encode(message.hypotheses[i], writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified ResetRobotHypotheses message, length delimited. Does not implicitly {@link message.localisation.ResetRobotHypotheses.verify|verify} messages.
+             * @param {message.localisation.ResetRobotHypotheses$Properties} message ResetRobotHypotheses message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            ResetRobotHypotheses.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a ResetRobotHypotheses message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.localisation.ResetRobotHypotheses} ResetRobotHypotheses
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            ResetRobotHypotheses.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.localisation.ResetRobotHypotheses();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        if (!(message.hypotheses && message.hypotheses.length))
+                            message.hypotheses = [];
+                        message.hypotheses.push($root.message.localisation.ResetRobotHypotheses.Self.decode(reader, reader.uint32()));
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a ResetRobotHypotheses message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.localisation.ResetRobotHypotheses} ResetRobotHypotheses
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            ResetRobotHypotheses.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a ResetRobotHypotheses message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            ResetRobotHypotheses.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.hypotheses != null && message.hasOwnProperty("hypotheses")) {
+                    if (!Array.isArray(message.hypotheses))
+                        return "hypotheses: array expected";
+                    for (var i = 0; i < message.hypotheses.length; ++i) {
+                        var error = $root.message.localisation.ResetRobotHypotheses.Self.verify(message.hypotheses[i]);
+                        if (error)
+                            return "hypotheses." + error;
+                    }
+                }
+                return null;
+            };
+
+            /**
+             * Creates a ResetRobotHypotheses message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.localisation.ResetRobotHypotheses} ResetRobotHypotheses
+             */
+            ResetRobotHypotheses.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.localisation.ResetRobotHypotheses)
+                    return object;
+                var message = new $root.message.localisation.ResetRobotHypotheses();
+                if (object.hypotheses) {
+                    if (!Array.isArray(object.hypotheses))
+                        throw TypeError(".message.localisation.ResetRobotHypotheses.hypotheses: array expected");
+                    message.hypotheses = [];
+                    for (var i = 0; i < object.hypotheses.length; ++i) {
+                        if (typeof object.hypotheses[i] !== "object")
+                            throw TypeError(".message.localisation.ResetRobotHypotheses.hypotheses: object expected");
+                        message.hypotheses[i] = $root.message.localisation.ResetRobotHypotheses.Self.fromObject(object.hypotheses[i]);
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Creates a ResetRobotHypotheses message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.localisation.ResetRobotHypotheses.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.localisation.ResetRobotHypotheses} ResetRobotHypotheses
+             */
+            ResetRobotHypotheses.from = ResetRobotHypotheses.fromObject;
+
+            /**
+             * Creates a plain object from a ResetRobotHypotheses message. Also converts values to other types if specified.
+             * @param {message.localisation.ResetRobotHypotheses} message ResetRobotHypotheses
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            ResetRobotHypotheses.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.arrays || options.defaults)
+                    object.hypotheses = [];
+                if (message.hypotheses && message.hypotheses.length) {
+                    object.hypotheses = [];
+                    for (var j = 0; j < message.hypotheses.length; ++j)
+                        object.hypotheses[j] = $root.message.localisation.ResetRobotHypotheses.Self.toObject(message.hypotheses[j], options);
+                }
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this ResetRobotHypotheses message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            ResetRobotHypotheses.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this ResetRobotHypotheses to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            ResetRobotHypotheses.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            ResetRobotHypotheses.Self = (function() {
+
+                /**
+                 * Properties of a Self.
+                 * @typedef message.localisation.ResetRobotHypotheses.Self$Properties
+                 * @type {Object}
+                 * @property {vec2$Properties} [position] Self position.
+                 * @property {mat22$Properties} [positionCov] Self positionCov.
+                 * @property {number} [heading] Self heading.
+                 * @property {number} [headingVar] Self headingVar.
+                 * @property {boolean} [absoluteYaw] Self absoluteYaw.
+                 */
+
+                /**
+                 * Constructs a new Self.
+                 * @exports message.localisation.ResetRobotHypotheses.Self
+                 * @constructor
+                 * @param {message.localisation.ResetRobotHypotheses.Self$Properties=} [properties] Properties to set
+                 */
+                function Self(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * Self position.
+                 * @type {(vec2$Properties|null)}
+                 */
+                Self.prototype.position = null;
+
+                /**
+                 * Self positionCov.
+                 * @type {(mat22$Properties|null)}
+                 */
+                Self.prototype.positionCov = null;
+
+                /**
+                 * Self heading.
+                 * @type {number}
+                 */
+                Self.prototype.heading = 0;
+
+                /**
+                 * Self headingVar.
+                 * @type {number}
+                 */
+                Self.prototype.headingVar = 0;
+
+                /**
+                 * Self absoluteYaw.
+                 * @type {boolean}
+                 */
+                Self.prototype.absoluteYaw = false;
+
+                /**
+                 * Creates a new Self instance using the specified properties.
+                 * @param {message.localisation.ResetRobotHypotheses.Self$Properties=} [properties] Properties to set
+                 * @returns {message.localisation.ResetRobotHypotheses.Self} Self instance
+                 */
+                Self.create = function create(properties) {
+                    return new Self(properties);
+                };
+
+                /**
+                 * Encodes the specified Self message. Does not implicitly {@link message.localisation.ResetRobotHypotheses.Self.verify|verify} messages.
+                 * @param {message.localisation.ResetRobotHypotheses.Self$Properties} message Self message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Self.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.position != null && message.hasOwnProperty("position"))
+                        $root.vec2.encode(message.position, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                    if (message.positionCov != null && message.hasOwnProperty("positionCov"))
+                        $root.mat22.encode(message.positionCov, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                    if (message.heading != null && message.hasOwnProperty("heading"))
+                        writer.uint32(/* id 3, wireType 1 =*/25).double(message.heading);
+                    if (message.headingVar != null && message.hasOwnProperty("headingVar"))
+                        writer.uint32(/* id 4, wireType 1 =*/33).double(message.headingVar);
+                    if (message.absoluteYaw != null && message.hasOwnProperty("absoluteYaw"))
+                        writer.uint32(/* id 5, wireType 0 =*/40).bool(message.absoluteYaw);
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified Self message, length delimited. Does not implicitly {@link message.localisation.ResetRobotHypotheses.Self.verify|verify} messages.
+                 * @param {message.localisation.ResetRobotHypotheses.Self$Properties} message Self message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Self.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a Self message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.localisation.ResetRobotHypotheses.Self} Self
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Self.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.localisation.ResetRobotHypotheses.Self();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.position = $root.vec2.decode(reader, reader.uint32());
+                            break;
+                        case 2:
+                            message.positionCov = $root.mat22.decode(reader, reader.uint32());
+                            break;
+                        case 3:
+                            message.heading = reader.double();
+                            break;
+                        case 4:
+                            message.headingVar = reader.double();
+                            break;
+                        case 5:
+                            message.absoluteYaw = reader.bool();
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a Self message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.localisation.ResetRobotHypotheses.Self} Self
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Self.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a Self message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                Self.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.position != null && message.hasOwnProperty("position")) {
+                        var error = $root.vec2.verify(message.position);
+                        if (error)
+                            return "position." + error;
+                    }
+                    if (message.positionCov != null && message.hasOwnProperty("positionCov")) {
+                        var error = $root.mat22.verify(message.positionCov);
+                        if (error)
+                            return "positionCov." + error;
+                    }
+                    if (message.heading != null && message.hasOwnProperty("heading"))
+                        if (typeof message.heading !== "number")
+                            return "heading: number expected";
+                    if (message.headingVar != null && message.hasOwnProperty("headingVar"))
+                        if (typeof message.headingVar !== "number")
+                            return "headingVar: number expected";
+                    if (message.absoluteYaw != null && message.hasOwnProperty("absoluteYaw"))
+                        if (typeof message.absoluteYaw !== "boolean")
+                            return "absoluteYaw: boolean expected";
+                    return null;
+                };
+
+                /**
+                 * Creates a Self message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.localisation.ResetRobotHypotheses.Self} Self
+                 */
+                Self.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.localisation.ResetRobotHypotheses.Self)
+                        return object;
+                    var message = new $root.message.localisation.ResetRobotHypotheses.Self();
+                    if (object.position != null) {
+                        if (typeof object.position !== "object")
+                            throw TypeError(".message.localisation.ResetRobotHypotheses.Self.position: object expected");
+                        message.position = $root.vec2.fromObject(object.position);
+                    }
+                    if (object.positionCov != null) {
+                        if (typeof object.positionCov !== "object")
+                            throw TypeError(".message.localisation.ResetRobotHypotheses.Self.positionCov: object expected");
+                        message.positionCov = $root.mat22.fromObject(object.positionCov);
+                    }
+                    if (object.heading != null)
+                        message.heading = Number(object.heading);
+                    if (object.headingVar != null)
+                        message.headingVar = Number(object.headingVar);
+                    if (object.absoluteYaw != null)
+                        message.absoluteYaw = Boolean(object.absoluteYaw);
+                    return message;
+                };
+
+                /**
+                 * Creates a Self message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.localisation.ResetRobotHypotheses.Self.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.localisation.ResetRobotHypotheses.Self} Self
+                 */
+                Self.from = Self.fromObject;
+
+                /**
+                 * Creates a plain object from a Self message. Also converts values to other types if specified.
+                 * @param {message.localisation.ResetRobotHypotheses.Self} message Self
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Self.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.defaults) {
+                        object.position = null;
+                        object.positionCov = null;
+                        object.heading = 0;
+                        object.headingVar = 0;
+                        object.absoluteYaw = false;
+                    }
+                    if (message.position != null && message.hasOwnProperty("position"))
+                        object.position = $root.vec2.toObject(message.position, options);
+                    if (message.positionCov != null && message.hasOwnProperty("positionCov"))
+                        object.positionCov = $root.mat22.toObject(message.positionCov, options);
+                    if (message.heading != null && message.hasOwnProperty("heading"))
+                        object.heading = message.heading;
+                    if (message.headingVar != null && message.hasOwnProperty("headingVar"))
+                        object.headingVar = message.headingVar;
+                    if (message.absoluteYaw != null && message.hasOwnProperty("absoluteYaw"))
+                        object.absoluteYaw = message.absoluteYaw;
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this Self message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Self.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this Self to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                Self.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return Self;
+            })();
+
+            return ResetRobotHypotheses;
+        })();
+
+        localisation.SideCheckingComplete = (function() {
+
+            /**
+             * Properties of a SideCheckingComplete.
+             * @typedef message.localisation.SideCheckingComplete$Properties
+             * @type {Object}
+             */
+
+            /**
+             * Constructs a new SideCheckingComplete.
+             * @exports message.localisation.SideCheckingComplete
+             * @constructor
+             * @param {message.localisation.SideCheckingComplete$Properties=} [properties] Properties to set
+             */
+            function SideCheckingComplete(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Creates a new SideCheckingComplete instance using the specified properties.
+             * @param {message.localisation.SideCheckingComplete$Properties=} [properties] Properties to set
+             * @returns {message.localisation.SideCheckingComplete} SideCheckingComplete instance
+             */
+            SideCheckingComplete.create = function create(properties) {
+                return new SideCheckingComplete(properties);
+            };
+
+            /**
+             * Encodes the specified SideCheckingComplete message. Does not implicitly {@link message.localisation.SideCheckingComplete.verify|verify} messages.
+             * @param {message.localisation.SideCheckingComplete$Properties} message SideCheckingComplete message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            SideCheckingComplete.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified SideCheckingComplete message, length delimited. Does not implicitly {@link message.localisation.SideCheckingComplete.verify|verify} messages.
+             * @param {message.localisation.SideCheckingComplete$Properties} message SideCheckingComplete message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            SideCheckingComplete.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a SideCheckingComplete message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.localisation.SideCheckingComplete} SideCheckingComplete
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            SideCheckingComplete.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.localisation.SideCheckingComplete();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a SideCheckingComplete message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.localisation.SideCheckingComplete} SideCheckingComplete
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            SideCheckingComplete.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a SideCheckingComplete message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            SideCheckingComplete.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                return null;
+            };
+
+            /**
+             * Creates a SideCheckingComplete message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.localisation.SideCheckingComplete} SideCheckingComplete
+             */
+            SideCheckingComplete.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.localisation.SideCheckingComplete)
+                    return object;
+                return new $root.message.localisation.SideCheckingComplete();
+            };
+
+            /**
+             * Creates a SideCheckingComplete message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.localisation.SideCheckingComplete.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.localisation.SideCheckingComplete} SideCheckingComplete
+             */
+            SideCheckingComplete.from = SideCheckingComplete.fromObject;
+
+            /**
+             * Creates a plain object from a SideCheckingComplete message. Also converts values to other types if specified.
+             * @param {message.localisation.SideCheckingComplete} message SideCheckingComplete
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            SideCheckingComplete.toObject = function toObject() {
+                return {};
+            };
+
+            /**
+             * Creates a plain object from this SideCheckingComplete message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            SideCheckingComplete.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this SideCheckingComplete to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            SideCheckingComplete.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return SideCheckingComplete;
+        })();
+
+        return localisation;
+    })();
+
+    message.motion = (function() {
+
+        /**
+         * Namespace motion.
+         * @exports message.motion
+         * @namespace
+         */
+        var motion = {};
+
+        motion.BalanceBodyUpdate = (function() {
+
+            /**
+             * Properties of a BalanceBodyUpdate.
+             * @typedef message.motion.BalanceBodyUpdate$Properties
+             * @type {Object}
+             * @property {number} [phase] BalanceBodyUpdate phase.
+             * @property {mat44$Properties} [leftFoot] BalanceBodyUpdate leftFoot.
+             * @property {mat44$Properties} [rightFoot] BalanceBodyUpdate rightFoot.
+             * @property {vec3$Properties} [armLPosition] BalanceBodyUpdate armLPosition.
+             * @property {vec3$Properties} [armRPosition] BalanceBodyUpdate armRPosition.
+             */
+
+            /**
+             * Constructs a new BalanceBodyUpdate.
+             * @exports message.motion.BalanceBodyUpdate
+             * @constructor
+             * @param {message.motion.BalanceBodyUpdate$Properties=} [properties] Properties to set
+             */
+            function BalanceBodyUpdate(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * BalanceBodyUpdate phase.
+             * @type {number}
+             */
+            BalanceBodyUpdate.prototype.phase = 0;
+
+            /**
+             * BalanceBodyUpdate leftFoot.
+             * @type {(mat44$Properties|null)}
+             */
+            BalanceBodyUpdate.prototype.leftFoot = null;
+
+            /**
+             * BalanceBodyUpdate rightFoot.
+             * @type {(mat44$Properties|null)}
+             */
+            BalanceBodyUpdate.prototype.rightFoot = null;
+
+            /**
+             * BalanceBodyUpdate armLPosition.
+             * @type {(vec3$Properties|null)}
+             */
+            BalanceBodyUpdate.prototype.armLPosition = null;
+
+            /**
+             * BalanceBodyUpdate armRPosition.
+             * @type {(vec3$Properties|null)}
+             */
+            BalanceBodyUpdate.prototype.armRPosition = null;
+
+            /**
+             * Creates a new BalanceBodyUpdate instance using the specified properties.
+             * @param {message.motion.BalanceBodyUpdate$Properties=} [properties] Properties to set
+             * @returns {message.motion.BalanceBodyUpdate} BalanceBodyUpdate instance
+             */
+            BalanceBodyUpdate.create = function create(properties) {
+                return new BalanceBodyUpdate(properties);
+            };
+
+            /**
+             * Encodes the specified BalanceBodyUpdate message. Does not implicitly {@link message.motion.BalanceBodyUpdate.verify|verify} messages.
+             * @param {message.motion.BalanceBodyUpdate$Properties} message BalanceBodyUpdate message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            BalanceBodyUpdate.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.phase != null && message.hasOwnProperty("phase"))
+                    writer.uint32(/* id 1, wireType 1 =*/9).double(message.phase);
+                if (message.leftFoot != null && message.hasOwnProperty("leftFoot"))
+                    $root.mat44.encode(message.leftFoot, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                if (message.rightFoot != null && message.hasOwnProperty("rightFoot"))
+                    $root.mat44.encode(message.rightFoot, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+                if (message.armLPosition != null && message.hasOwnProperty("armLPosition"))
+                    $root.vec3.encode(message.armLPosition, writer.uint32(/* id 4, wireType 2 =*/34).fork()).ldelim();
+                if (message.armRPosition != null && message.hasOwnProperty("armRPosition"))
+                    $root.vec3.encode(message.armRPosition, writer.uint32(/* id 5, wireType 2 =*/42).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified BalanceBodyUpdate message, length delimited. Does not implicitly {@link message.motion.BalanceBodyUpdate.verify|verify} messages.
+             * @param {message.motion.BalanceBodyUpdate$Properties} message BalanceBodyUpdate message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            BalanceBodyUpdate.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a BalanceBodyUpdate message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.BalanceBodyUpdate} BalanceBodyUpdate
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            BalanceBodyUpdate.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.BalanceBodyUpdate();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.phase = reader.double();
+                        break;
+                    case 2:
+                        message.leftFoot = $root.mat44.decode(reader, reader.uint32());
+                        break;
+                    case 3:
+                        message.rightFoot = $root.mat44.decode(reader, reader.uint32());
+                        break;
+                    case 4:
+                        message.armLPosition = $root.vec3.decode(reader, reader.uint32());
+                        break;
+                    case 5:
+                        message.armRPosition = $root.vec3.decode(reader, reader.uint32());
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a BalanceBodyUpdate message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.BalanceBodyUpdate} BalanceBodyUpdate
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            BalanceBodyUpdate.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a BalanceBodyUpdate message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            BalanceBodyUpdate.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.phase != null && message.hasOwnProperty("phase"))
+                    if (typeof message.phase !== "number")
+                        return "phase: number expected";
+                if (message.leftFoot != null && message.hasOwnProperty("leftFoot")) {
+                    var error = $root.mat44.verify(message.leftFoot);
+                    if (error)
+                        return "leftFoot." + error;
+                }
+                if (message.rightFoot != null && message.hasOwnProperty("rightFoot")) {
+                    var error = $root.mat44.verify(message.rightFoot);
+                    if (error)
+                        return "rightFoot." + error;
+                }
+                if (message.armLPosition != null && message.hasOwnProperty("armLPosition")) {
+                    var error = $root.vec3.verify(message.armLPosition);
+                    if (error)
+                        return "armLPosition." + error;
+                }
+                if (message.armRPosition != null && message.hasOwnProperty("armRPosition")) {
+                    var error = $root.vec3.verify(message.armRPosition);
+                    if (error)
+                        return "armRPosition." + error;
+                }
+                return null;
+            };
+
+            /**
+             * Creates a BalanceBodyUpdate message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.BalanceBodyUpdate} BalanceBodyUpdate
+             */
+            BalanceBodyUpdate.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.motion.BalanceBodyUpdate)
+                    return object;
+                var message = new $root.message.motion.BalanceBodyUpdate();
+                if (object.phase != null)
+                    message.phase = Number(object.phase);
+                if (object.leftFoot != null) {
+                    if (typeof object.leftFoot !== "object")
+                        throw TypeError(".message.motion.BalanceBodyUpdate.leftFoot: object expected");
+                    message.leftFoot = $root.mat44.fromObject(object.leftFoot);
+                }
+                if (object.rightFoot != null) {
+                    if (typeof object.rightFoot !== "object")
+                        throw TypeError(".message.motion.BalanceBodyUpdate.rightFoot: object expected");
+                    message.rightFoot = $root.mat44.fromObject(object.rightFoot);
+                }
+                if (object.armLPosition != null) {
+                    if (typeof object.armLPosition !== "object")
+                        throw TypeError(".message.motion.BalanceBodyUpdate.armLPosition: object expected");
+                    message.armLPosition = $root.vec3.fromObject(object.armLPosition);
+                }
+                if (object.armRPosition != null) {
+                    if (typeof object.armRPosition !== "object")
+                        throw TypeError(".message.motion.BalanceBodyUpdate.armRPosition: object expected");
+                    message.armRPosition = $root.vec3.fromObject(object.armRPosition);
+                }
+                return message;
+            };
+
+            /**
+             * Creates a BalanceBodyUpdate message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.BalanceBodyUpdate.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.BalanceBodyUpdate} BalanceBodyUpdate
+             */
+            BalanceBodyUpdate.from = BalanceBodyUpdate.fromObject;
+
+            /**
+             * Creates a plain object from a BalanceBodyUpdate message. Also converts values to other types if specified.
+             * @param {message.motion.BalanceBodyUpdate} message BalanceBodyUpdate
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            BalanceBodyUpdate.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults) {
+                    object.phase = 0;
+                    object.leftFoot = null;
+                    object.rightFoot = null;
+                    object.armLPosition = null;
+                    object.armRPosition = null;
+                }
+                if (message.phase != null && message.hasOwnProperty("phase"))
+                    object.phase = message.phase;
+                if (message.leftFoot != null && message.hasOwnProperty("leftFoot"))
+                    object.leftFoot = $root.mat44.toObject(message.leftFoot, options);
+                if (message.rightFoot != null && message.hasOwnProperty("rightFoot"))
+                    object.rightFoot = $root.mat44.toObject(message.rightFoot, options);
+                if (message.armLPosition != null && message.hasOwnProperty("armLPosition"))
+                    object.armLPosition = $root.vec3.toObject(message.armLPosition, options);
+                if (message.armRPosition != null && message.hasOwnProperty("armRPosition"))
+                    object.armRPosition = $root.vec3.toObject(message.armRPosition, options);
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this BalanceBodyUpdate message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            BalanceBodyUpdate.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this BalanceBodyUpdate to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            BalanceBodyUpdate.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return BalanceBodyUpdate;
+        })();
+
+        motion.EnableBalanceResponse = (function() {
+
+            /**
+             * Properties of an EnableBalanceResponse.
+             * @typedef message.motion.EnableBalanceResponse$Properties
+             * @type {Object}
+             */
+
+            /**
+             * Constructs a new EnableBalanceResponse.
+             * @exports message.motion.EnableBalanceResponse
+             * @constructor
+             * @param {message.motion.EnableBalanceResponse$Properties=} [properties] Properties to set
+             */
+            function EnableBalanceResponse(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Creates a new EnableBalanceResponse instance using the specified properties.
+             * @param {message.motion.EnableBalanceResponse$Properties=} [properties] Properties to set
+             * @returns {message.motion.EnableBalanceResponse} EnableBalanceResponse instance
+             */
+            EnableBalanceResponse.create = function create(properties) {
+                return new EnableBalanceResponse(properties);
+            };
+
+            /**
+             * Encodes the specified EnableBalanceResponse message. Does not implicitly {@link message.motion.EnableBalanceResponse.verify|verify} messages.
+             * @param {message.motion.EnableBalanceResponse$Properties} message EnableBalanceResponse message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            EnableBalanceResponse.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified EnableBalanceResponse message, length delimited. Does not implicitly {@link message.motion.EnableBalanceResponse.verify|verify} messages.
+             * @param {message.motion.EnableBalanceResponse$Properties} message EnableBalanceResponse message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            EnableBalanceResponse.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes an EnableBalanceResponse message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.EnableBalanceResponse} EnableBalanceResponse
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            EnableBalanceResponse.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.EnableBalanceResponse();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes an EnableBalanceResponse message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.EnableBalanceResponse} EnableBalanceResponse
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            EnableBalanceResponse.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies an EnableBalanceResponse message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            EnableBalanceResponse.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                return null;
+            };
+
+            /**
+             * Creates an EnableBalanceResponse message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.EnableBalanceResponse} EnableBalanceResponse
+             */
+            EnableBalanceResponse.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.motion.EnableBalanceResponse)
+                    return object;
+                return new $root.message.motion.EnableBalanceResponse();
+            };
+
+            /**
+             * Creates an EnableBalanceResponse message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.EnableBalanceResponse.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.EnableBalanceResponse} EnableBalanceResponse
+             */
+            EnableBalanceResponse.from = EnableBalanceResponse.fromObject;
+
+            /**
+             * Creates a plain object from an EnableBalanceResponse message. Also converts values to other types if specified.
+             * @param {message.motion.EnableBalanceResponse} message EnableBalanceResponse
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            EnableBalanceResponse.toObject = function toObject() {
+                return {};
+            };
+
+            /**
+             * Creates a plain object from this EnableBalanceResponse message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            EnableBalanceResponse.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this EnableBalanceResponse to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            EnableBalanceResponse.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return EnableBalanceResponse;
+        })();
+
+        motion.DisableBalanceResponse = (function() {
+
+            /**
+             * Properties of a DisableBalanceResponse.
+             * @typedef message.motion.DisableBalanceResponse$Properties
+             * @type {Object}
+             */
+
+            /**
+             * Constructs a new DisableBalanceResponse.
+             * @exports message.motion.DisableBalanceResponse
+             * @constructor
+             * @param {message.motion.DisableBalanceResponse$Properties=} [properties] Properties to set
+             */
+            function DisableBalanceResponse(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Creates a new DisableBalanceResponse instance using the specified properties.
+             * @param {message.motion.DisableBalanceResponse$Properties=} [properties] Properties to set
+             * @returns {message.motion.DisableBalanceResponse} DisableBalanceResponse instance
+             */
+            DisableBalanceResponse.create = function create(properties) {
+                return new DisableBalanceResponse(properties);
+            };
+
+            /**
+             * Encodes the specified DisableBalanceResponse message. Does not implicitly {@link message.motion.DisableBalanceResponse.verify|verify} messages.
+             * @param {message.motion.DisableBalanceResponse$Properties} message DisableBalanceResponse message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            DisableBalanceResponse.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified DisableBalanceResponse message, length delimited. Does not implicitly {@link message.motion.DisableBalanceResponse.verify|verify} messages.
+             * @param {message.motion.DisableBalanceResponse$Properties} message DisableBalanceResponse message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            DisableBalanceResponse.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a DisableBalanceResponse message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.DisableBalanceResponse} DisableBalanceResponse
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            DisableBalanceResponse.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.DisableBalanceResponse();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a DisableBalanceResponse message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.DisableBalanceResponse} DisableBalanceResponse
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            DisableBalanceResponse.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a DisableBalanceResponse message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            DisableBalanceResponse.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                return null;
+            };
+
+            /**
+             * Creates a DisableBalanceResponse message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.DisableBalanceResponse} DisableBalanceResponse
+             */
+            DisableBalanceResponse.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.motion.DisableBalanceResponse)
+                    return object;
+                return new $root.message.motion.DisableBalanceResponse();
+            };
+
+            /**
+             * Creates a DisableBalanceResponse message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.DisableBalanceResponse.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.DisableBalanceResponse} DisableBalanceResponse
+             */
+            DisableBalanceResponse.from = DisableBalanceResponse.fromObject;
+
+            /**
+             * Creates a plain object from a DisableBalanceResponse message. Also converts values to other types if specified.
+             * @param {message.motion.DisableBalanceResponse} message DisableBalanceResponse
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            DisableBalanceResponse.toObject = function toObject() {
+                return {};
+            };
+
+            /**
+             * Creates a plain object from this DisableBalanceResponse message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            DisableBalanceResponse.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this DisableBalanceResponse to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            DisableBalanceResponse.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return DisableBalanceResponse;
+        })();
+
+        motion.DiveCommand = (function() {
+
+            /**
+             * Properties of a DiveCommand.
+             * @typedef message.motion.DiveCommand$Properties
+             * @type {Object}
+             * @property {vec2$Properties} [direction] DiveCommand direction.
+             */
+
+            /**
+             * Constructs a new DiveCommand.
+             * @exports message.motion.DiveCommand
+             * @constructor
+             * @param {message.motion.DiveCommand$Properties=} [properties] Properties to set
+             */
+            function DiveCommand(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * DiveCommand direction.
+             * @type {(vec2$Properties|null)}
+             */
+            DiveCommand.prototype.direction = null;
+
+            /**
+             * Creates a new DiveCommand instance using the specified properties.
+             * @param {message.motion.DiveCommand$Properties=} [properties] Properties to set
+             * @returns {message.motion.DiveCommand} DiveCommand instance
+             */
+            DiveCommand.create = function create(properties) {
+                return new DiveCommand(properties);
+            };
+
+            /**
+             * Encodes the specified DiveCommand message. Does not implicitly {@link message.motion.DiveCommand.verify|verify} messages.
+             * @param {message.motion.DiveCommand$Properties} message DiveCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            DiveCommand.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.direction != null && message.hasOwnProperty("direction"))
+                    $root.vec2.encode(message.direction, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified DiveCommand message, length delimited. Does not implicitly {@link message.motion.DiveCommand.verify|verify} messages.
+             * @param {message.motion.DiveCommand$Properties} message DiveCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            DiveCommand.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a DiveCommand message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.DiveCommand} DiveCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            DiveCommand.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.DiveCommand();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.direction = $root.vec2.decode(reader, reader.uint32());
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a DiveCommand message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.DiveCommand} DiveCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            DiveCommand.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a DiveCommand message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            DiveCommand.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.direction != null && message.hasOwnProperty("direction")) {
+                    var error = $root.vec2.verify(message.direction);
+                    if (error)
+                        return "direction." + error;
+                }
+                return null;
+            };
+
+            /**
+             * Creates a DiveCommand message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.DiveCommand} DiveCommand
+             */
+            DiveCommand.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.motion.DiveCommand)
+                    return object;
+                var message = new $root.message.motion.DiveCommand();
+                if (object.direction != null) {
+                    if (typeof object.direction !== "object")
+                        throw TypeError(".message.motion.DiveCommand.direction: object expected");
+                    message.direction = $root.vec2.fromObject(object.direction);
+                }
+                return message;
+            };
+
+            /**
+             * Creates a DiveCommand message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.DiveCommand.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.DiveCommand} DiveCommand
+             */
+            DiveCommand.from = DiveCommand.fromObject;
+
+            /**
+             * Creates a plain object from a DiveCommand message. Also converts values to other types if specified.
+             * @param {message.motion.DiveCommand} message DiveCommand
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            DiveCommand.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults)
+                    object.direction = null;
+                if (message.direction != null && message.hasOwnProperty("direction"))
+                    object.direction = $root.vec2.toObject(message.direction, options);
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this DiveCommand message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            DiveCommand.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this DiveCommand to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            DiveCommand.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return DiveCommand;
+        })();
+
+        motion.DiveFinished = (function() {
+
+            /**
+             * Properties of a DiveFinished.
+             * @typedef message.motion.DiveFinished$Properties
+             * @type {Object}
+             */
+
+            /**
+             * Constructs a new DiveFinished.
+             * @exports message.motion.DiveFinished
+             * @constructor
+             * @param {message.motion.DiveFinished$Properties=} [properties] Properties to set
+             */
+            function DiveFinished(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Creates a new DiveFinished instance using the specified properties.
+             * @param {message.motion.DiveFinished$Properties=} [properties] Properties to set
+             * @returns {message.motion.DiveFinished} DiveFinished instance
+             */
+            DiveFinished.create = function create(properties) {
+                return new DiveFinished(properties);
+            };
+
+            /**
+             * Encodes the specified DiveFinished message. Does not implicitly {@link message.motion.DiveFinished.verify|verify} messages.
+             * @param {message.motion.DiveFinished$Properties} message DiveFinished message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            DiveFinished.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified DiveFinished message, length delimited. Does not implicitly {@link message.motion.DiveFinished.verify|verify} messages.
+             * @param {message.motion.DiveFinished$Properties} message DiveFinished message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            DiveFinished.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a DiveFinished message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.DiveFinished} DiveFinished
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            DiveFinished.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.DiveFinished();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a DiveFinished message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.DiveFinished} DiveFinished
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            DiveFinished.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a DiveFinished message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            DiveFinished.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                return null;
+            };
+
+            /**
+             * Creates a DiveFinished message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.DiveFinished} DiveFinished
+             */
+            DiveFinished.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.motion.DiveFinished)
+                    return object;
+                return new $root.message.motion.DiveFinished();
+            };
+
+            /**
+             * Creates a DiveFinished message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.DiveFinished.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.DiveFinished} DiveFinished
+             */
+            DiveFinished.from = DiveFinished.fromObject;
+
+            /**
+             * Creates a plain object from a DiveFinished message. Also converts values to other types if specified.
+             * @param {message.motion.DiveFinished} message DiveFinished
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            DiveFinished.toObject = function toObject() {
+                return {};
+            };
+
+            /**
+             * Creates a plain object from this DiveFinished message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            DiveFinished.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this DiveFinished to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            DiveFinished.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return DiveFinished;
+        })();
+
+        motion.FootMotionStopped = (function() {
+
+            /**
+             * Properties of a FootMotionStopped.
+             * @typedef message.motion.FootMotionStopped$Properties
+             * @type {Object}
+             */
+
+            /**
+             * Constructs a new FootMotionStopped.
+             * @exports message.motion.FootMotionStopped
+             * @constructor
+             * @param {message.motion.FootMotionStopped$Properties=} [properties] Properties to set
+             */
+            function FootMotionStopped(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Creates a new FootMotionStopped instance using the specified properties.
+             * @param {message.motion.FootMotionStopped$Properties=} [properties] Properties to set
+             * @returns {message.motion.FootMotionStopped} FootMotionStopped instance
+             */
+            FootMotionStopped.create = function create(properties) {
+                return new FootMotionStopped(properties);
+            };
+
+            /**
+             * Encodes the specified FootMotionStopped message. Does not implicitly {@link message.motion.FootMotionStopped.verify|verify} messages.
+             * @param {message.motion.FootMotionStopped$Properties} message FootMotionStopped message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            FootMotionStopped.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified FootMotionStopped message, length delimited. Does not implicitly {@link message.motion.FootMotionStopped.verify|verify} messages.
+             * @param {message.motion.FootMotionStopped$Properties} message FootMotionStopped message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            FootMotionStopped.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a FootMotionStopped message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.FootMotionStopped} FootMotionStopped
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            FootMotionStopped.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.FootMotionStopped();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a FootMotionStopped message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.FootMotionStopped} FootMotionStopped
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            FootMotionStopped.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a FootMotionStopped message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            FootMotionStopped.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                return null;
+            };
+
+            /**
+             * Creates a FootMotionStopped message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.FootMotionStopped} FootMotionStopped
+             */
+            FootMotionStopped.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.motion.FootMotionStopped)
+                    return object;
+                return new $root.message.motion.FootMotionStopped();
+            };
+
+            /**
+             * Creates a FootMotionStopped message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.FootMotionStopped.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.FootMotionStopped} FootMotionStopped
+             */
+            FootMotionStopped.from = FootMotionStopped.fromObject;
+
+            /**
+             * Creates a plain object from a FootMotionStopped message. Also converts values to other types if specified.
+             * @param {message.motion.FootMotionStopped} message FootMotionStopped
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            FootMotionStopped.toObject = function toObject() {
+                return {};
+            };
+
+            /**
+             * Creates a plain object from this FootMotionStopped message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            FootMotionStopped.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this FootMotionStopped to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            FootMotionStopped.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return FootMotionStopped;
+        })();
+
+        motion.FootMotionUpdate = (function() {
+
+            /**
+             * Properties of a FootMotionUpdate.
+             * @typedef message.motion.FootMotionUpdate$Properties
+             * @type {Object}
+             * @property {number} [phase] FootMotionUpdate phase.
+             * @property {number} [activeForwardLimb] FootMotionUpdate activeForwardLimb.
+             * @property {vec3$Properties} [leftFoot2D] FootMotionUpdate leftFoot2D.
+             * @property {vec3$Properties} [rightFoot2D] FootMotionUpdate rightFoot2D.
+             * @property {mat44$Properties} [leftFoot3D] FootMotionUpdate leftFoot3D.
+             * @property {mat44$Properties} [rightFoot3D] FootMotionUpdate rightFoot3D.
+             */
+
+            /**
+             * Constructs a new FootMotionUpdate.
+             * @exports message.motion.FootMotionUpdate
+             * @constructor
+             * @param {message.motion.FootMotionUpdate$Properties=} [properties] Properties to set
+             */
+            function FootMotionUpdate(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * FootMotionUpdate phase.
+             * @type {number}
+             */
+            FootMotionUpdate.prototype.phase = 0;
+
+            /**
+             * FootMotionUpdate activeForwardLimb.
+             * @type {number}
+             */
+            FootMotionUpdate.prototype.activeForwardLimb = 0;
+
+            /**
+             * FootMotionUpdate leftFoot2D.
+             * @type {(vec3$Properties|null)}
+             */
+            FootMotionUpdate.prototype.leftFoot2D = null;
+
+            /**
+             * FootMotionUpdate rightFoot2D.
+             * @type {(vec3$Properties|null)}
+             */
+            FootMotionUpdate.prototype.rightFoot2D = null;
+
+            /**
+             * FootMotionUpdate leftFoot3D.
+             * @type {(mat44$Properties|null)}
+             */
+            FootMotionUpdate.prototype.leftFoot3D = null;
+
+            /**
+             * FootMotionUpdate rightFoot3D.
+             * @type {(mat44$Properties|null)}
+             */
+            FootMotionUpdate.prototype.rightFoot3D = null;
+
+            /**
+             * Creates a new FootMotionUpdate instance using the specified properties.
+             * @param {message.motion.FootMotionUpdate$Properties=} [properties] Properties to set
+             * @returns {message.motion.FootMotionUpdate} FootMotionUpdate instance
+             */
+            FootMotionUpdate.create = function create(properties) {
+                return new FootMotionUpdate(properties);
+            };
+
+            /**
+             * Encodes the specified FootMotionUpdate message. Does not implicitly {@link message.motion.FootMotionUpdate.verify|verify} messages.
+             * @param {message.motion.FootMotionUpdate$Properties} message FootMotionUpdate message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            FootMotionUpdate.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.phase != null && message.hasOwnProperty("phase"))
+                    writer.uint32(/* id 1, wireType 1 =*/9).double(message.phase);
+                if (message.activeForwardLimb != null && message.hasOwnProperty("activeForwardLimb"))
+                    writer.uint32(/* id 2, wireType 0 =*/16).uint32(message.activeForwardLimb);
+                if (message.leftFoot2D != null && message.hasOwnProperty("leftFoot2D"))
+                    $root.vec3.encode(message.leftFoot2D, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+                if (message.rightFoot2D != null && message.hasOwnProperty("rightFoot2D"))
+                    $root.vec3.encode(message.rightFoot2D, writer.uint32(/* id 4, wireType 2 =*/34).fork()).ldelim();
+                if (message.leftFoot3D != null && message.hasOwnProperty("leftFoot3D"))
+                    $root.mat44.encode(message.leftFoot3D, writer.uint32(/* id 5, wireType 2 =*/42).fork()).ldelim();
+                if (message.rightFoot3D != null && message.hasOwnProperty("rightFoot3D"))
+                    $root.mat44.encode(message.rightFoot3D, writer.uint32(/* id 6, wireType 2 =*/50).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified FootMotionUpdate message, length delimited. Does not implicitly {@link message.motion.FootMotionUpdate.verify|verify} messages.
+             * @param {message.motion.FootMotionUpdate$Properties} message FootMotionUpdate message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            FootMotionUpdate.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a FootMotionUpdate message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.FootMotionUpdate} FootMotionUpdate
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            FootMotionUpdate.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.FootMotionUpdate();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.phase = reader.double();
+                        break;
+                    case 2:
+                        message.activeForwardLimb = reader.uint32();
+                        break;
+                    case 3:
+                        message.leftFoot2D = $root.vec3.decode(reader, reader.uint32());
+                        break;
+                    case 4:
+                        message.rightFoot2D = $root.vec3.decode(reader, reader.uint32());
+                        break;
+                    case 5:
+                        message.leftFoot3D = $root.mat44.decode(reader, reader.uint32());
+                        break;
+                    case 6:
+                        message.rightFoot3D = $root.mat44.decode(reader, reader.uint32());
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a FootMotionUpdate message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.FootMotionUpdate} FootMotionUpdate
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            FootMotionUpdate.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a FootMotionUpdate message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            FootMotionUpdate.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.phase != null && message.hasOwnProperty("phase"))
+                    if (typeof message.phase !== "number")
+                        return "phase: number expected";
+                if (message.activeForwardLimb != null && message.hasOwnProperty("activeForwardLimb"))
+                    if (!$util.isInteger(message.activeForwardLimb))
+                        return "activeForwardLimb: integer expected";
+                if (message.leftFoot2D != null && message.hasOwnProperty("leftFoot2D")) {
+                    var error = $root.vec3.verify(message.leftFoot2D);
+                    if (error)
+                        return "leftFoot2D." + error;
+                }
+                if (message.rightFoot2D != null && message.hasOwnProperty("rightFoot2D")) {
+                    var error = $root.vec3.verify(message.rightFoot2D);
+                    if (error)
+                        return "rightFoot2D." + error;
+                }
+                if (message.leftFoot3D != null && message.hasOwnProperty("leftFoot3D")) {
+                    var error = $root.mat44.verify(message.leftFoot3D);
+                    if (error)
+                        return "leftFoot3D." + error;
+                }
+                if (message.rightFoot3D != null && message.hasOwnProperty("rightFoot3D")) {
+                    var error = $root.mat44.verify(message.rightFoot3D);
+                    if (error)
+                        return "rightFoot3D." + error;
+                }
+                return null;
+            };
+
+            /**
+             * Creates a FootMotionUpdate message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.FootMotionUpdate} FootMotionUpdate
+             */
+            FootMotionUpdate.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.motion.FootMotionUpdate)
+                    return object;
+                var message = new $root.message.motion.FootMotionUpdate();
+                if (object.phase != null)
+                    message.phase = Number(object.phase);
+                if (object.activeForwardLimb != null)
+                    message.activeForwardLimb = object.activeForwardLimb >>> 0;
+                if (object.leftFoot2D != null) {
+                    if (typeof object.leftFoot2D !== "object")
+                        throw TypeError(".message.motion.FootMotionUpdate.leftFoot2D: object expected");
+                    message.leftFoot2D = $root.vec3.fromObject(object.leftFoot2D);
+                }
+                if (object.rightFoot2D != null) {
+                    if (typeof object.rightFoot2D !== "object")
+                        throw TypeError(".message.motion.FootMotionUpdate.rightFoot2D: object expected");
+                    message.rightFoot2D = $root.vec3.fromObject(object.rightFoot2D);
+                }
+                if (object.leftFoot3D != null) {
+                    if (typeof object.leftFoot3D !== "object")
+                        throw TypeError(".message.motion.FootMotionUpdate.leftFoot3D: object expected");
+                    message.leftFoot3D = $root.mat44.fromObject(object.leftFoot3D);
+                }
+                if (object.rightFoot3D != null) {
+                    if (typeof object.rightFoot3D !== "object")
+                        throw TypeError(".message.motion.FootMotionUpdate.rightFoot3D: object expected");
+                    message.rightFoot3D = $root.mat44.fromObject(object.rightFoot3D);
+                }
+                return message;
+            };
+
+            /**
+             * Creates a FootMotionUpdate message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.FootMotionUpdate.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.FootMotionUpdate} FootMotionUpdate
+             */
+            FootMotionUpdate.from = FootMotionUpdate.fromObject;
+
+            /**
+             * Creates a plain object from a FootMotionUpdate message. Also converts values to other types if specified.
+             * @param {message.motion.FootMotionUpdate} message FootMotionUpdate
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            FootMotionUpdate.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults) {
+                    object.phase = 0;
+                    object.activeForwardLimb = 0;
+                    object.leftFoot2D = null;
+                    object.rightFoot2D = null;
+                    object.leftFoot3D = null;
+                    object.rightFoot3D = null;
+                }
+                if (message.phase != null && message.hasOwnProperty("phase"))
+                    object.phase = message.phase;
+                if (message.activeForwardLimb != null && message.hasOwnProperty("activeForwardLimb"))
+                    object.activeForwardLimb = message.activeForwardLimb;
+                if (message.leftFoot2D != null && message.hasOwnProperty("leftFoot2D"))
+                    object.leftFoot2D = $root.vec3.toObject(message.leftFoot2D, options);
+                if (message.rightFoot2D != null && message.hasOwnProperty("rightFoot2D"))
+                    object.rightFoot2D = $root.vec3.toObject(message.rightFoot2D, options);
+                if (message.leftFoot3D != null && message.hasOwnProperty("leftFoot3D"))
+                    object.leftFoot3D = $root.mat44.toObject(message.leftFoot3D, options);
+                if (message.rightFoot3D != null && message.hasOwnProperty("rightFoot3D"))
+                    object.rightFoot3D = $root.mat44.toObject(message.rightFoot3D, options);
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this FootMotionUpdate message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            FootMotionUpdate.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this FootMotionUpdate to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            FootMotionUpdate.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return FootMotionUpdate;
+        })();
+
+        motion.NextFootTargetInfo = (function() {
+
+            /**
+             * Properties of a NextFootTargetInfo.
+             * @typedef message.motion.NextFootTargetInfo$Properties
+             * @type {Object}
+             * @property {vec3$Properties} [leftFootSource] NextFootTargetInfo leftFootSource.
+             * @property {vec3$Properties} [rightFootSource] NextFootTargetInfo rightFootSource.
+             * @property {vec3$Properties} [supportMass] NextFootTargetInfo supportMass.
+             * @property {vec3$Properties} [leftFootDestination] NextFootTargetInfo leftFootDestination.
+             * @property {vec3$Properties} [rightFootDestination] NextFootTargetInfo rightFootDestination.
+             */
+
+            /**
+             * Constructs a new NextFootTargetInfo.
+             * @exports message.motion.NextFootTargetInfo
+             * @constructor
+             * @param {message.motion.NextFootTargetInfo$Properties=} [properties] Properties to set
+             */
+            function NextFootTargetInfo(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * NextFootTargetInfo leftFootSource.
+             * @type {(vec3$Properties|null)}
+             */
+            NextFootTargetInfo.prototype.leftFootSource = null;
+
+            /**
+             * NextFootTargetInfo rightFootSource.
+             * @type {(vec3$Properties|null)}
+             */
+            NextFootTargetInfo.prototype.rightFootSource = null;
+
+            /**
+             * NextFootTargetInfo supportMass.
+             * @type {(vec3$Properties|null)}
+             */
+            NextFootTargetInfo.prototype.supportMass = null;
+
+            /**
+             * NextFootTargetInfo leftFootDestination.
+             * @type {(vec3$Properties|null)}
+             */
+            NextFootTargetInfo.prototype.leftFootDestination = null;
+
+            /**
+             * NextFootTargetInfo rightFootDestination.
+             * @type {(vec3$Properties|null)}
+             */
+            NextFootTargetInfo.prototype.rightFootDestination = null;
+
+            /**
+             * Creates a new NextFootTargetInfo instance using the specified properties.
+             * @param {message.motion.NextFootTargetInfo$Properties=} [properties] Properties to set
+             * @returns {message.motion.NextFootTargetInfo} NextFootTargetInfo instance
+             */
+            NextFootTargetInfo.create = function create(properties) {
+                return new NextFootTargetInfo(properties);
+            };
+
+            /**
+             * Encodes the specified NextFootTargetInfo message. Does not implicitly {@link message.motion.NextFootTargetInfo.verify|verify} messages.
+             * @param {message.motion.NextFootTargetInfo$Properties} message NextFootTargetInfo message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            NextFootTargetInfo.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.leftFootSource != null && message.hasOwnProperty("leftFootSource"))
+                    $root.vec3.encode(message.leftFootSource, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                if (message.rightFootSource != null && message.hasOwnProperty("rightFootSource"))
+                    $root.vec3.encode(message.rightFootSource, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                if (message.supportMass != null && message.hasOwnProperty("supportMass"))
+                    $root.vec3.encode(message.supportMass, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+                if (message.leftFootDestination != null && message.hasOwnProperty("leftFootDestination"))
+                    $root.vec3.encode(message.leftFootDestination, writer.uint32(/* id 4, wireType 2 =*/34).fork()).ldelim();
+                if (message.rightFootDestination != null && message.hasOwnProperty("rightFootDestination"))
+                    $root.vec3.encode(message.rightFootDestination, writer.uint32(/* id 5, wireType 2 =*/42).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified NextFootTargetInfo message, length delimited. Does not implicitly {@link message.motion.NextFootTargetInfo.verify|verify} messages.
+             * @param {message.motion.NextFootTargetInfo$Properties} message NextFootTargetInfo message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            NextFootTargetInfo.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a NextFootTargetInfo message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.NextFootTargetInfo} NextFootTargetInfo
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            NextFootTargetInfo.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.NextFootTargetInfo();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.leftFootSource = $root.vec3.decode(reader, reader.uint32());
+                        break;
+                    case 2:
+                        message.rightFootSource = $root.vec3.decode(reader, reader.uint32());
+                        break;
+                    case 3:
+                        message.supportMass = $root.vec3.decode(reader, reader.uint32());
+                        break;
+                    case 4:
+                        message.leftFootDestination = $root.vec3.decode(reader, reader.uint32());
+                        break;
+                    case 5:
+                        message.rightFootDestination = $root.vec3.decode(reader, reader.uint32());
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a NextFootTargetInfo message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.NextFootTargetInfo} NextFootTargetInfo
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            NextFootTargetInfo.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a NextFootTargetInfo message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            NextFootTargetInfo.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.leftFootSource != null && message.hasOwnProperty("leftFootSource")) {
+                    var error = $root.vec3.verify(message.leftFootSource);
+                    if (error)
+                        return "leftFootSource." + error;
+                }
+                if (message.rightFootSource != null && message.hasOwnProperty("rightFootSource")) {
+                    var error = $root.vec3.verify(message.rightFootSource);
+                    if (error)
+                        return "rightFootSource." + error;
+                }
+                if (message.supportMass != null && message.hasOwnProperty("supportMass")) {
+                    var error = $root.vec3.verify(message.supportMass);
+                    if (error)
+                        return "supportMass." + error;
+                }
+                if (message.leftFootDestination != null && message.hasOwnProperty("leftFootDestination")) {
+                    var error = $root.vec3.verify(message.leftFootDestination);
+                    if (error)
+                        return "leftFootDestination." + error;
+                }
+                if (message.rightFootDestination != null && message.hasOwnProperty("rightFootDestination")) {
+                    var error = $root.vec3.verify(message.rightFootDestination);
+                    if (error)
+                        return "rightFootDestination." + error;
+                }
+                return null;
+            };
+
+            /**
+             * Creates a NextFootTargetInfo message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.NextFootTargetInfo} NextFootTargetInfo
+             */
+            NextFootTargetInfo.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.motion.NextFootTargetInfo)
+                    return object;
+                var message = new $root.message.motion.NextFootTargetInfo();
+                if (object.leftFootSource != null) {
+                    if (typeof object.leftFootSource !== "object")
+                        throw TypeError(".message.motion.NextFootTargetInfo.leftFootSource: object expected");
+                    message.leftFootSource = $root.vec3.fromObject(object.leftFootSource);
+                }
+                if (object.rightFootSource != null) {
+                    if (typeof object.rightFootSource !== "object")
+                        throw TypeError(".message.motion.NextFootTargetInfo.rightFootSource: object expected");
+                    message.rightFootSource = $root.vec3.fromObject(object.rightFootSource);
+                }
+                if (object.supportMass != null) {
+                    if (typeof object.supportMass !== "object")
+                        throw TypeError(".message.motion.NextFootTargetInfo.supportMass: object expected");
+                    message.supportMass = $root.vec3.fromObject(object.supportMass);
+                }
+                if (object.leftFootDestination != null) {
+                    if (typeof object.leftFootDestination !== "object")
+                        throw TypeError(".message.motion.NextFootTargetInfo.leftFootDestination: object expected");
+                    message.leftFootDestination = $root.vec3.fromObject(object.leftFootDestination);
+                }
+                if (object.rightFootDestination != null) {
+                    if (typeof object.rightFootDestination !== "object")
+                        throw TypeError(".message.motion.NextFootTargetInfo.rightFootDestination: object expected");
+                    message.rightFootDestination = $root.vec3.fromObject(object.rightFootDestination);
+                }
+                return message;
+            };
+
+            /**
+             * Creates a NextFootTargetInfo message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.NextFootTargetInfo.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.NextFootTargetInfo} NextFootTargetInfo
+             */
+            NextFootTargetInfo.from = NextFootTargetInfo.fromObject;
+
+            /**
+             * Creates a plain object from a NextFootTargetInfo message. Also converts values to other types if specified.
+             * @param {message.motion.NextFootTargetInfo} message NextFootTargetInfo
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            NextFootTargetInfo.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults) {
+                    object.leftFootSource = null;
+                    object.rightFootSource = null;
+                    object.supportMass = null;
+                    object.leftFootDestination = null;
+                    object.rightFootDestination = null;
+                }
+                if (message.leftFootSource != null && message.hasOwnProperty("leftFootSource"))
+                    object.leftFootSource = $root.vec3.toObject(message.leftFootSource, options);
+                if (message.rightFootSource != null && message.hasOwnProperty("rightFootSource"))
+                    object.rightFootSource = $root.vec3.toObject(message.rightFootSource, options);
+                if (message.supportMass != null && message.hasOwnProperty("supportMass"))
+                    object.supportMass = $root.vec3.toObject(message.supportMass, options);
+                if (message.leftFootDestination != null && message.hasOwnProperty("leftFootDestination"))
+                    object.leftFootDestination = $root.vec3.toObject(message.leftFootDestination, options);
+                if (message.rightFootDestination != null && message.hasOwnProperty("rightFootDestination"))
+                    object.rightFootDestination = $root.vec3.toObject(message.rightFootDestination, options);
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this NextFootTargetInfo message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            NextFootTargetInfo.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this NextFootTargetInfo to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            NextFootTargetInfo.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return NextFootTargetInfo;
+        })();
+
+        motion.FootStepRequested = (function() {
+
+            /**
+             * Properties of a FootStepRequested.
+             * @typedef message.motion.FootStepRequested$Properties
+             * @type {Object}
+             * @property {boolean} [status] FootStepRequested status.
+             */
+
+            /**
+             * Constructs a new FootStepRequested.
+             * @exports message.motion.FootStepRequested
+             * @constructor
+             * @param {message.motion.FootStepRequested$Properties=} [properties] Properties to set
+             */
+            function FootStepRequested(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * FootStepRequested status.
+             * @type {boolean}
+             */
+            FootStepRequested.prototype.status = false;
+
+            /**
+             * Creates a new FootStepRequested instance using the specified properties.
+             * @param {message.motion.FootStepRequested$Properties=} [properties] Properties to set
+             * @returns {message.motion.FootStepRequested} FootStepRequested instance
+             */
+            FootStepRequested.create = function create(properties) {
+                return new FootStepRequested(properties);
+            };
+
+            /**
+             * Encodes the specified FootStepRequested message. Does not implicitly {@link message.motion.FootStepRequested.verify|verify} messages.
+             * @param {message.motion.FootStepRequested$Properties} message FootStepRequested message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            FootStepRequested.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.status != null && message.hasOwnProperty("status"))
+                    writer.uint32(/* id 1, wireType 0 =*/8).bool(message.status);
+                return writer;
+            };
+
+            /**
+             * Encodes the specified FootStepRequested message, length delimited. Does not implicitly {@link message.motion.FootStepRequested.verify|verify} messages.
+             * @param {message.motion.FootStepRequested$Properties} message FootStepRequested message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            FootStepRequested.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a FootStepRequested message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.FootStepRequested} FootStepRequested
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            FootStepRequested.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.FootStepRequested();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.status = reader.bool();
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a FootStepRequested message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.FootStepRequested} FootStepRequested
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            FootStepRequested.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a FootStepRequested message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            FootStepRequested.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.status != null && message.hasOwnProperty("status"))
+                    if (typeof message.status !== "boolean")
+                        return "status: boolean expected";
+                return null;
+            };
+
+            /**
+             * Creates a FootStepRequested message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.FootStepRequested} FootStepRequested
+             */
+            FootStepRequested.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.motion.FootStepRequested)
+                    return object;
+                var message = new $root.message.motion.FootStepRequested();
+                if (object.status != null)
+                    message.status = Boolean(object.status);
+                return message;
+            };
+
+            /**
+             * Creates a FootStepRequested message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.FootStepRequested.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.FootStepRequested} FootStepRequested
+             */
+            FootStepRequested.from = FootStepRequested.fromObject;
+
+            /**
+             * Creates a plain object from a FootStepRequested message. Also converts values to other types if specified.
+             * @param {message.motion.FootStepRequested} message FootStepRequested
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            FootStepRequested.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults)
+                    object.status = false;
+                if (message.status != null && message.hasOwnProperty("status"))
+                    object.status = message.status;
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this FootStepRequested message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            FootStepRequested.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this FootStepRequested to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            FootStepRequested.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return FootStepRequested;
+        })();
+
+        motion.FootStepCompleted = (function() {
+
+            /**
+             * Properties of a FootStepCompleted.
+             * @typedef message.motion.FootStepCompleted$Properties
+             * @type {Object}
+             * @property {boolean} [status] FootStepCompleted status.
+             */
+
+            /**
+             * Constructs a new FootStepCompleted.
+             * @exports message.motion.FootStepCompleted
+             * @constructor
+             * @param {message.motion.FootStepCompleted$Properties=} [properties] Properties to set
+             */
+            function FootStepCompleted(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * FootStepCompleted status.
+             * @type {boolean}
+             */
+            FootStepCompleted.prototype.status = false;
+
+            /**
+             * Creates a new FootStepCompleted instance using the specified properties.
+             * @param {message.motion.FootStepCompleted$Properties=} [properties] Properties to set
+             * @returns {message.motion.FootStepCompleted} FootStepCompleted instance
+             */
+            FootStepCompleted.create = function create(properties) {
+                return new FootStepCompleted(properties);
+            };
+
+            /**
+             * Encodes the specified FootStepCompleted message. Does not implicitly {@link message.motion.FootStepCompleted.verify|verify} messages.
+             * @param {message.motion.FootStepCompleted$Properties} message FootStepCompleted message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            FootStepCompleted.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.status != null && message.hasOwnProperty("status"))
+                    writer.uint32(/* id 1, wireType 0 =*/8).bool(message.status);
+                return writer;
+            };
+
+            /**
+             * Encodes the specified FootStepCompleted message, length delimited. Does not implicitly {@link message.motion.FootStepCompleted.verify|verify} messages.
+             * @param {message.motion.FootStepCompleted$Properties} message FootStepCompleted message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            FootStepCompleted.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a FootStepCompleted message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.FootStepCompleted} FootStepCompleted
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            FootStepCompleted.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.FootStepCompleted();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.status = reader.bool();
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a FootStepCompleted message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.FootStepCompleted} FootStepCompleted
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            FootStepCompleted.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a FootStepCompleted message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            FootStepCompleted.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.status != null && message.hasOwnProperty("status"))
+                    if (typeof message.status !== "boolean")
+                        return "status: boolean expected";
+                return null;
+            };
+
+            /**
+             * Creates a FootStepCompleted message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.FootStepCompleted} FootStepCompleted
+             */
+            FootStepCompleted.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.motion.FootStepCompleted)
+                    return object;
+                var message = new $root.message.motion.FootStepCompleted();
+                if (object.status != null)
+                    message.status = Boolean(object.status);
+                return message;
+            };
+
+            /**
+             * Creates a FootStepCompleted message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.FootStepCompleted.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.FootStepCompleted} FootStepCompleted
+             */
+            FootStepCompleted.from = FootStepCompleted.fromObject;
+
+            /**
+             * Creates a plain object from a FootStepCompleted message. Also converts values to other types if specified.
+             * @param {message.motion.FootStepCompleted} message FootStepCompleted
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            FootStepCompleted.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults)
+                    object.status = false;
+                if (message.status != null && message.hasOwnProperty("status"))
+                    object.status = message.status;
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this FootStepCompleted message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            FootStepCompleted.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this FootStepCompleted to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            FootStepCompleted.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return FootStepCompleted;
+        })();
+
+        motion.EnableFootMotion = (function() {
+
+            /**
+             * Properties of an EnableFootMotion.
+             * @typedef message.motion.EnableFootMotion$Properties
+             * @type {Object}
+             */
+
+            /**
+             * Constructs a new EnableFootMotion.
+             * @exports message.motion.EnableFootMotion
+             * @constructor
+             * @param {message.motion.EnableFootMotion$Properties=} [properties] Properties to set
+             */
+            function EnableFootMotion(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Creates a new EnableFootMotion instance using the specified properties.
+             * @param {message.motion.EnableFootMotion$Properties=} [properties] Properties to set
+             * @returns {message.motion.EnableFootMotion} EnableFootMotion instance
+             */
+            EnableFootMotion.create = function create(properties) {
+                return new EnableFootMotion(properties);
+            };
+
+            /**
+             * Encodes the specified EnableFootMotion message. Does not implicitly {@link message.motion.EnableFootMotion.verify|verify} messages.
+             * @param {message.motion.EnableFootMotion$Properties} message EnableFootMotion message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            EnableFootMotion.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified EnableFootMotion message, length delimited. Does not implicitly {@link message.motion.EnableFootMotion.verify|verify} messages.
+             * @param {message.motion.EnableFootMotion$Properties} message EnableFootMotion message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            EnableFootMotion.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes an EnableFootMotion message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.EnableFootMotion} EnableFootMotion
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            EnableFootMotion.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.EnableFootMotion();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes an EnableFootMotion message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.EnableFootMotion} EnableFootMotion
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            EnableFootMotion.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies an EnableFootMotion message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            EnableFootMotion.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                return null;
+            };
+
+            /**
+             * Creates an EnableFootMotion message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.EnableFootMotion} EnableFootMotion
+             */
+            EnableFootMotion.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.motion.EnableFootMotion)
+                    return object;
+                return new $root.message.motion.EnableFootMotion();
+            };
+
+            /**
+             * Creates an EnableFootMotion message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.EnableFootMotion.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.EnableFootMotion} EnableFootMotion
+             */
+            EnableFootMotion.from = EnableFootMotion.fromObject;
+
+            /**
+             * Creates a plain object from an EnableFootMotion message. Also converts values to other types if specified.
+             * @param {message.motion.EnableFootMotion} message EnableFootMotion
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            EnableFootMotion.toObject = function toObject() {
+                return {};
+            };
+
+            /**
+             * Creates a plain object from this EnableFootMotion message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            EnableFootMotion.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this EnableFootMotion to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            EnableFootMotion.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return EnableFootMotion;
+        })();
+
+        motion.DisableFootMotion = (function() {
+
+            /**
+             * Properties of a DisableFootMotion.
+             * @typedef message.motion.DisableFootMotion$Properties
+             * @type {Object}
+             */
+
+            /**
+             * Constructs a new DisableFootMotion.
+             * @exports message.motion.DisableFootMotion
+             * @constructor
+             * @param {message.motion.DisableFootMotion$Properties=} [properties] Properties to set
+             */
+            function DisableFootMotion(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Creates a new DisableFootMotion instance using the specified properties.
+             * @param {message.motion.DisableFootMotion$Properties=} [properties] Properties to set
+             * @returns {message.motion.DisableFootMotion} DisableFootMotion instance
+             */
+            DisableFootMotion.create = function create(properties) {
+                return new DisableFootMotion(properties);
+            };
+
+            /**
+             * Encodes the specified DisableFootMotion message. Does not implicitly {@link message.motion.DisableFootMotion.verify|verify} messages.
+             * @param {message.motion.DisableFootMotion$Properties} message DisableFootMotion message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            DisableFootMotion.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified DisableFootMotion message, length delimited. Does not implicitly {@link message.motion.DisableFootMotion.verify|verify} messages.
+             * @param {message.motion.DisableFootMotion$Properties} message DisableFootMotion message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            DisableFootMotion.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a DisableFootMotion message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.DisableFootMotion} DisableFootMotion
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            DisableFootMotion.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.DisableFootMotion();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a DisableFootMotion message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.DisableFootMotion} DisableFootMotion
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            DisableFootMotion.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a DisableFootMotion message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            DisableFootMotion.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                return null;
+            };
+
+            /**
+             * Creates a DisableFootMotion message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.DisableFootMotion} DisableFootMotion
+             */
+            DisableFootMotion.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.motion.DisableFootMotion)
+                    return object;
+                return new $root.message.motion.DisableFootMotion();
+            };
+
+            /**
+             * Creates a DisableFootMotion message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.DisableFootMotion.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.DisableFootMotion} DisableFootMotion
+             */
+            DisableFootMotion.from = DisableFootMotion.fromObject;
+
+            /**
+             * Creates a plain object from a DisableFootMotion message. Also converts values to other types if specified.
+             * @param {message.motion.DisableFootMotion} message DisableFootMotion
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            DisableFootMotion.toObject = function toObject() {
+                return {};
+            };
+
+            /**
+             * Creates a plain object from this DisableFootMotion message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            DisableFootMotion.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this DisableFootMotion to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            DisableFootMotion.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return DisableFootMotion;
+        })();
+
+        motion.FootPlacementStopped = (function() {
+
+            /**
+             * Properties of a FootPlacementStopped.
+             * @typedef message.motion.FootPlacementStopped$Properties
+             * @type {Object}
+             */
+
+            /**
+             * Constructs a new FootPlacementStopped.
+             * @exports message.motion.FootPlacementStopped
+             * @constructor
+             * @param {message.motion.FootPlacementStopped$Properties=} [properties] Properties to set
+             */
+            function FootPlacementStopped(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Creates a new FootPlacementStopped instance using the specified properties.
+             * @param {message.motion.FootPlacementStopped$Properties=} [properties] Properties to set
+             * @returns {message.motion.FootPlacementStopped} FootPlacementStopped instance
+             */
+            FootPlacementStopped.create = function create(properties) {
+                return new FootPlacementStopped(properties);
+            };
+
+            /**
+             * Encodes the specified FootPlacementStopped message. Does not implicitly {@link message.motion.FootPlacementStopped.verify|verify} messages.
+             * @param {message.motion.FootPlacementStopped$Properties} message FootPlacementStopped message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            FootPlacementStopped.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified FootPlacementStopped message, length delimited. Does not implicitly {@link message.motion.FootPlacementStopped.verify|verify} messages.
+             * @param {message.motion.FootPlacementStopped$Properties} message FootPlacementStopped message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            FootPlacementStopped.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a FootPlacementStopped message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.FootPlacementStopped} FootPlacementStopped
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            FootPlacementStopped.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.FootPlacementStopped();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a FootPlacementStopped message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.FootPlacementStopped} FootPlacementStopped
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            FootPlacementStopped.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a FootPlacementStopped message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            FootPlacementStopped.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                return null;
+            };
+
+            /**
+             * Creates a FootPlacementStopped message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.FootPlacementStopped} FootPlacementStopped
+             */
+            FootPlacementStopped.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.motion.FootPlacementStopped)
+                    return object;
+                return new $root.message.motion.FootPlacementStopped();
+            };
+
+            /**
+             * Creates a FootPlacementStopped message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.FootPlacementStopped.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.FootPlacementStopped} FootPlacementStopped
+             */
+            FootPlacementStopped.from = FootPlacementStopped.fromObject;
+
+            /**
+             * Creates a plain object from a FootPlacementStopped message. Also converts values to other types if specified.
+             * @param {message.motion.FootPlacementStopped} message FootPlacementStopped
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            FootPlacementStopped.toObject = function toObject() {
+                return {};
+            };
+
+            /**
+             * Creates a plain object from this FootPlacementStopped message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            FootPlacementStopped.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this FootPlacementStopped to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            FootPlacementStopped.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return FootPlacementStopped;
+        })();
+
+        motion.NewStepTargetInfo = (function() {
+
+            /**
+             * Properties of a NewStepTargetInfo.
+             * @typedef message.motion.NewStepTargetInfo$Properties
+             * @type {Object}
+             * @property {number} [targetTime] NewStepTargetInfo targetTime.
+             * @property {vec3$Properties} [velocityCurrent] NewStepTargetInfo velocityCurrent.
+             * @property {number} [activeForwardLimb] NewStepTargetInfo activeForwardLimb.
+             */
+
+            /**
+             * Constructs a new NewStepTargetInfo.
+             * @exports message.motion.NewStepTargetInfo
+             * @constructor
+             * @param {message.motion.NewStepTargetInfo$Properties=} [properties] Properties to set
+             */
+            function NewStepTargetInfo(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * NewStepTargetInfo targetTime.
+             * @type {number}
+             */
+            NewStepTargetInfo.prototype.targetTime = 0;
+
+            /**
+             * NewStepTargetInfo velocityCurrent.
+             * @type {(vec3$Properties|null)}
+             */
+            NewStepTargetInfo.prototype.velocityCurrent = null;
+
+            /**
+             * NewStepTargetInfo activeForwardLimb.
+             * @type {number}
+             */
+            NewStepTargetInfo.prototype.activeForwardLimb = 0;
+
+            /**
+             * Creates a new NewStepTargetInfo instance using the specified properties.
+             * @param {message.motion.NewStepTargetInfo$Properties=} [properties] Properties to set
+             * @returns {message.motion.NewStepTargetInfo} NewStepTargetInfo instance
+             */
+            NewStepTargetInfo.create = function create(properties) {
+                return new NewStepTargetInfo(properties);
+            };
+
+            /**
+             * Encodes the specified NewStepTargetInfo message. Does not implicitly {@link message.motion.NewStepTargetInfo.verify|verify} messages.
+             * @param {message.motion.NewStepTargetInfo$Properties} message NewStepTargetInfo message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            NewStepTargetInfo.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.targetTime != null && message.hasOwnProperty("targetTime"))
+                    writer.uint32(/* id 1, wireType 1 =*/9).double(message.targetTime);
+                if (message.velocityCurrent != null && message.hasOwnProperty("velocityCurrent"))
+                    $root.vec3.encode(message.velocityCurrent, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                if (message.activeForwardLimb != null && message.hasOwnProperty("activeForwardLimb"))
+                    writer.uint32(/* id 3, wireType 0 =*/24).uint32(message.activeForwardLimb);
+                return writer;
+            };
+
+            /**
+             * Encodes the specified NewStepTargetInfo message, length delimited. Does not implicitly {@link message.motion.NewStepTargetInfo.verify|verify} messages.
+             * @param {message.motion.NewStepTargetInfo$Properties} message NewStepTargetInfo message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            NewStepTargetInfo.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a NewStepTargetInfo message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.NewStepTargetInfo} NewStepTargetInfo
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            NewStepTargetInfo.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.NewStepTargetInfo();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.targetTime = reader.double();
+                        break;
+                    case 2:
+                        message.velocityCurrent = $root.vec3.decode(reader, reader.uint32());
+                        break;
+                    case 3:
+                        message.activeForwardLimb = reader.uint32();
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a NewStepTargetInfo message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.NewStepTargetInfo} NewStepTargetInfo
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            NewStepTargetInfo.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a NewStepTargetInfo message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            NewStepTargetInfo.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.targetTime != null && message.hasOwnProperty("targetTime"))
+                    if (typeof message.targetTime !== "number")
+                        return "targetTime: number expected";
+                if (message.velocityCurrent != null && message.hasOwnProperty("velocityCurrent")) {
+                    var error = $root.vec3.verify(message.velocityCurrent);
+                    if (error)
+                        return "velocityCurrent." + error;
+                }
+                if (message.activeForwardLimb != null && message.hasOwnProperty("activeForwardLimb"))
+                    if (!$util.isInteger(message.activeForwardLimb))
+                        return "activeForwardLimb: integer expected";
+                return null;
+            };
+
+            /**
+             * Creates a NewStepTargetInfo message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.NewStepTargetInfo} NewStepTargetInfo
+             */
+            NewStepTargetInfo.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.motion.NewStepTargetInfo)
+                    return object;
+                var message = new $root.message.motion.NewStepTargetInfo();
+                if (object.targetTime != null)
+                    message.targetTime = Number(object.targetTime);
+                if (object.velocityCurrent != null) {
+                    if (typeof object.velocityCurrent !== "object")
+                        throw TypeError(".message.motion.NewStepTargetInfo.velocityCurrent: object expected");
+                    message.velocityCurrent = $root.vec3.fromObject(object.velocityCurrent);
+                }
+                if (object.activeForwardLimb != null)
+                    message.activeForwardLimb = object.activeForwardLimb >>> 0;
+                return message;
+            };
+
+            /**
+             * Creates a NewStepTargetInfo message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.NewStepTargetInfo.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.NewStepTargetInfo} NewStepTargetInfo
+             */
+            NewStepTargetInfo.from = NewStepTargetInfo.fromObject;
+
+            /**
+             * Creates a plain object from a NewStepTargetInfo message. Also converts values to other types if specified.
+             * @param {message.motion.NewStepTargetInfo} message NewStepTargetInfo
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            NewStepTargetInfo.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults) {
+                    object.targetTime = 0;
+                    object.velocityCurrent = null;
+                    object.activeForwardLimb = 0;
+                }
+                if (message.targetTime != null && message.hasOwnProperty("targetTime"))
+                    object.targetTime = message.targetTime;
+                if (message.velocityCurrent != null && message.hasOwnProperty("velocityCurrent"))
+                    object.velocityCurrent = $root.vec3.toObject(message.velocityCurrent, options);
+                if (message.activeForwardLimb != null && message.hasOwnProperty("activeForwardLimb"))
+                    object.activeForwardLimb = message.activeForwardLimb;
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this NewStepTargetInfo message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            NewStepTargetInfo.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this NewStepTargetInfo to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            NewStepTargetInfo.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return NewStepTargetInfo;
+        })();
+
+        motion.NewFootTargetInfo = (function() {
+
+            /**
+             * Properties of a NewFootTargetInfo.
+             * @typedef message.motion.NewFootTargetInfo$Properties
+             * @type {Object}
+             * @property {vec3$Properties} [leftFootSource] NewFootTargetInfo leftFootSource.
+             * @property {vec3$Properties} [rightFootSource] NewFootTargetInfo rightFootSource.
+             * @property {vec3$Properties} [supportMass] NewFootTargetInfo supportMass.
+             * @property {vec3$Properties} [leftFootDestination] NewFootTargetInfo leftFootDestination.
+             * @property {vec3$Properties} [rightFootDestination] NewFootTargetInfo rightFootDestination.
+             */
+
+            /**
+             * Constructs a new NewFootTargetInfo.
+             * @exports message.motion.NewFootTargetInfo
+             * @constructor
+             * @param {message.motion.NewFootTargetInfo$Properties=} [properties] Properties to set
+             */
+            function NewFootTargetInfo(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * NewFootTargetInfo leftFootSource.
+             * @type {(vec3$Properties|null)}
+             */
+            NewFootTargetInfo.prototype.leftFootSource = null;
+
+            /**
+             * NewFootTargetInfo rightFootSource.
+             * @type {(vec3$Properties|null)}
+             */
+            NewFootTargetInfo.prototype.rightFootSource = null;
+
+            /**
+             * NewFootTargetInfo supportMass.
+             * @type {(vec3$Properties|null)}
+             */
+            NewFootTargetInfo.prototype.supportMass = null;
+
+            /**
+             * NewFootTargetInfo leftFootDestination.
+             * @type {(vec3$Properties|null)}
+             */
+            NewFootTargetInfo.prototype.leftFootDestination = null;
+
+            /**
+             * NewFootTargetInfo rightFootDestination.
+             * @type {(vec3$Properties|null)}
+             */
+            NewFootTargetInfo.prototype.rightFootDestination = null;
+
+            /**
+             * Creates a new NewFootTargetInfo instance using the specified properties.
+             * @param {message.motion.NewFootTargetInfo$Properties=} [properties] Properties to set
+             * @returns {message.motion.NewFootTargetInfo} NewFootTargetInfo instance
+             */
+            NewFootTargetInfo.create = function create(properties) {
+                return new NewFootTargetInfo(properties);
+            };
+
+            /**
+             * Encodes the specified NewFootTargetInfo message. Does not implicitly {@link message.motion.NewFootTargetInfo.verify|verify} messages.
+             * @param {message.motion.NewFootTargetInfo$Properties} message NewFootTargetInfo message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            NewFootTargetInfo.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.leftFootSource != null && message.hasOwnProperty("leftFootSource"))
+                    $root.vec3.encode(message.leftFootSource, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                if (message.rightFootSource != null && message.hasOwnProperty("rightFootSource"))
+                    $root.vec3.encode(message.rightFootSource, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                if (message.supportMass != null && message.hasOwnProperty("supportMass"))
+                    $root.vec3.encode(message.supportMass, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+                if (message.leftFootDestination != null && message.hasOwnProperty("leftFootDestination"))
+                    $root.vec3.encode(message.leftFootDestination, writer.uint32(/* id 4, wireType 2 =*/34).fork()).ldelim();
+                if (message.rightFootDestination != null && message.hasOwnProperty("rightFootDestination"))
+                    $root.vec3.encode(message.rightFootDestination, writer.uint32(/* id 5, wireType 2 =*/42).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified NewFootTargetInfo message, length delimited. Does not implicitly {@link message.motion.NewFootTargetInfo.verify|verify} messages.
+             * @param {message.motion.NewFootTargetInfo$Properties} message NewFootTargetInfo message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            NewFootTargetInfo.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a NewFootTargetInfo message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.NewFootTargetInfo} NewFootTargetInfo
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            NewFootTargetInfo.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.NewFootTargetInfo();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.leftFootSource = $root.vec3.decode(reader, reader.uint32());
+                        break;
+                    case 2:
+                        message.rightFootSource = $root.vec3.decode(reader, reader.uint32());
+                        break;
+                    case 3:
+                        message.supportMass = $root.vec3.decode(reader, reader.uint32());
+                        break;
+                    case 4:
+                        message.leftFootDestination = $root.vec3.decode(reader, reader.uint32());
+                        break;
+                    case 5:
+                        message.rightFootDestination = $root.vec3.decode(reader, reader.uint32());
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a NewFootTargetInfo message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.NewFootTargetInfo} NewFootTargetInfo
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            NewFootTargetInfo.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a NewFootTargetInfo message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            NewFootTargetInfo.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.leftFootSource != null && message.hasOwnProperty("leftFootSource")) {
+                    var error = $root.vec3.verify(message.leftFootSource);
+                    if (error)
+                        return "leftFootSource." + error;
+                }
+                if (message.rightFootSource != null && message.hasOwnProperty("rightFootSource")) {
+                    var error = $root.vec3.verify(message.rightFootSource);
+                    if (error)
+                        return "rightFootSource." + error;
+                }
+                if (message.supportMass != null && message.hasOwnProperty("supportMass")) {
+                    var error = $root.vec3.verify(message.supportMass);
+                    if (error)
+                        return "supportMass." + error;
+                }
+                if (message.leftFootDestination != null && message.hasOwnProperty("leftFootDestination")) {
+                    var error = $root.vec3.verify(message.leftFootDestination);
+                    if (error)
+                        return "leftFootDestination." + error;
+                }
+                if (message.rightFootDestination != null && message.hasOwnProperty("rightFootDestination")) {
+                    var error = $root.vec3.verify(message.rightFootDestination);
+                    if (error)
+                        return "rightFootDestination." + error;
+                }
+                return null;
+            };
+
+            /**
+             * Creates a NewFootTargetInfo message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.NewFootTargetInfo} NewFootTargetInfo
+             */
+            NewFootTargetInfo.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.motion.NewFootTargetInfo)
+                    return object;
+                var message = new $root.message.motion.NewFootTargetInfo();
+                if (object.leftFootSource != null) {
+                    if (typeof object.leftFootSource !== "object")
+                        throw TypeError(".message.motion.NewFootTargetInfo.leftFootSource: object expected");
+                    message.leftFootSource = $root.vec3.fromObject(object.leftFootSource);
+                }
+                if (object.rightFootSource != null) {
+                    if (typeof object.rightFootSource !== "object")
+                        throw TypeError(".message.motion.NewFootTargetInfo.rightFootSource: object expected");
+                    message.rightFootSource = $root.vec3.fromObject(object.rightFootSource);
+                }
+                if (object.supportMass != null) {
+                    if (typeof object.supportMass !== "object")
+                        throw TypeError(".message.motion.NewFootTargetInfo.supportMass: object expected");
+                    message.supportMass = $root.vec3.fromObject(object.supportMass);
+                }
+                if (object.leftFootDestination != null) {
+                    if (typeof object.leftFootDestination !== "object")
+                        throw TypeError(".message.motion.NewFootTargetInfo.leftFootDestination: object expected");
+                    message.leftFootDestination = $root.vec3.fromObject(object.leftFootDestination);
+                }
+                if (object.rightFootDestination != null) {
+                    if (typeof object.rightFootDestination !== "object")
+                        throw TypeError(".message.motion.NewFootTargetInfo.rightFootDestination: object expected");
+                    message.rightFootDestination = $root.vec3.fromObject(object.rightFootDestination);
+                }
+                return message;
+            };
+
+            /**
+             * Creates a NewFootTargetInfo message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.NewFootTargetInfo.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.NewFootTargetInfo} NewFootTargetInfo
+             */
+            NewFootTargetInfo.from = NewFootTargetInfo.fromObject;
+
+            /**
+             * Creates a plain object from a NewFootTargetInfo message. Also converts values to other types if specified.
+             * @param {message.motion.NewFootTargetInfo} message NewFootTargetInfo
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            NewFootTargetInfo.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults) {
+                    object.leftFootSource = null;
+                    object.rightFootSource = null;
+                    object.supportMass = null;
+                    object.leftFootDestination = null;
+                    object.rightFootDestination = null;
+                }
+                if (message.leftFootSource != null && message.hasOwnProperty("leftFootSource"))
+                    object.leftFootSource = $root.vec3.toObject(message.leftFootSource, options);
+                if (message.rightFootSource != null && message.hasOwnProperty("rightFootSource"))
+                    object.rightFootSource = $root.vec3.toObject(message.rightFootSource, options);
+                if (message.supportMass != null && message.hasOwnProperty("supportMass"))
+                    object.supportMass = $root.vec3.toObject(message.supportMass, options);
+                if (message.leftFootDestination != null && message.hasOwnProperty("leftFootDestination"))
+                    object.leftFootDestination = $root.vec3.toObject(message.leftFootDestination, options);
+                if (message.rightFootDestination != null && message.hasOwnProperty("rightFootDestination"))
+                    object.rightFootDestination = $root.vec3.toObject(message.rightFootDestination, options);
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this NewFootTargetInfo message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            NewFootTargetInfo.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this NewFootTargetInfo to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            NewFootTargetInfo.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return NewFootTargetInfo;
+        })();
+
+        motion.EnableFootPlacement = (function() {
+
+            /**
+             * Properties of an EnableFootPlacement.
+             * @typedef message.motion.EnableFootPlacement$Properties
+             * @type {Object}
+             */
+
+            /**
+             * Constructs a new EnableFootPlacement.
+             * @exports message.motion.EnableFootPlacement
+             * @constructor
+             * @param {message.motion.EnableFootPlacement$Properties=} [properties] Properties to set
+             */
+            function EnableFootPlacement(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Creates a new EnableFootPlacement instance using the specified properties.
+             * @param {message.motion.EnableFootPlacement$Properties=} [properties] Properties to set
+             * @returns {message.motion.EnableFootPlacement} EnableFootPlacement instance
+             */
+            EnableFootPlacement.create = function create(properties) {
+                return new EnableFootPlacement(properties);
+            };
+
+            /**
+             * Encodes the specified EnableFootPlacement message. Does not implicitly {@link message.motion.EnableFootPlacement.verify|verify} messages.
+             * @param {message.motion.EnableFootPlacement$Properties} message EnableFootPlacement message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            EnableFootPlacement.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified EnableFootPlacement message, length delimited. Does not implicitly {@link message.motion.EnableFootPlacement.verify|verify} messages.
+             * @param {message.motion.EnableFootPlacement$Properties} message EnableFootPlacement message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            EnableFootPlacement.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes an EnableFootPlacement message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.EnableFootPlacement} EnableFootPlacement
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            EnableFootPlacement.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.EnableFootPlacement();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes an EnableFootPlacement message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.EnableFootPlacement} EnableFootPlacement
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            EnableFootPlacement.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies an EnableFootPlacement message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            EnableFootPlacement.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                return null;
+            };
+
+            /**
+             * Creates an EnableFootPlacement message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.EnableFootPlacement} EnableFootPlacement
+             */
+            EnableFootPlacement.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.motion.EnableFootPlacement)
+                    return object;
+                return new $root.message.motion.EnableFootPlacement();
+            };
+
+            /**
+             * Creates an EnableFootPlacement message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.EnableFootPlacement.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.EnableFootPlacement} EnableFootPlacement
+             */
+            EnableFootPlacement.from = EnableFootPlacement.fromObject;
+
+            /**
+             * Creates a plain object from an EnableFootPlacement message. Also converts values to other types if specified.
+             * @param {message.motion.EnableFootPlacement} message EnableFootPlacement
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            EnableFootPlacement.toObject = function toObject() {
+                return {};
+            };
+
+            /**
+             * Creates a plain object from this EnableFootPlacement message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            EnableFootPlacement.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this EnableFootPlacement to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            EnableFootPlacement.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return EnableFootPlacement;
+        })();
+
+        motion.DisableFootPlacement = (function() {
+
+            /**
+             * Properties of a DisableFootPlacement.
+             * @typedef message.motion.DisableFootPlacement$Properties
+             * @type {Object}
+             */
+
+            /**
+             * Constructs a new DisableFootPlacement.
+             * @exports message.motion.DisableFootPlacement
+             * @constructor
+             * @param {message.motion.DisableFootPlacement$Properties=} [properties] Properties to set
+             */
+            function DisableFootPlacement(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Creates a new DisableFootPlacement instance using the specified properties.
+             * @param {message.motion.DisableFootPlacement$Properties=} [properties] Properties to set
+             * @returns {message.motion.DisableFootPlacement} DisableFootPlacement instance
+             */
+            DisableFootPlacement.create = function create(properties) {
+                return new DisableFootPlacement(properties);
+            };
+
+            /**
+             * Encodes the specified DisableFootPlacement message. Does not implicitly {@link message.motion.DisableFootPlacement.verify|verify} messages.
+             * @param {message.motion.DisableFootPlacement$Properties} message DisableFootPlacement message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            DisableFootPlacement.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified DisableFootPlacement message, length delimited. Does not implicitly {@link message.motion.DisableFootPlacement.verify|verify} messages.
+             * @param {message.motion.DisableFootPlacement$Properties} message DisableFootPlacement message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            DisableFootPlacement.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a DisableFootPlacement message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.DisableFootPlacement} DisableFootPlacement
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            DisableFootPlacement.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.DisableFootPlacement();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a DisableFootPlacement message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.DisableFootPlacement} DisableFootPlacement
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            DisableFootPlacement.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a DisableFootPlacement message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            DisableFootPlacement.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                return null;
+            };
+
+            /**
+             * Creates a DisableFootPlacement message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.DisableFootPlacement} DisableFootPlacement
+             */
+            DisableFootPlacement.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.motion.DisableFootPlacement)
+                    return object;
+                return new $root.message.motion.DisableFootPlacement();
+            };
+
+            /**
+             * Creates a DisableFootPlacement message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.DisableFootPlacement.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.DisableFootPlacement} DisableFootPlacement
+             */
+            DisableFootPlacement.from = DisableFootPlacement.fromObject;
+
+            /**
+             * Creates a plain object from a DisableFootPlacement message. Also converts values to other types if specified.
+             * @param {message.motion.DisableFootPlacement} message DisableFootPlacement
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            DisableFootPlacement.toObject = function toObject() {
+                return {};
+            };
+
+            /**
+             * Creates a plain object from this DisableFootPlacement message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            DisableFootPlacement.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this DisableFootPlacement to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            DisableFootPlacement.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return DisableFootPlacement;
+        })();
+
+        motion.ExecuteGetup = (function() {
+
+            /**
+             * Properties of an ExecuteGetup.
+             * @typedef message.motion.ExecuteGetup$Properties
+             * @type {Object}
+             */
+
+            /**
+             * Constructs a new ExecuteGetup.
+             * @exports message.motion.ExecuteGetup
+             * @constructor
+             * @param {message.motion.ExecuteGetup$Properties=} [properties] Properties to set
+             */
+            function ExecuteGetup(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Creates a new ExecuteGetup instance using the specified properties.
+             * @param {message.motion.ExecuteGetup$Properties=} [properties] Properties to set
+             * @returns {message.motion.ExecuteGetup} ExecuteGetup instance
+             */
+            ExecuteGetup.create = function create(properties) {
+                return new ExecuteGetup(properties);
+            };
+
+            /**
+             * Encodes the specified ExecuteGetup message. Does not implicitly {@link message.motion.ExecuteGetup.verify|verify} messages.
+             * @param {message.motion.ExecuteGetup$Properties} message ExecuteGetup message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            ExecuteGetup.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified ExecuteGetup message, length delimited. Does not implicitly {@link message.motion.ExecuteGetup.verify|verify} messages.
+             * @param {message.motion.ExecuteGetup$Properties} message ExecuteGetup message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            ExecuteGetup.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes an ExecuteGetup message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.ExecuteGetup} ExecuteGetup
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            ExecuteGetup.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.ExecuteGetup();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes an ExecuteGetup message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.ExecuteGetup} ExecuteGetup
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            ExecuteGetup.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies an ExecuteGetup message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            ExecuteGetup.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                return null;
+            };
+
+            /**
+             * Creates an ExecuteGetup message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.ExecuteGetup} ExecuteGetup
+             */
+            ExecuteGetup.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.motion.ExecuteGetup)
+                    return object;
+                return new $root.message.motion.ExecuteGetup();
+            };
+
+            /**
+             * Creates an ExecuteGetup message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.ExecuteGetup.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.ExecuteGetup} ExecuteGetup
+             */
+            ExecuteGetup.from = ExecuteGetup.fromObject;
+
+            /**
+             * Creates a plain object from an ExecuteGetup message. Also converts values to other types if specified.
+             * @param {message.motion.ExecuteGetup} message ExecuteGetup
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            ExecuteGetup.toObject = function toObject() {
+                return {};
+            };
+
+            /**
+             * Creates a plain object from this ExecuteGetup message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            ExecuteGetup.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this ExecuteGetup to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            ExecuteGetup.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return ExecuteGetup;
+        })();
+
+        motion.KillGetup = (function() {
+
+            /**
+             * Properties of a KillGetup.
+             * @typedef message.motion.KillGetup$Properties
+             * @type {Object}
+             */
+
+            /**
+             * Constructs a new KillGetup.
+             * @exports message.motion.KillGetup
+             * @constructor
+             * @param {message.motion.KillGetup$Properties=} [properties] Properties to set
+             */
+            function KillGetup(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Creates a new KillGetup instance using the specified properties.
+             * @param {message.motion.KillGetup$Properties=} [properties] Properties to set
+             * @returns {message.motion.KillGetup} KillGetup instance
+             */
+            KillGetup.create = function create(properties) {
+                return new KillGetup(properties);
+            };
+
+            /**
+             * Encodes the specified KillGetup message. Does not implicitly {@link message.motion.KillGetup.verify|verify} messages.
+             * @param {message.motion.KillGetup$Properties} message KillGetup message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            KillGetup.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified KillGetup message, length delimited. Does not implicitly {@link message.motion.KillGetup.verify|verify} messages.
+             * @param {message.motion.KillGetup$Properties} message KillGetup message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            KillGetup.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a KillGetup message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.KillGetup} KillGetup
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            KillGetup.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.KillGetup();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a KillGetup message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.KillGetup} KillGetup
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            KillGetup.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a KillGetup message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            KillGetup.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                return null;
+            };
+
+            /**
+             * Creates a KillGetup message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.KillGetup} KillGetup
+             */
+            KillGetup.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.motion.KillGetup)
+                    return object;
+                return new $root.message.motion.KillGetup();
+            };
+
+            /**
+             * Creates a KillGetup message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.KillGetup.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.KillGetup} KillGetup
+             */
+            KillGetup.from = KillGetup.fromObject;
+
+            /**
+             * Creates a plain object from a KillGetup message. Also converts values to other types if specified.
+             * @param {message.motion.KillGetup} message KillGetup
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            KillGetup.toObject = function toObject() {
+                return {};
+            };
+
+            /**
+             * Creates a plain object from this KillGetup message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            KillGetup.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this KillGetup to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            KillGetup.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return KillGetup;
+        })();
+
+        motion.HeadCommand = (function() {
+
+            /**
+             * Properties of a HeadCommand.
+             * @typedef message.motion.HeadCommand$Properties
+             * @type {Object}
+             * @property {number} [yaw] HeadCommand yaw.
+             * @property {number} [pitch] HeadCommand pitch.
+             * @property {boolean} [robotSpace] HeadCommand robotSpace.
+             */
+
+            /**
+             * Constructs a new HeadCommand.
+             * @classdesc Tell the head where to look in world space.
+             * This command is interpreted such that the robot will use IMU data to fixate at these angles in the world even when rotating.
+             * 
+             * @author Jake Fountain
+             * @exports message.motion.HeadCommand
+             * @constructor
+             * @param {message.motion.HeadCommand$Properties=} [properties] Properties to set
+             */
+            function HeadCommand(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * HeadCommand yaw.
+             * @type {number}
+             */
+            HeadCommand.prototype.yaw = 0;
+
+            /**
+             * HeadCommand pitch.
+             * @type {number}
+             */
+            HeadCommand.prototype.pitch = 0;
+
+            /**
+             * HeadCommand robotSpace.
+             * @type {boolean}
+             */
+            HeadCommand.prototype.robotSpace = false;
+
+            /**
+             * Creates a new HeadCommand instance using the specified properties.
+             * @param {message.motion.HeadCommand$Properties=} [properties] Properties to set
+             * @returns {message.motion.HeadCommand} HeadCommand instance
+             */
+            HeadCommand.create = function create(properties) {
+                return new HeadCommand(properties);
+            };
+
+            /**
+             * Encodes the specified HeadCommand message. Does not implicitly {@link message.motion.HeadCommand.verify|verify} messages.
+             * @param {message.motion.HeadCommand$Properties} message HeadCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            HeadCommand.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.yaw != null && message.hasOwnProperty("yaw"))
+                    writer.uint32(/* id 1, wireType 5 =*/13).float(message.yaw);
+                if (message.pitch != null && message.hasOwnProperty("pitch"))
+                    writer.uint32(/* id 2, wireType 5 =*/21).float(message.pitch);
+                if (message.robotSpace != null && message.hasOwnProperty("robotSpace"))
+                    writer.uint32(/* id 3, wireType 0 =*/24).bool(message.robotSpace);
+                return writer;
+            };
+
+            /**
+             * Encodes the specified HeadCommand message, length delimited. Does not implicitly {@link message.motion.HeadCommand.verify|verify} messages.
+             * @param {message.motion.HeadCommand$Properties} message HeadCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            HeadCommand.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a HeadCommand message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.HeadCommand} HeadCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            HeadCommand.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.HeadCommand();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.yaw = reader.float();
+                        break;
+                    case 2:
+                        message.pitch = reader.float();
+                        break;
+                    case 3:
+                        message.robotSpace = reader.bool();
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a HeadCommand message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.HeadCommand} HeadCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            HeadCommand.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a HeadCommand message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            HeadCommand.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.yaw != null && message.hasOwnProperty("yaw"))
+                    if (typeof message.yaw !== "number")
+                        return "yaw: number expected";
+                if (message.pitch != null && message.hasOwnProperty("pitch"))
+                    if (typeof message.pitch !== "number")
+                        return "pitch: number expected";
+                if (message.robotSpace != null && message.hasOwnProperty("robotSpace"))
+                    if (typeof message.robotSpace !== "boolean")
+                        return "robotSpace: boolean expected";
+                return null;
+            };
+
+            /**
+             * Creates a HeadCommand message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.HeadCommand} HeadCommand
+             */
+            HeadCommand.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.motion.HeadCommand)
+                    return object;
+                var message = new $root.message.motion.HeadCommand();
+                if (object.yaw != null)
+                    message.yaw = Number(object.yaw);
+                if (object.pitch != null)
+                    message.pitch = Number(object.pitch);
+                if (object.robotSpace != null)
+                    message.robotSpace = Boolean(object.robotSpace);
+                return message;
+            };
+
+            /**
+             * Creates a HeadCommand message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.HeadCommand.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.HeadCommand} HeadCommand
+             */
+            HeadCommand.from = HeadCommand.fromObject;
+
+            /**
+             * Creates a plain object from a HeadCommand message. Also converts values to other types if specified.
+             * @param {message.motion.HeadCommand} message HeadCommand
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            HeadCommand.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults) {
+                    object.yaw = 0;
+                    object.pitch = 0;
+                    object.robotSpace = false;
+                }
+                if (message.yaw != null && message.hasOwnProperty("yaw"))
+                    object.yaw = message.yaw;
+                if (message.pitch != null && message.hasOwnProperty("pitch"))
+                    object.pitch = message.pitch;
+                if (message.robotSpace != null && message.hasOwnProperty("robotSpace"))
+                    object.robotSpace = message.robotSpace;
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this HeadCommand message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            HeadCommand.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this HeadCommand to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            HeadCommand.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return HeadCommand;
+        })();
+
+        motion.HeadMotionUpdate = (function() {
+
+            /**
+             * Properties of a HeadMotionUpdate.
+             * @typedef message.motion.HeadMotionUpdate$Properties
+             * @type {Object}
+             */
+
+            /**
+             * Constructs a new HeadMotionUpdate.
+             * @exports message.motion.HeadMotionUpdate
+             * @constructor
+             * @param {message.motion.HeadMotionUpdate$Properties=} [properties] Properties to set
+             */
+            function HeadMotionUpdate(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Creates a new HeadMotionUpdate instance using the specified properties.
+             * @param {message.motion.HeadMotionUpdate$Properties=} [properties] Properties to set
+             * @returns {message.motion.HeadMotionUpdate} HeadMotionUpdate instance
+             */
+            HeadMotionUpdate.create = function create(properties) {
+                return new HeadMotionUpdate(properties);
+            };
+
+            /**
+             * Encodes the specified HeadMotionUpdate message. Does not implicitly {@link message.motion.HeadMotionUpdate.verify|verify} messages.
+             * @param {message.motion.HeadMotionUpdate$Properties} message HeadMotionUpdate message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            HeadMotionUpdate.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified HeadMotionUpdate message, length delimited. Does not implicitly {@link message.motion.HeadMotionUpdate.verify|verify} messages.
+             * @param {message.motion.HeadMotionUpdate$Properties} message HeadMotionUpdate message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            HeadMotionUpdate.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a HeadMotionUpdate message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.HeadMotionUpdate} HeadMotionUpdate
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            HeadMotionUpdate.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.HeadMotionUpdate();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a HeadMotionUpdate message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.HeadMotionUpdate} HeadMotionUpdate
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            HeadMotionUpdate.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a HeadMotionUpdate message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            HeadMotionUpdate.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                return null;
+            };
+
+            /**
+             * Creates a HeadMotionUpdate message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.HeadMotionUpdate} HeadMotionUpdate
+             */
+            HeadMotionUpdate.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.motion.HeadMotionUpdate)
+                    return object;
+                return new $root.message.motion.HeadMotionUpdate();
+            };
+
+            /**
+             * Creates a HeadMotionUpdate message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.HeadMotionUpdate.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.HeadMotionUpdate} HeadMotionUpdate
+             */
+            HeadMotionUpdate.from = HeadMotionUpdate.fromObject;
+
+            /**
+             * Creates a plain object from a HeadMotionUpdate message. Also converts values to other types if specified.
+             * @param {message.motion.HeadMotionUpdate} message HeadMotionUpdate
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            HeadMotionUpdate.toObject = function toObject() {
+                return {};
+            };
+
+            /**
+             * Creates a plain object from this HeadMotionUpdate message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            HeadMotionUpdate.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this HeadMotionUpdate to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            HeadMotionUpdate.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return HeadMotionUpdate;
+        })();
+
+        /**
+         * TODO document
+         * 
+         * @author Trent Houliston
+         * @author Brendan Annable
+         * @name KickCommandType
+         * @memberof message.motion
+         * @enum {number}
+         * @property {number} NORMAL=0 NORMAL value
+         * @property {number} POWER=1 POWER value
+         */
+        motion.KickCommandType = (function() {
+            var valuesById = {}, values = Object.create(valuesById);
+            values[valuesById[0] = "NORMAL"] = 0;
+            values[valuesById[1] = "POWER"] = 1;
+            return values;
+        })();
+
+        motion.KickCommand = (function() {
+
+            /**
+             * Properties of a KickCommand.
+             * @typedef message.motion.KickCommand$Properties
+             * @type {Object}
+             * @property {vec3$Properties} [target] KickCommand target.
+             * @property {vec3$Properties} [direction] KickCommand direction.
+             * @property {message.motion.KickCommandType} [kickCommandType] KickCommand kickCommandType.
+             */
+
+            /**
+             * Constructs a new KickCommand.
+             * @exports message.motion.KickCommand
+             * @constructor
+             * @param {message.motion.KickCommand$Properties=} [properties] Properties to set
+             */
+            function KickCommand(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * KickCommand target.
+             * @type {(vec3$Properties|null)}
+             */
+            KickCommand.prototype.target = null;
+
+            /**
+             * KickCommand direction.
+             * @type {(vec3$Properties|null)}
+             */
+            KickCommand.prototype.direction = null;
+
+            /**
+             * KickCommand kickCommandType.
+             * @type {message.motion.KickCommandType}
+             */
+            KickCommand.prototype.kickCommandType = 0;
+
+            /**
+             * Creates a new KickCommand instance using the specified properties.
+             * @param {message.motion.KickCommand$Properties=} [properties] Properties to set
+             * @returns {message.motion.KickCommand} KickCommand instance
+             */
+            KickCommand.create = function create(properties) {
+                return new KickCommand(properties);
+            };
+
+            /**
+             * Encodes the specified KickCommand message. Does not implicitly {@link message.motion.KickCommand.verify|verify} messages.
+             * @param {message.motion.KickCommand$Properties} message KickCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            KickCommand.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.target != null && message.hasOwnProperty("target"))
+                    $root.vec3.encode(message.target, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                if (message.direction != null && message.hasOwnProperty("direction"))
+                    $root.vec3.encode(message.direction, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                if (message.kickCommandType != null && message.hasOwnProperty("kickCommandType"))
+                    writer.uint32(/* id 3, wireType 0 =*/24).uint32(message.kickCommandType);
+                return writer;
+            };
+
+            /**
+             * Encodes the specified KickCommand message, length delimited. Does not implicitly {@link message.motion.KickCommand.verify|verify} messages.
+             * @param {message.motion.KickCommand$Properties} message KickCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            KickCommand.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a KickCommand message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.KickCommand} KickCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            KickCommand.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.KickCommand();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.target = $root.vec3.decode(reader, reader.uint32());
+                        break;
+                    case 2:
+                        message.direction = $root.vec3.decode(reader, reader.uint32());
+                        break;
+                    case 3:
+                        message.kickCommandType = reader.uint32();
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a KickCommand message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.KickCommand} KickCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            KickCommand.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a KickCommand message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            KickCommand.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.target != null && message.hasOwnProperty("target")) {
+                    var error = $root.vec3.verify(message.target);
+                    if (error)
+                        return "target." + error;
+                }
+                if (message.direction != null && message.hasOwnProperty("direction")) {
+                    var error = $root.vec3.verify(message.direction);
+                    if (error)
+                        return "direction." + error;
+                }
+                if (message.kickCommandType != null && message.hasOwnProperty("kickCommandType"))
+                    switch (message.kickCommandType) {
+                    default:
+                        return "kickCommandType: enum value expected";
+                    case 0:
+                    case 1:
+                        break;
+                    }
+                return null;
+            };
+
+            /**
+             * Creates a KickCommand message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.KickCommand} KickCommand
+             */
+            KickCommand.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.motion.KickCommand)
+                    return object;
+                var message = new $root.message.motion.KickCommand();
+                if (object.target != null) {
+                    if (typeof object.target !== "object")
+                        throw TypeError(".message.motion.KickCommand.target: object expected");
+                    message.target = $root.vec3.fromObject(object.target);
+                }
+                if (object.direction != null) {
+                    if (typeof object.direction !== "object")
+                        throw TypeError(".message.motion.KickCommand.direction: object expected");
+                    message.direction = $root.vec3.fromObject(object.direction);
+                }
+                switch (object.kickCommandType) {
+                case "NORMAL":
+                case 0:
+                    message.kickCommandType = 0;
+                    break;
+                case "POWER":
+                case 1:
+                    message.kickCommandType = 1;
+                    break;
+                }
+                return message;
+            };
+
+            /**
+             * Creates a KickCommand message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.KickCommand.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.KickCommand} KickCommand
+             */
+            KickCommand.from = KickCommand.fromObject;
+
+            /**
+             * Creates a plain object from a KickCommand message. Also converts values to other types if specified.
+             * @param {message.motion.KickCommand} message KickCommand
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            KickCommand.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults) {
+                    object.target = null;
+                    object.direction = null;
+                    object.kickCommandType = options.enums === String ? "NORMAL" : 0;
+                }
+                if (message.target != null && message.hasOwnProperty("target"))
+                    object.target = $root.vec3.toObject(message.target, options);
+                if (message.direction != null && message.hasOwnProperty("direction"))
+                    object.direction = $root.vec3.toObject(message.direction, options);
+                if (message.kickCommandType != null && message.hasOwnProperty("kickCommandType"))
+                    object.kickCommandType = options.enums === String ? $root.message.motion.KickCommandType[message.kickCommandType] : message.kickCommandType;
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this KickCommand message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            KickCommand.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this KickCommand to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            KickCommand.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return KickCommand;
+        })();
+
+        motion.KickScriptCommand = (function() {
+
+            /**
+             * Properties of a KickScriptCommand.
+             * @typedef message.motion.KickScriptCommand$Properties
+             * @type {Object}
+             * @property {vec3$Properties} [direction] KickScriptCommand direction.
+             * @property {number} [leg] KickScriptCommand leg.
+             */
+
+            /**
+             * Constructs a new KickScriptCommand.
+             * @classdesc TODO document
+             * 
+             * @author Trent Houliston
+             * @author Brendan Annable
+             * @exports message.motion.KickScriptCommand
+             * @constructor
+             * @param {message.motion.KickScriptCommand$Properties=} [properties] Properties to set
+             */
+            function KickScriptCommand(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * KickScriptCommand direction.
+             * @type {(vec3$Properties|null)}
+             */
+            KickScriptCommand.prototype.direction = null;
+
+            /**
+             * KickScriptCommand leg.
+             * @type {number}
+             */
+            KickScriptCommand.prototype.leg = 0;
+
+            /**
+             * Creates a new KickScriptCommand instance using the specified properties.
+             * @param {message.motion.KickScriptCommand$Properties=} [properties] Properties to set
+             * @returns {message.motion.KickScriptCommand} KickScriptCommand instance
+             */
+            KickScriptCommand.create = function create(properties) {
+                return new KickScriptCommand(properties);
+            };
+
+            /**
+             * Encodes the specified KickScriptCommand message. Does not implicitly {@link message.motion.KickScriptCommand.verify|verify} messages.
+             * @param {message.motion.KickScriptCommand$Properties} message KickScriptCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            KickScriptCommand.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.direction != null && message.hasOwnProperty("direction"))
+                    $root.vec3.encode(message.direction, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                if (message.leg != null && message.hasOwnProperty("leg"))
+                    writer.uint32(/* id 2, wireType 0 =*/16).uint32(message.leg);
+                return writer;
+            };
+
+            /**
+             * Encodes the specified KickScriptCommand message, length delimited. Does not implicitly {@link message.motion.KickScriptCommand.verify|verify} messages.
+             * @param {message.motion.KickScriptCommand$Properties} message KickScriptCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            KickScriptCommand.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a KickScriptCommand message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.KickScriptCommand} KickScriptCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            KickScriptCommand.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.KickScriptCommand();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.direction = $root.vec3.decode(reader, reader.uint32());
+                        break;
+                    case 2:
+                        message.leg = reader.uint32();
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a KickScriptCommand message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.KickScriptCommand} KickScriptCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            KickScriptCommand.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a KickScriptCommand message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            KickScriptCommand.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.direction != null && message.hasOwnProperty("direction")) {
+                    var error = $root.vec3.verify(message.direction);
+                    if (error)
+                        return "direction." + error;
+                }
+                if (message.leg != null && message.hasOwnProperty("leg"))
+                    if (!$util.isInteger(message.leg))
+                        return "leg: integer expected";
+                return null;
+            };
+
+            /**
+             * Creates a KickScriptCommand message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.KickScriptCommand} KickScriptCommand
+             */
+            KickScriptCommand.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.motion.KickScriptCommand)
+                    return object;
+                var message = new $root.message.motion.KickScriptCommand();
+                if (object.direction != null) {
+                    if (typeof object.direction !== "object")
+                        throw TypeError(".message.motion.KickScriptCommand.direction: object expected");
+                    message.direction = $root.vec3.fromObject(object.direction);
+                }
+                if (object.leg != null)
+                    message.leg = object.leg >>> 0;
+                return message;
+            };
+
+            /**
+             * Creates a KickScriptCommand message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.KickScriptCommand.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.KickScriptCommand} KickScriptCommand
+             */
+            KickScriptCommand.from = KickScriptCommand.fromObject;
+
+            /**
+             * Creates a plain object from a KickScriptCommand message. Also converts values to other types if specified.
+             * @param {message.motion.KickScriptCommand} message KickScriptCommand
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            KickScriptCommand.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults) {
+                    object.direction = null;
+                    object.leg = 0;
+                }
+                if (message.direction != null && message.hasOwnProperty("direction"))
+                    object.direction = $root.vec3.toObject(message.direction, options);
+                if (message.leg != null && message.hasOwnProperty("leg"))
+                    object.leg = message.leg;
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this KickScriptCommand message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            KickScriptCommand.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this KickScriptCommand to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            KickScriptCommand.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return KickScriptCommand;
+        })();
+
+        motion.KickPlannerConfig = (function() {
+
+            /**
+             * Properties of a KickPlannerConfig.
+             * @typedef message.motion.KickPlannerConfig$Properties
+             * @type {Object}
+             * @property {number} [maxBallDistance] KickPlannerConfig maxBallDistance.
+             * @property {number} [kickCorridorWidth] KickPlannerConfig kickCorridorWidth.
+             * @property {number} [secondsNotSeenLimit] KickPlannerConfig secondsNotSeenLimit.
+             * @property {number} [kickForwardAngleLimit] KickPlannerConfig kickForwardAngleLimit.
+             */
+
+            /**
+             * Constructs a new KickPlannerConfig.
+             * @exports message.motion.KickPlannerConfig
+             * @constructor
+             * @param {message.motion.KickPlannerConfig$Properties=} [properties] Properties to set
+             */
+            function KickPlannerConfig(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * KickPlannerConfig maxBallDistance.
+             * @type {number}
+             */
+            KickPlannerConfig.prototype.maxBallDistance = 0;
+
+            /**
+             * KickPlannerConfig kickCorridorWidth.
+             * @type {number}
+             */
+            KickPlannerConfig.prototype.kickCorridorWidth = 0;
+
+            /**
+             * KickPlannerConfig secondsNotSeenLimit.
+             * @type {number}
+             */
+            KickPlannerConfig.prototype.secondsNotSeenLimit = 0;
+
+            /**
+             * KickPlannerConfig kickForwardAngleLimit.
+             * @type {number}
+             */
+            KickPlannerConfig.prototype.kickForwardAngleLimit = 0;
+
+            /**
+             * Creates a new KickPlannerConfig instance using the specified properties.
+             * @param {message.motion.KickPlannerConfig$Properties=} [properties] Properties to set
+             * @returns {message.motion.KickPlannerConfig} KickPlannerConfig instance
+             */
+            KickPlannerConfig.create = function create(properties) {
+                return new KickPlannerConfig(properties);
+            };
+
+            /**
+             * Encodes the specified KickPlannerConfig message. Does not implicitly {@link message.motion.KickPlannerConfig.verify|verify} messages.
+             * @param {message.motion.KickPlannerConfig$Properties} message KickPlannerConfig message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            KickPlannerConfig.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.maxBallDistance != null && message.hasOwnProperty("maxBallDistance"))
+                    writer.uint32(/* id 1, wireType 5 =*/13).float(message.maxBallDistance);
+                if (message.kickCorridorWidth != null && message.hasOwnProperty("kickCorridorWidth"))
+                    writer.uint32(/* id 2, wireType 5 =*/21).float(message.kickCorridorWidth);
+                if (message.secondsNotSeenLimit != null && message.hasOwnProperty("secondsNotSeenLimit"))
+                    writer.uint32(/* id 3, wireType 5 =*/29).float(message.secondsNotSeenLimit);
+                if (message.kickForwardAngleLimit != null && message.hasOwnProperty("kickForwardAngleLimit"))
+                    writer.uint32(/* id 4, wireType 5 =*/37).float(message.kickForwardAngleLimit);
+                return writer;
+            };
+
+            /**
+             * Encodes the specified KickPlannerConfig message, length delimited. Does not implicitly {@link message.motion.KickPlannerConfig.verify|verify} messages.
+             * @param {message.motion.KickPlannerConfig$Properties} message KickPlannerConfig message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            KickPlannerConfig.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a KickPlannerConfig message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.KickPlannerConfig} KickPlannerConfig
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            KickPlannerConfig.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.KickPlannerConfig();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.maxBallDistance = reader.float();
+                        break;
+                    case 2:
+                        message.kickCorridorWidth = reader.float();
+                        break;
+                    case 3:
+                        message.secondsNotSeenLimit = reader.float();
+                        break;
+                    case 4:
+                        message.kickForwardAngleLimit = reader.float();
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a KickPlannerConfig message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.KickPlannerConfig} KickPlannerConfig
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            KickPlannerConfig.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a KickPlannerConfig message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            KickPlannerConfig.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.maxBallDistance != null && message.hasOwnProperty("maxBallDistance"))
+                    if (typeof message.maxBallDistance !== "number")
+                        return "maxBallDistance: number expected";
+                if (message.kickCorridorWidth != null && message.hasOwnProperty("kickCorridorWidth"))
+                    if (typeof message.kickCorridorWidth !== "number")
+                        return "kickCorridorWidth: number expected";
+                if (message.secondsNotSeenLimit != null && message.hasOwnProperty("secondsNotSeenLimit"))
+                    if (typeof message.secondsNotSeenLimit !== "number")
+                        return "secondsNotSeenLimit: number expected";
+                if (message.kickForwardAngleLimit != null && message.hasOwnProperty("kickForwardAngleLimit"))
+                    if (typeof message.kickForwardAngleLimit !== "number")
+                        return "kickForwardAngleLimit: number expected";
+                return null;
+            };
+
+            /**
+             * Creates a KickPlannerConfig message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.KickPlannerConfig} KickPlannerConfig
+             */
+            KickPlannerConfig.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.motion.KickPlannerConfig)
+                    return object;
+                var message = new $root.message.motion.KickPlannerConfig();
+                if (object.maxBallDistance != null)
+                    message.maxBallDistance = Number(object.maxBallDistance);
+                if (object.kickCorridorWidth != null)
+                    message.kickCorridorWidth = Number(object.kickCorridorWidth);
+                if (object.secondsNotSeenLimit != null)
+                    message.secondsNotSeenLimit = Number(object.secondsNotSeenLimit);
+                if (object.kickForwardAngleLimit != null)
+                    message.kickForwardAngleLimit = Number(object.kickForwardAngleLimit);
+                return message;
+            };
+
+            /**
+             * Creates a KickPlannerConfig message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.KickPlannerConfig.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.KickPlannerConfig} KickPlannerConfig
+             */
+            KickPlannerConfig.from = KickPlannerConfig.fromObject;
+
+            /**
+             * Creates a plain object from a KickPlannerConfig message. Also converts values to other types if specified.
+             * @param {message.motion.KickPlannerConfig} message KickPlannerConfig
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            KickPlannerConfig.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults) {
+                    object.maxBallDistance = 0;
+                    object.kickCorridorWidth = 0;
+                    object.secondsNotSeenLimit = 0;
+                    object.kickForwardAngleLimit = 0;
+                }
+                if (message.maxBallDistance != null && message.hasOwnProperty("maxBallDistance"))
+                    object.maxBallDistance = message.maxBallDistance;
+                if (message.kickCorridorWidth != null && message.hasOwnProperty("kickCorridorWidth"))
+                    object.kickCorridorWidth = message.kickCorridorWidth;
+                if (message.secondsNotSeenLimit != null && message.hasOwnProperty("secondsNotSeenLimit"))
+                    object.secondsNotSeenLimit = message.secondsNotSeenLimit;
+                if (message.kickForwardAngleLimit != null && message.hasOwnProperty("kickForwardAngleLimit"))
+                    object.kickForwardAngleLimit = message.kickForwardAngleLimit;
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this KickPlannerConfig message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            KickPlannerConfig.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this KickPlannerConfig to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            KickPlannerConfig.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return KickPlannerConfig;
+        })();
+
+        motion.KickFinished = (function() {
+
+            /**
+             * Properties of a KickFinished.
+             * @typedef message.motion.KickFinished$Properties
+             * @type {Object}
+             */
+
+            /**
+             * Constructs a new KickFinished.
+             * @exports message.motion.KickFinished
+             * @constructor
+             * @param {message.motion.KickFinished$Properties=} [properties] Properties to set
+             */
+            function KickFinished(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Creates a new KickFinished instance using the specified properties.
+             * @param {message.motion.KickFinished$Properties=} [properties] Properties to set
+             * @returns {message.motion.KickFinished} KickFinished instance
+             */
+            KickFinished.create = function create(properties) {
+                return new KickFinished(properties);
+            };
+
+            /**
+             * Encodes the specified KickFinished message. Does not implicitly {@link message.motion.KickFinished.verify|verify} messages.
+             * @param {message.motion.KickFinished$Properties} message KickFinished message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            KickFinished.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified KickFinished message, length delimited. Does not implicitly {@link message.motion.KickFinished.verify|verify} messages.
+             * @param {message.motion.KickFinished$Properties} message KickFinished message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            KickFinished.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a KickFinished message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.KickFinished} KickFinished
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            KickFinished.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.KickFinished();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a KickFinished message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.KickFinished} KickFinished
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            KickFinished.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a KickFinished message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            KickFinished.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                return null;
+            };
+
+            /**
+             * Creates a KickFinished message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.KickFinished} KickFinished
+             */
+            KickFinished.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.motion.KickFinished)
+                    return object;
+                return new $root.message.motion.KickFinished();
+            };
+
+            /**
+             * Creates a KickFinished message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.KickFinished.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.KickFinished} KickFinished
+             */
+            KickFinished.from = KickFinished.fromObject;
+
+            /**
+             * Creates a plain object from a KickFinished message. Also converts values to other types if specified.
+             * @param {message.motion.KickFinished} message KickFinished
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            KickFinished.toObject = function toObject() {
+                return {};
+            };
+
+            /**
+             * Creates a plain object from this KickFinished message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            KickFinished.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this KickFinished to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            KickFinished.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return KickFinished;
+        })();
+
+        motion.IKKickParams = (function() {
+
+            /**
+             * Properties of a IKKickParams.
+             * @typedef message.motion.IKKickParams$Properties
+             * @type {Object}
+             * @property {number} [standHeight] IKKickParams standHeight.
+             */
+
+            /**
+             * Constructs a new IKKickParams.
+             * @exports message.motion.IKKickParams
+             * @constructor
+             * @param {message.motion.IKKickParams$Properties=} [properties] Properties to set
+             */
+            function IKKickParams(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * IKKickParams standHeight.
+             * @type {number}
+             */
+            IKKickParams.prototype.standHeight = 0;
+
+            /**
+             * Creates a new IKKickParams instance using the specified properties.
+             * @param {message.motion.IKKickParams$Properties=} [properties] Properties to set
+             * @returns {message.motion.IKKickParams} IKKickParams instance
+             */
+            IKKickParams.create = function create(properties) {
+                return new IKKickParams(properties);
+            };
+
+            /**
+             * Encodes the specified IKKickParams message. Does not implicitly {@link message.motion.IKKickParams.verify|verify} messages.
+             * @param {message.motion.IKKickParams$Properties} message IKKickParams message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            IKKickParams.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.standHeight != null && message.hasOwnProperty("standHeight"))
+                    writer.uint32(/* id 1, wireType 5 =*/13).float(message.standHeight);
+                return writer;
+            };
+
+            /**
+             * Encodes the specified IKKickParams message, length delimited. Does not implicitly {@link message.motion.IKKickParams.verify|verify} messages.
+             * @param {message.motion.IKKickParams$Properties} message IKKickParams message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            IKKickParams.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a IKKickParams message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.IKKickParams} IKKickParams
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            IKKickParams.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.IKKickParams();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.standHeight = reader.float();
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a IKKickParams message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.IKKickParams} IKKickParams
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            IKKickParams.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a IKKickParams message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            IKKickParams.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.standHeight != null && message.hasOwnProperty("standHeight"))
+                    if (typeof message.standHeight !== "number")
+                        return "standHeight: number expected";
+                return null;
+            };
+
+            /**
+             * Creates a IKKickParams message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.IKKickParams} IKKickParams
+             */
+            IKKickParams.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.motion.IKKickParams)
+                    return object;
+                var message = new $root.message.motion.IKKickParams();
+                if (object.standHeight != null)
+                    message.standHeight = Number(object.standHeight);
+                return message;
+            };
+
+            /**
+             * Creates a IKKickParams message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.IKKickParams.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.IKKickParams} IKKickParams
+             */
+            IKKickParams.from = IKKickParams.fromObject;
+
+            /**
+             * Creates a plain object from a IKKickParams message. Also converts values to other types if specified.
+             * @param {message.motion.IKKickParams} message IKKickParams
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            IKKickParams.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults)
+                    object.standHeight = 0;
+                if (message.standHeight != null && message.hasOwnProperty("standHeight"))
+                    object.standHeight = message.standHeight;
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this IKKickParams message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            IKKickParams.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this IKKickParams to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            IKKickParams.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return IKKickParams;
+        })();
+
+        /**
+         * BodySide enum.
+         * @name BodySide
+         * @memberof message.motion
+         * @enum {number}
+         * @property {number} LEFT=0 LEFT value
+         * @property {number} RIGHT=1 RIGHT value
+         */
+        motion.BodySide = (function() {
+            var valuesById = {}, values = Object.create(valuesById);
+            values[valuesById[0] = "LEFT"] = 0;
+            values[valuesById[1] = "RIGHT"] = 1;
+            return values;
+        })();
+
+        motion.KinematicsModel = (function() {
+
+            /**
+             * Properties of a KinematicsModel.
+             * @typedef message.motion.KinematicsModel$Properties
+             * @type {Object}
+             * @property {message.motion.KinematicsModel.Leg$Properties} [leg] KinematicsModel leg.
+             * @property {message.motion.KinematicsModel.Head$Properties} [head] KinematicsModel head.
+             * @property {message.motion.KinematicsModel.Arm$Properties} [arm] KinematicsModel arm.
+             * @property {message.motion.KinematicsModel.MassModel$Properties} [massModel] KinematicsModel massModel.
+             * @property {number} [TEAMDARWINCHEST_TO_ORIGIN] KinematicsModel TEAMDARWINCHEST_TO_ORIGIN.
+             */
+
+            /**
+             * Constructs a new KinematicsModel.
+             * @exports message.motion.KinematicsModel
+             * @constructor
+             * @param {message.motion.KinematicsModel$Properties=} [properties] Properties to set
+             */
+            function KinematicsModel(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * KinematicsModel leg.
+             * @type {(message.motion.KinematicsModel.Leg$Properties|null)}
+             */
+            KinematicsModel.prototype.leg = null;
+
+            /**
+             * KinematicsModel head.
+             * @type {(message.motion.KinematicsModel.Head$Properties|null)}
+             */
+            KinematicsModel.prototype.head = null;
+
+            /**
+             * KinematicsModel arm.
+             * @type {(message.motion.KinematicsModel.Arm$Properties|null)}
+             */
+            KinematicsModel.prototype.arm = null;
+
+            /**
+             * KinematicsModel massModel.
+             * @type {(message.motion.KinematicsModel.MassModel$Properties|null)}
+             */
+            KinematicsModel.prototype.massModel = null;
+
+            /**
+             * KinematicsModel TEAMDARWINCHEST_TO_ORIGIN.
+             * @type {number}
+             */
+            KinematicsModel.prototype.TEAMDARWINCHEST_TO_ORIGIN = 0;
+
+            /**
+             * Creates a new KinematicsModel instance using the specified properties.
+             * @param {message.motion.KinematicsModel$Properties=} [properties] Properties to set
+             * @returns {message.motion.KinematicsModel} KinematicsModel instance
+             */
+            KinematicsModel.create = function create(properties) {
+                return new KinematicsModel(properties);
+            };
+
+            /**
+             * Encodes the specified KinematicsModel message. Does not implicitly {@link message.motion.KinematicsModel.verify|verify} messages.
+             * @param {message.motion.KinematicsModel$Properties} message KinematicsModel message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            KinematicsModel.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.leg != null && message.hasOwnProperty("leg"))
+                    $root.message.motion.KinematicsModel.Leg.encode(message.leg, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                if (message.head != null && message.hasOwnProperty("head"))
+                    $root.message.motion.KinematicsModel.Head.encode(message.head, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                if (message.arm != null && message.hasOwnProperty("arm"))
+                    $root.message.motion.KinematicsModel.Arm.encode(message.arm, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+                if (message.massModel != null && message.hasOwnProperty("massModel"))
+                    $root.message.motion.KinematicsModel.MassModel.encode(message.massModel, writer.uint32(/* id 4, wireType 2 =*/34).fork()).ldelim();
+                if (message.TEAMDARWINCHEST_TO_ORIGIN != null && message.hasOwnProperty("TEAMDARWINCHEST_TO_ORIGIN"))
+                    writer.uint32(/* id 5, wireType 5 =*/45).float(message.TEAMDARWINCHEST_TO_ORIGIN);
+                return writer;
+            };
+
+            /**
+             * Encodes the specified KinematicsModel message, length delimited. Does not implicitly {@link message.motion.KinematicsModel.verify|verify} messages.
+             * @param {message.motion.KinematicsModel$Properties} message KinematicsModel message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            KinematicsModel.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a KinematicsModel message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.KinematicsModel} KinematicsModel
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            KinematicsModel.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.KinematicsModel();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.leg = $root.message.motion.KinematicsModel.Leg.decode(reader, reader.uint32());
+                        break;
+                    case 2:
+                        message.head = $root.message.motion.KinematicsModel.Head.decode(reader, reader.uint32());
+                        break;
+                    case 3:
+                        message.arm = $root.message.motion.KinematicsModel.Arm.decode(reader, reader.uint32());
+                        break;
+                    case 4:
+                        message.massModel = $root.message.motion.KinematicsModel.MassModel.decode(reader, reader.uint32());
+                        break;
+                    case 5:
+                        message.TEAMDARWINCHEST_TO_ORIGIN = reader.float();
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a KinematicsModel message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.KinematicsModel} KinematicsModel
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            KinematicsModel.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a KinematicsModel message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            KinematicsModel.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.leg != null && message.hasOwnProperty("leg")) {
+                    var error = $root.message.motion.KinematicsModel.Leg.verify(message.leg);
+                    if (error)
+                        return "leg." + error;
+                }
+                if (message.head != null && message.hasOwnProperty("head")) {
+                    var error = $root.message.motion.KinematicsModel.Head.verify(message.head);
+                    if (error)
+                        return "head." + error;
+                }
+                if (message.arm != null && message.hasOwnProperty("arm")) {
+                    var error = $root.message.motion.KinematicsModel.Arm.verify(message.arm);
+                    if (error)
+                        return "arm." + error;
+                }
+                if (message.massModel != null && message.hasOwnProperty("massModel")) {
+                    var error = $root.message.motion.KinematicsModel.MassModel.verify(message.massModel);
+                    if (error)
+                        return "massModel." + error;
+                }
+                if (message.TEAMDARWINCHEST_TO_ORIGIN != null && message.hasOwnProperty("TEAMDARWINCHEST_TO_ORIGIN"))
+                    if (typeof message.TEAMDARWINCHEST_TO_ORIGIN !== "number")
+                        return "TEAMDARWINCHEST_TO_ORIGIN: number expected";
+                return null;
+            };
+
+            /**
+             * Creates a KinematicsModel message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.KinematicsModel} KinematicsModel
+             */
+            KinematicsModel.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.motion.KinematicsModel)
+                    return object;
+                var message = new $root.message.motion.KinematicsModel();
+                if (object.leg != null) {
+                    if (typeof object.leg !== "object")
+                        throw TypeError(".message.motion.KinematicsModel.leg: object expected");
+                    message.leg = $root.message.motion.KinematicsModel.Leg.fromObject(object.leg);
+                }
+                if (object.head != null) {
+                    if (typeof object.head !== "object")
+                        throw TypeError(".message.motion.KinematicsModel.head: object expected");
+                    message.head = $root.message.motion.KinematicsModel.Head.fromObject(object.head);
+                }
+                if (object.arm != null) {
+                    if (typeof object.arm !== "object")
+                        throw TypeError(".message.motion.KinematicsModel.arm: object expected");
+                    message.arm = $root.message.motion.KinematicsModel.Arm.fromObject(object.arm);
+                }
+                if (object.massModel != null) {
+                    if (typeof object.massModel !== "object")
+                        throw TypeError(".message.motion.KinematicsModel.massModel: object expected");
+                    message.massModel = $root.message.motion.KinematicsModel.MassModel.fromObject(object.massModel);
+                }
+                if (object.TEAMDARWINCHEST_TO_ORIGIN != null)
+                    message.TEAMDARWINCHEST_TO_ORIGIN = Number(object.TEAMDARWINCHEST_TO_ORIGIN);
+                return message;
+            };
+
+            /**
+             * Creates a KinematicsModel message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.KinematicsModel.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.KinematicsModel} KinematicsModel
+             */
+            KinematicsModel.from = KinematicsModel.fromObject;
+
+            /**
+             * Creates a plain object from a KinematicsModel message. Also converts values to other types if specified.
+             * @param {message.motion.KinematicsModel} message KinematicsModel
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            KinematicsModel.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults) {
+                    object.leg = null;
+                    object.head = null;
+                    object.arm = null;
+                    object.massModel = null;
+                    object.TEAMDARWINCHEST_TO_ORIGIN = 0;
+                }
+                if (message.leg != null && message.hasOwnProperty("leg"))
+                    object.leg = $root.message.motion.KinematicsModel.Leg.toObject(message.leg, options);
+                if (message.head != null && message.hasOwnProperty("head"))
+                    object.head = $root.message.motion.KinematicsModel.Head.toObject(message.head, options);
+                if (message.arm != null && message.hasOwnProperty("arm"))
+                    object.arm = $root.message.motion.KinematicsModel.Arm.toObject(message.arm, options);
+                if (message.massModel != null && message.hasOwnProperty("massModel"))
+                    object.massModel = $root.message.motion.KinematicsModel.MassModel.toObject(message.massModel, options);
+                if (message.TEAMDARWINCHEST_TO_ORIGIN != null && message.hasOwnProperty("TEAMDARWINCHEST_TO_ORIGIN"))
+                    object.TEAMDARWINCHEST_TO_ORIGIN = message.TEAMDARWINCHEST_TO_ORIGIN;
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this KinematicsModel message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            KinematicsModel.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this KinematicsModel to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            KinematicsModel.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            KinematicsModel.Leg = (function() {
+
+                /**
+                 * Properties of a Leg.
+                 * @typedef message.motion.KinematicsModel.Leg$Properties
+                 * @type {Object}
+                 * @property {number} [HIP_OFFSET_X] Leg HIP_OFFSET_X.
+                 * @property {number} [HIP_OFFSET_Y] Leg HIP_OFFSET_Y.
+                 * @property {number} [HIP_OFFSET_Z] Leg HIP_OFFSET_Z.
+                 * @property {number} [UPPER_LEG_LENGTH] Leg UPPER_LEG_LENGTH.
+                 * @property {number} [LOWER_LEG_LENGTH] Leg LOWER_LEG_LENGTH.
+                 * @property {number} [FOOT_HEIGHT] Leg FOOT_HEIGHT.
+                 * @property {number} [FOOT_LENGTH] Leg FOOT_LENGTH.
+                 * @property {number} [TOE_LENGTH] Leg TOE_LENGTH.
+                 * @property {number} [HEEL_LENGTH] Leg HEEL_LENGTH.
+                 * @property {number} [FOOT_WIDTH] Leg FOOT_WIDTH.
+                 * @property {number} [FOOT_CENTRE_TO_ANKLE_CENTRE] Leg FOOT_CENTRE_TO_ANKLE_CENTRE.
+                 * @property {number} [LENGTH_BETWEEN_LEGS] Leg LENGTH_BETWEEN_LEGS.
+                 * @property {number} [LEFT_TO_RIGHT_HIP_YAW] Leg LEFT_TO_RIGHT_HIP_YAW.
+                 * @property {number} [LEFT_TO_RIGHT_HIP_ROLL] Leg LEFT_TO_RIGHT_HIP_ROLL.
+                 * @property {number} [LEFT_TO_RIGHT_HIP_PITCH] Leg LEFT_TO_RIGHT_HIP_PITCH.
+                 * @property {number} [LEFT_TO_RIGHT_KNEE] Leg LEFT_TO_RIGHT_KNEE.
+                 * @property {number} [LEFT_TO_RIGHT_ANKLE_PITCH] Leg LEFT_TO_RIGHT_ANKLE_PITCH.
+                 * @property {number} [LEFT_TO_RIGHT_ANKLE_ROLL] Leg LEFT_TO_RIGHT_ANKLE_ROLL.
+                 */
+
+                /**
+                 * Constructs a new Leg.
+                 * @exports message.motion.KinematicsModel.Leg
+                 * @constructor
+                 * @param {message.motion.KinematicsModel.Leg$Properties=} [properties] Properties to set
+                 */
+                function Leg(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * Leg HIP_OFFSET_X.
+                 * @type {number}
+                 */
+                Leg.prototype.HIP_OFFSET_X = 0;
+
+                /**
+                 * Leg HIP_OFFSET_Y.
+                 * @type {number}
+                 */
+                Leg.prototype.HIP_OFFSET_Y = 0;
+
+                /**
+                 * Leg HIP_OFFSET_Z.
+                 * @type {number}
+                 */
+                Leg.prototype.HIP_OFFSET_Z = 0;
+
+                /**
+                 * Leg UPPER_LEG_LENGTH.
+                 * @type {number}
+                 */
+                Leg.prototype.UPPER_LEG_LENGTH = 0;
+
+                /**
+                 * Leg LOWER_LEG_LENGTH.
+                 * @type {number}
+                 */
+                Leg.prototype.LOWER_LEG_LENGTH = 0;
+
+                /**
+                 * Leg FOOT_HEIGHT.
+                 * @type {number}
+                 */
+                Leg.prototype.FOOT_HEIGHT = 0;
+
+                /**
+                 * Leg FOOT_LENGTH.
+                 * @type {number}
+                 */
+                Leg.prototype.FOOT_LENGTH = 0;
+
+                /**
+                 * Leg TOE_LENGTH.
+                 * @type {number}
+                 */
+                Leg.prototype.TOE_LENGTH = 0;
+
+                /**
+                 * Leg HEEL_LENGTH.
+                 * @type {number}
+                 */
+                Leg.prototype.HEEL_LENGTH = 0;
+
+                /**
+                 * Leg FOOT_WIDTH.
+                 * @type {number}
+                 */
+                Leg.prototype.FOOT_WIDTH = 0;
+
+                /**
+                 * Leg FOOT_CENTRE_TO_ANKLE_CENTRE.
+                 * @type {number}
+                 */
+                Leg.prototype.FOOT_CENTRE_TO_ANKLE_CENTRE = 0;
+
+                /**
+                 * Leg LENGTH_BETWEEN_LEGS.
+                 * @type {number}
+                 */
+                Leg.prototype.LENGTH_BETWEEN_LEGS = 0;
+
+                /**
+                 * Leg LEFT_TO_RIGHT_HIP_YAW.
+                 * @type {number}
+                 */
+                Leg.prototype.LEFT_TO_RIGHT_HIP_YAW = 0;
+
+                /**
+                 * Leg LEFT_TO_RIGHT_HIP_ROLL.
+                 * @type {number}
+                 */
+                Leg.prototype.LEFT_TO_RIGHT_HIP_ROLL = 0;
+
+                /**
+                 * Leg LEFT_TO_RIGHT_HIP_PITCH.
+                 * @type {number}
+                 */
+                Leg.prototype.LEFT_TO_RIGHT_HIP_PITCH = 0;
+
+                /**
+                 * Leg LEFT_TO_RIGHT_KNEE.
+                 * @type {number}
+                 */
+                Leg.prototype.LEFT_TO_RIGHT_KNEE = 0;
+
+                /**
+                 * Leg LEFT_TO_RIGHT_ANKLE_PITCH.
+                 * @type {number}
+                 */
+                Leg.prototype.LEFT_TO_RIGHT_ANKLE_PITCH = 0;
+
+                /**
+                 * Leg LEFT_TO_RIGHT_ANKLE_ROLL.
+                 * @type {number}
+                 */
+                Leg.prototype.LEFT_TO_RIGHT_ANKLE_ROLL = 0;
+
+                /**
+                 * Creates a new Leg instance using the specified properties.
+                 * @param {message.motion.KinematicsModel.Leg$Properties=} [properties] Properties to set
+                 * @returns {message.motion.KinematicsModel.Leg} Leg instance
+                 */
+                Leg.create = function create(properties) {
+                    return new Leg(properties);
+                };
+
+                /**
+                 * Encodes the specified Leg message. Does not implicitly {@link message.motion.KinematicsModel.Leg.verify|verify} messages.
+                 * @param {message.motion.KinematicsModel.Leg$Properties} message Leg message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Leg.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.HIP_OFFSET_X != null && message.hasOwnProperty("HIP_OFFSET_X"))
+                        writer.uint32(/* id 1, wireType 5 =*/13).float(message.HIP_OFFSET_X);
+                    if (message.HIP_OFFSET_Y != null && message.hasOwnProperty("HIP_OFFSET_Y"))
+                        writer.uint32(/* id 2, wireType 5 =*/21).float(message.HIP_OFFSET_Y);
+                    if (message.HIP_OFFSET_Z != null && message.hasOwnProperty("HIP_OFFSET_Z"))
+                        writer.uint32(/* id 3, wireType 5 =*/29).float(message.HIP_OFFSET_Z);
+                    if (message.UPPER_LEG_LENGTH != null && message.hasOwnProperty("UPPER_LEG_LENGTH"))
+                        writer.uint32(/* id 4, wireType 5 =*/37).float(message.UPPER_LEG_LENGTH);
+                    if (message.LOWER_LEG_LENGTH != null && message.hasOwnProperty("LOWER_LEG_LENGTH"))
+                        writer.uint32(/* id 5, wireType 5 =*/45).float(message.LOWER_LEG_LENGTH);
+                    if (message.FOOT_HEIGHT != null && message.hasOwnProperty("FOOT_HEIGHT"))
+                        writer.uint32(/* id 6, wireType 5 =*/53).float(message.FOOT_HEIGHT);
+                    if (message.FOOT_LENGTH != null && message.hasOwnProperty("FOOT_LENGTH"))
+                        writer.uint32(/* id 7, wireType 5 =*/61).float(message.FOOT_LENGTH);
+                    if (message.TOE_LENGTH != null && message.hasOwnProperty("TOE_LENGTH"))
+                        writer.uint32(/* id 8, wireType 5 =*/69).float(message.TOE_LENGTH);
+                    if (message.HEEL_LENGTH != null && message.hasOwnProperty("HEEL_LENGTH"))
+                        writer.uint32(/* id 9, wireType 5 =*/77).float(message.HEEL_LENGTH);
+                    if (message.FOOT_WIDTH != null && message.hasOwnProperty("FOOT_WIDTH"))
+                        writer.uint32(/* id 10, wireType 5 =*/85).float(message.FOOT_WIDTH);
+                    if (message.FOOT_CENTRE_TO_ANKLE_CENTRE != null && message.hasOwnProperty("FOOT_CENTRE_TO_ANKLE_CENTRE"))
+                        writer.uint32(/* id 11, wireType 5 =*/93).float(message.FOOT_CENTRE_TO_ANKLE_CENTRE);
+                    if (message.LENGTH_BETWEEN_LEGS != null && message.hasOwnProperty("LENGTH_BETWEEN_LEGS"))
+                        writer.uint32(/* id 12, wireType 5 =*/101).float(message.LENGTH_BETWEEN_LEGS);
+                    if (message.LEFT_TO_RIGHT_HIP_YAW != null && message.hasOwnProperty("LEFT_TO_RIGHT_HIP_YAW"))
+                        writer.uint32(/* id 13, wireType 0 =*/104).int32(message.LEFT_TO_RIGHT_HIP_YAW);
+                    if (message.LEFT_TO_RIGHT_HIP_ROLL != null && message.hasOwnProperty("LEFT_TO_RIGHT_HIP_ROLL"))
+                        writer.uint32(/* id 14, wireType 0 =*/112).int32(message.LEFT_TO_RIGHT_HIP_ROLL);
+                    if (message.LEFT_TO_RIGHT_HIP_PITCH != null && message.hasOwnProperty("LEFT_TO_RIGHT_HIP_PITCH"))
+                        writer.uint32(/* id 15, wireType 0 =*/120).int32(message.LEFT_TO_RIGHT_HIP_PITCH);
+                    if (message.LEFT_TO_RIGHT_KNEE != null && message.hasOwnProperty("LEFT_TO_RIGHT_KNEE"))
+                        writer.uint32(/* id 16, wireType 0 =*/128).int32(message.LEFT_TO_RIGHT_KNEE);
+                    if (message.LEFT_TO_RIGHT_ANKLE_PITCH != null && message.hasOwnProperty("LEFT_TO_RIGHT_ANKLE_PITCH"))
+                        writer.uint32(/* id 17, wireType 0 =*/136).int32(message.LEFT_TO_RIGHT_ANKLE_PITCH);
+                    if (message.LEFT_TO_RIGHT_ANKLE_ROLL != null && message.hasOwnProperty("LEFT_TO_RIGHT_ANKLE_ROLL"))
+                        writer.uint32(/* id 18, wireType 0 =*/144).int32(message.LEFT_TO_RIGHT_ANKLE_ROLL);
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified Leg message, length delimited. Does not implicitly {@link message.motion.KinematicsModel.Leg.verify|verify} messages.
+                 * @param {message.motion.KinematicsModel.Leg$Properties} message Leg message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Leg.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a Leg message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.motion.KinematicsModel.Leg} Leg
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Leg.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.KinematicsModel.Leg();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.HIP_OFFSET_X = reader.float();
+                            break;
+                        case 2:
+                            message.HIP_OFFSET_Y = reader.float();
+                            break;
+                        case 3:
+                            message.HIP_OFFSET_Z = reader.float();
+                            break;
+                        case 4:
+                            message.UPPER_LEG_LENGTH = reader.float();
+                            break;
+                        case 5:
+                            message.LOWER_LEG_LENGTH = reader.float();
+                            break;
+                        case 6:
+                            message.FOOT_HEIGHT = reader.float();
+                            break;
+                        case 7:
+                            message.FOOT_LENGTH = reader.float();
+                            break;
+                        case 8:
+                            message.TOE_LENGTH = reader.float();
+                            break;
+                        case 9:
+                            message.HEEL_LENGTH = reader.float();
+                            break;
+                        case 10:
+                            message.FOOT_WIDTH = reader.float();
+                            break;
+                        case 11:
+                            message.FOOT_CENTRE_TO_ANKLE_CENTRE = reader.float();
+                            break;
+                        case 12:
+                            message.LENGTH_BETWEEN_LEGS = reader.float();
+                            break;
+                        case 13:
+                            message.LEFT_TO_RIGHT_HIP_YAW = reader.int32();
+                            break;
+                        case 14:
+                            message.LEFT_TO_RIGHT_HIP_ROLL = reader.int32();
+                            break;
+                        case 15:
+                            message.LEFT_TO_RIGHT_HIP_PITCH = reader.int32();
+                            break;
+                        case 16:
+                            message.LEFT_TO_RIGHT_KNEE = reader.int32();
+                            break;
+                        case 17:
+                            message.LEFT_TO_RIGHT_ANKLE_PITCH = reader.int32();
+                            break;
+                        case 18:
+                            message.LEFT_TO_RIGHT_ANKLE_ROLL = reader.int32();
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a Leg message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.motion.KinematicsModel.Leg} Leg
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Leg.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a Leg message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                Leg.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.HIP_OFFSET_X != null && message.hasOwnProperty("HIP_OFFSET_X"))
+                        if (typeof message.HIP_OFFSET_X !== "number")
+                            return "HIP_OFFSET_X: number expected";
+                    if (message.HIP_OFFSET_Y != null && message.hasOwnProperty("HIP_OFFSET_Y"))
+                        if (typeof message.HIP_OFFSET_Y !== "number")
+                            return "HIP_OFFSET_Y: number expected";
+                    if (message.HIP_OFFSET_Z != null && message.hasOwnProperty("HIP_OFFSET_Z"))
+                        if (typeof message.HIP_OFFSET_Z !== "number")
+                            return "HIP_OFFSET_Z: number expected";
+                    if (message.UPPER_LEG_LENGTH != null && message.hasOwnProperty("UPPER_LEG_LENGTH"))
+                        if (typeof message.UPPER_LEG_LENGTH !== "number")
+                            return "UPPER_LEG_LENGTH: number expected";
+                    if (message.LOWER_LEG_LENGTH != null && message.hasOwnProperty("LOWER_LEG_LENGTH"))
+                        if (typeof message.LOWER_LEG_LENGTH !== "number")
+                            return "LOWER_LEG_LENGTH: number expected";
+                    if (message.FOOT_HEIGHT != null && message.hasOwnProperty("FOOT_HEIGHT"))
+                        if (typeof message.FOOT_HEIGHT !== "number")
+                            return "FOOT_HEIGHT: number expected";
+                    if (message.FOOT_LENGTH != null && message.hasOwnProperty("FOOT_LENGTH"))
+                        if (typeof message.FOOT_LENGTH !== "number")
+                            return "FOOT_LENGTH: number expected";
+                    if (message.TOE_LENGTH != null && message.hasOwnProperty("TOE_LENGTH"))
+                        if (typeof message.TOE_LENGTH !== "number")
+                            return "TOE_LENGTH: number expected";
+                    if (message.HEEL_LENGTH != null && message.hasOwnProperty("HEEL_LENGTH"))
+                        if (typeof message.HEEL_LENGTH !== "number")
+                            return "HEEL_LENGTH: number expected";
+                    if (message.FOOT_WIDTH != null && message.hasOwnProperty("FOOT_WIDTH"))
+                        if (typeof message.FOOT_WIDTH !== "number")
+                            return "FOOT_WIDTH: number expected";
+                    if (message.FOOT_CENTRE_TO_ANKLE_CENTRE != null && message.hasOwnProperty("FOOT_CENTRE_TO_ANKLE_CENTRE"))
+                        if (typeof message.FOOT_CENTRE_TO_ANKLE_CENTRE !== "number")
+                            return "FOOT_CENTRE_TO_ANKLE_CENTRE: number expected";
+                    if (message.LENGTH_BETWEEN_LEGS != null && message.hasOwnProperty("LENGTH_BETWEEN_LEGS"))
+                        if (typeof message.LENGTH_BETWEEN_LEGS !== "number")
+                            return "LENGTH_BETWEEN_LEGS: number expected";
+                    if (message.LEFT_TO_RIGHT_HIP_YAW != null && message.hasOwnProperty("LEFT_TO_RIGHT_HIP_YAW"))
+                        if (!$util.isInteger(message.LEFT_TO_RIGHT_HIP_YAW))
+                            return "LEFT_TO_RIGHT_HIP_YAW: integer expected";
+                    if (message.LEFT_TO_RIGHT_HIP_ROLL != null && message.hasOwnProperty("LEFT_TO_RIGHT_HIP_ROLL"))
+                        if (!$util.isInteger(message.LEFT_TO_RIGHT_HIP_ROLL))
+                            return "LEFT_TO_RIGHT_HIP_ROLL: integer expected";
+                    if (message.LEFT_TO_RIGHT_HIP_PITCH != null && message.hasOwnProperty("LEFT_TO_RIGHT_HIP_PITCH"))
+                        if (!$util.isInteger(message.LEFT_TO_RIGHT_HIP_PITCH))
+                            return "LEFT_TO_RIGHT_HIP_PITCH: integer expected";
+                    if (message.LEFT_TO_RIGHT_KNEE != null && message.hasOwnProperty("LEFT_TO_RIGHT_KNEE"))
+                        if (!$util.isInteger(message.LEFT_TO_RIGHT_KNEE))
+                            return "LEFT_TO_RIGHT_KNEE: integer expected";
+                    if (message.LEFT_TO_RIGHT_ANKLE_PITCH != null && message.hasOwnProperty("LEFT_TO_RIGHT_ANKLE_PITCH"))
+                        if (!$util.isInteger(message.LEFT_TO_RIGHT_ANKLE_PITCH))
+                            return "LEFT_TO_RIGHT_ANKLE_PITCH: integer expected";
+                    if (message.LEFT_TO_RIGHT_ANKLE_ROLL != null && message.hasOwnProperty("LEFT_TO_RIGHT_ANKLE_ROLL"))
+                        if (!$util.isInteger(message.LEFT_TO_RIGHT_ANKLE_ROLL))
+                            return "LEFT_TO_RIGHT_ANKLE_ROLL: integer expected";
+                    return null;
+                };
+
+                /**
+                 * Creates a Leg message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.motion.KinematicsModel.Leg} Leg
+                 */
+                Leg.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.motion.KinematicsModel.Leg)
+                        return object;
+                    var message = new $root.message.motion.KinematicsModel.Leg();
+                    if (object.HIP_OFFSET_X != null)
+                        message.HIP_OFFSET_X = Number(object.HIP_OFFSET_X);
+                    if (object.HIP_OFFSET_Y != null)
+                        message.HIP_OFFSET_Y = Number(object.HIP_OFFSET_Y);
+                    if (object.HIP_OFFSET_Z != null)
+                        message.HIP_OFFSET_Z = Number(object.HIP_OFFSET_Z);
+                    if (object.UPPER_LEG_LENGTH != null)
+                        message.UPPER_LEG_LENGTH = Number(object.UPPER_LEG_LENGTH);
+                    if (object.LOWER_LEG_LENGTH != null)
+                        message.LOWER_LEG_LENGTH = Number(object.LOWER_LEG_LENGTH);
+                    if (object.FOOT_HEIGHT != null)
+                        message.FOOT_HEIGHT = Number(object.FOOT_HEIGHT);
+                    if (object.FOOT_LENGTH != null)
+                        message.FOOT_LENGTH = Number(object.FOOT_LENGTH);
+                    if (object.TOE_LENGTH != null)
+                        message.TOE_LENGTH = Number(object.TOE_LENGTH);
+                    if (object.HEEL_LENGTH != null)
+                        message.HEEL_LENGTH = Number(object.HEEL_LENGTH);
+                    if (object.FOOT_WIDTH != null)
+                        message.FOOT_WIDTH = Number(object.FOOT_WIDTH);
+                    if (object.FOOT_CENTRE_TO_ANKLE_CENTRE != null)
+                        message.FOOT_CENTRE_TO_ANKLE_CENTRE = Number(object.FOOT_CENTRE_TO_ANKLE_CENTRE);
+                    if (object.LENGTH_BETWEEN_LEGS != null)
+                        message.LENGTH_BETWEEN_LEGS = Number(object.LENGTH_BETWEEN_LEGS);
+                    if (object.LEFT_TO_RIGHT_HIP_YAW != null)
+                        message.LEFT_TO_RIGHT_HIP_YAW = object.LEFT_TO_RIGHT_HIP_YAW | 0;
+                    if (object.LEFT_TO_RIGHT_HIP_ROLL != null)
+                        message.LEFT_TO_RIGHT_HIP_ROLL = object.LEFT_TO_RIGHT_HIP_ROLL | 0;
+                    if (object.LEFT_TO_RIGHT_HIP_PITCH != null)
+                        message.LEFT_TO_RIGHT_HIP_PITCH = object.LEFT_TO_RIGHT_HIP_PITCH | 0;
+                    if (object.LEFT_TO_RIGHT_KNEE != null)
+                        message.LEFT_TO_RIGHT_KNEE = object.LEFT_TO_RIGHT_KNEE | 0;
+                    if (object.LEFT_TO_RIGHT_ANKLE_PITCH != null)
+                        message.LEFT_TO_RIGHT_ANKLE_PITCH = object.LEFT_TO_RIGHT_ANKLE_PITCH | 0;
+                    if (object.LEFT_TO_RIGHT_ANKLE_ROLL != null)
+                        message.LEFT_TO_RIGHT_ANKLE_ROLL = object.LEFT_TO_RIGHT_ANKLE_ROLL | 0;
+                    return message;
+                };
+
+                /**
+                 * Creates a Leg message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.motion.KinematicsModel.Leg.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.motion.KinematicsModel.Leg} Leg
+                 */
+                Leg.from = Leg.fromObject;
+
+                /**
+                 * Creates a plain object from a Leg message. Also converts values to other types if specified.
+                 * @param {message.motion.KinematicsModel.Leg} message Leg
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Leg.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.defaults) {
+                        object.HIP_OFFSET_X = 0;
+                        object.HIP_OFFSET_Y = 0;
+                        object.HIP_OFFSET_Z = 0;
+                        object.UPPER_LEG_LENGTH = 0;
+                        object.LOWER_LEG_LENGTH = 0;
+                        object.FOOT_HEIGHT = 0;
+                        object.FOOT_LENGTH = 0;
+                        object.TOE_LENGTH = 0;
+                        object.HEEL_LENGTH = 0;
+                        object.FOOT_WIDTH = 0;
+                        object.FOOT_CENTRE_TO_ANKLE_CENTRE = 0;
+                        object.LENGTH_BETWEEN_LEGS = 0;
+                        object.LEFT_TO_RIGHT_HIP_YAW = 0;
+                        object.LEFT_TO_RIGHT_HIP_ROLL = 0;
+                        object.LEFT_TO_RIGHT_HIP_PITCH = 0;
+                        object.LEFT_TO_RIGHT_KNEE = 0;
+                        object.LEFT_TO_RIGHT_ANKLE_PITCH = 0;
+                        object.LEFT_TO_RIGHT_ANKLE_ROLL = 0;
+                    }
+                    if (message.HIP_OFFSET_X != null && message.hasOwnProperty("HIP_OFFSET_X"))
+                        object.HIP_OFFSET_X = message.HIP_OFFSET_X;
+                    if (message.HIP_OFFSET_Y != null && message.hasOwnProperty("HIP_OFFSET_Y"))
+                        object.HIP_OFFSET_Y = message.HIP_OFFSET_Y;
+                    if (message.HIP_OFFSET_Z != null && message.hasOwnProperty("HIP_OFFSET_Z"))
+                        object.HIP_OFFSET_Z = message.HIP_OFFSET_Z;
+                    if (message.UPPER_LEG_LENGTH != null && message.hasOwnProperty("UPPER_LEG_LENGTH"))
+                        object.UPPER_LEG_LENGTH = message.UPPER_LEG_LENGTH;
+                    if (message.LOWER_LEG_LENGTH != null && message.hasOwnProperty("LOWER_LEG_LENGTH"))
+                        object.LOWER_LEG_LENGTH = message.LOWER_LEG_LENGTH;
+                    if (message.FOOT_HEIGHT != null && message.hasOwnProperty("FOOT_HEIGHT"))
+                        object.FOOT_HEIGHT = message.FOOT_HEIGHT;
+                    if (message.FOOT_LENGTH != null && message.hasOwnProperty("FOOT_LENGTH"))
+                        object.FOOT_LENGTH = message.FOOT_LENGTH;
+                    if (message.TOE_LENGTH != null && message.hasOwnProperty("TOE_LENGTH"))
+                        object.TOE_LENGTH = message.TOE_LENGTH;
+                    if (message.HEEL_LENGTH != null && message.hasOwnProperty("HEEL_LENGTH"))
+                        object.HEEL_LENGTH = message.HEEL_LENGTH;
+                    if (message.FOOT_WIDTH != null && message.hasOwnProperty("FOOT_WIDTH"))
+                        object.FOOT_WIDTH = message.FOOT_WIDTH;
+                    if (message.FOOT_CENTRE_TO_ANKLE_CENTRE != null && message.hasOwnProperty("FOOT_CENTRE_TO_ANKLE_CENTRE"))
+                        object.FOOT_CENTRE_TO_ANKLE_CENTRE = message.FOOT_CENTRE_TO_ANKLE_CENTRE;
+                    if (message.LENGTH_BETWEEN_LEGS != null && message.hasOwnProperty("LENGTH_BETWEEN_LEGS"))
+                        object.LENGTH_BETWEEN_LEGS = message.LENGTH_BETWEEN_LEGS;
+                    if (message.LEFT_TO_RIGHT_HIP_YAW != null && message.hasOwnProperty("LEFT_TO_RIGHT_HIP_YAW"))
+                        object.LEFT_TO_RIGHT_HIP_YAW = message.LEFT_TO_RIGHT_HIP_YAW;
+                    if (message.LEFT_TO_RIGHT_HIP_ROLL != null && message.hasOwnProperty("LEFT_TO_RIGHT_HIP_ROLL"))
+                        object.LEFT_TO_RIGHT_HIP_ROLL = message.LEFT_TO_RIGHT_HIP_ROLL;
+                    if (message.LEFT_TO_RIGHT_HIP_PITCH != null && message.hasOwnProperty("LEFT_TO_RIGHT_HIP_PITCH"))
+                        object.LEFT_TO_RIGHT_HIP_PITCH = message.LEFT_TO_RIGHT_HIP_PITCH;
+                    if (message.LEFT_TO_RIGHT_KNEE != null && message.hasOwnProperty("LEFT_TO_RIGHT_KNEE"))
+                        object.LEFT_TO_RIGHT_KNEE = message.LEFT_TO_RIGHT_KNEE;
+                    if (message.LEFT_TO_RIGHT_ANKLE_PITCH != null && message.hasOwnProperty("LEFT_TO_RIGHT_ANKLE_PITCH"))
+                        object.LEFT_TO_RIGHT_ANKLE_PITCH = message.LEFT_TO_RIGHT_ANKLE_PITCH;
+                    if (message.LEFT_TO_RIGHT_ANKLE_ROLL != null && message.hasOwnProperty("LEFT_TO_RIGHT_ANKLE_ROLL"))
+                        object.LEFT_TO_RIGHT_ANKLE_ROLL = message.LEFT_TO_RIGHT_ANKLE_ROLL;
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this Leg message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Leg.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this Leg to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                Leg.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return Leg;
+            })();
+
+            KinematicsModel.Head = (function() {
+
+                /**
+                 * Properties of a Head.
+                 * @typedef message.motion.KinematicsModel.Head$Properties
+                 * @type {Object}
+                 * @property {number} [NECK_BASE_POS_FROM_ORIGIN_X] Head NECK_BASE_POS_FROM_ORIGIN_X.
+                 * @property {number} [NECK_BASE_POS_FROM_ORIGIN_Y] Head NECK_BASE_POS_FROM_ORIGIN_Y.
+                 * @property {number} [NECK_BASE_POS_FROM_ORIGIN_Z] Head NECK_BASE_POS_FROM_ORIGIN_Z.
+                 * @property {number} [NECK_LENGTH] Head NECK_LENGTH.
+                 * @property {number} [NECK_TO_CAMERA_X] Head NECK_TO_CAMERA_X.
+                 * @property {number} [NECK_TO_CAMERA_Y] Head NECK_TO_CAMERA_Y.
+                 * @property {number} [NECK_TO_CAMERA_Z] Head NECK_TO_CAMERA_Z.
+                 * @property {number} [CAMERA_DECLINATION_ANGLE_OFFSET] Head CAMERA_DECLINATION_ANGLE_OFFSET.
+                 * @property {number} [MAX_YAW] Head MAX_YAW.
+                 * @property {number} [MIN_YAW] Head MIN_YAW.
+                 * @property {number} [MAX_PITCH] Head MAX_PITCH.
+                 * @property {number} [MIN_PITCH] Head MIN_PITCH.
+                 */
+
+                /**
+                 * Constructs a new Head.
+                 * @exports message.motion.KinematicsModel.Head
+                 * @constructor
+                 * @param {message.motion.KinematicsModel.Head$Properties=} [properties] Properties to set
+                 */
+                function Head(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * Head NECK_BASE_POS_FROM_ORIGIN_X.
+                 * @type {number}
+                 */
+                Head.prototype.NECK_BASE_POS_FROM_ORIGIN_X = 0;
+
+                /**
+                 * Head NECK_BASE_POS_FROM_ORIGIN_Y.
+                 * @type {number}
+                 */
+                Head.prototype.NECK_BASE_POS_FROM_ORIGIN_Y = 0;
+
+                /**
+                 * Head NECK_BASE_POS_FROM_ORIGIN_Z.
+                 * @type {number}
+                 */
+                Head.prototype.NECK_BASE_POS_FROM_ORIGIN_Z = 0;
+
+                /**
+                 * Head NECK_LENGTH.
+                 * @type {number}
+                 */
+                Head.prototype.NECK_LENGTH = 0;
+
+                /**
+                 * Head NECK_TO_CAMERA_X.
+                 * @type {number}
+                 */
+                Head.prototype.NECK_TO_CAMERA_X = 0;
+
+                /**
+                 * Head NECK_TO_CAMERA_Y.
+                 * @type {number}
+                 */
+                Head.prototype.NECK_TO_CAMERA_Y = 0;
+
+                /**
+                 * Head NECK_TO_CAMERA_Z.
+                 * @type {number}
+                 */
+                Head.prototype.NECK_TO_CAMERA_Z = 0;
+
+                /**
+                 * Head CAMERA_DECLINATION_ANGLE_OFFSET.
+                 * @type {number}
+                 */
+                Head.prototype.CAMERA_DECLINATION_ANGLE_OFFSET = 0;
+
+                /**
+                 * Head MAX_YAW.
+                 * @type {number}
+                 */
+                Head.prototype.MAX_YAW = 0;
+
+                /**
+                 * Head MIN_YAW.
+                 * @type {number}
+                 */
+                Head.prototype.MIN_YAW = 0;
+
+                /**
+                 * Head MAX_PITCH.
+                 * @type {number}
+                 */
+                Head.prototype.MAX_PITCH = 0;
+
+                /**
+                 * Head MIN_PITCH.
+                 * @type {number}
+                 */
+                Head.prototype.MIN_PITCH = 0;
+
+                /**
+                 * Creates a new Head instance using the specified properties.
+                 * @param {message.motion.KinematicsModel.Head$Properties=} [properties] Properties to set
+                 * @returns {message.motion.KinematicsModel.Head} Head instance
+                 */
+                Head.create = function create(properties) {
+                    return new Head(properties);
+                };
+
+                /**
+                 * Encodes the specified Head message. Does not implicitly {@link message.motion.KinematicsModel.Head.verify|verify} messages.
+                 * @param {message.motion.KinematicsModel.Head$Properties} message Head message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Head.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.NECK_BASE_POS_FROM_ORIGIN_X != null && message.hasOwnProperty("NECK_BASE_POS_FROM_ORIGIN_X"))
+                        writer.uint32(/* id 1, wireType 5 =*/13).float(message.NECK_BASE_POS_FROM_ORIGIN_X);
+                    if (message.NECK_BASE_POS_FROM_ORIGIN_Y != null && message.hasOwnProperty("NECK_BASE_POS_FROM_ORIGIN_Y"))
+                        writer.uint32(/* id 2, wireType 5 =*/21).float(message.NECK_BASE_POS_FROM_ORIGIN_Y);
+                    if (message.NECK_BASE_POS_FROM_ORIGIN_Z != null && message.hasOwnProperty("NECK_BASE_POS_FROM_ORIGIN_Z"))
+                        writer.uint32(/* id 3, wireType 5 =*/29).float(message.NECK_BASE_POS_FROM_ORIGIN_Z);
+                    if (message.NECK_LENGTH != null && message.hasOwnProperty("NECK_LENGTH"))
+                        writer.uint32(/* id 4, wireType 5 =*/37).float(message.NECK_LENGTH);
+                    if (message.NECK_TO_CAMERA_X != null && message.hasOwnProperty("NECK_TO_CAMERA_X"))
+                        writer.uint32(/* id 5, wireType 5 =*/45).float(message.NECK_TO_CAMERA_X);
+                    if (message.NECK_TO_CAMERA_Y != null && message.hasOwnProperty("NECK_TO_CAMERA_Y"))
+                        writer.uint32(/* id 6, wireType 5 =*/53).float(message.NECK_TO_CAMERA_Y);
+                    if (message.NECK_TO_CAMERA_Z != null && message.hasOwnProperty("NECK_TO_CAMERA_Z"))
+                        writer.uint32(/* id 7, wireType 5 =*/61).float(message.NECK_TO_CAMERA_Z);
+                    if (message.CAMERA_DECLINATION_ANGLE_OFFSET != null && message.hasOwnProperty("CAMERA_DECLINATION_ANGLE_OFFSET"))
+                        writer.uint32(/* id 8, wireType 5 =*/69).float(message.CAMERA_DECLINATION_ANGLE_OFFSET);
+                    if (message.MAX_YAW != null && message.hasOwnProperty("MAX_YAW"))
+                        writer.uint32(/* id 9, wireType 5 =*/77).float(message.MAX_YAW);
+                    if (message.MIN_YAW != null && message.hasOwnProperty("MIN_YAW"))
+                        writer.uint32(/* id 10, wireType 5 =*/85).float(message.MIN_YAW);
+                    if (message.MAX_PITCH != null && message.hasOwnProperty("MAX_PITCH"))
+                        writer.uint32(/* id 11, wireType 5 =*/93).float(message.MAX_PITCH);
+                    if (message.MIN_PITCH != null && message.hasOwnProperty("MIN_PITCH"))
+                        writer.uint32(/* id 12, wireType 5 =*/101).float(message.MIN_PITCH);
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified Head message, length delimited. Does not implicitly {@link message.motion.KinematicsModel.Head.verify|verify} messages.
+                 * @param {message.motion.KinematicsModel.Head$Properties} message Head message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Head.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a Head message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.motion.KinematicsModel.Head} Head
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Head.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.KinematicsModel.Head();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.NECK_BASE_POS_FROM_ORIGIN_X = reader.float();
+                            break;
+                        case 2:
+                            message.NECK_BASE_POS_FROM_ORIGIN_Y = reader.float();
+                            break;
+                        case 3:
+                            message.NECK_BASE_POS_FROM_ORIGIN_Z = reader.float();
+                            break;
+                        case 4:
+                            message.NECK_LENGTH = reader.float();
+                            break;
+                        case 5:
+                            message.NECK_TO_CAMERA_X = reader.float();
+                            break;
+                        case 6:
+                            message.NECK_TO_CAMERA_Y = reader.float();
+                            break;
+                        case 7:
+                            message.NECK_TO_CAMERA_Z = reader.float();
+                            break;
+                        case 8:
+                            message.CAMERA_DECLINATION_ANGLE_OFFSET = reader.float();
+                            break;
+                        case 9:
+                            message.MAX_YAW = reader.float();
+                            break;
+                        case 10:
+                            message.MIN_YAW = reader.float();
+                            break;
+                        case 11:
+                            message.MAX_PITCH = reader.float();
+                            break;
+                        case 12:
+                            message.MIN_PITCH = reader.float();
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a Head message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.motion.KinematicsModel.Head} Head
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Head.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a Head message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                Head.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.NECK_BASE_POS_FROM_ORIGIN_X != null && message.hasOwnProperty("NECK_BASE_POS_FROM_ORIGIN_X"))
+                        if (typeof message.NECK_BASE_POS_FROM_ORIGIN_X !== "number")
+                            return "NECK_BASE_POS_FROM_ORIGIN_X: number expected";
+                    if (message.NECK_BASE_POS_FROM_ORIGIN_Y != null && message.hasOwnProperty("NECK_BASE_POS_FROM_ORIGIN_Y"))
+                        if (typeof message.NECK_BASE_POS_FROM_ORIGIN_Y !== "number")
+                            return "NECK_BASE_POS_FROM_ORIGIN_Y: number expected";
+                    if (message.NECK_BASE_POS_FROM_ORIGIN_Z != null && message.hasOwnProperty("NECK_BASE_POS_FROM_ORIGIN_Z"))
+                        if (typeof message.NECK_BASE_POS_FROM_ORIGIN_Z !== "number")
+                            return "NECK_BASE_POS_FROM_ORIGIN_Z: number expected";
+                    if (message.NECK_LENGTH != null && message.hasOwnProperty("NECK_LENGTH"))
+                        if (typeof message.NECK_LENGTH !== "number")
+                            return "NECK_LENGTH: number expected";
+                    if (message.NECK_TO_CAMERA_X != null && message.hasOwnProperty("NECK_TO_CAMERA_X"))
+                        if (typeof message.NECK_TO_CAMERA_X !== "number")
+                            return "NECK_TO_CAMERA_X: number expected";
+                    if (message.NECK_TO_CAMERA_Y != null && message.hasOwnProperty("NECK_TO_CAMERA_Y"))
+                        if (typeof message.NECK_TO_CAMERA_Y !== "number")
+                            return "NECK_TO_CAMERA_Y: number expected";
+                    if (message.NECK_TO_CAMERA_Z != null && message.hasOwnProperty("NECK_TO_CAMERA_Z"))
+                        if (typeof message.NECK_TO_CAMERA_Z !== "number")
+                            return "NECK_TO_CAMERA_Z: number expected";
+                    if (message.CAMERA_DECLINATION_ANGLE_OFFSET != null && message.hasOwnProperty("CAMERA_DECLINATION_ANGLE_OFFSET"))
+                        if (typeof message.CAMERA_DECLINATION_ANGLE_OFFSET !== "number")
+                            return "CAMERA_DECLINATION_ANGLE_OFFSET: number expected";
+                    if (message.MAX_YAW != null && message.hasOwnProperty("MAX_YAW"))
+                        if (typeof message.MAX_YAW !== "number")
+                            return "MAX_YAW: number expected";
+                    if (message.MIN_YAW != null && message.hasOwnProperty("MIN_YAW"))
+                        if (typeof message.MIN_YAW !== "number")
+                            return "MIN_YAW: number expected";
+                    if (message.MAX_PITCH != null && message.hasOwnProperty("MAX_PITCH"))
+                        if (typeof message.MAX_PITCH !== "number")
+                            return "MAX_PITCH: number expected";
+                    if (message.MIN_PITCH != null && message.hasOwnProperty("MIN_PITCH"))
+                        if (typeof message.MIN_PITCH !== "number")
+                            return "MIN_PITCH: number expected";
+                    return null;
+                };
+
+                /**
+                 * Creates a Head message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.motion.KinematicsModel.Head} Head
+                 */
+                Head.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.motion.KinematicsModel.Head)
+                        return object;
+                    var message = new $root.message.motion.KinematicsModel.Head();
+                    if (object.NECK_BASE_POS_FROM_ORIGIN_X != null)
+                        message.NECK_BASE_POS_FROM_ORIGIN_X = Number(object.NECK_BASE_POS_FROM_ORIGIN_X);
+                    if (object.NECK_BASE_POS_FROM_ORIGIN_Y != null)
+                        message.NECK_BASE_POS_FROM_ORIGIN_Y = Number(object.NECK_BASE_POS_FROM_ORIGIN_Y);
+                    if (object.NECK_BASE_POS_FROM_ORIGIN_Z != null)
+                        message.NECK_BASE_POS_FROM_ORIGIN_Z = Number(object.NECK_BASE_POS_FROM_ORIGIN_Z);
+                    if (object.NECK_LENGTH != null)
+                        message.NECK_LENGTH = Number(object.NECK_LENGTH);
+                    if (object.NECK_TO_CAMERA_X != null)
+                        message.NECK_TO_CAMERA_X = Number(object.NECK_TO_CAMERA_X);
+                    if (object.NECK_TO_CAMERA_Y != null)
+                        message.NECK_TO_CAMERA_Y = Number(object.NECK_TO_CAMERA_Y);
+                    if (object.NECK_TO_CAMERA_Z != null)
+                        message.NECK_TO_CAMERA_Z = Number(object.NECK_TO_CAMERA_Z);
+                    if (object.CAMERA_DECLINATION_ANGLE_OFFSET != null)
+                        message.CAMERA_DECLINATION_ANGLE_OFFSET = Number(object.CAMERA_DECLINATION_ANGLE_OFFSET);
+                    if (object.MAX_YAW != null)
+                        message.MAX_YAW = Number(object.MAX_YAW);
+                    if (object.MIN_YAW != null)
+                        message.MIN_YAW = Number(object.MIN_YAW);
+                    if (object.MAX_PITCH != null)
+                        message.MAX_PITCH = Number(object.MAX_PITCH);
+                    if (object.MIN_PITCH != null)
+                        message.MIN_PITCH = Number(object.MIN_PITCH);
+                    return message;
+                };
+
+                /**
+                 * Creates a Head message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.motion.KinematicsModel.Head.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.motion.KinematicsModel.Head} Head
+                 */
+                Head.from = Head.fromObject;
+
+                /**
+                 * Creates a plain object from a Head message. Also converts values to other types if specified.
+                 * @param {message.motion.KinematicsModel.Head} message Head
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Head.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.defaults) {
+                        object.NECK_BASE_POS_FROM_ORIGIN_X = 0;
+                        object.NECK_BASE_POS_FROM_ORIGIN_Y = 0;
+                        object.NECK_BASE_POS_FROM_ORIGIN_Z = 0;
+                        object.NECK_LENGTH = 0;
+                        object.NECK_TO_CAMERA_X = 0;
+                        object.NECK_TO_CAMERA_Y = 0;
+                        object.NECK_TO_CAMERA_Z = 0;
+                        object.CAMERA_DECLINATION_ANGLE_OFFSET = 0;
+                        object.MAX_YAW = 0;
+                        object.MIN_YAW = 0;
+                        object.MAX_PITCH = 0;
+                        object.MIN_PITCH = 0;
+                    }
+                    if (message.NECK_BASE_POS_FROM_ORIGIN_X != null && message.hasOwnProperty("NECK_BASE_POS_FROM_ORIGIN_X"))
+                        object.NECK_BASE_POS_FROM_ORIGIN_X = message.NECK_BASE_POS_FROM_ORIGIN_X;
+                    if (message.NECK_BASE_POS_FROM_ORIGIN_Y != null && message.hasOwnProperty("NECK_BASE_POS_FROM_ORIGIN_Y"))
+                        object.NECK_BASE_POS_FROM_ORIGIN_Y = message.NECK_BASE_POS_FROM_ORIGIN_Y;
+                    if (message.NECK_BASE_POS_FROM_ORIGIN_Z != null && message.hasOwnProperty("NECK_BASE_POS_FROM_ORIGIN_Z"))
+                        object.NECK_BASE_POS_FROM_ORIGIN_Z = message.NECK_BASE_POS_FROM_ORIGIN_Z;
+                    if (message.NECK_LENGTH != null && message.hasOwnProperty("NECK_LENGTH"))
+                        object.NECK_LENGTH = message.NECK_LENGTH;
+                    if (message.NECK_TO_CAMERA_X != null && message.hasOwnProperty("NECK_TO_CAMERA_X"))
+                        object.NECK_TO_CAMERA_X = message.NECK_TO_CAMERA_X;
+                    if (message.NECK_TO_CAMERA_Y != null && message.hasOwnProperty("NECK_TO_CAMERA_Y"))
+                        object.NECK_TO_CAMERA_Y = message.NECK_TO_CAMERA_Y;
+                    if (message.NECK_TO_CAMERA_Z != null && message.hasOwnProperty("NECK_TO_CAMERA_Z"))
+                        object.NECK_TO_CAMERA_Z = message.NECK_TO_CAMERA_Z;
+                    if (message.CAMERA_DECLINATION_ANGLE_OFFSET != null && message.hasOwnProperty("CAMERA_DECLINATION_ANGLE_OFFSET"))
+                        object.CAMERA_DECLINATION_ANGLE_OFFSET = message.CAMERA_DECLINATION_ANGLE_OFFSET;
+                    if (message.MAX_YAW != null && message.hasOwnProperty("MAX_YAW"))
+                        object.MAX_YAW = message.MAX_YAW;
+                    if (message.MIN_YAW != null && message.hasOwnProperty("MIN_YAW"))
+                        object.MIN_YAW = message.MIN_YAW;
+                    if (message.MAX_PITCH != null && message.hasOwnProperty("MAX_PITCH"))
+                        object.MAX_PITCH = message.MAX_PITCH;
+                    if (message.MIN_PITCH != null && message.hasOwnProperty("MIN_PITCH"))
+                        object.MIN_PITCH = message.MIN_PITCH;
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this Head message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Head.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this Head to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                Head.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return Head;
+            })();
+
+            KinematicsModel.Arm = (function() {
+
+                /**
+                 * Properties of an Arm.
+                 * @typedef message.motion.KinematicsModel.Arm$Properties
+                 * @type {Object}
+                 * @property {number} [DISTANCE_BETWEEN_SHOULDERS] Arm DISTANCE_BETWEEN_SHOULDERS.
+                 * @property {number} [SHOULDER_Z_OFFSET] Arm SHOULDER_Z_OFFSET.
+                 * @property {number} [SHOULDER_X_OFFSET] Arm SHOULDER_X_OFFSET.
+                 * @property {number} [SHOULDER_LENGTH] Arm SHOULDER_LENGTH.
+                 * @property {number} [SHOULDER_WIDTH] Arm SHOULDER_WIDTH.
+                 * @property {number} [SHOULDER_HEIGHT] Arm SHOULDER_HEIGHT.
+                 * @property {number} [UPPER_ARM_LENGTH] Arm UPPER_ARM_LENGTH.
+                 * @property {number} [UPPER_ARM_Y_OFFSET] Arm UPPER_ARM_Y_OFFSET.
+                 * @property {number} [UPPER_ARM_X_OFFSET] Arm UPPER_ARM_X_OFFSET.
+                 * @property {number} [LOWER_ARM_LENGTH] Arm LOWER_ARM_LENGTH.
+                 * @property {number} [LOWER_ARM_Y_OFFSET] Arm LOWER_ARM_Y_OFFSET.
+                 * @property {number} [LOWER_ARM_Z_OFFSET] Arm LOWER_ARM_Z_OFFSET.
+                 */
+
+                /**
+                 * Constructs a new Arm.
+                 * @exports message.motion.KinematicsModel.Arm
+                 * @constructor
+                 * @param {message.motion.KinematicsModel.Arm$Properties=} [properties] Properties to set
+                 */
+                function Arm(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * Arm DISTANCE_BETWEEN_SHOULDERS.
+                 * @type {number}
+                 */
+                Arm.prototype.DISTANCE_BETWEEN_SHOULDERS = 0;
+
+                /**
+                 * Arm SHOULDER_Z_OFFSET.
+                 * @type {number}
+                 */
+                Arm.prototype.SHOULDER_Z_OFFSET = 0;
+
+                /**
+                 * Arm SHOULDER_X_OFFSET.
+                 * @type {number}
+                 */
+                Arm.prototype.SHOULDER_X_OFFSET = 0;
+
+                /**
+                 * Arm SHOULDER_LENGTH.
+                 * @type {number}
+                 */
+                Arm.prototype.SHOULDER_LENGTH = 0;
+
+                /**
+                 * Arm SHOULDER_WIDTH.
+                 * @type {number}
+                 */
+                Arm.prototype.SHOULDER_WIDTH = 0;
+
+                /**
+                 * Arm SHOULDER_HEIGHT.
+                 * @type {number}
+                 */
+                Arm.prototype.SHOULDER_HEIGHT = 0;
+
+                /**
+                 * Arm UPPER_ARM_LENGTH.
+                 * @type {number}
+                 */
+                Arm.prototype.UPPER_ARM_LENGTH = 0;
+
+                /**
+                 * Arm UPPER_ARM_Y_OFFSET.
+                 * @type {number}
+                 */
+                Arm.prototype.UPPER_ARM_Y_OFFSET = 0;
+
+                /**
+                 * Arm UPPER_ARM_X_OFFSET.
+                 * @type {number}
+                 */
+                Arm.prototype.UPPER_ARM_X_OFFSET = 0;
+
+                /**
+                 * Arm LOWER_ARM_LENGTH.
+                 * @type {number}
+                 */
+                Arm.prototype.LOWER_ARM_LENGTH = 0;
+
+                /**
+                 * Arm LOWER_ARM_Y_OFFSET.
+                 * @type {number}
+                 */
+                Arm.prototype.LOWER_ARM_Y_OFFSET = 0;
+
+                /**
+                 * Arm LOWER_ARM_Z_OFFSET.
+                 * @type {number}
+                 */
+                Arm.prototype.LOWER_ARM_Z_OFFSET = 0;
+
+                /**
+                 * Creates a new Arm instance using the specified properties.
+                 * @param {message.motion.KinematicsModel.Arm$Properties=} [properties] Properties to set
+                 * @returns {message.motion.KinematicsModel.Arm} Arm instance
+                 */
+                Arm.create = function create(properties) {
+                    return new Arm(properties);
+                };
+
+                /**
+                 * Encodes the specified Arm message. Does not implicitly {@link message.motion.KinematicsModel.Arm.verify|verify} messages.
+                 * @param {message.motion.KinematicsModel.Arm$Properties} message Arm message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Arm.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.DISTANCE_BETWEEN_SHOULDERS != null && message.hasOwnProperty("DISTANCE_BETWEEN_SHOULDERS"))
+                        writer.uint32(/* id 1, wireType 5 =*/13).float(message.DISTANCE_BETWEEN_SHOULDERS);
+                    if (message.SHOULDER_Z_OFFSET != null && message.hasOwnProperty("SHOULDER_Z_OFFSET"))
+                        writer.uint32(/* id 2, wireType 5 =*/21).float(message.SHOULDER_Z_OFFSET);
+                    if (message.SHOULDER_X_OFFSET != null && message.hasOwnProperty("SHOULDER_X_OFFSET"))
+                        writer.uint32(/* id 3, wireType 5 =*/29).float(message.SHOULDER_X_OFFSET);
+                    if (message.SHOULDER_LENGTH != null && message.hasOwnProperty("SHOULDER_LENGTH"))
+                        writer.uint32(/* id 4, wireType 5 =*/37).float(message.SHOULDER_LENGTH);
+                    if (message.SHOULDER_WIDTH != null && message.hasOwnProperty("SHOULDER_WIDTH"))
+                        writer.uint32(/* id 5, wireType 5 =*/45).float(message.SHOULDER_WIDTH);
+                    if (message.SHOULDER_HEIGHT != null && message.hasOwnProperty("SHOULDER_HEIGHT"))
+                        writer.uint32(/* id 6, wireType 5 =*/53).float(message.SHOULDER_HEIGHT);
+                    if (message.UPPER_ARM_LENGTH != null && message.hasOwnProperty("UPPER_ARM_LENGTH"))
+                        writer.uint32(/* id 7, wireType 5 =*/61).float(message.UPPER_ARM_LENGTH);
+                    if (message.UPPER_ARM_Y_OFFSET != null && message.hasOwnProperty("UPPER_ARM_Y_OFFSET"))
+                        writer.uint32(/* id 8, wireType 5 =*/69).float(message.UPPER_ARM_Y_OFFSET);
+                    if (message.UPPER_ARM_X_OFFSET != null && message.hasOwnProperty("UPPER_ARM_X_OFFSET"))
+                        writer.uint32(/* id 9, wireType 5 =*/77).float(message.UPPER_ARM_X_OFFSET);
+                    if (message.LOWER_ARM_LENGTH != null && message.hasOwnProperty("LOWER_ARM_LENGTH"))
+                        writer.uint32(/* id 10, wireType 5 =*/85).float(message.LOWER_ARM_LENGTH);
+                    if (message.LOWER_ARM_Y_OFFSET != null && message.hasOwnProperty("LOWER_ARM_Y_OFFSET"))
+                        writer.uint32(/* id 11, wireType 5 =*/93).float(message.LOWER_ARM_Y_OFFSET);
+                    if (message.LOWER_ARM_Z_OFFSET != null && message.hasOwnProperty("LOWER_ARM_Z_OFFSET"))
+                        writer.uint32(/* id 12, wireType 5 =*/101).float(message.LOWER_ARM_Z_OFFSET);
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified Arm message, length delimited. Does not implicitly {@link message.motion.KinematicsModel.Arm.verify|verify} messages.
+                 * @param {message.motion.KinematicsModel.Arm$Properties} message Arm message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Arm.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes an Arm message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.motion.KinematicsModel.Arm} Arm
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Arm.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.KinematicsModel.Arm();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.DISTANCE_BETWEEN_SHOULDERS = reader.float();
+                            break;
+                        case 2:
+                            message.SHOULDER_Z_OFFSET = reader.float();
+                            break;
+                        case 3:
+                            message.SHOULDER_X_OFFSET = reader.float();
+                            break;
+                        case 4:
+                            message.SHOULDER_LENGTH = reader.float();
+                            break;
+                        case 5:
+                            message.SHOULDER_WIDTH = reader.float();
+                            break;
+                        case 6:
+                            message.SHOULDER_HEIGHT = reader.float();
+                            break;
+                        case 7:
+                            message.UPPER_ARM_LENGTH = reader.float();
+                            break;
+                        case 8:
+                            message.UPPER_ARM_Y_OFFSET = reader.float();
+                            break;
+                        case 9:
+                            message.UPPER_ARM_X_OFFSET = reader.float();
+                            break;
+                        case 10:
+                            message.LOWER_ARM_LENGTH = reader.float();
+                            break;
+                        case 11:
+                            message.LOWER_ARM_Y_OFFSET = reader.float();
+                            break;
+                        case 12:
+                            message.LOWER_ARM_Z_OFFSET = reader.float();
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes an Arm message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.motion.KinematicsModel.Arm} Arm
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Arm.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies an Arm message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                Arm.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.DISTANCE_BETWEEN_SHOULDERS != null && message.hasOwnProperty("DISTANCE_BETWEEN_SHOULDERS"))
+                        if (typeof message.DISTANCE_BETWEEN_SHOULDERS !== "number")
+                            return "DISTANCE_BETWEEN_SHOULDERS: number expected";
+                    if (message.SHOULDER_Z_OFFSET != null && message.hasOwnProperty("SHOULDER_Z_OFFSET"))
+                        if (typeof message.SHOULDER_Z_OFFSET !== "number")
+                            return "SHOULDER_Z_OFFSET: number expected";
+                    if (message.SHOULDER_X_OFFSET != null && message.hasOwnProperty("SHOULDER_X_OFFSET"))
+                        if (typeof message.SHOULDER_X_OFFSET !== "number")
+                            return "SHOULDER_X_OFFSET: number expected";
+                    if (message.SHOULDER_LENGTH != null && message.hasOwnProperty("SHOULDER_LENGTH"))
+                        if (typeof message.SHOULDER_LENGTH !== "number")
+                            return "SHOULDER_LENGTH: number expected";
+                    if (message.SHOULDER_WIDTH != null && message.hasOwnProperty("SHOULDER_WIDTH"))
+                        if (typeof message.SHOULDER_WIDTH !== "number")
+                            return "SHOULDER_WIDTH: number expected";
+                    if (message.SHOULDER_HEIGHT != null && message.hasOwnProperty("SHOULDER_HEIGHT"))
+                        if (typeof message.SHOULDER_HEIGHT !== "number")
+                            return "SHOULDER_HEIGHT: number expected";
+                    if (message.UPPER_ARM_LENGTH != null && message.hasOwnProperty("UPPER_ARM_LENGTH"))
+                        if (typeof message.UPPER_ARM_LENGTH !== "number")
+                            return "UPPER_ARM_LENGTH: number expected";
+                    if (message.UPPER_ARM_Y_OFFSET != null && message.hasOwnProperty("UPPER_ARM_Y_OFFSET"))
+                        if (typeof message.UPPER_ARM_Y_OFFSET !== "number")
+                            return "UPPER_ARM_Y_OFFSET: number expected";
+                    if (message.UPPER_ARM_X_OFFSET != null && message.hasOwnProperty("UPPER_ARM_X_OFFSET"))
+                        if (typeof message.UPPER_ARM_X_OFFSET !== "number")
+                            return "UPPER_ARM_X_OFFSET: number expected";
+                    if (message.LOWER_ARM_LENGTH != null && message.hasOwnProperty("LOWER_ARM_LENGTH"))
+                        if (typeof message.LOWER_ARM_LENGTH !== "number")
+                            return "LOWER_ARM_LENGTH: number expected";
+                    if (message.LOWER_ARM_Y_OFFSET != null && message.hasOwnProperty("LOWER_ARM_Y_OFFSET"))
+                        if (typeof message.LOWER_ARM_Y_OFFSET !== "number")
+                            return "LOWER_ARM_Y_OFFSET: number expected";
+                    if (message.LOWER_ARM_Z_OFFSET != null && message.hasOwnProperty("LOWER_ARM_Z_OFFSET"))
+                        if (typeof message.LOWER_ARM_Z_OFFSET !== "number")
+                            return "LOWER_ARM_Z_OFFSET: number expected";
+                    return null;
+                };
+
+                /**
+                 * Creates an Arm message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.motion.KinematicsModel.Arm} Arm
+                 */
+                Arm.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.motion.KinematicsModel.Arm)
+                        return object;
+                    var message = new $root.message.motion.KinematicsModel.Arm();
+                    if (object.DISTANCE_BETWEEN_SHOULDERS != null)
+                        message.DISTANCE_BETWEEN_SHOULDERS = Number(object.DISTANCE_BETWEEN_SHOULDERS);
+                    if (object.SHOULDER_Z_OFFSET != null)
+                        message.SHOULDER_Z_OFFSET = Number(object.SHOULDER_Z_OFFSET);
+                    if (object.SHOULDER_X_OFFSET != null)
+                        message.SHOULDER_X_OFFSET = Number(object.SHOULDER_X_OFFSET);
+                    if (object.SHOULDER_LENGTH != null)
+                        message.SHOULDER_LENGTH = Number(object.SHOULDER_LENGTH);
+                    if (object.SHOULDER_WIDTH != null)
+                        message.SHOULDER_WIDTH = Number(object.SHOULDER_WIDTH);
+                    if (object.SHOULDER_HEIGHT != null)
+                        message.SHOULDER_HEIGHT = Number(object.SHOULDER_HEIGHT);
+                    if (object.UPPER_ARM_LENGTH != null)
+                        message.UPPER_ARM_LENGTH = Number(object.UPPER_ARM_LENGTH);
+                    if (object.UPPER_ARM_Y_OFFSET != null)
+                        message.UPPER_ARM_Y_OFFSET = Number(object.UPPER_ARM_Y_OFFSET);
+                    if (object.UPPER_ARM_X_OFFSET != null)
+                        message.UPPER_ARM_X_OFFSET = Number(object.UPPER_ARM_X_OFFSET);
+                    if (object.LOWER_ARM_LENGTH != null)
+                        message.LOWER_ARM_LENGTH = Number(object.LOWER_ARM_LENGTH);
+                    if (object.LOWER_ARM_Y_OFFSET != null)
+                        message.LOWER_ARM_Y_OFFSET = Number(object.LOWER_ARM_Y_OFFSET);
+                    if (object.LOWER_ARM_Z_OFFSET != null)
+                        message.LOWER_ARM_Z_OFFSET = Number(object.LOWER_ARM_Z_OFFSET);
+                    return message;
+                };
+
+                /**
+                 * Creates an Arm message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.motion.KinematicsModel.Arm.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.motion.KinematicsModel.Arm} Arm
+                 */
+                Arm.from = Arm.fromObject;
+
+                /**
+                 * Creates a plain object from an Arm message. Also converts values to other types if specified.
+                 * @param {message.motion.KinematicsModel.Arm} message Arm
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Arm.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.defaults) {
+                        object.DISTANCE_BETWEEN_SHOULDERS = 0;
+                        object.SHOULDER_Z_OFFSET = 0;
+                        object.SHOULDER_X_OFFSET = 0;
+                        object.SHOULDER_LENGTH = 0;
+                        object.SHOULDER_WIDTH = 0;
+                        object.SHOULDER_HEIGHT = 0;
+                        object.UPPER_ARM_LENGTH = 0;
+                        object.UPPER_ARM_Y_OFFSET = 0;
+                        object.UPPER_ARM_X_OFFSET = 0;
+                        object.LOWER_ARM_LENGTH = 0;
+                        object.LOWER_ARM_Y_OFFSET = 0;
+                        object.LOWER_ARM_Z_OFFSET = 0;
+                    }
+                    if (message.DISTANCE_BETWEEN_SHOULDERS != null && message.hasOwnProperty("DISTANCE_BETWEEN_SHOULDERS"))
+                        object.DISTANCE_BETWEEN_SHOULDERS = message.DISTANCE_BETWEEN_SHOULDERS;
+                    if (message.SHOULDER_Z_OFFSET != null && message.hasOwnProperty("SHOULDER_Z_OFFSET"))
+                        object.SHOULDER_Z_OFFSET = message.SHOULDER_Z_OFFSET;
+                    if (message.SHOULDER_X_OFFSET != null && message.hasOwnProperty("SHOULDER_X_OFFSET"))
+                        object.SHOULDER_X_OFFSET = message.SHOULDER_X_OFFSET;
+                    if (message.SHOULDER_LENGTH != null && message.hasOwnProperty("SHOULDER_LENGTH"))
+                        object.SHOULDER_LENGTH = message.SHOULDER_LENGTH;
+                    if (message.SHOULDER_WIDTH != null && message.hasOwnProperty("SHOULDER_WIDTH"))
+                        object.SHOULDER_WIDTH = message.SHOULDER_WIDTH;
+                    if (message.SHOULDER_HEIGHT != null && message.hasOwnProperty("SHOULDER_HEIGHT"))
+                        object.SHOULDER_HEIGHT = message.SHOULDER_HEIGHT;
+                    if (message.UPPER_ARM_LENGTH != null && message.hasOwnProperty("UPPER_ARM_LENGTH"))
+                        object.UPPER_ARM_LENGTH = message.UPPER_ARM_LENGTH;
+                    if (message.UPPER_ARM_Y_OFFSET != null && message.hasOwnProperty("UPPER_ARM_Y_OFFSET"))
+                        object.UPPER_ARM_Y_OFFSET = message.UPPER_ARM_Y_OFFSET;
+                    if (message.UPPER_ARM_X_OFFSET != null && message.hasOwnProperty("UPPER_ARM_X_OFFSET"))
+                        object.UPPER_ARM_X_OFFSET = message.UPPER_ARM_X_OFFSET;
+                    if (message.LOWER_ARM_LENGTH != null && message.hasOwnProperty("LOWER_ARM_LENGTH"))
+                        object.LOWER_ARM_LENGTH = message.LOWER_ARM_LENGTH;
+                    if (message.LOWER_ARM_Y_OFFSET != null && message.hasOwnProperty("LOWER_ARM_Y_OFFSET"))
+                        object.LOWER_ARM_Y_OFFSET = message.LOWER_ARM_Y_OFFSET;
+                    if (message.LOWER_ARM_Z_OFFSET != null && message.hasOwnProperty("LOWER_ARM_Z_OFFSET"))
+                        object.LOWER_ARM_Z_OFFSET = message.LOWER_ARM_Z_OFFSET;
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this Arm message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Arm.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this Arm to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                Arm.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return Arm;
+            })();
+
+            KinematicsModel.MassModel = (function() {
+
+                /**
+                 * Properties of a MassModel.
+                 * @typedef message.motion.KinematicsModel.MassModel$Properties
+                 * @type {Object}
+                 * @property {Array.<vec4$Properties>} [masses] MassModel masses.
+                 */
+
+                /**
+                 * Constructs a new MassModel.
+                 * @exports message.motion.KinematicsModel.MassModel
+                 * @constructor
+                 * @param {message.motion.KinematicsModel.MassModel$Properties=} [properties] Properties to set
+                 */
+                function MassModel(properties) {
+                    this.masses = [];
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * MassModel masses.
+                 * @type {Array.<vec4$Properties>}
+                 */
+                MassModel.prototype.masses = $util.emptyArray;
+
+                /**
+                 * Creates a new MassModel instance using the specified properties.
+                 * @param {message.motion.KinematicsModel.MassModel$Properties=} [properties] Properties to set
+                 * @returns {message.motion.KinematicsModel.MassModel} MassModel instance
+                 */
+                MassModel.create = function create(properties) {
+                    return new MassModel(properties);
+                };
+
+                /**
+                 * Encodes the specified MassModel message. Does not implicitly {@link message.motion.KinematicsModel.MassModel.verify|verify} messages.
+                 * @param {message.motion.KinematicsModel.MassModel$Properties} message MassModel message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                MassModel.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.masses != null && message.masses.length)
+                        for (var i = 0; i < message.masses.length; ++i)
+                            $root.vec4.encode(message.masses[i], writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified MassModel message, length delimited. Does not implicitly {@link message.motion.KinematicsModel.MassModel.verify|verify} messages.
+                 * @param {message.motion.KinematicsModel.MassModel$Properties} message MassModel message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                MassModel.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a MassModel message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.motion.KinematicsModel.MassModel} MassModel
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                MassModel.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.KinematicsModel.MassModel();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            if (!(message.masses && message.masses.length))
+                                message.masses = [];
+                            message.masses.push($root.vec4.decode(reader, reader.uint32()));
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a MassModel message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.motion.KinematicsModel.MassModel} MassModel
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                MassModel.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a MassModel message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                MassModel.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.masses != null && message.hasOwnProperty("masses")) {
+                        if (!Array.isArray(message.masses))
+                            return "masses: array expected";
+                        for (var i = 0; i < message.masses.length; ++i) {
+                            var error = $root.vec4.verify(message.masses[i]);
+                            if (error)
+                                return "masses." + error;
+                        }
+                    }
+                    return null;
+                };
+
+                /**
+                 * Creates a MassModel message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.motion.KinematicsModel.MassModel} MassModel
+                 */
+                MassModel.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.motion.KinematicsModel.MassModel)
+                        return object;
+                    var message = new $root.message.motion.KinematicsModel.MassModel();
+                    if (object.masses) {
+                        if (!Array.isArray(object.masses))
+                            throw TypeError(".message.motion.KinematicsModel.MassModel.masses: array expected");
+                        message.masses = [];
+                        for (var i = 0; i < object.masses.length; ++i) {
+                            if (typeof object.masses[i] !== "object")
+                                throw TypeError(".message.motion.KinematicsModel.MassModel.masses: object expected");
+                            message.masses[i] = $root.vec4.fromObject(object.masses[i]);
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Creates a MassModel message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.motion.KinematicsModel.MassModel.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.motion.KinematicsModel.MassModel} MassModel
+                 */
+                MassModel.from = MassModel.fromObject;
+
+                /**
+                 * Creates a plain object from a MassModel message. Also converts values to other types if specified.
+                 * @param {message.motion.KinematicsModel.MassModel} message MassModel
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                MassModel.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.arrays || options.defaults)
+                        object.masses = [];
+                    if (message.masses && message.masses.length) {
+                        object.masses = [];
+                        for (var j = 0; j < message.masses.length; ++j)
+                            object.masses[j] = $root.vec4.toObject(message.masses[j], options);
+                    }
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this MassModel message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                MassModel.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this MassModel to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                MassModel.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return MassModel;
+            })();
+
+            return KinematicsModel;
+        })();
+
+        motion.ServoTarget = (function() {
+
+            /**
+             * Properties of a ServoTarget.
+             * @typedef message.motion.ServoTarget$Properties
+             * @type {Object}
+             * @property {google.protobuf.Timestamp$Properties} [time] ServoTarget time.
+             * @property {number} [id] ServoTarget id.
+             * @property {number} [position] ServoTarget position.
+             * @property {number} [gain] ServoTarget gain.
+             * @property {number} [torque] ServoTarget torque.
+             */
+
+            /**
+             * Constructs a new ServoTarget.
+             * @classdesc TODO document
+             * 
+             * @author Trent Houliston
+             * @exports message.motion.ServoTarget
+             * @constructor
+             * @param {message.motion.ServoTarget$Properties=} [properties] Properties to set
+             */
+            function ServoTarget(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * ServoTarget time.
+             * @type {(google.protobuf.Timestamp$Properties|null)}
+             */
+            ServoTarget.prototype.time = null;
+
+            /**
+             * ServoTarget id.
+             * @type {number}
+             */
+            ServoTarget.prototype.id = 0;
+
+            /**
+             * ServoTarget position.
+             * @type {number}
+             */
+            ServoTarget.prototype.position = 0;
+
+            /**
+             * ServoTarget gain.
+             * @type {number}
+             */
+            ServoTarget.prototype.gain = 0;
+
+            /**
+             * ServoTarget torque.
+             * @type {number}
+             */
+            ServoTarget.prototype.torque = 0;
+
+            /**
+             * Creates a new ServoTarget instance using the specified properties.
+             * @param {message.motion.ServoTarget$Properties=} [properties] Properties to set
+             * @returns {message.motion.ServoTarget} ServoTarget instance
+             */
+            ServoTarget.create = function create(properties) {
+                return new ServoTarget(properties);
+            };
+
+            /**
+             * Encodes the specified ServoTarget message. Does not implicitly {@link message.motion.ServoTarget.verify|verify} messages.
+             * @param {message.motion.ServoTarget$Properties} message ServoTarget message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            ServoTarget.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.time != null && message.hasOwnProperty("time"))
+                    $root.google.protobuf.Timestamp.encode(message.time, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                if (message.id != null && message.hasOwnProperty("id"))
+                    writer.uint32(/* id 2, wireType 0 =*/16).uint32(message.id);
+                if (message.position != null && message.hasOwnProperty("position"))
+                    writer.uint32(/* id 3, wireType 5 =*/29).float(message.position);
+                if (message.gain != null && message.hasOwnProperty("gain"))
+                    writer.uint32(/* id 4, wireType 5 =*/37).float(message.gain);
+                if (message.torque != null && message.hasOwnProperty("torque"))
+                    writer.uint32(/* id 5, wireType 5 =*/45).float(message.torque);
+                return writer;
+            };
+
+            /**
+             * Encodes the specified ServoTarget message, length delimited. Does not implicitly {@link message.motion.ServoTarget.verify|verify} messages.
+             * @param {message.motion.ServoTarget$Properties} message ServoTarget message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            ServoTarget.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a ServoTarget message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.ServoTarget} ServoTarget
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            ServoTarget.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.ServoTarget();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.time = $root.google.protobuf.Timestamp.decode(reader, reader.uint32());
+                        break;
+                    case 2:
+                        message.id = reader.uint32();
+                        break;
+                    case 3:
+                        message.position = reader.float();
+                        break;
+                    case 4:
+                        message.gain = reader.float();
+                        break;
+                    case 5:
+                        message.torque = reader.float();
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a ServoTarget message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.ServoTarget} ServoTarget
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            ServoTarget.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a ServoTarget message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            ServoTarget.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.time != null && message.hasOwnProperty("time")) {
+                    var error = $root.google.protobuf.Timestamp.verify(message.time);
+                    if (error)
+                        return "time." + error;
+                }
+                if (message.id != null && message.hasOwnProperty("id"))
+                    if (!$util.isInteger(message.id))
+                        return "id: integer expected";
+                if (message.position != null && message.hasOwnProperty("position"))
+                    if (typeof message.position !== "number")
+                        return "position: number expected";
+                if (message.gain != null && message.hasOwnProperty("gain"))
+                    if (typeof message.gain !== "number")
+                        return "gain: number expected";
+                if (message.torque != null && message.hasOwnProperty("torque"))
+                    if (typeof message.torque !== "number")
+                        return "torque: number expected";
+                return null;
+            };
+
+            /**
+             * Creates a ServoTarget message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.ServoTarget} ServoTarget
+             */
+            ServoTarget.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.motion.ServoTarget)
+                    return object;
+                var message = new $root.message.motion.ServoTarget();
+                if (object.time != null) {
+                    if (typeof object.time !== "object")
+                        throw TypeError(".message.motion.ServoTarget.time: object expected");
+                    message.time = $root.google.protobuf.Timestamp.fromObject(object.time);
+                }
+                if (object.id != null)
+                    message.id = object.id >>> 0;
+                if (object.position != null)
+                    message.position = Number(object.position);
+                if (object.gain != null)
+                    message.gain = Number(object.gain);
+                if (object.torque != null)
+                    message.torque = Number(object.torque);
+                return message;
+            };
+
+            /**
+             * Creates a ServoTarget message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.ServoTarget.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.ServoTarget} ServoTarget
+             */
+            ServoTarget.from = ServoTarget.fromObject;
+
+            /**
+             * Creates a plain object from a ServoTarget message. Also converts values to other types if specified.
+             * @param {message.motion.ServoTarget} message ServoTarget
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            ServoTarget.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults) {
+                    object.time = null;
+                    object.id = 0;
+                    object.position = 0;
+                    object.gain = 0;
+                    object.torque = 0;
+                }
+                if (message.time != null && message.hasOwnProperty("time"))
+                    object.time = $root.google.protobuf.Timestamp.toObject(message.time, options);
+                if (message.id != null && message.hasOwnProperty("id"))
+                    object.id = message.id;
+                if (message.position != null && message.hasOwnProperty("position"))
+                    object.position = message.position;
+                if (message.gain != null && message.hasOwnProperty("gain"))
+                    object.gain = message.gain;
+                if (message.torque != null && message.hasOwnProperty("torque"))
+                    object.torque = message.torque;
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this ServoTarget message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            ServoTarget.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this ServoTarget to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            ServoTarget.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return ServoTarget;
+        })();
+
+        motion.TorsoMotionUpdate = (function() {
+
+            /**
+             * Properties of a TorsoMotionUpdate.
+             * @typedef message.motion.TorsoMotionUpdate$Properties
+             * @type {Object}
+             * @property {vec3$Properties} [frameArms] TorsoMotionUpdate frameArms.
+             * @property {vec3$Properties} [frameLegs] TorsoMotionUpdate frameLegs.
+             * @property {mat44$Properties} [frame3D] TorsoMotionUpdate frame3D.
+             */
+
+            /**
+             * Constructs a new TorsoMotionUpdate.
+             * @exports message.motion.TorsoMotionUpdate
+             * @constructor
+             * @param {message.motion.TorsoMotionUpdate$Properties=} [properties] Properties to set
+             */
+            function TorsoMotionUpdate(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * TorsoMotionUpdate frameArms.
+             * @type {(vec3$Properties|null)}
+             */
+            TorsoMotionUpdate.prototype.frameArms = null;
+
+            /**
+             * TorsoMotionUpdate frameLegs.
+             * @type {(vec3$Properties|null)}
+             */
+            TorsoMotionUpdate.prototype.frameLegs = null;
+
+            /**
+             * TorsoMotionUpdate frame3D.
+             * @type {(mat44$Properties|null)}
+             */
+            TorsoMotionUpdate.prototype.frame3D = null;
+
+            /**
+             * Creates a new TorsoMotionUpdate instance using the specified properties.
+             * @param {message.motion.TorsoMotionUpdate$Properties=} [properties] Properties to set
+             * @returns {message.motion.TorsoMotionUpdate} TorsoMotionUpdate instance
+             */
+            TorsoMotionUpdate.create = function create(properties) {
+                return new TorsoMotionUpdate(properties);
+            };
+
+            /**
+             * Encodes the specified TorsoMotionUpdate message. Does not implicitly {@link message.motion.TorsoMotionUpdate.verify|verify} messages.
+             * @param {message.motion.TorsoMotionUpdate$Properties} message TorsoMotionUpdate message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            TorsoMotionUpdate.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.frameArms != null && message.hasOwnProperty("frameArms"))
+                    $root.vec3.encode(message.frameArms, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                if (message.frameLegs != null && message.hasOwnProperty("frameLegs"))
+                    $root.vec3.encode(message.frameLegs, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                if (message.frame3D != null && message.hasOwnProperty("frame3D"))
+                    $root.mat44.encode(message.frame3D, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified TorsoMotionUpdate message, length delimited. Does not implicitly {@link message.motion.TorsoMotionUpdate.verify|verify} messages.
+             * @param {message.motion.TorsoMotionUpdate$Properties} message TorsoMotionUpdate message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            TorsoMotionUpdate.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a TorsoMotionUpdate message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.TorsoMotionUpdate} TorsoMotionUpdate
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            TorsoMotionUpdate.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.TorsoMotionUpdate();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.frameArms = $root.vec3.decode(reader, reader.uint32());
+                        break;
+                    case 2:
+                        message.frameLegs = $root.vec3.decode(reader, reader.uint32());
+                        break;
+                    case 3:
+                        message.frame3D = $root.mat44.decode(reader, reader.uint32());
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a TorsoMotionUpdate message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.TorsoMotionUpdate} TorsoMotionUpdate
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            TorsoMotionUpdate.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a TorsoMotionUpdate message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            TorsoMotionUpdate.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.frameArms != null && message.hasOwnProperty("frameArms")) {
+                    var error = $root.vec3.verify(message.frameArms);
+                    if (error)
+                        return "frameArms." + error;
+                }
+                if (message.frameLegs != null && message.hasOwnProperty("frameLegs")) {
+                    var error = $root.vec3.verify(message.frameLegs);
+                    if (error)
+                        return "frameLegs." + error;
+                }
+                if (message.frame3D != null && message.hasOwnProperty("frame3D")) {
+                    var error = $root.mat44.verify(message.frame3D);
+                    if (error)
+                        return "frame3D." + error;
+                }
+                return null;
+            };
+
+            /**
+             * Creates a TorsoMotionUpdate message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.TorsoMotionUpdate} TorsoMotionUpdate
+             */
+            TorsoMotionUpdate.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.motion.TorsoMotionUpdate)
+                    return object;
+                var message = new $root.message.motion.TorsoMotionUpdate();
+                if (object.frameArms != null) {
+                    if (typeof object.frameArms !== "object")
+                        throw TypeError(".message.motion.TorsoMotionUpdate.frameArms: object expected");
+                    message.frameArms = $root.vec3.fromObject(object.frameArms);
+                }
+                if (object.frameLegs != null) {
+                    if (typeof object.frameLegs !== "object")
+                        throw TypeError(".message.motion.TorsoMotionUpdate.frameLegs: object expected");
+                    message.frameLegs = $root.vec3.fromObject(object.frameLegs);
+                }
+                if (object.frame3D != null) {
+                    if (typeof object.frame3D !== "object")
+                        throw TypeError(".message.motion.TorsoMotionUpdate.frame3D: object expected");
+                    message.frame3D = $root.mat44.fromObject(object.frame3D);
+                }
+                return message;
+            };
+
+            /**
+             * Creates a TorsoMotionUpdate message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.TorsoMotionUpdate.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.TorsoMotionUpdate} TorsoMotionUpdate
+             */
+            TorsoMotionUpdate.from = TorsoMotionUpdate.fromObject;
+
+            /**
+             * Creates a plain object from a TorsoMotionUpdate message. Also converts values to other types if specified.
+             * @param {message.motion.TorsoMotionUpdate} message TorsoMotionUpdate
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            TorsoMotionUpdate.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults) {
+                    object.frameArms = null;
+                    object.frameLegs = null;
+                    object.frame3D = null;
+                }
+                if (message.frameArms != null && message.hasOwnProperty("frameArms"))
+                    object.frameArms = $root.vec3.toObject(message.frameArms, options);
+                if (message.frameLegs != null && message.hasOwnProperty("frameLegs"))
+                    object.frameLegs = $root.vec3.toObject(message.frameLegs, options);
+                if (message.frame3D != null && message.hasOwnProperty("frame3D"))
+                    object.frame3D = $root.mat44.toObject(message.frame3D, options);
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this TorsoMotionUpdate message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            TorsoMotionUpdate.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this TorsoMotionUpdate to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            TorsoMotionUpdate.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return TorsoMotionUpdate;
+        })();
+
+        motion.TorsoPositionUpdate = (function() {
+
+            /**
+             * Properties of a TorsoPositionUpdate.
+             * @typedef message.motion.TorsoPositionUpdate$Properties
+             * @type {Object}
+             * @property {vec3$Properties} [position] TorsoPositionUpdate position.
+             * @property {vec3$Properties} [destination] TorsoPositionUpdate destination.
+             */
+
+            /**
+             * Constructs a new TorsoPositionUpdate.
+             * @exports message.motion.TorsoPositionUpdate
+             * @constructor
+             * @param {message.motion.TorsoPositionUpdate$Properties=} [properties] Properties to set
+             */
+            function TorsoPositionUpdate(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * TorsoPositionUpdate position.
+             * @type {(vec3$Properties|null)}
+             */
+            TorsoPositionUpdate.prototype.position = null;
+
+            /**
+             * TorsoPositionUpdate destination.
+             * @type {(vec3$Properties|null)}
+             */
+            TorsoPositionUpdate.prototype.destination = null;
+
+            /**
+             * Creates a new TorsoPositionUpdate instance using the specified properties.
+             * @param {message.motion.TorsoPositionUpdate$Properties=} [properties] Properties to set
+             * @returns {message.motion.TorsoPositionUpdate} TorsoPositionUpdate instance
+             */
+            TorsoPositionUpdate.create = function create(properties) {
+                return new TorsoPositionUpdate(properties);
+            };
+
+            /**
+             * Encodes the specified TorsoPositionUpdate message. Does not implicitly {@link message.motion.TorsoPositionUpdate.verify|verify} messages.
+             * @param {message.motion.TorsoPositionUpdate$Properties} message TorsoPositionUpdate message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            TorsoPositionUpdate.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.position != null && message.hasOwnProperty("position"))
+                    $root.vec3.encode(message.position, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                if (message.destination != null && message.hasOwnProperty("destination"))
+                    $root.vec3.encode(message.destination, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified TorsoPositionUpdate message, length delimited. Does not implicitly {@link message.motion.TorsoPositionUpdate.verify|verify} messages.
+             * @param {message.motion.TorsoPositionUpdate$Properties} message TorsoPositionUpdate message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            TorsoPositionUpdate.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a TorsoPositionUpdate message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.TorsoPositionUpdate} TorsoPositionUpdate
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            TorsoPositionUpdate.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.TorsoPositionUpdate();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.position = $root.vec3.decode(reader, reader.uint32());
+                        break;
+                    case 2:
+                        message.destination = $root.vec3.decode(reader, reader.uint32());
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a TorsoPositionUpdate message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.TorsoPositionUpdate} TorsoPositionUpdate
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            TorsoPositionUpdate.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a TorsoPositionUpdate message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            TorsoPositionUpdate.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.position != null && message.hasOwnProperty("position")) {
+                    var error = $root.vec3.verify(message.position);
+                    if (error)
+                        return "position." + error;
+                }
+                if (message.destination != null && message.hasOwnProperty("destination")) {
+                    var error = $root.vec3.verify(message.destination);
+                    if (error)
+                        return "destination." + error;
+                }
+                return null;
+            };
+
+            /**
+             * Creates a TorsoPositionUpdate message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.TorsoPositionUpdate} TorsoPositionUpdate
+             */
+            TorsoPositionUpdate.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.motion.TorsoPositionUpdate)
+                    return object;
+                var message = new $root.message.motion.TorsoPositionUpdate();
+                if (object.position != null) {
+                    if (typeof object.position !== "object")
+                        throw TypeError(".message.motion.TorsoPositionUpdate.position: object expected");
+                    message.position = $root.vec3.fromObject(object.position);
+                }
+                if (object.destination != null) {
+                    if (typeof object.destination !== "object")
+                        throw TypeError(".message.motion.TorsoPositionUpdate.destination: object expected");
+                    message.destination = $root.vec3.fromObject(object.destination);
+                }
+                return message;
+            };
+
+            /**
+             * Creates a TorsoPositionUpdate message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.TorsoPositionUpdate.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.TorsoPositionUpdate} TorsoPositionUpdate
+             */
+            TorsoPositionUpdate.from = TorsoPositionUpdate.fromObject;
+
+            /**
+             * Creates a plain object from a TorsoPositionUpdate message. Also converts values to other types if specified.
+             * @param {message.motion.TorsoPositionUpdate} message TorsoPositionUpdate
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            TorsoPositionUpdate.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults) {
+                    object.position = null;
+                    object.destination = null;
+                }
+                if (message.position != null && message.hasOwnProperty("position"))
+                    object.position = $root.vec3.toObject(message.position, options);
+                if (message.destination != null && message.hasOwnProperty("destination"))
+                    object.destination = $root.vec3.toObject(message.destination, options);
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this TorsoPositionUpdate message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            TorsoPositionUpdate.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this TorsoPositionUpdate to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            TorsoPositionUpdate.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return TorsoPositionUpdate;
+        })();
+
+        motion.EnableTorsoMotion = (function() {
+
+            /**
+             * Properties of an EnableTorsoMotion.
+             * @typedef message.motion.EnableTorsoMotion$Properties
+             * @type {Object}
+             */
+
+            /**
+             * Constructs a new EnableTorsoMotion.
+             * @exports message.motion.EnableTorsoMotion
+             * @constructor
+             * @param {message.motion.EnableTorsoMotion$Properties=} [properties] Properties to set
+             */
+            function EnableTorsoMotion(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Creates a new EnableTorsoMotion instance using the specified properties.
+             * @param {message.motion.EnableTorsoMotion$Properties=} [properties] Properties to set
+             * @returns {message.motion.EnableTorsoMotion} EnableTorsoMotion instance
+             */
+            EnableTorsoMotion.create = function create(properties) {
+                return new EnableTorsoMotion(properties);
+            };
+
+            /**
+             * Encodes the specified EnableTorsoMotion message. Does not implicitly {@link message.motion.EnableTorsoMotion.verify|verify} messages.
+             * @param {message.motion.EnableTorsoMotion$Properties} message EnableTorsoMotion message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            EnableTorsoMotion.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified EnableTorsoMotion message, length delimited. Does not implicitly {@link message.motion.EnableTorsoMotion.verify|verify} messages.
+             * @param {message.motion.EnableTorsoMotion$Properties} message EnableTorsoMotion message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            EnableTorsoMotion.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes an EnableTorsoMotion message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.EnableTorsoMotion} EnableTorsoMotion
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            EnableTorsoMotion.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.EnableTorsoMotion();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes an EnableTorsoMotion message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.EnableTorsoMotion} EnableTorsoMotion
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            EnableTorsoMotion.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies an EnableTorsoMotion message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            EnableTorsoMotion.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                return null;
+            };
+
+            /**
+             * Creates an EnableTorsoMotion message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.EnableTorsoMotion} EnableTorsoMotion
+             */
+            EnableTorsoMotion.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.motion.EnableTorsoMotion)
+                    return object;
+                return new $root.message.motion.EnableTorsoMotion();
+            };
+
+            /**
+             * Creates an EnableTorsoMotion message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.EnableTorsoMotion.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.EnableTorsoMotion} EnableTorsoMotion
+             */
+            EnableTorsoMotion.from = EnableTorsoMotion.fromObject;
+
+            /**
+             * Creates a plain object from an EnableTorsoMotion message. Also converts values to other types if specified.
+             * @param {message.motion.EnableTorsoMotion} message EnableTorsoMotion
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            EnableTorsoMotion.toObject = function toObject() {
+                return {};
+            };
+
+            /**
+             * Creates a plain object from this EnableTorsoMotion message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            EnableTorsoMotion.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this EnableTorsoMotion to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            EnableTorsoMotion.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return EnableTorsoMotion;
+        })();
+
+        motion.DisableTorsoMotion = (function() {
+
+            /**
+             * Properties of a DisableTorsoMotion.
+             * @typedef message.motion.DisableTorsoMotion$Properties
+             * @type {Object}
+             */
+
+            /**
+             * Constructs a new DisableTorsoMotion.
+             * @exports message.motion.DisableTorsoMotion
+             * @constructor
+             * @param {message.motion.DisableTorsoMotion$Properties=} [properties] Properties to set
+             */
+            function DisableTorsoMotion(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Creates a new DisableTorsoMotion instance using the specified properties.
+             * @param {message.motion.DisableTorsoMotion$Properties=} [properties] Properties to set
+             * @returns {message.motion.DisableTorsoMotion} DisableTorsoMotion instance
+             */
+            DisableTorsoMotion.create = function create(properties) {
+                return new DisableTorsoMotion(properties);
+            };
+
+            /**
+             * Encodes the specified DisableTorsoMotion message. Does not implicitly {@link message.motion.DisableTorsoMotion.verify|verify} messages.
+             * @param {message.motion.DisableTorsoMotion$Properties} message DisableTorsoMotion message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            DisableTorsoMotion.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified DisableTorsoMotion message, length delimited. Does not implicitly {@link message.motion.DisableTorsoMotion.verify|verify} messages.
+             * @param {message.motion.DisableTorsoMotion$Properties} message DisableTorsoMotion message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            DisableTorsoMotion.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a DisableTorsoMotion message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.DisableTorsoMotion} DisableTorsoMotion
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            DisableTorsoMotion.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.DisableTorsoMotion();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a DisableTorsoMotion message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.DisableTorsoMotion} DisableTorsoMotion
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            DisableTorsoMotion.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a DisableTorsoMotion message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            DisableTorsoMotion.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                return null;
+            };
+
+            /**
+             * Creates a DisableTorsoMotion message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.DisableTorsoMotion} DisableTorsoMotion
+             */
+            DisableTorsoMotion.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.motion.DisableTorsoMotion)
+                    return object;
+                return new $root.message.motion.DisableTorsoMotion();
+            };
+
+            /**
+             * Creates a DisableTorsoMotion message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.DisableTorsoMotion.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.DisableTorsoMotion} DisableTorsoMotion
+             */
+            DisableTorsoMotion.from = DisableTorsoMotion.fromObject;
+
+            /**
+             * Creates a plain object from a DisableTorsoMotion message. Also converts values to other types if specified.
+             * @param {message.motion.DisableTorsoMotion} message DisableTorsoMotion
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            DisableTorsoMotion.toObject = function toObject() {
+                return {};
+            };
+
+            /**
+             * Creates a plain object from this DisableTorsoMotion message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            DisableTorsoMotion.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this DisableTorsoMotion to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            DisableTorsoMotion.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return DisableTorsoMotion;
+        })();
+
+        motion.WalkStarted = (function() {
+
+            /**
+             * Properties of a WalkStarted.
+             * @typedef message.motion.WalkStarted$Properties
+             * @type {Object}
+             */
+
+            /**
+             * Constructs a new WalkStarted.
+             * @exports message.motion.WalkStarted
+             * @constructor
+             * @param {message.motion.WalkStarted$Properties=} [properties] Properties to set
+             */
+            function WalkStarted(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Creates a new WalkStarted instance using the specified properties.
+             * @param {message.motion.WalkStarted$Properties=} [properties] Properties to set
+             * @returns {message.motion.WalkStarted} WalkStarted instance
+             */
+            WalkStarted.create = function create(properties) {
+                return new WalkStarted(properties);
+            };
+
+            /**
+             * Encodes the specified WalkStarted message. Does not implicitly {@link message.motion.WalkStarted.verify|verify} messages.
+             * @param {message.motion.WalkStarted$Properties} message WalkStarted message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            WalkStarted.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified WalkStarted message, length delimited. Does not implicitly {@link message.motion.WalkStarted.verify|verify} messages.
+             * @param {message.motion.WalkStarted$Properties} message WalkStarted message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            WalkStarted.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a WalkStarted message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.WalkStarted} WalkStarted
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            WalkStarted.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.WalkStarted();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a WalkStarted message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.WalkStarted} WalkStarted
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            WalkStarted.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a WalkStarted message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            WalkStarted.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                return null;
+            };
+
+            /**
+             * Creates a WalkStarted message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.WalkStarted} WalkStarted
+             */
+            WalkStarted.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.motion.WalkStarted)
+                    return object;
+                return new $root.message.motion.WalkStarted();
+            };
+
+            /**
+             * Creates a WalkStarted message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.WalkStarted.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.WalkStarted} WalkStarted
+             */
+            WalkStarted.from = WalkStarted.fromObject;
+
+            /**
+             * Creates a plain object from a WalkStarted message. Also converts values to other types if specified.
+             * @param {message.motion.WalkStarted} message WalkStarted
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            WalkStarted.toObject = function toObject() {
+                return {};
+            };
+
+            /**
+             * Creates a plain object from this WalkStarted message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            WalkStarted.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this WalkStarted to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            WalkStarted.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return WalkStarted;
+        })();
+
+        motion.WalkStopped = (function() {
+
+            /**
+             * Properties of a WalkStopped.
+             * @typedef message.motion.WalkStopped$Properties
+             * @type {Object}
+             */
+
+            /**
+             * Constructs a new WalkStopped.
+             * @exports message.motion.WalkStopped
+             * @constructor
+             * @param {message.motion.WalkStopped$Properties=} [properties] Properties to set
+             */
+            function WalkStopped(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Creates a new WalkStopped instance using the specified properties.
+             * @param {message.motion.WalkStopped$Properties=} [properties] Properties to set
+             * @returns {message.motion.WalkStopped} WalkStopped instance
+             */
+            WalkStopped.create = function create(properties) {
+                return new WalkStopped(properties);
+            };
+
+            /**
+             * Encodes the specified WalkStopped message. Does not implicitly {@link message.motion.WalkStopped.verify|verify} messages.
+             * @param {message.motion.WalkStopped$Properties} message WalkStopped message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            WalkStopped.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified WalkStopped message, length delimited. Does not implicitly {@link message.motion.WalkStopped.verify|verify} messages.
+             * @param {message.motion.WalkStopped$Properties} message WalkStopped message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            WalkStopped.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a WalkStopped message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.WalkStopped} WalkStopped
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            WalkStopped.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.WalkStopped();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a WalkStopped message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.WalkStopped} WalkStopped
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            WalkStopped.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a WalkStopped message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            WalkStopped.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                return null;
+            };
+
+            /**
+             * Creates a WalkStopped message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.WalkStopped} WalkStopped
+             */
+            WalkStopped.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.motion.WalkStopped)
+                    return object;
+                return new $root.message.motion.WalkStopped();
+            };
+
+            /**
+             * Creates a WalkStopped message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.WalkStopped.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.WalkStopped} WalkStopped
+             */
+            WalkStopped.from = WalkStopped.fromObject;
+
+            /**
+             * Creates a plain object from a WalkStopped message. Also converts values to other types if specified.
+             * @param {message.motion.WalkStopped} message WalkStopped
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            WalkStopped.toObject = function toObject() {
+                return {};
+            };
+
+            /**
+             * Creates a plain object from this WalkStopped message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            WalkStopped.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this WalkStopped to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            WalkStopped.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return WalkStopped;
+        })();
+
+        motion.WalkCommand = (function() {
+
+            /**
+             * Properties of a WalkCommand.
+             * @typedef message.motion.WalkCommand$Properties
+             * @type {Object}
+             * @property {number|Long} [subsumptionId] WalkCommand subsumptionId.
+             * @property {vec3$Properties} [command] WalkCommand command.
+             */
+
+            /**
+             * Constructs a new WalkCommand.
+             * @exports message.motion.WalkCommand
+             * @constructor
+             * @param {message.motion.WalkCommand$Properties=} [properties] Properties to set
+             */
+            function WalkCommand(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * WalkCommand subsumptionId.
+             * @type {number|Long}
+             */
+            WalkCommand.prototype.subsumptionId = $util.Long ? $util.Long.fromBits(0,0,true) : 0;
+
+            /**
+             * WalkCommand command.
+             * @type {(vec3$Properties|null)}
+             */
+            WalkCommand.prototype.command = null;
+
+            /**
+             * Creates a new WalkCommand instance using the specified properties.
+             * @param {message.motion.WalkCommand$Properties=} [properties] Properties to set
+             * @returns {message.motion.WalkCommand} WalkCommand instance
+             */
+            WalkCommand.create = function create(properties) {
+                return new WalkCommand(properties);
+            };
+
+            /**
+             * Encodes the specified WalkCommand message. Does not implicitly {@link message.motion.WalkCommand.verify|verify} messages.
+             * @param {message.motion.WalkCommand$Properties} message WalkCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            WalkCommand.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.subsumptionId != null && message.hasOwnProperty("subsumptionId"))
+                    writer.uint32(/* id 1, wireType 0 =*/8).uint64(message.subsumptionId);
+                if (message.command != null && message.hasOwnProperty("command"))
+                    $root.vec3.encode(message.command, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified WalkCommand message, length delimited. Does not implicitly {@link message.motion.WalkCommand.verify|verify} messages.
+             * @param {message.motion.WalkCommand$Properties} message WalkCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            WalkCommand.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a WalkCommand message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.WalkCommand} WalkCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            WalkCommand.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.WalkCommand();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.subsumptionId = reader.uint64();
+                        break;
+                    case 2:
+                        message.command = $root.vec3.decode(reader, reader.uint32());
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a WalkCommand message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.WalkCommand} WalkCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            WalkCommand.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a WalkCommand message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            WalkCommand.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.subsumptionId != null && message.hasOwnProperty("subsumptionId"))
+                    if (!$util.isInteger(message.subsumptionId) && !(message.subsumptionId && $util.isInteger(message.subsumptionId.low) && $util.isInteger(message.subsumptionId.high)))
+                        return "subsumptionId: integer|Long expected";
+                if (message.command != null && message.hasOwnProperty("command")) {
+                    var error = $root.vec3.verify(message.command);
+                    if (error)
+                        return "command." + error;
+                }
+                return null;
+            };
+
+            /**
+             * Creates a WalkCommand message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.WalkCommand} WalkCommand
+             */
+            WalkCommand.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.motion.WalkCommand)
+                    return object;
+                var message = new $root.message.motion.WalkCommand();
+                if (object.subsumptionId != null)
+                    if ($util.Long)
+                        (message.subsumptionId = $util.Long.fromValue(object.subsumptionId)).unsigned = true;
+                    else if (typeof object.subsumptionId === "string")
+                        message.subsumptionId = parseInt(object.subsumptionId, 10);
+                    else if (typeof object.subsumptionId === "number")
+                        message.subsumptionId = object.subsumptionId;
+                    else if (typeof object.subsumptionId === "object")
+                        message.subsumptionId = new $util.LongBits(object.subsumptionId.low >>> 0, object.subsumptionId.high >>> 0).toNumber(true);
+                if (object.command != null) {
+                    if (typeof object.command !== "object")
+                        throw TypeError(".message.motion.WalkCommand.command: object expected");
+                    message.command = $root.vec3.fromObject(object.command);
+                }
+                return message;
+            };
+
+            /**
+             * Creates a WalkCommand message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.WalkCommand.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.WalkCommand} WalkCommand
+             */
+            WalkCommand.from = WalkCommand.fromObject;
+
+            /**
+             * Creates a plain object from a WalkCommand message. Also converts values to other types if specified.
+             * @param {message.motion.WalkCommand} message WalkCommand
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            WalkCommand.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults) {
+                    if ($util.Long) {
+                        var long = new $util.Long(0, 0, true);
+                        object.subsumptionId = options.longs === String ? long.toString() : options.longs === Number ? long.toNumber() : long;
+                    } else
+                        object.subsumptionId = options.longs === String ? "0" : 0;
+                    object.command = null;
+                }
+                if (message.subsumptionId != null && message.hasOwnProperty("subsumptionId"))
+                    if (typeof message.subsumptionId === "number")
+                        object.subsumptionId = options.longs === String ? String(message.subsumptionId) : message.subsumptionId;
+                    else
+                        object.subsumptionId = options.longs === String ? $util.Long.prototype.toString.call(message.subsumptionId) : options.longs === Number ? new $util.LongBits(message.subsumptionId.low >>> 0, message.subsumptionId.high >>> 0).toNumber(true) : message.subsumptionId;
+                if (message.command != null && message.hasOwnProperty("command"))
+                    object.command = $root.vec3.toObject(message.command, options);
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this WalkCommand message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            WalkCommand.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this WalkCommand to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            WalkCommand.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return WalkCommand;
+        })();
+
+        motion.StopCommand = (function() {
+
+            /**
+             * Properties of a StopCommand.
+             * @typedef message.motion.StopCommand$Properties
+             * @type {Object}
+             * @property {number|Long} [subsumptionId] StopCommand subsumptionId.
+             */
+
+            /**
+             * Constructs a new StopCommand.
+             * @exports message.motion.StopCommand
+             * @constructor
+             * @param {message.motion.StopCommand$Properties=} [properties] Properties to set
+             */
+            function StopCommand(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * StopCommand subsumptionId.
+             * @type {number|Long}
+             */
+            StopCommand.prototype.subsumptionId = $util.Long ? $util.Long.fromBits(0,0,true) : 0;
+
+            /**
+             * Creates a new StopCommand instance using the specified properties.
+             * @param {message.motion.StopCommand$Properties=} [properties] Properties to set
+             * @returns {message.motion.StopCommand} StopCommand instance
+             */
+            StopCommand.create = function create(properties) {
+                return new StopCommand(properties);
+            };
+
+            /**
+             * Encodes the specified StopCommand message. Does not implicitly {@link message.motion.StopCommand.verify|verify} messages.
+             * @param {message.motion.StopCommand$Properties} message StopCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            StopCommand.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.subsumptionId != null && message.hasOwnProperty("subsumptionId"))
+                    writer.uint32(/* id 1, wireType 0 =*/8).uint64(message.subsumptionId);
+                return writer;
+            };
+
+            /**
+             * Encodes the specified StopCommand message, length delimited. Does not implicitly {@link message.motion.StopCommand.verify|verify} messages.
+             * @param {message.motion.StopCommand$Properties} message StopCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            StopCommand.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a StopCommand message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.StopCommand} StopCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            StopCommand.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.StopCommand();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.subsumptionId = reader.uint64();
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a StopCommand message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.StopCommand} StopCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            StopCommand.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a StopCommand message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            StopCommand.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.subsumptionId != null && message.hasOwnProperty("subsumptionId"))
+                    if (!$util.isInteger(message.subsumptionId) && !(message.subsumptionId && $util.isInteger(message.subsumptionId.low) && $util.isInteger(message.subsumptionId.high)))
+                        return "subsumptionId: integer|Long expected";
+                return null;
+            };
+
+            /**
+             * Creates a StopCommand message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.StopCommand} StopCommand
+             */
+            StopCommand.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.motion.StopCommand)
+                    return object;
+                var message = new $root.message.motion.StopCommand();
+                if (object.subsumptionId != null)
+                    if ($util.Long)
+                        (message.subsumptionId = $util.Long.fromValue(object.subsumptionId)).unsigned = true;
+                    else if (typeof object.subsumptionId === "string")
+                        message.subsumptionId = parseInt(object.subsumptionId, 10);
+                    else if (typeof object.subsumptionId === "number")
+                        message.subsumptionId = object.subsumptionId;
+                    else if (typeof object.subsumptionId === "object")
+                        message.subsumptionId = new $util.LongBits(object.subsumptionId.low >>> 0, object.subsumptionId.high >>> 0).toNumber(true);
+                return message;
+            };
+
+            /**
+             * Creates a StopCommand message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.StopCommand.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.StopCommand} StopCommand
+             */
+            StopCommand.from = StopCommand.fromObject;
+
+            /**
+             * Creates a plain object from a StopCommand message. Also converts values to other types if specified.
+             * @param {message.motion.StopCommand} message StopCommand
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            StopCommand.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults)
+                    if ($util.Long) {
+                        var long = new $util.Long(0, 0, true);
+                        object.subsumptionId = options.longs === String ? long.toString() : options.longs === Number ? long.toNumber() : long;
+                    } else
+                        object.subsumptionId = options.longs === String ? "0" : 0;
+                if (message.subsumptionId != null && message.hasOwnProperty("subsumptionId"))
+                    if (typeof message.subsumptionId === "number")
+                        object.subsumptionId = options.longs === String ? String(message.subsumptionId) : message.subsumptionId;
+                    else
+                        object.subsumptionId = options.longs === String ? $util.Long.prototype.toString.call(message.subsumptionId) : options.longs === Number ? new $util.LongBits(message.subsumptionId.low >>> 0, message.subsumptionId.high >>> 0).toNumber(true) : message.subsumptionId;
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this StopCommand message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            StopCommand.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this StopCommand to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            StopCommand.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return StopCommand;
+        })();
+
+        motion.NewWalkCommand = (function() {
+
+            /**
+             * Properties of a NewWalkCommand.
+             * @typedef message.motion.NewWalkCommand$Properties
+             * @type {Object}
+             * @property {vec3$Properties} [velocityTarget] NewWalkCommand velocityTarget.
+             */
+
+            /**
+             * Constructs a new NewWalkCommand.
+             * @exports message.motion.NewWalkCommand
+             * @constructor
+             * @param {message.motion.NewWalkCommand$Properties=} [properties] Properties to set
+             */
+            function NewWalkCommand(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * NewWalkCommand velocityTarget.
+             * @type {(vec3$Properties|null)}
+             */
+            NewWalkCommand.prototype.velocityTarget = null;
+
+            /**
+             * Creates a new NewWalkCommand instance using the specified properties.
+             * @param {message.motion.NewWalkCommand$Properties=} [properties] Properties to set
+             * @returns {message.motion.NewWalkCommand} NewWalkCommand instance
+             */
+            NewWalkCommand.create = function create(properties) {
+                return new NewWalkCommand(properties);
+            };
+
+            /**
+             * Encodes the specified NewWalkCommand message. Does not implicitly {@link message.motion.NewWalkCommand.verify|verify} messages.
+             * @param {message.motion.NewWalkCommand$Properties} message NewWalkCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            NewWalkCommand.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.velocityTarget != null && message.hasOwnProperty("velocityTarget"))
+                    $root.vec3.encode(message.velocityTarget, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified NewWalkCommand message, length delimited. Does not implicitly {@link message.motion.NewWalkCommand.verify|verify} messages.
+             * @param {message.motion.NewWalkCommand$Properties} message NewWalkCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            NewWalkCommand.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a NewWalkCommand message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.NewWalkCommand} NewWalkCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            NewWalkCommand.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.NewWalkCommand();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.velocityTarget = $root.vec3.decode(reader, reader.uint32());
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a NewWalkCommand message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.NewWalkCommand} NewWalkCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            NewWalkCommand.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a NewWalkCommand message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            NewWalkCommand.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.velocityTarget != null && message.hasOwnProperty("velocityTarget")) {
+                    var error = $root.vec3.verify(message.velocityTarget);
+                    if (error)
+                        return "velocityTarget." + error;
+                }
+                return null;
+            };
+
+            /**
+             * Creates a NewWalkCommand message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.NewWalkCommand} NewWalkCommand
+             */
+            NewWalkCommand.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.motion.NewWalkCommand)
+                    return object;
+                var message = new $root.message.motion.NewWalkCommand();
+                if (object.velocityTarget != null) {
+                    if (typeof object.velocityTarget !== "object")
+                        throw TypeError(".message.motion.NewWalkCommand.velocityTarget: object expected");
+                    message.velocityTarget = $root.vec3.fromObject(object.velocityTarget);
+                }
+                return message;
+            };
+
+            /**
+             * Creates a NewWalkCommand message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.NewWalkCommand.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.NewWalkCommand} NewWalkCommand
+             */
+            NewWalkCommand.from = NewWalkCommand.fromObject;
+
+            /**
+             * Creates a plain object from a NewWalkCommand message. Also converts values to other types if specified.
+             * @param {message.motion.NewWalkCommand} message NewWalkCommand
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            NewWalkCommand.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults)
+                    object.velocityTarget = null;
+                if (message.velocityTarget != null && message.hasOwnProperty("velocityTarget"))
+                    object.velocityTarget = $root.vec3.toObject(message.velocityTarget, options);
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this NewWalkCommand message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            NewWalkCommand.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this NewWalkCommand to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            NewWalkCommand.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return NewWalkCommand;
+        })();
+
+        motion.EnableWalkEngineCommand = (function() {
+
+            /**
+             * Properties of an EnableWalkEngineCommand.
+             * @typedef message.motion.EnableWalkEngineCommand$Properties
+             * @type {Object}
+             * @property {number|Long} [subsumptionId] EnableWalkEngineCommand subsumptionId.
+             */
+
+            /**
+             * Constructs a new EnableWalkEngineCommand.
+             * @exports message.motion.EnableWalkEngineCommand
+             * @constructor
+             * @param {message.motion.EnableWalkEngineCommand$Properties=} [properties] Properties to set
+             */
+            function EnableWalkEngineCommand(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * EnableWalkEngineCommand subsumptionId.
+             * @type {number|Long}
+             */
+            EnableWalkEngineCommand.prototype.subsumptionId = $util.Long ? $util.Long.fromBits(0,0,true) : 0;
+
+            /**
+             * Creates a new EnableWalkEngineCommand instance using the specified properties.
+             * @param {message.motion.EnableWalkEngineCommand$Properties=} [properties] Properties to set
+             * @returns {message.motion.EnableWalkEngineCommand} EnableWalkEngineCommand instance
+             */
+            EnableWalkEngineCommand.create = function create(properties) {
+                return new EnableWalkEngineCommand(properties);
+            };
+
+            /**
+             * Encodes the specified EnableWalkEngineCommand message. Does not implicitly {@link message.motion.EnableWalkEngineCommand.verify|verify} messages.
+             * @param {message.motion.EnableWalkEngineCommand$Properties} message EnableWalkEngineCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            EnableWalkEngineCommand.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.subsumptionId != null && message.hasOwnProperty("subsumptionId"))
+                    writer.uint32(/* id 1, wireType 0 =*/8).uint64(message.subsumptionId);
+                return writer;
+            };
+
+            /**
+             * Encodes the specified EnableWalkEngineCommand message, length delimited. Does not implicitly {@link message.motion.EnableWalkEngineCommand.verify|verify} messages.
+             * @param {message.motion.EnableWalkEngineCommand$Properties} message EnableWalkEngineCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            EnableWalkEngineCommand.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes an EnableWalkEngineCommand message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.EnableWalkEngineCommand} EnableWalkEngineCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            EnableWalkEngineCommand.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.EnableWalkEngineCommand();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.subsumptionId = reader.uint64();
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes an EnableWalkEngineCommand message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.EnableWalkEngineCommand} EnableWalkEngineCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            EnableWalkEngineCommand.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies an EnableWalkEngineCommand message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            EnableWalkEngineCommand.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.subsumptionId != null && message.hasOwnProperty("subsumptionId"))
+                    if (!$util.isInteger(message.subsumptionId) && !(message.subsumptionId && $util.isInteger(message.subsumptionId.low) && $util.isInteger(message.subsumptionId.high)))
+                        return "subsumptionId: integer|Long expected";
+                return null;
+            };
+
+            /**
+             * Creates an EnableWalkEngineCommand message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.EnableWalkEngineCommand} EnableWalkEngineCommand
+             */
+            EnableWalkEngineCommand.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.motion.EnableWalkEngineCommand)
+                    return object;
+                var message = new $root.message.motion.EnableWalkEngineCommand();
+                if (object.subsumptionId != null)
+                    if ($util.Long)
+                        (message.subsumptionId = $util.Long.fromValue(object.subsumptionId)).unsigned = true;
+                    else if (typeof object.subsumptionId === "string")
+                        message.subsumptionId = parseInt(object.subsumptionId, 10);
+                    else if (typeof object.subsumptionId === "number")
+                        message.subsumptionId = object.subsumptionId;
+                    else if (typeof object.subsumptionId === "object")
+                        message.subsumptionId = new $util.LongBits(object.subsumptionId.low >>> 0, object.subsumptionId.high >>> 0).toNumber(true);
+                return message;
+            };
+
+            /**
+             * Creates an EnableWalkEngineCommand message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.EnableWalkEngineCommand.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.EnableWalkEngineCommand} EnableWalkEngineCommand
+             */
+            EnableWalkEngineCommand.from = EnableWalkEngineCommand.fromObject;
+
+            /**
+             * Creates a plain object from an EnableWalkEngineCommand message. Also converts values to other types if specified.
+             * @param {message.motion.EnableWalkEngineCommand} message EnableWalkEngineCommand
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            EnableWalkEngineCommand.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults)
+                    if ($util.Long) {
+                        var long = new $util.Long(0, 0, true);
+                        object.subsumptionId = options.longs === String ? long.toString() : options.longs === Number ? long.toNumber() : long;
+                    } else
+                        object.subsumptionId = options.longs === String ? "0" : 0;
+                if (message.subsumptionId != null && message.hasOwnProperty("subsumptionId"))
+                    if (typeof message.subsumptionId === "number")
+                        object.subsumptionId = options.longs === String ? String(message.subsumptionId) : message.subsumptionId;
+                    else
+                        object.subsumptionId = options.longs === String ? $util.Long.prototype.toString.call(message.subsumptionId) : options.longs === Number ? new $util.LongBits(message.subsumptionId.low >>> 0, message.subsumptionId.high >>> 0).toNumber(true) : message.subsumptionId;
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this EnableWalkEngineCommand message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            EnableWalkEngineCommand.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this EnableWalkEngineCommand to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            EnableWalkEngineCommand.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return EnableWalkEngineCommand;
+        })();
+
+        motion.DisableWalkEngineCommand = (function() {
+
+            /**
+             * Properties of a DisableWalkEngineCommand.
+             * @typedef message.motion.DisableWalkEngineCommand$Properties
+             * @type {Object}
+             * @property {number|Long} [subsumptionId] DisableWalkEngineCommand subsumptionId.
+             */
+
+            /**
+             * Constructs a new DisableWalkEngineCommand.
+             * @exports message.motion.DisableWalkEngineCommand
+             * @constructor
+             * @param {message.motion.DisableWalkEngineCommand$Properties=} [properties] Properties to set
+             */
+            function DisableWalkEngineCommand(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * DisableWalkEngineCommand subsumptionId.
+             * @type {number|Long}
+             */
+            DisableWalkEngineCommand.prototype.subsumptionId = $util.Long ? $util.Long.fromBits(0,0,true) : 0;
+
+            /**
+             * Creates a new DisableWalkEngineCommand instance using the specified properties.
+             * @param {message.motion.DisableWalkEngineCommand$Properties=} [properties] Properties to set
+             * @returns {message.motion.DisableWalkEngineCommand} DisableWalkEngineCommand instance
+             */
+            DisableWalkEngineCommand.create = function create(properties) {
+                return new DisableWalkEngineCommand(properties);
+            };
+
+            /**
+             * Encodes the specified DisableWalkEngineCommand message. Does not implicitly {@link message.motion.DisableWalkEngineCommand.verify|verify} messages.
+             * @param {message.motion.DisableWalkEngineCommand$Properties} message DisableWalkEngineCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            DisableWalkEngineCommand.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.subsumptionId != null && message.hasOwnProperty("subsumptionId"))
+                    writer.uint32(/* id 1, wireType 0 =*/8).uint64(message.subsumptionId);
+                return writer;
+            };
+
+            /**
+             * Encodes the specified DisableWalkEngineCommand message, length delimited. Does not implicitly {@link message.motion.DisableWalkEngineCommand.verify|verify} messages.
+             * @param {message.motion.DisableWalkEngineCommand$Properties} message DisableWalkEngineCommand message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            DisableWalkEngineCommand.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a DisableWalkEngineCommand message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.motion.DisableWalkEngineCommand} DisableWalkEngineCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            DisableWalkEngineCommand.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.motion.DisableWalkEngineCommand();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.subsumptionId = reader.uint64();
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a DisableWalkEngineCommand message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.motion.DisableWalkEngineCommand} DisableWalkEngineCommand
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            DisableWalkEngineCommand.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a DisableWalkEngineCommand message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            DisableWalkEngineCommand.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.subsumptionId != null && message.hasOwnProperty("subsumptionId"))
+                    if (!$util.isInteger(message.subsumptionId) && !(message.subsumptionId && $util.isInteger(message.subsumptionId.low) && $util.isInteger(message.subsumptionId.high)))
+                        return "subsumptionId: integer|Long expected";
+                return null;
+            };
+
+            /**
+             * Creates a DisableWalkEngineCommand message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.DisableWalkEngineCommand} DisableWalkEngineCommand
+             */
+            DisableWalkEngineCommand.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.motion.DisableWalkEngineCommand)
+                    return object;
+                var message = new $root.message.motion.DisableWalkEngineCommand();
+                if (object.subsumptionId != null)
+                    if ($util.Long)
+                        (message.subsumptionId = $util.Long.fromValue(object.subsumptionId)).unsigned = true;
+                    else if (typeof object.subsumptionId === "string")
+                        message.subsumptionId = parseInt(object.subsumptionId, 10);
+                    else if (typeof object.subsumptionId === "number")
+                        message.subsumptionId = object.subsumptionId;
+                    else if (typeof object.subsumptionId === "object")
+                        message.subsumptionId = new $util.LongBits(object.subsumptionId.low >>> 0, object.subsumptionId.high >>> 0).toNumber(true);
+                return message;
+            };
+
+            /**
+             * Creates a DisableWalkEngineCommand message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.motion.DisableWalkEngineCommand.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.motion.DisableWalkEngineCommand} DisableWalkEngineCommand
+             */
+            DisableWalkEngineCommand.from = DisableWalkEngineCommand.fromObject;
+
+            /**
+             * Creates a plain object from a DisableWalkEngineCommand message. Also converts values to other types if specified.
+             * @param {message.motion.DisableWalkEngineCommand} message DisableWalkEngineCommand
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            DisableWalkEngineCommand.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults)
+                    if ($util.Long) {
+                        var long = new $util.Long(0, 0, true);
+                        object.subsumptionId = options.longs === String ? long.toString() : options.longs === Number ? long.toNumber() : long;
+                    } else
+                        object.subsumptionId = options.longs === String ? "0" : 0;
+                if (message.subsumptionId != null && message.hasOwnProperty("subsumptionId"))
+                    if (typeof message.subsumptionId === "number")
+                        object.subsumptionId = options.longs === String ? String(message.subsumptionId) : message.subsumptionId;
+                    else
+                        object.subsumptionId = options.longs === String ? $util.Long.prototype.toString.call(message.subsumptionId) : options.longs === Number ? new $util.LongBits(message.subsumptionId.low >>> 0, message.subsumptionId.high >>> 0).toNumber(true) : message.subsumptionId;
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this DisableWalkEngineCommand message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            DisableWalkEngineCommand.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this DisableWalkEngineCommand to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            DisableWalkEngineCommand.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return DisableWalkEngineCommand;
+        })();
+
+        return motion;
+    })();
+
+    message.output = (function() {
+
+        /**
+         * Namespace output.
+         * @exports message.output
+         * @namespace
+         */
+        var output = {};
+
+        output.Say = (function() {
+
+            /**
+             * Properties of a Say.
+             * @typedef message.output.Say$Properties
+             * @type {Object}
+             * @property {string} [message] Say message.
+             */
+
+            /**
+             * Constructs a new Say.
+             * @classdesc TODO document
+             * 
+             * @author Trent Houliston
+             * @exports message.output.Say
+             * @constructor
+             * @param {message.output.Say$Properties=} [properties] Properties to set
+             */
+            function Say(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Say message.
+             * @type {string}
+             */
+            Say.prototype.message = "";
+
+            /**
+             * Creates a new Say instance using the specified properties.
+             * @param {message.output.Say$Properties=} [properties] Properties to set
+             * @returns {message.output.Say} Say instance
+             */
+            Say.create = function create(properties) {
+                return new Say(properties);
+            };
+
+            /**
+             * Encodes the specified Say message. Does not implicitly {@link message.output.Say.verify|verify} messages.
+             * @param {message.output.Say$Properties} message Say message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            Say.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.message != null && message.hasOwnProperty("message"))
+                    writer.uint32(/* id 1, wireType 2 =*/10).string(message.message);
+                return writer;
+            };
+
+            /**
+             * Encodes the specified Say message, length delimited. Does not implicitly {@link message.output.Say.verify|verify} messages.
+             * @param {message.output.Say$Properties} message Say message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            Say.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a Say message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.output.Say} Say
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            Say.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.output.Say();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.message = reader.string();
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a Say message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.output.Say} Say
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            Say.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a Say message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            Say.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.message != null && message.hasOwnProperty("message"))
+                    if (!$util.isString(message.message))
+                        return "message: string expected";
+                return null;
+            };
+
+            /**
+             * Creates a Say message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.output.Say} Say
+             */
+            Say.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.output.Say)
+                    return object;
+                var message = new $root.message.output.Say();
+                if (object.message != null)
+                    message.message = String(object.message);
+                return message;
+            };
+
+            /**
+             * Creates a Say message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.output.Say.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.output.Say} Say
+             */
+            Say.from = Say.fromObject;
+
+            /**
+             * Creates a plain object from a Say message. Also converts values to other types if specified.
+             * @param {message.output.Say} message Say
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            Say.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults)
+                    object.message = "";
+                if (message.message != null && message.hasOwnProperty("message"))
+                    object.message = message.message;
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this Say message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            Say.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this Say to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            Say.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return Say;
+        })();
+
+        return output;
+    })();
+
+    message.platform = (function() {
+
+        /**
+         * Namespace platform.
+         * @exports message.platform
+         * @namespace
+         */
+        var platform = {};
+
+        platform.darwin = (function() {
+
+            /**
+             * Namespace darwin.
+             * @exports message.platform.darwin
+             * @namespace
+             */
+            var darwin = {};
+
+            darwin.DarwinSensors = (function() {
+
+                /**
+                 * Properties of a DarwinSensors.
+                 * @typedef message.platform.darwin.DarwinSensors$Properties
+                 * @type {Object}
+                 * @property {google.protobuf.Timestamp$Properties} [timestamp] DarwinSensors timestamp.
+                 * @property {number} [cm730ErrorFlags] DarwinSensors cm730ErrorFlags.
+                 * @property {message.platform.darwin.DarwinSensors.LEDPanel$Properties} [ledPanel] DarwinSensors ledPanel.
+                 * @property {message.platform.darwin.DarwinSensors.HeadLED$Properties} [headLED] DarwinSensors headLED.
+                 * @property {message.platform.darwin.DarwinSensors.EyeLED$Properties} [eyeLED] DarwinSensors eyeLED.
+                 * @property {message.platform.darwin.DarwinSensors.Buttons$Properties} [buttons] DarwinSensors buttons.
+                 * @property {number} [voltage] DarwinSensors voltage.
+                 * @property {message.platform.darwin.DarwinSensors.Accelerometer$Properties} [accelerometer] DarwinSensors accelerometer.
+                 * @property {message.platform.darwin.DarwinSensors.Gyroscope$Properties} [gyroscope] DarwinSensors gyroscope.
+                 * @property {message.platform.darwin.DarwinSensors.FSRs$Properties} [fsr] DarwinSensors fsr.
+                 * @property {message.platform.darwin.DarwinSensors.Servos$Properties} [servo] DarwinSensors servo.
+                 */
+
+                /**
+                 * Constructs a new DarwinSensors.
+                 * @classdesc TODO document
+                 * 
+                 * @author Trent Houliston
+                 * @exports message.platform.darwin.DarwinSensors
+                 * @constructor
+                 * @param {message.platform.darwin.DarwinSensors$Properties=} [properties] Properties to set
+                 */
+                function DarwinSensors(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * DarwinSensors timestamp.
+                 * @type {(google.protobuf.Timestamp$Properties|null)}
+                 */
+                DarwinSensors.prototype.timestamp = null;
+
+                /**
+                 * DarwinSensors cm730ErrorFlags.
+                 * @type {number}
+                 */
+                DarwinSensors.prototype.cm730ErrorFlags = 0;
+
+                /**
+                 * DarwinSensors ledPanel.
+                 * @type {(message.platform.darwin.DarwinSensors.LEDPanel$Properties|null)}
+                 */
+                DarwinSensors.prototype.ledPanel = null;
+
+                /**
+                 * DarwinSensors headLED.
+                 * @type {(message.platform.darwin.DarwinSensors.HeadLED$Properties|null)}
+                 */
+                DarwinSensors.prototype.headLED = null;
+
+                /**
+                 * DarwinSensors eyeLED.
+                 * @type {(message.platform.darwin.DarwinSensors.EyeLED$Properties|null)}
+                 */
+                DarwinSensors.prototype.eyeLED = null;
+
+                /**
+                 * DarwinSensors buttons.
+                 * @type {(message.platform.darwin.DarwinSensors.Buttons$Properties|null)}
+                 */
+                DarwinSensors.prototype.buttons = null;
+
+                /**
+                 * DarwinSensors voltage.
+                 * @type {number}
+                 */
+                DarwinSensors.prototype.voltage = 0;
+
+                /**
+                 * DarwinSensors accelerometer.
+                 * @type {(message.platform.darwin.DarwinSensors.Accelerometer$Properties|null)}
+                 */
+                DarwinSensors.prototype.accelerometer = null;
+
+                /**
+                 * DarwinSensors gyroscope.
+                 * @type {(message.platform.darwin.DarwinSensors.Gyroscope$Properties|null)}
+                 */
+                DarwinSensors.prototype.gyroscope = null;
+
+                /**
+                 * DarwinSensors fsr.
+                 * @type {(message.platform.darwin.DarwinSensors.FSRs$Properties|null)}
+                 */
+                DarwinSensors.prototype.fsr = null;
+
+                /**
+                 * DarwinSensors servo.
+                 * @type {(message.platform.darwin.DarwinSensors.Servos$Properties|null)}
+                 */
+                DarwinSensors.prototype.servo = null;
+
+                /**
+                 * Creates a new DarwinSensors instance using the specified properties.
+                 * @param {message.platform.darwin.DarwinSensors$Properties=} [properties] Properties to set
+                 * @returns {message.platform.darwin.DarwinSensors} DarwinSensors instance
+                 */
+                DarwinSensors.create = function create(properties) {
+                    return new DarwinSensors(properties);
+                };
+
+                /**
+                 * Encodes the specified DarwinSensors message. Does not implicitly {@link message.platform.darwin.DarwinSensors.verify|verify} messages.
+                 * @param {message.platform.darwin.DarwinSensors$Properties} message DarwinSensors message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                DarwinSensors.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.timestamp != null && message.hasOwnProperty("timestamp"))
+                        $root.google.protobuf.Timestamp.encode(message.timestamp, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                    if (message.cm730ErrorFlags != null && message.hasOwnProperty("cm730ErrorFlags"))
+                        writer.uint32(/* id 2, wireType 0 =*/16).uint32(message.cm730ErrorFlags);
+                    if (message.ledPanel != null && message.hasOwnProperty("ledPanel"))
+                        $root.message.platform.darwin.DarwinSensors.LEDPanel.encode(message.ledPanel, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+                    if (message.headLED != null && message.hasOwnProperty("headLED"))
+                        $root.message.platform.darwin.DarwinSensors.HeadLED.encode(message.headLED, writer.uint32(/* id 4, wireType 2 =*/34).fork()).ldelim();
+                    if (message.eyeLED != null && message.hasOwnProperty("eyeLED"))
+                        $root.message.platform.darwin.DarwinSensors.EyeLED.encode(message.eyeLED, writer.uint32(/* id 5, wireType 2 =*/42).fork()).ldelim();
+                    if (message.buttons != null && message.hasOwnProperty("buttons"))
+                        $root.message.platform.darwin.DarwinSensors.Buttons.encode(message.buttons, writer.uint32(/* id 6, wireType 2 =*/50).fork()).ldelim();
+                    if (message.voltage != null && message.hasOwnProperty("voltage"))
+                        writer.uint32(/* id 7, wireType 5 =*/61).float(message.voltage);
+                    if (message.accelerometer != null && message.hasOwnProperty("accelerometer"))
+                        $root.message.platform.darwin.DarwinSensors.Accelerometer.encode(message.accelerometer, writer.uint32(/* id 8, wireType 2 =*/66).fork()).ldelim();
+                    if (message.gyroscope != null && message.hasOwnProperty("gyroscope"))
+                        $root.message.platform.darwin.DarwinSensors.Gyroscope.encode(message.gyroscope, writer.uint32(/* id 9, wireType 2 =*/74).fork()).ldelim();
+                    if (message.fsr != null && message.hasOwnProperty("fsr"))
+                        $root.message.platform.darwin.DarwinSensors.FSRs.encode(message.fsr, writer.uint32(/* id 10, wireType 2 =*/82).fork()).ldelim();
+                    if (message.servo != null && message.hasOwnProperty("servo"))
+                        $root.message.platform.darwin.DarwinSensors.Servos.encode(message.servo, writer.uint32(/* id 11, wireType 2 =*/90).fork()).ldelim();
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified DarwinSensors message, length delimited. Does not implicitly {@link message.platform.darwin.DarwinSensors.verify|verify} messages.
+                 * @param {message.platform.darwin.DarwinSensors$Properties} message DarwinSensors message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                DarwinSensors.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a DarwinSensors message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.platform.darwin.DarwinSensors} DarwinSensors
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                DarwinSensors.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.platform.darwin.DarwinSensors();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.timestamp = $root.google.protobuf.Timestamp.decode(reader, reader.uint32());
+                            break;
+                        case 2:
+                            message.cm730ErrorFlags = reader.uint32();
+                            break;
+                        case 3:
+                            message.ledPanel = $root.message.platform.darwin.DarwinSensors.LEDPanel.decode(reader, reader.uint32());
+                            break;
+                        case 4:
+                            message.headLED = $root.message.platform.darwin.DarwinSensors.HeadLED.decode(reader, reader.uint32());
+                            break;
+                        case 5:
+                            message.eyeLED = $root.message.platform.darwin.DarwinSensors.EyeLED.decode(reader, reader.uint32());
+                            break;
+                        case 6:
+                            message.buttons = $root.message.platform.darwin.DarwinSensors.Buttons.decode(reader, reader.uint32());
+                            break;
+                        case 7:
+                            message.voltage = reader.float();
+                            break;
+                        case 8:
+                            message.accelerometer = $root.message.platform.darwin.DarwinSensors.Accelerometer.decode(reader, reader.uint32());
+                            break;
+                        case 9:
+                            message.gyroscope = $root.message.platform.darwin.DarwinSensors.Gyroscope.decode(reader, reader.uint32());
+                            break;
+                        case 10:
+                            message.fsr = $root.message.platform.darwin.DarwinSensors.FSRs.decode(reader, reader.uint32());
+                            break;
+                        case 11:
+                            message.servo = $root.message.platform.darwin.DarwinSensors.Servos.decode(reader, reader.uint32());
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a DarwinSensors message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.platform.darwin.DarwinSensors} DarwinSensors
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                DarwinSensors.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a DarwinSensors message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                DarwinSensors.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.timestamp != null && message.hasOwnProperty("timestamp")) {
+                        var error = $root.google.protobuf.Timestamp.verify(message.timestamp);
+                        if (error)
+                            return "timestamp." + error;
+                    }
+                    if (message.cm730ErrorFlags != null && message.hasOwnProperty("cm730ErrorFlags"))
+                        if (!$util.isInteger(message.cm730ErrorFlags))
+                            return "cm730ErrorFlags: integer expected";
+                    if (message.ledPanel != null && message.hasOwnProperty("ledPanel")) {
+                        var error = $root.message.platform.darwin.DarwinSensors.LEDPanel.verify(message.ledPanel);
+                        if (error)
+                            return "ledPanel." + error;
+                    }
+                    if (message.headLED != null && message.hasOwnProperty("headLED")) {
+                        var error = $root.message.platform.darwin.DarwinSensors.HeadLED.verify(message.headLED);
+                        if (error)
+                            return "headLED." + error;
+                    }
+                    if (message.eyeLED != null && message.hasOwnProperty("eyeLED")) {
+                        var error = $root.message.platform.darwin.DarwinSensors.EyeLED.verify(message.eyeLED);
+                        if (error)
+                            return "eyeLED." + error;
+                    }
+                    if (message.buttons != null && message.hasOwnProperty("buttons")) {
+                        var error = $root.message.platform.darwin.DarwinSensors.Buttons.verify(message.buttons);
+                        if (error)
+                            return "buttons." + error;
+                    }
+                    if (message.voltage != null && message.hasOwnProperty("voltage"))
+                        if (typeof message.voltage !== "number")
+                            return "voltage: number expected";
+                    if (message.accelerometer != null && message.hasOwnProperty("accelerometer")) {
+                        var error = $root.message.platform.darwin.DarwinSensors.Accelerometer.verify(message.accelerometer);
+                        if (error)
+                            return "accelerometer." + error;
+                    }
+                    if (message.gyroscope != null && message.hasOwnProperty("gyroscope")) {
+                        var error = $root.message.platform.darwin.DarwinSensors.Gyroscope.verify(message.gyroscope);
+                        if (error)
+                            return "gyroscope." + error;
+                    }
+                    if (message.fsr != null && message.hasOwnProperty("fsr")) {
+                        var error = $root.message.platform.darwin.DarwinSensors.FSRs.verify(message.fsr);
+                        if (error)
+                            return "fsr." + error;
+                    }
+                    if (message.servo != null && message.hasOwnProperty("servo")) {
+                        var error = $root.message.platform.darwin.DarwinSensors.Servos.verify(message.servo);
+                        if (error)
+                            return "servo." + error;
+                    }
+                    return null;
+                };
+
+                /**
+                 * Creates a DarwinSensors message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.platform.darwin.DarwinSensors} DarwinSensors
+                 */
+                DarwinSensors.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.platform.darwin.DarwinSensors)
+                        return object;
+                    var message = new $root.message.platform.darwin.DarwinSensors();
+                    if (object.timestamp != null) {
+                        if (typeof object.timestamp !== "object")
+                            throw TypeError(".message.platform.darwin.DarwinSensors.timestamp: object expected");
+                        message.timestamp = $root.google.protobuf.Timestamp.fromObject(object.timestamp);
+                    }
+                    if (object.cm730ErrorFlags != null)
+                        message.cm730ErrorFlags = object.cm730ErrorFlags >>> 0;
+                    if (object.ledPanel != null) {
+                        if (typeof object.ledPanel !== "object")
+                            throw TypeError(".message.platform.darwin.DarwinSensors.ledPanel: object expected");
+                        message.ledPanel = $root.message.platform.darwin.DarwinSensors.LEDPanel.fromObject(object.ledPanel);
+                    }
+                    if (object.headLED != null) {
+                        if (typeof object.headLED !== "object")
+                            throw TypeError(".message.platform.darwin.DarwinSensors.headLED: object expected");
+                        message.headLED = $root.message.platform.darwin.DarwinSensors.HeadLED.fromObject(object.headLED);
+                    }
+                    if (object.eyeLED != null) {
+                        if (typeof object.eyeLED !== "object")
+                            throw TypeError(".message.platform.darwin.DarwinSensors.eyeLED: object expected");
+                        message.eyeLED = $root.message.platform.darwin.DarwinSensors.EyeLED.fromObject(object.eyeLED);
+                    }
+                    if (object.buttons != null) {
+                        if (typeof object.buttons !== "object")
+                            throw TypeError(".message.platform.darwin.DarwinSensors.buttons: object expected");
+                        message.buttons = $root.message.platform.darwin.DarwinSensors.Buttons.fromObject(object.buttons);
+                    }
+                    if (object.voltage != null)
+                        message.voltage = Number(object.voltage);
+                    if (object.accelerometer != null) {
+                        if (typeof object.accelerometer !== "object")
+                            throw TypeError(".message.platform.darwin.DarwinSensors.accelerometer: object expected");
+                        message.accelerometer = $root.message.platform.darwin.DarwinSensors.Accelerometer.fromObject(object.accelerometer);
+                    }
+                    if (object.gyroscope != null) {
+                        if (typeof object.gyroscope !== "object")
+                            throw TypeError(".message.platform.darwin.DarwinSensors.gyroscope: object expected");
+                        message.gyroscope = $root.message.platform.darwin.DarwinSensors.Gyroscope.fromObject(object.gyroscope);
+                    }
+                    if (object.fsr != null) {
+                        if (typeof object.fsr !== "object")
+                            throw TypeError(".message.platform.darwin.DarwinSensors.fsr: object expected");
+                        message.fsr = $root.message.platform.darwin.DarwinSensors.FSRs.fromObject(object.fsr);
+                    }
+                    if (object.servo != null) {
+                        if (typeof object.servo !== "object")
+                            throw TypeError(".message.platform.darwin.DarwinSensors.servo: object expected");
+                        message.servo = $root.message.platform.darwin.DarwinSensors.Servos.fromObject(object.servo);
+                    }
+                    return message;
+                };
+
+                /**
+                 * Creates a DarwinSensors message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.platform.darwin.DarwinSensors.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.platform.darwin.DarwinSensors} DarwinSensors
+                 */
+                DarwinSensors.from = DarwinSensors.fromObject;
+
+                /**
+                 * Creates a plain object from a DarwinSensors message. Also converts values to other types if specified.
+                 * @param {message.platform.darwin.DarwinSensors} message DarwinSensors
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                DarwinSensors.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.defaults) {
+                        object.timestamp = null;
+                        object.cm730ErrorFlags = 0;
+                        object.ledPanel = null;
+                        object.headLED = null;
+                        object.eyeLED = null;
+                        object.buttons = null;
+                        object.voltage = 0;
+                        object.accelerometer = null;
+                        object.gyroscope = null;
+                        object.fsr = null;
+                        object.servo = null;
+                    }
+                    if (message.timestamp != null && message.hasOwnProperty("timestamp"))
+                        object.timestamp = $root.google.protobuf.Timestamp.toObject(message.timestamp, options);
+                    if (message.cm730ErrorFlags != null && message.hasOwnProperty("cm730ErrorFlags"))
+                        object.cm730ErrorFlags = message.cm730ErrorFlags;
+                    if (message.ledPanel != null && message.hasOwnProperty("ledPanel"))
+                        object.ledPanel = $root.message.platform.darwin.DarwinSensors.LEDPanel.toObject(message.ledPanel, options);
+                    if (message.headLED != null && message.hasOwnProperty("headLED"))
+                        object.headLED = $root.message.platform.darwin.DarwinSensors.HeadLED.toObject(message.headLED, options);
+                    if (message.eyeLED != null && message.hasOwnProperty("eyeLED"))
+                        object.eyeLED = $root.message.platform.darwin.DarwinSensors.EyeLED.toObject(message.eyeLED, options);
+                    if (message.buttons != null && message.hasOwnProperty("buttons"))
+                        object.buttons = $root.message.platform.darwin.DarwinSensors.Buttons.toObject(message.buttons, options);
+                    if (message.voltage != null && message.hasOwnProperty("voltage"))
+                        object.voltage = message.voltage;
+                    if (message.accelerometer != null && message.hasOwnProperty("accelerometer"))
+                        object.accelerometer = $root.message.platform.darwin.DarwinSensors.Accelerometer.toObject(message.accelerometer, options);
+                    if (message.gyroscope != null && message.hasOwnProperty("gyroscope"))
+                        object.gyroscope = $root.message.platform.darwin.DarwinSensors.Gyroscope.toObject(message.gyroscope, options);
+                    if (message.fsr != null && message.hasOwnProperty("fsr"))
+                        object.fsr = $root.message.platform.darwin.DarwinSensors.FSRs.toObject(message.fsr, options);
+                    if (message.servo != null && message.hasOwnProperty("servo"))
+                        object.servo = $root.message.platform.darwin.DarwinSensors.Servos.toObject(message.servo, options);
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this DarwinSensors message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                DarwinSensors.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this DarwinSensors to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                DarwinSensors.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                /**
+                 * Error enum.
+                 * @name Error
+                 * @memberof message.platform.darwin.DarwinSensors
+                 * @enum {number}
+                 * @property {number} OK=0 OK value
+                 * @property {number} INPUT_VOLTAGE=1 INPUT_VOLTAGE value
+                 * @property {number} ANGLE_LIMIT=2 ANGLE_LIMIT value
+                 * @property {number} OVERHEATING=4 OVERHEATING value
+                 * @property {number} RANGE=8 RANGE value
+                 * @property {number} CHECKSUM=16 CHECKSUM value
+                 * @property {number} OVERLOAD=32 OVERLOAD value
+                 * @property {number} INSTRUCTION=64 INSTRUCTION value
+                 * @property {number} CORRUPT_DATA=128 CORRUPT_DATA value
+                 * @property {number} TIMEOUT=256 TIMEOUT value
+                 * @property {number} TIMEOUT_VICTIM=512 TIMEOUT_VICTIM value
+                 */
+                DarwinSensors.Error = (function() {
+                    var valuesById = {}, values = Object.create(valuesById);
+                    values[valuesById[0] = "OK"] = 0;
+                    values[valuesById[1] = "INPUT_VOLTAGE"] = 1;
+                    values[valuesById[2] = "ANGLE_LIMIT"] = 2;
+                    values[valuesById[4] = "OVERHEATING"] = 4;
+                    values[valuesById[8] = "RANGE"] = 8;
+                    values[valuesById[16] = "CHECKSUM"] = 16;
+                    values[valuesById[32] = "OVERLOAD"] = 32;
+                    values[valuesById[64] = "INSTRUCTION"] = 64;
+                    values[valuesById[128] = "CORRUPT_DATA"] = 128;
+                    values[valuesById[256] = "TIMEOUT"] = 256;
+                    values[valuesById[512] = "TIMEOUT_VICTIM"] = 512;
+                    return values;
+                })();
+
+                DarwinSensors.LEDPanel = (function() {
+
+                    /**
+                     * Properties of a LEDPanel.
+                     * @typedef message.platform.darwin.DarwinSensors.LEDPanel$Properties
+                     * @type {Object}
+                     * @property {boolean} [led2] LEDPanel led2.
+                     * @property {boolean} [led3] LEDPanel led3.
+                     * @property {boolean} [led4] LEDPanel led4.
+                     */
+
+                    /**
+                     * Constructs a new LEDPanel.
+                     * @exports message.platform.darwin.DarwinSensors.LEDPanel
+                     * @constructor
+                     * @param {message.platform.darwin.DarwinSensors.LEDPanel$Properties=} [properties] Properties to set
+                     */
+                    function LEDPanel(properties) {
+                        if (properties)
+                            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                                if (properties[keys[i]] != null)
+                                    this[keys[i]] = properties[keys[i]];
+                    }
+
+                    /**
+                     * LEDPanel led2.
+                     * @type {boolean}
+                     */
+                    LEDPanel.prototype.led2 = false;
+
+                    /**
+                     * LEDPanel led3.
+                     * @type {boolean}
+                     */
+                    LEDPanel.prototype.led3 = false;
+
+                    /**
+                     * LEDPanel led4.
+                     * @type {boolean}
+                     */
+                    LEDPanel.prototype.led4 = false;
+
+                    /**
+                     * Creates a new LEDPanel instance using the specified properties.
+                     * @param {message.platform.darwin.DarwinSensors.LEDPanel$Properties=} [properties] Properties to set
+                     * @returns {message.platform.darwin.DarwinSensors.LEDPanel} LEDPanel instance
+                     */
+                    LEDPanel.create = function create(properties) {
+                        return new LEDPanel(properties);
+                    };
+
+                    /**
+                     * Encodes the specified LEDPanel message. Does not implicitly {@link message.platform.darwin.DarwinSensors.LEDPanel.verify|verify} messages.
+                     * @param {message.platform.darwin.DarwinSensors.LEDPanel$Properties} message LEDPanel message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    LEDPanel.encode = function encode(message, writer) {
+                        if (!writer)
+                            writer = $Writer.create();
+                        if (message.led2 != null && message.hasOwnProperty("led2"))
+                            writer.uint32(/* id 1, wireType 0 =*/8).bool(message.led2);
+                        if (message.led3 != null && message.hasOwnProperty("led3"))
+                            writer.uint32(/* id 2, wireType 0 =*/16).bool(message.led3);
+                        if (message.led4 != null && message.hasOwnProperty("led4"))
+                            writer.uint32(/* id 3, wireType 0 =*/24).bool(message.led4);
+                        return writer;
+                    };
+
+                    /**
+                     * Encodes the specified LEDPanel message, length delimited. Does not implicitly {@link message.platform.darwin.DarwinSensors.LEDPanel.verify|verify} messages.
+                     * @param {message.platform.darwin.DarwinSensors.LEDPanel$Properties} message LEDPanel message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    LEDPanel.encodeDelimited = function encodeDelimited(message, writer) {
+                        return this.encode(message, writer).ldelim();
+                    };
+
+                    /**
+                     * Decodes a LEDPanel message from the specified reader or buffer.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @param {number} [length] Message length if known beforehand
+                     * @returns {message.platform.darwin.DarwinSensors.LEDPanel} LEDPanel
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    LEDPanel.decode = function decode(reader, length) {
+                        if (!(reader instanceof $Reader))
+                            reader = $Reader.create(reader);
+                        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.platform.darwin.DarwinSensors.LEDPanel();
+                        while (reader.pos < end) {
+                            var tag = reader.uint32();
+                            switch (tag >>> 3) {
+                            case 1:
+                                message.led2 = reader.bool();
+                                break;
+                            case 2:
+                                message.led3 = reader.bool();
+                                break;
+                            case 3:
+                                message.led4 = reader.bool();
+                                break;
+                            default:
+                                reader.skipType(tag & 7);
+                                break;
+                            }
+                        }
+                        return message;
+                    };
+
+                    /**
+                     * Decodes a LEDPanel message from the specified reader or buffer, length delimited.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @returns {message.platform.darwin.DarwinSensors.LEDPanel} LEDPanel
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    LEDPanel.decodeDelimited = function decodeDelimited(reader) {
+                        if (!(reader instanceof $Reader))
+                            reader = $Reader(reader);
+                        return this.decode(reader, reader.uint32());
+                    };
+
+                    /**
+                     * Verifies a LEDPanel message.
+                     * @param {Object.<string,*>} message Plain object to verify
+                     * @returns {?string} `null` if valid, otherwise the reason why it is not
+                     */
+                    LEDPanel.verify = function verify(message) {
+                        if (typeof message !== "object" || message === null)
+                            return "object expected";
+                        if (message.led2 != null && message.hasOwnProperty("led2"))
+                            if (typeof message.led2 !== "boolean")
+                                return "led2: boolean expected";
+                        if (message.led3 != null && message.hasOwnProperty("led3"))
+                            if (typeof message.led3 !== "boolean")
+                                return "led3: boolean expected";
+                        if (message.led4 != null && message.hasOwnProperty("led4"))
+                            if (typeof message.led4 !== "boolean")
+                                return "led4: boolean expected";
+                        return null;
+                    };
+
+                    /**
+                     * Creates a LEDPanel message from a plain object. Also converts values to their respective internal types.
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.platform.darwin.DarwinSensors.LEDPanel} LEDPanel
+                     */
+                    LEDPanel.fromObject = function fromObject(object) {
+                        if (object instanceof $root.message.platform.darwin.DarwinSensors.LEDPanel)
+                            return object;
+                        var message = new $root.message.platform.darwin.DarwinSensors.LEDPanel();
+                        if (object.led2 != null)
+                            message.led2 = Boolean(object.led2);
+                        if (object.led3 != null)
+                            message.led3 = Boolean(object.led3);
+                        if (object.led4 != null)
+                            message.led4 = Boolean(object.led4);
+                        return message;
+                    };
+
+                    /**
+                     * Creates a LEDPanel message from a plain object. Also converts values to their respective internal types.
+                     * This is an alias of {@link message.platform.darwin.DarwinSensors.LEDPanel.fromObject}.
+                     * @function
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.platform.darwin.DarwinSensors.LEDPanel} LEDPanel
+                     */
+                    LEDPanel.from = LEDPanel.fromObject;
+
+                    /**
+                     * Creates a plain object from a LEDPanel message. Also converts values to other types if specified.
+                     * @param {message.platform.darwin.DarwinSensors.LEDPanel} message LEDPanel
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    LEDPanel.toObject = function toObject(message, options) {
+                        if (!options)
+                            options = {};
+                        var object = {};
+                        if (options.defaults) {
+                            object.led2 = false;
+                            object.led3 = false;
+                            object.led4 = false;
+                        }
+                        if (message.led2 != null && message.hasOwnProperty("led2"))
+                            object.led2 = message.led2;
+                        if (message.led3 != null && message.hasOwnProperty("led3"))
+                            object.led3 = message.led3;
+                        if (message.led4 != null && message.hasOwnProperty("led4"))
+                            object.led4 = message.led4;
+                        return object;
+                    };
+
+                    /**
+                     * Creates a plain object from this LEDPanel message. Also converts values to other types if specified.
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    LEDPanel.prototype.toObject = function toObject(options) {
+                        return this.constructor.toObject(this, options);
+                    };
+
+                    /**
+                     * Converts this LEDPanel to JSON.
+                     * @returns {Object.<string,*>} JSON object
+                     */
+                    LEDPanel.prototype.toJSON = function toJSON() {
+                        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                    };
+
+                    return LEDPanel;
+                })();
+
+                DarwinSensors.HeadLED = (function() {
+
+                    /**
+                     * Properties of a HeadLED.
+                     * @typedef message.platform.darwin.DarwinSensors.HeadLED$Properties
+                     * @type {Object}
+                     * @property {number} [RGB] HeadLED RGB.
+                     */
+
+                    /**
+                     * Constructs a new HeadLED.
+                     * @exports message.platform.darwin.DarwinSensors.HeadLED
+                     * @constructor
+                     * @param {message.platform.darwin.DarwinSensors.HeadLED$Properties=} [properties] Properties to set
+                     */
+                    function HeadLED(properties) {
+                        if (properties)
+                            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                                if (properties[keys[i]] != null)
+                                    this[keys[i]] = properties[keys[i]];
+                    }
+
+                    /**
+                     * HeadLED RGB.
+                     * @type {number}
+                     */
+                    HeadLED.prototype.RGB = 0;
+
+                    /**
+                     * Creates a new HeadLED instance using the specified properties.
+                     * @param {message.platform.darwin.DarwinSensors.HeadLED$Properties=} [properties] Properties to set
+                     * @returns {message.platform.darwin.DarwinSensors.HeadLED} HeadLED instance
+                     */
+                    HeadLED.create = function create(properties) {
+                        return new HeadLED(properties);
+                    };
+
+                    /**
+                     * Encodes the specified HeadLED message. Does not implicitly {@link message.platform.darwin.DarwinSensors.HeadLED.verify|verify} messages.
+                     * @param {message.platform.darwin.DarwinSensors.HeadLED$Properties} message HeadLED message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    HeadLED.encode = function encode(message, writer) {
+                        if (!writer)
+                            writer = $Writer.create();
+                        if (message.RGB != null && message.hasOwnProperty("RGB"))
+                            writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.RGB);
+                        return writer;
+                    };
+
+                    /**
+                     * Encodes the specified HeadLED message, length delimited. Does not implicitly {@link message.platform.darwin.DarwinSensors.HeadLED.verify|verify} messages.
+                     * @param {message.platform.darwin.DarwinSensors.HeadLED$Properties} message HeadLED message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    HeadLED.encodeDelimited = function encodeDelimited(message, writer) {
+                        return this.encode(message, writer).ldelim();
+                    };
+
+                    /**
+                     * Decodes a HeadLED message from the specified reader or buffer.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @param {number} [length] Message length if known beforehand
+                     * @returns {message.platform.darwin.DarwinSensors.HeadLED} HeadLED
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    HeadLED.decode = function decode(reader, length) {
+                        if (!(reader instanceof $Reader))
+                            reader = $Reader.create(reader);
+                        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.platform.darwin.DarwinSensors.HeadLED();
+                        while (reader.pos < end) {
+                            var tag = reader.uint32();
+                            switch (tag >>> 3) {
+                            case 1:
+                                message.RGB = reader.uint32();
+                                break;
+                            default:
+                                reader.skipType(tag & 7);
+                                break;
+                            }
+                        }
+                        return message;
+                    };
+
+                    /**
+                     * Decodes a HeadLED message from the specified reader or buffer, length delimited.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @returns {message.platform.darwin.DarwinSensors.HeadLED} HeadLED
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    HeadLED.decodeDelimited = function decodeDelimited(reader) {
+                        if (!(reader instanceof $Reader))
+                            reader = $Reader(reader);
+                        return this.decode(reader, reader.uint32());
+                    };
+
+                    /**
+                     * Verifies a HeadLED message.
+                     * @param {Object.<string,*>} message Plain object to verify
+                     * @returns {?string} `null` if valid, otherwise the reason why it is not
+                     */
+                    HeadLED.verify = function verify(message) {
+                        if (typeof message !== "object" || message === null)
+                            return "object expected";
+                        if (message.RGB != null && message.hasOwnProperty("RGB"))
+                            if (!$util.isInteger(message.RGB))
+                                return "RGB: integer expected";
+                        return null;
+                    };
+
+                    /**
+                     * Creates a HeadLED message from a plain object. Also converts values to their respective internal types.
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.platform.darwin.DarwinSensors.HeadLED} HeadLED
+                     */
+                    HeadLED.fromObject = function fromObject(object) {
+                        if (object instanceof $root.message.platform.darwin.DarwinSensors.HeadLED)
+                            return object;
+                        var message = new $root.message.platform.darwin.DarwinSensors.HeadLED();
+                        if (object.RGB != null)
+                            message.RGB = object.RGB >>> 0;
+                        return message;
+                    };
+
+                    /**
+                     * Creates a HeadLED message from a plain object. Also converts values to their respective internal types.
+                     * This is an alias of {@link message.platform.darwin.DarwinSensors.HeadLED.fromObject}.
+                     * @function
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.platform.darwin.DarwinSensors.HeadLED} HeadLED
+                     */
+                    HeadLED.from = HeadLED.fromObject;
+
+                    /**
+                     * Creates a plain object from a HeadLED message. Also converts values to other types if specified.
+                     * @param {message.platform.darwin.DarwinSensors.HeadLED} message HeadLED
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    HeadLED.toObject = function toObject(message, options) {
+                        if (!options)
+                            options = {};
+                        var object = {};
+                        if (options.defaults)
+                            object.RGB = 0;
+                        if (message.RGB != null && message.hasOwnProperty("RGB"))
+                            object.RGB = message.RGB;
+                        return object;
+                    };
+
+                    /**
+                     * Creates a plain object from this HeadLED message. Also converts values to other types if specified.
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    HeadLED.prototype.toObject = function toObject(options) {
+                        return this.constructor.toObject(this, options);
+                    };
+
+                    /**
+                     * Converts this HeadLED to JSON.
+                     * @returns {Object.<string,*>} JSON object
+                     */
+                    HeadLED.prototype.toJSON = function toJSON() {
+                        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                    };
+
+                    return HeadLED;
+                })();
+
+                DarwinSensors.EyeLED = (function() {
+
+                    /**
+                     * Properties of an EyeLED.
+                     * @typedef message.platform.darwin.DarwinSensors.EyeLED$Properties
+                     * @type {Object}
+                     * @property {number} [RGB] EyeLED RGB.
+                     */
+
+                    /**
+                     * Constructs a new EyeLED.
+                     * @exports message.platform.darwin.DarwinSensors.EyeLED
+                     * @constructor
+                     * @param {message.platform.darwin.DarwinSensors.EyeLED$Properties=} [properties] Properties to set
+                     */
+                    function EyeLED(properties) {
+                        if (properties)
+                            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                                if (properties[keys[i]] != null)
+                                    this[keys[i]] = properties[keys[i]];
+                    }
+
+                    /**
+                     * EyeLED RGB.
+                     * @type {number}
+                     */
+                    EyeLED.prototype.RGB = 0;
+
+                    /**
+                     * Creates a new EyeLED instance using the specified properties.
+                     * @param {message.platform.darwin.DarwinSensors.EyeLED$Properties=} [properties] Properties to set
+                     * @returns {message.platform.darwin.DarwinSensors.EyeLED} EyeLED instance
+                     */
+                    EyeLED.create = function create(properties) {
+                        return new EyeLED(properties);
+                    };
+
+                    /**
+                     * Encodes the specified EyeLED message. Does not implicitly {@link message.platform.darwin.DarwinSensors.EyeLED.verify|verify} messages.
+                     * @param {message.platform.darwin.DarwinSensors.EyeLED$Properties} message EyeLED message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    EyeLED.encode = function encode(message, writer) {
+                        if (!writer)
+                            writer = $Writer.create();
+                        if (message.RGB != null && message.hasOwnProperty("RGB"))
+                            writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.RGB);
+                        return writer;
+                    };
+
+                    /**
+                     * Encodes the specified EyeLED message, length delimited. Does not implicitly {@link message.platform.darwin.DarwinSensors.EyeLED.verify|verify} messages.
+                     * @param {message.platform.darwin.DarwinSensors.EyeLED$Properties} message EyeLED message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    EyeLED.encodeDelimited = function encodeDelimited(message, writer) {
+                        return this.encode(message, writer).ldelim();
+                    };
+
+                    /**
+                     * Decodes an EyeLED message from the specified reader or buffer.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @param {number} [length] Message length if known beforehand
+                     * @returns {message.platform.darwin.DarwinSensors.EyeLED} EyeLED
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    EyeLED.decode = function decode(reader, length) {
+                        if (!(reader instanceof $Reader))
+                            reader = $Reader.create(reader);
+                        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.platform.darwin.DarwinSensors.EyeLED();
+                        while (reader.pos < end) {
+                            var tag = reader.uint32();
+                            switch (tag >>> 3) {
+                            case 1:
+                                message.RGB = reader.uint32();
+                                break;
+                            default:
+                                reader.skipType(tag & 7);
+                                break;
+                            }
+                        }
+                        return message;
+                    };
+
+                    /**
+                     * Decodes an EyeLED message from the specified reader or buffer, length delimited.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @returns {message.platform.darwin.DarwinSensors.EyeLED} EyeLED
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    EyeLED.decodeDelimited = function decodeDelimited(reader) {
+                        if (!(reader instanceof $Reader))
+                            reader = $Reader(reader);
+                        return this.decode(reader, reader.uint32());
+                    };
+
+                    /**
+                     * Verifies an EyeLED message.
+                     * @param {Object.<string,*>} message Plain object to verify
+                     * @returns {?string} `null` if valid, otherwise the reason why it is not
+                     */
+                    EyeLED.verify = function verify(message) {
+                        if (typeof message !== "object" || message === null)
+                            return "object expected";
+                        if (message.RGB != null && message.hasOwnProperty("RGB"))
+                            if (!$util.isInteger(message.RGB))
+                                return "RGB: integer expected";
+                        return null;
+                    };
+
+                    /**
+                     * Creates an EyeLED message from a plain object. Also converts values to their respective internal types.
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.platform.darwin.DarwinSensors.EyeLED} EyeLED
+                     */
+                    EyeLED.fromObject = function fromObject(object) {
+                        if (object instanceof $root.message.platform.darwin.DarwinSensors.EyeLED)
+                            return object;
+                        var message = new $root.message.platform.darwin.DarwinSensors.EyeLED();
+                        if (object.RGB != null)
+                            message.RGB = object.RGB >>> 0;
+                        return message;
+                    };
+
+                    /**
+                     * Creates an EyeLED message from a plain object. Also converts values to their respective internal types.
+                     * This is an alias of {@link message.platform.darwin.DarwinSensors.EyeLED.fromObject}.
+                     * @function
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.platform.darwin.DarwinSensors.EyeLED} EyeLED
+                     */
+                    EyeLED.from = EyeLED.fromObject;
+
+                    /**
+                     * Creates a plain object from an EyeLED message. Also converts values to other types if specified.
+                     * @param {message.platform.darwin.DarwinSensors.EyeLED} message EyeLED
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    EyeLED.toObject = function toObject(message, options) {
+                        if (!options)
+                            options = {};
+                        var object = {};
+                        if (options.defaults)
+                            object.RGB = 0;
+                        if (message.RGB != null && message.hasOwnProperty("RGB"))
+                            object.RGB = message.RGB;
+                        return object;
+                    };
+
+                    /**
+                     * Creates a plain object from this EyeLED message. Also converts values to other types if specified.
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    EyeLED.prototype.toObject = function toObject(options) {
+                        return this.constructor.toObject(this, options);
+                    };
+
+                    /**
+                     * Converts this EyeLED to JSON.
+                     * @returns {Object.<string,*>} JSON object
+                     */
+                    EyeLED.prototype.toJSON = function toJSON() {
+                        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                    };
+
+                    return EyeLED;
+                })();
+
+                DarwinSensors.Buttons = (function() {
+
+                    /**
+                     * Properties of a Buttons.
+                     * @typedef message.platform.darwin.DarwinSensors.Buttons$Properties
+                     * @type {Object}
+                     * @property {boolean} [left] Buttons left.
+                     * @property {boolean} [middle] Buttons middle.
+                     */
+
+                    /**
+                     * Constructs a new Buttons.
+                     * @exports message.platform.darwin.DarwinSensors.Buttons
+                     * @constructor
+                     * @param {message.platform.darwin.DarwinSensors.Buttons$Properties=} [properties] Properties to set
+                     */
+                    function Buttons(properties) {
+                        if (properties)
+                            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                                if (properties[keys[i]] != null)
+                                    this[keys[i]] = properties[keys[i]];
+                    }
+
+                    /**
+                     * Buttons left.
+                     * @type {boolean}
+                     */
+                    Buttons.prototype.left = false;
+
+                    /**
+                     * Buttons middle.
+                     * @type {boolean}
+                     */
+                    Buttons.prototype.middle = false;
+
+                    /**
+                     * Creates a new Buttons instance using the specified properties.
+                     * @param {message.platform.darwin.DarwinSensors.Buttons$Properties=} [properties] Properties to set
+                     * @returns {message.platform.darwin.DarwinSensors.Buttons} Buttons instance
+                     */
+                    Buttons.create = function create(properties) {
+                        return new Buttons(properties);
+                    };
+
+                    /**
+                     * Encodes the specified Buttons message. Does not implicitly {@link message.platform.darwin.DarwinSensors.Buttons.verify|verify} messages.
+                     * @param {message.platform.darwin.DarwinSensors.Buttons$Properties} message Buttons message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    Buttons.encode = function encode(message, writer) {
+                        if (!writer)
+                            writer = $Writer.create();
+                        if (message.left != null && message.hasOwnProperty("left"))
+                            writer.uint32(/* id 1, wireType 0 =*/8).bool(message.left);
+                        if (message.middle != null && message.hasOwnProperty("middle"))
+                            writer.uint32(/* id 2, wireType 0 =*/16).bool(message.middle);
+                        return writer;
+                    };
+
+                    /**
+                     * Encodes the specified Buttons message, length delimited. Does not implicitly {@link message.platform.darwin.DarwinSensors.Buttons.verify|verify} messages.
+                     * @param {message.platform.darwin.DarwinSensors.Buttons$Properties} message Buttons message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    Buttons.encodeDelimited = function encodeDelimited(message, writer) {
+                        return this.encode(message, writer).ldelim();
+                    };
+
+                    /**
+                     * Decodes a Buttons message from the specified reader or buffer.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @param {number} [length] Message length if known beforehand
+                     * @returns {message.platform.darwin.DarwinSensors.Buttons} Buttons
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    Buttons.decode = function decode(reader, length) {
+                        if (!(reader instanceof $Reader))
+                            reader = $Reader.create(reader);
+                        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.platform.darwin.DarwinSensors.Buttons();
+                        while (reader.pos < end) {
+                            var tag = reader.uint32();
+                            switch (tag >>> 3) {
+                            case 1:
+                                message.left = reader.bool();
+                                break;
+                            case 2:
+                                message.middle = reader.bool();
+                                break;
+                            default:
+                                reader.skipType(tag & 7);
+                                break;
+                            }
+                        }
+                        return message;
+                    };
+
+                    /**
+                     * Decodes a Buttons message from the specified reader or buffer, length delimited.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @returns {message.platform.darwin.DarwinSensors.Buttons} Buttons
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    Buttons.decodeDelimited = function decodeDelimited(reader) {
+                        if (!(reader instanceof $Reader))
+                            reader = $Reader(reader);
+                        return this.decode(reader, reader.uint32());
+                    };
+
+                    /**
+                     * Verifies a Buttons message.
+                     * @param {Object.<string,*>} message Plain object to verify
+                     * @returns {?string} `null` if valid, otherwise the reason why it is not
+                     */
+                    Buttons.verify = function verify(message) {
+                        if (typeof message !== "object" || message === null)
+                            return "object expected";
+                        if (message.left != null && message.hasOwnProperty("left"))
+                            if (typeof message.left !== "boolean")
+                                return "left: boolean expected";
+                        if (message.middle != null && message.hasOwnProperty("middle"))
+                            if (typeof message.middle !== "boolean")
+                                return "middle: boolean expected";
+                        return null;
+                    };
+
+                    /**
+                     * Creates a Buttons message from a plain object. Also converts values to their respective internal types.
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.platform.darwin.DarwinSensors.Buttons} Buttons
+                     */
+                    Buttons.fromObject = function fromObject(object) {
+                        if (object instanceof $root.message.platform.darwin.DarwinSensors.Buttons)
+                            return object;
+                        var message = new $root.message.platform.darwin.DarwinSensors.Buttons();
+                        if (object.left != null)
+                            message.left = Boolean(object.left);
+                        if (object.middle != null)
+                            message.middle = Boolean(object.middle);
+                        return message;
+                    };
+
+                    /**
+                     * Creates a Buttons message from a plain object. Also converts values to their respective internal types.
+                     * This is an alias of {@link message.platform.darwin.DarwinSensors.Buttons.fromObject}.
+                     * @function
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.platform.darwin.DarwinSensors.Buttons} Buttons
+                     */
+                    Buttons.from = Buttons.fromObject;
+
+                    /**
+                     * Creates a plain object from a Buttons message. Also converts values to other types if specified.
+                     * @param {message.platform.darwin.DarwinSensors.Buttons} message Buttons
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    Buttons.toObject = function toObject(message, options) {
+                        if (!options)
+                            options = {};
+                        var object = {};
+                        if (options.defaults) {
+                            object.left = false;
+                            object.middle = false;
+                        }
+                        if (message.left != null && message.hasOwnProperty("left"))
+                            object.left = message.left;
+                        if (message.middle != null && message.hasOwnProperty("middle"))
+                            object.middle = message.middle;
+                        return object;
+                    };
+
+                    /**
+                     * Creates a plain object from this Buttons message. Also converts values to other types if specified.
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    Buttons.prototype.toObject = function toObject(options) {
+                        return this.constructor.toObject(this, options);
+                    };
+
+                    /**
+                     * Converts this Buttons to JSON.
+                     * @returns {Object.<string,*>} JSON object
+                     */
+                    Buttons.prototype.toJSON = function toJSON() {
+                        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                    };
+
+                    return Buttons;
+                })();
+
+                DarwinSensors.Accelerometer = (function() {
+
+                    /**
+                     * Properties of an Accelerometer.
+                     * @typedef message.platform.darwin.DarwinSensors.Accelerometer$Properties
+                     * @type {Object}
+                     * @property {number} [x] Accelerometer x.
+                     * @property {number} [y] Accelerometer y.
+                     * @property {number} [z] Accelerometer z.
+                     */
+
+                    /**
+                     * Constructs a new Accelerometer.
+                     * @exports message.platform.darwin.DarwinSensors.Accelerometer
+                     * @constructor
+                     * @param {message.platform.darwin.DarwinSensors.Accelerometer$Properties=} [properties] Properties to set
+                     */
+                    function Accelerometer(properties) {
+                        if (properties)
+                            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                                if (properties[keys[i]] != null)
+                                    this[keys[i]] = properties[keys[i]];
+                    }
+
+                    /**
+                     * Accelerometer x.
+                     * @type {number}
+                     */
+                    Accelerometer.prototype.x = 0;
+
+                    /**
+                     * Accelerometer y.
+                     * @type {number}
+                     */
+                    Accelerometer.prototype.y = 0;
+
+                    /**
+                     * Accelerometer z.
+                     * @type {number}
+                     */
+                    Accelerometer.prototype.z = 0;
+
+                    /**
+                     * Creates a new Accelerometer instance using the specified properties.
+                     * @param {message.platform.darwin.DarwinSensors.Accelerometer$Properties=} [properties] Properties to set
+                     * @returns {message.platform.darwin.DarwinSensors.Accelerometer} Accelerometer instance
+                     */
+                    Accelerometer.create = function create(properties) {
+                        return new Accelerometer(properties);
+                    };
+
+                    /**
+                     * Encodes the specified Accelerometer message. Does not implicitly {@link message.platform.darwin.DarwinSensors.Accelerometer.verify|verify} messages.
+                     * @param {message.platform.darwin.DarwinSensors.Accelerometer$Properties} message Accelerometer message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    Accelerometer.encode = function encode(message, writer) {
+                        if (!writer)
+                            writer = $Writer.create();
+                        if (message.x != null && message.hasOwnProperty("x"))
+                            writer.uint32(/* id 1, wireType 5 =*/13).float(message.x);
+                        if (message.y != null && message.hasOwnProperty("y"))
+                            writer.uint32(/* id 2, wireType 5 =*/21).float(message.y);
+                        if (message.z != null && message.hasOwnProperty("z"))
+                            writer.uint32(/* id 3, wireType 5 =*/29).float(message.z);
+                        return writer;
+                    };
+
+                    /**
+                     * Encodes the specified Accelerometer message, length delimited. Does not implicitly {@link message.platform.darwin.DarwinSensors.Accelerometer.verify|verify} messages.
+                     * @param {message.platform.darwin.DarwinSensors.Accelerometer$Properties} message Accelerometer message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    Accelerometer.encodeDelimited = function encodeDelimited(message, writer) {
+                        return this.encode(message, writer).ldelim();
+                    };
+
+                    /**
+                     * Decodes an Accelerometer message from the specified reader or buffer.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @param {number} [length] Message length if known beforehand
+                     * @returns {message.platform.darwin.DarwinSensors.Accelerometer} Accelerometer
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    Accelerometer.decode = function decode(reader, length) {
+                        if (!(reader instanceof $Reader))
+                            reader = $Reader.create(reader);
+                        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.platform.darwin.DarwinSensors.Accelerometer();
+                        while (reader.pos < end) {
+                            var tag = reader.uint32();
+                            switch (tag >>> 3) {
+                            case 1:
+                                message.x = reader.float();
+                                break;
+                            case 2:
+                                message.y = reader.float();
+                                break;
+                            case 3:
+                                message.z = reader.float();
+                                break;
+                            default:
+                                reader.skipType(tag & 7);
+                                break;
+                            }
+                        }
+                        return message;
+                    };
+
+                    /**
+                     * Decodes an Accelerometer message from the specified reader or buffer, length delimited.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @returns {message.platform.darwin.DarwinSensors.Accelerometer} Accelerometer
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    Accelerometer.decodeDelimited = function decodeDelimited(reader) {
+                        if (!(reader instanceof $Reader))
+                            reader = $Reader(reader);
+                        return this.decode(reader, reader.uint32());
+                    };
+
+                    /**
+                     * Verifies an Accelerometer message.
+                     * @param {Object.<string,*>} message Plain object to verify
+                     * @returns {?string} `null` if valid, otherwise the reason why it is not
+                     */
+                    Accelerometer.verify = function verify(message) {
+                        if (typeof message !== "object" || message === null)
+                            return "object expected";
+                        if (message.x != null && message.hasOwnProperty("x"))
+                            if (typeof message.x !== "number")
+                                return "x: number expected";
+                        if (message.y != null && message.hasOwnProperty("y"))
+                            if (typeof message.y !== "number")
+                                return "y: number expected";
+                        if (message.z != null && message.hasOwnProperty("z"))
+                            if (typeof message.z !== "number")
+                                return "z: number expected";
+                        return null;
+                    };
+
+                    /**
+                     * Creates an Accelerometer message from a plain object. Also converts values to their respective internal types.
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.platform.darwin.DarwinSensors.Accelerometer} Accelerometer
+                     */
+                    Accelerometer.fromObject = function fromObject(object) {
+                        if (object instanceof $root.message.platform.darwin.DarwinSensors.Accelerometer)
+                            return object;
+                        var message = new $root.message.platform.darwin.DarwinSensors.Accelerometer();
+                        if (object.x != null)
+                            message.x = Number(object.x);
+                        if (object.y != null)
+                            message.y = Number(object.y);
+                        if (object.z != null)
+                            message.z = Number(object.z);
+                        return message;
+                    };
+
+                    /**
+                     * Creates an Accelerometer message from a plain object. Also converts values to their respective internal types.
+                     * This is an alias of {@link message.platform.darwin.DarwinSensors.Accelerometer.fromObject}.
+                     * @function
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.platform.darwin.DarwinSensors.Accelerometer} Accelerometer
+                     */
+                    Accelerometer.from = Accelerometer.fromObject;
+
+                    /**
+                     * Creates a plain object from an Accelerometer message. Also converts values to other types if specified.
+                     * @param {message.platform.darwin.DarwinSensors.Accelerometer} message Accelerometer
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    Accelerometer.toObject = function toObject(message, options) {
+                        if (!options)
+                            options = {};
+                        var object = {};
+                        if (options.defaults) {
+                            object.x = 0;
+                            object.y = 0;
+                            object.z = 0;
+                        }
+                        if (message.x != null && message.hasOwnProperty("x"))
+                            object.x = message.x;
+                        if (message.y != null && message.hasOwnProperty("y"))
+                            object.y = message.y;
+                        if (message.z != null && message.hasOwnProperty("z"))
+                            object.z = message.z;
+                        return object;
+                    };
+
+                    /**
+                     * Creates a plain object from this Accelerometer message. Also converts values to other types if specified.
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    Accelerometer.prototype.toObject = function toObject(options) {
+                        return this.constructor.toObject(this, options);
+                    };
+
+                    /**
+                     * Converts this Accelerometer to JSON.
+                     * @returns {Object.<string,*>} JSON object
+                     */
+                    Accelerometer.prototype.toJSON = function toJSON() {
+                        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                    };
+
+                    return Accelerometer;
+                })();
+
+                DarwinSensors.Gyroscope = (function() {
+
+                    /**
+                     * Properties of a Gyroscope.
+                     * @typedef message.platform.darwin.DarwinSensors.Gyroscope$Properties
+                     * @type {Object}
+                     * @property {number} [x] Gyroscope x.
+                     * @property {number} [y] Gyroscope y.
+                     * @property {number} [z] Gyroscope z.
+                     */
+
+                    /**
+                     * Constructs a new Gyroscope.
+                     * @exports message.platform.darwin.DarwinSensors.Gyroscope
+                     * @constructor
+                     * @param {message.platform.darwin.DarwinSensors.Gyroscope$Properties=} [properties] Properties to set
+                     */
+                    function Gyroscope(properties) {
+                        if (properties)
+                            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                                if (properties[keys[i]] != null)
+                                    this[keys[i]] = properties[keys[i]];
+                    }
+
+                    /**
+                     * Gyroscope x.
+                     * @type {number}
+                     */
+                    Gyroscope.prototype.x = 0;
+
+                    /**
+                     * Gyroscope y.
+                     * @type {number}
+                     */
+                    Gyroscope.prototype.y = 0;
+
+                    /**
+                     * Gyroscope z.
+                     * @type {number}
+                     */
+                    Gyroscope.prototype.z = 0;
+
+                    /**
+                     * Creates a new Gyroscope instance using the specified properties.
+                     * @param {message.platform.darwin.DarwinSensors.Gyroscope$Properties=} [properties] Properties to set
+                     * @returns {message.platform.darwin.DarwinSensors.Gyroscope} Gyroscope instance
+                     */
+                    Gyroscope.create = function create(properties) {
+                        return new Gyroscope(properties);
+                    };
+
+                    /**
+                     * Encodes the specified Gyroscope message. Does not implicitly {@link message.platform.darwin.DarwinSensors.Gyroscope.verify|verify} messages.
+                     * @param {message.platform.darwin.DarwinSensors.Gyroscope$Properties} message Gyroscope message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    Gyroscope.encode = function encode(message, writer) {
+                        if (!writer)
+                            writer = $Writer.create();
+                        if (message.x != null && message.hasOwnProperty("x"))
+                            writer.uint32(/* id 1, wireType 5 =*/13).float(message.x);
+                        if (message.y != null && message.hasOwnProperty("y"))
+                            writer.uint32(/* id 2, wireType 5 =*/21).float(message.y);
+                        if (message.z != null && message.hasOwnProperty("z"))
+                            writer.uint32(/* id 3, wireType 5 =*/29).float(message.z);
+                        return writer;
+                    };
+
+                    /**
+                     * Encodes the specified Gyroscope message, length delimited. Does not implicitly {@link message.platform.darwin.DarwinSensors.Gyroscope.verify|verify} messages.
+                     * @param {message.platform.darwin.DarwinSensors.Gyroscope$Properties} message Gyroscope message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    Gyroscope.encodeDelimited = function encodeDelimited(message, writer) {
+                        return this.encode(message, writer).ldelim();
+                    };
+
+                    /**
+                     * Decodes a Gyroscope message from the specified reader or buffer.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @param {number} [length] Message length if known beforehand
+                     * @returns {message.platform.darwin.DarwinSensors.Gyroscope} Gyroscope
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    Gyroscope.decode = function decode(reader, length) {
+                        if (!(reader instanceof $Reader))
+                            reader = $Reader.create(reader);
+                        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.platform.darwin.DarwinSensors.Gyroscope();
+                        while (reader.pos < end) {
+                            var tag = reader.uint32();
+                            switch (tag >>> 3) {
+                            case 1:
+                                message.x = reader.float();
+                                break;
+                            case 2:
+                                message.y = reader.float();
+                                break;
+                            case 3:
+                                message.z = reader.float();
+                                break;
+                            default:
+                                reader.skipType(tag & 7);
+                                break;
+                            }
+                        }
+                        return message;
+                    };
+
+                    /**
+                     * Decodes a Gyroscope message from the specified reader or buffer, length delimited.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @returns {message.platform.darwin.DarwinSensors.Gyroscope} Gyroscope
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    Gyroscope.decodeDelimited = function decodeDelimited(reader) {
+                        if (!(reader instanceof $Reader))
+                            reader = $Reader(reader);
+                        return this.decode(reader, reader.uint32());
+                    };
+
+                    /**
+                     * Verifies a Gyroscope message.
+                     * @param {Object.<string,*>} message Plain object to verify
+                     * @returns {?string} `null` if valid, otherwise the reason why it is not
+                     */
+                    Gyroscope.verify = function verify(message) {
+                        if (typeof message !== "object" || message === null)
+                            return "object expected";
+                        if (message.x != null && message.hasOwnProperty("x"))
+                            if (typeof message.x !== "number")
+                                return "x: number expected";
+                        if (message.y != null && message.hasOwnProperty("y"))
+                            if (typeof message.y !== "number")
+                                return "y: number expected";
+                        if (message.z != null && message.hasOwnProperty("z"))
+                            if (typeof message.z !== "number")
+                                return "z: number expected";
+                        return null;
+                    };
+
+                    /**
+                     * Creates a Gyroscope message from a plain object. Also converts values to their respective internal types.
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.platform.darwin.DarwinSensors.Gyroscope} Gyroscope
+                     */
+                    Gyroscope.fromObject = function fromObject(object) {
+                        if (object instanceof $root.message.platform.darwin.DarwinSensors.Gyroscope)
+                            return object;
+                        var message = new $root.message.platform.darwin.DarwinSensors.Gyroscope();
+                        if (object.x != null)
+                            message.x = Number(object.x);
+                        if (object.y != null)
+                            message.y = Number(object.y);
+                        if (object.z != null)
+                            message.z = Number(object.z);
+                        return message;
+                    };
+
+                    /**
+                     * Creates a Gyroscope message from a plain object. Also converts values to their respective internal types.
+                     * This is an alias of {@link message.platform.darwin.DarwinSensors.Gyroscope.fromObject}.
+                     * @function
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.platform.darwin.DarwinSensors.Gyroscope} Gyroscope
+                     */
+                    Gyroscope.from = Gyroscope.fromObject;
+
+                    /**
+                     * Creates a plain object from a Gyroscope message. Also converts values to other types if specified.
+                     * @param {message.platform.darwin.DarwinSensors.Gyroscope} message Gyroscope
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    Gyroscope.toObject = function toObject(message, options) {
+                        if (!options)
+                            options = {};
+                        var object = {};
+                        if (options.defaults) {
+                            object.x = 0;
+                            object.y = 0;
+                            object.z = 0;
+                        }
+                        if (message.x != null && message.hasOwnProperty("x"))
+                            object.x = message.x;
+                        if (message.y != null && message.hasOwnProperty("y"))
+                            object.y = message.y;
+                        if (message.z != null && message.hasOwnProperty("z"))
+                            object.z = message.z;
+                        return object;
+                    };
+
+                    /**
+                     * Creates a plain object from this Gyroscope message. Also converts values to other types if specified.
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    Gyroscope.prototype.toObject = function toObject(options) {
+                        return this.constructor.toObject(this, options);
+                    };
+
+                    /**
+                     * Converts this Gyroscope to JSON.
+                     * @returns {Object.<string,*>} JSON object
+                     */
+                    Gyroscope.prototype.toJSON = function toJSON() {
+                        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                    };
+
+                    return Gyroscope;
+                })();
+
+                DarwinSensors.FSR = (function() {
+
+                    /**
+                     * Properties of a FSR.
+                     * @typedef message.platform.darwin.DarwinSensors.FSR$Properties
+                     * @type {Object}
+                     * @property {number} [fsr1] FSR fsr1.
+                     * @property {number} [fsr2] FSR fsr2.
+                     * @property {number} [fsr3] FSR fsr3.
+                     * @property {number} [fsr4] FSR fsr4.
+                     * @property {number} [centreX] FSR centreX.
+                     * @property {number} [centreY] FSR centreY.
+                     * @property {number} [errorFlags] FSR errorFlags.
+                     */
+
+                    /**
+                     * Constructs a new FSR.
+                     * @exports message.platform.darwin.DarwinSensors.FSR
+                     * @constructor
+                     * @param {message.platform.darwin.DarwinSensors.FSR$Properties=} [properties] Properties to set
+                     */
+                    function FSR(properties) {
+                        if (properties)
+                            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                                if (properties[keys[i]] != null)
+                                    this[keys[i]] = properties[keys[i]];
+                    }
+
+                    /**
+                     * FSR fsr1.
+                     * @type {number}
+                     */
+                    FSR.prototype.fsr1 = 0;
+
+                    /**
+                     * FSR fsr2.
+                     * @type {number}
+                     */
+                    FSR.prototype.fsr2 = 0;
+
+                    /**
+                     * FSR fsr3.
+                     * @type {number}
+                     */
+                    FSR.prototype.fsr3 = 0;
+
+                    /**
+                     * FSR fsr4.
+                     * @type {number}
+                     */
+                    FSR.prototype.fsr4 = 0;
+
+                    /**
+                     * FSR centreX.
+                     * @type {number}
+                     */
+                    FSR.prototype.centreX = 0;
+
+                    /**
+                     * FSR centreY.
+                     * @type {number}
+                     */
+                    FSR.prototype.centreY = 0;
+
+                    /**
+                     * FSR errorFlags.
+                     * @type {number}
+                     */
+                    FSR.prototype.errorFlags = 0;
+
+                    /**
+                     * Creates a new FSR instance using the specified properties.
+                     * @param {message.platform.darwin.DarwinSensors.FSR$Properties=} [properties] Properties to set
+                     * @returns {message.platform.darwin.DarwinSensors.FSR} FSR instance
+                     */
+                    FSR.create = function create(properties) {
+                        return new FSR(properties);
+                    };
+
+                    /**
+                     * Encodes the specified FSR message. Does not implicitly {@link message.platform.darwin.DarwinSensors.FSR.verify|verify} messages.
+                     * @param {message.platform.darwin.DarwinSensors.FSR$Properties} message FSR message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    FSR.encode = function encode(message, writer) {
+                        if (!writer)
+                            writer = $Writer.create();
+                        if (message.fsr1 != null && message.hasOwnProperty("fsr1"))
+                            writer.uint32(/* id 1, wireType 5 =*/13).float(message.fsr1);
+                        if (message.fsr2 != null && message.hasOwnProperty("fsr2"))
+                            writer.uint32(/* id 2, wireType 5 =*/21).float(message.fsr2);
+                        if (message.fsr3 != null && message.hasOwnProperty("fsr3"))
+                            writer.uint32(/* id 3, wireType 5 =*/29).float(message.fsr3);
+                        if (message.fsr4 != null && message.hasOwnProperty("fsr4"))
+                            writer.uint32(/* id 4, wireType 5 =*/37).float(message.fsr4);
+                        if (message.centreX != null && message.hasOwnProperty("centreX"))
+                            writer.uint32(/* id 5, wireType 5 =*/45).float(message.centreX);
+                        if (message.centreY != null && message.hasOwnProperty("centreY"))
+                            writer.uint32(/* id 6, wireType 5 =*/53).float(message.centreY);
+                        if (message.errorFlags != null && message.hasOwnProperty("errorFlags"))
+                            writer.uint32(/* id 7, wireType 0 =*/56).uint32(message.errorFlags);
+                        return writer;
+                    };
+
+                    /**
+                     * Encodes the specified FSR message, length delimited. Does not implicitly {@link message.platform.darwin.DarwinSensors.FSR.verify|verify} messages.
+                     * @param {message.platform.darwin.DarwinSensors.FSR$Properties} message FSR message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    FSR.encodeDelimited = function encodeDelimited(message, writer) {
+                        return this.encode(message, writer).ldelim();
+                    };
+
+                    /**
+                     * Decodes a FSR message from the specified reader or buffer.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @param {number} [length] Message length if known beforehand
+                     * @returns {message.platform.darwin.DarwinSensors.FSR} FSR
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    FSR.decode = function decode(reader, length) {
+                        if (!(reader instanceof $Reader))
+                            reader = $Reader.create(reader);
+                        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.platform.darwin.DarwinSensors.FSR();
+                        while (reader.pos < end) {
+                            var tag = reader.uint32();
+                            switch (tag >>> 3) {
+                            case 1:
+                                message.fsr1 = reader.float();
+                                break;
+                            case 2:
+                                message.fsr2 = reader.float();
+                                break;
+                            case 3:
+                                message.fsr3 = reader.float();
+                                break;
+                            case 4:
+                                message.fsr4 = reader.float();
+                                break;
+                            case 5:
+                                message.centreX = reader.float();
+                                break;
+                            case 6:
+                                message.centreY = reader.float();
+                                break;
+                            case 7:
+                                message.errorFlags = reader.uint32();
+                                break;
+                            default:
+                                reader.skipType(tag & 7);
+                                break;
+                            }
+                        }
+                        return message;
+                    };
+
+                    /**
+                     * Decodes a FSR message from the specified reader or buffer, length delimited.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @returns {message.platform.darwin.DarwinSensors.FSR} FSR
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    FSR.decodeDelimited = function decodeDelimited(reader) {
+                        if (!(reader instanceof $Reader))
+                            reader = $Reader(reader);
+                        return this.decode(reader, reader.uint32());
+                    };
+
+                    /**
+                     * Verifies a FSR message.
+                     * @param {Object.<string,*>} message Plain object to verify
+                     * @returns {?string} `null` if valid, otherwise the reason why it is not
+                     */
+                    FSR.verify = function verify(message) {
+                        if (typeof message !== "object" || message === null)
+                            return "object expected";
+                        if (message.fsr1 != null && message.hasOwnProperty("fsr1"))
+                            if (typeof message.fsr1 !== "number")
+                                return "fsr1: number expected";
+                        if (message.fsr2 != null && message.hasOwnProperty("fsr2"))
+                            if (typeof message.fsr2 !== "number")
+                                return "fsr2: number expected";
+                        if (message.fsr3 != null && message.hasOwnProperty("fsr3"))
+                            if (typeof message.fsr3 !== "number")
+                                return "fsr3: number expected";
+                        if (message.fsr4 != null && message.hasOwnProperty("fsr4"))
+                            if (typeof message.fsr4 !== "number")
+                                return "fsr4: number expected";
+                        if (message.centreX != null && message.hasOwnProperty("centreX"))
+                            if (typeof message.centreX !== "number")
+                                return "centreX: number expected";
+                        if (message.centreY != null && message.hasOwnProperty("centreY"))
+                            if (typeof message.centreY !== "number")
+                                return "centreY: number expected";
+                        if (message.errorFlags != null && message.hasOwnProperty("errorFlags"))
+                            if (!$util.isInteger(message.errorFlags))
+                                return "errorFlags: integer expected";
+                        return null;
+                    };
+
+                    /**
+                     * Creates a FSR message from a plain object. Also converts values to their respective internal types.
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.platform.darwin.DarwinSensors.FSR} FSR
+                     */
+                    FSR.fromObject = function fromObject(object) {
+                        if (object instanceof $root.message.platform.darwin.DarwinSensors.FSR)
+                            return object;
+                        var message = new $root.message.platform.darwin.DarwinSensors.FSR();
+                        if (object.fsr1 != null)
+                            message.fsr1 = Number(object.fsr1);
+                        if (object.fsr2 != null)
+                            message.fsr2 = Number(object.fsr2);
+                        if (object.fsr3 != null)
+                            message.fsr3 = Number(object.fsr3);
+                        if (object.fsr4 != null)
+                            message.fsr4 = Number(object.fsr4);
+                        if (object.centreX != null)
+                            message.centreX = Number(object.centreX);
+                        if (object.centreY != null)
+                            message.centreY = Number(object.centreY);
+                        if (object.errorFlags != null)
+                            message.errorFlags = object.errorFlags >>> 0;
+                        return message;
+                    };
+
+                    /**
+                     * Creates a FSR message from a plain object. Also converts values to their respective internal types.
+                     * This is an alias of {@link message.platform.darwin.DarwinSensors.FSR.fromObject}.
+                     * @function
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.platform.darwin.DarwinSensors.FSR} FSR
+                     */
+                    FSR.from = FSR.fromObject;
+
+                    /**
+                     * Creates a plain object from a FSR message. Also converts values to other types if specified.
+                     * @param {message.platform.darwin.DarwinSensors.FSR} message FSR
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    FSR.toObject = function toObject(message, options) {
+                        if (!options)
+                            options = {};
+                        var object = {};
+                        if (options.defaults) {
+                            object.fsr1 = 0;
+                            object.fsr2 = 0;
+                            object.fsr3 = 0;
+                            object.fsr4 = 0;
+                            object.centreX = 0;
+                            object.centreY = 0;
+                            object.errorFlags = 0;
+                        }
+                        if (message.fsr1 != null && message.hasOwnProperty("fsr1"))
+                            object.fsr1 = message.fsr1;
+                        if (message.fsr2 != null && message.hasOwnProperty("fsr2"))
+                            object.fsr2 = message.fsr2;
+                        if (message.fsr3 != null && message.hasOwnProperty("fsr3"))
+                            object.fsr3 = message.fsr3;
+                        if (message.fsr4 != null && message.hasOwnProperty("fsr4"))
+                            object.fsr4 = message.fsr4;
+                        if (message.centreX != null && message.hasOwnProperty("centreX"))
+                            object.centreX = message.centreX;
+                        if (message.centreY != null && message.hasOwnProperty("centreY"))
+                            object.centreY = message.centreY;
+                        if (message.errorFlags != null && message.hasOwnProperty("errorFlags"))
+                            object.errorFlags = message.errorFlags;
+                        return object;
+                    };
+
+                    /**
+                     * Creates a plain object from this FSR message. Also converts values to other types if specified.
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    FSR.prototype.toObject = function toObject(options) {
+                        return this.constructor.toObject(this, options);
+                    };
+
+                    /**
+                     * Converts this FSR to JSON.
+                     * @returns {Object.<string,*>} JSON object
+                     */
+                    FSR.prototype.toJSON = function toJSON() {
+                        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                    };
+
+                    return FSR;
+                })();
+
+                DarwinSensors.FSRs = (function() {
+
+                    /**
+                     * Properties of a FSRs.
+                     * @typedef message.platform.darwin.DarwinSensors.FSRs$Properties
+                     * @type {Object}
+                     * @property {message.platform.darwin.DarwinSensors.FSR$Properties} [left] FSRs left.
+                     * @property {message.platform.darwin.DarwinSensors.FSR$Properties} [right] FSRs right.
+                     */
+
+                    /**
+                     * Constructs a new FSRs.
+                     * @exports message.platform.darwin.DarwinSensors.FSRs
+                     * @constructor
+                     * @param {message.platform.darwin.DarwinSensors.FSRs$Properties=} [properties] Properties to set
+                     */
+                    function FSRs(properties) {
+                        if (properties)
+                            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                                if (properties[keys[i]] != null)
+                                    this[keys[i]] = properties[keys[i]];
+                    }
+
+                    /**
+                     * FSRs left.
+                     * @type {(message.platform.darwin.DarwinSensors.FSR$Properties|null)}
+                     */
+                    FSRs.prototype.left = null;
+
+                    /**
+                     * FSRs right.
+                     * @type {(message.platform.darwin.DarwinSensors.FSR$Properties|null)}
+                     */
+                    FSRs.prototype.right = null;
+
+                    /**
+                     * Creates a new FSRs instance using the specified properties.
+                     * @param {message.platform.darwin.DarwinSensors.FSRs$Properties=} [properties] Properties to set
+                     * @returns {message.platform.darwin.DarwinSensors.FSRs} FSRs instance
+                     */
+                    FSRs.create = function create(properties) {
+                        return new FSRs(properties);
+                    };
+
+                    /**
+                     * Encodes the specified FSRs message. Does not implicitly {@link message.platform.darwin.DarwinSensors.FSRs.verify|verify} messages.
+                     * @param {message.platform.darwin.DarwinSensors.FSRs$Properties} message FSRs message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    FSRs.encode = function encode(message, writer) {
+                        if (!writer)
+                            writer = $Writer.create();
+                        if (message.left != null && message.hasOwnProperty("left"))
+                            $root.message.platform.darwin.DarwinSensors.FSR.encode(message.left, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                        if (message.right != null && message.hasOwnProperty("right"))
+                            $root.message.platform.darwin.DarwinSensors.FSR.encode(message.right, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                        return writer;
+                    };
+
+                    /**
+                     * Encodes the specified FSRs message, length delimited. Does not implicitly {@link message.platform.darwin.DarwinSensors.FSRs.verify|verify} messages.
+                     * @param {message.platform.darwin.DarwinSensors.FSRs$Properties} message FSRs message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    FSRs.encodeDelimited = function encodeDelimited(message, writer) {
+                        return this.encode(message, writer).ldelim();
+                    };
+
+                    /**
+                     * Decodes a FSRs message from the specified reader or buffer.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @param {number} [length] Message length if known beforehand
+                     * @returns {message.platform.darwin.DarwinSensors.FSRs} FSRs
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    FSRs.decode = function decode(reader, length) {
+                        if (!(reader instanceof $Reader))
+                            reader = $Reader.create(reader);
+                        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.platform.darwin.DarwinSensors.FSRs();
+                        while (reader.pos < end) {
+                            var tag = reader.uint32();
+                            switch (tag >>> 3) {
+                            case 1:
+                                message.left = $root.message.platform.darwin.DarwinSensors.FSR.decode(reader, reader.uint32());
+                                break;
+                            case 2:
+                                message.right = $root.message.platform.darwin.DarwinSensors.FSR.decode(reader, reader.uint32());
+                                break;
+                            default:
+                                reader.skipType(tag & 7);
+                                break;
+                            }
+                        }
+                        return message;
+                    };
+
+                    /**
+                     * Decodes a FSRs message from the specified reader or buffer, length delimited.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @returns {message.platform.darwin.DarwinSensors.FSRs} FSRs
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    FSRs.decodeDelimited = function decodeDelimited(reader) {
+                        if (!(reader instanceof $Reader))
+                            reader = $Reader(reader);
+                        return this.decode(reader, reader.uint32());
+                    };
+
+                    /**
+                     * Verifies a FSRs message.
+                     * @param {Object.<string,*>} message Plain object to verify
+                     * @returns {?string} `null` if valid, otherwise the reason why it is not
+                     */
+                    FSRs.verify = function verify(message) {
+                        if (typeof message !== "object" || message === null)
+                            return "object expected";
+                        if (message.left != null && message.hasOwnProperty("left")) {
+                            var error = $root.message.platform.darwin.DarwinSensors.FSR.verify(message.left);
+                            if (error)
+                                return "left." + error;
+                        }
+                        if (message.right != null && message.hasOwnProperty("right")) {
+                            var error = $root.message.platform.darwin.DarwinSensors.FSR.verify(message.right);
+                            if (error)
+                                return "right." + error;
+                        }
+                        return null;
+                    };
+
+                    /**
+                     * Creates a FSRs message from a plain object. Also converts values to their respective internal types.
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.platform.darwin.DarwinSensors.FSRs} FSRs
+                     */
+                    FSRs.fromObject = function fromObject(object) {
+                        if (object instanceof $root.message.platform.darwin.DarwinSensors.FSRs)
+                            return object;
+                        var message = new $root.message.platform.darwin.DarwinSensors.FSRs();
+                        if (object.left != null) {
+                            if (typeof object.left !== "object")
+                                throw TypeError(".message.platform.darwin.DarwinSensors.FSRs.left: object expected");
+                            message.left = $root.message.platform.darwin.DarwinSensors.FSR.fromObject(object.left);
+                        }
+                        if (object.right != null) {
+                            if (typeof object.right !== "object")
+                                throw TypeError(".message.platform.darwin.DarwinSensors.FSRs.right: object expected");
+                            message.right = $root.message.platform.darwin.DarwinSensors.FSR.fromObject(object.right);
+                        }
+                        return message;
+                    };
+
+                    /**
+                     * Creates a FSRs message from a plain object. Also converts values to their respective internal types.
+                     * This is an alias of {@link message.platform.darwin.DarwinSensors.FSRs.fromObject}.
+                     * @function
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.platform.darwin.DarwinSensors.FSRs} FSRs
+                     */
+                    FSRs.from = FSRs.fromObject;
+
+                    /**
+                     * Creates a plain object from a FSRs message. Also converts values to other types if specified.
+                     * @param {message.platform.darwin.DarwinSensors.FSRs} message FSRs
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    FSRs.toObject = function toObject(message, options) {
+                        if (!options)
+                            options = {};
+                        var object = {};
+                        if (options.defaults) {
+                            object.left = null;
+                            object.right = null;
+                        }
+                        if (message.left != null && message.hasOwnProperty("left"))
+                            object.left = $root.message.platform.darwin.DarwinSensors.FSR.toObject(message.left, options);
+                        if (message.right != null && message.hasOwnProperty("right"))
+                            object.right = $root.message.platform.darwin.DarwinSensors.FSR.toObject(message.right, options);
+                        return object;
+                    };
+
+                    /**
+                     * Creates a plain object from this FSRs message. Also converts values to other types if specified.
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    FSRs.prototype.toObject = function toObject(options) {
+                        return this.constructor.toObject(this, options);
+                    };
+
+                    /**
+                     * Converts this FSRs to JSON.
+                     * @returns {Object.<string,*>} JSON object
+                     */
+                    FSRs.prototype.toJSON = function toJSON() {
+                        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                    };
+
+                    return FSRs;
+                })();
+
+                DarwinSensors.Servo = (function() {
+
+                    /**
+                     * Properties of a Servo.
+                     * @typedef message.platform.darwin.DarwinSensors.Servo$Properties
+                     * @type {Object}
+                     * @property {number} [errorFlags] Servo errorFlags.
+                     * @property {boolean} [torqueEnabled] Servo torqueEnabled.
+                     * @property {number} [pGain] Servo pGain.
+                     * @property {number} [iGain] Servo iGain.
+                     * @property {number} [dGain] Servo dGain.
+                     * @property {number} [goalPosition] Servo goalPosition.
+                     * @property {number} [movingSpeed] Servo movingSpeed.
+                     * @property {number} [torque] Servo torque.
+                     * @property {number} [presentPosition] Servo presentPosition.
+                     * @property {number} [presentSpeed] Servo presentSpeed.
+                     * @property {number} [load] Servo load.
+                     * @property {number} [voltage] Servo voltage.
+                     * @property {number} [temperature] Servo temperature.
+                     */
+
+                    /**
+                     * Constructs a new Servo.
+                     * @exports message.platform.darwin.DarwinSensors.Servo
+                     * @constructor
+                     * @param {message.platform.darwin.DarwinSensors.Servo$Properties=} [properties] Properties to set
+                     */
+                    function Servo(properties) {
+                        if (properties)
+                            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                                if (properties[keys[i]] != null)
+                                    this[keys[i]] = properties[keys[i]];
+                    }
+
+                    /**
+                     * Servo errorFlags.
+                     * @type {number}
+                     */
+                    Servo.prototype.errorFlags = 0;
+
+                    /**
+                     * Servo torqueEnabled.
+                     * @type {boolean}
+                     */
+                    Servo.prototype.torqueEnabled = false;
+
+                    /**
+                     * Servo pGain.
+                     * @type {number}
+                     */
+                    Servo.prototype.pGain = 0;
+
+                    /**
+                     * Servo iGain.
+                     * @type {number}
+                     */
+                    Servo.prototype.iGain = 0;
+
+                    /**
+                     * Servo dGain.
+                     * @type {number}
+                     */
+                    Servo.prototype.dGain = 0;
+
+                    /**
+                     * Servo goalPosition.
+                     * @type {number}
+                     */
+                    Servo.prototype.goalPosition = 0;
+
+                    /**
+                     * Servo movingSpeed.
+                     * @type {number}
+                     */
+                    Servo.prototype.movingSpeed = 0;
+
+                    /**
+                     * Servo torque.
+                     * @type {number}
+                     */
+                    Servo.prototype.torque = 0;
+
+                    /**
+                     * Servo presentPosition.
+                     * @type {number}
+                     */
+                    Servo.prototype.presentPosition = 0;
+
+                    /**
+                     * Servo presentSpeed.
+                     * @type {number}
+                     */
+                    Servo.prototype.presentSpeed = 0;
+
+                    /**
+                     * Servo load.
+                     * @type {number}
+                     */
+                    Servo.prototype.load = 0;
+
+                    /**
+                     * Servo voltage.
+                     * @type {number}
+                     */
+                    Servo.prototype.voltage = 0;
+
+                    /**
+                     * Servo temperature.
+                     * @type {number}
+                     */
+                    Servo.prototype.temperature = 0;
+
+                    /**
+                     * Creates a new Servo instance using the specified properties.
+                     * @param {message.platform.darwin.DarwinSensors.Servo$Properties=} [properties] Properties to set
+                     * @returns {message.platform.darwin.DarwinSensors.Servo} Servo instance
+                     */
+                    Servo.create = function create(properties) {
+                        return new Servo(properties);
+                    };
+
+                    /**
+                     * Encodes the specified Servo message. Does not implicitly {@link message.platform.darwin.DarwinSensors.Servo.verify|verify} messages.
+                     * @param {message.platform.darwin.DarwinSensors.Servo$Properties} message Servo message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    Servo.encode = function encode(message, writer) {
+                        if (!writer)
+                            writer = $Writer.create();
+                        if (message.errorFlags != null && message.hasOwnProperty("errorFlags"))
+                            writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.errorFlags);
+                        if (message.torqueEnabled != null && message.hasOwnProperty("torqueEnabled"))
+                            writer.uint32(/* id 2, wireType 0 =*/16).bool(message.torqueEnabled);
+                        if (message.pGain != null && message.hasOwnProperty("pGain"))
+                            writer.uint32(/* id 3, wireType 5 =*/29).float(message.pGain);
+                        if (message.iGain != null && message.hasOwnProperty("iGain"))
+                            writer.uint32(/* id 4, wireType 5 =*/37).float(message.iGain);
+                        if (message.dGain != null && message.hasOwnProperty("dGain"))
+                            writer.uint32(/* id 5, wireType 5 =*/45).float(message.dGain);
+                        if (message.goalPosition != null && message.hasOwnProperty("goalPosition"))
+                            writer.uint32(/* id 6, wireType 5 =*/53).float(message.goalPosition);
+                        if (message.movingSpeed != null && message.hasOwnProperty("movingSpeed"))
+                            writer.uint32(/* id 7, wireType 5 =*/61).float(message.movingSpeed);
+                        if (message.torque != null && message.hasOwnProperty("torque"))
+                            writer.uint32(/* id 8, wireType 5 =*/69).float(message.torque);
+                        if (message.presentPosition != null && message.hasOwnProperty("presentPosition"))
+                            writer.uint32(/* id 9, wireType 5 =*/77).float(message.presentPosition);
+                        if (message.presentSpeed != null && message.hasOwnProperty("presentSpeed"))
+                            writer.uint32(/* id 10, wireType 5 =*/85).float(message.presentSpeed);
+                        if (message.load != null && message.hasOwnProperty("load"))
+                            writer.uint32(/* id 11, wireType 5 =*/93).float(message.load);
+                        if (message.voltage != null && message.hasOwnProperty("voltage"))
+                            writer.uint32(/* id 12, wireType 5 =*/101).float(message.voltage);
+                        if (message.temperature != null && message.hasOwnProperty("temperature"))
+                            writer.uint32(/* id 13, wireType 0 =*/104).uint32(message.temperature);
+                        return writer;
+                    };
+
+                    /**
+                     * Encodes the specified Servo message, length delimited. Does not implicitly {@link message.platform.darwin.DarwinSensors.Servo.verify|verify} messages.
+                     * @param {message.platform.darwin.DarwinSensors.Servo$Properties} message Servo message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    Servo.encodeDelimited = function encodeDelimited(message, writer) {
+                        return this.encode(message, writer).ldelim();
+                    };
+
+                    /**
+                     * Decodes a Servo message from the specified reader or buffer.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @param {number} [length] Message length if known beforehand
+                     * @returns {message.platform.darwin.DarwinSensors.Servo} Servo
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    Servo.decode = function decode(reader, length) {
+                        if (!(reader instanceof $Reader))
+                            reader = $Reader.create(reader);
+                        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.platform.darwin.DarwinSensors.Servo();
+                        while (reader.pos < end) {
+                            var tag = reader.uint32();
+                            switch (tag >>> 3) {
+                            case 1:
+                                message.errorFlags = reader.uint32();
+                                break;
+                            case 2:
+                                message.torqueEnabled = reader.bool();
+                                break;
+                            case 3:
+                                message.pGain = reader.float();
+                                break;
+                            case 4:
+                                message.iGain = reader.float();
+                                break;
+                            case 5:
+                                message.dGain = reader.float();
+                                break;
+                            case 6:
+                                message.goalPosition = reader.float();
+                                break;
+                            case 7:
+                                message.movingSpeed = reader.float();
+                                break;
+                            case 8:
+                                message.torque = reader.float();
+                                break;
+                            case 9:
+                                message.presentPosition = reader.float();
+                                break;
+                            case 10:
+                                message.presentSpeed = reader.float();
+                                break;
+                            case 11:
+                                message.load = reader.float();
+                                break;
+                            case 12:
+                                message.voltage = reader.float();
+                                break;
+                            case 13:
+                                message.temperature = reader.uint32();
+                                break;
+                            default:
+                                reader.skipType(tag & 7);
+                                break;
+                            }
+                        }
+                        return message;
+                    };
+
+                    /**
+                     * Decodes a Servo message from the specified reader or buffer, length delimited.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @returns {message.platform.darwin.DarwinSensors.Servo} Servo
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    Servo.decodeDelimited = function decodeDelimited(reader) {
+                        if (!(reader instanceof $Reader))
+                            reader = $Reader(reader);
+                        return this.decode(reader, reader.uint32());
+                    };
+
+                    /**
+                     * Verifies a Servo message.
+                     * @param {Object.<string,*>} message Plain object to verify
+                     * @returns {?string} `null` if valid, otherwise the reason why it is not
+                     */
+                    Servo.verify = function verify(message) {
+                        if (typeof message !== "object" || message === null)
+                            return "object expected";
+                        if (message.errorFlags != null && message.hasOwnProperty("errorFlags"))
+                            if (!$util.isInteger(message.errorFlags))
+                                return "errorFlags: integer expected";
+                        if (message.torqueEnabled != null && message.hasOwnProperty("torqueEnabled"))
+                            if (typeof message.torqueEnabled !== "boolean")
+                                return "torqueEnabled: boolean expected";
+                        if (message.pGain != null && message.hasOwnProperty("pGain"))
+                            if (typeof message.pGain !== "number")
+                                return "pGain: number expected";
+                        if (message.iGain != null && message.hasOwnProperty("iGain"))
+                            if (typeof message.iGain !== "number")
+                                return "iGain: number expected";
+                        if (message.dGain != null && message.hasOwnProperty("dGain"))
+                            if (typeof message.dGain !== "number")
+                                return "dGain: number expected";
+                        if (message.goalPosition != null && message.hasOwnProperty("goalPosition"))
+                            if (typeof message.goalPosition !== "number")
+                                return "goalPosition: number expected";
+                        if (message.movingSpeed != null && message.hasOwnProperty("movingSpeed"))
+                            if (typeof message.movingSpeed !== "number")
+                                return "movingSpeed: number expected";
+                        if (message.torque != null && message.hasOwnProperty("torque"))
+                            if (typeof message.torque !== "number")
+                                return "torque: number expected";
+                        if (message.presentPosition != null && message.hasOwnProperty("presentPosition"))
+                            if (typeof message.presentPosition !== "number")
+                                return "presentPosition: number expected";
+                        if (message.presentSpeed != null && message.hasOwnProperty("presentSpeed"))
+                            if (typeof message.presentSpeed !== "number")
+                                return "presentSpeed: number expected";
+                        if (message.load != null && message.hasOwnProperty("load"))
+                            if (typeof message.load !== "number")
+                                return "load: number expected";
+                        if (message.voltage != null && message.hasOwnProperty("voltage"))
+                            if (typeof message.voltage !== "number")
+                                return "voltage: number expected";
+                        if (message.temperature != null && message.hasOwnProperty("temperature"))
+                            if (!$util.isInteger(message.temperature))
+                                return "temperature: integer expected";
+                        return null;
+                    };
+
+                    /**
+                     * Creates a Servo message from a plain object. Also converts values to their respective internal types.
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.platform.darwin.DarwinSensors.Servo} Servo
+                     */
+                    Servo.fromObject = function fromObject(object) {
+                        if (object instanceof $root.message.platform.darwin.DarwinSensors.Servo)
+                            return object;
+                        var message = new $root.message.platform.darwin.DarwinSensors.Servo();
+                        if (object.errorFlags != null)
+                            message.errorFlags = object.errorFlags >>> 0;
+                        if (object.torqueEnabled != null)
+                            message.torqueEnabled = Boolean(object.torqueEnabled);
+                        if (object.pGain != null)
+                            message.pGain = Number(object.pGain);
+                        if (object.iGain != null)
+                            message.iGain = Number(object.iGain);
+                        if (object.dGain != null)
+                            message.dGain = Number(object.dGain);
+                        if (object.goalPosition != null)
+                            message.goalPosition = Number(object.goalPosition);
+                        if (object.movingSpeed != null)
+                            message.movingSpeed = Number(object.movingSpeed);
+                        if (object.torque != null)
+                            message.torque = Number(object.torque);
+                        if (object.presentPosition != null)
+                            message.presentPosition = Number(object.presentPosition);
+                        if (object.presentSpeed != null)
+                            message.presentSpeed = Number(object.presentSpeed);
+                        if (object.load != null)
+                            message.load = Number(object.load);
+                        if (object.voltage != null)
+                            message.voltage = Number(object.voltage);
+                        if (object.temperature != null)
+                            message.temperature = object.temperature >>> 0;
+                        return message;
+                    };
+
+                    /**
+                     * Creates a Servo message from a plain object. Also converts values to their respective internal types.
+                     * This is an alias of {@link message.platform.darwin.DarwinSensors.Servo.fromObject}.
+                     * @function
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.platform.darwin.DarwinSensors.Servo} Servo
+                     */
+                    Servo.from = Servo.fromObject;
+
+                    /**
+                     * Creates a plain object from a Servo message. Also converts values to other types if specified.
+                     * @param {message.platform.darwin.DarwinSensors.Servo} message Servo
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    Servo.toObject = function toObject(message, options) {
+                        if (!options)
+                            options = {};
+                        var object = {};
+                        if (options.defaults) {
+                            object.errorFlags = 0;
+                            object.torqueEnabled = false;
+                            object.pGain = 0;
+                            object.iGain = 0;
+                            object.dGain = 0;
+                            object.goalPosition = 0;
+                            object.movingSpeed = 0;
+                            object.torque = 0;
+                            object.presentPosition = 0;
+                            object.presentSpeed = 0;
+                            object.load = 0;
+                            object.voltage = 0;
+                            object.temperature = 0;
+                        }
+                        if (message.errorFlags != null && message.hasOwnProperty("errorFlags"))
+                            object.errorFlags = message.errorFlags;
+                        if (message.torqueEnabled != null && message.hasOwnProperty("torqueEnabled"))
+                            object.torqueEnabled = message.torqueEnabled;
+                        if (message.pGain != null && message.hasOwnProperty("pGain"))
+                            object.pGain = message.pGain;
+                        if (message.iGain != null && message.hasOwnProperty("iGain"))
+                            object.iGain = message.iGain;
+                        if (message.dGain != null && message.hasOwnProperty("dGain"))
+                            object.dGain = message.dGain;
+                        if (message.goalPosition != null && message.hasOwnProperty("goalPosition"))
+                            object.goalPosition = message.goalPosition;
+                        if (message.movingSpeed != null && message.hasOwnProperty("movingSpeed"))
+                            object.movingSpeed = message.movingSpeed;
+                        if (message.torque != null && message.hasOwnProperty("torque"))
+                            object.torque = message.torque;
+                        if (message.presentPosition != null && message.hasOwnProperty("presentPosition"))
+                            object.presentPosition = message.presentPosition;
+                        if (message.presentSpeed != null && message.hasOwnProperty("presentSpeed"))
+                            object.presentSpeed = message.presentSpeed;
+                        if (message.load != null && message.hasOwnProperty("load"))
+                            object.load = message.load;
+                        if (message.voltage != null && message.hasOwnProperty("voltage"))
+                            object.voltage = message.voltage;
+                        if (message.temperature != null && message.hasOwnProperty("temperature"))
+                            object.temperature = message.temperature;
+                        return object;
+                    };
+
+                    /**
+                     * Creates a plain object from this Servo message. Also converts values to other types if specified.
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    Servo.prototype.toObject = function toObject(options) {
+                        return this.constructor.toObject(this, options);
+                    };
+
+                    /**
+                     * Converts this Servo to JSON.
+                     * @returns {Object.<string,*>} JSON object
+                     */
+                    Servo.prototype.toJSON = function toJSON() {
+                        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                    };
+
+                    return Servo;
+                })();
+
+                DarwinSensors.Servos = (function() {
+
+                    /**
+                     * Properties of a Servos.
+                     * @typedef message.platform.darwin.DarwinSensors.Servos$Properties
+                     * @type {Object}
+                     * @property {message.platform.darwin.DarwinSensors.Servo$Properties} [rShoulderPitch] Servos rShoulderPitch.
+                     * @property {message.platform.darwin.DarwinSensors.Servo$Properties} [lShoulderPitch] Servos lShoulderPitch.
+                     * @property {message.platform.darwin.DarwinSensors.Servo$Properties} [rShoulderRoll] Servos rShoulderRoll.
+                     * @property {message.platform.darwin.DarwinSensors.Servo$Properties} [lShoulderRoll] Servos lShoulderRoll.
+                     * @property {message.platform.darwin.DarwinSensors.Servo$Properties} [rElbow] Servos rElbow.
+                     * @property {message.platform.darwin.DarwinSensors.Servo$Properties} [lElbow] Servos lElbow.
+                     * @property {message.platform.darwin.DarwinSensors.Servo$Properties} [rHipYaw] Servos rHipYaw.
+                     * @property {message.platform.darwin.DarwinSensors.Servo$Properties} [lHipYaw] Servos lHipYaw.
+                     * @property {message.platform.darwin.DarwinSensors.Servo$Properties} [rHipRoll] Servos rHipRoll.
+                     * @property {message.platform.darwin.DarwinSensors.Servo$Properties} [lHipRoll] Servos lHipRoll.
+                     * @property {message.platform.darwin.DarwinSensors.Servo$Properties} [rHipPitch] Servos rHipPitch.
+                     * @property {message.platform.darwin.DarwinSensors.Servo$Properties} [lHipPitch] Servos lHipPitch.
+                     * @property {message.platform.darwin.DarwinSensors.Servo$Properties} [rKnee] Servos rKnee.
+                     * @property {message.platform.darwin.DarwinSensors.Servo$Properties} [lKnee] Servos lKnee.
+                     * @property {message.platform.darwin.DarwinSensors.Servo$Properties} [rAnklePitch] Servos rAnklePitch.
+                     * @property {message.platform.darwin.DarwinSensors.Servo$Properties} [lAnklePitch] Servos lAnklePitch.
+                     * @property {message.platform.darwin.DarwinSensors.Servo$Properties} [rAnkleRoll] Servos rAnkleRoll.
+                     * @property {message.platform.darwin.DarwinSensors.Servo$Properties} [lAnkleRoll] Servos lAnkleRoll.
+                     * @property {message.platform.darwin.DarwinSensors.Servo$Properties} [headPan] Servos headPan.
+                     * @property {message.platform.darwin.DarwinSensors.Servo$Properties} [headTilt] Servos headTilt.
+                     */
+
+                    /**
+                     * Constructs a new Servos.
+                     * @exports message.platform.darwin.DarwinSensors.Servos
+                     * @constructor
+                     * @param {message.platform.darwin.DarwinSensors.Servos$Properties=} [properties] Properties to set
+                     */
+                    function Servos(properties) {
+                        if (properties)
+                            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                                if (properties[keys[i]] != null)
+                                    this[keys[i]] = properties[keys[i]];
+                    }
+
+                    /**
+                     * Servos rShoulderPitch.
+                     * @type {(message.platform.darwin.DarwinSensors.Servo$Properties|null)}
+                     */
+                    Servos.prototype.rShoulderPitch = null;
+
+                    /**
+                     * Servos lShoulderPitch.
+                     * @type {(message.platform.darwin.DarwinSensors.Servo$Properties|null)}
+                     */
+                    Servos.prototype.lShoulderPitch = null;
+
+                    /**
+                     * Servos rShoulderRoll.
+                     * @type {(message.platform.darwin.DarwinSensors.Servo$Properties|null)}
+                     */
+                    Servos.prototype.rShoulderRoll = null;
+
+                    /**
+                     * Servos lShoulderRoll.
+                     * @type {(message.platform.darwin.DarwinSensors.Servo$Properties|null)}
+                     */
+                    Servos.prototype.lShoulderRoll = null;
+
+                    /**
+                     * Servos rElbow.
+                     * @type {(message.platform.darwin.DarwinSensors.Servo$Properties|null)}
+                     */
+                    Servos.prototype.rElbow = null;
+
+                    /**
+                     * Servos lElbow.
+                     * @type {(message.platform.darwin.DarwinSensors.Servo$Properties|null)}
+                     */
+                    Servos.prototype.lElbow = null;
+
+                    /**
+                     * Servos rHipYaw.
+                     * @type {(message.platform.darwin.DarwinSensors.Servo$Properties|null)}
+                     */
+                    Servos.prototype.rHipYaw = null;
+
+                    /**
+                     * Servos lHipYaw.
+                     * @type {(message.platform.darwin.DarwinSensors.Servo$Properties|null)}
+                     */
+                    Servos.prototype.lHipYaw = null;
+
+                    /**
+                     * Servos rHipRoll.
+                     * @type {(message.platform.darwin.DarwinSensors.Servo$Properties|null)}
+                     */
+                    Servos.prototype.rHipRoll = null;
+
+                    /**
+                     * Servos lHipRoll.
+                     * @type {(message.platform.darwin.DarwinSensors.Servo$Properties|null)}
+                     */
+                    Servos.prototype.lHipRoll = null;
+
+                    /**
+                     * Servos rHipPitch.
+                     * @type {(message.platform.darwin.DarwinSensors.Servo$Properties|null)}
+                     */
+                    Servos.prototype.rHipPitch = null;
+
+                    /**
+                     * Servos lHipPitch.
+                     * @type {(message.platform.darwin.DarwinSensors.Servo$Properties|null)}
+                     */
+                    Servos.prototype.lHipPitch = null;
+
+                    /**
+                     * Servos rKnee.
+                     * @type {(message.platform.darwin.DarwinSensors.Servo$Properties|null)}
+                     */
+                    Servos.prototype.rKnee = null;
+
+                    /**
+                     * Servos lKnee.
+                     * @type {(message.platform.darwin.DarwinSensors.Servo$Properties|null)}
+                     */
+                    Servos.prototype.lKnee = null;
+
+                    /**
+                     * Servos rAnklePitch.
+                     * @type {(message.platform.darwin.DarwinSensors.Servo$Properties|null)}
+                     */
+                    Servos.prototype.rAnklePitch = null;
+
+                    /**
+                     * Servos lAnklePitch.
+                     * @type {(message.platform.darwin.DarwinSensors.Servo$Properties|null)}
+                     */
+                    Servos.prototype.lAnklePitch = null;
+
+                    /**
+                     * Servos rAnkleRoll.
+                     * @type {(message.platform.darwin.DarwinSensors.Servo$Properties|null)}
+                     */
+                    Servos.prototype.rAnkleRoll = null;
+
+                    /**
+                     * Servos lAnkleRoll.
+                     * @type {(message.platform.darwin.DarwinSensors.Servo$Properties|null)}
+                     */
+                    Servos.prototype.lAnkleRoll = null;
+
+                    /**
+                     * Servos headPan.
+                     * @type {(message.platform.darwin.DarwinSensors.Servo$Properties|null)}
+                     */
+                    Servos.prototype.headPan = null;
+
+                    /**
+                     * Servos headTilt.
+                     * @type {(message.platform.darwin.DarwinSensors.Servo$Properties|null)}
+                     */
+                    Servos.prototype.headTilt = null;
+
+                    /**
+                     * Creates a new Servos instance using the specified properties.
+                     * @param {message.platform.darwin.DarwinSensors.Servos$Properties=} [properties] Properties to set
+                     * @returns {message.platform.darwin.DarwinSensors.Servos} Servos instance
+                     */
+                    Servos.create = function create(properties) {
+                        return new Servos(properties);
+                    };
+
+                    /**
+                     * Encodes the specified Servos message. Does not implicitly {@link message.platform.darwin.DarwinSensors.Servos.verify|verify} messages.
+                     * @param {message.platform.darwin.DarwinSensors.Servos$Properties} message Servos message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    Servos.encode = function encode(message, writer) {
+                        if (!writer)
+                            writer = $Writer.create();
+                        if (message.rShoulderPitch != null && message.hasOwnProperty("rShoulderPitch"))
+                            $root.message.platform.darwin.DarwinSensors.Servo.encode(message.rShoulderPitch, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                        if (message.lShoulderPitch != null && message.hasOwnProperty("lShoulderPitch"))
+                            $root.message.platform.darwin.DarwinSensors.Servo.encode(message.lShoulderPitch, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                        if (message.rShoulderRoll != null && message.hasOwnProperty("rShoulderRoll"))
+                            $root.message.platform.darwin.DarwinSensors.Servo.encode(message.rShoulderRoll, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+                        if (message.lShoulderRoll != null && message.hasOwnProperty("lShoulderRoll"))
+                            $root.message.platform.darwin.DarwinSensors.Servo.encode(message.lShoulderRoll, writer.uint32(/* id 4, wireType 2 =*/34).fork()).ldelim();
+                        if (message.rElbow != null && message.hasOwnProperty("rElbow"))
+                            $root.message.platform.darwin.DarwinSensors.Servo.encode(message.rElbow, writer.uint32(/* id 5, wireType 2 =*/42).fork()).ldelim();
+                        if (message.lElbow != null && message.hasOwnProperty("lElbow"))
+                            $root.message.platform.darwin.DarwinSensors.Servo.encode(message.lElbow, writer.uint32(/* id 6, wireType 2 =*/50).fork()).ldelim();
+                        if (message.rHipYaw != null && message.hasOwnProperty("rHipYaw"))
+                            $root.message.platform.darwin.DarwinSensors.Servo.encode(message.rHipYaw, writer.uint32(/* id 7, wireType 2 =*/58).fork()).ldelim();
+                        if (message.lHipYaw != null && message.hasOwnProperty("lHipYaw"))
+                            $root.message.platform.darwin.DarwinSensors.Servo.encode(message.lHipYaw, writer.uint32(/* id 8, wireType 2 =*/66).fork()).ldelim();
+                        if (message.rHipRoll != null && message.hasOwnProperty("rHipRoll"))
+                            $root.message.platform.darwin.DarwinSensors.Servo.encode(message.rHipRoll, writer.uint32(/* id 9, wireType 2 =*/74).fork()).ldelim();
+                        if (message.lHipRoll != null && message.hasOwnProperty("lHipRoll"))
+                            $root.message.platform.darwin.DarwinSensors.Servo.encode(message.lHipRoll, writer.uint32(/* id 10, wireType 2 =*/82).fork()).ldelim();
+                        if (message.rHipPitch != null && message.hasOwnProperty("rHipPitch"))
+                            $root.message.platform.darwin.DarwinSensors.Servo.encode(message.rHipPitch, writer.uint32(/* id 11, wireType 2 =*/90).fork()).ldelim();
+                        if (message.lHipPitch != null && message.hasOwnProperty("lHipPitch"))
+                            $root.message.platform.darwin.DarwinSensors.Servo.encode(message.lHipPitch, writer.uint32(/* id 12, wireType 2 =*/98).fork()).ldelim();
+                        if (message.rKnee != null && message.hasOwnProperty("rKnee"))
+                            $root.message.platform.darwin.DarwinSensors.Servo.encode(message.rKnee, writer.uint32(/* id 13, wireType 2 =*/106).fork()).ldelim();
+                        if (message.lKnee != null && message.hasOwnProperty("lKnee"))
+                            $root.message.platform.darwin.DarwinSensors.Servo.encode(message.lKnee, writer.uint32(/* id 14, wireType 2 =*/114).fork()).ldelim();
+                        if (message.rAnklePitch != null && message.hasOwnProperty("rAnklePitch"))
+                            $root.message.platform.darwin.DarwinSensors.Servo.encode(message.rAnklePitch, writer.uint32(/* id 15, wireType 2 =*/122).fork()).ldelim();
+                        if (message.lAnklePitch != null && message.hasOwnProperty("lAnklePitch"))
+                            $root.message.platform.darwin.DarwinSensors.Servo.encode(message.lAnklePitch, writer.uint32(/* id 16, wireType 2 =*/130).fork()).ldelim();
+                        if (message.rAnkleRoll != null && message.hasOwnProperty("rAnkleRoll"))
+                            $root.message.platform.darwin.DarwinSensors.Servo.encode(message.rAnkleRoll, writer.uint32(/* id 17, wireType 2 =*/138).fork()).ldelim();
+                        if (message.lAnkleRoll != null && message.hasOwnProperty("lAnkleRoll"))
+                            $root.message.platform.darwin.DarwinSensors.Servo.encode(message.lAnkleRoll, writer.uint32(/* id 18, wireType 2 =*/146).fork()).ldelim();
+                        if (message.headPan != null && message.hasOwnProperty("headPan"))
+                            $root.message.platform.darwin.DarwinSensors.Servo.encode(message.headPan, writer.uint32(/* id 19, wireType 2 =*/154).fork()).ldelim();
+                        if (message.headTilt != null && message.hasOwnProperty("headTilt"))
+                            $root.message.platform.darwin.DarwinSensors.Servo.encode(message.headTilt, writer.uint32(/* id 20, wireType 2 =*/162).fork()).ldelim();
+                        return writer;
+                    };
+
+                    /**
+                     * Encodes the specified Servos message, length delimited. Does not implicitly {@link message.platform.darwin.DarwinSensors.Servos.verify|verify} messages.
+                     * @param {message.platform.darwin.DarwinSensors.Servos$Properties} message Servos message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    Servos.encodeDelimited = function encodeDelimited(message, writer) {
+                        return this.encode(message, writer).ldelim();
+                    };
+
+                    /**
+                     * Decodes a Servos message from the specified reader or buffer.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @param {number} [length] Message length if known beforehand
+                     * @returns {message.platform.darwin.DarwinSensors.Servos} Servos
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    Servos.decode = function decode(reader, length) {
+                        if (!(reader instanceof $Reader))
+                            reader = $Reader.create(reader);
+                        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.platform.darwin.DarwinSensors.Servos();
+                        while (reader.pos < end) {
+                            var tag = reader.uint32();
+                            switch (tag >>> 3) {
+                            case 1:
+                                message.rShoulderPitch = $root.message.platform.darwin.DarwinSensors.Servo.decode(reader, reader.uint32());
+                                break;
+                            case 2:
+                                message.lShoulderPitch = $root.message.platform.darwin.DarwinSensors.Servo.decode(reader, reader.uint32());
+                                break;
+                            case 3:
+                                message.rShoulderRoll = $root.message.platform.darwin.DarwinSensors.Servo.decode(reader, reader.uint32());
+                                break;
+                            case 4:
+                                message.lShoulderRoll = $root.message.platform.darwin.DarwinSensors.Servo.decode(reader, reader.uint32());
+                                break;
+                            case 5:
+                                message.rElbow = $root.message.platform.darwin.DarwinSensors.Servo.decode(reader, reader.uint32());
+                                break;
+                            case 6:
+                                message.lElbow = $root.message.platform.darwin.DarwinSensors.Servo.decode(reader, reader.uint32());
+                                break;
+                            case 7:
+                                message.rHipYaw = $root.message.platform.darwin.DarwinSensors.Servo.decode(reader, reader.uint32());
+                                break;
+                            case 8:
+                                message.lHipYaw = $root.message.platform.darwin.DarwinSensors.Servo.decode(reader, reader.uint32());
+                                break;
+                            case 9:
+                                message.rHipRoll = $root.message.platform.darwin.DarwinSensors.Servo.decode(reader, reader.uint32());
+                                break;
+                            case 10:
+                                message.lHipRoll = $root.message.platform.darwin.DarwinSensors.Servo.decode(reader, reader.uint32());
+                                break;
+                            case 11:
+                                message.rHipPitch = $root.message.platform.darwin.DarwinSensors.Servo.decode(reader, reader.uint32());
+                                break;
+                            case 12:
+                                message.lHipPitch = $root.message.platform.darwin.DarwinSensors.Servo.decode(reader, reader.uint32());
+                                break;
+                            case 13:
+                                message.rKnee = $root.message.platform.darwin.DarwinSensors.Servo.decode(reader, reader.uint32());
+                                break;
+                            case 14:
+                                message.lKnee = $root.message.platform.darwin.DarwinSensors.Servo.decode(reader, reader.uint32());
+                                break;
+                            case 15:
+                                message.rAnklePitch = $root.message.platform.darwin.DarwinSensors.Servo.decode(reader, reader.uint32());
+                                break;
+                            case 16:
+                                message.lAnklePitch = $root.message.platform.darwin.DarwinSensors.Servo.decode(reader, reader.uint32());
+                                break;
+                            case 17:
+                                message.rAnkleRoll = $root.message.platform.darwin.DarwinSensors.Servo.decode(reader, reader.uint32());
+                                break;
+                            case 18:
+                                message.lAnkleRoll = $root.message.platform.darwin.DarwinSensors.Servo.decode(reader, reader.uint32());
+                                break;
+                            case 19:
+                                message.headPan = $root.message.platform.darwin.DarwinSensors.Servo.decode(reader, reader.uint32());
+                                break;
+                            case 20:
+                                message.headTilt = $root.message.platform.darwin.DarwinSensors.Servo.decode(reader, reader.uint32());
+                                break;
+                            default:
+                                reader.skipType(tag & 7);
+                                break;
+                            }
+                        }
+                        return message;
+                    };
+
+                    /**
+                     * Decodes a Servos message from the specified reader or buffer, length delimited.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @returns {message.platform.darwin.DarwinSensors.Servos} Servos
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    Servos.decodeDelimited = function decodeDelimited(reader) {
+                        if (!(reader instanceof $Reader))
+                            reader = $Reader(reader);
+                        return this.decode(reader, reader.uint32());
+                    };
+
+                    /**
+                     * Verifies a Servos message.
+                     * @param {Object.<string,*>} message Plain object to verify
+                     * @returns {?string} `null` if valid, otherwise the reason why it is not
+                     */
+                    Servos.verify = function verify(message) {
+                        if (typeof message !== "object" || message === null)
+                            return "object expected";
+                        if (message.rShoulderPitch != null && message.hasOwnProperty("rShoulderPitch")) {
+                            var error = $root.message.platform.darwin.DarwinSensors.Servo.verify(message.rShoulderPitch);
+                            if (error)
+                                return "rShoulderPitch." + error;
+                        }
+                        if (message.lShoulderPitch != null && message.hasOwnProperty("lShoulderPitch")) {
+                            var error = $root.message.platform.darwin.DarwinSensors.Servo.verify(message.lShoulderPitch);
+                            if (error)
+                                return "lShoulderPitch." + error;
+                        }
+                        if (message.rShoulderRoll != null && message.hasOwnProperty("rShoulderRoll")) {
+                            var error = $root.message.platform.darwin.DarwinSensors.Servo.verify(message.rShoulderRoll);
+                            if (error)
+                                return "rShoulderRoll." + error;
+                        }
+                        if (message.lShoulderRoll != null && message.hasOwnProperty("lShoulderRoll")) {
+                            var error = $root.message.platform.darwin.DarwinSensors.Servo.verify(message.lShoulderRoll);
+                            if (error)
+                                return "lShoulderRoll." + error;
+                        }
+                        if (message.rElbow != null && message.hasOwnProperty("rElbow")) {
+                            var error = $root.message.platform.darwin.DarwinSensors.Servo.verify(message.rElbow);
+                            if (error)
+                                return "rElbow." + error;
+                        }
+                        if (message.lElbow != null && message.hasOwnProperty("lElbow")) {
+                            var error = $root.message.platform.darwin.DarwinSensors.Servo.verify(message.lElbow);
+                            if (error)
+                                return "lElbow." + error;
+                        }
+                        if (message.rHipYaw != null && message.hasOwnProperty("rHipYaw")) {
+                            var error = $root.message.platform.darwin.DarwinSensors.Servo.verify(message.rHipYaw);
+                            if (error)
+                                return "rHipYaw." + error;
+                        }
+                        if (message.lHipYaw != null && message.hasOwnProperty("lHipYaw")) {
+                            var error = $root.message.platform.darwin.DarwinSensors.Servo.verify(message.lHipYaw);
+                            if (error)
+                                return "lHipYaw." + error;
+                        }
+                        if (message.rHipRoll != null && message.hasOwnProperty("rHipRoll")) {
+                            var error = $root.message.platform.darwin.DarwinSensors.Servo.verify(message.rHipRoll);
+                            if (error)
+                                return "rHipRoll." + error;
+                        }
+                        if (message.lHipRoll != null && message.hasOwnProperty("lHipRoll")) {
+                            var error = $root.message.platform.darwin.DarwinSensors.Servo.verify(message.lHipRoll);
+                            if (error)
+                                return "lHipRoll." + error;
+                        }
+                        if (message.rHipPitch != null && message.hasOwnProperty("rHipPitch")) {
+                            var error = $root.message.platform.darwin.DarwinSensors.Servo.verify(message.rHipPitch);
+                            if (error)
+                                return "rHipPitch." + error;
+                        }
+                        if (message.lHipPitch != null && message.hasOwnProperty("lHipPitch")) {
+                            var error = $root.message.platform.darwin.DarwinSensors.Servo.verify(message.lHipPitch);
+                            if (error)
+                                return "lHipPitch." + error;
+                        }
+                        if (message.rKnee != null && message.hasOwnProperty("rKnee")) {
+                            var error = $root.message.platform.darwin.DarwinSensors.Servo.verify(message.rKnee);
+                            if (error)
+                                return "rKnee." + error;
+                        }
+                        if (message.lKnee != null && message.hasOwnProperty("lKnee")) {
+                            var error = $root.message.platform.darwin.DarwinSensors.Servo.verify(message.lKnee);
+                            if (error)
+                                return "lKnee." + error;
+                        }
+                        if (message.rAnklePitch != null && message.hasOwnProperty("rAnklePitch")) {
+                            var error = $root.message.platform.darwin.DarwinSensors.Servo.verify(message.rAnklePitch);
+                            if (error)
+                                return "rAnklePitch." + error;
+                        }
+                        if (message.lAnklePitch != null && message.hasOwnProperty("lAnklePitch")) {
+                            var error = $root.message.platform.darwin.DarwinSensors.Servo.verify(message.lAnklePitch);
+                            if (error)
+                                return "lAnklePitch." + error;
+                        }
+                        if (message.rAnkleRoll != null && message.hasOwnProperty("rAnkleRoll")) {
+                            var error = $root.message.platform.darwin.DarwinSensors.Servo.verify(message.rAnkleRoll);
+                            if (error)
+                                return "rAnkleRoll." + error;
+                        }
+                        if (message.lAnkleRoll != null && message.hasOwnProperty("lAnkleRoll")) {
+                            var error = $root.message.platform.darwin.DarwinSensors.Servo.verify(message.lAnkleRoll);
+                            if (error)
+                                return "lAnkleRoll." + error;
+                        }
+                        if (message.headPan != null && message.hasOwnProperty("headPan")) {
+                            var error = $root.message.platform.darwin.DarwinSensors.Servo.verify(message.headPan);
+                            if (error)
+                                return "headPan." + error;
+                        }
+                        if (message.headTilt != null && message.hasOwnProperty("headTilt")) {
+                            var error = $root.message.platform.darwin.DarwinSensors.Servo.verify(message.headTilt);
+                            if (error)
+                                return "headTilt." + error;
+                        }
+                        return null;
+                    };
+
+                    /**
+                     * Creates a Servos message from a plain object. Also converts values to their respective internal types.
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.platform.darwin.DarwinSensors.Servos} Servos
+                     */
+                    Servos.fromObject = function fromObject(object) {
+                        if (object instanceof $root.message.platform.darwin.DarwinSensors.Servos)
+                            return object;
+                        var message = new $root.message.platform.darwin.DarwinSensors.Servos();
+                        if (object.rShoulderPitch != null) {
+                            if (typeof object.rShoulderPitch !== "object")
+                                throw TypeError(".message.platform.darwin.DarwinSensors.Servos.rShoulderPitch: object expected");
+                            message.rShoulderPitch = $root.message.platform.darwin.DarwinSensors.Servo.fromObject(object.rShoulderPitch);
+                        }
+                        if (object.lShoulderPitch != null) {
+                            if (typeof object.lShoulderPitch !== "object")
+                                throw TypeError(".message.platform.darwin.DarwinSensors.Servos.lShoulderPitch: object expected");
+                            message.lShoulderPitch = $root.message.platform.darwin.DarwinSensors.Servo.fromObject(object.lShoulderPitch);
+                        }
+                        if (object.rShoulderRoll != null) {
+                            if (typeof object.rShoulderRoll !== "object")
+                                throw TypeError(".message.platform.darwin.DarwinSensors.Servos.rShoulderRoll: object expected");
+                            message.rShoulderRoll = $root.message.platform.darwin.DarwinSensors.Servo.fromObject(object.rShoulderRoll);
+                        }
+                        if (object.lShoulderRoll != null) {
+                            if (typeof object.lShoulderRoll !== "object")
+                                throw TypeError(".message.platform.darwin.DarwinSensors.Servos.lShoulderRoll: object expected");
+                            message.lShoulderRoll = $root.message.platform.darwin.DarwinSensors.Servo.fromObject(object.lShoulderRoll);
+                        }
+                        if (object.rElbow != null) {
+                            if (typeof object.rElbow !== "object")
+                                throw TypeError(".message.platform.darwin.DarwinSensors.Servos.rElbow: object expected");
+                            message.rElbow = $root.message.platform.darwin.DarwinSensors.Servo.fromObject(object.rElbow);
+                        }
+                        if (object.lElbow != null) {
+                            if (typeof object.lElbow !== "object")
+                                throw TypeError(".message.platform.darwin.DarwinSensors.Servos.lElbow: object expected");
+                            message.lElbow = $root.message.platform.darwin.DarwinSensors.Servo.fromObject(object.lElbow);
+                        }
+                        if (object.rHipYaw != null) {
+                            if (typeof object.rHipYaw !== "object")
+                                throw TypeError(".message.platform.darwin.DarwinSensors.Servos.rHipYaw: object expected");
+                            message.rHipYaw = $root.message.platform.darwin.DarwinSensors.Servo.fromObject(object.rHipYaw);
+                        }
+                        if (object.lHipYaw != null) {
+                            if (typeof object.lHipYaw !== "object")
+                                throw TypeError(".message.platform.darwin.DarwinSensors.Servos.lHipYaw: object expected");
+                            message.lHipYaw = $root.message.platform.darwin.DarwinSensors.Servo.fromObject(object.lHipYaw);
+                        }
+                        if (object.rHipRoll != null) {
+                            if (typeof object.rHipRoll !== "object")
+                                throw TypeError(".message.platform.darwin.DarwinSensors.Servos.rHipRoll: object expected");
+                            message.rHipRoll = $root.message.platform.darwin.DarwinSensors.Servo.fromObject(object.rHipRoll);
+                        }
+                        if (object.lHipRoll != null) {
+                            if (typeof object.lHipRoll !== "object")
+                                throw TypeError(".message.platform.darwin.DarwinSensors.Servos.lHipRoll: object expected");
+                            message.lHipRoll = $root.message.platform.darwin.DarwinSensors.Servo.fromObject(object.lHipRoll);
+                        }
+                        if (object.rHipPitch != null) {
+                            if (typeof object.rHipPitch !== "object")
+                                throw TypeError(".message.platform.darwin.DarwinSensors.Servos.rHipPitch: object expected");
+                            message.rHipPitch = $root.message.platform.darwin.DarwinSensors.Servo.fromObject(object.rHipPitch);
+                        }
+                        if (object.lHipPitch != null) {
+                            if (typeof object.lHipPitch !== "object")
+                                throw TypeError(".message.platform.darwin.DarwinSensors.Servos.lHipPitch: object expected");
+                            message.lHipPitch = $root.message.platform.darwin.DarwinSensors.Servo.fromObject(object.lHipPitch);
+                        }
+                        if (object.rKnee != null) {
+                            if (typeof object.rKnee !== "object")
+                                throw TypeError(".message.platform.darwin.DarwinSensors.Servos.rKnee: object expected");
+                            message.rKnee = $root.message.platform.darwin.DarwinSensors.Servo.fromObject(object.rKnee);
+                        }
+                        if (object.lKnee != null) {
+                            if (typeof object.lKnee !== "object")
+                                throw TypeError(".message.platform.darwin.DarwinSensors.Servos.lKnee: object expected");
+                            message.lKnee = $root.message.platform.darwin.DarwinSensors.Servo.fromObject(object.lKnee);
+                        }
+                        if (object.rAnklePitch != null) {
+                            if (typeof object.rAnklePitch !== "object")
+                                throw TypeError(".message.platform.darwin.DarwinSensors.Servos.rAnklePitch: object expected");
+                            message.rAnklePitch = $root.message.platform.darwin.DarwinSensors.Servo.fromObject(object.rAnklePitch);
+                        }
+                        if (object.lAnklePitch != null) {
+                            if (typeof object.lAnklePitch !== "object")
+                                throw TypeError(".message.platform.darwin.DarwinSensors.Servos.lAnklePitch: object expected");
+                            message.lAnklePitch = $root.message.platform.darwin.DarwinSensors.Servo.fromObject(object.lAnklePitch);
+                        }
+                        if (object.rAnkleRoll != null) {
+                            if (typeof object.rAnkleRoll !== "object")
+                                throw TypeError(".message.platform.darwin.DarwinSensors.Servos.rAnkleRoll: object expected");
+                            message.rAnkleRoll = $root.message.platform.darwin.DarwinSensors.Servo.fromObject(object.rAnkleRoll);
+                        }
+                        if (object.lAnkleRoll != null) {
+                            if (typeof object.lAnkleRoll !== "object")
+                                throw TypeError(".message.platform.darwin.DarwinSensors.Servos.lAnkleRoll: object expected");
+                            message.lAnkleRoll = $root.message.platform.darwin.DarwinSensors.Servo.fromObject(object.lAnkleRoll);
+                        }
+                        if (object.headPan != null) {
+                            if (typeof object.headPan !== "object")
+                                throw TypeError(".message.platform.darwin.DarwinSensors.Servos.headPan: object expected");
+                            message.headPan = $root.message.platform.darwin.DarwinSensors.Servo.fromObject(object.headPan);
+                        }
+                        if (object.headTilt != null) {
+                            if (typeof object.headTilt !== "object")
+                                throw TypeError(".message.platform.darwin.DarwinSensors.Servos.headTilt: object expected");
+                            message.headTilt = $root.message.platform.darwin.DarwinSensors.Servo.fromObject(object.headTilt);
+                        }
+                        return message;
+                    };
+
+                    /**
+                     * Creates a Servos message from a plain object. Also converts values to their respective internal types.
+                     * This is an alias of {@link message.platform.darwin.DarwinSensors.Servos.fromObject}.
+                     * @function
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.platform.darwin.DarwinSensors.Servos} Servos
+                     */
+                    Servos.from = Servos.fromObject;
+
+                    /**
+                     * Creates a plain object from a Servos message. Also converts values to other types if specified.
+                     * @param {message.platform.darwin.DarwinSensors.Servos} message Servos
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    Servos.toObject = function toObject(message, options) {
+                        if (!options)
+                            options = {};
+                        var object = {};
+                        if (options.defaults) {
+                            object.rShoulderPitch = null;
+                            object.lShoulderPitch = null;
+                            object.rShoulderRoll = null;
+                            object.lShoulderRoll = null;
+                            object.rElbow = null;
+                            object.lElbow = null;
+                            object.rHipYaw = null;
+                            object.lHipYaw = null;
+                            object.rHipRoll = null;
+                            object.lHipRoll = null;
+                            object.rHipPitch = null;
+                            object.lHipPitch = null;
+                            object.rKnee = null;
+                            object.lKnee = null;
+                            object.rAnklePitch = null;
+                            object.lAnklePitch = null;
+                            object.rAnkleRoll = null;
+                            object.lAnkleRoll = null;
+                            object.headPan = null;
+                            object.headTilt = null;
+                        }
+                        if (message.rShoulderPitch != null && message.hasOwnProperty("rShoulderPitch"))
+                            object.rShoulderPitch = $root.message.platform.darwin.DarwinSensors.Servo.toObject(message.rShoulderPitch, options);
+                        if (message.lShoulderPitch != null && message.hasOwnProperty("lShoulderPitch"))
+                            object.lShoulderPitch = $root.message.platform.darwin.DarwinSensors.Servo.toObject(message.lShoulderPitch, options);
+                        if (message.rShoulderRoll != null && message.hasOwnProperty("rShoulderRoll"))
+                            object.rShoulderRoll = $root.message.platform.darwin.DarwinSensors.Servo.toObject(message.rShoulderRoll, options);
+                        if (message.lShoulderRoll != null && message.hasOwnProperty("lShoulderRoll"))
+                            object.lShoulderRoll = $root.message.platform.darwin.DarwinSensors.Servo.toObject(message.lShoulderRoll, options);
+                        if (message.rElbow != null && message.hasOwnProperty("rElbow"))
+                            object.rElbow = $root.message.platform.darwin.DarwinSensors.Servo.toObject(message.rElbow, options);
+                        if (message.lElbow != null && message.hasOwnProperty("lElbow"))
+                            object.lElbow = $root.message.platform.darwin.DarwinSensors.Servo.toObject(message.lElbow, options);
+                        if (message.rHipYaw != null && message.hasOwnProperty("rHipYaw"))
+                            object.rHipYaw = $root.message.platform.darwin.DarwinSensors.Servo.toObject(message.rHipYaw, options);
+                        if (message.lHipYaw != null && message.hasOwnProperty("lHipYaw"))
+                            object.lHipYaw = $root.message.platform.darwin.DarwinSensors.Servo.toObject(message.lHipYaw, options);
+                        if (message.rHipRoll != null && message.hasOwnProperty("rHipRoll"))
+                            object.rHipRoll = $root.message.platform.darwin.DarwinSensors.Servo.toObject(message.rHipRoll, options);
+                        if (message.lHipRoll != null && message.hasOwnProperty("lHipRoll"))
+                            object.lHipRoll = $root.message.platform.darwin.DarwinSensors.Servo.toObject(message.lHipRoll, options);
+                        if (message.rHipPitch != null && message.hasOwnProperty("rHipPitch"))
+                            object.rHipPitch = $root.message.platform.darwin.DarwinSensors.Servo.toObject(message.rHipPitch, options);
+                        if (message.lHipPitch != null && message.hasOwnProperty("lHipPitch"))
+                            object.lHipPitch = $root.message.platform.darwin.DarwinSensors.Servo.toObject(message.lHipPitch, options);
+                        if (message.rKnee != null && message.hasOwnProperty("rKnee"))
+                            object.rKnee = $root.message.platform.darwin.DarwinSensors.Servo.toObject(message.rKnee, options);
+                        if (message.lKnee != null && message.hasOwnProperty("lKnee"))
+                            object.lKnee = $root.message.platform.darwin.DarwinSensors.Servo.toObject(message.lKnee, options);
+                        if (message.rAnklePitch != null && message.hasOwnProperty("rAnklePitch"))
+                            object.rAnklePitch = $root.message.platform.darwin.DarwinSensors.Servo.toObject(message.rAnklePitch, options);
+                        if (message.lAnklePitch != null && message.hasOwnProperty("lAnklePitch"))
+                            object.lAnklePitch = $root.message.platform.darwin.DarwinSensors.Servo.toObject(message.lAnklePitch, options);
+                        if (message.rAnkleRoll != null && message.hasOwnProperty("rAnkleRoll"))
+                            object.rAnkleRoll = $root.message.platform.darwin.DarwinSensors.Servo.toObject(message.rAnkleRoll, options);
+                        if (message.lAnkleRoll != null && message.hasOwnProperty("lAnkleRoll"))
+                            object.lAnkleRoll = $root.message.platform.darwin.DarwinSensors.Servo.toObject(message.lAnkleRoll, options);
+                        if (message.headPan != null && message.hasOwnProperty("headPan"))
+                            object.headPan = $root.message.platform.darwin.DarwinSensors.Servo.toObject(message.headPan, options);
+                        if (message.headTilt != null && message.hasOwnProperty("headTilt"))
+                            object.headTilt = $root.message.platform.darwin.DarwinSensors.Servo.toObject(message.headTilt, options);
+                        return object;
+                    };
+
+                    /**
+                     * Creates a plain object from this Servos message. Also converts values to other types if specified.
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    Servos.prototype.toObject = function toObject(options) {
+                        return this.constructor.toObject(this, options);
+                    };
+
+                    /**
+                     * Converts this Servos to JSON.
+                     * @returns {Object.<string,*>} JSON object
+                     */
+                    Servos.prototype.toJSON = function toJSON() {
+                        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                    };
+
+                    return Servos;
+                })();
+
+                return DarwinSensors;
+            })();
+
+            darwin.ButtonLeftDown = (function() {
+
+                /**
+                 * Properties of a ButtonLeftDown.
+                 * @typedef message.platform.darwin.ButtonLeftDown$Properties
+                 * @type {Object}
+                 */
+
+                /**
+                 * Constructs a new ButtonLeftDown.
+                 * @exports message.platform.darwin.ButtonLeftDown
+                 * @constructor
+                 * @param {message.platform.darwin.ButtonLeftDown$Properties=} [properties] Properties to set
+                 */
+                function ButtonLeftDown(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * Creates a new ButtonLeftDown instance using the specified properties.
+                 * @param {message.platform.darwin.ButtonLeftDown$Properties=} [properties] Properties to set
+                 * @returns {message.platform.darwin.ButtonLeftDown} ButtonLeftDown instance
+                 */
+                ButtonLeftDown.create = function create(properties) {
+                    return new ButtonLeftDown(properties);
+                };
+
+                /**
+                 * Encodes the specified ButtonLeftDown message. Does not implicitly {@link message.platform.darwin.ButtonLeftDown.verify|verify} messages.
+                 * @param {message.platform.darwin.ButtonLeftDown$Properties} message ButtonLeftDown message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                ButtonLeftDown.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified ButtonLeftDown message, length delimited. Does not implicitly {@link message.platform.darwin.ButtonLeftDown.verify|verify} messages.
+                 * @param {message.platform.darwin.ButtonLeftDown$Properties} message ButtonLeftDown message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                ButtonLeftDown.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a ButtonLeftDown message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.platform.darwin.ButtonLeftDown} ButtonLeftDown
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                ButtonLeftDown.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.platform.darwin.ButtonLeftDown();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a ButtonLeftDown message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.platform.darwin.ButtonLeftDown} ButtonLeftDown
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                ButtonLeftDown.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a ButtonLeftDown message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                ButtonLeftDown.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    return null;
+                };
+
+                /**
+                 * Creates a ButtonLeftDown message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.platform.darwin.ButtonLeftDown} ButtonLeftDown
+                 */
+                ButtonLeftDown.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.platform.darwin.ButtonLeftDown)
+                        return object;
+                    return new $root.message.platform.darwin.ButtonLeftDown();
+                };
+
+                /**
+                 * Creates a ButtonLeftDown message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.platform.darwin.ButtonLeftDown.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.platform.darwin.ButtonLeftDown} ButtonLeftDown
+                 */
+                ButtonLeftDown.from = ButtonLeftDown.fromObject;
+
+                /**
+                 * Creates a plain object from a ButtonLeftDown message. Also converts values to other types if specified.
+                 * @param {message.platform.darwin.ButtonLeftDown} message ButtonLeftDown
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                ButtonLeftDown.toObject = function toObject() {
+                    return {};
+                };
+
+                /**
+                 * Creates a plain object from this ButtonLeftDown message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                ButtonLeftDown.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this ButtonLeftDown to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                ButtonLeftDown.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return ButtonLeftDown;
+            })();
+
+            darwin.ButtonLeftUp = (function() {
+
+                /**
+                 * Properties of a ButtonLeftUp.
+                 * @typedef message.platform.darwin.ButtonLeftUp$Properties
+                 * @type {Object}
+                 */
+
+                /**
+                 * Constructs a new ButtonLeftUp.
+                 * @exports message.platform.darwin.ButtonLeftUp
+                 * @constructor
+                 * @param {message.platform.darwin.ButtonLeftUp$Properties=} [properties] Properties to set
+                 */
+                function ButtonLeftUp(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * Creates a new ButtonLeftUp instance using the specified properties.
+                 * @param {message.platform.darwin.ButtonLeftUp$Properties=} [properties] Properties to set
+                 * @returns {message.platform.darwin.ButtonLeftUp} ButtonLeftUp instance
+                 */
+                ButtonLeftUp.create = function create(properties) {
+                    return new ButtonLeftUp(properties);
+                };
+
+                /**
+                 * Encodes the specified ButtonLeftUp message. Does not implicitly {@link message.platform.darwin.ButtonLeftUp.verify|verify} messages.
+                 * @param {message.platform.darwin.ButtonLeftUp$Properties} message ButtonLeftUp message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                ButtonLeftUp.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified ButtonLeftUp message, length delimited. Does not implicitly {@link message.platform.darwin.ButtonLeftUp.verify|verify} messages.
+                 * @param {message.platform.darwin.ButtonLeftUp$Properties} message ButtonLeftUp message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                ButtonLeftUp.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a ButtonLeftUp message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.platform.darwin.ButtonLeftUp} ButtonLeftUp
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                ButtonLeftUp.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.platform.darwin.ButtonLeftUp();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a ButtonLeftUp message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.platform.darwin.ButtonLeftUp} ButtonLeftUp
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                ButtonLeftUp.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a ButtonLeftUp message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                ButtonLeftUp.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    return null;
+                };
+
+                /**
+                 * Creates a ButtonLeftUp message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.platform.darwin.ButtonLeftUp} ButtonLeftUp
+                 */
+                ButtonLeftUp.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.platform.darwin.ButtonLeftUp)
+                        return object;
+                    return new $root.message.platform.darwin.ButtonLeftUp();
+                };
+
+                /**
+                 * Creates a ButtonLeftUp message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.platform.darwin.ButtonLeftUp.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.platform.darwin.ButtonLeftUp} ButtonLeftUp
+                 */
+                ButtonLeftUp.from = ButtonLeftUp.fromObject;
+
+                /**
+                 * Creates a plain object from a ButtonLeftUp message. Also converts values to other types if specified.
+                 * @param {message.platform.darwin.ButtonLeftUp} message ButtonLeftUp
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                ButtonLeftUp.toObject = function toObject() {
+                    return {};
+                };
+
+                /**
+                 * Creates a plain object from this ButtonLeftUp message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                ButtonLeftUp.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this ButtonLeftUp to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                ButtonLeftUp.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return ButtonLeftUp;
+            })();
+
+            darwin.ButtonMiddleDown = (function() {
+
+                /**
+                 * Properties of a ButtonMiddleDown.
+                 * @typedef message.platform.darwin.ButtonMiddleDown$Properties
+                 * @type {Object}
+                 */
+
+                /**
+                 * Constructs a new ButtonMiddleDown.
+                 * @exports message.platform.darwin.ButtonMiddleDown
+                 * @constructor
+                 * @param {message.platform.darwin.ButtonMiddleDown$Properties=} [properties] Properties to set
+                 */
+                function ButtonMiddleDown(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * Creates a new ButtonMiddleDown instance using the specified properties.
+                 * @param {message.platform.darwin.ButtonMiddleDown$Properties=} [properties] Properties to set
+                 * @returns {message.platform.darwin.ButtonMiddleDown} ButtonMiddleDown instance
+                 */
+                ButtonMiddleDown.create = function create(properties) {
+                    return new ButtonMiddleDown(properties);
+                };
+
+                /**
+                 * Encodes the specified ButtonMiddleDown message. Does not implicitly {@link message.platform.darwin.ButtonMiddleDown.verify|verify} messages.
+                 * @param {message.platform.darwin.ButtonMiddleDown$Properties} message ButtonMiddleDown message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                ButtonMiddleDown.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified ButtonMiddleDown message, length delimited. Does not implicitly {@link message.platform.darwin.ButtonMiddleDown.verify|verify} messages.
+                 * @param {message.platform.darwin.ButtonMiddleDown$Properties} message ButtonMiddleDown message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                ButtonMiddleDown.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a ButtonMiddleDown message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.platform.darwin.ButtonMiddleDown} ButtonMiddleDown
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                ButtonMiddleDown.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.platform.darwin.ButtonMiddleDown();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a ButtonMiddleDown message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.platform.darwin.ButtonMiddleDown} ButtonMiddleDown
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                ButtonMiddleDown.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a ButtonMiddleDown message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                ButtonMiddleDown.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    return null;
+                };
+
+                /**
+                 * Creates a ButtonMiddleDown message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.platform.darwin.ButtonMiddleDown} ButtonMiddleDown
+                 */
+                ButtonMiddleDown.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.platform.darwin.ButtonMiddleDown)
+                        return object;
+                    return new $root.message.platform.darwin.ButtonMiddleDown();
+                };
+
+                /**
+                 * Creates a ButtonMiddleDown message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.platform.darwin.ButtonMiddleDown.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.platform.darwin.ButtonMiddleDown} ButtonMiddleDown
+                 */
+                ButtonMiddleDown.from = ButtonMiddleDown.fromObject;
+
+                /**
+                 * Creates a plain object from a ButtonMiddleDown message. Also converts values to other types if specified.
+                 * @param {message.platform.darwin.ButtonMiddleDown} message ButtonMiddleDown
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                ButtonMiddleDown.toObject = function toObject() {
+                    return {};
+                };
+
+                /**
+                 * Creates a plain object from this ButtonMiddleDown message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                ButtonMiddleDown.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this ButtonMiddleDown to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                ButtonMiddleDown.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return ButtonMiddleDown;
+            })();
+
+            darwin.ButtonMiddleUp = (function() {
+
+                /**
+                 * Properties of a ButtonMiddleUp.
+                 * @typedef message.platform.darwin.ButtonMiddleUp$Properties
+                 * @type {Object}
+                 */
+
+                /**
+                 * Constructs a new ButtonMiddleUp.
+                 * @exports message.platform.darwin.ButtonMiddleUp
+                 * @constructor
+                 * @param {message.platform.darwin.ButtonMiddleUp$Properties=} [properties] Properties to set
+                 */
+                function ButtonMiddleUp(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * Creates a new ButtonMiddleUp instance using the specified properties.
+                 * @param {message.platform.darwin.ButtonMiddleUp$Properties=} [properties] Properties to set
+                 * @returns {message.platform.darwin.ButtonMiddleUp} ButtonMiddleUp instance
+                 */
+                ButtonMiddleUp.create = function create(properties) {
+                    return new ButtonMiddleUp(properties);
+                };
+
+                /**
+                 * Encodes the specified ButtonMiddleUp message. Does not implicitly {@link message.platform.darwin.ButtonMiddleUp.verify|verify} messages.
+                 * @param {message.platform.darwin.ButtonMiddleUp$Properties} message ButtonMiddleUp message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                ButtonMiddleUp.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified ButtonMiddleUp message, length delimited. Does not implicitly {@link message.platform.darwin.ButtonMiddleUp.verify|verify} messages.
+                 * @param {message.platform.darwin.ButtonMiddleUp$Properties} message ButtonMiddleUp message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                ButtonMiddleUp.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a ButtonMiddleUp message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.platform.darwin.ButtonMiddleUp} ButtonMiddleUp
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                ButtonMiddleUp.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.platform.darwin.ButtonMiddleUp();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a ButtonMiddleUp message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.platform.darwin.ButtonMiddleUp} ButtonMiddleUp
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                ButtonMiddleUp.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a ButtonMiddleUp message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                ButtonMiddleUp.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    return null;
+                };
+
+                /**
+                 * Creates a ButtonMiddleUp message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.platform.darwin.ButtonMiddleUp} ButtonMiddleUp
+                 */
+                ButtonMiddleUp.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.platform.darwin.ButtonMiddleUp)
+                        return object;
+                    return new $root.message.platform.darwin.ButtonMiddleUp();
+                };
+
+                /**
+                 * Creates a ButtonMiddleUp message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.platform.darwin.ButtonMiddleUp.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.platform.darwin.ButtonMiddleUp} ButtonMiddleUp
+                 */
+                ButtonMiddleUp.from = ButtonMiddleUp.fromObject;
+
+                /**
+                 * Creates a plain object from a ButtonMiddleUp message. Also converts values to other types if specified.
+                 * @param {message.platform.darwin.ButtonMiddleUp} message ButtonMiddleUp
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                ButtonMiddleUp.toObject = function toObject() {
+                    return {};
+                };
+
+                /**
+                 * Creates a plain object from this ButtonMiddleUp message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                ButtonMiddleUp.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this ButtonMiddleUp to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                ButtonMiddleUp.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return ButtonMiddleUp;
+            })();
+
+            return darwin;
+        })();
+
+        return platform;
+    })();
+
+    message.research = (function() {
+
+        /**
+         * Namespace research.
+         * @exports message.research
+         * @namespace
+         */
+        var research = {};
+
+        research.AutoClassifierPixels = (function() {
+
+            /**
+             * Properties of an AutoClassifierPixels.
+             * @typedef message.research.AutoClassifierPixels$Properties
+             * @type {Object}
+             * @property {Array.<number>} [pixels] AutoClassifierPixels pixels.
+             * @property {number} [classification] AutoClassifierPixels classification.
+             */
+
+            /**
+             * Constructs a new AutoClassifierPixels.
+             * @exports message.research.AutoClassifierPixels
+             * @constructor
+             * @param {message.research.AutoClassifierPixels$Properties=} [properties] Properties to set
+             */
+            function AutoClassifierPixels(properties) {
+                this.pixels = [];
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * AutoClassifierPixels pixels.
+             * @type {Array.<number>}
+             */
+            AutoClassifierPixels.prototype.pixels = $util.emptyArray;
+
+            /**
+             * AutoClassifierPixels classification.
+             * @type {number}
+             */
+            AutoClassifierPixels.prototype.classification = 0;
+
+            /**
+             * Creates a new AutoClassifierPixels instance using the specified properties.
+             * @param {message.research.AutoClassifierPixels$Properties=} [properties] Properties to set
+             * @returns {message.research.AutoClassifierPixels} AutoClassifierPixels instance
+             */
+            AutoClassifierPixels.create = function create(properties) {
+                return new AutoClassifierPixels(properties);
+            };
+
+            /**
+             * Encodes the specified AutoClassifierPixels message. Does not implicitly {@link message.research.AutoClassifierPixels.verify|verify} messages.
+             * @param {message.research.AutoClassifierPixels$Properties} message AutoClassifierPixels message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            AutoClassifierPixels.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.pixels != null && message.pixels.length) {
+                    writer.uint32(/* id 1, wireType 2 =*/10).fork();
+                    for (var i = 0; i < message.pixels.length; ++i)
+                        writer.uint32(message.pixels[i]);
+                    writer.ldelim();
+                }
+                if (message.classification != null && message.hasOwnProperty("classification"))
+                    writer.uint32(/* id 2, wireType 0 =*/16).uint32(message.classification);
+                return writer;
+            };
+
+            /**
+             * Encodes the specified AutoClassifierPixels message, length delimited. Does not implicitly {@link message.research.AutoClassifierPixels.verify|verify} messages.
+             * @param {message.research.AutoClassifierPixels$Properties} message AutoClassifierPixels message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            AutoClassifierPixels.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes an AutoClassifierPixels message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.research.AutoClassifierPixels} AutoClassifierPixels
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            AutoClassifierPixels.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.research.AutoClassifierPixels();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        if (!(message.pixels && message.pixels.length))
+                            message.pixels = [];
+                        if ((tag & 7) === 2) {
+                            var end2 = reader.uint32() + reader.pos;
+                            while (reader.pos < end2)
+                                message.pixels.push(reader.uint32());
+                        } else
+                            message.pixels.push(reader.uint32());
+                        break;
+                    case 2:
+                        message.classification = reader.uint32();
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes an AutoClassifierPixels message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.research.AutoClassifierPixels} AutoClassifierPixels
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            AutoClassifierPixels.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies an AutoClassifierPixels message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            AutoClassifierPixels.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.pixels != null && message.hasOwnProperty("pixels")) {
+                    if (!Array.isArray(message.pixels))
+                        return "pixels: array expected";
+                    for (var i = 0; i < message.pixels.length; ++i)
+                        if (!$util.isInteger(message.pixels[i]))
+                            return "pixels: integer[] expected";
+                }
+                if (message.classification != null && message.hasOwnProperty("classification"))
+                    if (!$util.isInteger(message.classification))
+                        return "classification: integer expected";
+                return null;
+            };
+
+            /**
+             * Creates an AutoClassifierPixels message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.research.AutoClassifierPixels} AutoClassifierPixels
+             */
+            AutoClassifierPixels.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.research.AutoClassifierPixels)
+                    return object;
+                var message = new $root.message.research.AutoClassifierPixels();
+                if (object.pixels) {
+                    if (!Array.isArray(object.pixels))
+                        throw TypeError(".message.research.AutoClassifierPixels.pixels: array expected");
+                    message.pixels = [];
+                    for (var i = 0; i < object.pixels.length; ++i)
+                        message.pixels[i] = object.pixels[i] >>> 0;
+                }
+                if (object.classification != null)
+                    message.classification = object.classification >>> 0;
+                return message;
+            };
+
+            /**
+             * Creates an AutoClassifierPixels message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.research.AutoClassifierPixels.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.research.AutoClassifierPixels} AutoClassifierPixels
+             */
+            AutoClassifierPixels.from = AutoClassifierPixels.fromObject;
+
+            /**
+             * Creates a plain object from an AutoClassifierPixels message. Also converts values to other types if specified.
+             * @param {message.research.AutoClassifierPixels} message AutoClassifierPixels
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            AutoClassifierPixels.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.arrays || options.defaults)
+                    object.pixels = [];
+                if (options.defaults)
+                    object.classification = 0;
+                if (message.pixels && message.pixels.length) {
+                    object.pixels = [];
+                    for (var j = 0; j < message.pixels.length; ++j)
+                        object.pixels[j] = message.pixels[j];
+                }
+                if (message.classification != null && message.hasOwnProperty("classification"))
+                    object.classification = message.classification;
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this AutoClassifierPixels message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            AutoClassifierPixels.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this AutoClassifierPixels to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            AutoClassifierPixels.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return AutoClassifierPixels;
+        })();
+
+        research.scriptoptimizer = (function() {
+
+            /**
+             * Namespace scriptoptimizer.
+             * @exports message.research.scriptoptimizer
+             * @namespace
+             */
+            var scriptoptimizer = {};
+
+            scriptoptimizer.OptimizeScript = (function() {
+
+                /**
+                 * Properties of an OptimizeScript.
+                 * @typedef message.research.scriptoptimizer.OptimizeScript$Properties
+                 * @type {Object}
+                 * @property {string} [target] OptimizeScript target.
+                 * @property {number} [iteration] OptimizeScript iteration.
+                 * @property {string} [metadata] OptimizeScript metadata.
+                 * @property {Array.<message.research.scriptoptimizer.OptimizeScript.Frame$Properties>} [frames] OptimizeScript frames.
+                 */
+
+                /**
+                 * Constructs a new OptimizeScript.
+                 * @exports message.research.scriptoptimizer.OptimizeScript
+                 * @constructor
+                 * @param {message.research.scriptoptimizer.OptimizeScript$Properties=} [properties] Properties to set
+                 */
+                function OptimizeScript(properties) {
+                    this.frames = [];
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * OptimizeScript target.
+                 * @type {string}
+                 */
+                OptimizeScript.prototype.target = "";
+
+                /**
+                 * OptimizeScript iteration.
+                 * @type {number}
+                 */
+                OptimizeScript.prototype.iteration = 0;
+
+                /**
+                 * OptimizeScript metadata.
+                 * @type {string}
+                 */
+                OptimizeScript.prototype.metadata = "";
+
+                /**
+                 * OptimizeScript frames.
+                 * @type {Array.<message.research.scriptoptimizer.OptimizeScript.Frame$Properties>}
+                 */
+                OptimizeScript.prototype.frames = $util.emptyArray;
+
+                /**
+                 * Creates a new OptimizeScript instance using the specified properties.
+                 * @param {message.research.scriptoptimizer.OptimizeScript$Properties=} [properties] Properties to set
+                 * @returns {message.research.scriptoptimizer.OptimizeScript} OptimizeScript instance
+                 */
+                OptimizeScript.create = function create(properties) {
+                    return new OptimizeScript(properties);
+                };
+
+                /**
+                 * Encodes the specified OptimizeScript message. Does not implicitly {@link message.research.scriptoptimizer.OptimizeScript.verify|verify} messages.
+                 * @param {message.research.scriptoptimizer.OptimizeScript$Properties} message OptimizeScript message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                OptimizeScript.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.target != null && message.hasOwnProperty("target"))
+                        writer.uint32(/* id 1, wireType 2 =*/10).string(message.target);
+                    if (message.iteration != null && message.hasOwnProperty("iteration"))
+                        writer.uint32(/* id 2, wireType 0 =*/16).uint32(message.iteration);
+                    if (message.metadata != null && message.hasOwnProperty("metadata"))
+                        writer.uint32(/* id 3, wireType 2 =*/26).string(message.metadata);
+                    if (message.frames != null && message.frames.length)
+                        for (var i = 0; i < message.frames.length; ++i)
+                            $root.message.research.scriptoptimizer.OptimizeScript.Frame.encode(message.frames[i], writer.uint32(/* id 4, wireType 2 =*/34).fork()).ldelim();
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified OptimizeScript message, length delimited. Does not implicitly {@link message.research.scriptoptimizer.OptimizeScript.verify|verify} messages.
+                 * @param {message.research.scriptoptimizer.OptimizeScript$Properties} message OptimizeScript message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                OptimizeScript.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes an OptimizeScript message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.research.scriptoptimizer.OptimizeScript} OptimizeScript
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                OptimizeScript.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.research.scriptoptimizer.OptimizeScript();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.target = reader.string();
+                            break;
+                        case 2:
+                            message.iteration = reader.uint32();
+                            break;
+                        case 3:
+                            message.metadata = reader.string();
+                            break;
+                        case 4:
+                            if (!(message.frames && message.frames.length))
+                                message.frames = [];
+                            message.frames.push($root.message.research.scriptoptimizer.OptimizeScript.Frame.decode(reader, reader.uint32()));
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes an OptimizeScript message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.research.scriptoptimizer.OptimizeScript} OptimizeScript
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                OptimizeScript.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies an OptimizeScript message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                OptimizeScript.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.target != null && message.hasOwnProperty("target"))
+                        if (!$util.isString(message.target))
+                            return "target: string expected";
+                    if (message.iteration != null && message.hasOwnProperty("iteration"))
+                        if (!$util.isInteger(message.iteration))
+                            return "iteration: integer expected";
+                    if (message.metadata != null && message.hasOwnProperty("metadata"))
+                        if (!$util.isString(message.metadata))
+                            return "metadata: string expected";
+                    if (message.frames != null && message.hasOwnProperty("frames")) {
+                        if (!Array.isArray(message.frames))
+                            return "frames: array expected";
+                        for (var i = 0; i < message.frames.length; ++i) {
+                            var error = $root.message.research.scriptoptimizer.OptimizeScript.Frame.verify(message.frames[i]);
+                            if (error)
+                                return "frames." + error;
+                        }
+                    }
+                    return null;
+                };
+
+                /**
+                 * Creates an OptimizeScript message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.research.scriptoptimizer.OptimizeScript} OptimizeScript
+                 */
+                OptimizeScript.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.research.scriptoptimizer.OptimizeScript)
+                        return object;
+                    var message = new $root.message.research.scriptoptimizer.OptimizeScript();
+                    if (object.target != null)
+                        message.target = String(object.target);
+                    if (object.iteration != null)
+                        message.iteration = object.iteration >>> 0;
+                    if (object.metadata != null)
+                        message.metadata = String(object.metadata);
+                    if (object.frames) {
+                        if (!Array.isArray(object.frames))
+                            throw TypeError(".message.research.scriptoptimizer.OptimizeScript.frames: array expected");
+                        message.frames = [];
+                        for (var i = 0; i < object.frames.length; ++i) {
+                            if (typeof object.frames[i] !== "object")
+                                throw TypeError(".message.research.scriptoptimizer.OptimizeScript.frames: object expected");
+                            message.frames[i] = $root.message.research.scriptoptimizer.OptimizeScript.Frame.fromObject(object.frames[i]);
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Creates an OptimizeScript message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.research.scriptoptimizer.OptimizeScript.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.research.scriptoptimizer.OptimizeScript} OptimizeScript
+                 */
+                OptimizeScript.from = OptimizeScript.fromObject;
+
+                /**
+                 * Creates a plain object from an OptimizeScript message. Also converts values to other types if specified.
+                 * @param {message.research.scriptoptimizer.OptimizeScript} message OptimizeScript
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                OptimizeScript.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.arrays || options.defaults)
+                        object.frames = [];
+                    if (options.defaults) {
+                        object.target = "";
+                        object.iteration = 0;
+                        object.metadata = "";
+                    }
+                    if (message.target != null && message.hasOwnProperty("target"))
+                        object.target = message.target;
+                    if (message.iteration != null && message.hasOwnProperty("iteration"))
+                        object.iteration = message.iteration;
+                    if (message.metadata != null && message.hasOwnProperty("metadata"))
+                        object.metadata = message.metadata;
+                    if (message.frames && message.frames.length) {
+                        object.frames = [];
+                        for (var j = 0; j < message.frames.length; ++j)
+                            object.frames[j] = $root.message.research.scriptoptimizer.OptimizeScript.Frame.toObject(message.frames[j], options);
+                    }
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this OptimizeScript message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                OptimizeScript.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this OptimizeScript to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                OptimizeScript.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                OptimizeScript.Target = (function() {
+
+                    /**
+                     * Properties of a Target.
+                     * @typedef message.research.scriptoptimizer.OptimizeScript.Target$Properties
+                     * @type {Object}
+                     * @property {number} [id] Target id.
+                     * @property {number} [position] Target position.
+                     * @property {number} [gain] Target gain.
+                     */
+
+                    /**
+                     * Constructs a new Target.
+                     * @exports message.research.scriptoptimizer.OptimizeScript.Target
+                     * @constructor
+                     * @param {message.research.scriptoptimizer.OptimizeScript.Target$Properties=} [properties] Properties to set
+                     */
+                    function Target(properties) {
+                        if (properties)
+                            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                                if (properties[keys[i]] != null)
+                                    this[keys[i]] = properties[keys[i]];
+                    }
+
+                    /**
+                     * Target id.
+                     * @type {number}
+                     */
+                    Target.prototype.id = 0;
+
+                    /**
+                     * Target position.
+                     * @type {number}
+                     */
+                    Target.prototype.position = 0;
+
+                    /**
+                     * Target gain.
+                     * @type {number}
+                     */
+                    Target.prototype.gain = 0;
+
+                    /**
+                     * Creates a new Target instance using the specified properties.
+                     * @param {message.research.scriptoptimizer.OptimizeScript.Target$Properties=} [properties] Properties to set
+                     * @returns {message.research.scriptoptimizer.OptimizeScript.Target} Target instance
+                     */
+                    Target.create = function create(properties) {
+                        return new Target(properties);
+                    };
+
+                    /**
+                     * Encodes the specified Target message. Does not implicitly {@link message.research.scriptoptimizer.OptimizeScript.Target.verify|verify} messages.
+                     * @param {message.research.scriptoptimizer.OptimizeScript.Target$Properties} message Target message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    Target.encode = function encode(message, writer) {
+                        if (!writer)
+                            writer = $Writer.create();
+                        if (message.id != null && message.hasOwnProperty("id"))
+                            writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.id);
+                        if (message.position != null && message.hasOwnProperty("position"))
+                            writer.uint32(/* id 2, wireType 5 =*/21).float(message.position);
+                        if (message.gain != null && message.hasOwnProperty("gain"))
+                            writer.uint32(/* id 3, wireType 5 =*/29).float(message.gain);
+                        return writer;
+                    };
+
+                    /**
+                     * Encodes the specified Target message, length delimited. Does not implicitly {@link message.research.scriptoptimizer.OptimizeScript.Target.verify|verify} messages.
+                     * @param {message.research.scriptoptimizer.OptimizeScript.Target$Properties} message Target message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    Target.encodeDelimited = function encodeDelimited(message, writer) {
+                        return this.encode(message, writer).ldelim();
+                    };
+
+                    /**
+                     * Decodes a Target message from the specified reader or buffer.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @param {number} [length] Message length if known beforehand
+                     * @returns {message.research.scriptoptimizer.OptimizeScript.Target} Target
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    Target.decode = function decode(reader, length) {
+                        if (!(reader instanceof $Reader))
+                            reader = $Reader.create(reader);
+                        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.research.scriptoptimizer.OptimizeScript.Target();
+                        while (reader.pos < end) {
+                            var tag = reader.uint32();
+                            switch (tag >>> 3) {
+                            case 1:
+                                message.id = reader.uint32();
+                                break;
+                            case 2:
+                                message.position = reader.float();
+                                break;
+                            case 3:
+                                message.gain = reader.float();
+                                break;
+                            default:
+                                reader.skipType(tag & 7);
+                                break;
+                            }
+                        }
+                        return message;
+                    };
+
+                    /**
+                     * Decodes a Target message from the specified reader or buffer, length delimited.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @returns {message.research.scriptoptimizer.OptimizeScript.Target} Target
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    Target.decodeDelimited = function decodeDelimited(reader) {
+                        if (!(reader instanceof $Reader))
+                            reader = $Reader(reader);
+                        return this.decode(reader, reader.uint32());
+                    };
+
+                    /**
+                     * Verifies a Target message.
+                     * @param {Object.<string,*>} message Plain object to verify
+                     * @returns {?string} `null` if valid, otherwise the reason why it is not
+                     */
+                    Target.verify = function verify(message) {
+                        if (typeof message !== "object" || message === null)
+                            return "object expected";
+                        if (message.id != null && message.hasOwnProperty("id"))
+                            if (!$util.isInteger(message.id))
+                                return "id: integer expected";
+                        if (message.position != null && message.hasOwnProperty("position"))
+                            if (typeof message.position !== "number")
+                                return "position: number expected";
+                        if (message.gain != null && message.hasOwnProperty("gain"))
+                            if (typeof message.gain !== "number")
+                                return "gain: number expected";
+                        return null;
+                    };
+
+                    /**
+                     * Creates a Target message from a plain object. Also converts values to their respective internal types.
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.research.scriptoptimizer.OptimizeScript.Target} Target
+                     */
+                    Target.fromObject = function fromObject(object) {
+                        if (object instanceof $root.message.research.scriptoptimizer.OptimizeScript.Target)
+                            return object;
+                        var message = new $root.message.research.scriptoptimizer.OptimizeScript.Target();
+                        if (object.id != null)
+                            message.id = object.id >>> 0;
+                        if (object.position != null)
+                            message.position = Number(object.position);
+                        if (object.gain != null)
+                            message.gain = Number(object.gain);
+                        return message;
+                    };
+
+                    /**
+                     * Creates a Target message from a plain object. Also converts values to their respective internal types.
+                     * This is an alias of {@link message.research.scriptoptimizer.OptimizeScript.Target.fromObject}.
+                     * @function
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.research.scriptoptimizer.OptimizeScript.Target} Target
+                     */
+                    Target.from = Target.fromObject;
+
+                    /**
+                     * Creates a plain object from a Target message. Also converts values to other types if specified.
+                     * @param {message.research.scriptoptimizer.OptimizeScript.Target} message Target
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    Target.toObject = function toObject(message, options) {
+                        if (!options)
+                            options = {};
+                        var object = {};
+                        if (options.defaults) {
+                            object.id = 0;
+                            object.position = 0;
+                            object.gain = 0;
+                        }
+                        if (message.id != null && message.hasOwnProperty("id"))
+                            object.id = message.id;
+                        if (message.position != null && message.hasOwnProperty("position"))
+                            object.position = message.position;
+                        if (message.gain != null && message.hasOwnProperty("gain"))
+                            object.gain = message.gain;
+                        return object;
+                    };
+
+                    /**
+                     * Creates a plain object from this Target message. Also converts values to other types if specified.
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    Target.prototype.toObject = function toObject(options) {
+                        return this.constructor.toObject(this, options);
+                    };
+
+                    /**
+                     * Converts this Target to JSON.
+                     * @returns {Object.<string,*>} JSON object
+                     */
+                    Target.prototype.toJSON = function toJSON() {
+                        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                    };
+
+                    return Target;
+                })();
+
+                OptimizeScript.Frame = (function() {
+
+                    /**
+                     * Properties of a Frame.
+                     * @typedef message.research.scriptoptimizer.OptimizeScript.Frame$Properties
+                     * @type {Object}
+                     * @property {number} [duration] Frame duration.
+                     * @property {Array.<message.research.scriptoptimizer.OptimizeScript.Target$Properties>} [targets] Frame targets.
+                     */
+
+                    /**
+                     * Constructs a new Frame.
+                     * @exports message.research.scriptoptimizer.OptimizeScript.Frame
+                     * @constructor
+                     * @param {message.research.scriptoptimizer.OptimizeScript.Frame$Properties=} [properties] Properties to set
+                     */
+                    function Frame(properties) {
+                        this.targets = [];
+                        if (properties)
+                            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                                if (properties[keys[i]] != null)
+                                    this[keys[i]] = properties[keys[i]];
+                    }
+
+                    /**
+                     * Frame duration.
+                     * @type {number}
+                     */
+                    Frame.prototype.duration = 0;
+
+                    /**
+                     * Frame targets.
+                     * @type {Array.<message.research.scriptoptimizer.OptimizeScript.Target$Properties>}
+                     */
+                    Frame.prototype.targets = $util.emptyArray;
+
+                    /**
+                     * Creates a new Frame instance using the specified properties.
+                     * @param {message.research.scriptoptimizer.OptimizeScript.Frame$Properties=} [properties] Properties to set
+                     * @returns {message.research.scriptoptimizer.OptimizeScript.Frame} Frame instance
+                     */
+                    Frame.create = function create(properties) {
+                        return new Frame(properties);
+                    };
+
+                    /**
+                     * Encodes the specified Frame message. Does not implicitly {@link message.research.scriptoptimizer.OptimizeScript.Frame.verify|verify} messages.
+                     * @param {message.research.scriptoptimizer.OptimizeScript.Frame$Properties} message Frame message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    Frame.encode = function encode(message, writer) {
+                        if (!writer)
+                            writer = $Writer.create();
+                        if (message.duration != null && message.hasOwnProperty("duration"))
+                            writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.duration);
+                        if (message.targets != null && message.targets.length)
+                            for (var i = 0; i < message.targets.length; ++i)
+                                $root.message.research.scriptoptimizer.OptimizeScript.Target.encode(message.targets[i], writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                        return writer;
+                    };
+
+                    /**
+                     * Encodes the specified Frame message, length delimited. Does not implicitly {@link message.research.scriptoptimizer.OptimizeScript.Frame.verify|verify} messages.
+                     * @param {message.research.scriptoptimizer.OptimizeScript.Frame$Properties} message Frame message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    Frame.encodeDelimited = function encodeDelimited(message, writer) {
+                        return this.encode(message, writer).ldelim();
+                    };
+
+                    /**
+                     * Decodes a Frame message from the specified reader or buffer.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @param {number} [length] Message length if known beforehand
+                     * @returns {message.research.scriptoptimizer.OptimizeScript.Frame} Frame
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    Frame.decode = function decode(reader, length) {
+                        if (!(reader instanceof $Reader))
+                            reader = $Reader.create(reader);
+                        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.research.scriptoptimizer.OptimizeScript.Frame();
+                        while (reader.pos < end) {
+                            var tag = reader.uint32();
+                            switch (tag >>> 3) {
+                            case 1:
+                                message.duration = reader.uint32();
+                                break;
+                            case 2:
+                                if (!(message.targets && message.targets.length))
+                                    message.targets = [];
+                                message.targets.push($root.message.research.scriptoptimizer.OptimizeScript.Target.decode(reader, reader.uint32()));
+                                break;
+                            default:
+                                reader.skipType(tag & 7);
+                                break;
+                            }
+                        }
+                        return message;
+                    };
+
+                    /**
+                     * Decodes a Frame message from the specified reader or buffer, length delimited.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @returns {message.research.scriptoptimizer.OptimizeScript.Frame} Frame
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    Frame.decodeDelimited = function decodeDelimited(reader) {
+                        if (!(reader instanceof $Reader))
+                            reader = $Reader(reader);
+                        return this.decode(reader, reader.uint32());
+                    };
+
+                    /**
+                     * Verifies a Frame message.
+                     * @param {Object.<string,*>} message Plain object to verify
+                     * @returns {?string} `null` if valid, otherwise the reason why it is not
+                     */
+                    Frame.verify = function verify(message) {
+                        if (typeof message !== "object" || message === null)
+                            return "object expected";
+                        if (message.duration != null && message.hasOwnProperty("duration"))
+                            if (!$util.isInteger(message.duration))
+                                return "duration: integer expected";
+                        if (message.targets != null && message.hasOwnProperty("targets")) {
+                            if (!Array.isArray(message.targets))
+                                return "targets: array expected";
+                            for (var i = 0; i < message.targets.length; ++i) {
+                                var error = $root.message.research.scriptoptimizer.OptimizeScript.Target.verify(message.targets[i]);
+                                if (error)
+                                    return "targets." + error;
+                            }
+                        }
+                        return null;
+                    };
+
+                    /**
+                     * Creates a Frame message from a plain object. Also converts values to their respective internal types.
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.research.scriptoptimizer.OptimizeScript.Frame} Frame
+                     */
+                    Frame.fromObject = function fromObject(object) {
+                        if (object instanceof $root.message.research.scriptoptimizer.OptimizeScript.Frame)
+                            return object;
+                        var message = new $root.message.research.scriptoptimizer.OptimizeScript.Frame();
+                        if (object.duration != null)
+                            message.duration = object.duration >>> 0;
+                        if (object.targets) {
+                            if (!Array.isArray(object.targets))
+                                throw TypeError(".message.research.scriptoptimizer.OptimizeScript.Frame.targets: array expected");
+                            message.targets = [];
+                            for (var i = 0; i < object.targets.length; ++i) {
+                                if (typeof object.targets[i] !== "object")
+                                    throw TypeError(".message.research.scriptoptimizer.OptimizeScript.Frame.targets: object expected");
+                                message.targets[i] = $root.message.research.scriptoptimizer.OptimizeScript.Target.fromObject(object.targets[i]);
+                            }
+                        }
+                        return message;
+                    };
+
+                    /**
+                     * Creates a Frame message from a plain object. Also converts values to their respective internal types.
+                     * This is an alias of {@link message.research.scriptoptimizer.OptimizeScript.Frame.fromObject}.
+                     * @function
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.research.scriptoptimizer.OptimizeScript.Frame} Frame
+                     */
+                    Frame.from = Frame.fromObject;
+
+                    /**
+                     * Creates a plain object from a Frame message. Also converts values to other types if specified.
+                     * @param {message.research.scriptoptimizer.OptimizeScript.Frame} message Frame
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    Frame.toObject = function toObject(message, options) {
+                        if (!options)
+                            options = {};
+                        var object = {};
+                        if (options.arrays || options.defaults)
+                            object.targets = [];
+                        if (options.defaults)
+                            object.duration = 0;
+                        if (message.duration != null && message.hasOwnProperty("duration"))
+                            object.duration = message.duration;
+                        if (message.targets && message.targets.length) {
+                            object.targets = [];
+                            for (var j = 0; j < message.targets.length; ++j)
+                                object.targets[j] = $root.message.research.scriptoptimizer.OptimizeScript.Target.toObject(message.targets[j], options);
+                        }
+                        return object;
+                    };
+
+                    /**
+                     * Creates a plain object from this Frame message. Also converts values to other types if specified.
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    Frame.prototype.toObject = function toObject(options) {
+                        return this.constructor.toObject(this, options);
+                    };
+
+                    /**
+                     * Converts this Frame to JSON.
+                     * @returns {Object.<string,*>} JSON object
+                     */
+                    Frame.prototype.toJSON = function toJSON() {
+                        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                    };
+
+                    return Frame;
+                })();
+
+                return OptimizeScript;
+            })();
+
+            scriptoptimizer.OptimizeScriptResult = (function() {
+
+                /**
+                 * Properties of an OptimizeScriptResult.
+                 * @typedef message.research.scriptoptimizer.OptimizeScriptResult$Properties
+                 * @type {Object}
+                 * @property {number} [iteration] OptimizeScriptResult iteration.
+                 * @property {string} [metadata] OptimizeScriptResult metadata.
+                 * @property {Array.<message.input.Sensors$Properties>} [sensors] OptimizeScriptResult sensors.
+                 */
+
+                /**
+                 * Constructs a new OptimizeScriptResult.
+                 * @exports message.research.scriptoptimizer.OptimizeScriptResult
+                 * @constructor
+                 * @param {message.research.scriptoptimizer.OptimizeScriptResult$Properties=} [properties] Properties to set
+                 */
+                function OptimizeScriptResult(properties) {
+                    this.sensors = [];
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * OptimizeScriptResult iteration.
+                 * @type {number}
+                 */
+                OptimizeScriptResult.prototype.iteration = 0;
+
+                /**
+                 * OptimizeScriptResult metadata.
+                 * @type {string}
+                 */
+                OptimizeScriptResult.prototype.metadata = "";
+
+                /**
+                 * OptimizeScriptResult sensors.
+                 * @type {Array.<message.input.Sensors$Properties>}
+                 */
+                OptimizeScriptResult.prototype.sensors = $util.emptyArray;
+
+                /**
+                 * Creates a new OptimizeScriptResult instance using the specified properties.
+                 * @param {message.research.scriptoptimizer.OptimizeScriptResult$Properties=} [properties] Properties to set
+                 * @returns {message.research.scriptoptimizer.OptimizeScriptResult} OptimizeScriptResult instance
+                 */
+                OptimizeScriptResult.create = function create(properties) {
+                    return new OptimizeScriptResult(properties);
+                };
+
+                /**
+                 * Encodes the specified OptimizeScriptResult message. Does not implicitly {@link message.research.scriptoptimizer.OptimizeScriptResult.verify|verify} messages.
+                 * @param {message.research.scriptoptimizer.OptimizeScriptResult$Properties} message OptimizeScriptResult message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                OptimizeScriptResult.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.iteration != null && message.hasOwnProperty("iteration"))
+                        writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.iteration);
+                    if (message.metadata != null && message.hasOwnProperty("metadata"))
+                        writer.uint32(/* id 2, wireType 2 =*/18).string(message.metadata);
+                    if (message.sensors != null && message.sensors.length)
+                        for (var i = 0; i < message.sensors.length; ++i)
+                            $root.message.input.Sensors.encode(message.sensors[i], writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified OptimizeScriptResult message, length delimited. Does not implicitly {@link message.research.scriptoptimizer.OptimizeScriptResult.verify|verify} messages.
+                 * @param {message.research.scriptoptimizer.OptimizeScriptResult$Properties} message OptimizeScriptResult message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                OptimizeScriptResult.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes an OptimizeScriptResult message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.research.scriptoptimizer.OptimizeScriptResult} OptimizeScriptResult
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                OptimizeScriptResult.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.research.scriptoptimizer.OptimizeScriptResult();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.iteration = reader.uint32();
+                            break;
+                        case 2:
+                            message.metadata = reader.string();
+                            break;
+                        case 3:
+                            if (!(message.sensors && message.sensors.length))
+                                message.sensors = [];
+                            message.sensors.push($root.message.input.Sensors.decode(reader, reader.uint32()));
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes an OptimizeScriptResult message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.research.scriptoptimizer.OptimizeScriptResult} OptimizeScriptResult
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                OptimizeScriptResult.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies an OptimizeScriptResult message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                OptimizeScriptResult.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.iteration != null && message.hasOwnProperty("iteration"))
+                        if (!$util.isInteger(message.iteration))
+                            return "iteration: integer expected";
+                    if (message.metadata != null && message.hasOwnProperty("metadata"))
+                        if (!$util.isString(message.metadata))
+                            return "metadata: string expected";
+                    if (message.sensors != null && message.hasOwnProperty("sensors")) {
+                        if (!Array.isArray(message.sensors))
+                            return "sensors: array expected";
+                        for (var i = 0; i < message.sensors.length; ++i) {
+                            var error = $root.message.input.Sensors.verify(message.sensors[i]);
+                            if (error)
+                                return "sensors." + error;
+                        }
+                    }
+                    return null;
+                };
+
+                /**
+                 * Creates an OptimizeScriptResult message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.research.scriptoptimizer.OptimizeScriptResult} OptimizeScriptResult
+                 */
+                OptimizeScriptResult.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.research.scriptoptimizer.OptimizeScriptResult)
+                        return object;
+                    var message = new $root.message.research.scriptoptimizer.OptimizeScriptResult();
+                    if (object.iteration != null)
+                        message.iteration = object.iteration >>> 0;
+                    if (object.metadata != null)
+                        message.metadata = String(object.metadata);
+                    if (object.sensors) {
+                        if (!Array.isArray(object.sensors))
+                            throw TypeError(".message.research.scriptoptimizer.OptimizeScriptResult.sensors: array expected");
+                        message.sensors = [];
+                        for (var i = 0; i < object.sensors.length; ++i) {
+                            if (typeof object.sensors[i] !== "object")
+                                throw TypeError(".message.research.scriptoptimizer.OptimizeScriptResult.sensors: object expected");
+                            message.sensors[i] = $root.message.input.Sensors.fromObject(object.sensors[i]);
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Creates an OptimizeScriptResult message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.research.scriptoptimizer.OptimizeScriptResult.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.research.scriptoptimizer.OptimizeScriptResult} OptimizeScriptResult
+                 */
+                OptimizeScriptResult.from = OptimizeScriptResult.fromObject;
+
+                /**
+                 * Creates a plain object from an OptimizeScriptResult message. Also converts values to other types if specified.
+                 * @param {message.research.scriptoptimizer.OptimizeScriptResult} message OptimizeScriptResult
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                OptimizeScriptResult.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.arrays || options.defaults)
+                        object.sensors = [];
+                    if (options.defaults) {
+                        object.iteration = 0;
+                        object.metadata = "";
+                    }
+                    if (message.iteration != null && message.hasOwnProperty("iteration"))
+                        object.iteration = message.iteration;
+                    if (message.metadata != null && message.hasOwnProperty("metadata"))
+                        object.metadata = message.metadata;
+                    if (message.sensors && message.sensors.length) {
+                        object.sensors = [];
+                        for (var j = 0; j < message.sensors.length; ++j)
+                            object.sensors[j] = $root.message.input.Sensors.toObject(message.sensors[j], options);
+                    }
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this OptimizeScriptResult message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                OptimizeScriptResult.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this OptimizeScriptResult to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                OptimizeScriptResult.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return OptimizeScriptResult;
+            })();
+
+            return scriptoptimizer;
+        })();
+
+        return research;
+    })();
+
+    message.support = (function() {
+
+        /**
+         * Namespace support.
+         * @exports message.support
+         * @namespace
+         */
+        var support = {};
+
+        support.FieldDescription = (function() {
+
+            /**
+             * Properties of a FieldDescription.
+             * @typedef message.support.FieldDescription$Properties
+             * @type {Object}
+             * @property {number} [ballRadius] FieldDescription ballRadius.
+             * @property {number} [goalpostTopHeight] FieldDescription goalpostTopHeight.
+             * @property {number} [penaltyRobotStart] FieldDescription penaltyRobotStart.
+             * @property {vec2$Properties} [goalpostOwnL] FieldDescription goalpostOwnL.
+             * @property {vec2$Properties} [goalpostOwnR] FieldDescription goalpostOwnR.
+             * @property {vec2$Properties} [goalpostOppL] FieldDescription goalpostOppL.
+             * @property {vec2$Properties} [goalpostOppR] FieldDescription goalpostOppR.
+             * @property {message.support.FieldDescription.FieldDimensions$Properties} [dimensions] FieldDescription dimensions.
+             */
+
+            /**
+             * Constructs a new FieldDescription.
+             * @exports message.support.FieldDescription
+             * @constructor
+             * @param {message.support.FieldDescription$Properties=} [properties] Properties to set
+             */
+            function FieldDescription(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * FieldDescription ballRadius.
+             * @type {number}
+             */
+            FieldDescription.prototype.ballRadius = 0;
+
+            /**
+             * FieldDescription goalpostTopHeight.
+             * @type {number}
+             */
+            FieldDescription.prototype.goalpostTopHeight = 0;
+
+            /**
+             * FieldDescription penaltyRobotStart.
+             * @type {number}
+             */
+            FieldDescription.prototype.penaltyRobotStart = 0;
+
+            /**
+             * FieldDescription goalpostOwnL.
+             * @type {(vec2$Properties|null)}
+             */
+            FieldDescription.prototype.goalpostOwnL = null;
+
+            /**
+             * FieldDescription goalpostOwnR.
+             * @type {(vec2$Properties|null)}
+             */
+            FieldDescription.prototype.goalpostOwnR = null;
+
+            /**
+             * FieldDescription goalpostOppL.
+             * @type {(vec2$Properties|null)}
+             */
+            FieldDescription.prototype.goalpostOppL = null;
+
+            /**
+             * FieldDescription goalpostOppR.
+             * @type {(vec2$Properties|null)}
+             */
+            FieldDescription.prototype.goalpostOppR = null;
+
+            /**
+             * FieldDescription dimensions.
+             * @type {(message.support.FieldDescription.FieldDimensions$Properties|null)}
+             */
+            FieldDescription.prototype.dimensions = null;
+
+            /**
+             * Creates a new FieldDescription instance using the specified properties.
+             * @param {message.support.FieldDescription$Properties=} [properties] Properties to set
+             * @returns {message.support.FieldDescription} FieldDescription instance
+             */
+            FieldDescription.create = function create(properties) {
+                return new FieldDescription(properties);
+            };
+
+            /**
+             * Encodes the specified FieldDescription message. Does not implicitly {@link message.support.FieldDescription.verify|verify} messages.
+             * @param {message.support.FieldDescription$Properties} message FieldDescription message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            FieldDescription.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.ballRadius != null && message.hasOwnProperty("ballRadius"))
+                    writer.uint32(/* id 1, wireType 1 =*/9).double(message.ballRadius);
+                if (message.goalpostTopHeight != null && message.hasOwnProperty("goalpostTopHeight"))
+                    writer.uint32(/* id 2, wireType 1 =*/17).double(message.goalpostTopHeight);
+                if (message.penaltyRobotStart != null && message.hasOwnProperty("penaltyRobotStart"))
+                    writer.uint32(/* id 3, wireType 1 =*/25).double(message.penaltyRobotStart);
+                if (message.goalpostOwnL != null && message.hasOwnProperty("goalpostOwnL"))
+                    $root.vec2.encode(message.goalpostOwnL, writer.uint32(/* id 4, wireType 2 =*/34).fork()).ldelim();
+                if (message.goalpostOwnR != null && message.hasOwnProperty("goalpostOwnR"))
+                    $root.vec2.encode(message.goalpostOwnR, writer.uint32(/* id 5, wireType 2 =*/42).fork()).ldelim();
+                if (message.goalpostOppL != null && message.hasOwnProperty("goalpostOppL"))
+                    $root.vec2.encode(message.goalpostOppL, writer.uint32(/* id 6, wireType 2 =*/50).fork()).ldelim();
+                if (message.goalpostOppR != null && message.hasOwnProperty("goalpostOppR"))
+                    $root.vec2.encode(message.goalpostOppR, writer.uint32(/* id 7, wireType 2 =*/58).fork()).ldelim();
+                if (message.dimensions != null && message.hasOwnProperty("dimensions"))
+                    $root.message.support.FieldDescription.FieldDimensions.encode(message.dimensions, writer.uint32(/* id 8, wireType 2 =*/66).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified FieldDescription message, length delimited. Does not implicitly {@link message.support.FieldDescription.verify|verify} messages.
+             * @param {message.support.FieldDescription$Properties} message FieldDescription message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            FieldDescription.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a FieldDescription message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.support.FieldDescription} FieldDescription
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            FieldDescription.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.support.FieldDescription();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.ballRadius = reader.double();
+                        break;
+                    case 2:
+                        message.goalpostTopHeight = reader.double();
+                        break;
+                    case 3:
+                        message.penaltyRobotStart = reader.double();
+                        break;
+                    case 4:
+                        message.goalpostOwnL = $root.vec2.decode(reader, reader.uint32());
+                        break;
+                    case 5:
+                        message.goalpostOwnR = $root.vec2.decode(reader, reader.uint32());
+                        break;
+                    case 6:
+                        message.goalpostOppL = $root.vec2.decode(reader, reader.uint32());
+                        break;
+                    case 7:
+                        message.goalpostOppR = $root.vec2.decode(reader, reader.uint32());
+                        break;
+                    case 8:
+                        message.dimensions = $root.message.support.FieldDescription.FieldDimensions.decode(reader, reader.uint32());
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a FieldDescription message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.support.FieldDescription} FieldDescription
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            FieldDescription.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a FieldDescription message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            FieldDescription.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.ballRadius != null && message.hasOwnProperty("ballRadius"))
+                    if (typeof message.ballRadius !== "number")
+                        return "ballRadius: number expected";
+                if (message.goalpostTopHeight != null && message.hasOwnProperty("goalpostTopHeight"))
+                    if (typeof message.goalpostTopHeight !== "number")
+                        return "goalpostTopHeight: number expected";
+                if (message.penaltyRobotStart != null && message.hasOwnProperty("penaltyRobotStart"))
+                    if (typeof message.penaltyRobotStart !== "number")
+                        return "penaltyRobotStart: number expected";
+                if (message.goalpostOwnL != null && message.hasOwnProperty("goalpostOwnL")) {
+                    var error = $root.vec2.verify(message.goalpostOwnL);
+                    if (error)
+                        return "goalpostOwnL." + error;
+                }
+                if (message.goalpostOwnR != null && message.hasOwnProperty("goalpostOwnR")) {
+                    var error = $root.vec2.verify(message.goalpostOwnR);
+                    if (error)
+                        return "goalpostOwnR." + error;
+                }
+                if (message.goalpostOppL != null && message.hasOwnProperty("goalpostOppL")) {
+                    var error = $root.vec2.verify(message.goalpostOppL);
+                    if (error)
+                        return "goalpostOppL." + error;
+                }
+                if (message.goalpostOppR != null && message.hasOwnProperty("goalpostOppR")) {
+                    var error = $root.vec2.verify(message.goalpostOppR);
+                    if (error)
+                        return "goalpostOppR." + error;
+                }
+                if (message.dimensions != null && message.hasOwnProperty("dimensions")) {
+                    var error = $root.message.support.FieldDescription.FieldDimensions.verify(message.dimensions);
+                    if (error)
+                        return "dimensions." + error;
+                }
+                return null;
+            };
+
+            /**
+             * Creates a FieldDescription message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.support.FieldDescription} FieldDescription
+             */
+            FieldDescription.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.support.FieldDescription)
+                    return object;
+                var message = new $root.message.support.FieldDescription();
+                if (object.ballRadius != null)
+                    message.ballRadius = Number(object.ballRadius);
+                if (object.goalpostTopHeight != null)
+                    message.goalpostTopHeight = Number(object.goalpostTopHeight);
+                if (object.penaltyRobotStart != null)
+                    message.penaltyRobotStart = Number(object.penaltyRobotStart);
+                if (object.goalpostOwnL != null) {
+                    if (typeof object.goalpostOwnL !== "object")
+                        throw TypeError(".message.support.FieldDescription.goalpostOwnL: object expected");
+                    message.goalpostOwnL = $root.vec2.fromObject(object.goalpostOwnL);
+                }
+                if (object.goalpostOwnR != null) {
+                    if (typeof object.goalpostOwnR !== "object")
+                        throw TypeError(".message.support.FieldDescription.goalpostOwnR: object expected");
+                    message.goalpostOwnR = $root.vec2.fromObject(object.goalpostOwnR);
+                }
+                if (object.goalpostOppL != null) {
+                    if (typeof object.goalpostOppL !== "object")
+                        throw TypeError(".message.support.FieldDescription.goalpostOppL: object expected");
+                    message.goalpostOppL = $root.vec2.fromObject(object.goalpostOppL);
+                }
+                if (object.goalpostOppR != null) {
+                    if (typeof object.goalpostOppR !== "object")
+                        throw TypeError(".message.support.FieldDescription.goalpostOppR: object expected");
+                    message.goalpostOppR = $root.vec2.fromObject(object.goalpostOppR);
+                }
+                if (object.dimensions != null) {
+                    if (typeof object.dimensions !== "object")
+                        throw TypeError(".message.support.FieldDescription.dimensions: object expected");
+                    message.dimensions = $root.message.support.FieldDescription.FieldDimensions.fromObject(object.dimensions);
+                }
+                return message;
+            };
+
+            /**
+             * Creates a FieldDescription message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.support.FieldDescription.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.support.FieldDescription} FieldDescription
+             */
+            FieldDescription.from = FieldDescription.fromObject;
+
+            /**
+             * Creates a plain object from a FieldDescription message. Also converts values to other types if specified.
+             * @param {message.support.FieldDescription} message FieldDescription
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            FieldDescription.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults) {
+                    object.ballRadius = 0;
+                    object.goalpostTopHeight = 0;
+                    object.penaltyRobotStart = 0;
+                    object.goalpostOwnL = null;
+                    object.goalpostOwnR = null;
+                    object.goalpostOppL = null;
+                    object.goalpostOppR = null;
+                    object.dimensions = null;
+                }
+                if (message.ballRadius != null && message.hasOwnProperty("ballRadius"))
+                    object.ballRadius = message.ballRadius;
+                if (message.goalpostTopHeight != null && message.hasOwnProperty("goalpostTopHeight"))
+                    object.goalpostTopHeight = message.goalpostTopHeight;
+                if (message.penaltyRobotStart != null && message.hasOwnProperty("penaltyRobotStart"))
+                    object.penaltyRobotStart = message.penaltyRobotStart;
+                if (message.goalpostOwnL != null && message.hasOwnProperty("goalpostOwnL"))
+                    object.goalpostOwnL = $root.vec2.toObject(message.goalpostOwnL, options);
+                if (message.goalpostOwnR != null && message.hasOwnProperty("goalpostOwnR"))
+                    object.goalpostOwnR = $root.vec2.toObject(message.goalpostOwnR, options);
+                if (message.goalpostOppL != null && message.hasOwnProperty("goalpostOppL"))
+                    object.goalpostOppL = $root.vec2.toObject(message.goalpostOppL, options);
+                if (message.goalpostOppR != null && message.hasOwnProperty("goalpostOppR"))
+                    object.goalpostOppR = $root.vec2.toObject(message.goalpostOppR, options);
+                if (message.dimensions != null && message.hasOwnProperty("dimensions"))
+                    object.dimensions = $root.message.support.FieldDescription.FieldDimensions.toObject(message.dimensions, options);
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this FieldDescription message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            FieldDescription.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this FieldDescription to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            FieldDescription.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            FieldDescription.FieldDimensions = (function() {
+
+                /**
+                 * Properties of a FieldDimensions.
+                 * @typedef message.support.FieldDescription.FieldDimensions$Properties
+                 * @type {Object}
+                 * @property {number} [lineWidth] FieldDimensions lineWidth.
+                 * @property {number} [markWidth] FieldDimensions markWidth.
+                 * @property {number} [fieldLength] FieldDimensions fieldLength.
+                 * @property {number} [fieldWidth] FieldDimensions fieldWidth.
+                 * @property {number} [goalDepth] FieldDimensions goalDepth.
+                 * @property {number} [goalWidth] FieldDimensions goalWidth.
+                 * @property {number} [goalAreaLength] FieldDimensions goalAreaLength.
+                 * @property {number} [goalAreaWidth] FieldDimensions goalAreaWidth.
+                 * @property {number} [goalCrossbarHeight] FieldDimensions goalCrossbarHeight.
+                 * @property {number} [goalpostDiameter] FieldDimensions goalpostDiameter.
+                 * @property {number} [goalCrossbarDiameter] FieldDimensions goalCrossbarDiameter.
+                 * @property {number} [goalNetHeight] FieldDimensions goalNetHeight.
+                 * @property {number} [penaltyMarkDistance] FieldDimensions penaltyMarkDistance.
+                 * @property {number} [centerCircleDiameter] FieldDimensions centerCircleDiameter.
+                 * @property {number} [borderStripMinWidth] FieldDimensions borderStripMinWidth.
+                 */
+
+                /**
+                 * Constructs a new FieldDimensions.
+                 * @exports message.support.FieldDescription.FieldDimensions
+                 * @constructor
+                 * @param {message.support.FieldDescription.FieldDimensions$Properties=} [properties] Properties to set
+                 */
+                function FieldDimensions(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * FieldDimensions lineWidth.
+                 * @type {number}
+                 */
+                FieldDimensions.prototype.lineWidth = 0;
+
+                /**
+                 * FieldDimensions markWidth.
+                 * @type {number}
+                 */
+                FieldDimensions.prototype.markWidth = 0;
+
+                /**
+                 * FieldDimensions fieldLength.
+                 * @type {number}
+                 */
+                FieldDimensions.prototype.fieldLength = 0;
+
+                /**
+                 * FieldDimensions fieldWidth.
+                 * @type {number}
+                 */
+                FieldDimensions.prototype.fieldWidth = 0;
+
+                /**
+                 * FieldDimensions goalDepth.
+                 * @type {number}
+                 */
+                FieldDimensions.prototype.goalDepth = 0;
+
+                /**
+                 * FieldDimensions goalWidth.
+                 * @type {number}
+                 */
+                FieldDimensions.prototype.goalWidth = 0;
+
+                /**
+                 * FieldDimensions goalAreaLength.
+                 * @type {number}
+                 */
+                FieldDimensions.prototype.goalAreaLength = 0;
+
+                /**
+                 * FieldDimensions goalAreaWidth.
+                 * @type {number}
+                 */
+                FieldDimensions.prototype.goalAreaWidth = 0;
+
+                /**
+                 * FieldDimensions goalCrossbarHeight.
+                 * @type {number}
+                 */
+                FieldDimensions.prototype.goalCrossbarHeight = 0;
+
+                /**
+                 * FieldDimensions goalpostDiameter.
+                 * @type {number}
+                 */
+                FieldDimensions.prototype.goalpostDiameter = 0;
+
+                /**
+                 * FieldDimensions goalCrossbarDiameter.
+                 * @type {number}
+                 */
+                FieldDimensions.prototype.goalCrossbarDiameter = 0;
+
+                /**
+                 * FieldDimensions goalNetHeight.
+                 * @type {number}
+                 */
+                FieldDimensions.prototype.goalNetHeight = 0;
+
+                /**
+                 * FieldDimensions penaltyMarkDistance.
+                 * @type {number}
+                 */
+                FieldDimensions.prototype.penaltyMarkDistance = 0;
+
+                /**
+                 * FieldDimensions centerCircleDiameter.
+                 * @type {number}
+                 */
+                FieldDimensions.prototype.centerCircleDiameter = 0;
+
+                /**
+                 * FieldDimensions borderStripMinWidth.
+                 * @type {number}
+                 */
+                FieldDimensions.prototype.borderStripMinWidth = 0;
+
+                /**
+                 * Creates a new FieldDimensions instance using the specified properties.
+                 * @param {message.support.FieldDescription.FieldDimensions$Properties=} [properties] Properties to set
+                 * @returns {message.support.FieldDescription.FieldDimensions} FieldDimensions instance
+                 */
+                FieldDimensions.create = function create(properties) {
+                    return new FieldDimensions(properties);
+                };
+
+                /**
+                 * Encodes the specified FieldDimensions message. Does not implicitly {@link message.support.FieldDescription.FieldDimensions.verify|verify} messages.
+                 * @param {message.support.FieldDescription.FieldDimensions$Properties} message FieldDimensions message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                FieldDimensions.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.lineWidth != null && message.hasOwnProperty("lineWidth"))
+                        writer.uint32(/* id 1, wireType 1 =*/9).double(message.lineWidth);
+                    if (message.markWidth != null && message.hasOwnProperty("markWidth"))
+                        writer.uint32(/* id 2, wireType 1 =*/17).double(message.markWidth);
+                    if (message.fieldLength != null && message.hasOwnProperty("fieldLength"))
+                        writer.uint32(/* id 3, wireType 1 =*/25).double(message.fieldLength);
+                    if (message.fieldWidth != null && message.hasOwnProperty("fieldWidth"))
+                        writer.uint32(/* id 4, wireType 1 =*/33).double(message.fieldWidth);
+                    if (message.goalDepth != null && message.hasOwnProperty("goalDepth"))
+                        writer.uint32(/* id 5, wireType 1 =*/41).double(message.goalDepth);
+                    if (message.goalWidth != null && message.hasOwnProperty("goalWidth"))
+                        writer.uint32(/* id 6, wireType 1 =*/49).double(message.goalWidth);
+                    if (message.goalAreaLength != null && message.hasOwnProperty("goalAreaLength"))
+                        writer.uint32(/* id 7, wireType 1 =*/57).double(message.goalAreaLength);
+                    if (message.goalAreaWidth != null && message.hasOwnProperty("goalAreaWidth"))
+                        writer.uint32(/* id 8, wireType 1 =*/65).double(message.goalAreaWidth);
+                    if (message.goalCrossbarHeight != null && message.hasOwnProperty("goalCrossbarHeight"))
+                        writer.uint32(/* id 9, wireType 1 =*/73).double(message.goalCrossbarHeight);
+                    if (message.goalpostDiameter != null && message.hasOwnProperty("goalpostDiameter"))
+                        writer.uint32(/* id 10, wireType 1 =*/81).double(message.goalpostDiameter);
+                    if (message.goalCrossbarDiameter != null && message.hasOwnProperty("goalCrossbarDiameter"))
+                        writer.uint32(/* id 11, wireType 1 =*/89).double(message.goalCrossbarDiameter);
+                    if (message.goalNetHeight != null && message.hasOwnProperty("goalNetHeight"))
+                        writer.uint32(/* id 12, wireType 1 =*/97).double(message.goalNetHeight);
+                    if (message.penaltyMarkDistance != null && message.hasOwnProperty("penaltyMarkDistance"))
+                        writer.uint32(/* id 13, wireType 1 =*/105).double(message.penaltyMarkDistance);
+                    if (message.centerCircleDiameter != null && message.hasOwnProperty("centerCircleDiameter"))
+                        writer.uint32(/* id 14, wireType 1 =*/113).double(message.centerCircleDiameter);
+                    if (message.borderStripMinWidth != null && message.hasOwnProperty("borderStripMinWidth"))
+                        writer.uint32(/* id 15, wireType 1 =*/121).double(message.borderStripMinWidth);
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified FieldDimensions message, length delimited. Does not implicitly {@link message.support.FieldDescription.FieldDimensions.verify|verify} messages.
+                 * @param {message.support.FieldDescription.FieldDimensions$Properties} message FieldDimensions message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                FieldDimensions.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a FieldDimensions message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.support.FieldDescription.FieldDimensions} FieldDimensions
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                FieldDimensions.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.support.FieldDescription.FieldDimensions();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.lineWidth = reader.double();
+                            break;
+                        case 2:
+                            message.markWidth = reader.double();
+                            break;
+                        case 3:
+                            message.fieldLength = reader.double();
+                            break;
+                        case 4:
+                            message.fieldWidth = reader.double();
+                            break;
+                        case 5:
+                            message.goalDepth = reader.double();
+                            break;
+                        case 6:
+                            message.goalWidth = reader.double();
+                            break;
+                        case 7:
+                            message.goalAreaLength = reader.double();
+                            break;
+                        case 8:
+                            message.goalAreaWidth = reader.double();
+                            break;
+                        case 9:
+                            message.goalCrossbarHeight = reader.double();
+                            break;
+                        case 10:
+                            message.goalpostDiameter = reader.double();
+                            break;
+                        case 11:
+                            message.goalCrossbarDiameter = reader.double();
+                            break;
+                        case 12:
+                            message.goalNetHeight = reader.double();
+                            break;
+                        case 13:
+                            message.penaltyMarkDistance = reader.double();
+                            break;
+                        case 14:
+                            message.centerCircleDiameter = reader.double();
+                            break;
+                        case 15:
+                            message.borderStripMinWidth = reader.double();
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a FieldDimensions message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.support.FieldDescription.FieldDimensions} FieldDimensions
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                FieldDimensions.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a FieldDimensions message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                FieldDimensions.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.lineWidth != null && message.hasOwnProperty("lineWidth"))
+                        if (typeof message.lineWidth !== "number")
+                            return "lineWidth: number expected";
+                    if (message.markWidth != null && message.hasOwnProperty("markWidth"))
+                        if (typeof message.markWidth !== "number")
+                            return "markWidth: number expected";
+                    if (message.fieldLength != null && message.hasOwnProperty("fieldLength"))
+                        if (typeof message.fieldLength !== "number")
+                            return "fieldLength: number expected";
+                    if (message.fieldWidth != null && message.hasOwnProperty("fieldWidth"))
+                        if (typeof message.fieldWidth !== "number")
+                            return "fieldWidth: number expected";
+                    if (message.goalDepth != null && message.hasOwnProperty("goalDepth"))
+                        if (typeof message.goalDepth !== "number")
+                            return "goalDepth: number expected";
+                    if (message.goalWidth != null && message.hasOwnProperty("goalWidth"))
+                        if (typeof message.goalWidth !== "number")
+                            return "goalWidth: number expected";
+                    if (message.goalAreaLength != null && message.hasOwnProperty("goalAreaLength"))
+                        if (typeof message.goalAreaLength !== "number")
+                            return "goalAreaLength: number expected";
+                    if (message.goalAreaWidth != null && message.hasOwnProperty("goalAreaWidth"))
+                        if (typeof message.goalAreaWidth !== "number")
+                            return "goalAreaWidth: number expected";
+                    if (message.goalCrossbarHeight != null && message.hasOwnProperty("goalCrossbarHeight"))
+                        if (typeof message.goalCrossbarHeight !== "number")
+                            return "goalCrossbarHeight: number expected";
+                    if (message.goalpostDiameter != null && message.hasOwnProperty("goalpostDiameter"))
+                        if (typeof message.goalpostDiameter !== "number")
+                            return "goalpostDiameter: number expected";
+                    if (message.goalCrossbarDiameter != null && message.hasOwnProperty("goalCrossbarDiameter"))
+                        if (typeof message.goalCrossbarDiameter !== "number")
+                            return "goalCrossbarDiameter: number expected";
+                    if (message.goalNetHeight != null && message.hasOwnProperty("goalNetHeight"))
+                        if (typeof message.goalNetHeight !== "number")
+                            return "goalNetHeight: number expected";
+                    if (message.penaltyMarkDistance != null && message.hasOwnProperty("penaltyMarkDistance"))
+                        if (typeof message.penaltyMarkDistance !== "number")
+                            return "penaltyMarkDistance: number expected";
+                    if (message.centerCircleDiameter != null && message.hasOwnProperty("centerCircleDiameter"))
+                        if (typeof message.centerCircleDiameter !== "number")
+                            return "centerCircleDiameter: number expected";
+                    if (message.borderStripMinWidth != null && message.hasOwnProperty("borderStripMinWidth"))
+                        if (typeof message.borderStripMinWidth !== "number")
+                            return "borderStripMinWidth: number expected";
+                    return null;
+                };
+
+                /**
+                 * Creates a FieldDimensions message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.FieldDescription.FieldDimensions} FieldDimensions
+                 */
+                FieldDimensions.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.support.FieldDescription.FieldDimensions)
+                        return object;
+                    var message = new $root.message.support.FieldDescription.FieldDimensions();
+                    if (object.lineWidth != null)
+                        message.lineWidth = Number(object.lineWidth);
+                    if (object.markWidth != null)
+                        message.markWidth = Number(object.markWidth);
+                    if (object.fieldLength != null)
+                        message.fieldLength = Number(object.fieldLength);
+                    if (object.fieldWidth != null)
+                        message.fieldWidth = Number(object.fieldWidth);
+                    if (object.goalDepth != null)
+                        message.goalDepth = Number(object.goalDepth);
+                    if (object.goalWidth != null)
+                        message.goalWidth = Number(object.goalWidth);
+                    if (object.goalAreaLength != null)
+                        message.goalAreaLength = Number(object.goalAreaLength);
+                    if (object.goalAreaWidth != null)
+                        message.goalAreaWidth = Number(object.goalAreaWidth);
+                    if (object.goalCrossbarHeight != null)
+                        message.goalCrossbarHeight = Number(object.goalCrossbarHeight);
+                    if (object.goalpostDiameter != null)
+                        message.goalpostDiameter = Number(object.goalpostDiameter);
+                    if (object.goalCrossbarDiameter != null)
+                        message.goalCrossbarDiameter = Number(object.goalCrossbarDiameter);
+                    if (object.goalNetHeight != null)
+                        message.goalNetHeight = Number(object.goalNetHeight);
+                    if (object.penaltyMarkDistance != null)
+                        message.penaltyMarkDistance = Number(object.penaltyMarkDistance);
+                    if (object.centerCircleDiameter != null)
+                        message.centerCircleDiameter = Number(object.centerCircleDiameter);
+                    if (object.borderStripMinWidth != null)
+                        message.borderStripMinWidth = Number(object.borderStripMinWidth);
+                    return message;
+                };
+
+                /**
+                 * Creates a FieldDimensions message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.support.FieldDescription.FieldDimensions.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.FieldDescription.FieldDimensions} FieldDimensions
+                 */
+                FieldDimensions.from = FieldDimensions.fromObject;
+
+                /**
+                 * Creates a plain object from a FieldDimensions message. Also converts values to other types if specified.
+                 * @param {message.support.FieldDescription.FieldDimensions} message FieldDimensions
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                FieldDimensions.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.defaults) {
+                        object.lineWidth = 0;
+                        object.markWidth = 0;
+                        object.fieldLength = 0;
+                        object.fieldWidth = 0;
+                        object.goalDepth = 0;
+                        object.goalWidth = 0;
+                        object.goalAreaLength = 0;
+                        object.goalAreaWidth = 0;
+                        object.goalCrossbarHeight = 0;
+                        object.goalpostDiameter = 0;
+                        object.goalCrossbarDiameter = 0;
+                        object.goalNetHeight = 0;
+                        object.penaltyMarkDistance = 0;
+                        object.centerCircleDiameter = 0;
+                        object.borderStripMinWidth = 0;
+                    }
+                    if (message.lineWidth != null && message.hasOwnProperty("lineWidth"))
+                        object.lineWidth = message.lineWidth;
+                    if (message.markWidth != null && message.hasOwnProperty("markWidth"))
+                        object.markWidth = message.markWidth;
+                    if (message.fieldLength != null && message.hasOwnProperty("fieldLength"))
+                        object.fieldLength = message.fieldLength;
+                    if (message.fieldWidth != null && message.hasOwnProperty("fieldWidth"))
+                        object.fieldWidth = message.fieldWidth;
+                    if (message.goalDepth != null && message.hasOwnProperty("goalDepth"))
+                        object.goalDepth = message.goalDepth;
+                    if (message.goalWidth != null && message.hasOwnProperty("goalWidth"))
+                        object.goalWidth = message.goalWidth;
+                    if (message.goalAreaLength != null && message.hasOwnProperty("goalAreaLength"))
+                        object.goalAreaLength = message.goalAreaLength;
+                    if (message.goalAreaWidth != null && message.hasOwnProperty("goalAreaWidth"))
+                        object.goalAreaWidth = message.goalAreaWidth;
+                    if (message.goalCrossbarHeight != null && message.hasOwnProperty("goalCrossbarHeight"))
+                        object.goalCrossbarHeight = message.goalCrossbarHeight;
+                    if (message.goalpostDiameter != null && message.hasOwnProperty("goalpostDiameter"))
+                        object.goalpostDiameter = message.goalpostDiameter;
+                    if (message.goalCrossbarDiameter != null && message.hasOwnProperty("goalCrossbarDiameter"))
+                        object.goalCrossbarDiameter = message.goalCrossbarDiameter;
+                    if (message.goalNetHeight != null && message.hasOwnProperty("goalNetHeight"))
+                        object.goalNetHeight = message.goalNetHeight;
+                    if (message.penaltyMarkDistance != null && message.hasOwnProperty("penaltyMarkDistance"))
+                        object.penaltyMarkDistance = message.penaltyMarkDistance;
+                    if (message.centerCircleDiameter != null && message.hasOwnProperty("centerCircleDiameter"))
+                        object.centerCircleDiameter = message.centerCircleDiameter;
+                    if (message.borderStripMinWidth != null && message.hasOwnProperty("borderStripMinWidth"))
+                        object.borderStripMinWidth = message.borderStripMinWidth;
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this FieldDimensions message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                FieldDimensions.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this FieldDimensions to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                FieldDimensions.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return FieldDimensions;
+            })();
+
+            return FieldDescription;
+        })();
+
+        support.GlobalConfig = (function() {
+
+            /**
+             * Properties of a GlobalConfig.
+             * @typedef message.support.GlobalConfig$Properties
+             * @type {Object}
+             * @property {number} [playerId] GlobalConfig playerId.
+             * @property {number} [teamId] GlobalConfig teamId.
+             */
+
+            /**
+             * Constructs a new GlobalConfig.
+             * @exports message.support.GlobalConfig
+             * @constructor
+             * @param {message.support.GlobalConfig$Properties=} [properties] Properties to set
+             */
+            function GlobalConfig(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * GlobalConfig playerId.
+             * @type {number}
+             */
+            GlobalConfig.prototype.playerId = 0;
+
+            /**
+             * GlobalConfig teamId.
+             * @type {number}
+             */
+            GlobalConfig.prototype.teamId = 0;
+
+            /**
+             * Creates a new GlobalConfig instance using the specified properties.
+             * @param {message.support.GlobalConfig$Properties=} [properties] Properties to set
+             * @returns {message.support.GlobalConfig} GlobalConfig instance
+             */
+            GlobalConfig.create = function create(properties) {
+                return new GlobalConfig(properties);
+            };
+
+            /**
+             * Encodes the specified GlobalConfig message. Does not implicitly {@link message.support.GlobalConfig.verify|verify} messages.
+             * @param {message.support.GlobalConfig$Properties} message GlobalConfig message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            GlobalConfig.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.playerId != null && message.hasOwnProperty("playerId"))
+                    writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.playerId);
+                if (message.teamId != null && message.hasOwnProperty("teamId"))
+                    writer.uint32(/* id 2, wireType 0 =*/16).uint32(message.teamId);
+                return writer;
+            };
+
+            /**
+             * Encodes the specified GlobalConfig message, length delimited. Does not implicitly {@link message.support.GlobalConfig.verify|verify} messages.
+             * @param {message.support.GlobalConfig$Properties} message GlobalConfig message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            GlobalConfig.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a GlobalConfig message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.support.GlobalConfig} GlobalConfig
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            GlobalConfig.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.support.GlobalConfig();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.playerId = reader.uint32();
+                        break;
+                    case 2:
+                        message.teamId = reader.uint32();
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a GlobalConfig message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.support.GlobalConfig} GlobalConfig
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            GlobalConfig.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a GlobalConfig message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            GlobalConfig.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.playerId != null && message.hasOwnProperty("playerId"))
+                    if (!$util.isInteger(message.playerId))
+                        return "playerId: integer expected";
+                if (message.teamId != null && message.hasOwnProperty("teamId"))
+                    if (!$util.isInteger(message.teamId))
+                        return "teamId: integer expected";
+                return null;
+            };
+
+            /**
+             * Creates a GlobalConfig message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.support.GlobalConfig} GlobalConfig
+             */
+            GlobalConfig.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.support.GlobalConfig)
+                    return object;
+                var message = new $root.message.support.GlobalConfig();
+                if (object.playerId != null)
+                    message.playerId = object.playerId >>> 0;
+                if (object.teamId != null)
+                    message.teamId = object.teamId >>> 0;
+                return message;
+            };
+
+            /**
+             * Creates a GlobalConfig message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.support.GlobalConfig.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.support.GlobalConfig} GlobalConfig
+             */
+            GlobalConfig.from = GlobalConfig.fromObject;
+
+            /**
+             * Creates a plain object from a GlobalConfig message. Also converts values to other types if specified.
+             * @param {message.support.GlobalConfig} message GlobalConfig
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            GlobalConfig.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults) {
+                    object.playerId = 0;
+                    object.teamId = 0;
+                }
+                if (message.playerId != null && message.hasOwnProperty("playerId"))
+                    object.playerId = message.playerId;
+                if (message.teamId != null && message.hasOwnProperty("teamId"))
+                    object.teamId = message.teamId;
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this GlobalConfig message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            GlobalConfig.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this GlobalConfig to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            GlobalConfig.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return GlobalConfig;
+        })();
+
+        support.SaveConfiguration = (function() {
+
+            /**
+             * Properties of a SaveConfiguration.
+             * @typedef message.support.SaveConfiguration$Properties
+             * @type {Object}
+             * @property {string} [path] SaveConfiguration path.
+             * @property {string} [config] SaveConfiguration config.
+             */
+
+            /**
+             * Constructs a new SaveConfiguration.
+             * @exports message.support.SaveConfiguration
+             * @constructor
+             * @param {message.support.SaveConfiguration$Properties=} [properties] Properties to set
+             */
+            function SaveConfiguration(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * SaveConfiguration path.
+             * @type {string}
+             */
+            SaveConfiguration.prototype.path = "";
+
+            /**
+             * SaveConfiguration config.
+             * @type {string}
+             */
+            SaveConfiguration.prototype.config = "";
+
+            /**
+             * Creates a new SaveConfiguration instance using the specified properties.
+             * @param {message.support.SaveConfiguration$Properties=} [properties] Properties to set
+             * @returns {message.support.SaveConfiguration} SaveConfiguration instance
+             */
+            SaveConfiguration.create = function create(properties) {
+                return new SaveConfiguration(properties);
+            };
+
+            /**
+             * Encodes the specified SaveConfiguration message. Does not implicitly {@link message.support.SaveConfiguration.verify|verify} messages.
+             * @param {message.support.SaveConfiguration$Properties} message SaveConfiguration message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            SaveConfiguration.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.path != null && message.hasOwnProperty("path"))
+                    writer.uint32(/* id 1, wireType 2 =*/10).string(message.path);
+                if (message.config != null && message.hasOwnProperty("config"))
+                    writer.uint32(/* id 2, wireType 2 =*/18).string(message.config);
+                return writer;
+            };
+
+            /**
+             * Encodes the specified SaveConfiguration message, length delimited. Does not implicitly {@link message.support.SaveConfiguration.verify|verify} messages.
+             * @param {message.support.SaveConfiguration$Properties} message SaveConfiguration message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            SaveConfiguration.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a SaveConfiguration message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.support.SaveConfiguration} SaveConfiguration
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            SaveConfiguration.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.support.SaveConfiguration();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.path = reader.string();
+                        break;
+                    case 2:
+                        message.config = reader.string();
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a SaveConfiguration message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.support.SaveConfiguration} SaveConfiguration
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            SaveConfiguration.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a SaveConfiguration message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            SaveConfiguration.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.path != null && message.hasOwnProperty("path"))
+                    if (!$util.isString(message.path))
+                        return "path: string expected";
+                if (message.config != null && message.hasOwnProperty("config"))
+                    if (!$util.isString(message.config))
+                        return "config: string expected";
+                return null;
+            };
+
+            /**
+             * Creates a SaveConfiguration message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.support.SaveConfiguration} SaveConfiguration
+             */
+            SaveConfiguration.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.support.SaveConfiguration)
+                    return object;
+                var message = new $root.message.support.SaveConfiguration();
+                if (object.path != null)
+                    message.path = String(object.path);
+                if (object.config != null)
+                    message.config = String(object.config);
+                return message;
+            };
+
+            /**
+             * Creates a SaveConfiguration message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.support.SaveConfiguration.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.support.SaveConfiguration} SaveConfiguration
+             */
+            SaveConfiguration.from = SaveConfiguration.fromObject;
+
+            /**
+             * Creates a plain object from a SaveConfiguration message. Also converts values to other types if specified.
+             * @param {message.support.SaveConfiguration} message SaveConfiguration
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            SaveConfiguration.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults) {
+                    object.path = "";
+                    object.config = "";
+                }
+                if (message.path != null && message.hasOwnProperty("path"))
+                    object.path = message.path;
+                if (message.config != null && message.hasOwnProperty("config"))
+                    object.config = message.config;
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this SaveConfiguration message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            SaveConfiguration.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this SaveConfiguration to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            SaveConfiguration.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return SaveConfiguration;
+        })();
+
+        support.ServoHealthTestData = (function() {
+
+            /**
+             * Properties of a ServoHealthTestData.
+             * @typedef message.support.ServoHealthTestData$Properties
+             * @type {Object}
+             * @property {message.support.ServoHealthTestData.State} [state] ServoHealthTestData state.
+             * @property {message.platform.darwin.DarwinSensors$Properties} [sensors] ServoHealthTestData sensors.
+             */
+
+            /**
+             * Constructs a new ServoHealthTestData.
+             * @exports message.support.ServoHealthTestData
+             * @constructor
+             * @param {message.support.ServoHealthTestData$Properties=} [properties] Properties to set
+             */
+            function ServoHealthTestData(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * ServoHealthTestData state.
+             * @type {message.support.ServoHealthTestData.State}
+             */
+            ServoHealthTestData.prototype.state = 0;
+
+            /**
+             * ServoHealthTestData sensors.
+             * @type {(message.platform.darwin.DarwinSensors$Properties|null)}
+             */
+            ServoHealthTestData.prototype.sensors = null;
+
+            /**
+             * Creates a new ServoHealthTestData instance using the specified properties.
+             * @param {message.support.ServoHealthTestData$Properties=} [properties] Properties to set
+             * @returns {message.support.ServoHealthTestData} ServoHealthTestData instance
+             */
+            ServoHealthTestData.create = function create(properties) {
+                return new ServoHealthTestData(properties);
+            };
+
+            /**
+             * Encodes the specified ServoHealthTestData message. Does not implicitly {@link message.support.ServoHealthTestData.verify|verify} messages.
+             * @param {message.support.ServoHealthTestData$Properties} message ServoHealthTestData message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            ServoHealthTestData.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.state != null && message.hasOwnProperty("state"))
+                    writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.state);
+                if (message.sensors != null && message.hasOwnProperty("sensors"))
+                    $root.message.platform.darwin.DarwinSensors.encode(message.sensors, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified ServoHealthTestData message, length delimited. Does not implicitly {@link message.support.ServoHealthTestData.verify|verify} messages.
+             * @param {message.support.ServoHealthTestData$Properties} message ServoHealthTestData message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            ServoHealthTestData.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a ServoHealthTestData message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.support.ServoHealthTestData} ServoHealthTestData
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            ServoHealthTestData.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.support.ServoHealthTestData();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.state = reader.uint32();
+                        break;
+                    case 2:
+                        message.sensors = $root.message.platform.darwin.DarwinSensors.decode(reader, reader.uint32());
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a ServoHealthTestData message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.support.ServoHealthTestData} ServoHealthTestData
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            ServoHealthTestData.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a ServoHealthTestData message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            ServoHealthTestData.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.state != null && message.hasOwnProperty("state"))
+                    switch (message.state) {
+                    default:
+                        return "state: enum value expected";
+                    case 0:
+                    case 1:
+                    case 2:
+                    case 3:
+                    case 4:
+                    case 5:
+                    case 6:
+                    case 7:
+                    case 8:
+                    case 9:
+                    case 10:
+                    case 11:
+                    case 12:
+                    case 13:
+                    case 14:
+                    case 15:
+                    case 16:
+                    case 17:
+                    case 18:
+                    case 19:
+                    case 20:
+                    case 21:
+                    case 22:
+                    case 23:
+                    case 24:
+                        break;
+                    }
+                if (message.sensors != null && message.hasOwnProperty("sensors")) {
+                    var error = $root.message.platform.darwin.DarwinSensors.verify(message.sensors);
+                    if (error)
+                        return "sensors." + error;
+                }
+                return null;
+            };
+
+            /**
+             * Creates a ServoHealthTestData message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.support.ServoHealthTestData} ServoHealthTestData
+             */
+            ServoHealthTestData.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.support.ServoHealthTestData)
+                    return object;
+                var message = new $root.message.support.ServoHealthTestData();
+                switch (object.state) {
+                case "INITIALISE":
+                case 0:
+                    message.state = 0;
+                    break;
+                case "MOVE_1":
+                case 1:
+                    message.state = 1;
+                    break;
+                case "ELBOW":
+                case 2:
+                    message.state = 2;
+                    break;
+                case "MOVE_2":
+                case 3:
+                    message.state = 3;
+                    break;
+                case "SHOULDER_PITCH":
+                case 4:
+                    message.state = 4;
+                    break;
+                case "SHOULDER_MOVE_1":
+                case 5:
+                    message.state = 5;
+                    break;
+                case "SHOULDER_ROLL":
+                case 6:
+                    message.state = 6;
+                    break;
+                case "MOVE_3":
+                case 7:
+                    message.state = 7;
+                    break;
+                case "HEAD_PITCH":
+                case 8:
+                    message.state = 8;
+                    break;
+                case "MOVE_4":
+                case 9:
+                    message.state = 9;
+                    break;
+                case "HEAD_YAW":
+                case 10:
+                    message.state = 10;
+                    break;
+                case "LAYDOWN":
+                case 11:
+                    message.state = 11;
+                    break;
+                case "HIP_ROLL":
+                case 12:
+                    message.state = 12;
+                    break;
+                case "HIP_MOVE_1":
+                case 13:
+                    message.state = 13;
+                    break;
+                case "HIP_YAW":
+                case 14:
+                    message.state = 14;
+                    break;
+                case "HIP_MOVE_2":
+                case 15:
+                    message.state = 15;
+                    break;
+                case "ANKLE_PITCH":
+                case 16:
+                    message.state = 16;
+                    break;
+                case "ANKLE_MOVE":
+                case 17:
+                    message.state = 17;
+                    break;
+                case "ANKLE_ROLL":
+                case 18:
+                    message.state = 18;
+                    break;
+                case "KNEE_MOVE":
+                case 19:
+                    message.state = 19;
+                    break;
+                case "KNEE":
+                case 20:
+                    message.state = 20;
+                    break;
+                case "KNEE_MOVE_2":
+                case 21:
+                    message.state = 21;
+                    break;
+                case "HIP_PITCH":
+                case 22:
+                    message.state = 22;
+                    break;
+                case "LAYDOWN_2":
+                case 23:
+                    message.state = 23;
+                    break;
+                case "FINISHED":
+                case 24:
+                    message.state = 24;
+                    break;
+                }
+                if (object.sensors != null) {
+                    if (typeof object.sensors !== "object")
+                        throw TypeError(".message.support.ServoHealthTestData.sensors: object expected");
+                    message.sensors = $root.message.platform.darwin.DarwinSensors.fromObject(object.sensors);
+                }
+                return message;
+            };
+
+            /**
+             * Creates a ServoHealthTestData message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.support.ServoHealthTestData.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.support.ServoHealthTestData} ServoHealthTestData
+             */
+            ServoHealthTestData.from = ServoHealthTestData.fromObject;
+
+            /**
+             * Creates a plain object from a ServoHealthTestData message. Also converts values to other types if specified.
+             * @param {message.support.ServoHealthTestData} message ServoHealthTestData
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            ServoHealthTestData.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults) {
+                    object.state = options.enums === String ? "INITIALISE" : 0;
+                    object.sensors = null;
+                }
+                if (message.state != null && message.hasOwnProperty("state"))
+                    object.state = options.enums === String ? $root.message.support.ServoHealthTestData.State[message.state] : message.state;
+                if (message.sensors != null && message.hasOwnProperty("sensors"))
+                    object.sensors = $root.message.platform.darwin.DarwinSensors.toObject(message.sensors, options);
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this ServoHealthTestData message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            ServoHealthTestData.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this ServoHealthTestData to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            ServoHealthTestData.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            /**
+             * State enum.
+             * @name State
+             * @memberof message.support.ServoHealthTestData
+             * @enum {number}
+             * @property {number} INITIALISE=0 INITIALISE value
+             * @property {number} MOVE_1=1 MOVE_1 value
+             * @property {number} ELBOW=2 ELBOW value
+             * @property {number} MOVE_2=3 MOVE_2 value
+             * @property {number} SHOULDER_PITCH=4 SHOULDER_PITCH value
+             * @property {number} SHOULDER_MOVE_1=5 SHOULDER_MOVE_1 value
+             * @property {number} SHOULDER_ROLL=6 SHOULDER_ROLL value
+             * @property {number} MOVE_3=7 MOVE_3 value
+             * @property {number} HEAD_PITCH=8 HEAD_PITCH value
+             * @property {number} MOVE_4=9 MOVE_4 value
+             * @property {number} HEAD_YAW=10 HEAD_YAW value
+             * @property {number} LAYDOWN=11 LAYDOWN value
+             * @property {number} HIP_ROLL=12 HIP_ROLL value
+             * @property {number} HIP_MOVE_1=13 HIP_MOVE_1 value
+             * @property {number} HIP_YAW=14 HIP_YAW value
+             * @property {number} HIP_MOVE_2=15 HIP_MOVE_2 value
+             * @property {number} ANKLE_PITCH=16 ANKLE_PITCH value
+             * @property {number} ANKLE_MOVE=17 ANKLE_MOVE value
+             * @property {number} ANKLE_ROLL=18 ANKLE_ROLL value
+             * @property {number} KNEE_MOVE=19 KNEE_MOVE value
+             * @property {number} KNEE=20 KNEE value
+             * @property {number} KNEE_MOVE_2=21 KNEE_MOVE_2 value
+             * @property {number} HIP_PITCH=22 HIP_PITCH value
+             * @property {number} LAYDOWN_2=23 LAYDOWN_2 value
+             * @property {number} FINISHED=24 FINISHED value
+             */
+            ServoHealthTestData.State = (function() {
+                var valuesById = {}, values = Object.create(valuesById);
+                values[valuesById[0] = "INITIALISE"] = 0;
+                values[valuesById[1] = "MOVE_1"] = 1;
+                values[valuesById[2] = "ELBOW"] = 2;
+                values[valuesById[3] = "MOVE_2"] = 3;
+                values[valuesById[4] = "SHOULDER_PITCH"] = 4;
+                values[valuesById[5] = "SHOULDER_MOVE_1"] = 5;
+                values[valuesById[6] = "SHOULDER_ROLL"] = 6;
+                values[valuesById[7] = "MOVE_3"] = 7;
+                values[valuesById[8] = "HEAD_PITCH"] = 8;
+                values[valuesById[9] = "MOVE_4"] = 9;
+                values[valuesById[10] = "HEAD_YAW"] = 10;
+                values[valuesById[11] = "LAYDOWN"] = 11;
+                values[valuesById[12] = "HIP_ROLL"] = 12;
+                values[valuesById[13] = "HIP_MOVE_1"] = 13;
+                values[valuesById[14] = "HIP_YAW"] = 14;
+                values[valuesById[15] = "HIP_MOVE_2"] = 15;
+                values[valuesById[16] = "ANKLE_PITCH"] = 16;
+                values[valuesById[17] = "ANKLE_MOVE"] = 17;
+                values[valuesById[18] = "ANKLE_ROLL"] = 18;
+                values[valuesById[19] = "KNEE_MOVE"] = 19;
+                values[valuesById[20] = "KNEE"] = 20;
+                values[valuesById[21] = "KNEE_MOVE_2"] = 21;
+                values[valuesById[22] = "HIP_PITCH"] = 22;
+                values[valuesById[23] = "LAYDOWN_2"] = 23;
+                values[valuesById[24] = "FINISHED"] = 24;
+                return values;
+            })();
+
+            return ServoHealthTestData;
+        })();
+
+        support.nubugger = (function() {
+
+            /**
+             * Namespace nubugger.
+             * @exports message.support.nubugger
+             * @namespace
+             */
+            var nubugger = {};
+
+            nubugger.Command = (function() {
+
+                /**
+                 * Properties of a Command.
+                 * @typedef message.support.nubugger.Command$Properties
+                 * @type {Object}
+                 * @property {string} [command] Command command.
+                 */
+
+                /**
+                 * Constructs a new Command.
+                 * @exports message.support.nubugger.Command
+                 * @constructor
+                 * @param {message.support.nubugger.Command$Properties=} [properties] Properties to set
+                 */
+                function Command(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * Command command.
+                 * @type {string}
+                 */
+                Command.prototype.command = "";
+
+                /**
+                 * Creates a new Command instance using the specified properties.
+                 * @param {message.support.nubugger.Command$Properties=} [properties] Properties to set
+                 * @returns {message.support.nubugger.Command} Command instance
+                 */
+                Command.create = function create(properties) {
+                    return new Command(properties);
+                };
+
+                /**
+                 * Encodes the specified Command message. Does not implicitly {@link message.support.nubugger.Command.verify|verify} messages.
+                 * @param {message.support.nubugger.Command$Properties} message Command message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Command.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.command != null && message.hasOwnProperty("command"))
+                        writer.uint32(/* id 1, wireType 2 =*/10).string(message.command);
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified Command message, length delimited. Does not implicitly {@link message.support.nubugger.Command.verify|verify} messages.
+                 * @param {message.support.nubugger.Command$Properties} message Command message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Command.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a Command message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.support.nubugger.Command} Command
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Command.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.support.nubugger.Command();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.command = reader.string();
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a Command message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.support.nubugger.Command} Command
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Command.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a Command message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                Command.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.command != null && message.hasOwnProperty("command"))
+                        if (!$util.isString(message.command))
+                            return "command: string expected";
+                    return null;
+                };
+
+                /**
+                 * Creates a Command message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.nubugger.Command} Command
+                 */
+                Command.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.support.nubugger.Command)
+                        return object;
+                    var message = new $root.message.support.nubugger.Command();
+                    if (object.command != null)
+                        message.command = String(object.command);
+                    return message;
+                };
+
+                /**
+                 * Creates a Command message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.support.nubugger.Command.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.nubugger.Command} Command
+                 */
+                Command.from = Command.fromObject;
+
+                /**
+                 * Creates a plain object from a Command message. Also converts values to other types if specified.
+                 * @param {message.support.nubugger.Command} message Command
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Command.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.defaults)
+                        object.command = "";
+                    if (message.command != null && message.hasOwnProperty("command"))
+                        object.command = message.command;
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this Command message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Command.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this Command to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                Command.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return Command;
+            })();
+
+            nubugger.DataPoint = (function() {
+
+                /**
+                 * Properties of a DataPoint.
+                 * @typedef message.support.nubugger.DataPoint$Properties
+                 * @type {Object}
+                 * @property {string} [label] DataPoint label.
+                 * @property {Array.<number>} [value] DataPoint value.
+                 * @property {message.support.nubugger.DataPoint.Type} [type] DataPoint type.
+                 */
+
+                /**
+                 * Constructs a new DataPoint.
+                 * @exports message.support.nubugger.DataPoint
+                 * @constructor
+                 * @param {message.support.nubugger.DataPoint$Properties=} [properties] Properties to set
+                 */
+                function DataPoint(properties) {
+                    this.value = [];
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * DataPoint label.
+                 * @type {string}
+                 */
+                DataPoint.prototype.label = "";
+
+                /**
+                 * DataPoint value.
+                 * @type {Array.<number>}
+                 */
+                DataPoint.prototype.value = $util.emptyArray;
+
+                /**
+                 * DataPoint type.
+                 * @type {message.support.nubugger.DataPoint.Type}
+                 */
+                DataPoint.prototype.type = 0;
+
+                /**
+                 * Creates a new DataPoint instance using the specified properties.
+                 * @param {message.support.nubugger.DataPoint$Properties=} [properties] Properties to set
+                 * @returns {message.support.nubugger.DataPoint} DataPoint instance
+                 */
+                DataPoint.create = function create(properties) {
+                    return new DataPoint(properties);
+                };
+
+                /**
+                 * Encodes the specified DataPoint message. Does not implicitly {@link message.support.nubugger.DataPoint.verify|verify} messages.
+                 * @param {message.support.nubugger.DataPoint$Properties} message DataPoint message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                DataPoint.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.label != null && message.hasOwnProperty("label"))
+                        writer.uint32(/* id 1, wireType 2 =*/10).string(message.label);
+                    if (message.value != null && message.value.length) {
+                        writer.uint32(/* id 2, wireType 2 =*/18).fork();
+                        for (var i = 0; i < message.value.length; ++i)
+                            writer.float(message.value[i]);
+                        writer.ldelim();
+                    }
+                    if (message.type != null && message.hasOwnProperty("type"))
+                        writer.uint32(/* id 3, wireType 0 =*/24).uint32(message.type);
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified DataPoint message, length delimited. Does not implicitly {@link message.support.nubugger.DataPoint.verify|verify} messages.
+                 * @param {message.support.nubugger.DataPoint$Properties} message DataPoint message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                DataPoint.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a DataPoint message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.support.nubugger.DataPoint} DataPoint
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                DataPoint.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.support.nubugger.DataPoint();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.label = reader.string();
+                            break;
+                        case 2:
+                            if (!(message.value && message.value.length))
+                                message.value = [];
+                            if ((tag & 7) === 2) {
+                                var end2 = reader.uint32() + reader.pos;
+                                while (reader.pos < end2)
+                                    message.value.push(reader.float());
+                            } else
+                                message.value.push(reader.float());
+                            break;
+                        case 3:
+                            message.type = reader.uint32();
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a DataPoint message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.support.nubugger.DataPoint} DataPoint
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                DataPoint.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a DataPoint message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                DataPoint.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.label != null && message.hasOwnProperty("label"))
+                        if (!$util.isString(message.label))
+                            return "label: string expected";
+                    if (message.value != null && message.hasOwnProperty("value")) {
+                        if (!Array.isArray(message.value))
+                            return "value: array expected";
+                        for (var i = 0; i < message.value.length; ++i)
+                            if (typeof message.value[i] !== "number")
+                                return "value: number[] expected";
+                    }
+                    if (message.type != null && message.hasOwnProperty("type"))
+                        switch (message.type) {
+                        default:
+                            return "type: enum value expected";
+                        case 0:
+                        case 2:
+                            break;
+                        }
+                    return null;
+                };
+
+                /**
+                 * Creates a DataPoint message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.nubugger.DataPoint} DataPoint
+                 */
+                DataPoint.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.support.nubugger.DataPoint)
+                        return object;
+                    var message = new $root.message.support.nubugger.DataPoint();
+                    if (object.label != null)
+                        message.label = String(object.label);
+                    if (object.value) {
+                        if (!Array.isArray(object.value))
+                            throw TypeError(".message.support.nubugger.DataPoint.value: array expected");
+                        message.value = [];
+                        for (var i = 0; i < object.value.length; ++i)
+                            message.value[i] = Number(object.value[i]);
+                    }
+                    switch (object.type) {
+                    case "FLOAT_LIST":
+                    case 0:
+                        message.type = 0;
+                        break;
+                    case "ROTATION_3D":
+                    case 2:
+                        message.type = 2;
+                        break;
+                    }
+                    return message;
+                };
+
+                /**
+                 * Creates a DataPoint message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.support.nubugger.DataPoint.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.nubugger.DataPoint} DataPoint
+                 */
+                DataPoint.from = DataPoint.fromObject;
+
+                /**
+                 * Creates a plain object from a DataPoint message. Also converts values to other types if specified.
+                 * @param {message.support.nubugger.DataPoint} message DataPoint
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                DataPoint.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.arrays || options.defaults)
+                        object.value = [];
+                    if (options.defaults) {
+                        object.label = "";
+                        object.type = options.enums === String ? "FLOAT_LIST" : 0;
+                    }
+                    if (message.label != null && message.hasOwnProperty("label"))
+                        object.label = message.label;
+                    if (message.value && message.value.length) {
+                        object.value = [];
+                        for (var j = 0; j < message.value.length; ++j)
+                            object.value[j] = message.value[j];
+                    }
+                    if (message.type != null && message.hasOwnProperty("type"))
+                        object.type = options.enums === String ? $root.message.support.nubugger.DataPoint.Type[message.type] : message.type;
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this DataPoint message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                DataPoint.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this DataPoint to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                DataPoint.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                /**
+                 * The represents the type of data
+                 * NOTE: This should not describe how to display the data, as that should be done client-side.
+                 * @name Type
+                 * @memberof message.support.nubugger.DataPoint
+                 * @enum {number}
+                 * @property {number} FLOAT_LIST=0 FLOAT_LIST value
+                 * @property {number} ROTATION_3D=2 ROTATION_3D value
+                 */
+                DataPoint.Type = (function() {
+                    var valuesById = {}, values = Object.create(valuesById);
+                    values[valuesById[0] = "FLOAT_LIST"] = 0;
+                    values[valuesById[2] = "ROTATION_3D"] = 2;
+                    return values;
+                })();
+
+                return DataPoint;
+            })();
+
+            nubugger.DrawObject = (function() {
+
+                /**
+                 * Properties of a DrawObject.
+                 * @typedef message.support.nubugger.DrawObject$Properties
+                 * @type {Object}
+                 * @property {message.support.nubugger.DrawObject.Shape} [shape] DrawObject shape.
+                 * @property {string} [name] DrawObject name.
+                 * @property {vec3$Properties} [position] DrawObject position.
+                 * @property {vec3$Properties} [direction] DrawObject direction.
+                 * @property {vec3$Properties} [target] DrawObject target.
+                 * @property {number} [width] DrawObject width.
+                 * @property {number} [height] DrawObject height.
+                 * @property {vec3$Properties} [rotation] DrawObject rotation.
+                 * @property {vec3$Properties} [colour] DrawObject colour.
+                 * @property {number} [radius] DrawObject radius.
+                 * @property {number} [topRadius] DrawObject topRadius.
+                 * @property {number} [bottomRadius] DrawObject bottomRadius.
+                 * @property {Array.<vec3$Properties>} [vertices] DrawObject vertices.
+                 * @property {Array.<message.support.nubugger.DrawObject.Path$Properties>} [path] DrawObject path.
+                 * @property {number} [faces] DrawObject faces.
+                 * @property {number} [lineWidth] DrawObject lineWidth.
+                 * @property {number} [length] DrawObject length.
+                 * @property {number} [depth] DrawObject depth.
+                 * @property {boolean} [fill] DrawObject fill.
+                 * @property {number} [timeout] DrawObject timeout.
+                 */
+
+                /**
+                 * Constructs a new DrawObject.
+                 * @exports message.support.nubugger.DrawObject
+                 * @constructor
+                 * @param {message.support.nubugger.DrawObject$Properties=} [properties] Properties to set
+                 */
+                function DrawObject(properties) {
+                    this.vertices = [];
+                    this.path = [];
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * DrawObject shape.
+                 * @type {message.support.nubugger.DrawObject.Shape}
+                 */
+                DrawObject.prototype.shape = 0;
+
+                /**
+                 * DrawObject name.
+                 * @type {string}
+                 */
+                DrawObject.prototype.name = "";
+
+                /**
+                 * DrawObject position.
+                 * @type {(vec3$Properties|null)}
+                 */
+                DrawObject.prototype.position = null;
+
+                /**
+                 * DrawObject direction.
+                 * @type {(vec3$Properties|null)}
+                 */
+                DrawObject.prototype.direction = null;
+
+                /**
+                 * DrawObject target.
+                 * @type {(vec3$Properties|null)}
+                 */
+                DrawObject.prototype.target = null;
+
+                /**
+                 * DrawObject width.
+                 * @type {number}
+                 */
+                DrawObject.prototype.width = 0;
+
+                /**
+                 * DrawObject height.
+                 * @type {number}
+                 */
+                DrawObject.prototype.height = 0;
+
+                /**
+                 * DrawObject rotation.
+                 * @type {(vec3$Properties|null)}
+                 */
+                DrawObject.prototype.rotation = null;
+
+                /**
+                 * DrawObject colour.
+                 * @type {(vec3$Properties|null)}
+                 */
+                DrawObject.prototype.colour = null;
+
+                /**
+                 * DrawObject radius.
+                 * @type {number}
+                 */
+                DrawObject.prototype.radius = 0;
+
+                /**
+                 * DrawObject topRadius.
+                 * @type {number}
+                 */
+                DrawObject.prototype.topRadius = 0;
+
+                /**
+                 * DrawObject bottomRadius.
+                 * @type {number}
+                 */
+                DrawObject.prototype.bottomRadius = 0;
+
+                /**
+                 * DrawObject vertices.
+                 * @type {Array.<vec3$Properties>}
+                 */
+                DrawObject.prototype.vertices = $util.emptyArray;
+
+                /**
+                 * DrawObject path.
+                 * @type {Array.<message.support.nubugger.DrawObject.Path$Properties>}
+                 */
+                DrawObject.prototype.path = $util.emptyArray;
+
+                /**
+                 * DrawObject faces.
+                 * @type {number}
+                 */
+                DrawObject.prototype.faces = 0;
+
+                /**
+                 * DrawObject lineWidth.
+                 * @type {number}
+                 */
+                DrawObject.prototype.lineWidth = 0;
+
+                /**
+                 * DrawObject length.
+                 * @type {number}
+                 */
+                DrawObject.prototype.length = 0;
+
+                /**
+                 * DrawObject depth.
+                 * @type {number}
+                 */
+                DrawObject.prototype.depth = 0;
+
+                /**
+                 * DrawObject fill.
+                 * @type {boolean}
+                 */
+                DrawObject.prototype.fill = false;
+
+                /**
+                 * DrawObject timeout.
+                 * @type {number}
+                 */
+                DrawObject.prototype.timeout = 0;
+
+                /**
+                 * Creates a new DrawObject instance using the specified properties.
+                 * @param {message.support.nubugger.DrawObject$Properties=} [properties] Properties to set
+                 * @returns {message.support.nubugger.DrawObject} DrawObject instance
+                 */
+                DrawObject.create = function create(properties) {
+                    return new DrawObject(properties);
+                };
+
+                /**
+                 * Encodes the specified DrawObject message. Does not implicitly {@link message.support.nubugger.DrawObject.verify|verify} messages.
+                 * @param {message.support.nubugger.DrawObject$Properties} message DrawObject message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                DrawObject.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.shape != null && message.hasOwnProperty("shape"))
+                        writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.shape);
+                    if (message.name != null && message.hasOwnProperty("name"))
+                        writer.uint32(/* id 2, wireType 2 =*/18).string(message.name);
+                    if (message.position != null && message.hasOwnProperty("position"))
+                        $root.vec3.encode(message.position, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+                    if (message.direction != null && message.hasOwnProperty("direction"))
+                        $root.vec3.encode(message.direction, writer.uint32(/* id 4, wireType 2 =*/34).fork()).ldelim();
+                    if (message.target != null && message.hasOwnProperty("target"))
+                        $root.vec3.encode(message.target, writer.uint32(/* id 5, wireType 2 =*/42).fork()).ldelim();
+                    if (message.width != null && message.hasOwnProperty("width"))
+                        writer.uint32(/* id 6, wireType 5 =*/53).float(message.width);
+                    if (message.height != null && message.hasOwnProperty("height"))
+                        writer.uint32(/* id 7, wireType 5 =*/61).float(message.height);
+                    if (message.rotation != null && message.hasOwnProperty("rotation"))
+                        $root.vec3.encode(message.rotation, writer.uint32(/* id 8, wireType 2 =*/66).fork()).ldelim();
+                    if (message.colour != null && message.hasOwnProperty("colour"))
+                        $root.vec3.encode(message.colour, writer.uint32(/* id 9, wireType 2 =*/74).fork()).ldelim();
+                    if (message.radius != null && message.hasOwnProperty("radius"))
+                        writer.uint32(/* id 10, wireType 5 =*/85).float(message.radius);
+                    if (message.topRadius != null && message.hasOwnProperty("topRadius"))
+                        writer.uint32(/* id 11, wireType 5 =*/93).float(message.topRadius);
+                    if (message.bottomRadius != null && message.hasOwnProperty("bottomRadius"))
+                        writer.uint32(/* id 12, wireType 5 =*/101).float(message.bottomRadius);
+                    if (message.vertices != null && message.vertices.length)
+                        for (var i = 0; i < message.vertices.length; ++i)
+                            $root.vec3.encode(message.vertices[i], writer.uint32(/* id 13, wireType 2 =*/106).fork()).ldelim();
+                    if (message.path != null && message.path.length)
+                        for (var i = 0; i < message.path.length; ++i)
+                            $root.message.support.nubugger.DrawObject.Path.encode(message.path[i], writer.uint32(/* id 14, wireType 2 =*/114).fork()).ldelim();
+                    if (message.faces != null && message.hasOwnProperty("faces"))
+                        writer.uint32(/* id 15, wireType 0 =*/120).uint32(message.faces);
+                    if (message.lineWidth != null && message.hasOwnProperty("lineWidth"))
+                        writer.uint32(/* id 16, wireType 5 =*/133).float(message.lineWidth);
+                    if (message.length != null && message.hasOwnProperty("length"))
+                        writer.uint32(/* id 17, wireType 5 =*/141).float(message.length);
+                    if (message.depth != null && message.hasOwnProperty("depth"))
+                        writer.uint32(/* id 18, wireType 5 =*/149).float(message.depth);
+                    if (message.fill != null && message.hasOwnProperty("fill"))
+                        writer.uint32(/* id 19, wireType 0 =*/152).bool(message.fill);
+                    if (message.timeout != null && message.hasOwnProperty("timeout"))
+                        writer.uint32(/* id 20, wireType 5 =*/165).float(message.timeout);
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified DrawObject message, length delimited. Does not implicitly {@link message.support.nubugger.DrawObject.verify|verify} messages.
+                 * @param {message.support.nubugger.DrawObject$Properties} message DrawObject message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                DrawObject.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a DrawObject message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.support.nubugger.DrawObject} DrawObject
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                DrawObject.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.support.nubugger.DrawObject();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.shape = reader.uint32();
+                            break;
+                        case 2:
+                            message.name = reader.string();
+                            break;
+                        case 3:
+                            message.position = $root.vec3.decode(reader, reader.uint32());
+                            break;
+                        case 4:
+                            message.direction = $root.vec3.decode(reader, reader.uint32());
+                            break;
+                        case 5:
+                            message.target = $root.vec3.decode(reader, reader.uint32());
+                            break;
+                        case 6:
+                            message.width = reader.float();
+                            break;
+                        case 7:
+                            message.height = reader.float();
+                            break;
+                        case 8:
+                            message.rotation = $root.vec3.decode(reader, reader.uint32());
+                            break;
+                        case 9:
+                            message.colour = $root.vec3.decode(reader, reader.uint32());
+                            break;
+                        case 10:
+                            message.radius = reader.float();
+                            break;
+                        case 11:
+                            message.topRadius = reader.float();
+                            break;
+                        case 12:
+                            message.bottomRadius = reader.float();
+                            break;
+                        case 13:
+                            if (!(message.vertices && message.vertices.length))
+                                message.vertices = [];
+                            message.vertices.push($root.vec3.decode(reader, reader.uint32()));
+                            break;
+                        case 14:
+                            if (!(message.path && message.path.length))
+                                message.path = [];
+                            message.path.push($root.message.support.nubugger.DrawObject.Path.decode(reader, reader.uint32()));
+                            break;
+                        case 15:
+                            message.faces = reader.uint32();
+                            break;
+                        case 16:
+                            message.lineWidth = reader.float();
+                            break;
+                        case 17:
+                            message.length = reader.float();
+                            break;
+                        case 18:
+                            message.depth = reader.float();
+                            break;
+                        case 19:
+                            message.fill = reader.bool();
+                            break;
+                        case 20:
+                            message.timeout = reader.float();
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a DrawObject message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.support.nubugger.DrawObject} DrawObject
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                DrawObject.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a DrawObject message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                DrawObject.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.shape != null && message.hasOwnProperty("shape"))
+                        switch (message.shape) {
+                        default:
+                            return "shape: enum value expected";
+                        case 0:
+                        case 1:
+                        case 2:
+                        case 3:
+                        case 4:
+                        case 5:
+                        case 6:
+                        case 7:
+                        case 8:
+                            break;
+                        }
+                    if (message.name != null && message.hasOwnProperty("name"))
+                        if (!$util.isString(message.name))
+                            return "name: string expected";
+                    if (message.position != null && message.hasOwnProperty("position")) {
+                        var error = $root.vec3.verify(message.position);
+                        if (error)
+                            return "position." + error;
+                    }
+                    if (message.direction != null && message.hasOwnProperty("direction")) {
+                        var error = $root.vec3.verify(message.direction);
+                        if (error)
+                            return "direction." + error;
+                    }
+                    if (message.target != null && message.hasOwnProperty("target")) {
+                        var error = $root.vec3.verify(message.target);
+                        if (error)
+                            return "target." + error;
+                    }
+                    if (message.width != null && message.hasOwnProperty("width"))
+                        if (typeof message.width !== "number")
+                            return "width: number expected";
+                    if (message.height != null && message.hasOwnProperty("height"))
+                        if (typeof message.height !== "number")
+                            return "height: number expected";
+                    if (message.rotation != null && message.hasOwnProperty("rotation")) {
+                        var error = $root.vec3.verify(message.rotation);
+                        if (error)
+                            return "rotation." + error;
+                    }
+                    if (message.colour != null && message.hasOwnProperty("colour")) {
+                        var error = $root.vec3.verify(message.colour);
+                        if (error)
+                            return "colour." + error;
+                    }
+                    if (message.radius != null && message.hasOwnProperty("radius"))
+                        if (typeof message.radius !== "number")
+                            return "radius: number expected";
+                    if (message.topRadius != null && message.hasOwnProperty("topRadius"))
+                        if (typeof message.topRadius !== "number")
+                            return "topRadius: number expected";
+                    if (message.bottomRadius != null && message.hasOwnProperty("bottomRadius"))
+                        if (typeof message.bottomRadius !== "number")
+                            return "bottomRadius: number expected";
+                    if (message.vertices != null && message.hasOwnProperty("vertices")) {
+                        if (!Array.isArray(message.vertices))
+                            return "vertices: array expected";
+                        for (var i = 0; i < message.vertices.length; ++i) {
+                            var error = $root.vec3.verify(message.vertices[i]);
+                            if (error)
+                                return "vertices." + error;
+                        }
+                    }
+                    if (message.path != null && message.hasOwnProperty("path")) {
+                        if (!Array.isArray(message.path))
+                            return "path: array expected";
+                        for (var i = 0; i < message.path.length; ++i) {
+                            var error = $root.message.support.nubugger.DrawObject.Path.verify(message.path[i]);
+                            if (error)
+                                return "path." + error;
+                        }
+                    }
+                    if (message.faces != null && message.hasOwnProperty("faces"))
+                        if (!$util.isInteger(message.faces))
+                            return "faces: integer expected";
+                    if (message.lineWidth != null && message.hasOwnProperty("lineWidth"))
+                        if (typeof message.lineWidth !== "number")
+                            return "lineWidth: number expected";
+                    if (message.length != null && message.hasOwnProperty("length"))
+                        if (typeof message.length !== "number")
+                            return "length: number expected";
+                    if (message.depth != null && message.hasOwnProperty("depth"))
+                        if (typeof message.depth !== "number")
+                            return "depth: number expected";
+                    if (message.fill != null && message.hasOwnProperty("fill"))
+                        if (typeof message.fill !== "boolean")
+                            return "fill: boolean expected";
+                    if (message.timeout != null && message.hasOwnProperty("timeout"))
+                        if (typeof message.timeout !== "number")
+                            return "timeout: number expected";
+                    return null;
+                };
+
+                /**
+                 * Creates a DrawObject message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.nubugger.DrawObject} DrawObject
+                 */
+                DrawObject.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.support.nubugger.DrawObject)
+                        return object;
+                    var message = new $root.message.support.nubugger.DrawObject();
+                    switch (object.shape) {
+                    case "UNKNOWN":
+                    case 0:
+                        message.shape = 0;
+                        break;
+                    case "ARROW":
+                    case 1:
+                        message.shape = 1;
+                        break;
+                    case "BOX":
+                    case 2:
+                        message.shape = 2;
+                        break;
+                    case "CIRCLE":
+                    case 3:
+                        message.shape = 3;
+                        break;
+                    case "CYLINDER":
+                    case 4:
+                        message.shape = 4;
+                        break;
+                    case "POLYLINE":
+                    case 5:
+                        message.shape = 5;
+                        break;
+                    case "PYRAMID":
+                    case 6:
+                        message.shape = 6;
+                        break;
+                    case "RECTANGLE":
+                    case 7:
+                        message.shape = 7;
+                        break;
+                    case "SPHERE":
+                    case 8:
+                        message.shape = 8;
+                        break;
+                    }
+                    if (object.name != null)
+                        message.name = String(object.name);
+                    if (object.position != null) {
+                        if (typeof object.position !== "object")
+                            throw TypeError(".message.support.nubugger.DrawObject.position: object expected");
+                        message.position = $root.vec3.fromObject(object.position);
+                    }
+                    if (object.direction != null) {
+                        if (typeof object.direction !== "object")
+                            throw TypeError(".message.support.nubugger.DrawObject.direction: object expected");
+                        message.direction = $root.vec3.fromObject(object.direction);
+                    }
+                    if (object.target != null) {
+                        if (typeof object.target !== "object")
+                            throw TypeError(".message.support.nubugger.DrawObject.target: object expected");
+                        message.target = $root.vec3.fromObject(object.target);
+                    }
+                    if (object.width != null)
+                        message.width = Number(object.width);
+                    if (object.height != null)
+                        message.height = Number(object.height);
+                    if (object.rotation != null) {
+                        if (typeof object.rotation !== "object")
+                            throw TypeError(".message.support.nubugger.DrawObject.rotation: object expected");
+                        message.rotation = $root.vec3.fromObject(object.rotation);
+                    }
+                    if (object.colour != null) {
+                        if (typeof object.colour !== "object")
+                            throw TypeError(".message.support.nubugger.DrawObject.colour: object expected");
+                        message.colour = $root.vec3.fromObject(object.colour);
+                    }
+                    if (object.radius != null)
+                        message.radius = Number(object.radius);
+                    if (object.topRadius != null)
+                        message.topRadius = Number(object.topRadius);
+                    if (object.bottomRadius != null)
+                        message.bottomRadius = Number(object.bottomRadius);
+                    if (object.vertices) {
+                        if (!Array.isArray(object.vertices))
+                            throw TypeError(".message.support.nubugger.DrawObject.vertices: array expected");
+                        message.vertices = [];
+                        for (var i = 0; i < object.vertices.length; ++i) {
+                            if (typeof object.vertices[i] !== "object")
+                                throw TypeError(".message.support.nubugger.DrawObject.vertices: object expected");
+                            message.vertices[i] = $root.vec3.fromObject(object.vertices[i]);
+                        }
+                    }
+                    if (object.path) {
+                        if (!Array.isArray(object.path))
+                            throw TypeError(".message.support.nubugger.DrawObject.path: array expected");
+                        message.path = [];
+                        for (var i = 0; i < object.path.length; ++i) {
+                            if (typeof object.path[i] !== "object")
+                                throw TypeError(".message.support.nubugger.DrawObject.path: object expected");
+                            message.path[i] = $root.message.support.nubugger.DrawObject.Path.fromObject(object.path[i]);
+                        }
+                    }
+                    if (object.faces != null)
+                        message.faces = object.faces >>> 0;
+                    if (object.lineWidth != null)
+                        message.lineWidth = Number(object.lineWidth);
+                    if (object.length != null)
+                        message.length = Number(object.length);
+                    if (object.depth != null)
+                        message.depth = Number(object.depth);
+                    if (object.fill != null)
+                        message.fill = Boolean(object.fill);
+                    if (object.timeout != null)
+                        message.timeout = Number(object.timeout);
+                    return message;
+                };
+
+                /**
+                 * Creates a DrawObject message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.support.nubugger.DrawObject.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.nubugger.DrawObject} DrawObject
+                 */
+                DrawObject.from = DrawObject.fromObject;
+
+                /**
+                 * Creates a plain object from a DrawObject message. Also converts values to other types if specified.
+                 * @param {message.support.nubugger.DrawObject} message DrawObject
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                DrawObject.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.arrays || options.defaults) {
+                        object.vertices = [];
+                        object.path = [];
+                    }
+                    if (options.defaults) {
+                        object.shape = options.enums === String ? "UNKNOWN" : 0;
+                        object.name = "";
+                        object.position = null;
+                        object.direction = null;
+                        object.target = null;
+                        object.width = 0;
+                        object.height = 0;
+                        object.rotation = null;
+                        object.colour = null;
+                        object.radius = 0;
+                        object.topRadius = 0;
+                        object.bottomRadius = 0;
+                        object.faces = 0;
+                        object.lineWidth = 0;
+                        object.length = 0;
+                        object.depth = 0;
+                        object.fill = false;
+                        object.timeout = 0;
+                    }
+                    if (message.shape != null && message.hasOwnProperty("shape"))
+                        object.shape = options.enums === String ? $root.message.support.nubugger.DrawObject.Shape[message.shape] : message.shape;
+                    if (message.name != null && message.hasOwnProperty("name"))
+                        object.name = message.name;
+                    if (message.position != null && message.hasOwnProperty("position"))
+                        object.position = $root.vec3.toObject(message.position, options);
+                    if (message.direction != null && message.hasOwnProperty("direction"))
+                        object.direction = $root.vec3.toObject(message.direction, options);
+                    if (message.target != null && message.hasOwnProperty("target"))
+                        object.target = $root.vec3.toObject(message.target, options);
+                    if (message.width != null && message.hasOwnProperty("width"))
+                        object.width = message.width;
+                    if (message.height != null && message.hasOwnProperty("height"))
+                        object.height = message.height;
+                    if (message.rotation != null && message.hasOwnProperty("rotation"))
+                        object.rotation = $root.vec3.toObject(message.rotation, options);
+                    if (message.colour != null && message.hasOwnProperty("colour"))
+                        object.colour = $root.vec3.toObject(message.colour, options);
+                    if (message.radius != null && message.hasOwnProperty("radius"))
+                        object.radius = message.radius;
+                    if (message.topRadius != null && message.hasOwnProperty("topRadius"))
+                        object.topRadius = message.topRadius;
+                    if (message.bottomRadius != null && message.hasOwnProperty("bottomRadius"))
+                        object.bottomRadius = message.bottomRadius;
+                    if (message.vertices && message.vertices.length) {
+                        object.vertices = [];
+                        for (var j = 0; j < message.vertices.length; ++j)
+                            object.vertices[j] = $root.vec3.toObject(message.vertices[j], options);
+                    }
+                    if (message.path && message.path.length) {
+                        object.path = [];
+                        for (var j = 0; j < message.path.length; ++j)
+                            object.path[j] = $root.message.support.nubugger.DrawObject.Path.toObject(message.path[j], options);
+                    }
+                    if (message.faces != null && message.hasOwnProperty("faces"))
+                        object.faces = message.faces;
+                    if (message.lineWidth != null && message.hasOwnProperty("lineWidth"))
+                        object.lineWidth = message.lineWidth;
+                    if (message.length != null && message.hasOwnProperty("length"))
+                        object.length = message.length;
+                    if (message.depth != null && message.hasOwnProperty("depth"))
+                        object.depth = message.depth;
+                    if (message.fill != null && message.hasOwnProperty("fill"))
+                        object.fill = message.fill;
+                    if (message.timeout != null && message.hasOwnProperty("timeout"))
+                        object.timeout = message.timeout;
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this DrawObject message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                DrawObject.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this DrawObject to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                DrawObject.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                /**
+                 * Shape enum.
+                 * @name Shape
+                 * @memberof message.support.nubugger.DrawObject
+                 * @enum {number}
+                 * @property {number} UNKNOWN=0 UNKNOWN value
+                 * @property {number} ARROW=1 ARROW value
+                 * @property {number} BOX=2 BOX value
+                 * @property {number} CIRCLE=3 CIRCLE value
+                 * @property {number} CYLINDER=4 CYLINDER value
+                 * @property {number} POLYLINE=5 POLYLINE value
+                 * @property {number} PYRAMID=6 PYRAMID value
+                 * @property {number} RECTANGLE=7 RECTANGLE value
+                 * @property {number} SPHERE=8 SPHERE value
+                 */
+                DrawObject.Shape = (function() {
+                    var valuesById = {}, values = Object.create(valuesById);
+                    values[valuesById[0] = "UNKNOWN"] = 0;
+                    values[valuesById[1] = "ARROW"] = 1;
+                    values[valuesById[2] = "BOX"] = 2;
+                    values[valuesById[3] = "CIRCLE"] = 3;
+                    values[valuesById[4] = "CYLINDER"] = 4;
+                    values[valuesById[5] = "POLYLINE"] = 5;
+                    values[valuesById[6] = "PYRAMID"] = 6;
+                    values[valuesById[7] = "RECTANGLE"] = 7;
+                    values[valuesById[8] = "SPHERE"] = 8;
+                    return values;
+                })();
+
+                DrawObject.Path = (function() {
+
+                    /**
+                     * Properties of a Path.
+                     * @typedef message.support.nubugger.DrawObject.Path$Properties
+                     * @type {Object}
+                     * @property {vec2$Properties} [position] Path position.
+                     * @property {number} [parentIndex] Path parentIndex.
+                     */
+
+                    /**
+                     * Constructs a new Path.
+                     * @exports message.support.nubugger.DrawObject.Path
+                     * @constructor
+                     * @param {message.support.nubugger.DrawObject.Path$Properties=} [properties] Properties to set
+                     */
+                    function Path(properties) {
+                        if (properties)
+                            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                                if (properties[keys[i]] != null)
+                                    this[keys[i]] = properties[keys[i]];
+                    }
+
+                    /**
+                     * Path position.
+                     * @type {(vec2$Properties|null)}
+                     */
+                    Path.prototype.position = null;
+
+                    /**
+                     * Path parentIndex.
+                     * @type {number}
+                     */
+                    Path.prototype.parentIndex = 0;
+
+                    /**
+                     * Creates a new Path instance using the specified properties.
+                     * @param {message.support.nubugger.DrawObject.Path$Properties=} [properties] Properties to set
+                     * @returns {message.support.nubugger.DrawObject.Path} Path instance
+                     */
+                    Path.create = function create(properties) {
+                        return new Path(properties);
+                    };
+
+                    /**
+                     * Encodes the specified Path message. Does not implicitly {@link message.support.nubugger.DrawObject.Path.verify|verify} messages.
+                     * @param {message.support.nubugger.DrawObject.Path$Properties} message Path message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    Path.encode = function encode(message, writer) {
+                        if (!writer)
+                            writer = $Writer.create();
+                        if (message.position != null && message.hasOwnProperty("position"))
+                            $root.vec2.encode(message.position, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                        if (message.parentIndex != null && message.hasOwnProperty("parentIndex"))
+                            writer.uint32(/* id 2, wireType 0 =*/16).uint32(message.parentIndex);
+                        return writer;
+                    };
+
+                    /**
+                     * Encodes the specified Path message, length delimited. Does not implicitly {@link message.support.nubugger.DrawObject.Path.verify|verify} messages.
+                     * @param {message.support.nubugger.DrawObject.Path$Properties} message Path message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    Path.encodeDelimited = function encodeDelimited(message, writer) {
+                        return this.encode(message, writer).ldelim();
+                    };
+
+                    /**
+                     * Decodes a Path message from the specified reader or buffer.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @param {number} [length] Message length if known beforehand
+                     * @returns {message.support.nubugger.DrawObject.Path} Path
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    Path.decode = function decode(reader, length) {
+                        if (!(reader instanceof $Reader))
+                            reader = $Reader.create(reader);
+                        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.support.nubugger.DrawObject.Path();
+                        while (reader.pos < end) {
+                            var tag = reader.uint32();
+                            switch (tag >>> 3) {
+                            case 1:
+                                message.position = $root.vec2.decode(reader, reader.uint32());
+                                break;
+                            case 2:
+                                message.parentIndex = reader.uint32();
+                                break;
+                            default:
+                                reader.skipType(tag & 7);
+                                break;
+                            }
+                        }
+                        return message;
+                    };
+
+                    /**
+                     * Decodes a Path message from the specified reader or buffer, length delimited.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @returns {message.support.nubugger.DrawObject.Path} Path
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    Path.decodeDelimited = function decodeDelimited(reader) {
+                        if (!(reader instanceof $Reader))
+                            reader = $Reader(reader);
+                        return this.decode(reader, reader.uint32());
+                    };
+
+                    /**
+                     * Verifies a Path message.
+                     * @param {Object.<string,*>} message Plain object to verify
+                     * @returns {?string} `null` if valid, otherwise the reason why it is not
+                     */
+                    Path.verify = function verify(message) {
+                        if (typeof message !== "object" || message === null)
+                            return "object expected";
+                        if (message.position != null && message.hasOwnProperty("position")) {
+                            var error = $root.vec2.verify(message.position);
+                            if (error)
+                                return "position." + error;
+                        }
+                        if (message.parentIndex != null && message.hasOwnProperty("parentIndex"))
+                            if (!$util.isInteger(message.parentIndex))
+                                return "parentIndex: integer expected";
+                        return null;
+                    };
+
+                    /**
+                     * Creates a Path message from a plain object. Also converts values to their respective internal types.
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.support.nubugger.DrawObject.Path} Path
+                     */
+                    Path.fromObject = function fromObject(object) {
+                        if (object instanceof $root.message.support.nubugger.DrawObject.Path)
+                            return object;
+                        var message = new $root.message.support.nubugger.DrawObject.Path();
+                        if (object.position != null) {
+                            if (typeof object.position !== "object")
+                                throw TypeError(".message.support.nubugger.DrawObject.Path.position: object expected");
+                            message.position = $root.vec2.fromObject(object.position);
+                        }
+                        if (object.parentIndex != null)
+                            message.parentIndex = object.parentIndex >>> 0;
+                        return message;
+                    };
+
+                    /**
+                     * Creates a Path message from a plain object. Also converts values to their respective internal types.
+                     * This is an alias of {@link message.support.nubugger.DrawObject.Path.fromObject}.
+                     * @function
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.support.nubugger.DrawObject.Path} Path
+                     */
+                    Path.from = Path.fromObject;
+
+                    /**
+                     * Creates a plain object from a Path message. Also converts values to other types if specified.
+                     * @param {message.support.nubugger.DrawObject.Path} message Path
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    Path.toObject = function toObject(message, options) {
+                        if (!options)
+                            options = {};
+                        var object = {};
+                        if (options.defaults) {
+                            object.position = null;
+                            object.parentIndex = 0;
+                        }
+                        if (message.position != null && message.hasOwnProperty("position"))
+                            object.position = $root.vec2.toObject(message.position, options);
+                        if (message.parentIndex != null && message.hasOwnProperty("parentIndex"))
+                            object.parentIndex = message.parentIndex;
+                        return object;
+                    };
+
+                    /**
+                     * Creates a plain object from this Path message. Also converts values to other types if specified.
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    Path.prototype.toObject = function toObject(options) {
+                        return this.constructor.toObject(this, options);
+                    };
+
+                    /**
+                     * Converts this Path to JSON.
+                     * @returns {Object.<string,*>} JSON object
+                     */
+                    Path.prototype.toJSON = function toJSON() {
+                        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                    };
+
+                    return Path;
+                })();
+
+                return DrawObject;
+            })();
+
+            nubugger.DrawObjects = (function() {
+
+                /**
+                 * Properties of a DrawObjects.
+                 * @typedef message.support.nubugger.DrawObjects$Properties
+                 * @type {Object}
+                 * @property {Array.<message.support.nubugger.DrawObject$Properties>} [objects] DrawObjects objects.
+                 */
+
+                /**
+                 * Constructs a new DrawObjects.
+                 * @exports message.support.nubugger.DrawObjects
+                 * @constructor
+                 * @param {message.support.nubugger.DrawObjects$Properties=} [properties] Properties to set
+                 */
+                function DrawObjects(properties) {
+                    this.objects = [];
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * DrawObjects objects.
+                 * @type {Array.<message.support.nubugger.DrawObject$Properties>}
+                 */
+                DrawObjects.prototype.objects = $util.emptyArray;
+
+                /**
+                 * Creates a new DrawObjects instance using the specified properties.
+                 * @param {message.support.nubugger.DrawObjects$Properties=} [properties] Properties to set
+                 * @returns {message.support.nubugger.DrawObjects} DrawObjects instance
+                 */
+                DrawObjects.create = function create(properties) {
+                    return new DrawObjects(properties);
+                };
+
+                /**
+                 * Encodes the specified DrawObjects message. Does not implicitly {@link message.support.nubugger.DrawObjects.verify|verify} messages.
+                 * @param {message.support.nubugger.DrawObjects$Properties} message DrawObjects message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                DrawObjects.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.objects != null && message.objects.length)
+                        for (var i = 0; i < message.objects.length; ++i)
+                            $root.message.support.nubugger.DrawObject.encode(message.objects[i], writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified DrawObjects message, length delimited. Does not implicitly {@link message.support.nubugger.DrawObjects.verify|verify} messages.
+                 * @param {message.support.nubugger.DrawObjects$Properties} message DrawObjects message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                DrawObjects.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a DrawObjects message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.support.nubugger.DrawObjects} DrawObjects
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                DrawObjects.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.support.nubugger.DrawObjects();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            if (!(message.objects && message.objects.length))
+                                message.objects = [];
+                            message.objects.push($root.message.support.nubugger.DrawObject.decode(reader, reader.uint32()));
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a DrawObjects message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.support.nubugger.DrawObjects} DrawObjects
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                DrawObjects.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a DrawObjects message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                DrawObjects.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.objects != null && message.hasOwnProperty("objects")) {
+                        if (!Array.isArray(message.objects))
+                            return "objects: array expected";
+                        for (var i = 0; i < message.objects.length; ++i) {
+                            var error = $root.message.support.nubugger.DrawObject.verify(message.objects[i]);
+                            if (error)
+                                return "objects." + error;
+                        }
+                    }
+                    return null;
+                };
+
+                /**
+                 * Creates a DrawObjects message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.nubugger.DrawObjects} DrawObjects
+                 */
+                DrawObjects.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.support.nubugger.DrawObjects)
+                        return object;
+                    var message = new $root.message.support.nubugger.DrawObjects();
+                    if (object.objects) {
+                        if (!Array.isArray(object.objects))
+                            throw TypeError(".message.support.nubugger.DrawObjects.objects: array expected");
+                        message.objects = [];
+                        for (var i = 0; i < object.objects.length; ++i) {
+                            if (typeof object.objects[i] !== "object")
+                                throw TypeError(".message.support.nubugger.DrawObjects.objects: object expected");
+                            message.objects[i] = $root.message.support.nubugger.DrawObject.fromObject(object.objects[i]);
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Creates a DrawObjects message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.support.nubugger.DrawObjects.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.nubugger.DrawObjects} DrawObjects
+                 */
+                DrawObjects.from = DrawObjects.fromObject;
+
+                /**
+                 * Creates a plain object from a DrawObjects message. Also converts values to other types if specified.
+                 * @param {message.support.nubugger.DrawObjects} message DrawObjects
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                DrawObjects.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.arrays || options.defaults)
+                        object.objects = [];
+                    if (message.objects && message.objects.length) {
+                        object.objects = [];
+                        for (var j = 0; j < message.objects.length; ++j)
+                            object.objects[j] = $root.message.support.nubugger.DrawObject.toObject(message.objects[j], options);
+                    }
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this DrawObjects message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                DrawObjects.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this DrawObjects to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                DrawObjects.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return DrawObjects;
+            })();
+
+            nubugger.Overview = (function() {
+
+                /**
+                 * Properties of an Overview.
+                 * @typedef message.support.nubugger.Overview$Properties
+                 * @type {Object}
+                 * @property {string} [roleName] Overview roleName.
+                 * @property {number} [voltage] Overview voltage.
+                 * @property {number} [battery] Overview battery.
+                 * @property {message.behaviour.Behaviour.State} [behaviourState] Overview behaviourState.
+                 * @property {vec2$Properties} [kickTarget] Overview kickTarget.
+                 * @property {vec2$Properties} [robotPosition] Overview robotPosition.
+                 * @property {mat22$Properties} [robotPositionCovariance] Overview robotPositionCovariance.
+                 * @property {vec2$Properties} [robotHeading] Overview robotHeading.
+                 * @property {vec2$Properties} [ballPosition] Overview ballPosition.
+                 * @property {vec2$Properties} [ballWorldPosition] Overview ballWorldPosition.
+                 * @property {message.input.GameState.Data.Mode} [gameMode] Overview gameMode.
+                 * @property {message.input.GameState.Data.Phase} [gamePhase] Overview gamePhase.
+                 * @property {message.input.GameState.Data.PenaltyReason} [penaltyReason] Overview penaltyReason.
+                 * @property {google.protobuf.Timestamp$Properties} [lastCameraImage] Overview lastCameraImage.
+                 * @property {google.protobuf.Timestamp$Properties} [lastSeenBall] Overview lastSeenBall.
+                 * @property {google.protobuf.Timestamp$Properties} [lastSeenGoal] Overview lastSeenGoal.
+                 * @property {google.protobuf.Timestamp$Properties} [lastSeenObstacle] Overview lastSeenObstacle.
+                 * @property {Array.<vec2$Properties>} [pathPlan] Overview pathPlan.
+                 * @property {vec3$Properties} [walkCommand] Overview walkCommand.
+                 */
+
+                /**
+                 * Constructs a new Overview.
+                 * @exports message.support.nubugger.Overview
+                 * @constructor
+                 * @param {message.support.nubugger.Overview$Properties=} [properties] Properties to set
+                 */
+                function Overview(properties) {
+                    this.pathPlan = [];
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * Overview roleName.
+                 * @type {string}
+                 */
+                Overview.prototype.roleName = "";
+
+                /**
+                 * Overview voltage.
+                 * @type {number}
+                 */
+                Overview.prototype.voltage = 0;
+
+                /**
+                 * Overview battery.
+                 * @type {number}
+                 */
+                Overview.prototype.battery = 0;
+
+                /**
+                 * Overview behaviourState.
+                 * @type {message.behaviour.Behaviour.State}
+                 */
+                Overview.prototype.behaviourState = 0;
+
+                /**
+                 * Overview kickTarget.
+                 * @type {(vec2$Properties|null)}
+                 */
+                Overview.prototype.kickTarget = null;
+
+                /**
+                 * Overview robotPosition.
+                 * @type {(vec2$Properties|null)}
+                 */
+                Overview.prototype.robotPosition = null;
+
+                /**
+                 * Overview robotPositionCovariance.
+                 * @type {(mat22$Properties|null)}
+                 */
+                Overview.prototype.robotPositionCovariance = null;
+
+                /**
+                 * Overview robotHeading.
+                 * @type {(vec2$Properties|null)}
+                 */
+                Overview.prototype.robotHeading = null;
+
+                /**
+                 * Overview ballPosition.
+                 * @type {(vec2$Properties|null)}
+                 */
+                Overview.prototype.ballPosition = null;
+
+                /**
+                 * Overview ballWorldPosition.
+                 * @type {(vec2$Properties|null)}
+                 */
+                Overview.prototype.ballWorldPosition = null;
+
+                /**
+                 * Overview gameMode.
+                 * @type {message.input.GameState.Data.Mode}
+                 */
+                Overview.prototype.gameMode = 0;
+
+                /**
+                 * Overview gamePhase.
+                 * @type {message.input.GameState.Data.Phase}
+                 */
+                Overview.prototype.gamePhase = 0;
+
+                /**
+                 * Overview penaltyReason.
+                 * @type {message.input.GameState.Data.PenaltyReason}
+                 */
+                Overview.prototype.penaltyReason = 0;
+
+                /**
+                 * Overview lastCameraImage.
+                 * @type {(google.protobuf.Timestamp$Properties|null)}
+                 */
+                Overview.prototype.lastCameraImage = null;
+
+                /**
+                 * Overview lastSeenBall.
+                 * @type {(google.protobuf.Timestamp$Properties|null)}
+                 */
+                Overview.prototype.lastSeenBall = null;
+
+                /**
+                 * Overview lastSeenGoal.
+                 * @type {(google.protobuf.Timestamp$Properties|null)}
+                 */
+                Overview.prototype.lastSeenGoal = null;
+
+                /**
+                 * Overview lastSeenObstacle.
+                 * @type {(google.protobuf.Timestamp$Properties|null)}
+                 */
+                Overview.prototype.lastSeenObstacle = null;
+
+                /**
+                 * Overview pathPlan.
+                 * @type {Array.<vec2$Properties>}
+                 */
+                Overview.prototype.pathPlan = $util.emptyArray;
+
+                /**
+                 * Overview walkCommand.
+                 * @type {(vec3$Properties|null)}
+                 */
+                Overview.prototype.walkCommand = null;
+
+                /**
+                 * Creates a new Overview instance using the specified properties.
+                 * @param {message.support.nubugger.Overview$Properties=} [properties] Properties to set
+                 * @returns {message.support.nubugger.Overview} Overview instance
+                 */
+                Overview.create = function create(properties) {
+                    return new Overview(properties);
+                };
+
+                /**
+                 * Encodes the specified Overview message. Does not implicitly {@link message.support.nubugger.Overview.verify|verify} messages.
+                 * @param {message.support.nubugger.Overview$Properties} message Overview message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Overview.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.voltage != null && message.hasOwnProperty("voltage"))
+                        writer.uint32(/* id 1, wireType 5 =*/13).float(message.voltage);
+                    if (message.battery != null && message.hasOwnProperty("battery"))
+                        writer.uint32(/* id 2, wireType 5 =*/21).float(message.battery);
+                    if (message.behaviourState != null && message.hasOwnProperty("behaviourState"))
+                        writer.uint32(/* id 3, wireType 0 =*/24).uint32(message.behaviourState);
+                    if (message.robotPosition != null && message.hasOwnProperty("robotPosition"))
+                        $root.vec2.encode(message.robotPosition, writer.uint32(/* id 4, wireType 2 =*/34).fork()).ldelim();
+                    if (message.robotHeading != null && message.hasOwnProperty("robotHeading"))
+                        $root.vec2.encode(message.robotHeading, writer.uint32(/* id 5, wireType 2 =*/42).fork()).ldelim();
+                    if (message.robotPositionCovariance != null && message.hasOwnProperty("robotPositionCovariance"))
+                        $root.mat22.encode(message.robotPositionCovariance, writer.uint32(/* id 6, wireType 2 =*/50).fork()).ldelim();
+                    if (message.gameMode != null && message.hasOwnProperty("gameMode"))
+                        writer.uint32(/* id 7, wireType 0 =*/56).uint32(message.gameMode);
+                    if (message.gamePhase != null && message.hasOwnProperty("gamePhase"))
+                        writer.uint32(/* id 8, wireType 0 =*/64).uint32(message.gamePhase);
+                    if (message.penaltyReason != null && message.hasOwnProperty("penaltyReason"))
+                        writer.uint32(/* id 9, wireType 0 =*/72).uint32(message.penaltyReason);
+                    if (message.lastCameraImage != null && message.hasOwnProperty("lastCameraImage"))
+                        $root.google.protobuf.Timestamp.encode(message.lastCameraImage, writer.uint32(/* id 10, wireType 2 =*/82).fork()).ldelim();
+                    if (message.lastSeenBall != null && message.hasOwnProperty("lastSeenBall"))
+                        $root.google.protobuf.Timestamp.encode(message.lastSeenBall, writer.uint32(/* id 11, wireType 2 =*/90).fork()).ldelim();
+                    if (message.lastSeenGoal != null && message.hasOwnProperty("lastSeenGoal"))
+                        $root.google.protobuf.Timestamp.encode(message.lastSeenGoal, writer.uint32(/* id 12, wireType 2 =*/98).fork()).ldelim();
+                    if (message.ballPosition != null && message.hasOwnProperty("ballPosition"))
+                        $root.vec2.encode(message.ballPosition, writer.uint32(/* id 13, wireType 2 =*/106).fork()).ldelim();
+                    if (message.ballWorldPosition != null && message.hasOwnProperty("ballWorldPosition"))
+                        $root.vec2.encode(message.ballWorldPosition, writer.uint32(/* id 14, wireType 2 =*/114).fork()).ldelim();
+                    if (message.roleName != null && message.hasOwnProperty("roleName"))
+                        writer.uint32(/* id 15, wireType 2 =*/122).string(message.roleName);
+                    if (message.pathPlan != null && message.pathPlan.length)
+                        for (var i = 0; i < message.pathPlan.length; ++i)
+                            $root.vec2.encode(message.pathPlan[i], writer.uint32(/* id 16, wireType 2 =*/130).fork()).ldelim();
+                    if (message.kickTarget != null && message.hasOwnProperty("kickTarget"))
+                        $root.vec2.encode(message.kickTarget, writer.uint32(/* id 17, wireType 2 =*/138).fork()).ldelim();
+                    if (message.walkCommand != null && message.hasOwnProperty("walkCommand"))
+                        $root.vec3.encode(message.walkCommand, writer.uint32(/* id 18, wireType 2 =*/146).fork()).ldelim();
+                    if (message.lastSeenObstacle != null && message.hasOwnProperty("lastSeenObstacle"))
+                        $root.google.protobuf.Timestamp.encode(message.lastSeenObstacle, writer.uint32(/* id 19, wireType 2 =*/154).fork()).ldelim();
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified Overview message, length delimited. Does not implicitly {@link message.support.nubugger.Overview.verify|verify} messages.
+                 * @param {message.support.nubugger.Overview$Properties} message Overview message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Overview.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes an Overview message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.support.nubugger.Overview} Overview
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Overview.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.support.nubugger.Overview();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 15:
+                            message.roleName = reader.string();
+                            break;
+                        case 1:
+                            message.voltage = reader.float();
+                            break;
+                        case 2:
+                            message.battery = reader.float();
+                            break;
+                        case 3:
+                            message.behaviourState = reader.uint32();
+                            break;
+                        case 17:
+                            message.kickTarget = $root.vec2.decode(reader, reader.uint32());
+                            break;
+                        case 4:
+                            message.robotPosition = $root.vec2.decode(reader, reader.uint32());
+                            break;
+                        case 6:
+                            message.robotPositionCovariance = $root.mat22.decode(reader, reader.uint32());
+                            break;
+                        case 5:
+                            message.robotHeading = $root.vec2.decode(reader, reader.uint32());
+                            break;
+                        case 13:
+                            message.ballPosition = $root.vec2.decode(reader, reader.uint32());
+                            break;
+                        case 14:
+                            message.ballWorldPosition = $root.vec2.decode(reader, reader.uint32());
+                            break;
+                        case 7:
+                            message.gameMode = reader.uint32();
+                            break;
+                        case 8:
+                            message.gamePhase = reader.uint32();
+                            break;
+                        case 9:
+                            message.penaltyReason = reader.uint32();
+                            break;
+                        case 10:
+                            message.lastCameraImage = $root.google.protobuf.Timestamp.decode(reader, reader.uint32());
+                            break;
+                        case 11:
+                            message.lastSeenBall = $root.google.protobuf.Timestamp.decode(reader, reader.uint32());
+                            break;
+                        case 12:
+                            message.lastSeenGoal = $root.google.protobuf.Timestamp.decode(reader, reader.uint32());
+                            break;
+                        case 19:
+                            message.lastSeenObstacle = $root.google.protobuf.Timestamp.decode(reader, reader.uint32());
+                            break;
+                        case 16:
+                            if (!(message.pathPlan && message.pathPlan.length))
+                                message.pathPlan = [];
+                            message.pathPlan.push($root.vec2.decode(reader, reader.uint32()));
+                            break;
+                        case 18:
+                            message.walkCommand = $root.vec3.decode(reader, reader.uint32());
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes an Overview message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.support.nubugger.Overview} Overview
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Overview.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies an Overview message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                Overview.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.roleName != null && message.hasOwnProperty("roleName"))
+                        if (!$util.isString(message.roleName))
+                            return "roleName: string expected";
+                    if (message.voltage != null && message.hasOwnProperty("voltage"))
+                        if (typeof message.voltage !== "number")
+                            return "voltage: number expected";
+                    if (message.battery != null && message.hasOwnProperty("battery"))
+                        if (typeof message.battery !== "number")
+                            return "battery: number expected";
+                    if (message.behaviourState != null && message.hasOwnProperty("behaviourState"))
+                        switch (message.behaviourState) {
+                        default:
+                            return "behaviourState: enum value expected";
+                        case 0:
+                        case 1:
+                        case 2:
+                        case 3:
+                        case 4:
+                        case 5:
+                        case 6:
+                        case 7:
+                        case 8:
+                        case 9:
+                        case 10:
+                        case 11:
+                        case 12:
+                        case 13:
+                        case 14:
+                            break;
+                        }
+                    if (message.kickTarget != null && message.hasOwnProperty("kickTarget")) {
+                        var error = $root.vec2.verify(message.kickTarget);
+                        if (error)
+                            return "kickTarget." + error;
+                    }
+                    if (message.robotPosition != null && message.hasOwnProperty("robotPosition")) {
+                        var error = $root.vec2.verify(message.robotPosition);
+                        if (error)
+                            return "robotPosition." + error;
+                    }
+                    if (message.robotPositionCovariance != null && message.hasOwnProperty("robotPositionCovariance")) {
+                        var error = $root.mat22.verify(message.robotPositionCovariance);
+                        if (error)
+                            return "robotPositionCovariance." + error;
+                    }
+                    if (message.robotHeading != null && message.hasOwnProperty("robotHeading")) {
+                        var error = $root.vec2.verify(message.robotHeading);
+                        if (error)
+                            return "robotHeading." + error;
+                    }
+                    if (message.ballPosition != null && message.hasOwnProperty("ballPosition")) {
+                        var error = $root.vec2.verify(message.ballPosition);
+                        if (error)
+                            return "ballPosition." + error;
+                    }
+                    if (message.ballWorldPosition != null && message.hasOwnProperty("ballWorldPosition")) {
+                        var error = $root.vec2.verify(message.ballWorldPosition);
+                        if (error)
+                            return "ballWorldPosition." + error;
+                    }
+                    if (message.gameMode != null && message.hasOwnProperty("gameMode"))
+                        switch (message.gameMode) {
+                        default:
+                            return "gameMode: enum value expected";
+                        case 0:
+                        case 1:
+                        case 2:
+                        case 3:
+                            break;
+                        }
+                    if (message.gamePhase != null && message.hasOwnProperty("gamePhase"))
+                        switch (message.gamePhase) {
+                        default:
+                            return "gamePhase: enum value expected";
+                        case 0:
+                        case 1:
+                        case 2:
+                        case 3:
+                        case 4:
+                        case 5:
+                        case 6:
+                            break;
+                        }
+                    if (message.penaltyReason != null && message.hasOwnProperty("penaltyReason"))
+                        switch (message.penaltyReason) {
+                        default:
+                            return "penaltyReason: enum value expected";
+                        case 0:
+                        case 1:
+                        case 2:
+                        case 3:
+                        case 4:
+                        case 5:
+                        case 6:
+                        case 7:
+                        case 8:
+                        case 9:
+                        case 10:
+                            break;
+                        }
+                    if (message.lastCameraImage != null && message.hasOwnProperty("lastCameraImage")) {
+                        var error = $root.google.protobuf.Timestamp.verify(message.lastCameraImage);
+                        if (error)
+                            return "lastCameraImage." + error;
+                    }
+                    if (message.lastSeenBall != null && message.hasOwnProperty("lastSeenBall")) {
+                        var error = $root.google.protobuf.Timestamp.verify(message.lastSeenBall);
+                        if (error)
+                            return "lastSeenBall." + error;
+                    }
+                    if (message.lastSeenGoal != null && message.hasOwnProperty("lastSeenGoal")) {
+                        var error = $root.google.protobuf.Timestamp.verify(message.lastSeenGoal);
+                        if (error)
+                            return "lastSeenGoal." + error;
+                    }
+                    if (message.lastSeenObstacle != null && message.hasOwnProperty("lastSeenObstacle")) {
+                        var error = $root.google.protobuf.Timestamp.verify(message.lastSeenObstacle);
+                        if (error)
+                            return "lastSeenObstacle." + error;
+                    }
+                    if (message.pathPlan != null && message.hasOwnProperty("pathPlan")) {
+                        if (!Array.isArray(message.pathPlan))
+                            return "pathPlan: array expected";
+                        for (var i = 0; i < message.pathPlan.length; ++i) {
+                            var error = $root.vec2.verify(message.pathPlan[i]);
+                            if (error)
+                                return "pathPlan." + error;
+                        }
+                    }
+                    if (message.walkCommand != null && message.hasOwnProperty("walkCommand")) {
+                        var error = $root.vec3.verify(message.walkCommand);
+                        if (error)
+                            return "walkCommand." + error;
+                    }
+                    return null;
+                };
+
+                /**
+                 * Creates an Overview message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.nubugger.Overview} Overview
+                 */
+                Overview.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.support.nubugger.Overview)
+                        return object;
+                    var message = new $root.message.support.nubugger.Overview();
+                    if (object.roleName != null)
+                        message.roleName = String(object.roleName);
+                    if (object.voltage != null)
+                        message.voltage = Number(object.voltage);
+                    if (object.battery != null)
+                        message.battery = Number(object.battery);
+                    switch (object.behaviourState) {
+                    case "UNKNOWN":
+                    case 0:
+                        message.behaviourState = 0;
+                        break;
+                    case "INIT":
+                    case 1:
+                        message.behaviourState = 1;
+                        break;
+                    case "SEARCH_FOR_BALL":
+                    case 2:
+                        message.behaviourState = 2;
+                        break;
+                    case "SEARCH_FOR_GOALS":
+                    case 3:
+                        message.behaviourState = 3;
+                        break;
+                    case "WALK_TO_BALL":
+                    case 4:
+                        message.behaviourState = 4;
+                        break;
+                    case "PICKED_UP":
+                    case 5:
+                        message.behaviourState = 5;
+                        break;
+                    case "INITIAL":
+                    case 6:
+                        message.behaviourState = 6;
+                        break;
+                    case "READY":
+                    case 7:
+                        message.behaviourState = 7;
+                        break;
+                    case "SET":
+                    case 8:
+                        message.behaviourState = 8;
+                        break;
+                    case "TIMEOUT":
+                    case 9:
+                        message.behaviourState = 9;
+                        break;
+                    case "FINISHED":
+                    case 10:
+                        message.behaviourState = 10;
+                        break;
+                    case "PENALISED":
+                    case 11:
+                        message.behaviourState = 11;
+                        break;
+                    case "GOALIE_WALK":
+                    case 12:
+                        message.behaviourState = 12;
+                        break;
+                    case "MOVE_TO_CENTRE":
+                    case 13:
+                        message.behaviourState = 13;
+                        break;
+                    case "LOCALISING":
+                    case 14:
+                        message.behaviourState = 14;
+                        break;
+                    }
+                    if (object.kickTarget != null) {
+                        if (typeof object.kickTarget !== "object")
+                            throw TypeError(".message.support.nubugger.Overview.kickTarget: object expected");
+                        message.kickTarget = $root.vec2.fromObject(object.kickTarget);
+                    }
+                    if (object.robotPosition != null) {
+                        if (typeof object.robotPosition !== "object")
+                            throw TypeError(".message.support.nubugger.Overview.robotPosition: object expected");
+                        message.robotPosition = $root.vec2.fromObject(object.robotPosition);
+                    }
+                    if (object.robotPositionCovariance != null) {
+                        if (typeof object.robotPositionCovariance !== "object")
+                            throw TypeError(".message.support.nubugger.Overview.robotPositionCovariance: object expected");
+                        message.robotPositionCovariance = $root.mat22.fromObject(object.robotPositionCovariance);
+                    }
+                    if (object.robotHeading != null) {
+                        if (typeof object.robotHeading !== "object")
+                            throw TypeError(".message.support.nubugger.Overview.robotHeading: object expected");
+                        message.robotHeading = $root.vec2.fromObject(object.robotHeading);
+                    }
+                    if (object.ballPosition != null) {
+                        if (typeof object.ballPosition !== "object")
+                            throw TypeError(".message.support.nubugger.Overview.ballPosition: object expected");
+                        message.ballPosition = $root.vec2.fromObject(object.ballPosition);
+                    }
+                    if (object.ballWorldPosition != null) {
+                        if (typeof object.ballWorldPosition !== "object")
+                            throw TypeError(".message.support.nubugger.Overview.ballWorldPosition: object expected");
+                        message.ballWorldPosition = $root.vec2.fromObject(object.ballWorldPosition);
+                    }
+                    switch (object.gameMode) {
+                    case "UNKNOWN_MODE":
+                    case 0:
+                        message.gameMode = 0;
+                        break;
+                    case "NORMAL":
+                    case 1:
+                        message.gameMode = 1;
+                        break;
+                    case "PENALTY_SHOOTOUT":
+                    case 2:
+                        message.gameMode = 2;
+                        break;
+                    case "OVERTIME":
+                    case 3:
+                        message.gameMode = 3;
+                        break;
+                    }
+                    switch (object.gamePhase) {
+                    case "UNKNOWN_PHASE":
+                    case 0:
+                        message.gamePhase = 0;
+                        break;
+                    case "INITIAL":
+                    case 1:
+                        message.gamePhase = 1;
+                        break;
+                    case "READY":
+                    case 2:
+                        message.gamePhase = 2;
+                        break;
+                    case "SET":
+                    case 3:
+                        message.gamePhase = 3;
+                        break;
+                    case "PLAYING":
+                    case 4:
+                        message.gamePhase = 4;
+                        break;
+                    case "TIMEOUT":
+                    case 5:
+                        message.gamePhase = 5;
+                        break;
+                    case "FINISHED":
+                    case 6:
+                        message.gamePhase = 6;
+                        break;
+                    }
+                    switch (object.penaltyReason) {
+                    case "UNKNOWN_PENALTY_REASON":
+                    case 0:
+                        message.penaltyReason = 0;
+                        break;
+                    case "UNPENALISED":
+                    case 1:
+                        message.penaltyReason = 1;
+                        break;
+                    case "BALL_MANIPULATION":
+                    case 2:
+                        message.penaltyReason = 2;
+                        break;
+                    case "PHYSICAL_CONTACT":
+                    case 3:
+                        message.penaltyReason = 3;
+                        break;
+                    case "ILLEGAL_ATTACK":
+                    case 4:
+                        message.penaltyReason = 4;
+                        break;
+                    case "ILLEGAL_DEFENSE":
+                    case 5:
+                        message.penaltyReason = 5;
+                        break;
+                    case "REQUEST_FOR_PICKUP":
+                    case 6:
+                        message.penaltyReason = 6;
+                        break;
+                    case "REQUEST_FOR_SERVICE":
+                    case 7:
+                        message.penaltyReason = 7;
+                        break;
+                    case "REQUEST_FOR_PICKUP_TO_SERVICE":
+                    case 8:
+                        message.penaltyReason = 8;
+                        break;
+                    case "SUBSTITUTE":
+                    case 9:
+                        message.penaltyReason = 9;
+                        break;
+                    case "MANUAL":
+                    case 10:
+                        message.penaltyReason = 10;
+                        break;
+                    }
+                    if (object.lastCameraImage != null) {
+                        if (typeof object.lastCameraImage !== "object")
+                            throw TypeError(".message.support.nubugger.Overview.lastCameraImage: object expected");
+                        message.lastCameraImage = $root.google.protobuf.Timestamp.fromObject(object.lastCameraImage);
+                    }
+                    if (object.lastSeenBall != null) {
+                        if (typeof object.lastSeenBall !== "object")
+                            throw TypeError(".message.support.nubugger.Overview.lastSeenBall: object expected");
+                        message.lastSeenBall = $root.google.protobuf.Timestamp.fromObject(object.lastSeenBall);
+                    }
+                    if (object.lastSeenGoal != null) {
+                        if (typeof object.lastSeenGoal !== "object")
+                            throw TypeError(".message.support.nubugger.Overview.lastSeenGoal: object expected");
+                        message.lastSeenGoal = $root.google.protobuf.Timestamp.fromObject(object.lastSeenGoal);
+                    }
+                    if (object.lastSeenObstacle != null) {
+                        if (typeof object.lastSeenObstacle !== "object")
+                            throw TypeError(".message.support.nubugger.Overview.lastSeenObstacle: object expected");
+                        message.lastSeenObstacle = $root.google.protobuf.Timestamp.fromObject(object.lastSeenObstacle);
+                    }
+                    if (object.pathPlan) {
+                        if (!Array.isArray(object.pathPlan))
+                            throw TypeError(".message.support.nubugger.Overview.pathPlan: array expected");
+                        message.pathPlan = [];
+                        for (var i = 0; i < object.pathPlan.length; ++i) {
+                            if (typeof object.pathPlan[i] !== "object")
+                                throw TypeError(".message.support.nubugger.Overview.pathPlan: object expected");
+                            message.pathPlan[i] = $root.vec2.fromObject(object.pathPlan[i]);
+                        }
+                    }
+                    if (object.walkCommand != null) {
+                        if (typeof object.walkCommand !== "object")
+                            throw TypeError(".message.support.nubugger.Overview.walkCommand: object expected");
+                        message.walkCommand = $root.vec3.fromObject(object.walkCommand);
+                    }
+                    return message;
+                };
+
+                /**
+                 * Creates an Overview message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.support.nubugger.Overview.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.nubugger.Overview} Overview
+                 */
+                Overview.from = Overview.fromObject;
+
+                /**
+                 * Creates a plain object from an Overview message. Also converts values to other types if specified.
+                 * @param {message.support.nubugger.Overview} message Overview
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Overview.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.arrays || options.defaults)
+                        object.pathPlan = [];
+                    if (options.defaults) {
+                        object.voltage = 0;
+                        object.battery = 0;
+                        object.behaviourState = options.enums === String ? "UNKNOWN" : 0;
+                        object.robotPosition = null;
+                        object.robotHeading = null;
+                        object.robotPositionCovariance = null;
+                        object.gameMode = options.enums === String ? "UNKNOWN_MODE" : 0;
+                        object.gamePhase = options.enums === String ? "UNKNOWN_PHASE" : 0;
+                        object.penaltyReason = options.enums === String ? "UNKNOWN_PENALTY_REASON" : 0;
+                        object.lastCameraImage = null;
+                        object.lastSeenBall = null;
+                        object.lastSeenGoal = null;
+                        object.ballPosition = null;
+                        object.ballWorldPosition = null;
+                        object.roleName = "";
+                        object.kickTarget = null;
+                        object.walkCommand = null;
+                        object.lastSeenObstacle = null;
+                    }
+                    if (message.voltage != null && message.hasOwnProperty("voltage"))
+                        object.voltage = message.voltage;
+                    if (message.battery != null && message.hasOwnProperty("battery"))
+                        object.battery = message.battery;
+                    if (message.behaviourState != null && message.hasOwnProperty("behaviourState"))
+                        object.behaviourState = options.enums === String ? $root.message.behaviour.Behaviour.State[message.behaviourState] : message.behaviourState;
+                    if (message.robotPosition != null && message.hasOwnProperty("robotPosition"))
+                        object.robotPosition = $root.vec2.toObject(message.robotPosition, options);
+                    if (message.robotHeading != null && message.hasOwnProperty("robotHeading"))
+                        object.robotHeading = $root.vec2.toObject(message.robotHeading, options);
+                    if (message.robotPositionCovariance != null && message.hasOwnProperty("robotPositionCovariance"))
+                        object.robotPositionCovariance = $root.mat22.toObject(message.robotPositionCovariance, options);
+                    if (message.gameMode != null && message.hasOwnProperty("gameMode"))
+                        object.gameMode = options.enums === String ? $root.message.input.GameState.Data.Mode[message.gameMode] : message.gameMode;
+                    if (message.gamePhase != null && message.hasOwnProperty("gamePhase"))
+                        object.gamePhase = options.enums === String ? $root.message.input.GameState.Data.Phase[message.gamePhase] : message.gamePhase;
+                    if (message.penaltyReason != null && message.hasOwnProperty("penaltyReason"))
+                        object.penaltyReason = options.enums === String ? $root.message.input.GameState.Data.PenaltyReason[message.penaltyReason] : message.penaltyReason;
+                    if (message.lastCameraImage != null && message.hasOwnProperty("lastCameraImage"))
+                        object.lastCameraImage = $root.google.protobuf.Timestamp.toObject(message.lastCameraImage, options);
+                    if (message.lastSeenBall != null && message.hasOwnProperty("lastSeenBall"))
+                        object.lastSeenBall = $root.google.protobuf.Timestamp.toObject(message.lastSeenBall, options);
+                    if (message.lastSeenGoal != null && message.hasOwnProperty("lastSeenGoal"))
+                        object.lastSeenGoal = $root.google.protobuf.Timestamp.toObject(message.lastSeenGoal, options);
+                    if (message.ballPosition != null && message.hasOwnProperty("ballPosition"))
+                        object.ballPosition = $root.vec2.toObject(message.ballPosition, options);
+                    if (message.ballWorldPosition != null && message.hasOwnProperty("ballWorldPosition"))
+                        object.ballWorldPosition = $root.vec2.toObject(message.ballWorldPosition, options);
+                    if (message.roleName != null && message.hasOwnProperty("roleName"))
+                        object.roleName = message.roleName;
+                    if (message.pathPlan && message.pathPlan.length) {
+                        object.pathPlan = [];
+                        for (var j = 0; j < message.pathPlan.length; ++j)
+                            object.pathPlan[j] = $root.vec2.toObject(message.pathPlan[j], options);
+                    }
+                    if (message.kickTarget != null && message.hasOwnProperty("kickTarget"))
+                        object.kickTarget = $root.vec2.toObject(message.kickTarget, options);
+                    if (message.walkCommand != null && message.hasOwnProperty("walkCommand"))
+                        object.walkCommand = $root.vec3.toObject(message.walkCommand, options);
+                    if (message.lastSeenObstacle != null && message.hasOwnProperty("lastSeenObstacle"))
+                        object.lastSeenObstacle = $root.google.protobuf.Timestamp.toObject(message.lastSeenObstacle, options);
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this Overview message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Overview.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this Overview to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                Overview.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return Overview;
+            })();
+
+            nubugger.Ping = (function() {
+
+                /**
+                 * Properties of a Ping.
+                 * @typedef message.support.nubugger.Ping$Properties
+                 * @type {Object}
+                 * @property {number|Long} [time] Ping time.
+                 */
+
+                /**
+                 * Constructs a new Ping.
+                 * @exports message.support.nubugger.Ping
+                 * @constructor
+                 * @param {message.support.nubugger.Ping$Properties=} [properties] Properties to set
+                 */
+                function Ping(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * Ping time.
+                 * @type {number|Long}
+                 */
+                Ping.prototype.time = $util.Long ? $util.Long.fromBits(0,0,true) : 0;
+
+                /**
+                 * Creates a new Ping instance using the specified properties.
+                 * @param {message.support.nubugger.Ping$Properties=} [properties] Properties to set
+                 * @returns {message.support.nubugger.Ping} Ping instance
+                 */
+                Ping.create = function create(properties) {
+                    return new Ping(properties);
+                };
+
+                /**
+                 * Encodes the specified Ping message. Does not implicitly {@link message.support.nubugger.Ping.verify|verify} messages.
+                 * @param {message.support.nubugger.Ping$Properties} message Ping message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Ping.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.time != null && message.hasOwnProperty("time"))
+                        writer.uint32(/* id 1, wireType 0 =*/8).uint64(message.time);
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified Ping message, length delimited. Does not implicitly {@link message.support.nubugger.Ping.verify|verify} messages.
+                 * @param {message.support.nubugger.Ping$Properties} message Ping message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Ping.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a Ping message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.support.nubugger.Ping} Ping
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Ping.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.support.nubugger.Ping();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.time = reader.uint64();
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a Ping message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.support.nubugger.Ping} Ping
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Ping.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a Ping message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                Ping.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.time != null && message.hasOwnProperty("time"))
+                        if (!$util.isInteger(message.time) && !(message.time && $util.isInteger(message.time.low) && $util.isInteger(message.time.high)))
+                            return "time: integer|Long expected";
+                    return null;
+                };
+
+                /**
+                 * Creates a Ping message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.nubugger.Ping} Ping
+                 */
+                Ping.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.support.nubugger.Ping)
+                        return object;
+                    var message = new $root.message.support.nubugger.Ping();
+                    if (object.time != null)
+                        if ($util.Long)
+                            (message.time = $util.Long.fromValue(object.time)).unsigned = true;
+                        else if (typeof object.time === "string")
+                            message.time = parseInt(object.time, 10);
+                        else if (typeof object.time === "number")
+                            message.time = object.time;
+                        else if (typeof object.time === "object")
+                            message.time = new $util.LongBits(object.time.low >>> 0, object.time.high >>> 0).toNumber(true);
+                    return message;
+                };
+
+                /**
+                 * Creates a Ping message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.support.nubugger.Ping.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.nubugger.Ping} Ping
+                 */
+                Ping.from = Ping.fromObject;
+
+                /**
+                 * Creates a plain object from a Ping message. Also converts values to other types if specified.
+                 * @param {message.support.nubugger.Ping} message Ping
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Ping.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.defaults)
+                        if ($util.Long) {
+                            var long = new $util.Long(0, 0, true);
+                            object.time = options.longs === String ? long.toString() : options.longs === Number ? long.toNumber() : long;
+                        } else
+                            object.time = options.longs === String ? "0" : 0;
+                    if (message.time != null && message.hasOwnProperty("time"))
+                        if (typeof message.time === "number")
+                            object.time = options.longs === String ? String(message.time) : message.time;
+                        else
+                            object.time = options.longs === String ? $util.Long.prototype.toString.call(message.time) : options.longs === Number ? new $util.LongBits(message.time.low >>> 0, message.time.high >>> 0).toNumber(true) : message.time;
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this Ping message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Ping.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this Ping to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                Ping.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return Ping;
+            })();
+
+            nubugger.ReactionHandles = (function() {
+
+                /**
+                 * Properties of a ReactionHandles.
+                 * @typedef message.support.nubugger.ReactionHandles$Properties
+                 * @type {Object}
+                 * @property {Array.<message.support.nubugger.ReactionHandles.Handle$Properties>} [handles] ReactionHandles handles.
+                 */
+
+                /**
+                 * Constructs a new ReactionHandles.
+                 * @exports message.support.nubugger.ReactionHandles
+                 * @constructor
+                 * @param {message.support.nubugger.ReactionHandles$Properties=} [properties] Properties to set
+                 */
+                function ReactionHandles(properties) {
+                    this.handles = [];
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * ReactionHandles handles.
+                 * @type {Array.<message.support.nubugger.ReactionHandles.Handle$Properties>}
+                 */
+                ReactionHandles.prototype.handles = $util.emptyArray;
+
+                /**
+                 * Creates a new ReactionHandles instance using the specified properties.
+                 * @param {message.support.nubugger.ReactionHandles$Properties=} [properties] Properties to set
+                 * @returns {message.support.nubugger.ReactionHandles} ReactionHandles instance
+                 */
+                ReactionHandles.create = function create(properties) {
+                    return new ReactionHandles(properties);
+                };
+
+                /**
+                 * Encodes the specified ReactionHandles message. Does not implicitly {@link message.support.nubugger.ReactionHandles.verify|verify} messages.
+                 * @param {message.support.nubugger.ReactionHandles$Properties} message ReactionHandles message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                ReactionHandles.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.handles != null && message.handles.length)
+                        for (var i = 0; i < message.handles.length; ++i)
+                            $root.message.support.nubugger.ReactionHandles.Handle.encode(message.handles[i], writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified ReactionHandles message, length delimited. Does not implicitly {@link message.support.nubugger.ReactionHandles.verify|verify} messages.
+                 * @param {message.support.nubugger.ReactionHandles$Properties} message ReactionHandles message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                ReactionHandles.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a ReactionHandles message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.support.nubugger.ReactionHandles} ReactionHandles
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                ReactionHandles.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.support.nubugger.ReactionHandles();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            if (!(message.handles && message.handles.length))
+                                message.handles = [];
+                            message.handles.push($root.message.support.nubugger.ReactionHandles.Handle.decode(reader, reader.uint32()));
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a ReactionHandles message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.support.nubugger.ReactionHandles} ReactionHandles
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                ReactionHandles.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a ReactionHandles message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                ReactionHandles.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.handles != null && message.hasOwnProperty("handles")) {
+                        if (!Array.isArray(message.handles))
+                            return "handles: array expected";
+                        for (var i = 0; i < message.handles.length; ++i) {
+                            var error = $root.message.support.nubugger.ReactionHandles.Handle.verify(message.handles[i]);
+                            if (error)
+                                return "handles." + error;
+                        }
+                    }
+                    return null;
+                };
+
+                /**
+                 * Creates a ReactionHandles message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.nubugger.ReactionHandles} ReactionHandles
+                 */
+                ReactionHandles.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.support.nubugger.ReactionHandles)
+                        return object;
+                    var message = new $root.message.support.nubugger.ReactionHandles();
+                    if (object.handles) {
+                        if (!Array.isArray(object.handles))
+                            throw TypeError(".message.support.nubugger.ReactionHandles.handles: array expected");
+                        message.handles = [];
+                        for (var i = 0; i < object.handles.length; ++i) {
+                            if (typeof object.handles[i] !== "object")
+                                throw TypeError(".message.support.nubugger.ReactionHandles.handles: object expected");
+                            message.handles[i] = $root.message.support.nubugger.ReactionHandles.Handle.fromObject(object.handles[i]);
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Creates a ReactionHandles message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.support.nubugger.ReactionHandles.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.nubugger.ReactionHandles} ReactionHandles
+                 */
+                ReactionHandles.from = ReactionHandles.fromObject;
+
+                /**
+                 * Creates a plain object from a ReactionHandles message. Also converts values to other types if specified.
+                 * @param {message.support.nubugger.ReactionHandles} message ReactionHandles
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                ReactionHandles.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.arrays || options.defaults)
+                        object.handles = [];
+                    if (message.handles && message.handles.length) {
+                        object.handles = [];
+                        for (var j = 0; j < message.handles.length; ++j)
+                            object.handles[j] = $root.message.support.nubugger.ReactionHandles.Handle.toObject(message.handles[j], options);
+                    }
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this ReactionHandles message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                ReactionHandles.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this ReactionHandles to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                ReactionHandles.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                ReactionHandles.Handle = (function() {
+
+                    /**
+                     * Properties of a Handle.
+                     * @typedef message.support.nubugger.ReactionHandles.Handle$Properties
+                     * @type {Object}
+                     * @property {string} [type] Handle type.
+                     * @property {boolean} [enabled] Handle enabled.
+                     */
+
+                    /**
+                     * Constructs a new Handle.
+                     * @exports message.support.nubugger.ReactionHandles.Handle
+                     * @constructor
+                     * @param {message.support.nubugger.ReactionHandles.Handle$Properties=} [properties] Properties to set
+                     */
+                    function Handle(properties) {
+                        if (properties)
+                            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                                if (properties[keys[i]] != null)
+                                    this[keys[i]] = properties[keys[i]];
+                    }
+
+                    /**
+                     * Handle type.
+                     * @type {string}
+                     */
+                    Handle.prototype.type = "";
+
+                    /**
+                     * Handle enabled.
+                     * @type {boolean}
+                     */
+                    Handle.prototype.enabled = false;
+
+                    /**
+                     * Creates a new Handle instance using the specified properties.
+                     * @param {message.support.nubugger.ReactionHandles.Handle$Properties=} [properties] Properties to set
+                     * @returns {message.support.nubugger.ReactionHandles.Handle} Handle instance
+                     */
+                    Handle.create = function create(properties) {
+                        return new Handle(properties);
+                    };
+
+                    /**
+                     * Encodes the specified Handle message. Does not implicitly {@link message.support.nubugger.ReactionHandles.Handle.verify|verify} messages.
+                     * @param {message.support.nubugger.ReactionHandles.Handle$Properties} message Handle message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    Handle.encode = function encode(message, writer) {
+                        if (!writer)
+                            writer = $Writer.create();
+                        if (message.type != null && message.hasOwnProperty("type"))
+                            writer.uint32(/* id 1, wireType 2 =*/10).string(message.type);
+                        if (message.enabled != null && message.hasOwnProperty("enabled"))
+                            writer.uint32(/* id 2, wireType 0 =*/16).bool(message.enabled);
+                        return writer;
+                    };
+
+                    /**
+                     * Encodes the specified Handle message, length delimited. Does not implicitly {@link message.support.nubugger.ReactionHandles.Handle.verify|verify} messages.
+                     * @param {message.support.nubugger.ReactionHandles.Handle$Properties} message Handle message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    Handle.encodeDelimited = function encodeDelimited(message, writer) {
+                        return this.encode(message, writer).ldelim();
+                    };
+
+                    /**
+                     * Decodes a Handle message from the specified reader or buffer.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @param {number} [length] Message length if known beforehand
+                     * @returns {message.support.nubugger.ReactionHandles.Handle} Handle
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    Handle.decode = function decode(reader, length) {
+                        if (!(reader instanceof $Reader))
+                            reader = $Reader.create(reader);
+                        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.support.nubugger.ReactionHandles.Handle();
+                        while (reader.pos < end) {
+                            var tag = reader.uint32();
+                            switch (tag >>> 3) {
+                            case 1:
+                                message.type = reader.string();
+                                break;
+                            case 2:
+                                message.enabled = reader.bool();
+                                break;
+                            default:
+                                reader.skipType(tag & 7);
+                                break;
+                            }
+                        }
+                        return message;
+                    };
+
+                    /**
+                     * Decodes a Handle message from the specified reader or buffer, length delimited.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @returns {message.support.nubugger.ReactionHandles.Handle} Handle
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    Handle.decodeDelimited = function decodeDelimited(reader) {
+                        if (!(reader instanceof $Reader))
+                            reader = $Reader(reader);
+                        return this.decode(reader, reader.uint32());
+                    };
+
+                    /**
+                     * Verifies a Handle message.
+                     * @param {Object.<string,*>} message Plain object to verify
+                     * @returns {?string} `null` if valid, otherwise the reason why it is not
+                     */
+                    Handle.verify = function verify(message) {
+                        if (typeof message !== "object" || message === null)
+                            return "object expected";
+                        if (message.type != null && message.hasOwnProperty("type"))
+                            if (!$util.isString(message.type))
+                                return "type: string expected";
+                        if (message.enabled != null && message.hasOwnProperty("enabled"))
+                            if (typeof message.enabled !== "boolean")
+                                return "enabled: boolean expected";
+                        return null;
+                    };
+
+                    /**
+                     * Creates a Handle message from a plain object. Also converts values to their respective internal types.
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.support.nubugger.ReactionHandles.Handle} Handle
+                     */
+                    Handle.fromObject = function fromObject(object) {
+                        if (object instanceof $root.message.support.nubugger.ReactionHandles.Handle)
+                            return object;
+                        var message = new $root.message.support.nubugger.ReactionHandles.Handle();
+                        if (object.type != null)
+                            message.type = String(object.type);
+                        if (object.enabled != null)
+                            message.enabled = Boolean(object.enabled);
+                        return message;
+                    };
+
+                    /**
+                     * Creates a Handle message from a plain object. Also converts values to their respective internal types.
+                     * This is an alias of {@link message.support.nubugger.ReactionHandles.Handle.fromObject}.
+                     * @function
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.support.nubugger.ReactionHandles.Handle} Handle
+                     */
+                    Handle.from = Handle.fromObject;
+
+                    /**
+                     * Creates a plain object from a Handle message. Also converts values to other types if specified.
+                     * @param {message.support.nubugger.ReactionHandles.Handle} message Handle
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    Handle.toObject = function toObject(message, options) {
+                        if (!options)
+                            options = {};
+                        var object = {};
+                        if (options.defaults) {
+                            object.type = "";
+                            object.enabled = false;
+                        }
+                        if (message.type != null && message.hasOwnProperty("type"))
+                            object.type = message.type;
+                        if (message.enabled != null && message.hasOwnProperty("enabled"))
+                            object.enabled = message.enabled;
+                        return object;
+                    };
+
+                    /**
+                     * Creates a plain object from this Handle message. Also converts values to other types if specified.
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    Handle.prototype.toObject = function toObject(options) {
+                        return this.constructor.toObject(this, options);
+                    };
+
+                    /**
+                     * Converts this Handle to JSON.
+                     * @returns {Object.<string,*>} JSON object
+                     */
+                    Handle.prototype.toJSON = function toJSON() {
+                        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                    };
+
+                    return Handle;
+                })();
+
+                return ReactionHandles;
+            })();
+
+            return nubugger;
+        })();
+
+        support.nuclear = (function() {
+
+            /**
+             * Namespace nuclear.
+             * @exports message.support.nuclear
+             * @namespace
+             */
+            var nuclear = {};
+
+            nuclear.ReactionStatistics = (function() {
+
+                /**
+                 * Properties of a ReactionStatistics.
+                 * @typedef message.support.nuclear.ReactionStatistics$Properties
+                 * @type {Object}
+                 * @property {string} [name] ReactionStatistics name.
+                 * @property {string} [triggerName] ReactionStatistics triggerName.
+                 * @property {string} [functionName] ReactionStatistics functionName.
+                 * @property {number|Long} [reactionId] ReactionStatistics reactionId.
+                 * @property {number|Long} [taskId] ReactionStatistics taskId.
+                 * @property {number|Long} [causeReactionId] ReactionStatistics causeReactionId.
+                 * @property {number|Long} [causeTaskId] ReactionStatistics causeTaskId.
+                 * @property {number|Long} [emitted] ReactionStatistics emitted.
+                 * @property {number|Long} [started] ReactionStatistics started.
+                 * @property {number|Long} [finished] ReactionStatistics finished.
+                 */
+
+                /**
+                 * Constructs a new ReactionStatistics.
+                 * @exports message.support.nuclear.ReactionStatistics
+                 * @constructor
+                 * @param {message.support.nuclear.ReactionStatistics$Properties=} [properties] Properties to set
+                 */
+                function ReactionStatistics(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * ReactionStatistics name.
+                 * @type {string}
+                 */
+                ReactionStatistics.prototype.name = "";
+
+                /**
+                 * ReactionStatistics triggerName.
+                 * @type {string}
+                 */
+                ReactionStatistics.prototype.triggerName = "";
+
+                /**
+                 * ReactionStatistics functionName.
+                 * @type {string}
+                 */
+                ReactionStatistics.prototype.functionName = "";
+
+                /**
+                 * ReactionStatistics reactionId.
+                 * @type {number|Long}
+                 */
+                ReactionStatistics.prototype.reactionId = $util.Long ? $util.Long.fromBits(0,0,true) : 0;
+
+                /**
+                 * ReactionStatistics taskId.
+                 * @type {number|Long}
+                 */
+                ReactionStatistics.prototype.taskId = $util.Long ? $util.Long.fromBits(0,0,true) : 0;
+
+                /**
+                 * ReactionStatistics causeReactionId.
+                 * @type {number|Long}
+                 */
+                ReactionStatistics.prototype.causeReactionId = $util.Long ? $util.Long.fromBits(0,0,true) : 0;
+
+                /**
+                 * ReactionStatistics causeTaskId.
+                 * @type {number|Long}
+                 */
+                ReactionStatistics.prototype.causeTaskId = $util.Long ? $util.Long.fromBits(0,0,true) : 0;
+
+                /**
+                 * ReactionStatistics emitted.
+                 * @type {number|Long}
+                 */
+                ReactionStatistics.prototype.emitted = $util.Long ? $util.Long.fromBits(0,0,true) : 0;
+
+                /**
+                 * ReactionStatistics started.
+                 * @type {number|Long}
+                 */
+                ReactionStatistics.prototype.started = $util.Long ? $util.Long.fromBits(0,0,true) : 0;
+
+                /**
+                 * ReactionStatistics finished.
+                 * @type {number|Long}
+                 */
+                ReactionStatistics.prototype.finished = $util.Long ? $util.Long.fromBits(0,0,true) : 0;
+
+                /**
+                 * Creates a new ReactionStatistics instance using the specified properties.
+                 * @param {message.support.nuclear.ReactionStatistics$Properties=} [properties] Properties to set
+                 * @returns {message.support.nuclear.ReactionStatistics} ReactionStatistics instance
+                 */
+                ReactionStatistics.create = function create(properties) {
+                    return new ReactionStatistics(properties);
+                };
+
+                /**
+                 * Encodes the specified ReactionStatistics message. Does not implicitly {@link message.support.nuclear.ReactionStatistics.verify|verify} messages.
+                 * @param {message.support.nuclear.ReactionStatistics$Properties} message ReactionStatistics message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                ReactionStatistics.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.name != null && message.hasOwnProperty("name"))
+                        writer.uint32(/* id 1, wireType 2 =*/10).string(message.name);
+                    if (message.triggerName != null && message.hasOwnProperty("triggerName"))
+                        writer.uint32(/* id 2, wireType 2 =*/18).string(message.triggerName);
+                    if (message.functionName != null && message.hasOwnProperty("functionName"))
+                        writer.uint32(/* id 3, wireType 2 =*/26).string(message.functionName);
+                    if (message.reactionId != null && message.hasOwnProperty("reactionId"))
+                        writer.uint32(/* id 4, wireType 0 =*/32).uint64(message.reactionId);
+                    if (message.taskId != null && message.hasOwnProperty("taskId"))
+                        writer.uint32(/* id 5, wireType 0 =*/40).uint64(message.taskId);
+                    if (message.causeReactionId != null && message.hasOwnProperty("causeReactionId"))
+                        writer.uint32(/* id 6, wireType 0 =*/48).uint64(message.causeReactionId);
+                    if (message.causeTaskId != null && message.hasOwnProperty("causeTaskId"))
+                        writer.uint32(/* id 7, wireType 0 =*/56).uint64(message.causeTaskId);
+                    if (message.emitted != null && message.hasOwnProperty("emitted"))
+                        writer.uint32(/* id 8, wireType 0 =*/64).uint64(message.emitted);
+                    if (message.started != null && message.hasOwnProperty("started"))
+                        writer.uint32(/* id 9, wireType 0 =*/72).uint64(message.started);
+                    if (message.finished != null && message.hasOwnProperty("finished"))
+                        writer.uint32(/* id 10, wireType 0 =*/80).uint64(message.finished);
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified ReactionStatistics message, length delimited. Does not implicitly {@link message.support.nuclear.ReactionStatistics.verify|verify} messages.
+                 * @param {message.support.nuclear.ReactionStatistics$Properties} message ReactionStatistics message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                ReactionStatistics.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a ReactionStatistics message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.support.nuclear.ReactionStatistics} ReactionStatistics
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                ReactionStatistics.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.support.nuclear.ReactionStatistics();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.name = reader.string();
+                            break;
+                        case 2:
+                            message.triggerName = reader.string();
+                            break;
+                        case 3:
+                            message.functionName = reader.string();
+                            break;
+                        case 4:
+                            message.reactionId = reader.uint64();
+                            break;
+                        case 5:
+                            message.taskId = reader.uint64();
+                            break;
+                        case 6:
+                            message.causeReactionId = reader.uint64();
+                            break;
+                        case 7:
+                            message.causeTaskId = reader.uint64();
+                            break;
+                        case 8:
+                            message.emitted = reader.uint64();
+                            break;
+                        case 9:
+                            message.started = reader.uint64();
+                            break;
+                        case 10:
+                            message.finished = reader.uint64();
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a ReactionStatistics message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.support.nuclear.ReactionStatistics} ReactionStatistics
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                ReactionStatistics.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a ReactionStatistics message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                ReactionStatistics.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.name != null && message.hasOwnProperty("name"))
+                        if (!$util.isString(message.name))
+                            return "name: string expected";
+                    if (message.triggerName != null && message.hasOwnProperty("triggerName"))
+                        if (!$util.isString(message.triggerName))
+                            return "triggerName: string expected";
+                    if (message.functionName != null && message.hasOwnProperty("functionName"))
+                        if (!$util.isString(message.functionName))
+                            return "functionName: string expected";
+                    if (message.reactionId != null && message.hasOwnProperty("reactionId"))
+                        if (!$util.isInteger(message.reactionId) && !(message.reactionId && $util.isInteger(message.reactionId.low) && $util.isInteger(message.reactionId.high)))
+                            return "reactionId: integer|Long expected";
+                    if (message.taskId != null && message.hasOwnProperty("taskId"))
+                        if (!$util.isInteger(message.taskId) && !(message.taskId && $util.isInteger(message.taskId.low) && $util.isInteger(message.taskId.high)))
+                            return "taskId: integer|Long expected";
+                    if (message.causeReactionId != null && message.hasOwnProperty("causeReactionId"))
+                        if (!$util.isInteger(message.causeReactionId) && !(message.causeReactionId && $util.isInteger(message.causeReactionId.low) && $util.isInteger(message.causeReactionId.high)))
+                            return "causeReactionId: integer|Long expected";
+                    if (message.causeTaskId != null && message.hasOwnProperty("causeTaskId"))
+                        if (!$util.isInteger(message.causeTaskId) && !(message.causeTaskId && $util.isInteger(message.causeTaskId.low) && $util.isInteger(message.causeTaskId.high)))
+                            return "causeTaskId: integer|Long expected";
+                    if (message.emitted != null && message.hasOwnProperty("emitted"))
+                        if (!$util.isInteger(message.emitted) && !(message.emitted && $util.isInteger(message.emitted.low) && $util.isInteger(message.emitted.high)))
+                            return "emitted: integer|Long expected";
+                    if (message.started != null && message.hasOwnProperty("started"))
+                        if (!$util.isInteger(message.started) && !(message.started && $util.isInteger(message.started.low) && $util.isInteger(message.started.high)))
+                            return "started: integer|Long expected";
+                    if (message.finished != null && message.hasOwnProperty("finished"))
+                        if (!$util.isInteger(message.finished) && !(message.finished && $util.isInteger(message.finished.low) && $util.isInteger(message.finished.high)))
+                            return "finished: integer|Long expected";
+                    return null;
+                };
+
+                /**
+                 * Creates a ReactionStatistics message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.nuclear.ReactionStatistics} ReactionStatistics
+                 */
+                ReactionStatistics.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.support.nuclear.ReactionStatistics)
+                        return object;
+                    var message = new $root.message.support.nuclear.ReactionStatistics();
+                    if (object.name != null)
+                        message.name = String(object.name);
+                    if (object.triggerName != null)
+                        message.triggerName = String(object.triggerName);
+                    if (object.functionName != null)
+                        message.functionName = String(object.functionName);
+                    if (object.reactionId != null)
+                        if ($util.Long)
+                            (message.reactionId = $util.Long.fromValue(object.reactionId)).unsigned = true;
+                        else if (typeof object.reactionId === "string")
+                            message.reactionId = parseInt(object.reactionId, 10);
+                        else if (typeof object.reactionId === "number")
+                            message.reactionId = object.reactionId;
+                        else if (typeof object.reactionId === "object")
+                            message.reactionId = new $util.LongBits(object.reactionId.low >>> 0, object.reactionId.high >>> 0).toNumber(true);
+                    if (object.taskId != null)
+                        if ($util.Long)
+                            (message.taskId = $util.Long.fromValue(object.taskId)).unsigned = true;
+                        else if (typeof object.taskId === "string")
+                            message.taskId = parseInt(object.taskId, 10);
+                        else if (typeof object.taskId === "number")
+                            message.taskId = object.taskId;
+                        else if (typeof object.taskId === "object")
+                            message.taskId = new $util.LongBits(object.taskId.low >>> 0, object.taskId.high >>> 0).toNumber(true);
+                    if (object.causeReactionId != null)
+                        if ($util.Long)
+                            (message.causeReactionId = $util.Long.fromValue(object.causeReactionId)).unsigned = true;
+                        else if (typeof object.causeReactionId === "string")
+                            message.causeReactionId = parseInt(object.causeReactionId, 10);
+                        else if (typeof object.causeReactionId === "number")
+                            message.causeReactionId = object.causeReactionId;
+                        else if (typeof object.causeReactionId === "object")
+                            message.causeReactionId = new $util.LongBits(object.causeReactionId.low >>> 0, object.causeReactionId.high >>> 0).toNumber(true);
+                    if (object.causeTaskId != null)
+                        if ($util.Long)
+                            (message.causeTaskId = $util.Long.fromValue(object.causeTaskId)).unsigned = true;
+                        else if (typeof object.causeTaskId === "string")
+                            message.causeTaskId = parseInt(object.causeTaskId, 10);
+                        else if (typeof object.causeTaskId === "number")
+                            message.causeTaskId = object.causeTaskId;
+                        else if (typeof object.causeTaskId === "object")
+                            message.causeTaskId = new $util.LongBits(object.causeTaskId.low >>> 0, object.causeTaskId.high >>> 0).toNumber(true);
+                    if (object.emitted != null)
+                        if ($util.Long)
+                            (message.emitted = $util.Long.fromValue(object.emitted)).unsigned = true;
+                        else if (typeof object.emitted === "string")
+                            message.emitted = parseInt(object.emitted, 10);
+                        else if (typeof object.emitted === "number")
+                            message.emitted = object.emitted;
+                        else if (typeof object.emitted === "object")
+                            message.emitted = new $util.LongBits(object.emitted.low >>> 0, object.emitted.high >>> 0).toNumber(true);
+                    if (object.started != null)
+                        if ($util.Long)
+                            (message.started = $util.Long.fromValue(object.started)).unsigned = true;
+                        else if (typeof object.started === "string")
+                            message.started = parseInt(object.started, 10);
+                        else if (typeof object.started === "number")
+                            message.started = object.started;
+                        else if (typeof object.started === "object")
+                            message.started = new $util.LongBits(object.started.low >>> 0, object.started.high >>> 0).toNumber(true);
+                    if (object.finished != null)
+                        if ($util.Long)
+                            (message.finished = $util.Long.fromValue(object.finished)).unsigned = true;
+                        else if (typeof object.finished === "string")
+                            message.finished = parseInt(object.finished, 10);
+                        else if (typeof object.finished === "number")
+                            message.finished = object.finished;
+                        else if (typeof object.finished === "object")
+                            message.finished = new $util.LongBits(object.finished.low >>> 0, object.finished.high >>> 0).toNumber(true);
+                    return message;
+                };
+
+                /**
+                 * Creates a ReactionStatistics message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.support.nuclear.ReactionStatistics.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.nuclear.ReactionStatistics} ReactionStatistics
+                 */
+                ReactionStatistics.from = ReactionStatistics.fromObject;
+
+                /**
+                 * Creates a plain object from a ReactionStatistics message. Also converts values to other types if specified.
+                 * @param {message.support.nuclear.ReactionStatistics} message ReactionStatistics
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                ReactionStatistics.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.defaults) {
+                        object.name = "";
+                        object.triggerName = "";
+                        object.functionName = "";
+                        if ($util.Long) {
+                            var long = new $util.Long(0, 0, true);
+                            object.reactionId = options.longs === String ? long.toString() : options.longs === Number ? long.toNumber() : long;
+                        } else
+                            object.reactionId = options.longs === String ? "0" : 0;
+                        if ($util.Long) {
+                            var long = new $util.Long(0, 0, true);
+                            object.taskId = options.longs === String ? long.toString() : options.longs === Number ? long.toNumber() : long;
+                        } else
+                            object.taskId = options.longs === String ? "0" : 0;
+                        if ($util.Long) {
+                            var long = new $util.Long(0, 0, true);
+                            object.causeReactionId = options.longs === String ? long.toString() : options.longs === Number ? long.toNumber() : long;
+                        } else
+                            object.causeReactionId = options.longs === String ? "0" : 0;
+                        if ($util.Long) {
+                            var long = new $util.Long(0, 0, true);
+                            object.causeTaskId = options.longs === String ? long.toString() : options.longs === Number ? long.toNumber() : long;
+                        } else
+                            object.causeTaskId = options.longs === String ? "0" : 0;
+                        if ($util.Long) {
+                            var long = new $util.Long(0, 0, true);
+                            object.emitted = options.longs === String ? long.toString() : options.longs === Number ? long.toNumber() : long;
+                        } else
+                            object.emitted = options.longs === String ? "0" : 0;
+                        if ($util.Long) {
+                            var long = new $util.Long(0, 0, true);
+                            object.started = options.longs === String ? long.toString() : options.longs === Number ? long.toNumber() : long;
+                        } else
+                            object.started = options.longs === String ? "0" : 0;
+                        if ($util.Long) {
+                            var long = new $util.Long(0, 0, true);
+                            object.finished = options.longs === String ? long.toString() : options.longs === Number ? long.toNumber() : long;
+                        } else
+                            object.finished = options.longs === String ? "0" : 0;
+                    }
+                    if (message.name != null && message.hasOwnProperty("name"))
+                        object.name = message.name;
+                    if (message.triggerName != null && message.hasOwnProperty("triggerName"))
+                        object.triggerName = message.triggerName;
+                    if (message.functionName != null && message.hasOwnProperty("functionName"))
+                        object.functionName = message.functionName;
+                    if (message.reactionId != null && message.hasOwnProperty("reactionId"))
+                        if (typeof message.reactionId === "number")
+                            object.reactionId = options.longs === String ? String(message.reactionId) : message.reactionId;
+                        else
+                            object.reactionId = options.longs === String ? $util.Long.prototype.toString.call(message.reactionId) : options.longs === Number ? new $util.LongBits(message.reactionId.low >>> 0, message.reactionId.high >>> 0).toNumber(true) : message.reactionId;
+                    if (message.taskId != null && message.hasOwnProperty("taskId"))
+                        if (typeof message.taskId === "number")
+                            object.taskId = options.longs === String ? String(message.taskId) : message.taskId;
+                        else
+                            object.taskId = options.longs === String ? $util.Long.prototype.toString.call(message.taskId) : options.longs === Number ? new $util.LongBits(message.taskId.low >>> 0, message.taskId.high >>> 0).toNumber(true) : message.taskId;
+                    if (message.causeReactionId != null && message.hasOwnProperty("causeReactionId"))
+                        if (typeof message.causeReactionId === "number")
+                            object.causeReactionId = options.longs === String ? String(message.causeReactionId) : message.causeReactionId;
+                        else
+                            object.causeReactionId = options.longs === String ? $util.Long.prototype.toString.call(message.causeReactionId) : options.longs === Number ? new $util.LongBits(message.causeReactionId.low >>> 0, message.causeReactionId.high >>> 0).toNumber(true) : message.causeReactionId;
+                    if (message.causeTaskId != null && message.hasOwnProperty("causeTaskId"))
+                        if (typeof message.causeTaskId === "number")
+                            object.causeTaskId = options.longs === String ? String(message.causeTaskId) : message.causeTaskId;
+                        else
+                            object.causeTaskId = options.longs === String ? $util.Long.prototype.toString.call(message.causeTaskId) : options.longs === Number ? new $util.LongBits(message.causeTaskId.low >>> 0, message.causeTaskId.high >>> 0).toNumber(true) : message.causeTaskId;
+                    if (message.emitted != null && message.hasOwnProperty("emitted"))
+                        if (typeof message.emitted === "number")
+                            object.emitted = options.longs === String ? String(message.emitted) : message.emitted;
+                        else
+                            object.emitted = options.longs === String ? $util.Long.prototype.toString.call(message.emitted) : options.longs === Number ? new $util.LongBits(message.emitted.low >>> 0, message.emitted.high >>> 0).toNumber(true) : message.emitted;
+                    if (message.started != null && message.hasOwnProperty("started"))
+                        if (typeof message.started === "number")
+                            object.started = options.longs === String ? String(message.started) : message.started;
+                        else
+                            object.started = options.longs === String ? $util.Long.prototype.toString.call(message.started) : options.longs === Number ? new $util.LongBits(message.started.low >>> 0, message.started.high >>> 0).toNumber(true) : message.started;
+                    if (message.finished != null && message.hasOwnProperty("finished"))
+                        if (typeof message.finished === "number")
+                            object.finished = options.longs === String ? String(message.finished) : message.finished;
+                        else
+                            object.finished = options.longs === String ? $util.Long.prototype.toString.call(message.finished) : options.longs === Number ? new $util.LongBits(message.finished.low >>> 0, message.finished.high >>> 0).toNumber(true) : message.finished;
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this ReactionStatistics message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                ReactionStatistics.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this ReactionStatistics to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                ReactionStatistics.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return ReactionStatistics;
+            })();
+
+            return nuclear;
+        })();
+
+        support.optimisation = (function() {
+
+            /**
+             * Namespace optimisation.
+             * @exports message.support.optimisation
+             * @namespace
+             */
+            var optimisation = {};
+
+            optimisation.RegisterOptimisation = (function() {
+
+                /**
+                 * Properties of a RegisterOptimisation.
+                 * @typedef message.support.optimisation.RegisterOptimisation$Properties
+                 * @type {Object}
+                 * @property {string} [group] RegisterOptimisation group.
+                 * @property {boolean} [network] RegisterOptimisation network.
+                 * @property {message.support.optimisation.OptimiserParameters$Properties} [parameters] RegisterOptimisation parameters.
+                 */
+
+                /**
+                 * Constructs a new RegisterOptimisation.
+                 * @exports message.support.optimisation.RegisterOptimisation
+                 * @constructor
+                 * @param {message.support.optimisation.RegisterOptimisation$Properties=} [properties] Properties to set
+                 */
+                function RegisterOptimisation(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * RegisterOptimisation group.
+                 * @type {string}
+                 */
+                RegisterOptimisation.prototype.group = "";
+
+                /**
+                 * RegisterOptimisation network.
+                 * @type {boolean}
+                 */
+                RegisterOptimisation.prototype.network = false;
+
+                /**
+                 * RegisterOptimisation parameters.
+                 * @type {(message.support.optimisation.OptimiserParameters$Properties|null)}
+                 */
+                RegisterOptimisation.prototype.parameters = null;
+
+                /**
+                 * Creates a new RegisterOptimisation instance using the specified properties.
+                 * @param {message.support.optimisation.RegisterOptimisation$Properties=} [properties] Properties to set
+                 * @returns {message.support.optimisation.RegisterOptimisation} RegisterOptimisation instance
+                 */
+                RegisterOptimisation.create = function create(properties) {
+                    return new RegisterOptimisation(properties);
+                };
+
+                /**
+                 * Encodes the specified RegisterOptimisation message. Does not implicitly {@link message.support.optimisation.RegisterOptimisation.verify|verify} messages.
+                 * @param {message.support.optimisation.RegisterOptimisation$Properties} message RegisterOptimisation message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                RegisterOptimisation.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.group != null && message.hasOwnProperty("group"))
+                        writer.uint32(/* id 1, wireType 2 =*/10).string(message.group);
+                    if (message.network != null && message.hasOwnProperty("network"))
+                        writer.uint32(/* id 2, wireType 0 =*/16).bool(message.network);
+                    if (message.parameters != null && message.hasOwnProperty("parameters"))
+                        $root.message.support.optimisation.OptimiserParameters.encode(message.parameters, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified RegisterOptimisation message, length delimited. Does not implicitly {@link message.support.optimisation.RegisterOptimisation.verify|verify} messages.
+                 * @param {message.support.optimisation.RegisterOptimisation$Properties} message RegisterOptimisation message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                RegisterOptimisation.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a RegisterOptimisation message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.support.optimisation.RegisterOptimisation} RegisterOptimisation
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                RegisterOptimisation.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.support.optimisation.RegisterOptimisation();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.group = reader.string();
+                            break;
+                        case 2:
+                            message.network = reader.bool();
+                            break;
+                        case 3:
+                            message.parameters = $root.message.support.optimisation.OptimiserParameters.decode(reader, reader.uint32());
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a RegisterOptimisation message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.support.optimisation.RegisterOptimisation} RegisterOptimisation
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                RegisterOptimisation.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a RegisterOptimisation message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                RegisterOptimisation.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.group != null && message.hasOwnProperty("group"))
+                        if (!$util.isString(message.group))
+                            return "group: string expected";
+                    if (message.network != null && message.hasOwnProperty("network"))
+                        if (typeof message.network !== "boolean")
+                            return "network: boolean expected";
+                    if (message.parameters != null && message.hasOwnProperty("parameters")) {
+                        var error = $root.message.support.optimisation.OptimiserParameters.verify(message.parameters);
+                        if (error)
+                            return "parameters." + error;
+                    }
+                    return null;
+                };
+
+                /**
+                 * Creates a RegisterOptimisation message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.optimisation.RegisterOptimisation} RegisterOptimisation
+                 */
+                RegisterOptimisation.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.support.optimisation.RegisterOptimisation)
+                        return object;
+                    var message = new $root.message.support.optimisation.RegisterOptimisation();
+                    if (object.group != null)
+                        message.group = String(object.group);
+                    if (object.network != null)
+                        message.network = Boolean(object.network);
+                    if (object.parameters != null) {
+                        if (typeof object.parameters !== "object")
+                            throw TypeError(".message.support.optimisation.RegisterOptimisation.parameters: object expected");
+                        message.parameters = $root.message.support.optimisation.OptimiserParameters.fromObject(object.parameters);
+                    }
+                    return message;
+                };
+
+                /**
+                 * Creates a RegisterOptimisation message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.support.optimisation.RegisterOptimisation.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.optimisation.RegisterOptimisation} RegisterOptimisation
+                 */
+                RegisterOptimisation.from = RegisterOptimisation.fromObject;
+
+                /**
+                 * Creates a plain object from a RegisterOptimisation message. Also converts values to other types if specified.
+                 * @param {message.support.optimisation.RegisterOptimisation} message RegisterOptimisation
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                RegisterOptimisation.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.defaults) {
+                        object.group = "";
+                        object.network = false;
+                        object.parameters = null;
+                    }
+                    if (message.group != null && message.hasOwnProperty("group"))
+                        object.group = message.group;
+                    if (message.network != null && message.hasOwnProperty("network"))
+                        object.network = message.network;
+                    if (message.parameters != null && message.hasOwnProperty("parameters"))
+                        object.parameters = $root.message.support.optimisation.OptimiserParameters.toObject(message.parameters, options);
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this RegisterOptimisation message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                RegisterOptimisation.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this RegisterOptimisation to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                RegisterOptimisation.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return RegisterOptimisation;
+            })();
+
+            optimisation.RequestParameters = (function() {
+
+                /**
+                 * Properties of a RequestParameters.
+                 * @typedef message.support.optimisation.RequestParameters$Properties
+                 * @type {Object}
+                 * @property {string} [group] RequestParameters group.
+                 * @property {number} [nSamples] RequestParameters nSamples.
+                 */
+
+                /**
+                 * Constructs a new RequestParameters.
+                 * @exports message.support.optimisation.RequestParameters
+                 * @constructor
+                 * @param {message.support.optimisation.RequestParameters$Properties=} [properties] Properties to set
+                 */
+                function RequestParameters(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * RequestParameters group.
+                 * @type {string}
+                 */
+                RequestParameters.prototype.group = "";
+
+                /**
+                 * RequestParameters nSamples.
+                 * @type {number}
+                 */
+                RequestParameters.prototype.nSamples = 0;
+
+                /**
+                 * Creates a new RequestParameters instance using the specified properties.
+                 * @param {message.support.optimisation.RequestParameters$Properties=} [properties] Properties to set
+                 * @returns {message.support.optimisation.RequestParameters} RequestParameters instance
+                 */
+                RequestParameters.create = function create(properties) {
+                    return new RequestParameters(properties);
+                };
+
+                /**
+                 * Encodes the specified RequestParameters message. Does not implicitly {@link message.support.optimisation.RequestParameters.verify|verify} messages.
+                 * @param {message.support.optimisation.RequestParameters$Properties} message RequestParameters message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                RequestParameters.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.group != null && message.hasOwnProperty("group"))
+                        writer.uint32(/* id 1, wireType 2 =*/10).string(message.group);
+                    if (message.nSamples != null && message.hasOwnProperty("nSamples"))
+                        writer.uint32(/* id 2, wireType 0 =*/16).uint32(message.nSamples);
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified RequestParameters message, length delimited. Does not implicitly {@link message.support.optimisation.RequestParameters.verify|verify} messages.
+                 * @param {message.support.optimisation.RequestParameters$Properties} message RequestParameters message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                RequestParameters.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a RequestParameters message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.support.optimisation.RequestParameters} RequestParameters
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                RequestParameters.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.support.optimisation.RequestParameters();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.group = reader.string();
+                            break;
+                        case 2:
+                            message.nSamples = reader.uint32();
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a RequestParameters message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.support.optimisation.RequestParameters} RequestParameters
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                RequestParameters.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a RequestParameters message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                RequestParameters.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.group != null && message.hasOwnProperty("group"))
+                        if (!$util.isString(message.group))
+                            return "group: string expected";
+                    if (message.nSamples != null && message.hasOwnProperty("nSamples"))
+                        if (!$util.isInteger(message.nSamples))
+                            return "nSamples: integer expected";
+                    return null;
+                };
+
+                /**
+                 * Creates a RequestParameters message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.optimisation.RequestParameters} RequestParameters
+                 */
+                RequestParameters.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.support.optimisation.RequestParameters)
+                        return object;
+                    var message = new $root.message.support.optimisation.RequestParameters();
+                    if (object.group != null)
+                        message.group = String(object.group);
+                    if (object.nSamples != null)
+                        message.nSamples = object.nSamples >>> 0;
+                    return message;
+                };
+
+                /**
+                 * Creates a RequestParameters message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.support.optimisation.RequestParameters.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.optimisation.RequestParameters} RequestParameters
+                 */
+                RequestParameters.from = RequestParameters.fromObject;
+
+                /**
+                 * Creates a plain object from a RequestParameters message. Also converts values to other types if specified.
+                 * @param {message.support.optimisation.RequestParameters} message RequestParameters
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                RequestParameters.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.defaults) {
+                        object.group = "";
+                        object.nSamples = 0;
+                    }
+                    if (message.group != null && message.hasOwnProperty("group"))
+                        object.group = message.group;
+                    if (message.nSamples != null && message.hasOwnProperty("nSamples"))
+                        object.nSamples = message.nSamples;
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this RequestParameters message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                RequestParameters.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this RequestParameters to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                RequestParameters.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return RequestParameters;
+            })();
+
+            optimisation.Parameters = (function() {
+
+                /**
+                 * Properties of a Parameters.
+                 * @typedef message.support.optimisation.Parameters$Properties
+                 * @type {Object}
+                 * @property {string} [group] Parameters group.
+                 * @property {number} [generation] Parameters generation.
+                 * @property {mat$Properties} [samples] Parameters samples.
+                 * @property {mat$Properties} [covariance] Parameters covariance.
+                 */
+
+                /**
+                 * Constructs a new Parameters.
+                 * @exports message.support.optimisation.Parameters
+                 * @constructor
+                 * @param {message.support.optimisation.Parameters$Properties=} [properties] Properties to set
+                 */
+                function Parameters(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * Parameters group.
+                 * @type {string}
+                 */
+                Parameters.prototype.group = "";
+
+                /**
+                 * Parameters generation.
+                 * @type {number}
+                 */
+                Parameters.prototype.generation = 0;
+
+                /**
+                 * Parameters samples.
+                 * @type {(mat$Properties|null)}
+                 */
+                Parameters.prototype.samples = null;
+
+                /**
+                 * Parameters covariance.
+                 * @type {(mat$Properties|null)}
+                 */
+                Parameters.prototype.covariance = null;
+
+                /**
+                 * Creates a new Parameters instance using the specified properties.
+                 * @param {message.support.optimisation.Parameters$Properties=} [properties] Properties to set
+                 * @returns {message.support.optimisation.Parameters} Parameters instance
+                 */
+                Parameters.create = function create(properties) {
+                    return new Parameters(properties);
+                };
+
+                /**
+                 * Encodes the specified Parameters message. Does not implicitly {@link message.support.optimisation.Parameters.verify|verify} messages.
+                 * @param {message.support.optimisation.Parameters$Properties} message Parameters message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Parameters.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.group != null && message.hasOwnProperty("group"))
+                        writer.uint32(/* id 1, wireType 2 =*/10).string(message.group);
+                    if (message.generation != null && message.hasOwnProperty("generation"))
+                        writer.uint32(/* id 2, wireType 0 =*/16).int32(message.generation);
+                    if (message.samples != null && message.hasOwnProperty("samples"))
+                        $root.mat.encode(message.samples, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+                    if (message.covariance != null && message.hasOwnProperty("covariance"))
+                        $root.mat.encode(message.covariance, writer.uint32(/* id 4, wireType 2 =*/34).fork()).ldelim();
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified Parameters message, length delimited. Does not implicitly {@link message.support.optimisation.Parameters.verify|verify} messages.
+                 * @param {message.support.optimisation.Parameters$Properties} message Parameters message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Parameters.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a Parameters message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.support.optimisation.Parameters} Parameters
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Parameters.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.support.optimisation.Parameters();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.group = reader.string();
+                            break;
+                        case 2:
+                            message.generation = reader.int32();
+                            break;
+                        case 3:
+                            message.samples = $root.mat.decode(reader, reader.uint32());
+                            break;
+                        case 4:
+                            message.covariance = $root.mat.decode(reader, reader.uint32());
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a Parameters message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.support.optimisation.Parameters} Parameters
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Parameters.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a Parameters message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                Parameters.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.group != null && message.hasOwnProperty("group"))
+                        if (!$util.isString(message.group))
+                            return "group: string expected";
+                    if (message.generation != null && message.hasOwnProperty("generation"))
+                        if (!$util.isInteger(message.generation))
+                            return "generation: integer expected";
+                    if (message.samples != null && message.hasOwnProperty("samples")) {
+                        var error = $root.mat.verify(message.samples);
+                        if (error)
+                            return "samples." + error;
+                    }
+                    if (message.covariance != null && message.hasOwnProperty("covariance")) {
+                        var error = $root.mat.verify(message.covariance);
+                        if (error)
+                            return "covariance." + error;
+                    }
+                    return null;
+                };
+
+                /**
+                 * Creates a Parameters message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.optimisation.Parameters} Parameters
+                 */
+                Parameters.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.support.optimisation.Parameters)
+                        return object;
+                    var message = new $root.message.support.optimisation.Parameters();
+                    if (object.group != null)
+                        message.group = String(object.group);
+                    if (object.generation != null)
+                        message.generation = object.generation | 0;
+                    if (object.samples != null) {
+                        if (typeof object.samples !== "object")
+                            throw TypeError(".message.support.optimisation.Parameters.samples: object expected");
+                        message.samples = $root.mat.fromObject(object.samples);
+                    }
+                    if (object.covariance != null) {
+                        if (typeof object.covariance !== "object")
+                            throw TypeError(".message.support.optimisation.Parameters.covariance: object expected");
+                        message.covariance = $root.mat.fromObject(object.covariance);
+                    }
+                    return message;
+                };
+
+                /**
+                 * Creates a Parameters message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.support.optimisation.Parameters.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.optimisation.Parameters} Parameters
+                 */
+                Parameters.from = Parameters.fromObject;
+
+                /**
+                 * Creates a plain object from a Parameters message. Also converts values to other types if specified.
+                 * @param {message.support.optimisation.Parameters} message Parameters
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Parameters.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.defaults) {
+                        object.group = "";
+                        object.generation = 0;
+                        object.samples = null;
+                        object.covariance = null;
+                    }
+                    if (message.group != null && message.hasOwnProperty("group"))
+                        object.group = message.group;
+                    if (message.generation != null && message.hasOwnProperty("generation"))
+                        object.generation = message.generation;
+                    if (message.samples != null && message.hasOwnProperty("samples"))
+                        object.samples = $root.mat.toObject(message.samples, options);
+                    if (message.covariance != null && message.hasOwnProperty("covariance"))
+                        object.covariance = $root.mat.toObject(message.covariance, options);
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this Parameters message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Parameters.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this Parameters to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                Parameters.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return Parameters;
+            })();
+
+            optimisation.OptimiserEstimate = (function() {
+
+                /**
+                 * Properties of an OptimiserEstimate.
+                 * @typedef message.support.optimisation.OptimiserEstimate$Properties
+                 * @type {Object}
+                 * @property {number} [generation] OptimiserEstimate generation.
+                 * @property {vec$Properties} [estimate] OptimiserEstimate estimate.
+                 * @property {mat$Properties} [covariance] OptimiserEstimate covariance.
+                 */
+
+                /**
+                 * Constructs a new OptimiserEstimate.
+                 * @exports message.support.optimisation.OptimiserEstimate
+                 * @constructor
+                 * @param {message.support.optimisation.OptimiserEstimate$Properties=} [properties] Properties to set
+                 */
+                function OptimiserEstimate(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * OptimiserEstimate generation.
+                 * @type {number}
+                 */
+                OptimiserEstimate.prototype.generation = 0;
+
+                /**
+                 * OptimiserEstimate estimate.
+                 * @type {(vec$Properties|null)}
+                 */
+                OptimiserEstimate.prototype.estimate = null;
+
+                /**
+                 * OptimiserEstimate covariance.
+                 * @type {(mat$Properties|null)}
+                 */
+                OptimiserEstimate.prototype.covariance = null;
+
+                /**
+                 * Creates a new OptimiserEstimate instance using the specified properties.
+                 * @param {message.support.optimisation.OptimiserEstimate$Properties=} [properties] Properties to set
+                 * @returns {message.support.optimisation.OptimiserEstimate} OptimiserEstimate instance
+                 */
+                OptimiserEstimate.create = function create(properties) {
+                    return new OptimiserEstimate(properties);
+                };
+
+                /**
+                 * Encodes the specified OptimiserEstimate message. Does not implicitly {@link message.support.optimisation.OptimiserEstimate.verify|verify} messages.
+                 * @param {message.support.optimisation.OptimiserEstimate$Properties} message OptimiserEstimate message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                OptimiserEstimate.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.generation != null && message.hasOwnProperty("generation"))
+                        writer.uint32(/* id 1, wireType 0 =*/8).int32(message.generation);
+                    if (message.estimate != null && message.hasOwnProperty("estimate"))
+                        $root.vec.encode(message.estimate, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                    if (message.covariance != null && message.hasOwnProperty("covariance"))
+                        $root.mat.encode(message.covariance, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified OptimiserEstimate message, length delimited. Does not implicitly {@link message.support.optimisation.OptimiserEstimate.verify|verify} messages.
+                 * @param {message.support.optimisation.OptimiserEstimate$Properties} message OptimiserEstimate message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                OptimiserEstimate.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes an OptimiserEstimate message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.support.optimisation.OptimiserEstimate} OptimiserEstimate
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                OptimiserEstimate.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.support.optimisation.OptimiserEstimate();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.generation = reader.int32();
+                            break;
+                        case 2:
+                            message.estimate = $root.vec.decode(reader, reader.uint32());
+                            break;
+                        case 3:
+                            message.covariance = $root.mat.decode(reader, reader.uint32());
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes an OptimiserEstimate message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.support.optimisation.OptimiserEstimate} OptimiserEstimate
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                OptimiserEstimate.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies an OptimiserEstimate message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                OptimiserEstimate.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.generation != null && message.hasOwnProperty("generation"))
+                        if (!$util.isInteger(message.generation))
+                            return "generation: integer expected";
+                    if (message.estimate != null && message.hasOwnProperty("estimate")) {
+                        var error = $root.vec.verify(message.estimate);
+                        if (error)
+                            return "estimate." + error;
+                    }
+                    if (message.covariance != null && message.hasOwnProperty("covariance")) {
+                        var error = $root.mat.verify(message.covariance);
+                        if (error)
+                            return "covariance." + error;
+                    }
+                    return null;
+                };
+
+                /**
+                 * Creates an OptimiserEstimate message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.optimisation.OptimiserEstimate} OptimiserEstimate
+                 */
+                OptimiserEstimate.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.support.optimisation.OptimiserEstimate)
+                        return object;
+                    var message = new $root.message.support.optimisation.OptimiserEstimate();
+                    if (object.generation != null)
+                        message.generation = object.generation | 0;
+                    if (object.estimate != null) {
+                        if (typeof object.estimate !== "object")
+                            throw TypeError(".message.support.optimisation.OptimiserEstimate.estimate: object expected");
+                        message.estimate = $root.vec.fromObject(object.estimate);
+                    }
+                    if (object.covariance != null) {
+                        if (typeof object.covariance !== "object")
+                            throw TypeError(".message.support.optimisation.OptimiserEstimate.covariance: object expected");
+                        message.covariance = $root.mat.fromObject(object.covariance);
+                    }
+                    return message;
+                };
+
+                /**
+                 * Creates an OptimiserEstimate message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.support.optimisation.OptimiserEstimate.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.optimisation.OptimiserEstimate} OptimiserEstimate
+                 */
+                OptimiserEstimate.from = OptimiserEstimate.fromObject;
+
+                /**
+                 * Creates a plain object from an OptimiserEstimate message. Also converts values to other types if specified.
+                 * @param {message.support.optimisation.OptimiserEstimate} message OptimiserEstimate
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                OptimiserEstimate.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.defaults) {
+                        object.generation = 0;
+                        object.estimate = null;
+                        object.covariance = null;
+                    }
+                    if (message.generation != null && message.hasOwnProperty("generation"))
+                        object.generation = message.generation;
+                    if (message.estimate != null && message.hasOwnProperty("estimate"))
+                        object.estimate = $root.vec.toObject(message.estimate, options);
+                    if (message.covariance != null && message.hasOwnProperty("covariance"))
+                        object.covariance = $root.mat.toObject(message.covariance, options);
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this OptimiserEstimate message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                OptimiserEstimate.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this OptimiserEstimate to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                OptimiserEstimate.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return OptimiserEstimate;
+            })();
+
+            optimisation.OptimiserParameters = (function() {
+
+                /**
+                 * Properties of an OptimiserParameters.
+                 * @typedef message.support.optimisation.OptimiserParameters$Properties
+                 * @type {Object}
+                 * @property {message.support.optimisation.OptimiserEstimate$Properties} [initial] OptimiserParameters initial.
+                 * @property {vec$Properties} [upperBound] OptimiserParameters upperBound.
+                 * @property {vec$Properties} [lowerBound] OptimiserParameters lowerBound.
+                 * @property {number} [batchSize] OptimiserParameters batchSize.
+                 */
+
+                /**
+                 * Constructs a new OptimiserParameters.
+                 * @exports message.support.optimisation.OptimiserParameters
+                 * @constructor
+                 * @param {message.support.optimisation.OptimiserParameters$Properties=} [properties] Properties to set
+                 */
+                function OptimiserParameters(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * OptimiserParameters initial.
+                 * @type {(message.support.optimisation.OptimiserEstimate$Properties|null)}
+                 */
+                OptimiserParameters.prototype.initial = null;
+
+                /**
+                 * OptimiserParameters upperBound.
+                 * @type {(vec$Properties|null)}
+                 */
+                OptimiserParameters.prototype.upperBound = null;
+
+                /**
+                 * OptimiserParameters lowerBound.
+                 * @type {(vec$Properties|null)}
+                 */
+                OptimiserParameters.prototype.lowerBound = null;
+
+                /**
+                 * OptimiserParameters batchSize.
+                 * @type {number}
+                 */
+                OptimiserParameters.prototype.batchSize = 0;
+
+                /**
+                 * Creates a new OptimiserParameters instance using the specified properties.
+                 * @param {message.support.optimisation.OptimiserParameters$Properties=} [properties] Properties to set
+                 * @returns {message.support.optimisation.OptimiserParameters} OptimiserParameters instance
+                 */
+                OptimiserParameters.create = function create(properties) {
+                    return new OptimiserParameters(properties);
+                };
+
+                /**
+                 * Encodes the specified OptimiserParameters message. Does not implicitly {@link message.support.optimisation.OptimiserParameters.verify|verify} messages.
+                 * @param {message.support.optimisation.OptimiserParameters$Properties} message OptimiserParameters message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                OptimiserParameters.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.initial != null && message.hasOwnProperty("initial"))
+                        $root.message.support.optimisation.OptimiserEstimate.encode(message.initial, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                    if (message.upperBound != null && message.hasOwnProperty("upperBound"))
+                        $root.vec.encode(message.upperBound, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                    if (message.lowerBound != null && message.hasOwnProperty("lowerBound"))
+                        $root.vec.encode(message.lowerBound, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+                    if (message.batchSize != null && message.hasOwnProperty("batchSize"))
+                        writer.uint32(/* id 4, wireType 0 =*/32).uint32(message.batchSize);
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified OptimiserParameters message, length delimited. Does not implicitly {@link message.support.optimisation.OptimiserParameters.verify|verify} messages.
+                 * @param {message.support.optimisation.OptimiserParameters$Properties} message OptimiserParameters message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                OptimiserParameters.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes an OptimiserParameters message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.support.optimisation.OptimiserParameters} OptimiserParameters
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                OptimiserParameters.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.support.optimisation.OptimiserParameters();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.initial = $root.message.support.optimisation.OptimiserEstimate.decode(reader, reader.uint32());
+                            break;
+                        case 2:
+                            message.upperBound = $root.vec.decode(reader, reader.uint32());
+                            break;
+                        case 3:
+                            message.lowerBound = $root.vec.decode(reader, reader.uint32());
+                            break;
+                        case 4:
+                            message.batchSize = reader.uint32();
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes an OptimiserParameters message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.support.optimisation.OptimiserParameters} OptimiserParameters
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                OptimiserParameters.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies an OptimiserParameters message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                OptimiserParameters.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.initial != null && message.hasOwnProperty("initial")) {
+                        var error = $root.message.support.optimisation.OptimiserEstimate.verify(message.initial);
+                        if (error)
+                            return "initial." + error;
+                    }
+                    if (message.upperBound != null && message.hasOwnProperty("upperBound")) {
+                        var error = $root.vec.verify(message.upperBound);
+                        if (error)
+                            return "upperBound." + error;
+                    }
+                    if (message.lowerBound != null && message.hasOwnProperty("lowerBound")) {
+                        var error = $root.vec.verify(message.lowerBound);
+                        if (error)
+                            return "lowerBound." + error;
+                    }
+                    if (message.batchSize != null && message.hasOwnProperty("batchSize"))
+                        if (!$util.isInteger(message.batchSize))
+                            return "batchSize: integer expected";
+                    return null;
+                };
+
+                /**
+                 * Creates an OptimiserParameters message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.optimisation.OptimiserParameters} OptimiserParameters
+                 */
+                OptimiserParameters.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.support.optimisation.OptimiserParameters)
+                        return object;
+                    var message = new $root.message.support.optimisation.OptimiserParameters();
+                    if (object.initial != null) {
+                        if (typeof object.initial !== "object")
+                            throw TypeError(".message.support.optimisation.OptimiserParameters.initial: object expected");
+                        message.initial = $root.message.support.optimisation.OptimiserEstimate.fromObject(object.initial);
+                    }
+                    if (object.upperBound != null) {
+                        if (typeof object.upperBound !== "object")
+                            throw TypeError(".message.support.optimisation.OptimiserParameters.upperBound: object expected");
+                        message.upperBound = $root.vec.fromObject(object.upperBound);
+                    }
+                    if (object.lowerBound != null) {
+                        if (typeof object.lowerBound !== "object")
+                            throw TypeError(".message.support.optimisation.OptimiserParameters.lowerBound: object expected");
+                        message.lowerBound = $root.vec.fromObject(object.lowerBound);
+                    }
+                    if (object.batchSize != null)
+                        message.batchSize = object.batchSize >>> 0;
+                    return message;
+                };
+
+                /**
+                 * Creates an OptimiserParameters message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.support.optimisation.OptimiserParameters.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.optimisation.OptimiserParameters} OptimiserParameters
+                 */
+                OptimiserParameters.from = OptimiserParameters.fromObject;
+
+                /**
+                 * Creates a plain object from an OptimiserParameters message. Also converts values to other types if specified.
+                 * @param {message.support.optimisation.OptimiserParameters} message OptimiserParameters
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                OptimiserParameters.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.defaults) {
+                        object.initial = null;
+                        object.upperBound = null;
+                        object.lowerBound = null;
+                        object.batchSize = 0;
+                    }
+                    if (message.initial != null && message.hasOwnProperty("initial"))
+                        object.initial = $root.message.support.optimisation.OptimiserEstimate.toObject(message.initial, options);
+                    if (message.upperBound != null && message.hasOwnProperty("upperBound"))
+                        object.upperBound = $root.vec.toObject(message.upperBound, options);
+                    if (message.lowerBound != null && message.hasOwnProperty("lowerBound"))
+                        object.lowerBound = $root.vec.toObject(message.lowerBound, options);
+                    if (message.batchSize != null && message.hasOwnProperty("batchSize"))
+                        object.batchSize = message.batchSize;
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this OptimiserParameters message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                OptimiserParameters.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this OptimiserParameters to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                OptimiserParameters.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return OptimiserParameters;
+            })();
+
+            optimisation.Episode = (function() {
+
+                /**
+                 * Properties of an Episode.
+                 * @typedef message.support.optimisation.Episode$Properties
+                 * @type {Object}
+                 * @property {string} [group] Episode group.
+                 * @property {number} [generation] Episode generation.
+                 * @property {vec$Properties} [values] Episode values.
+                 * @property {mat$Properties} [covariance] Episode covariance.
+                 * @property {Array.<message.support.optimisation.Episode.Fitness$Properties>} [fitness] Episode fitness.
+                 */
+
+                /**
+                 * Constructs a new Episode.
+                 * @exports message.support.optimisation.Episode
+                 * @constructor
+                 * @param {message.support.optimisation.Episode$Properties=} [properties] Properties to set
+                 */
+                function Episode(properties) {
+                    this.fitness = [];
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * Episode group.
+                 * @type {string}
+                 */
+                Episode.prototype.group = "";
+
+                /**
+                 * Episode generation.
+                 * @type {number}
+                 */
+                Episode.prototype.generation = 0;
+
+                /**
+                 * Episode values.
+                 * @type {(vec$Properties|null)}
+                 */
+                Episode.prototype.values = null;
+
+                /**
+                 * Episode covariance.
+                 * @type {(mat$Properties|null)}
+                 */
+                Episode.prototype.covariance = null;
+
+                /**
+                 * Episode fitness.
+                 * @type {Array.<message.support.optimisation.Episode.Fitness$Properties>}
+                 */
+                Episode.prototype.fitness = $util.emptyArray;
+
+                /**
+                 * Creates a new Episode instance using the specified properties.
+                 * @param {message.support.optimisation.Episode$Properties=} [properties] Properties to set
+                 * @returns {message.support.optimisation.Episode} Episode instance
+                 */
+                Episode.create = function create(properties) {
+                    return new Episode(properties);
+                };
+
+                /**
+                 * Encodes the specified Episode message. Does not implicitly {@link message.support.optimisation.Episode.verify|verify} messages.
+                 * @param {message.support.optimisation.Episode$Properties} message Episode message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Episode.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.group != null && message.hasOwnProperty("group"))
+                        writer.uint32(/* id 1, wireType 2 =*/10).string(message.group);
+                    if (message.generation != null && message.hasOwnProperty("generation"))
+                        writer.uint32(/* id 2, wireType 0 =*/16).int32(message.generation);
+                    if (message.values != null && message.hasOwnProperty("values"))
+                        $root.vec.encode(message.values, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+                    if (message.covariance != null && message.hasOwnProperty("covariance"))
+                        $root.mat.encode(message.covariance, writer.uint32(/* id 4, wireType 2 =*/34).fork()).ldelim();
+                    if (message.fitness != null && message.fitness.length)
+                        for (var i = 0; i < message.fitness.length; ++i)
+                            $root.message.support.optimisation.Episode.Fitness.encode(message.fitness[i], writer.uint32(/* id 5, wireType 2 =*/42).fork()).ldelim();
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified Episode message, length delimited. Does not implicitly {@link message.support.optimisation.Episode.verify|verify} messages.
+                 * @param {message.support.optimisation.Episode$Properties} message Episode message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Episode.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes an Episode message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.support.optimisation.Episode} Episode
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Episode.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.support.optimisation.Episode();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.group = reader.string();
+                            break;
+                        case 2:
+                            message.generation = reader.int32();
+                            break;
+                        case 3:
+                            message.values = $root.vec.decode(reader, reader.uint32());
+                            break;
+                        case 4:
+                            message.covariance = $root.mat.decode(reader, reader.uint32());
+                            break;
+                        case 5:
+                            if (!(message.fitness && message.fitness.length))
+                                message.fitness = [];
+                            message.fitness.push($root.message.support.optimisation.Episode.Fitness.decode(reader, reader.uint32()));
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes an Episode message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.support.optimisation.Episode} Episode
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Episode.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies an Episode message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                Episode.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.group != null && message.hasOwnProperty("group"))
+                        if (!$util.isString(message.group))
+                            return "group: string expected";
+                    if (message.generation != null && message.hasOwnProperty("generation"))
+                        if (!$util.isInteger(message.generation))
+                            return "generation: integer expected";
+                    if (message.values != null && message.hasOwnProperty("values")) {
+                        var error = $root.vec.verify(message.values);
+                        if (error)
+                            return "values." + error;
+                    }
+                    if (message.covariance != null && message.hasOwnProperty("covariance")) {
+                        var error = $root.mat.verify(message.covariance);
+                        if (error)
+                            return "covariance." + error;
+                    }
+                    if (message.fitness != null && message.hasOwnProperty("fitness")) {
+                        if (!Array.isArray(message.fitness))
+                            return "fitness: array expected";
+                        for (var i = 0; i < message.fitness.length; ++i) {
+                            var error = $root.message.support.optimisation.Episode.Fitness.verify(message.fitness[i]);
+                            if (error)
+                                return "fitness." + error;
+                        }
+                    }
+                    return null;
+                };
+
+                /**
+                 * Creates an Episode message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.optimisation.Episode} Episode
+                 */
+                Episode.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.support.optimisation.Episode)
+                        return object;
+                    var message = new $root.message.support.optimisation.Episode();
+                    if (object.group != null)
+                        message.group = String(object.group);
+                    if (object.generation != null)
+                        message.generation = object.generation | 0;
+                    if (object.values != null) {
+                        if (typeof object.values !== "object")
+                            throw TypeError(".message.support.optimisation.Episode.values: object expected");
+                        message.values = $root.vec.fromObject(object.values);
+                    }
+                    if (object.covariance != null) {
+                        if (typeof object.covariance !== "object")
+                            throw TypeError(".message.support.optimisation.Episode.covariance: object expected");
+                        message.covariance = $root.mat.fromObject(object.covariance);
+                    }
+                    if (object.fitness) {
+                        if (!Array.isArray(object.fitness))
+                            throw TypeError(".message.support.optimisation.Episode.fitness: array expected");
+                        message.fitness = [];
+                        for (var i = 0; i < object.fitness.length; ++i) {
+                            if (typeof object.fitness[i] !== "object")
+                                throw TypeError(".message.support.optimisation.Episode.fitness: object expected");
+                            message.fitness[i] = $root.message.support.optimisation.Episode.Fitness.fromObject(object.fitness[i]);
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Creates an Episode message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.support.optimisation.Episode.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.optimisation.Episode} Episode
+                 */
+                Episode.from = Episode.fromObject;
+
+                /**
+                 * Creates a plain object from an Episode message. Also converts values to other types if specified.
+                 * @param {message.support.optimisation.Episode} message Episode
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Episode.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.arrays || options.defaults)
+                        object.fitness = [];
+                    if (options.defaults) {
+                        object.group = "";
+                        object.generation = 0;
+                        object.values = null;
+                        object.covariance = null;
+                    }
+                    if (message.group != null && message.hasOwnProperty("group"))
+                        object.group = message.group;
+                    if (message.generation != null && message.hasOwnProperty("generation"))
+                        object.generation = message.generation;
+                    if (message.values != null && message.hasOwnProperty("values"))
+                        object.values = $root.vec.toObject(message.values, options);
+                    if (message.covariance != null && message.hasOwnProperty("covariance"))
+                        object.covariance = $root.mat.toObject(message.covariance, options);
+                    if (message.fitness && message.fitness.length) {
+                        object.fitness = [];
+                        for (var j = 0; j < message.fitness.length; ++j)
+                            object.fitness[j] = $root.message.support.optimisation.Episode.Fitness.toObject(message.fitness[j], options);
+                    }
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this Episode message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Episode.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this Episode to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                Episode.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                Episode.Fitness = (function() {
+
+                    /**
+                     * Properties of a Fitness.
+                     * @typedef message.support.optimisation.Episode.Fitness$Properties
+                     * @type {Object}
+                     * @property {number} [fitness] Fitness fitness.
+                     * @property {number} [weight] Fitness weight.
+                     */
+
+                    /**
+                     * Constructs a new Fitness.
+                     * @exports message.support.optimisation.Episode.Fitness
+                     * @constructor
+                     * @param {message.support.optimisation.Episode.Fitness$Properties=} [properties] Properties to set
+                     */
+                    function Fitness(properties) {
+                        if (properties)
+                            for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                                if (properties[keys[i]] != null)
+                                    this[keys[i]] = properties[keys[i]];
+                    }
+
+                    /**
+                     * Fitness fitness.
+                     * @type {number}
+                     */
+                    Fitness.prototype.fitness = 0;
+
+                    /**
+                     * Fitness weight.
+                     * @type {number}
+                     */
+                    Fitness.prototype.weight = 0;
+
+                    /**
+                     * Creates a new Fitness instance using the specified properties.
+                     * @param {message.support.optimisation.Episode.Fitness$Properties=} [properties] Properties to set
+                     * @returns {message.support.optimisation.Episode.Fitness} Fitness instance
+                     */
+                    Fitness.create = function create(properties) {
+                        return new Fitness(properties);
+                    };
+
+                    /**
+                     * Encodes the specified Fitness message. Does not implicitly {@link message.support.optimisation.Episode.Fitness.verify|verify} messages.
+                     * @param {message.support.optimisation.Episode.Fitness$Properties} message Fitness message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    Fitness.encode = function encode(message, writer) {
+                        if (!writer)
+                            writer = $Writer.create();
+                        if (message.fitness != null && message.hasOwnProperty("fitness"))
+                            writer.uint32(/* id 1, wireType 1 =*/9).double(message.fitness);
+                        if (message.weight != null && message.hasOwnProperty("weight"))
+                            writer.uint32(/* id 2, wireType 1 =*/17).double(message.weight);
+                        return writer;
+                    };
+
+                    /**
+                     * Encodes the specified Fitness message, length delimited. Does not implicitly {@link message.support.optimisation.Episode.Fitness.verify|verify} messages.
+                     * @param {message.support.optimisation.Episode.Fitness$Properties} message Fitness message or plain object to encode
+                     * @param {$protobuf.Writer} [writer] Writer to encode to
+                     * @returns {$protobuf.Writer} Writer
+                     */
+                    Fitness.encodeDelimited = function encodeDelimited(message, writer) {
+                        return this.encode(message, writer).ldelim();
+                    };
+
+                    /**
+                     * Decodes a Fitness message from the specified reader or buffer.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @param {number} [length] Message length if known beforehand
+                     * @returns {message.support.optimisation.Episode.Fitness} Fitness
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    Fitness.decode = function decode(reader, length) {
+                        if (!(reader instanceof $Reader))
+                            reader = $Reader.create(reader);
+                        var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.support.optimisation.Episode.Fitness();
+                        while (reader.pos < end) {
+                            var tag = reader.uint32();
+                            switch (tag >>> 3) {
+                            case 1:
+                                message.fitness = reader.double();
+                                break;
+                            case 2:
+                                message.weight = reader.double();
+                                break;
+                            default:
+                                reader.skipType(tag & 7);
+                                break;
+                            }
+                        }
+                        return message;
+                    };
+
+                    /**
+                     * Decodes a Fitness message from the specified reader or buffer, length delimited.
+                     * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                     * @returns {message.support.optimisation.Episode.Fitness} Fitness
+                     * @throws {Error} If the payload is not a reader or valid buffer
+                     * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                     */
+                    Fitness.decodeDelimited = function decodeDelimited(reader) {
+                        if (!(reader instanceof $Reader))
+                            reader = $Reader(reader);
+                        return this.decode(reader, reader.uint32());
+                    };
+
+                    /**
+                     * Verifies a Fitness message.
+                     * @param {Object.<string,*>} message Plain object to verify
+                     * @returns {?string} `null` if valid, otherwise the reason why it is not
+                     */
+                    Fitness.verify = function verify(message) {
+                        if (typeof message !== "object" || message === null)
+                            return "object expected";
+                        if (message.fitness != null && message.hasOwnProperty("fitness"))
+                            if (typeof message.fitness !== "number")
+                                return "fitness: number expected";
+                        if (message.weight != null && message.hasOwnProperty("weight"))
+                            if (typeof message.weight !== "number")
+                                return "weight: number expected";
+                        return null;
+                    };
+
+                    /**
+                     * Creates a Fitness message from a plain object. Also converts values to their respective internal types.
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.support.optimisation.Episode.Fitness} Fitness
+                     */
+                    Fitness.fromObject = function fromObject(object) {
+                        if (object instanceof $root.message.support.optimisation.Episode.Fitness)
+                            return object;
+                        var message = new $root.message.support.optimisation.Episode.Fitness();
+                        if (object.fitness != null)
+                            message.fitness = Number(object.fitness);
+                        if (object.weight != null)
+                            message.weight = Number(object.weight);
+                        return message;
+                    };
+
+                    /**
+                     * Creates a Fitness message from a plain object. Also converts values to their respective internal types.
+                     * This is an alias of {@link message.support.optimisation.Episode.Fitness.fromObject}.
+                     * @function
+                     * @param {Object.<string,*>} object Plain object
+                     * @returns {message.support.optimisation.Episode.Fitness} Fitness
+                     */
+                    Fitness.from = Fitness.fromObject;
+
+                    /**
+                     * Creates a plain object from a Fitness message. Also converts values to other types if specified.
+                     * @param {message.support.optimisation.Episode.Fitness} message Fitness
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    Fitness.toObject = function toObject(message, options) {
+                        if (!options)
+                            options = {};
+                        var object = {};
+                        if (options.defaults) {
+                            object.fitness = 0;
+                            object.weight = 0;
+                        }
+                        if (message.fitness != null && message.hasOwnProperty("fitness"))
+                            object.fitness = message.fitness;
+                        if (message.weight != null && message.hasOwnProperty("weight"))
+                            object.weight = message.weight;
+                        return object;
+                    };
+
+                    /**
+                     * Creates a plain object from this Fitness message. Also converts values to other types if specified.
+                     * @param {$protobuf.ConversionOptions} [options] Conversion options
+                     * @returns {Object.<string,*>} Plain object
+                     */
+                    Fitness.prototype.toObject = function toObject(options) {
+                        return this.constructor.toObject(this, options);
+                    };
+
+                    /**
+                     * Converts this Fitness to JSON.
+                     * @returns {Object.<string,*>} JSON object
+                     */
+                    Fitness.prototype.toJSON = function toJSON() {
+                        return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                    };
+
+                    return Fitness;
+                })();
+
+                return Episode;
+            })();
+
+            optimisation.Estimate = (function() {
+
+                /**
+                 * Properties of an Estimate.
+                 * @typedef message.support.optimisation.Estimate$Properties
+                 * @type {Object}
+                 * @property {string} [group] Estimate group.
+                 * @property {number} [generation] Estimate generation.
+                 * @property {vec$Properties} [values] Estimate values.
+                 * @property {mat$Properties} [covariance] Estimate covariance.
+                 * @property {Array.<message.support.optimisation.Episode$Properties>} [estimateEpisode] Estimate estimateEpisode.
+                 * @property {Array.<message.support.optimisation.Episode$Properties>} [episode] Estimate episode.
+                 */
+
+                /**
+                 * Constructs a new Estimate.
+                 * @exports message.support.optimisation.Estimate
+                 * @constructor
+                 * @param {message.support.optimisation.Estimate$Properties=} [properties] Properties to set
+                 */
+                function Estimate(properties) {
+                    this.estimateEpisode = [];
+                    this.episode = [];
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * Estimate group.
+                 * @type {string}
+                 */
+                Estimate.prototype.group = "";
+
+                /**
+                 * Estimate generation.
+                 * @type {number}
+                 */
+                Estimate.prototype.generation = 0;
+
+                /**
+                 * Estimate values.
+                 * @type {(vec$Properties|null)}
+                 */
+                Estimate.prototype.values = null;
+
+                /**
+                 * Estimate covariance.
+                 * @type {(mat$Properties|null)}
+                 */
+                Estimate.prototype.covariance = null;
+
+                /**
+                 * Estimate estimateEpisode.
+                 * @type {Array.<message.support.optimisation.Episode$Properties>}
+                 */
+                Estimate.prototype.estimateEpisode = $util.emptyArray;
+
+                /**
+                 * Estimate episode.
+                 * @type {Array.<message.support.optimisation.Episode$Properties>}
+                 */
+                Estimate.prototype.episode = $util.emptyArray;
+
+                /**
+                 * Creates a new Estimate instance using the specified properties.
+                 * @param {message.support.optimisation.Estimate$Properties=} [properties] Properties to set
+                 * @returns {message.support.optimisation.Estimate} Estimate instance
+                 */
+                Estimate.create = function create(properties) {
+                    return new Estimate(properties);
+                };
+
+                /**
+                 * Encodes the specified Estimate message. Does not implicitly {@link message.support.optimisation.Estimate.verify|verify} messages.
+                 * @param {message.support.optimisation.Estimate$Properties} message Estimate message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Estimate.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.group != null && message.hasOwnProperty("group"))
+                        writer.uint32(/* id 1, wireType 2 =*/10).string(message.group);
+                    if (message.generation != null && message.hasOwnProperty("generation"))
+                        writer.uint32(/* id 2, wireType 0 =*/16).int32(message.generation);
+                    if (message.values != null && message.hasOwnProperty("values"))
+                        $root.vec.encode(message.values, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+                    if (message.covariance != null && message.hasOwnProperty("covariance"))
+                        $root.mat.encode(message.covariance, writer.uint32(/* id 4, wireType 2 =*/34).fork()).ldelim();
+                    if (message.estimateEpisode != null && message.estimateEpisode.length)
+                        for (var i = 0; i < message.estimateEpisode.length; ++i)
+                            $root.message.support.optimisation.Episode.encode(message.estimateEpisode[i], writer.uint32(/* id 5, wireType 2 =*/42).fork()).ldelim();
+                    if (message.episode != null && message.episode.length)
+                        for (var i = 0; i < message.episode.length; ++i)
+                            $root.message.support.optimisation.Episode.encode(message.episode[i], writer.uint32(/* id 6, wireType 2 =*/50).fork()).ldelim();
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified Estimate message, length delimited. Does not implicitly {@link message.support.optimisation.Estimate.verify|verify} messages.
+                 * @param {message.support.optimisation.Estimate$Properties} message Estimate message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Estimate.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes an Estimate message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.support.optimisation.Estimate} Estimate
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Estimate.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.support.optimisation.Estimate();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.group = reader.string();
+                            break;
+                        case 2:
+                            message.generation = reader.int32();
+                            break;
+                        case 3:
+                            message.values = $root.vec.decode(reader, reader.uint32());
+                            break;
+                        case 4:
+                            message.covariance = $root.mat.decode(reader, reader.uint32());
+                            break;
+                        case 5:
+                            if (!(message.estimateEpisode && message.estimateEpisode.length))
+                                message.estimateEpisode = [];
+                            message.estimateEpisode.push($root.message.support.optimisation.Episode.decode(reader, reader.uint32()));
+                            break;
+                        case 6:
+                            if (!(message.episode && message.episode.length))
+                                message.episode = [];
+                            message.episode.push($root.message.support.optimisation.Episode.decode(reader, reader.uint32()));
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes an Estimate message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.support.optimisation.Estimate} Estimate
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Estimate.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies an Estimate message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                Estimate.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.group != null && message.hasOwnProperty("group"))
+                        if (!$util.isString(message.group))
+                            return "group: string expected";
+                    if (message.generation != null && message.hasOwnProperty("generation"))
+                        if (!$util.isInteger(message.generation))
+                            return "generation: integer expected";
+                    if (message.values != null && message.hasOwnProperty("values")) {
+                        var error = $root.vec.verify(message.values);
+                        if (error)
+                            return "values." + error;
+                    }
+                    if (message.covariance != null && message.hasOwnProperty("covariance")) {
+                        var error = $root.mat.verify(message.covariance);
+                        if (error)
+                            return "covariance." + error;
+                    }
+                    if (message.estimateEpisode != null && message.hasOwnProperty("estimateEpisode")) {
+                        if (!Array.isArray(message.estimateEpisode))
+                            return "estimateEpisode: array expected";
+                        for (var i = 0; i < message.estimateEpisode.length; ++i) {
+                            var error = $root.message.support.optimisation.Episode.verify(message.estimateEpisode[i]);
+                            if (error)
+                                return "estimateEpisode." + error;
+                        }
+                    }
+                    if (message.episode != null && message.hasOwnProperty("episode")) {
+                        if (!Array.isArray(message.episode))
+                            return "episode: array expected";
+                        for (var i = 0; i < message.episode.length; ++i) {
+                            var error = $root.message.support.optimisation.Episode.verify(message.episode[i]);
+                            if (error)
+                                return "episode." + error;
+                        }
+                    }
+                    return null;
+                };
+
+                /**
+                 * Creates an Estimate message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.optimisation.Estimate} Estimate
+                 */
+                Estimate.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.support.optimisation.Estimate)
+                        return object;
+                    var message = new $root.message.support.optimisation.Estimate();
+                    if (object.group != null)
+                        message.group = String(object.group);
+                    if (object.generation != null)
+                        message.generation = object.generation | 0;
+                    if (object.values != null) {
+                        if (typeof object.values !== "object")
+                            throw TypeError(".message.support.optimisation.Estimate.values: object expected");
+                        message.values = $root.vec.fromObject(object.values);
+                    }
+                    if (object.covariance != null) {
+                        if (typeof object.covariance !== "object")
+                            throw TypeError(".message.support.optimisation.Estimate.covariance: object expected");
+                        message.covariance = $root.mat.fromObject(object.covariance);
+                    }
+                    if (object.estimateEpisode) {
+                        if (!Array.isArray(object.estimateEpisode))
+                            throw TypeError(".message.support.optimisation.Estimate.estimateEpisode: array expected");
+                        message.estimateEpisode = [];
+                        for (var i = 0; i < object.estimateEpisode.length; ++i) {
+                            if (typeof object.estimateEpisode[i] !== "object")
+                                throw TypeError(".message.support.optimisation.Estimate.estimateEpisode: object expected");
+                            message.estimateEpisode[i] = $root.message.support.optimisation.Episode.fromObject(object.estimateEpisode[i]);
+                        }
+                    }
+                    if (object.episode) {
+                        if (!Array.isArray(object.episode))
+                            throw TypeError(".message.support.optimisation.Estimate.episode: array expected");
+                        message.episode = [];
+                        for (var i = 0; i < object.episode.length; ++i) {
+                            if (typeof object.episode[i] !== "object")
+                                throw TypeError(".message.support.optimisation.Estimate.episode: object expected");
+                            message.episode[i] = $root.message.support.optimisation.Episode.fromObject(object.episode[i]);
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Creates an Estimate message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.support.optimisation.Estimate.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.support.optimisation.Estimate} Estimate
+                 */
+                Estimate.from = Estimate.fromObject;
+
+                /**
+                 * Creates a plain object from an Estimate message. Also converts values to other types if specified.
+                 * @param {message.support.optimisation.Estimate} message Estimate
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Estimate.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.arrays || options.defaults) {
+                        object.estimateEpisode = [];
+                        object.episode = [];
+                    }
+                    if (options.defaults) {
+                        object.group = "";
+                        object.generation = 0;
+                        object.values = null;
+                        object.covariance = null;
+                    }
+                    if (message.group != null && message.hasOwnProperty("group"))
+                        object.group = message.group;
+                    if (message.generation != null && message.hasOwnProperty("generation"))
+                        object.generation = message.generation;
+                    if (message.values != null && message.hasOwnProperty("values"))
+                        object.values = $root.vec.toObject(message.values, options);
+                    if (message.covariance != null && message.hasOwnProperty("covariance"))
+                        object.covariance = $root.mat.toObject(message.covariance, options);
+                    if (message.estimateEpisode && message.estimateEpisode.length) {
+                        object.estimateEpisode = [];
+                        for (var j = 0; j < message.estimateEpisode.length; ++j)
+                            object.estimateEpisode[j] = $root.message.support.optimisation.Episode.toObject(message.estimateEpisode[j], options);
+                    }
+                    if (message.episode && message.episode.length) {
+                        object.episode = [];
+                        for (var j = 0; j < message.episode.length; ++j)
+                            object.episode[j] = $root.message.support.optimisation.Episode.toObject(message.episode[j], options);
+                    }
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this Estimate message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Estimate.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this Estimate to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                Estimate.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return Estimate;
+            })();
+
+            return optimisation;
+        })();
+
+        return support;
+    })();
+
+    message.vision = (function() {
+
+        /**
+         * Namespace vision.
+         * @exports message.vision
+         * @namespace
+         */
+        var vision = {};
+
+        vision.ClassifiedImage = (function() {
+
+            /**
+             * Properties of a ClassifiedImage.
+             * @typedef message.vision.ClassifiedImage$Properties
+             * @type {Object}
+             * @property {message.input.Sensors$Properties} [sensors] ClassifiedImage sensors.
+             * @property {message.input.Image$Properties} [image] ClassifiedImage image.
+             * @property {uvec2$Properties} [dimensions] ClassifiedImage dimensions.
+             * @property {Array.<message.vision.ClassifiedImage.SeedPoints$Properties>} [ballSeedPoints] ClassifiedImage ballSeedPoints.
+             * @property {Array.<ivec2$Properties>} [ballPoints] ClassifiedImage ballPoints.
+             * @property {message.vision.Line$Properties} [horizon] ClassifiedImage horizon.
+             * @property {Array.<ivec2$Properties>} [visualHorizon] ClassifiedImage visualHorizon.
+             * @property {Array.<message.vision.ClassifiedImage.Segment$Properties>} [horizontalSegments] ClassifiedImage horizontalSegments.
+             * @property {Array.<message.vision.ClassifiedImage.Segment$Properties>} [verticalSegments] ClassifiedImage verticalSegments.
+             */
+
+            /**
+             * Constructs a new ClassifiedImage.
+             * @exports message.vision.ClassifiedImage
+             * @constructor
+             * @param {message.vision.ClassifiedImage$Properties=} [properties] Properties to set
+             */
+            function ClassifiedImage(properties) {
+                this.ballSeedPoints = [];
+                this.ballPoints = [];
+                this.visualHorizon = [];
+                this.horizontalSegments = [];
+                this.verticalSegments = [];
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * ClassifiedImage sensors.
+             * @type {(message.input.Sensors$Properties|null)}
+             */
+            ClassifiedImage.prototype.sensors = null;
+
+            /**
+             * ClassifiedImage image.
+             * @type {(message.input.Image$Properties|null)}
+             */
+            ClassifiedImage.prototype.image = null;
+
+            /**
+             * ClassifiedImage dimensions.
+             * @type {(uvec2$Properties|null)}
+             */
+            ClassifiedImage.prototype.dimensions = null;
+
+            /**
+             * ClassifiedImage ballSeedPoints.
+             * @type {Array.<message.vision.ClassifiedImage.SeedPoints$Properties>}
+             */
+            ClassifiedImage.prototype.ballSeedPoints = $util.emptyArray;
+
+            /**
+             * ClassifiedImage ballPoints.
+             * @type {Array.<ivec2$Properties>}
+             */
+            ClassifiedImage.prototype.ballPoints = $util.emptyArray;
+
+            /**
+             * ClassifiedImage horizon.
+             * @type {(message.vision.Line$Properties|null)}
+             */
+            ClassifiedImage.prototype.horizon = null;
+
+            /**
+             * ClassifiedImage visualHorizon.
+             * @type {Array.<ivec2$Properties>}
+             */
+            ClassifiedImage.prototype.visualHorizon = $util.emptyArray;
+
+            /**
+             * ClassifiedImage horizontalSegments.
+             * @type {Array.<message.vision.ClassifiedImage.Segment$Properties>}
+             */
+            ClassifiedImage.prototype.horizontalSegments = $util.emptyArray;
+
+            /**
+             * ClassifiedImage verticalSegments.
+             * @type {Array.<message.vision.ClassifiedImage.Segment$Properties>}
+             */
+            ClassifiedImage.prototype.verticalSegments = $util.emptyArray;
+
+            /**
+             * Creates a new ClassifiedImage instance using the specified properties.
+             * @param {message.vision.ClassifiedImage$Properties=} [properties] Properties to set
+             * @returns {message.vision.ClassifiedImage} ClassifiedImage instance
+             */
+            ClassifiedImage.create = function create(properties) {
+                return new ClassifiedImage(properties);
+            };
+
+            /**
+             * Encodes the specified ClassifiedImage message. Does not implicitly {@link message.vision.ClassifiedImage.verify|verify} messages.
+             * @param {message.vision.ClassifiedImage$Properties} message ClassifiedImage message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            ClassifiedImage.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.sensors != null && message.hasOwnProperty("sensors"))
+                    $root.message.input.Sensors.encode(message.sensors, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                if (message.image != null && message.hasOwnProperty("image"))
+                    $root.message.input.Image.encode(message.image, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                if (message.dimensions != null && message.hasOwnProperty("dimensions"))
+                    $root.uvec2.encode(message.dimensions, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+                if (message.ballSeedPoints != null && message.ballSeedPoints.length)
+                    for (var i = 0; i < message.ballSeedPoints.length; ++i)
+                        $root.message.vision.ClassifiedImage.SeedPoints.encode(message.ballSeedPoints[i], writer.uint32(/* id 4, wireType 2 =*/34).fork()).ldelim();
+                if (message.ballPoints != null && message.ballPoints.length)
+                    for (var i = 0; i < message.ballPoints.length; ++i)
+                        $root.ivec2.encode(message.ballPoints[i], writer.uint32(/* id 5, wireType 2 =*/42).fork()).ldelim();
+                if (message.horizon != null && message.hasOwnProperty("horizon"))
+                    $root.message.vision.Line.encode(message.horizon, writer.uint32(/* id 6, wireType 2 =*/50).fork()).ldelim();
+                if (message.visualHorizon != null && message.visualHorizon.length)
+                    for (var i = 0; i < message.visualHorizon.length; ++i)
+                        $root.ivec2.encode(message.visualHorizon[i], writer.uint32(/* id 7, wireType 2 =*/58).fork()).ldelim();
+                if (message.horizontalSegments != null && message.horizontalSegments.length)
+                    for (var i = 0; i < message.horizontalSegments.length; ++i)
+                        $root.message.vision.ClassifiedImage.Segment.encode(message.horizontalSegments[i], writer.uint32(/* id 8, wireType 2 =*/66).fork()).ldelim();
+                if (message.verticalSegments != null && message.verticalSegments.length)
+                    for (var i = 0; i < message.verticalSegments.length; ++i)
+                        $root.message.vision.ClassifiedImage.Segment.encode(message.verticalSegments[i], writer.uint32(/* id 9, wireType 2 =*/74).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified ClassifiedImage message, length delimited. Does not implicitly {@link message.vision.ClassifiedImage.verify|verify} messages.
+             * @param {message.vision.ClassifiedImage$Properties} message ClassifiedImage message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            ClassifiedImage.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a ClassifiedImage message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.vision.ClassifiedImage} ClassifiedImage
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            ClassifiedImage.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.vision.ClassifiedImage();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.sensors = $root.message.input.Sensors.decode(reader, reader.uint32());
+                        break;
+                    case 2:
+                        message.image = $root.message.input.Image.decode(reader, reader.uint32());
+                        break;
+                    case 3:
+                        message.dimensions = $root.uvec2.decode(reader, reader.uint32());
+                        break;
+                    case 4:
+                        if (!(message.ballSeedPoints && message.ballSeedPoints.length))
+                            message.ballSeedPoints = [];
+                        message.ballSeedPoints.push($root.message.vision.ClassifiedImage.SeedPoints.decode(reader, reader.uint32()));
+                        break;
+                    case 5:
+                        if (!(message.ballPoints && message.ballPoints.length))
+                            message.ballPoints = [];
+                        message.ballPoints.push($root.ivec2.decode(reader, reader.uint32()));
+                        break;
+                    case 6:
+                        message.horizon = $root.message.vision.Line.decode(reader, reader.uint32());
+                        break;
+                    case 7:
+                        if (!(message.visualHorizon && message.visualHorizon.length))
+                            message.visualHorizon = [];
+                        message.visualHorizon.push($root.ivec2.decode(reader, reader.uint32()));
+                        break;
+                    case 8:
+                        if (!(message.horizontalSegments && message.horizontalSegments.length))
+                            message.horizontalSegments = [];
+                        message.horizontalSegments.push($root.message.vision.ClassifiedImage.Segment.decode(reader, reader.uint32()));
+                        break;
+                    case 9:
+                        if (!(message.verticalSegments && message.verticalSegments.length))
+                            message.verticalSegments = [];
+                        message.verticalSegments.push($root.message.vision.ClassifiedImage.Segment.decode(reader, reader.uint32()));
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a ClassifiedImage message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.vision.ClassifiedImage} ClassifiedImage
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            ClassifiedImage.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a ClassifiedImage message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            ClassifiedImage.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.sensors != null && message.hasOwnProperty("sensors")) {
+                    var error = $root.message.input.Sensors.verify(message.sensors);
+                    if (error)
+                        return "sensors." + error;
+                }
+                if (message.image != null && message.hasOwnProperty("image")) {
+                    var error = $root.message.input.Image.verify(message.image);
+                    if (error)
+                        return "image." + error;
+                }
+                if (message.dimensions != null && message.hasOwnProperty("dimensions")) {
+                    var error = $root.uvec2.verify(message.dimensions);
+                    if (error)
+                        return "dimensions." + error;
+                }
+                if (message.ballSeedPoints != null && message.hasOwnProperty("ballSeedPoints")) {
+                    if (!Array.isArray(message.ballSeedPoints))
+                        return "ballSeedPoints: array expected";
+                    for (var i = 0; i < message.ballSeedPoints.length; ++i) {
+                        var error = $root.message.vision.ClassifiedImage.SeedPoints.verify(message.ballSeedPoints[i]);
+                        if (error)
+                            return "ballSeedPoints." + error;
+                    }
+                }
+                if (message.ballPoints != null && message.hasOwnProperty("ballPoints")) {
+                    if (!Array.isArray(message.ballPoints))
+                        return "ballPoints: array expected";
+                    for (var i = 0; i < message.ballPoints.length; ++i) {
+                        var error = $root.ivec2.verify(message.ballPoints[i]);
+                        if (error)
+                            return "ballPoints." + error;
+                    }
+                }
+                if (message.horizon != null && message.hasOwnProperty("horizon")) {
+                    var error = $root.message.vision.Line.verify(message.horizon);
+                    if (error)
+                        return "horizon." + error;
+                }
+                if (message.visualHorizon != null && message.hasOwnProperty("visualHorizon")) {
+                    if (!Array.isArray(message.visualHorizon))
+                        return "visualHorizon: array expected";
+                    for (var i = 0; i < message.visualHorizon.length; ++i) {
+                        var error = $root.ivec2.verify(message.visualHorizon[i]);
+                        if (error)
+                            return "visualHorizon." + error;
+                    }
+                }
+                if (message.horizontalSegments != null && message.hasOwnProperty("horizontalSegments")) {
+                    if (!Array.isArray(message.horizontalSegments))
+                        return "horizontalSegments: array expected";
+                    for (var i = 0; i < message.horizontalSegments.length; ++i) {
+                        var error = $root.message.vision.ClassifiedImage.Segment.verify(message.horizontalSegments[i]);
+                        if (error)
+                            return "horizontalSegments." + error;
+                    }
+                }
+                if (message.verticalSegments != null && message.hasOwnProperty("verticalSegments")) {
+                    if (!Array.isArray(message.verticalSegments))
+                        return "verticalSegments: array expected";
+                    for (var i = 0; i < message.verticalSegments.length; ++i) {
+                        var error = $root.message.vision.ClassifiedImage.Segment.verify(message.verticalSegments[i]);
+                        if (error)
+                            return "verticalSegments." + error;
+                    }
+                }
+                return null;
+            };
+
+            /**
+             * Creates a ClassifiedImage message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.ClassifiedImage} ClassifiedImage
+             */
+            ClassifiedImage.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.vision.ClassifiedImage)
+                    return object;
+                var message = new $root.message.vision.ClassifiedImage();
+                if (object.sensors != null) {
+                    if (typeof object.sensors !== "object")
+                        throw TypeError(".message.vision.ClassifiedImage.sensors: object expected");
+                    message.sensors = $root.message.input.Sensors.fromObject(object.sensors);
+                }
+                if (object.image != null) {
+                    if (typeof object.image !== "object")
+                        throw TypeError(".message.vision.ClassifiedImage.image: object expected");
+                    message.image = $root.message.input.Image.fromObject(object.image);
+                }
+                if (object.dimensions != null) {
+                    if (typeof object.dimensions !== "object")
+                        throw TypeError(".message.vision.ClassifiedImage.dimensions: object expected");
+                    message.dimensions = $root.uvec2.fromObject(object.dimensions);
+                }
+                if (object.ballSeedPoints) {
+                    if (!Array.isArray(object.ballSeedPoints))
+                        throw TypeError(".message.vision.ClassifiedImage.ballSeedPoints: array expected");
+                    message.ballSeedPoints = [];
+                    for (var i = 0; i < object.ballSeedPoints.length; ++i) {
+                        if (typeof object.ballSeedPoints[i] !== "object")
+                            throw TypeError(".message.vision.ClassifiedImage.ballSeedPoints: object expected");
+                        message.ballSeedPoints[i] = $root.message.vision.ClassifiedImage.SeedPoints.fromObject(object.ballSeedPoints[i]);
+                    }
+                }
+                if (object.ballPoints) {
+                    if (!Array.isArray(object.ballPoints))
+                        throw TypeError(".message.vision.ClassifiedImage.ballPoints: array expected");
+                    message.ballPoints = [];
+                    for (var i = 0; i < object.ballPoints.length; ++i) {
+                        if (typeof object.ballPoints[i] !== "object")
+                            throw TypeError(".message.vision.ClassifiedImage.ballPoints: object expected");
+                        message.ballPoints[i] = $root.ivec2.fromObject(object.ballPoints[i]);
+                    }
+                }
+                if (object.horizon != null) {
+                    if (typeof object.horizon !== "object")
+                        throw TypeError(".message.vision.ClassifiedImage.horizon: object expected");
+                    message.horizon = $root.message.vision.Line.fromObject(object.horizon);
+                }
+                if (object.visualHorizon) {
+                    if (!Array.isArray(object.visualHorizon))
+                        throw TypeError(".message.vision.ClassifiedImage.visualHorizon: array expected");
+                    message.visualHorizon = [];
+                    for (var i = 0; i < object.visualHorizon.length; ++i) {
+                        if (typeof object.visualHorizon[i] !== "object")
+                            throw TypeError(".message.vision.ClassifiedImage.visualHorizon: object expected");
+                        message.visualHorizon[i] = $root.ivec2.fromObject(object.visualHorizon[i]);
+                    }
+                }
+                if (object.horizontalSegments) {
+                    if (!Array.isArray(object.horizontalSegments))
+                        throw TypeError(".message.vision.ClassifiedImage.horizontalSegments: array expected");
+                    message.horizontalSegments = [];
+                    for (var i = 0; i < object.horizontalSegments.length; ++i) {
+                        if (typeof object.horizontalSegments[i] !== "object")
+                            throw TypeError(".message.vision.ClassifiedImage.horizontalSegments: object expected");
+                        message.horizontalSegments[i] = $root.message.vision.ClassifiedImage.Segment.fromObject(object.horizontalSegments[i]);
+                    }
+                }
+                if (object.verticalSegments) {
+                    if (!Array.isArray(object.verticalSegments))
+                        throw TypeError(".message.vision.ClassifiedImage.verticalSegments: array expected");
+                    message.verticalSegments = [];
+                    for (var i = 0; i < object.verticalSegments.length; ++i) {
+                        if (typeof object.verticalSegments[i] !== "object")
+                            throw TypeError(".message.vision.ClassifiedImage.verticalSegments: object expected");
+                        message.verticalSegments[i] = $root.message.vision.ClassifiedImage.Segment.fromObject(object.verticalSegments[i]);
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Creates a ClassifiedImage message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.vision.ClassifiedImage.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.ClassifiedImage} ClassifiedImage
+             */
+            ClassifiedImage.from = ClassifiedImage.fromObject;
+
+            /**
+             * Creates a plain object from a ClassifiedImage message. Also converts values to other types if specified.
+             * @param {message.vision.ClassifiedImage} message ClassifiedImage
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            ClassifiedImage.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.arrays || options.defaults) {
+                    object.ballSeedPoints = [];
+                    object.ballPoints = [];
+                    object.visualHorizon = [];
+                    object.horizontalSegments = [];
+                    object.verticalSegments = [];
+                }
+                if (options.defaults) {
+                    object.sensors = null;
+                    object.image = null;
+                    object.dimensions = null;
+                    object.horizon = null;
+                }
+                if (message.sensors != null && message.hasOwnProperty("sensors"))
+                    object.sensors = $root.message.input.Sensors.toObject(message.sensors, options);
+                if (message.image != null && message.hasOwnProperty("image"))
+                    object.image = $root.message.input.Image.toObject(message.image, options);
+                if (message.dimensions != null && message.hasOwnProperty("dimensions"))
+                    object.dimensions = $root.uvec2.toObject(message.dimensions, options);
+                if (message.ballSeedPoints && message.ballSeedPoints.length) {
+                    object.ballSeedPoints = [];
+                    for (var j = 0; j < message.ballSeedPoints.length; ++j)
+                        object.ballSeedPoints[j] = $root.message.vision.ClassifiedImage.SeedPoints.toObject(message.ballSeedPoints[j], options);
+                }
+                if (message.ballPoints && message.ballPoints.length) {
+                    object.ballPoints = [];
+                    for (var j = 0; j < message.ballPoints.length; ++j)
+                        object.ballPoints[j] = $root.ivec2.toObject(message.ballPoints[j], options);
+                }
+                if (message.horizon != null && message.hasOwnProperty("horizon"))
+                    object.horizon = $root.message.vision.Line.toObject(message.horizon, options);
+                if (message.visualHorizon && message.visualHorizon.length) {
+                    object.visualHorizon = [];
+                    for (var j = 0; j < message.visualHorizon.length; ++j)
+                        object.visualHorizon[j] = $root.ivec2.toObject(message.visualHorizon[j], options);
+                }
+                if (message.horizontalSegments && message.horizontalSegments.length) {
+                    object.horizontalSegments = [];
+                    for (var j = 0; j < message.horizontalSegments.length; ++j)
+                        object.horizontalSegments[j] = $root.message.vision.ClassifiedImage.Segment.toObject(message.horizontalSegments[j], options);
+                }
+                if (message.verticalSegments && message.verticalSegments.length) {
+                    object.verticalSegments = [];
+                    for (var j = 0; j < message.verticalSegments.length; ++j)
+                        object.verticalSegments[j] = $root.message.vision.ClassifiedImage.Segment.toObject(message.verticalSegments[j], options);
+                }
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this ClassifiedImage message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            ClassifiedImage.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this ClassifiedImage to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            ClassifiedImage.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            /**
+             * SegmentClass enum.
+             * @name SegmentClass
+             * @memberof message.vision.ClassifiedImage
+             * @enum {number}
+             * @property {number} UNKNOWN_CLASS=0 UNKNOWN_CLASS value
+             * @property {number} FIELD=1 FIELD value
+             * @property {number} BALL=2 BALL value
+             * @property {number} GOAL=3 GOAL value
+             * @property {number} LINE=4 LINE value
+             * @property {number} CYAN_TEAM=5 CYAN_TEAM value
+             * @property {number} MAGENTA_TEAM=6 MAGENTA_TEAM value
+             */
+            ClassifiedImage.SegmentClass = (function() {
+                var valuesById = {}, values = Object.create(valuesById);
+                values[valuesById[0] = "UNKNOWN_CLASS"] = 0;
+                values[valuesById[1] = "FIELD"] = 1;
+                values[valuesById[2] = "BALL"] = 2;
+                values[valuesById[3] = "GOAL"] = 3;
+                values[valuesById[4] = "LINE"] = 4;
+                values[valuesById[5] = "CYAN_TEAM"] = 5;
+                values[valuesById[6] = "MAGENTA_TEAM"] = 6;
+                return values;
+            })();
+
+            ClassifiedImage.Segment = (function() {
+
+                /**
+                 * Properties of a Segment.
+                 * @typedef message.vision.ClassifiedImage.Segment$Properties
+                 * @type {Object}
+                 * @property {message.vision.ClassifiedImage.SegmentClass} [segmentClass] Segment segmentClass.
+                 * @property {number} [length] Segment length.
+                 * @property {number} [subsample] Segment subsample.
+                 * @property {ivec2$Properties} [start] Segment start.
+                 * @property {ivec2$Properties} [end] Segment end.
+                 * @property {ivec2$Properties} [midpoint] Segment midpoint.
+                 * @property {number} [previous] Segment previous.
+                 * @property {number} [next] Segment next.
+                 */
+
+                /**
+                 * Constructs a new Segment.
+                 * @exports message.vision.ClassifiedImage.Segment
+                 * @constructor
+                 * @param {message.vision.ClassifiedImage.Segment$Properties=} [properties] Properties to set
+                 */
+                function Segment(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * Segment segmentClass.
+                 * @type {message.vision.ClassifiedImage.SegmentClass}
+                 */
+                Segment.prototype.segmentClass = 0;
+
+                /**
+                 * Segment length.
+                 * @type {number}
+                 */
+                Segment.prototype.length = 0;
+
+                /**
+                 * Segment subsample.
+                 * @type {number}
+                 */
+                Segment.prototype.subsample = 0;
+
+                /**
+                 * Segment start.
+                 * @type {(ivec2$Properties|null)}
+                 */
+                Segment.prototype.start = null;
+
+                /**
+                 * Segment end.
+                 * @type {(ivec2$Properties|null)}
+                 */
+                Segment.prototype.end = null;
+
+                /**
+                 * Segment midpoint.
+                 * @type {(ivec2$Properties|null)}
+                 */
+                Segment.prototype.midpoint = null;
+
+                /**
+                 * Segment previous.
+                 * @type {number}
+                 */
+                Segment.prototype.previous = 0;
+
+                /**
+                 * Segment next.
+                 * @type {number}
+                 */
+                Segment.prototype.next = 0;
+
+                /**
+                 * Creates a new Segment instance using the specified properties.
+                 * @param {message.vision.ClassifiedImage.Segment$Properties=} [properties] Properties to set
+                 * @returns {message.vision.ClassifiedImage.Segment} Segment instance
+                 */
+                Segment.create = function create(properties) {
+                    return new Segment(properties);
+                };
+
+                /**
+                 * Encodes the specified Segment message. Does not implicitly {@link message.vision.ClassifiedImage.Segment.verify|verify} messages.
+                 * @param {message.vision.ClassifiedImage.Segment$Properties} message Segment message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Segment.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.segmentClass != null && message.hasOwnProperty("segmentClass"))
+                        writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.segmentClass);
+                    if (message.length != null && message.hasOwnProperty("length"))
+                        writer.uint32(/* id 2, wireType 0 =*/16).uint32(message.length);
+                    if (message.subsample != null && message.hasOwnProperty("subsample"))
+                        writer.uint32(/* id 3, wireType 0 =*/24).uint32(message.subsample);
+                    if (message.start != null && message.hasOwnProperty("start"))
+                        $root.ivec2.encode(message.start, writer.uint32(/* id 4, wireType 2 =*/34).fork()).ldelim();
+                    if (message.end != null && message.hasOwnProperty("end"))
+                        $root.ivec2.encode(message.end, writer.uint32(/* id 5, wireType 2 =*/42).fork()).ldelim();
+                    if (message.midpoint != null && message.hasOwnProperty("midpoint"))
+                        $root.ivec2.encode(message.midpoint, writer.uint32(/* id 6, wireType 2 =*/50).fork()).ldelim();
+                    if (message.previous != null && message.hasOwnProperty("previous"))
+                        writer.uint32(/* id 7, wireType 0 =*/56).int32(message.previous);
+                    if (message.next != null && message.hasOwnProperty("next"))
+                        writer.uint32(/* id 8, wireType 0 =*/64).int32(message.next);
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified Segment message, length delimited. Does not implicitly {@link message.vision.ClassifiedImage.Segment.verify|verify} messages.
+                 * @param {message.vision.ClassifiedImage.Segment$Properties} message Segment message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Segment.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a Segment message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.vision.ClassifiedImage.Segment} Segment
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Segment.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.vision.ClassifiedImage.Segment();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.segmentClass = reader.uint32();
+                            break;
+                        case 2:
+                            message.length = reader.uint32();
+                            break;
+                        case 3:
+                            message.subsample = reader.uint32();
+                            break;
+                        case 4:
+                            message.start = $root.ivec2.decode(reader, reader.uint32());
+                            break;
+                        case 5:
+                            message.end = $root.ivec2.decode(reader, reader.uint32());
+                            break;
+                        case 6:
+                            message.midpoint = $root.ivec2.decode(reader, reader.uint32());
+                            break;
+                        case 7:
+                            message.previous = reader.int32();
+                            break;
+                        case 8:
+                            message.next = reader.int32();
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a Segment message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.vision.ClassifiedImage.Segment} Segment
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Segment.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a Segment message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                Segment.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.segmentClass != null && message.hasOwnProperty("segmentClass"))
+                        switch (message.segmentClass) {
+                        default:
+                            return "segmentClass: enum value expected";
+                        case 0:
+                        case 1:
+                        case 2:
+                        case 3:
+                        case 4:
+                        case 5:
+                        case 6:
+                            break;
+                        }
+                    if (message.length != null && message.hasOwnProperty("length"))
+                        if (!$util.isInteger(message.length))
+                            return "length: integer expected";
+                    if (message.subsample != null && message.hasOwnProperty("subsample"))
+                        if (!$util.isInteger(message.subsample))
+                            return "subsample: integer expected";
+                    if (message.start != null && message.hasOwnProperty("start")) {
+                        var error = $root.ivec2.verify(message.start);
+                        if (error)
+                            return "start." + error;
+                    }
+                    if (message.end != null && message.hasOwnProperty("end")) {
+                        var error = $root.ivec2.verify(message.end);
+                        if (error)
+                            return "end." + error;
+                    }
+                    if (message.midpoint != null && message.hasOwnProperty("midpoint")) {
+                        var error = $root.ivec2.verify(message.midpoint);
+                        if (error)
+                            return "midpoint." + error;
+                    }
+                    if (message.previous != null && message.hasOwnProperty("previous"))
+                        if (!$util.isInteger(message.previous))
+                            return "previous: integer expected";
+                    if (message.next != null && message.hasOwnProperty("next"))
+                        if (!$util.isInteger(message.next))
+                            return "next: integer expected";
+                    return null;
+                };
+
+                /**
+                 * Creates a Segment message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.vision.ClassifiedImage.Segment} Segment
+                 */
+                Segment.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.vision.ClassifiedImage.Segment)
+                        return object;
+                    var message = new $root.message.vision.ClassifiedImage.Segment();
+                    switch (object.segmentClass) {
+                    case "UNKNOWN_CLASS":
+                    case 0:
+                        message.segmentClass = 0;
+                        break;
+                    case "FIELD":
+                    case 1:
+                        message.segmentClass = 1;
+                        break;
+                    case "BALL":
+                    case 2:
+                        message.segmentClass = 2;
+                        break;
+                    case "GOAL":
+                    case 3:
+                        message.segmentClass = 3;
+                        break;
+                    case "LINE":
+                    case 4:
+                        message.segmentClass = 4;
+                        break;
+                    case "CYAN_TEAM":
+                    case 5:
+                        message.segmentClass = 5;
+                        break;
+                    case "MAGENTA_TEAM":
+                    case 6:
+                        message.segmentClass = 6;
+                        break;
+                    }
+                    if (object.length != null)
+                        message.length = object.length >>> 0;
+                    if (object.subsample != null)
+                        message.subsample = object.subsample >>> 0;
+                    if (object.start != null) {
+                        if (typeof object.start !== "object")
+                            throw TypeError(".message.vision.ClassifiedImage.Segment.start: object expected");
+                        message.start = $root.ivec2.fromObject(object.start);
+                    }
+                    if (object.end != null) {
+                        if (typeof object.end !== "object")
+                            throw TypeError(".message.vision.ClassifiedImage.Segment.end: object expected");
+                        message.end = $root.ivec2.fromObject(object.end);
+                    }
+                    if (object.midpoint != null) {
+                        if (typeof object.midpoint !== "object")
+                            throw TypeError(".message.vision.ClassifiedImage.Segment.midpoint: object expected");
+                        message.midpoint = $root.ivec2.fromObject(object.midpoint);
+                    }
+                    if (object.previous != null)
+                        message.previous = object.previous | 0;
+                    if (object.next != null)
+                        message.next = object.next | 0;
+                    return message;
+                };
+
+                /**
+                 * Creates a Segment message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.vision.ClassifiedImage.Segment.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.vision.ClassifiedImage.Segment} Segment
+                 */
+                Segment.from = Segment.fromObject;
+
+                /**
+                 * Creates a plain object from a Segment message. Also converts values to other types if specified.
+                 * @param {message.vision.ClassifiedImage.Segment} message Segment
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Segment.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.defaults) {
+                        object.segmentClass = options.enums === String ? "UNKNOWN_CLASS" : 0;
+                        object.length = 0;
+                        object.subsample = 0;
+                        object.start = null;
+                        object.end = null;
+                        object.midpoint = null;
+                        object.previous = 0;
+                        object.next = 0;
+                    }
+                    if (message.segmentClass != null && message.hasOwnProperty("segmentClass"))
+                        object.segmentClass = options.enums === String ? $root.message.vision.ClassifiedImage.SegmentClass[message.segmentClass] : message.segmentClass;
+                    if (message.length != null && message.hasOwnProperty("length"))
+                        object.length = message.length;
+                    if (message.subsample != null && message.hasOwnProperty("subsample"))
+                        object.subsample = message.subsample;
+                    if (message.start != null && message.hasOwnProperty("start"))
+                        object.start = $root.ivec2.toObject(message.start, options);
+                    if (message.end != null && message.hasOwnProperty("end"))
+                        object.end = $root.ivec2.toObject(message.end, options);
+                    if (message.midpoint != null && message.hasOwnProperty("midpoint"))
+                        object.midpoint = $root.ivec2.toObject(message.midpoint, options);
+                    if (message.previous != null && message.hasOwnProperty("previous"))
+                        object.previous = message.previous;
+                    if (message.next != null && message.hasOwnProperty("next"))
+                        object.next = message.next;
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this Segment message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Segment.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this Segment to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                Segment.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return Segment;
+            })();
+
+            ClassifiedImage.SeedPoints = (function() {
+
+                /**
+                 * Properties of a SeedPoints.
+                 * @typedef message.vision.ClassifiedImage.SeedPoints$Properties
+                 * @type {Object}
+                 * @property {Array.<ivec2$Properties>} [points] SeedPoints points.
+                 */
+
+                /**
+                 * Constructs a new SeedPoints.
+                 * @exports message.vision.ClassifiedImage.SeedPoints
+                 * @constructor
+                 * @param {message.vision.ClassifiedImage.SeedPoints$Properties=} [properties] Properties to set
+                 */
+                function SeedPoints(properties) {
+                    this.points = [];
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * SeedPoints points.
+                 * @type {Array.<ivec2$Properties>}
+                 */
+                SeedPoints.prototype.points = $util.emptyArray;
+
+                /**
+                 * Creates a new SeedPoints instance using the specified properties.
+                 * @param {message.vision.ClassifiedImage.SeedPoints$Properties=} [properties] Properties to set
+                 * @returns {message.vision.ClassifiedImage.SeedPoints} SeedPoints instance
+                 */
+                SeedPoints.create = function create(properties) {
+                    return new SeedPoints(properties);
+                };
+
+                /**
+                 * Encodes the specified SeedPoints message. Does not implicitly {@link message.vision.ClassifiedImage.SeedPoints.verify|verify} messages.
+                 * @param {message.vision.ClassifiedImage.SeedPoints$Properties} message SeedPoints message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                SeedPoints.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.points != null && message.points.length)
+                        for (var i = 0; i < message.points.length; ++i)
+                            $root.ivec2.encode(message.points[i], writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified SeedPoints message, length delimited. Does not implicitly {@link message.vision.ClassifiedImage.SeedPoints.verify|verify} messages.
+                 * @param {message.vision.ClassifiedImage.SeedPoints$Properties} message SeedPoints message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                SeedPoints.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a SeedPoints message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.vision.ClassifiedImage.SeedPoints} SeedPoints
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                SeedPoints.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.vision.ClassifiedImage.SeedPoints();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            if (!(message.points && message.points.length))
+                                message.points = [];
+                            message.points.push($root.ivec2.decode(reader, reader.uint32()));
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a SeedPoints message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.vision.ClassifiedImage.SeedPoints} SeedPoints
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                SeedPoints.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a SeedPoints message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                SeedPoints.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.points != null && message.hasOwnProperty("points")) {
+                        if (!Array.isArray(message.points))
+                            return "points: array expected";
+                        for (var i = 0; i < message.points.length; ++i) {
+                            var error = $root.ivec2.verify(message.points[i]);
+                            if (error)
+                                return "points." + error;
+                        }
+                    }
+                    return null;
+                };
+
+                /**
+                 * Creates a SeedPoints message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.vision.ClassifiedImage.SeedPoints} SeedPoints
+                 */
+                SeedPoints.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.vision.ClassifiedImage.SeedPoints)
+                        return object;
+                    var message = new $root.message.vision.ClassifiedImage.SeedPoints();
+                    if (object.points) {
+                        if (!Array.isArray(object.points))
+                            throw TypeError(".message.vision.ClassifiedImage.SeedPoints.points: array expected");
+                        message.points = [];
+                        for (var i = 0; i < object.points.length; ++i) {
+                            if (typeof object.points[i] !== "object")
+                                throw TypeError(".message.vision.ClassifiedImage.SeedPoints.points: object expected");
+                            message.points[i] = $root.ivec2.fromObject(object.points[i]);
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Creates a SeedPoints message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.vision.ClassifiedImage.SeedPoints.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.vision.ClassifiedImage.SeedPoints} SeedPoints
+                 */
+                SeedPoints.from = SeedPoints.fromObject;
+
+                /**
+                 * Creates a plain object from a SeedPoints message. Also converts values to other types if specified.
+                 * @param {message.vision.ClassifiedImage.SeedPoints} message SeedPoints
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                SeedPoints.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.arrays || options.defaults)
+                        object.points = [];
+                    if (message.points && message.points.length) {
+                        object.points = [];
+                        for (var j = 0; j < message.points.length; ++j)
+                            object.points[j] = $root.ivec2.toObject(message.points[j], options);
+                    }
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this SeedPoints message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                SeedPoints.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this SeedPoints to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                SeedPoints.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return SeedPoints;
+            })();
+
+            return ClassifiedImage;
+        })();
+
+        vision.LookUpTable = (function() {
+
+            /**
+             * Properties of a LookUpTable.
+             * @typedef message.vision.LookUpTable$Properties
+             * @type {Object}
+             * @property {Uint8Array} [table] LookUpTable table.
+             * @property {number} [bitsY] LookUpTable bitsY.
+             * @property {number} [bitsCb] LookUpTable bitsCb.
+             * @property {number} [bitsCr] LookUpTable bitsCr.
+             */
+
+            /**
+             * Constructs a new LookUpTable.
+             * @exports message.vision.LookUpTable
+             * @constructor
+             * @param {message.vision.LookUpTable$Properties=} [properties] Properties to set
+             */
+            function LookUpTable(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * LookUpTable table.
+             * @type {Uint8Array}
+             */
+            LookUpTable.prototype.table = $util.newBuffer([]);
+
+            /**
+             * LookUpTable bitsY.
+             * @type {number}
+             */
+            LookUpTable.prototype.bitsY = 0;
+
+            /**
+             * LookUpTable bitsCb.
+             * @type {number}
+             */
+            LookUpTable.prototype.bitsCb = 0;
+
+            /**
+             * LookUpTable bitsCr.
+             * @type {number}
+             */
+            LookUpTable.prototype.bitsCr = 0;
+
+            /**
+             * Creates a new LookUpTable instance using the specified properties.
+             * @param {message.vision.LookUpTable$Properties=} [properties] Properties to set
+             * @returns {message.vision.LookUpTable} LookUpTable instance
+             */
+            LookUpTable.create = function create(properties) {
+                return new LookUpTable(properties);
+            };
+
+            /**
+             * Encodes the specified LookUpTable message. Does not implicitly {@link message.vision.LookUpTable.verify|verify} messages.
+             * @param {message.vision.LookUpTable$Properties} message LookUpTable message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            LookUpTable.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.table != null && message.hasOwnProperty("table"))
+                    writer.uint32(/* id 1, wireType 2 =*/10).bytes(message.table);
+                if (message.bitsY != null && message.hasOwnProperty("bitsY"))
+                    writer.uint32(/* id 2, wireType 0 =*/16).uint32(message.bitsY);
+                if (message.bitsCb != null && message.hasOwnProperty("bitsCb"))
+                    writer.uint32(/* id 3, wireType 0 =*/24).uint32(message.bitsCb);
+                if (message.bitsCr != null && message.hasOwnProperty("bitsCr"))
+                    writer.uint32(/* id 4, wireType 0 =*/32).uint32(message.bitsCr);
+                return writer;
+            };
+
+            /**
+             * Encodes the specified LookUpTable message, length delimited. Does not implicitly {@link message.vision.LookUpTable.verify|verify} messages.
+             * @param {message.vision.LookUpTable$Properties} message LookUpTable message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            LookUpTable.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a LookUpTable message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.vision.LookUpTable} LookUpTable
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            LookUpTable.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.vision.LookUpTable();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.table = reader.bytes();
+                        break;
+                    case 2:
+                        message.bitsY = reader.uint32();
+                        break;
+                    case 3:
+                        message.bitsCb = reader.uint32();
+                        break;
+                    case 4:
+                        message.bitsCr = reader.uint32();
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a LookUpTable message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.vision.LookUpTable} LookUpTable
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            LookUpTable.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a LookUpTable message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            LookUpTable.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.table != null && message.hasOwnProperty("table"))
+                    if (!(message.table && typeof message.table.length === "number" || $util.isString(message.table)))
+                        return "table: buffer expected";
+                if (message.bitsY != null && message.hasOwnProperty("bitsY"))
+                    if (!$util.isInteger(message.bitsY))
+                        return "bitsY: integer expected";
+                if (message.bitsCb != null && message.hasOwnProperty("bitsCb"))
+                    if (!$util.isInteger(message.bitsCb))
+                        return "bitsCb: integer expected";
+                if (message.bitsCr != null && message.hasOwnProperty("bitsCr"))
+                    if (!$util.isInteger(message.bitsCr))
+                        return "bitsCr: integer expected";
+                return null;
+            };
+
+            /**
+             * Creates a LookUpTable message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.LookUpTable} LookUpTable
+             */
+            LookUpTable.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.vision.LookUpTable)
+                    return object;
+                var message = new $root.message.vision.LookUpTable();
+                if (object.table != null)
+                    if (typeof object.table === "string")
+                        $util.base64.decode(object.table, message.table = $util.newBuffer($util.base64.length(object.table)), 0);
+                    else if (object.table.length)
+                        message.table = object.table;
+                if (object.bitsY != null)
+                    message.bitsY = object.bitsY >>> 0;
+                if (object.bitsCb != null)
+                    message.bitsCb = object.bitsCb >>> 0;
+                if (object.bitsCr != null)
+                    message.bitsCr = object.bitsCr >>> 0;
+                return message;
+            };
+
+            /**
+             * Creates a LookUpTable message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.vision.LookUpTable.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.LookUpTable} LookUpTable
+             */
+            LookUpTable.from = LookUpTable.fromObject;
+
+            /**
+             * Creates a plain object from a LookUpTable message. Also converts values to other types if specified.
+             * @param {message.vision.LookUpTable} message LookUpTable
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            LookUpTable.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults) {
+                    object.table = options.bytes === String ? "" : [];
+                    object.bitsY = 0;
+                    object.bitsCb = 0;
+                    object.bitsCr = 0;
+                }
+                if (message.table != null && message.hasOwnProperty("table"))
+                    object.table = options.bytes === String ? $util.base64.encode(message.table, 0, message.table.length) : options.bytes === Array ? Array.prototype.slice.call(message.table) : message.table;
+                if (message.bitsY != null && message.hasOwnProperty("bitsY"))
+                    object.bitsY = message.bitsY;
+                if (message.bitsCb != null && message.hasOwnProperty("bitsCb"))
+                    object.bitsCb = message.bitsCb;
+                if (message.bitsCr != null && message.hasOwnProperty("bitsCr"))
+                    object.bitsCr = message.bitsCr;
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this LookUpTable message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            LookUpTable.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this LookUpTable to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            LookUpTable.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return LookUpTable;
+        })();
+
+        vision.SaveLookUpTable = (function() {
+
+            /**
+             * Properties of a SaveLookUpTable.
+             * @typedef message.vision.SaveLookUpTable$Properties
+             * @type {Object}
+             */
+
+            /**
+             * Constructs a new SaveLookUpTable.
+             * @exports message.vision.SaveLookUpTable
+             * @constructor
+             * @param {message.vision.SaveLookUpTable$Properties=} [properties] Properties to set
+             */
+            function SaveLookUpTable(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Creates a new SaveLookUpTable instance using the specified properties.
+             * @param {message.vision.SaveLookUpTable$Properties=} [properties] Properties to set
+             * @returns {message.vision.SaveLookUpTable} SaveLookUpTable instance
+             */
+            SaveLookUpTable.create = function create(properties) {
+                return new SaveLookUpTable(properties);
+            };
+
+            /**
+             * Encodes the specified SaveLookUpTable message. Does not implicitly {@link message.vision.SaveLookUpTable.verify|verify} messages.
+             * @param {message.vision.SaveLookUpTable$Properties} message SaveLookUpTable message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            SaveLookUpTable.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified SaveLookUpTable message, length delimited. Does not implicitly {@link message.vision.SaveLookUpTable.verify|verify} messages.
+             * @param {message.vision.SaveLookUpTable$Properties} message SaveLookUpTable message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            SaveLookUpTable.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a SaveLookUpTable message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.vision.SaveLookUpTable} SaveLookUpTable
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            SaveLookUpTable.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.vision.SaveLookUpTable();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a SaveLookUpTable message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.vision.SaveLookUpTable} SaveLookUpTable
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            SaveLookUpTable.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a SaveLookUpTable message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            SaveLookUpTable.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                return null;
+            };
+
+            /**
+             * Creates a SaveLookUpTable message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.SaveLookUpTable} SaveLookUpTable
+             */
+            SaveLookUpTable.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.vision.SaveLookUpTable)
+                    return object;
+                return new $root.message.vision.SaveLookUpTable();
+            };
+
+            /**
+             * Creates a SaveLookUpTable message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.vision.SaveLookUpTable.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.SaveLookUpTable} SaveLookUpTable
+             */
+            SaveLookUpTable.from = SaveLookUpTable.fromObject;
+
+            /**
+             * Creates a plain object from a SaveLookUpTable message. Also converts values to other types if specified.
+             * @param {message.vision.SaveLookUpTable} message SaveLookUpTable
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            SaveLookUpTable.toObject = function toObject() {
+                return {};
+            };
+
+            /**
+             * Creates a plain object from this SaveLookUpTable message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            SaveLookUpTable.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this SaveLookUpTable to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            SaveLookUpTable.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return SaveLookUpTable;
+        })();
+
+        vision.LookUpTableDiff = (function() {
+
+            /**
+             * Properties of a LookUpTableDiff.
+             * @typedef message.vision.LookUpTableDiff$Properties
+             * @type {Object}
+             * @property {Array.<message.vision.LookUpTableDiff.Diff$Properties>} [diff] LookUpTableDiff diff.
+             */
+
+            /**
+             * Constructs a new LookUpTableDiff.
+             * @exports message.vision.LookUpTableDiff
+             * @constructor
+             * @param {message.vision.LookUpTableDiff$Properties=} [properties] Properties to set
+             */
+            function LookUpTableDiff(properties) {
+                this.diff = [];
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * LookUpTableDiff diff.
+             * @type {Array.<message.vision.LookUpTableDiff.Diff$Properties>}
+             */
+            LookUpTableDiff.prototype.diff = $util.emptyArray;
+
+            /**
+             * Creates a new LookUpTableDiff instance using the specified properties.
+             * @param {message.vision.LookUpTableDiff$Properties=} [properties] Properties to set
+             * @returns {message.vision.LookUpTableDiff} LookUpTableDiff instance
+             */
+            LookUpTableDiff.create = function create(properties) {
+                return new LookUpTableDiff(properties);
+            };
+
+            /**
+             * Encodes the specified LookUpTableDiff message. Does not implicitly {@link message.vision.LookUpTableDiff.verify|verify} messages.
+             * @param {message.vision.LookUpTableDiff$Properties} message LookUpTableDiff message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            LookUpTableDiff.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.diff != null && message.diff.length)
+                    for (var i = 0; i < message.diff.length; ++i)
+                        $root.message.vision.LookUpTableDiff.Diff.encode(message.diff[i], writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified LookUpTableDiff message, length delimited. Does not implicitly {@link message.vision.LookUpTableDiff.verify|verify} messages.
+             * @param {message.vision.LookUpTableDiff$Properties} message LookUpTableDiff message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            LookUpTableDiff.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a LookUpTableDiff message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.vision.LookUpTableDiff} LookUpTableDiff
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            LookUpTableDiff.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.vision.LookUpTableDiff();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        if (!(message.diff && message.diff.length))
+                            message.diff = [];
+                        message.diff.push($root.message.vision.LookUpTableDiff.Diff.decode(reader, reader.uint32()));
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a LookUpTableDiff message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.vision.LookUpTableDiff} LookUpTableDiff
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            LookUpTableDiff.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a LookUpTableDiff message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            LookUpTableDiff.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.diff != null && message.hasOwnProperty("diff")) {
+                    if (!Array.isArray(message.diff))
+                        return "diff: array expected";
+                    for (var i = 0; i < message.diff.length; ++i) {
+                        var error = $root.message.vision.LookUpTableDiff.Diff.verify(message.diff[i]);
+                        if (error)
+                            return "diff." + error;
+                    }
+                }
+                return null;
+            };
+
+            /**
+             * Creates a LookUpTableDiff message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.LookUpTableDiff} LookUpTableDiff
+             */
+            LookUpTableDiff.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.vision.LookUpTableDiff)
+                    return object;
+                var message = new $root.message.vision.LookUpTableDiff();
+                if (object.diff) {
+                    if (!Array.isArray(object.diff))
+                        throw TypeError(".message.vision.LookUpTableDiff.diff: array expected");
+                    message.diff = [];
+                    for (var i = 0; i < object.diff.length; ++i) {
+                        if (typeof object.diff[i] !== "object")
+                            throw TypeError(".message.vision.LookUpTableDiff.diff: object expected");
+                        message.diff[i] = $root.message.vision.LookUpTableDiff.Diff.fromObject(object.diff[i]);
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Creates a LookUpTableDiff message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.vision.LookUpTableDiff.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.LookUpTableDiff} LookUpTableDiff
+             */
+            LookUpTableDiff.from = LookUpTableDiff.fromObject;
+
+            /**
+             * Creates a plain object from a LookUpTableDiff message. Also converts values to other types if specified.
+             * @param {message.vision.LookUpTableDiff} message LookUpTableDiff
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            LookUpTableDiff.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.arrays || options.defaults)
+                    object.diff = [];
+                if (message.diff && message.diff.length) {
+                    object.diff = [];
+                    for (var j = 0; j < message.diff.length; ++j)
+                        object.diff[j] = $root.message.vision.LookUpTableDiff.Diff.toObject(message.diff[j], options);
+                }
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this LookUpTableDiff message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            LookUpTableDiff.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this LookUpTableDiff to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            LookUpTableDiff.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            LookUpTableDiff.Diff = (function() {
+
+                /**
+                 * Properties of a Diff.
+                 * @typedef message.vision.LookUpTableDiff.Diff$Properties
+                 * @type {Object}
+                 * @property {number} [lutIndex] Diff lutIndex.
+                 * @property {number} [classification] Diff classification.
+                 */
+
+                /**
+                 * Constructs a new Diff.
+                 * @exports message.vision.LookUpTableDiff.Diff
+                 * @constructor
+                 * @param {message.vision.LookUpTableDiff.Diff$Properties=} [properties] Properties to set
+                 */
+                function Diff(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * Diff lutIndex.
+                 * @type {number}
+                 */
+                Diff.prototype.lutIndex = 0;
+
+                /**
+                 * Diff classification.
+                 * @type {number}
+                 */
+                Diff.prototype.classification = 0;
+
+                /**
+                 * Creates a new Diff instance using the specified properties.
+                 * @param {message.vision.LookUpTableDiff.Diff$Properties=} [properties] Properties to set
+                 * @returns {message.vision.LookUpTableDiff.Diff} Diff instance
+                 */
+                Diff.create = function create(properties) {
+                    return new Diff(properties);
+                };
+
+                /**
+                 * Encodes the specified Diff message. Does not implicitly {@link message.vision.LookUpTableDiff.Diff.verify|verify} messages.
+                 * @param {message.vision.LookUpTableDiff.Diff$Properties} message Diff message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Diff.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.lutIndex != null && message.hasOwnProperty("lutIndex"))
+                        writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.lutIndex);
+                    if (message.classification != null && message.hasOwnProperty("classification"))
+                        writer.uint32(/* id 2, wireType 0 =*/16).uint32(message.classification);
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified Diff message, length delimited. Does not implicitly {@link message.vision.LookUpTableDiff.Diff.verify|verify} messages.
+                 * @param {message.vision.LookUpTableDiff.Diff$Properties} message Diff message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Diff.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a Diff message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.vision.LookUpTableDiff.Diff} Diff
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Diff.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.vision.LookUpTableDiff.Diff();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.lutIndex = reader.uint32();
+                            break;
+                        case 2:
+                            message.classification = reader.uint32();
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a Diff message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.vision.LookUpTableDiff.Diff} Diff
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Diff.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a Diff message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                Diff.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.lutIndex != null && message.hasOwnProperty("lutIndex"))
+                        if (!$util.isInteger(message.lutIndex))
+                            return "lutIndex: integer expected";
+                    if (message.classification != null && message.hasOwnProperty("classification"))
+                        if (!$util.isInteger(message.classification))
+                            return "classification: integer expected";
+                    return null;
+                };
+
+                /**
+                 * Creates a Diff message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.vision.LookUpTableDiff.Diff} Diff
+                 */
+                Diff.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.vision.LookUpTableDiff.Diff)
+                        return object;
+                    var message = new $root.message.vision.LookUpTableDiff.Diff();
+                    if (object.lutIndex != null)
+                        message.lutIndex = object.lutIndex >>> 0;
+                    if (object.classification != null)
+                        message.classification = object.classification >>> 0;
+                    return message;
+                };
+
+                /**
+                 * Creates a Diff message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.vision.LookUpTableDiff.Diff.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.vision.LookUpTableDiff.Diff} Diff
+                 */
+                Diff.from = Diff.fromObject;
+
+                /**
+                 * Creates a plain object from a Diff message. Also converts values to other types if specified.
+                 * @param {message.vision.LookUpTableDiff.Diff} message Diff
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Diff.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.defaults) {
+                        object.lutIndex = 0;
+                        object.classification = 0;
+                    }
+                    if (message.lutIndex != null && message.hasOwnProperty("lutIndex"))
+                        object.lutIndex = message.lutIndex;
+                    if (message.classification != null && message.hasOwnProperty("classification"))
+                        object.classification = message.classification;
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this Diff message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Diff.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this Diff to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                Diff.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return Diff;
+            })();
+
+            return LookUpTableDiff;
+        })();
+
+        vision.VisionObject = (function() {
+
+            /**
+             * Properties of a VisionObject.
+             * @typedef message.vision.VisionObject$Properties
+             * @type {Object}
+             * @property {google.protobuf.Timestamp$Properties} [timestamp] VisionObject timestamp.
+             * @property {vec2$Properties} [screenAngular] VisionObject screenAngular.
+             * @property {vec2$Properties} [angularSize] VisionObject angularSize.
+             * @property {message.input.Sensors$Properties} [sensors] VisionObject sensors.
+             * @property {message.vision.ClassifiedImage$Properties} [classifiedImage] VisionObject classifiedImage.
+             * @property {number} [cameraId] VisionObject cameraId.
+             */
+
+            /**
+             * Constructs a new VisionObject.
+             * @exports message.vision.VisionObject
+             * @constructor
+             * @param {message.vision.VisionObject$Properties=} [properties] Properties to set
+             */
+            function VisionObject(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * VisionObject timestamp.
+             * @type {(google.protobuf.Timestamp$Properties|null)}
+             */
+            VisionObject.prototype.timestamp = null;
+
+            /**
+             * VisionObject screenAngular.
+             * @type {(vec2$Properties|null)}
+             */
+            VisionObject.prototype.screenAngular = null;
+
+            /**
+             * VisionObject angularSize.
+             * @type {(vec2$Properties|null)}
+             */
+            VisionObject.prototype.angularSize = null;
+
+            /**
+             * VisionObject sensors.
+             * @type {(message.input.Sensors$Properties|null)}
+             */
+            VisionObject.prototype.sensors = null;
+
+            /**
+             * VisionObject classifiedImage.
+             * @type {(message.vision.ClassifiedImage$Properties|null)}
+             */
+            VisionObject.prototype.classifiedImage = null;
+
+            /**
+             * VisionObject cameraId.
+             * @type {number}
+             */
+            VisionObject.prototype.cameraId = 0;
+
+            /**
+             * Creates a new VisionObject instance using the specified properties.
+             * @param {message.vision.VisionObject$Properties=} [properties] Properties to set
+             * @returns {message.vision.VisionObject} VisionObject instance
+             */
+            VisionObject.create = function create(properties) {
+                return new VisionObject(properties);
+            };
+
+            /**
+             * Encodes the specified VisionObject message. Does not implicitly {@link message.vision.VisionObject.verify|verify} messages.
+             * @param {message.vision.VisionObject$Properties} message VisionObject message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            VisionObject.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.timestamp != null && message.hasOwnProperty("timestamp"))
+                    $root.google.protobuf.Timestamp.encode(message.timestamp, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                if (message.screenAngular != null && message.hasOwnProperty("screenAngular"))
+                    $root.vec2.encode(message.screenAngular, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                if (message.angularSize != null && message.hasOwnProperty("angularSize"))
+                    $root.vec2.encode(message.angularSize, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+                if (message.sensors != null && message.hasOwnProperty("sensors"))
+                    $root.message.input.Sensors.encode(message.sensors, writer.uint32(/* id 4, wireType 2 =*/34).fork()).ldelim();
+                if (message.classifiedImage != null && message.hasOwnProperty("classifiedImage"))
+                    $root.message.vision.ClassifiedImage.encode(message.classifiedImage, writer.uint32(/* id 5, wireType 2 =*/42).fork()).ldelim();
+                if (message.cameraId != null && message.hasOwnProperty("cameraId"))
+                    writer.uint32(/* id 6, wireType 0 =*/48).uint32(message.cameraId);
+                return writer;
+            };
+
+            /**
+             * Encodes the specified VisionObject message, length delimited. Does not implicitly {@link message.vision.VisionObject.verify|verify} messages.
+             * @param {message.vision.VisionObject$Properties} message VisionObject message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            VisionObject.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a VisionObject message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.vision.VisionObject} VisionObject
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            VisionObject.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.vision.VisionObject();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.timestamp = $root.google.protobuf.Timestamp.decode(reader, reader.uint32());
+                        break;
+                    case 2:
+                        message.screenAngular = $root.vec2.decode(reader, reader.uint32());
+                        break;
+                    case 3:
+                        message.angularSize = $root.vec2.decode(reader, reader.uint32());
+                        break;
+                    case 4:
+                        message.sensors = $root.message.input.Sensors.decode(reader, reader.uint32());
+                        break;
+                    case 5:
+                        message.classifiedImage = $root.message.vision.ClassifiedImage.decode(reader, reader.uint32());
+                        break;
+                    case 6:
+                        message.cameraId = reader.uint32();
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a VisionObject message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.vision.VisionObject} VisionObject
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            VisionObject.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a VisionObject message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            VisionObject.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.timestamp != null && message.hasOwnProperty("timestamp")) {
+                    var error = $root.google.protobuf.Timestamp.verify(message.timestamp);
+                    if (error)
+                        return "timestamp." + error;
+                }
+                if (message.screenAngular != null && message.hasOwnProperty("screenAngular")) {
+                    var error = $root.vec2.verify(message.screenAngular);
+                    if (error)
+                        return "screenAngular." + error;
+                }
+                if (message.angularSize != null && message.hasOwnProperty("angularSize")) {
+                    var error = $root.vec2.verify(message.angularSize);
+                    if (error)
+                        return "angularSize." + error;
+                }
+                if (message.sensors != null && message.hasOwnProperty("sensors")) {
+                    var error = $root.message.input.Sensors.verify(message.sensors);
+                    if (error)
+                        return "sensors." + error;
+                }
+                if (message.classifiedImage != null && message.hasOwnProperty("classifiedImage")) {
+                    var error = $root.message.vision.ClassifiedImage.verify(message.classifiedImage);
+                    if (error)
+                        return "classifiedImage." + error;
+                }
+                if (message.cameraId != null && message.hasOwnProperty("cameraId"))
+                    if (!$util.isInteger(message.cameraId))
+                        return "cameraId: integer expected";
+                return null;
+            };
+
+            /**
+             * Creates a VisionObject message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.VisionObject} VisionObject
+             */
+            VisionObject.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.vision.VisionObject)
+                    return object;
+                var message = new $root.message.vision.VisionObject();
+                if (object.timestamp != null) {
+                    if (typeof object.timestamp !== "object")
+                        throw TypeError(".message.vision.VisionObject.timestamp: object expected");
+                    message.timestamp = $root.google.protobuf.Timestamp.fromObject(object.timestamp);
+                }
+                if (object.screenAngular != null) {
+                    if (typeof object.screenAngular !== "object")
+                        throw TypeError(".message.vision.VisionObject.screenAngular: object expected");
+                    message.screenAngular = $root.vec2.fromObject(object.screenAngular);
+                }
+                if (object.angularSize != null) {
+                    if (typeof object.angularSize !== "object")
+                        throw TypeError(".message.vision.VisionObject.angularSize: object expected");
+                    message.angularSize = $root.vec2.fromObject(object.angularSize);
+                }
+                if (object.sensors != null) {
+                    if (typeof object.sensors !== "object")
+                        throw TypeError(".message.vision.VisionObject.sensors: object expected");
+                    message.sensors = $root.message.input.Sensors.fromObject(object.sensors);
+                }
+                if (object.classifiedImage != null) {
+                    if (typeof object.classifiedImage !== "object")
+                        throw TypeError(".message.vision.VisionObject.classifiedImage: object expected");
+                    message.classifiedImage = $root.message.vision.ClassifiedImage.fromObject(object.classifiedImage);
+                }
+                if (object.cameraId != null)
+                    message.cameraId = object.cameraId >>> 0;
+                return message;
+            };
+
+            /**
+             * Creates a VisionObject message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.vision.VisionObject.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.VisionObject} VisionObject
+             */
+            VisionObject.from = VisionObject.fromObject;
+
+            /**
+             * Creates a plain object from a VisionObject message. Also converts values to other types if specified.
+             * @param {message.vision.VisionObject} message VisionObject
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            VisionObject.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults) {
+                    object.timestamp = null;
+                    object.screenAngular = null;
+                    object.angularSize = null;
+                    object.sensors = null;
+                    object.classifiedImage = null;
+                    object.cameraId = 0;
+                }
+                if (message.timestamp != null && message.hasOwnProperty("timestamp"))
+                    object.timestamp = $root.google.protobuf.Timestamp.toObject(message.timestamp, options);
+                if (message.screenAngular != null && message.hasOwnProperty("screenAngular"))
+                    object.screenAngular = $root.vec2.toObject(message.screenAngular, options);
+                if (message.angularSize != null && message.hasOwnProperty("angularSize"))
+                    object.angularSize = $root.vec2.toObject(message.angularSize, options);
+                if (message.sensors != null && message.hasOwnProperty("sensors"))
+                    object.sensors = $root.message.input.Sensors.toObject(message.sensors, options);
+                if (message.classifiedImage != null && message.hasOwnProperty("classifiedImage"))
+                    object.classifiedImage = $root.message.vision.ClassifiedImage.toObject(message.classifiedImage, options);
+                if (message.cameraId != null && message.hasOwnProperty("cameraId"))
+                    object.cameraId = message.cameraId;
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this VisionObject message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            VisionObject.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this VisionObject to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            VisionObject.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return VisionObject;
+        })();
+
+        vision.Ball = (function() {
+
+            /**
+             * Properties of a Ball.
+             * @typedef message.vision.Ball$Properties
+             * @type {Object}
+             * @property {message.vision.VisionObject$Properties} [visObject] Ball visObject.
+             * @property {vec3$Properties} [position] Ball position.
+             * @property {vec3$Properties} [torsoSpacePosition] Ball torsoSpacePosition.
+             * @property {Array.<vec3$Properties>} [edgePoints] Ball edgePoints.
+             * @property {message.Circle$Properties} [circle] Ball circle.
+             */
+
+            /**
+             * Constructs a new Ball.
+             * @exports message.vision.Ball
+             * @constructor
+             * @param {message.vision.Ball$Properties=} [properties] Properties to set
+             */
+            function Ball(properties) {
+                this.edgePoints = [];
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Ball visObject.
+             * @type {(message.vision.VisionObject$Properties|null)}
+             */
+            Ball.prototype.visObject = null;
+
+            /**
+             * Ball position.
+             * @type {(vec3$Properties|null)}
+             */
+            Ball.prototype.position = null;
+
+            /**
+             * Ball torsoSpacePosition.
+             * @type {(vec3$Properties|null)}
+             */
+            Ball.prototype.torsoSpacePosition = null;
+
+            /**
+             * Ball edgePoints.
+             * @type {Array.<vec3$Properties>}
+             */
+            Ball.prototype.edgePoints = $util.emptyArray;
+
+            /**
+             * Ball circle.
+             * @type {(message.Circle$Properties|null)}
+             */
+            Ball.prototype.circle = null;
+
+            /**
+             * Creates a new Ball instance using the specified properties.
+             * @param {message.vision.Ball$Properties=} [properties] Properties to set
+             * @returns {message.vision.Ball} Ball instance
+             */
+            Ball.create = function create(properties) {
+                return new Ball(properties);
+            };
+
+            /**
+             * Encodes the specified Ball message. Does not implicitly {@link message.vision.Ball.verify|verify} messages.
+             * @param {message.vision.Ball$Properties} message Ball message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            Ball.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.visObject != null && message.hasOwnProperty("visObject"))
+                    $root.message.vision.VisionObject.encode(message.visObject, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                if (message.position != null && message.hasOwnProperty("position"))
+                    $root.vec3.encode(message.position, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                if (message.torsoSpacePosition != null && message.hasOwnProperty("torsoSpacePosition"))
+                    $root.vec3.encode(message.torsoSpacePosition, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+                if (message.edgePoints != null && message.edgePoints.length)
+                    for (var i = 0; i < message.edgePoints.length; ++i)
+                        $root.vec3.encode(message.edgePoints[i], writer.uint32(/* id 4, wireType 2 =*/34).fork()).ldelim();
+                if (message.circle != null && message.hasOwnProperty("circle"))
+                    $root.message.Circle.encode(message.circle, writer.uint32(/* id 5, wireType 2 =*/42).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified Ball message, length delimited. Does not implicitly {@link message.vision.Ball.verify|verify} messages.
+             * @param {message.vision.Ball$Properties} message Ball message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            Ball.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a Ball message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.vision.Ball} Ball
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            Ball.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.vision.Ball();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.visObject = $root.message.vision.VisionObject.decode(reader, reader.uint32());
+                        break;
+                    case 2:
+                        message.position = $root.vec3.decode(reader, reader.uint32());
+                        break;
+                    case 3:
+                        message.torsoSpacePosition = $root.vec3.decode(reader, reader.uint32());
+                        break;
+                    case 4:
+                        if (!(message.edgePoints && message.edgePoints.length))
+                            message.edgePoints = [];
+                        message.edgePoints.push($root.vec3.decode(reader, reader.uint32()));
+                        break;
+                    case 5:
+                        message.circle = $root.message.Circle.decode(reader, reader.uint32());
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a Ball message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.vision.Ball} Ball
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            Ball.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a Ball message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            Ball.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.visObject != null && message.hasOwnProperty("visObject")) {
+                    var error = $root.message.vision.VisionObject.verify(message.visObject);
+                    if (error)
+                        return "visObject." + error;
+                }
+                if (message.position != null && message.hasOwnProperty("position")) {
+                    var error = $root.vec3.verify(message.position);
+                    if (error)
+                        return "position." + error;
+                }
+                if (message.torsoSpacePosition != null && message.hasOwnProperty("torsoSpacePosition")) {
+                    var error = $root.vec3.verify(message.torsoSpacePosition);
+                    if (error)
+                        return "torsoSpacePosition." + error;
+                }
+                if (message.edgePoints != null && message.hasOwnProperty("edgePoints")) {
+                    if (!Array.isArray(message.edgePoints))
+                        return "edgePoints: array expected";
+                    for (var i = 0; i < message.edgePoints.length; ++i) {
+                        var error = $root.vec3.verify(message.edgePoints[i]);
+                        if (error)
+                            return "edgePoints." + error;
+                    }
+                }
+                if (message.circle != null && message.hasOwnProperty("circle")) {
+                    var error = $root.message.Circle.verify(message.circle);
+                    if (error)
+                        return "circle." + error;
+                }
+                return null;
+            };
+
+            /**
+             * Creates a Ball message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.Ball} Ball
+             */
+            Ball.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.vision.Ball)
+                    return object;
+                var message = new $root.message.vision.Ball();
+                if (object.visObject != null) {
+                    if (typeof object.visObject !== "object")
+                        throw TypeError(".message.vision.Ball.visObject: object expected");
+                    message.visObject = $root.message.vision.VisionObject.fromObject(object.visObject);
+                }
+                if (object.position != null) {
+                    if (typeof object.position !== "object")
+                        throw TypeError(".message.vision.Ball.position: object expected");
+                    message.position = $root.vec3.fromObject(object.position);
+                }
+                if (object.torsoSpacePosition != null) {
+                    if (typeof object.torsoSpacePosition !== "object")
+                        throw TypeError(".message.vision.Ball.torsoSpacePosition: object expected");
+                    message.torsoSpacePosition = $root.vec3.fromObject(object.torsoSpacePosition);
+                }
+                if (object.edgePoints) {
+                    if (!Array.isArray(object.edgePoints))
+                        throw TypeError(".message.vision.Ball.edgePoints: array expected");
+                    message.edgePoints = [];
+                    for (var i = 0; i < object.edgePoints.length; ++i) {
+                        if (typeof object.edgePoints[i] !== "object")
+                            throw TypeError(".message.vision.Ball.edgePoints: object expected");
+                        message.edgePoints[i] = $root.vec3.fromObject(object.edgePoints[i]);
+                    }
+                }
+                if (object.circle != null) {
+                    if (typeof object.circle !== "object")
+                        throw TypeError(".message.vision.Ball.circle: object expected");
+                    message.circle = $root.message.Circle.fromObject(object.circle);
+                }
+                return message;
+            };
+
+            /**
+             * Creates a Ball message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.vision.Ball.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.Ball} Ball
+             */
+            Ball.from = Ball.fromObject;
+
+            /**
+             * Creates a plain object from a Ball message. Also converts values to other types if specified.
+             * @param {message.vision.Ball} message Ball
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            Ball.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.arrays || options.defaults)
+                    object.edgePoints = [];
+                if (options.defaults) {
+                    object.visObject = null;
+                    object.position = null;
+                    object.torsoSpacePosition = null;
+                    object.circle = null;
+                }
+                if (message.visObject != null && message.hasOwnProperty("visObject"))
+                    object.visObject = $root.message.vision.VisionObject.toObject(message.visObject, options);
+                if (message.position != null && message.hasOwnProperty("position"))
+                    object.position = $root.vec3.toObject(message.position, options);
+                if (message.torsoSpacePosition != null && message.hasOwnProperty("torsoSpacePosition"))
+                    object.torsoSpacePosition = $root.vec3.toObject(message.torsoSpacePosition, options);
+                if (message.edgePoints && message.edgePoints.length) {
+                    object.edgePoints = [];
+                    for (var j = 0; j < message.edgePoints.length; ++j)
+                        object.edgePoints[j] = $root.vec3.toObject(message.edgePoints[j], options);
+                }
+                if (message.circle != null && message.hasOwnProperty("circle"))
+                    object.circle = $root.message.Circle.toObject(message.circle, options);
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this Ball message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            Ball.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this Ball to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            Ball.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return Ball;
+        })();
+
+        vision.Goal = (function() {
+
+            /**
+             * Properties of a Goal.
+             * @typedef message.vision.Goal$Properties
+             * @type {Object}
+             * @property {message.vision.VisionObject$Properties} [visObject] Goal visObject.
+             * @property {message.vision.Goal.Side} [side] Goal side.
+             * @property {message.vision.Goal.Team} [team] Goal team.
+             * @property {message.Quad$Properties} [quad] Goal quad.
+             * @property {Array.<message.vision.Goal.Measurement$Properties>} [measurement] Goal measurement.
+             */
+
+            /**
+             * Constructs a new Goal.
+             * @exports message.vision.Goal
+             * @constructor
+             * @param {message.vision.Goal$Properties=} [properties] Properties to set
+             */
+            function Goal(properties) {
+                this.measurement = [];
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Goal visObject.
+             * @type {(message.vision.VisionObject$Properties|null)}
+             */
+            Goal.prototype.visObject = null;
+
+            /**
+             * Goal side.
+             * @type {message.vision.Goal.Side}
+             */
+            Goal.prototype.side = 0;
+
+            /**
+             * Goal team.
+             * @type {message.vision.Goal.Team}
+             */
+            Goal.prototype.team = 0;
+
+            /**
+             * Goal quad.
+             * @type {(message.Quad$Properties|null)}
+             */
+            Goal.prototype.quad = null;
+
+            /**
+             * Goal measurement.
+             * @type {Array.<message.vision.Goal.Measurement$Properties>}
+             */
+            Goal.prototype.measurement = $util.emptyArray;
+
+            /**
+             * Creates a new Goal instance using the specified properties.
+             * @param {message.vision.Goal$Properties=} [properties] Properties to set
+             * @returns {message.vision.Goal} Goal instance
+             */
+            Goal.create = function create(properties) {
+                return new Goal(properties);
+            };
+
+            /**
+             * Encodes the specified Goal message. Does not implicitly {@link message.vision.Goal.verify|verify} messages.
+             * @param {message.vision.Goal$Properties} message Goal message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            Goal.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.visObject != null && message.hasOwnProperty("visObject"))
+                    $root.message.vision.VisionObject.encode(message.visObject, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                if (message.side != null && message.hasOwnProperty("side"))
+                    writer.uint32(/* id 2, wireType 0 =*/16).uint32(message.side);
+                if (message.team != null && message.hasOwnProperty("team"))
+                    writer.uint32(/* id 3, wireType 0 =*/24).uint32(message.team);
+                if (message.quad != null && message.hasOwnProperty("quad"))
+                    $root.message.Quad.encode(message.quad, writer.uint32(/* id 4, wireType 2 =*/34).fork()).ldelim();
+                if (message.measurement != null && message.measurement.length)
+                    for (var i = 0; i < message.measurement.length; ++i)
+                        $root.message.vision.Goal.Measurement.encode(message.measurement[i], writer.uint32(/* id 5, wireType 2 =*/42).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified Goal message, length delimited. Does not implicitly {@link message.vision.Goal.verify|verify} messages.
+             * @param {message.vision.Goal$Properties} message Goal message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            Goal.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a Goal message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.vision.Goal} Goal
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            Goal.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.vision.Goal();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.visObject = $root.message.vision.VisionObject.decode(reader, reader.uint32());
+                        break;
+                    case 2:
+                        message.side = reader.uint32();
+                        break;
+                    case 3:
+                        message.team = reader.uint32();
+                        break;
+                    case 4:
+                        message.quad = $root.message.Quad.decode(reader, reader.uint32());
+                        break;
+                    case 5:
+                        if (!(message.measurement && message.measurement.length))
+                            message.measurement = [];
+                        message.measurement.push($root.message.vision.Goal.Measurement.decode(reader, reader.uint32()));
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a Goal message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.vision.Goal} Goal
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            Goal.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a Goal message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            Goal.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.visObject != null && message.hasOwnProperty("visObject")) {
+                    var error = $root.message.vision.VisionObject.verify(message.visObject);
+                    if (error)
+                        return "visObject." + error;
+                }
+                if (message.side != null && message.hasOwnProperty("side"))
+                    switch (message.side) {
+                    default:
+                        return "side: enum value expected";
+                    case 0:
+                    case 1:
+                    case 2:
+                        break;
+                    }
+                if (message.team != null && message.hasOwnProperty("team"))
+                    switch (message.team) {
+                    default:
+                        return "team: enum value expected";
+                    case 0:
+                    case 1:
+                    case 2:
+                        break;
+                    }
+                if (message.quad != null && message.hasOwnProperty("quad")) {
+                    var error = $root.message.Quad.verify(message.quad);
+                    if (error)
+                        return "quad." + error;
+                }
+                if (message.measurement != null && message.hasOwnProperty("measurement")) {
+                    if (!Array.isArray(message.measurement))
+                        return "measurement: array expected";
+                    for (var i = 0; i < message.measurement.length; ++i) {
+                        var error = $root.message.vision.Goal.Measurement.verify(message.measurement[i]);
+                        if (error)
+                            return "measurement." + error;
+                    }
+                }
+                return null;
+            };
+
+            /**
+             * Creates a Goal message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.Goal} Goal
+             */
+            Goal.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.vision.Goal)
+                    return object;
+                var message = new $root.message.vision.Goal();
+                if (object.visObject != null) {
+                    if (typeof object.visObject !== "object")
+                        throw TypeError(".message.vision.Goal.visObject: object expected");
+                    message.visObject = $root.message.vision.VisionObject.fromObject(object.visObject);
+                }
+                switch (object.side) {
+                case "UNKNOWN_SIDE":
+                case 0:
+                    message.side = 0;
+                    break;
+                case "LEFT":
+                case 1:
+                    message.side = 1;
+                    break;
+                case "RIGHT":
+                case 2:
+                    message.side = 2;
+                    break;
+                }
+                switch (object.team) {
+                case "UNKNOWN_TEAM":
+                case 0:
+                    message.team = 0;
+                    break;
+                case "OWN":
+                case 1:
+                    message.team = 1;
+                    break;
+                case "OPPONENT":
+                case 2:
+                    message.team = 2;
+                    break;
+                }
+                if (object.quad != null) {
+                    if (typeof object.quad !== "object")
+                        throw TypeError(".message.vision.Goal.quad: object expected");
+                    message.quad = $root.message.Quad.fromObject(object.quad);
+                }
+                if (object.measurement) {
+                    if (!Array.isArray(object.measurement))
+                        throw TypeError(".message.vision.Goal.measurement: array expected");
+                    message.measurement = [];
+                    for (var i = 0; i < object.measurement.length; ++i) {
+                        if (typeof object.measurement[i] !== "object")
+                            throw TypeError(".message.vision.Goal.measurement: object expected");
+                        message.measurement[i] = $root.message.vision.Goal.Measurement.fromObject(object.measurement[i]);
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Creates a Goal message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.vision.Goal.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.Goal} Goal
+             */
+            Goal.from = Goal.fromObject;
+
+            /**
+             * Creates a plain object from a Goal message. Also converts values to other types if specified.
+             * @param {message.vision.Goal} message Goal
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            Goal.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.arrays || options.defaults)
+                    object.measurement = [];
+                if (options.defaults) {
+                    object.visObject = null;
+                    object.side = options.enums === String ? "UNKNOWN_SIDE" : 0;
+                    object.team = options.enums === String ? "UNKNOWN_TEAM" : 0;
+                    object.quad = null;
+                }
+                if (message.visObject != null && message.hasOwnProperty("visObject"))
+                    object.visObject = $root.message.vision.VisionObject.toObject(message.visObject, options);
+                if (message.side != null && message.hasOwnProperty("side"))
+                    object.side = options.enums === String ? $root.message.vision.Goal.Side[message.side] : message.side;
+                if (message.team != null && message.hasOwnProperty("team"))
+                    object.team = options.enums === String ? $root.message.vision.Goal.Team[message.team] : message.team;
+                if (message.quad != null && message.hasOwnProperty("quad"))
+                    object.quad = $root.message.Quad.toObject(message.quad, options);
+                if (message.measurement && message.measurement.length) {
+                    object.measurement = [];
+                    for (var j = 0; j < message.measurement.length; ++j)
+                        object.measurement[j] = $root.message.vision.Goal.Measurement.toObject(message.measurement[j], options);
+                }
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this Goal message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            Goal.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this Goal to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            Goal.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            /**
+             * Side enum.
+             * @name Side
+             * @memberof message.vision.Goal
+             * @enum {number}
+             * @property {number} UNKNOWN_SIDE=0 UNKNOWN_SIDE value
+             * @property {number} LEFT=1 LEFT value
+             * @property {number} RIGHT=2 RIGHT value
+             */
+            Goal.Side = (function() {
+                var valuesById = {}, values = Object.create(valuesById);
+                values[valuesById[0] = "UNKNOWN_SIDE"] = 0;
+                values[valuesById[1] = "LEFT"] = 1;
+                values[valuesById[2] = "RIGHT"] = 2;
+                return values;
+            })();
+
+            /**
+             * Team enum.
+             * @name Team
+             * @memberof message.vision.Goal
+             * @enum {number}
+             * @property {number} UNKNOWN_TEAM=0 UNKNOWN_TEAM value
+             * @property {number} OWN=1 OWN value
+             * @property {number} OPPONENT=2 OPPONENT value
+             */
+            Goal.Team = (function() {
+                var valuesById = {}, values = Object.create(valuesById);
+                values[valuesById[0] = "UNKNOWN_TEAM"] = 0;
+                values[valuesById[1] = "OWN"] = 1;
+                values[valuesById[2] = "OPPONENT"] = 2;
+                return values;
+            })();
+
+            /**
+             * MeasurementType enum.
+             * @name MeasurementType
+             * @memberof message.vision.Goal
+             * @enum {number}
+             * @property {number} UNKNOWN_MEASUREMENT=0 UNKNOWN_MEASUREMENT value
+             * @property {number} LEFT_NORMAL=1 LEFT_NORMAL value
+             * @property {number} RIGHT_NORMAL=2 RIGHT_NORMAL value
+             * @property {number} TOP_NORMAL=3 TOP_NORMAL value
+             * @property {number} BASE_NORMAL=4 BASE_NORMAL value
+             */
+            Goal.MeasurementType = (function() {
+                var valuesById = {}, values = Object.create(valuesById);
+                values[valuesById[0] = "UNKNOWN_MEASUREMENT"] = 0;
+                values[valuesById[1] = "LEFT_NORMAL"] = 1;
+                values[valuesById[2] = "RIGHT_NORMAL"] = 2;
+                values[valuesById[3] = "TOP_NORMAL"] = 3;
+                values[valuesById[4] = "BASE_NORMAL"] = 4;
+                return values;
+            })();
+
+            Goal.Measurement = (function() {
+
+                /**
+                 * Properties of a Measurement.
+                 * @typedef message.vision.Goal.Measurement$Properties
+                 * @type {Object}
+                 * @property {message.vision.Goal.MeasurementType} [type] Measurement type.
+                 * @property {vec3$Properties} [position] Measurement position.
+                 */
+
+                /**
+                 * Constructs a new Measurement.
+                 * @exports message.vision.Goal.Measurement
+                 * @constructor
+                 * @param {message.vision.Goal.Measurement$Properties=} [properties] Properties to set
+                 */
+                function Measurement(properties) {
+                    if (properties)
+                        for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                            if (properties[keys[i]] != null)
+                                this[keys[i]] = properties[keys[i]];
+                }
+
+                /**
+                 * Measurement type.
+                 * @type {message.vision.Goal.MeasurementType}
+                 */
+                Measurement.prototype.type = 0;
+
+                /**
+                 * Measurement position.
+                 * @type {(vec3$Properties|null)}
+                 */
+                Measurement.prototype.position = null;
+
+                /**
+                 * Creates a new Measurement instance using the specified properties.
+                 * @param {message.vision.Goal.Measurement$Properties=} [properties] Properties to set
+                 * @returns {message.vision.Goal.Measurement} Measurement instance
+                 */
+                Measurement.create = function create(properties) {
+                    return new Measurement(properties);
+                };
+
+                /**
+                 * Encodes the specified Measurement message. Does not implicitly {@link message.vision.Goal.Measurement.verify|verify} messages.
+                 * @param {message.vision.Goal.Measurement$Properties} message Measurement message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Measurement.encode = function encode(message, writer) {
+                    if (!writer)
+                        writer = $Writer.create();
+                    if (message.type != null && message.hasOwnProperty("type"))
+                        writer.uint32(/* id 1, wireType 0 =*/8).uint32(message.type);
+                    if (message.position != null && message.hasOwnProperty("position"))
+                        $root.vec3.encode(message.position, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                    return writer;
+                };
+
+                /**
+                 * Encodes the specified Measurement message, length delimited. Does not implicitly {@link message.vision.Goal.Measurement.verify|verify} messages.
+                 * @param {message.vision.Goal.Measurement$Properties} message Measurement message or plain object to encode
+                 * @param {$protobuf.Writer} [writer] Writer to encode to
+                 * @returns {$protobuf.Writer} Writer
+                 */
+                Measurement.encodeDelimited = function encodeDelimited(message, writer) {
+                    return this.encode(message, writer).ldelim();
+                };
+
+                /**
+                 * Decodes a Measurement message from the specified reader or buffer.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @param {number} [length] Message length if known beforehand
+                 * @returns {message.vision.Goal.Measurement} Measurement
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Measurement.decode = function decode(reader, length) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader.create(reader);
+                    var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.vision.Goal.Measurement();
+                    while (reader.pos < end) {
+                        var tag = reader.uint32();
+                        switch (tag >>> 3) {
+                        case 1:
+                            message.type = reader.uint32();
+                            break;
+                        case 2:
+                            message.position = $root.vec3.decode(reader, reader.uint32());
+                            break;
+                        default:
+                            reader.skipType(tag & 7);
+                            break;
+                        }
+                    }
+                    return message;
+                };
+
+                /**
+                 * Decodes a Measurement message from the specified reader or buffer, length delimited.
+                 * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+                 * @returns {message.vision.Goal.Measurement} Measurement
+                 * @throws {Error} If the payload is not a reader or valid buffer
+                 * @throws {$protobuf.util.ProtocolError} If required fields are missing
+                 */
+                Measurement.decodeDelimited = function decodeDelimited(reader) {
+                    if (!(reader instanceof $Reader))
+                        reader = $Reader(reader);
+                    return this.decode(reader, reader.uint32());
+                };
+
+                /**
+                 * Verifies a Measurement message.
+                 * @param {Object.<string,*>} message Plain object to verify
+                 * @returns {?string} `null` if valid, otherwise the reason why it is not
+                 */
+                Measurement.verify = function verify(message) {
+                    if (typeof message !== "object" || message === null)
+                        return "object expected";
+                    if (message.type != null && message.hasOwnProperty("type"))
+                        switch (message.type) {
+                        default:
+                            return "type: enum value expected";
+                        case 0:
+                        case 1:
+                        case 2:
+                        case 3:
+                        case 4:
+                            break;
+                        }
+                    if (message.position != null && message.hasOwnProperty("position")) {
+                        var error = $root.vec3.verify(message.position);
+                        if (error)
+                            return "position." + error;
+                    }
+                    return null;
+                };
+
+                /**
+                 * Creates a Measurement message from a plain object. Also converts values to their respective internal types.
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.vision.Goal.Measurement} Measurement
+                 */
+                Measurement.fromObject = function fromObject(object) {
+                    if (object instanceof $root.message.vision.Goal.Measurement)
+                        return object;
+                    var message = new $root.message.vision.Goal.Measurement();
+                    switch (object.type) {
+                    case "UNKNOWN_MEASUREMENT":
+                    case 0:
+                        message.type = 0;
+                        break;
+                    case "LEFT_NORMAL":
+                    case 1:
+                        message.type = 1;
+                        break;
+                    case "RIGHT_NORMAL":
+                    case 2:
+                        message.type = 2;
+                        break;
+                    case "TOP_NORMAL":
+                    case 3:
+                        message.type = 3;
+                        break;
+                    case "BASE_NORMAL":
+                    case 4:
+                        message.type = 4;
+                        break;
+                    }
+                    if (object.position != null) {
+                        if (typeof object.position !== "object")
+                            throw TypeError(".message.vision.Goal.Measurement.position: object expected");
+                        message.position = $root.vec3.fromObject(object.position);
+                    }
+                    return message;
+                };
+
+                /**
+                 * Creates a Measurement message from a plain object. Also converts values to their respective internal types.
+                 * This is an alias of {@link message.vision.Goal.Measurement.fromObject}.
+                 * @function
+                 * @param {Object.<string,*>} object Plain object
+                 * @returns {message.vision.Goal.Measurement} Measurement
+                 */
+                Measurement.from = Measurement.fromObject;
+
+                /**
+                 * Creates a plain object from a Measurement message. Also converts values to other types if specified.
+                 * @param {message.vision.Goal.Measurement} message Measurement
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Measurement.toObject = function toObject(message, options) {
+                    if (!options)
+                        options = {};
+                    var object = {};
+                    if (options.defaults) {
+                        object.type = options.enums === String ? "UNKNOWN_MEASUREMENT" : 0;
+                        object.position = null;
+                    }
+                    if (message.type != null && message.hasOwnProperty("type"))
+                        object.type = options.enums === String ? $root.message.vision.Goal.MeasurementType[message.type] : message.type;
+                    if (message.position != null && message.hasOwnProperty("position"))
+                        object.position = $root.vec3.toObject(message.position, options);
+                    return object;
+                };
+
+                /**
+                 * Creates a plain object from this Measurement message. Also converts values to other types if specified.
+                 * @param {$protobuf.ConversionOptions} [options] Conversion options
+                 * @returns {Object.<string,*>} Plain object
+                 */
+                Measurement.prototype.toObject = function toObject(options) {
+                    return this.constructor.toObject(this, options);
+                };
+
+                /**
+                 * Converts this Measurement to JSON.
+                 * @returns {Object.<string,*>} JSON object
+                 */
+                Measurement.prototype.toJSON = function toJSON() {
+                    return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+                };
+
+                return Measurement;
+            })();
+
+            return Goal;
+        })();
+
+        vision.Obstacle = (function() {
+
+            /**
+             * Properties of an Obstacle.
+             * @typedef message.vision.Obstacle$Properties
+             * @type {Object}
+             * @property {message.vision.VisionObject$Properties} [visObject] Obstacle visObject.
+             * @property {message.Polygon$Properties} [shape] Obstacle shape.
+             * @property {message.vision.Obstacle.Team} [team] Obstacle team.
+             */
+
+            /**
+             * Constructs a new Obstacle.
+             * @exports message.vision.Obstacle
+             * @constructor
+             * @param {message.vision.Obstacle$Properties=} [properties] Properties to set
+             */
+            function Obstacle(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Obstacle visObject.
+             * @type {(message.vision.VisionObject$Properties|null)}
+             */
+            Obstacle.prototype.visObject = null;
+
+            /**
+             * Obstacle shape.
+             * @type {(message.Polygon$Properties|null)}
+             */
+            Obstacle.prototype.shape = null;
+
+            /**
+             * Obstacle team.
+             * @type {message.vision.Obstacle.Team}
+             */
+            Obstacle.prototype.team = 0;
+
+            /**
+             * Creates a new Obstacle instance using the specified properties.
+             * @param {message.vision.Obstacle$Properties=} [properties] Properties to set
+             * @returns {message.vision.Obstacle} Obstacle instance
+             */
+            Obstacle.create = function create(properties) {
+                return new Obstacle(properties);
+            };
+
+            /**
+             * Encodes the specified Obstacle message. Does not implicitly {@link message.vision.Obstacle.verify|verify} messages.
+             * @param {message.vision.Obstacle$Properties} message Obstacle message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            Obstacle.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.visObject != null && message.hasOwnProperty("visObject"))
+                    $root.message.vision.VisionObject.encode(message.visObject, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                if (message.shape != null && message.hasOwnProperty("shape"))
+                    $root.message.Polygon.encode(message.shape, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                if (message.team != null && message.hasOwnProperty("team"))
+                    writer.uint32(/* id 3, wireType 0 =*/24).uint32(message.team);
+                return writer;
+            };
+
+            /**
+             * Encodes the specified Obstacle message, length delimited. Does not implicitly {@link message.vision.Obstacle.verify|verify} messages.
+             * @param {message.vision.Obstacle$Properties} message Obstacle message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            Obstacle.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes an Obstacle message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.vision.Obstacle} Obstacle
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            Obstacle.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.vision.Obstacle();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.visObject = $root.message.vision.VisionObject.decode(reader, reader.uint32());
+                        break;
+                    case 2:
+                        message.shape = $root.message.Polygon.decode(reader, reader.uint32());
+                        break;
+                    case 3:
+                        message.team = reader.uint32();
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes an Obstacle message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.vision.Obstacle} Obstacle
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            Obstacle.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies an Obstacle message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            Obstacle.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.visObject != null && message.hasOwnProperty("visObject")) {
+                    var error = $root.message.vision.VisionObject.verify(message.visObject);
+                    if (error)
+                        return "visObject." + error;
+                }
+                if (message.shape != null && message.hasOwnProperty("shape")) {
+                    var error = $root.message.Polygon.verify(message.shape);
+                    if (error)
+                        return "shape." + error;
+                }
+                if (message.team != null && message.hasOwnProperty("team"))
+                    switch (message.team) {
+                    default:
+                        return "team: enum value expected";
+                    case 0:
+                    case 1:
+                    case 2:
+                        break;
+                    }
+                return null;
+            };
+
+            /**
+             * Creates an Obstacle message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.Obstacle} Obstacle
+             */
+            Obstacle.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.vision.Obstacle)
+                    return object;
+                var message = new $root.message.vision.Obstacle();
+                if (object.visObject != null) {
+                    if (typeof object.visObject !== "object")
+                        throw TypeError(".message.vision.Obstacle.visObject: object expected");
+                    message.visObject = $root.message.vision.VisionObject.fromObject(object.visObject);
+                }
+                if (object.shape != null) {
+                    if (typeof object.shape !== "object")
+                        throw TypeError(".message.vision.Obstacle.shape: object expected");
+                    message.shape = $root.message.Polygon.fromObject(object.shape);
+                }
+                switch (object.team) {
+                case "UNKNOWN_TEAM":
+                case 0:
+                    message.team = 0;
+                    break;
+                case "MAGENTA":
+                case 1:
+                    message.team = 1;
+                    break;
+                case "CYAN":
+                case 2:
+                    message.team = 2;
+                    break;
+                }
+                return message;
+            };
+
+            /**
+             * Creates an Obstacle message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.vision.Obstacle.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.Obstacle} Obstacle
+             */
+            Obstacle.from = Obstacle.fromObject;
+
+            /**
+             * Creates a plain object from an Obstacle message. Also converts values to other types if specified.
+             * @param {message.vision.Obstacle} message Obstacle
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            Obstacle.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults) {
+                    object.visObject = null;
+                    object.shape = null;
+                    object.team = options.enums === String ? "UNKNOWN_TEAM" : 0;
+                }
+                if (message.visObject != null && message.hasOwnProperty("visObject"))
+                    object.visObject = $root.message.vision.VisionObject.toObject(message.visObject, options);
+                if (message.shape != null && message.hasOwnProperty("shape"))
+                    object.shape = $root.message.Polygon.toObject(message.shape, options);
+                if (message.team != null && message.hasOwnProperty("team"))
+                    object.team = options.enums === String ? $root.message.vision.Obstacle.Team[message.team] : message.team;
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this Obstacle message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            Obstacle.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this Obstacle to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            Obstacle.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            /**
+             * Team enum.
+             * @name Team
+             * @memberof message.vision.Obstacle
+             * @enum {number}
+             * @property {number} UNKNOWN_TEAM=0 UNKNOWN_TEAM value
+             * @property {number} MAGENTA=1 MAGENTA value
+             * @property {number} CYAN=2 CYAN value
+             */
+            Obstacle.Team = (function() {
+                var valuesById = {}, values = Object.create(valuesById);
+                values[valuesById[0] = "UNKNOWN_TEAM"] = 0;
+                values[valuesById[1] = "MAGENTA"] = 1;
+                values[valuesById[2] = "CYAN"] = 2;
+                return values;
+            })();
+
+            return Obstacle;
+        })();
+
+        vision.Line = (function() {
+
+            /**
+             * Properties of a Line.
+             * @typedef message.vision.Line$Properties
+             * @type {Object}
+             * @property {message.vision.VisionObject$Properties} [visObject] Line visObject.
+             * @property {ivec2$Properties} [start] Line start.
+             * @property {ivec2$Properties} [end] Line end.
+             * @property {vec4$Properties} [colour] Line colour.
+             */
+
+            /**
+             * Constructs a new Line.
+             * @exports message.vision.Line
+             * @constructor
+             * @param {message.vision.Line$Properties=} [properties] Properties to set
+             */
+            function Line(properties) {
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * Line visObject.
+             * @type {(message.vision.VisionObject$Properties|null)}
+             */
+            Line.prototype.visObject = null;
+
+            /**
+             * Line start.
+             * @type {(ivec2$Properties|null)}
+             */
+            Line.prototype.start = null;
+
+            /**
+             * Line end.
+             * @type {(ivec2$Properties|null)}
+             */
+            Line.prototype.end = null;
+
+            /**
+             * Line colour.
+             * @type {(vec4$Properties|null)}
+             */
+            Line.prototype.colour = null;
+
+            /**
+             * Creates a new Line instance using the specified properties.
+             * @param {message.vision.Line$Properties=} [properties] Properties to set
+             * @returns {message.vision.Line} Line instance
+             */
+            Line.create = function create(properties) {
+                return new Line(properties);
+            };
+
+            /**
+             * Encodes the specified Line message. Does not implicitly {@link message.vision.Line.verify|verify} messages.
+             * @param {message.vision.Line$Properties} message Line message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            Line.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.visObject != null && message.hasOwnProperty("visObject"))
+                    $root.message.vision.VisionObject.encode(message.visObject, writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                if (message.start != null && message.hasOwnProperty("start"))
+                    $root.ivec2.encode(message.start, writer.uint32(/* id 2, wireType 2 =*/18).fork()).ldelim();
+                if (message.end != null && message.hasOwnProperty("end"))
+                    $root.ivec2.encode(message.end, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
+                if (message.colour != null && message.hasOwnProperty("colour"))
+                    $root.vec4.encode(message.colour, writer.uint32(/* id 4, wireType 2 =*/34).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified Line message, length delimited. Does not implicitly {@link message.vision.Line.verify|verify} messages.
+             * @param {message.vision.Line$Properties} message Line message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            Line.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a Line message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.vision.Line} Line
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            Line.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.vision.Line();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        message.visObject = $root.message.vision.VisionObject.decode(reader, reader.uint32());
+                        break;
+                    case 2:
+                        message.start = $root.ivec2.decode(reader, reader.uint32());
+                        break;
+                    case 3:
+                        message.end = $root.ivec2.decode(reader, reader.uint32());
+                        break;
+                    case 4:
+                        message.colour = $root.vec4.decode(reader, reader.uint32());
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a Line message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.vision.Line} Line
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            Line.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a Line message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            Line.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.visObject != null && message.hasOwnProperty("visObject")) {
+                    var error = $root.message.vision.VisionObject.verify(message.visObject);
+                    if (error)
+                        return "visObject." + error;
+                }
+                if (message.start != null && message.hasOwnProperty("start")) {
+                    var error = $root.ivec2.verify(message.start);
+                    if (error)
+                        return "start." + error;
+                }
+                if (message.end != null && message.hasOwnProperty("end")) {
+                    var error = $root.ivec2.verify(message.end);
+                    if (error)
+                        return "end." + error;
+                }
+                if (message.colour != null && message.hasOwnProperty("colour")) {
+                    var error = $root.vec4.verify(message.colour);
+                    if (error)
+                        return "colour." + error;
+                }
+                return null;
+            };
+
+            /**
+             * Creates a Line message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.Line} Line
+             */
+            Line.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.vision.Line)
+                    return object;
+                var message = new $root.message.vision.Line();
+                if (object.visObject != null) {
+                    if (typeof object.visObject !== "object")
+                        throw TypeError(".message.vision.Line.visObject: object expected");
+                    message.visObject = $root.message.vision.VisionObject.fromObject(object.visObject);
+                }
+                if (object.start != null) {
+                    if (typeof object.start !== "object")
+                        throw TypeError(".message.vision.Line.start: object expected");
+                    message.start = $root.ivec2.fromObject(object.start);
+                }
+                if (object.end != null) {
+                    if (typeof object.end !== "object")
+                        throw TypeError(".message.vision.Line.end: object expected");
+                    message.end = $root.ivec2.fromObject(object.end);
+                }
+                if (object.colour != null) {
+                    if (typeof object.colour !== "object")
+                        throw TypeError(".message.vision.Line.colour: object expected");
+                    message.colour = $root.vec4.fromObject(object.colour);
+                }
+                return message;
+            };
+
+            /**
+             * Creates a Line message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.vision.Line.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.Line} Line
+             */
+            Line.from = Line.fromObject;
+
+            /**
+             * Creates a plain object from a Line message. Also converts values to other types if specified.
+             * @param {message.vision.Line} message Line
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            Line.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.defaults) {
+                    object.visObject = null;
+                    object.start = null;
+                    object.end = null;
+                    object.colour = null;
+                }
+                if (message.visObject != null && message.hasOwnProperty("visObject"))
+                    object.visObject = $root.message.vision.VisionObject.toObject(message.visObject, options);
+                if (message.start != null && message.hasOwnProperty("start"))
+                    object.start = $root.ivec2.toObject(message.start, options);
+                if (message.end != null && message.hasOwnProperty("end"))
+                    object.end = $root.ivec2.toObject(message.end, options);
+                if (message.colour != null && message.hasOwnProperty("colour"))
+                    object.colour = $root.vec4.toObject(message.colour, options);
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this Line message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            Line.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this Line to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            Line.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return Line;
+        })();
+
+        vision.NUsightBalls = (function() {
+
+            /**
+             * Properties of a NUsightBalls.
+             * @typedef message.vision.NUsightBalls$Properties
+             * @type {Object}
+             * @property {Array.<message.vision.Ball$Properties>} [balls] NUsightBalls balls.
+             */
+
+            /**
+             * Constructs a new NUsightBalls.
+             * @exports message.vision.NUsightBalls
+             * @constructor
+             * @param {message.vision.NUsightBalls$Properties=} [properties] Properties to set
+             */
+            function NUsightBalls(properties) {
+                this.balls = [];
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * NUsightBalls balls.
+             * @type {Array.<message.vision.Ball$Properties>}
+             */
+            NUsightBalls.prototype.balls = $util.emptyArray;
+
+            /**
+             * Creates a new NUsightBalls instance using the specified properties.
+             * @param {message.vision.NUsightBalls$Properties=} [properties] Properties to set
+             * @returns {message.vision.NUsightBalls} NUsightBalls instance
+             */
+            NUsightBalls.create = function create(properties) {
+                return new NUsightBalls(properties);
+            };
+
+            /**
+             * Encodes the specified NUsightBalls message. Does not implicitly {@link message.vision.NUsightBalls.verify|verify} messages.
+             * @param {message.vision.NUsightBalls$Properties} message NUsightBalls message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            NUsightBalls.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.balls != null && message.balls.length)
+                    for (var i = 0; i < message.balls.length; ++i)
+                        $root.message.vision.Ball.encode(message.balls[i], writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified NUsightBalls message, length delimited. Does not implicitly {@link message.vision.NUsightBalls.verify|verify} messages.
+             * @param {message.vision.NUsightBalls$Properties} message NUsightBalls message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            NUsightBalls.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a NUsightBalls message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.vision.NUsightBalls} NUsightBalls
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            NUsightBalls.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.vision.NUsightBalls();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        if (!(message.balls && message.balls.length))
+                            message.balls = [];
+                        message.balls.push($root.message.vision.Ball.decode(reader, reader.uint32()));
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a NUsightBalls message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.vision.NUsightBalls} NUsightBalls
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            NUsightBalls.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a NUsightBalls message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            NUsightBalls.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.balls != null && message.hasOwnProperty("balls")) {
+                    if (!Array.isArray(message.balls))
+                        return "balls: array expected";
+                    for (var i = 0; i < message.balls.length; ++i) {
+                        var error = $root.message.vision.Ball.verify(message.balls[i]);
+                        if (error)
+                            return "balls." + error;
+                    }
+                }
+                return null;
+            };
+
+            /**
+             * Creates a NUsightBalls message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.NUsightBalls} NUsightBalls
+             */
+            NUsightBalls.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.vision.NUsightBalls)
+                    return object;
+                var message = new $root.message.vision.NUsightBalls();
+                if (object.balls) {
+                    if (!Array.isArray(object.balls))
+                        throw TypeError(".message.vision.NUsightBalls.balls: array expected");
+                    message.balls = [];
+                    for (var i = 0; i < object.balls.length; ++i) {
+                        if (typeof object.balls[i] !== "object")
+                            throw TypeError(".message.vision.NUsightBalls.balls: object expected");
+                        message.balls[i] = $root.message.vision.Ball.fromObject(object.balls[i]);
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Creates a NUsightBalls message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.vision.NUsightBalls.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.NUsightBalls} NUsightBalls
+             */
+            NUsightBalls.from = NUsightBalls.fromObject;
+
+            /**
+             * Creates a plain object from a NUsightBalls message. Also converts values to other types if specified.
+             * @param {message.vision.NUsightBalls} message NUsightBalls
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            NUsightBalls.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.arrays || options.defaults)
+                    object.balls = [];
+                if (message.balls && message.balls.length) {
+                    object.balls = [];
+                    for (var j = 0; j < message.balls.length; ++j)
+                        object.balls[j] = $root.message.vision.Ball.toObject(message.balls[j], options);
+                }
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this NUsightBalls message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            NUsightBalls.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this NUsightBalls to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            NUsightBalls.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return NUsightBalls;
+        })();
+
+        vision.NUsightGoals = (function() {
+
+            /**
+             * Properties of a NUsightGoals.
+             * @typedef message.vision.NUsightGoals$Properties
+             * @type {Object}
+             * @property {Array.<message.vision.Goal$Properties>} [goals] NUsightGoals goals.
+             */
+
+            /**
+             * Constructs a new NUsightGoals.
+             * @exports message.vision.NUsightGoals
+             * @constructor
+             * @param {message.vision.NUsightGoals$Properties=} [properties] Properties to set
+             */
+            function NUsightGoals(properties) {
+                this.goals = [];
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * NUsightGoals goals.
+             * @type {Array.<message.vision.Goal$Properties>}
+             */
+            NUsightGoals.prototype.goals = $util.emptyArray;
+
+            /**
+             * Creates a new NUsightGoals instance using the specified properties.
+             * @param {message.vision.NUsightGoals$Properties=} [properties] Properties to set
+             * @returns {message.vision.NUsightGoals} NUsightGoals instance
+             */
+            NUsightGoals.create = function create(properties) {
+                return new NUsightGoals(properties);
+            };
+
+            /**
+             * Encodes the specified NUsightGoals message. Does not implicitly {@link message.vision.NUsightGoals.verify|verify} messages.
+             * @param {message.vision.NUsightGoals$Properties} message NUsightGoals message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            NUsightGoals.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.goals != null && message.goals.length)
+                    for (var i = 0; i < message.goals.length; ++i)
+                        $root.message.vision.Goal.encode(message.goals[i], writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified NUsightGoals message, length delimited. Does not implicitly {@link message.vision.NUsightGoals.verify|verify} messages.
+             * @param {message.vision.NUsightGoals$Properties} message NUsightGoals message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            NUsightGoals.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a NUsightGoals message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.vision.NUsightGoals} NUsightGoals
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            NUsightGoals.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.vision.NUsightGoals();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        if (!(message.goals && message.goals.length))
+                            message.goals = [];
+                        message.goals.push($root.message.vision.Goal.decode(reader, reader.uint32()));
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a NUsightGoals message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.vision.NUsightGoals} NUsightGoals
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            NUsightGoals.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a NUsightGoals message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            NUsightGoals.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.goals != null && message.hasOwnProperty("goals")) {
+                    if (!Array.isArray(message.goals))
+                        return "goals: array expected";
+                    for (var i = 0; i < message.goals.length; ++i) {
+                        var error = $root.message.vision.Goal.verify(message.goals[i]);
+                        if (error)
+                            return "goals." + error;
+                    }
+                }
+                return null;
+            };
+
+            /**
+             * Creates a NUsightGoals message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.NUsightGoals} NUsightGoals
+             */
+            NUsightGoals.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.vision.NUsightGoals)
+                    return object;
+                var message = new $root.message.vision.NUsightGoals();
+                if (object.goals) {
+                    if (!Array.isArray(object.goals))
+                        throw TypeError(".message.vision.NUsightGoals.goals: array expected");
+                    message.goals = [];
+                    for (var i = 0; i < object.goals.length; ++i) {
+                        if (typeof object.goals[i] !== "object")
+                            throw TypeError(".message.vision.NUsightGoals.goals: object expected");
+                        message.goals[i] = $root.message.vision.Goal.fromObject(object.goals[i]);
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Creates a NUsightGoals message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.vision.NUsightGoals.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.NUsightGoals} NUsightGoals
+             */
+            NUsightGoals.from = NUsightGoals.fromObject;
+
+            /**
+             * Creates a plain object from a NUsightGoals message. Also converts values to other types if specified.
+             * @param {message.vision.NUsightGoals} message NUsightGoals
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            NUsightGoals.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.arrays || options.defaults)
+                    object.goals = [];
+                if (message.goals && message.goals.length) {
+                    object.goals = [];
+                    for (var j = 0; j < message.goals.length; ++j)
+                        object.goals[j] = $root.message.vision.Goal.toObject(message.goals[j], options);
+                }
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this NUsightGoals message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            NUsightGoals.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this NUsightGoals to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            NUsightGoals.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return NUsightGoals;
+        })();
+
+        vision.NUsightObstacles = (function() {
+
+            /**
+             * Properties of a NUsightObstacles.
+             * @typedef message.vision.NUsightObstacles$Properties
+             * @type {Object}
+             * @property {Array.<message.vision.Obstacle$Properties>} [obstacles] NUsightObstacles obstacles.
+             */
+
+            /**
+             * Constructs a new NUsightObstacles.
+             * @exports message.vision.NUsightObstacles
+             * @constructor
+             * @param {message.vision.NUsightObstacles$Properties=} [properties] Properties to set
+             */
+            function NUsightObstacles(properties) {
+                this.obstacles = [];
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * NUsightObstacles obstacles.
+             * @type {Array.<message.vision.Obstacle$Properties>}
+             */
+            NUsightObstacles.prototype.obstacles = $util.emptyArray;
+
+            /**
+             * Creates a new NUsightObstacles instance using the specified properties.
+             * @param {message.vision.NUsightObstacles$Properties=} [properties] Properties to set
+             * @returns {message.vision.NUsightObstacles} NUsightObstacles instance
+             */
+            NUsightObstacles.create = function create(properties) {
+                return new NUsightObstacles(properties);
+            };
+
+            /**
+             * Encodes the specified NUsightObstacles message. Does not implicitly {@link message.vision.NUsightObstacles.verify|verify} messages.
+             * @param {message.vision.NUsightObstacles$Properties} message NUsightObstacles message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            NUsightObstacles.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.obstacles != null && message.obstacles.length)
+                    for (var i = 0; i < message.obstacles.length; ++i)
+                        $root.message.vision.Obstacle.encode(message.obstacles[i], writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified NUsightObstacles message, length delimited. Does not implicitly {@link message.vision.NUsightObstacles.verify|verify} messages.
+             * @param {message.vision.NUsightObstacles$Properties} message NUsightObstacles message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            NUsightObstacles.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a NUsightObstacles message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.vision.NUsightObstacles} NUsightObstacles
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            NUsightObstacles.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.vision.NUsightObstacles();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        if (!(message.obstacles && message.obstacles.length))
+                            message.obstacles = [];
+                        message.obstacles.push($root.message.vision.Obstacle.decode(reader, reader.uint32()));
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a NUsightObstacles message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.vision.NUsightObstacles} NUsightObstacles
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            NUsightObstacles.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a NUsightObstacles message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            NUsightObstacles.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.obstacles != null && message.hasOwnProperty("obstacles")) {
+                    if (!Array.isArray(message.obstacles))
+                        return "obstacles: array expected";
+                    for (var i = 0; i < message.obstacles.length; ++i) {
+                        var error = $root.message.vision.Obstacle.verify(message.obstacles[i]);
+                        if (error)
+                            return "obstacles." + error;
+                    }
+                }
+                return null;
+            };
+
+            /**
+             * Creates a NUsightObstacles message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.NUsightObstacles} NUsightObstacles
+             */
+            NUsightObstacles.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.vision.NUsightObstacles)
+                    return object;
+                var message = new $root.message.vision.NUsightObstacles();
+                if (object.obstacles) {
+                    if (!Array.isArray(object.obstacles))
+                        throw TypeError(".message.vision.NUsightObstacles.obstacles: array expected");
+                    message.obstacles = [];
+                    for (var i = 0; i < object.obstacles.length; ++i) {
+                        if (typeof object.obstacles[i] !== "object")
+                            throw TypeError(".message.vision.NUsightObstacles.obstacles: object expected");
+                        message.obstacles[i] = $root.message.vision.Obstacle.fromObject(object.obstacles[i]);
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Creates a NUsightObstacles message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.vision.NUsightObstacles.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.NUsightObstacles} NUsightObstacles
+             */
+            NUsightObstacles.from = NUsightObstacles.fromObject;
+
+            /**
+             * Creates a plain object from a NUsightObstacles message. Also converts values to other types if specified.
+             * @param {message.vision.NUsightObstacles} message NUsightObstacles
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            NUsightObstacles.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.arrays || options.defaults)
+                    object.obstacles = [];
+                if (message.obstacles && message.obstacles.length) {
+                    object.obstacles = [];
+                    for (var j = 0; j < message.obstacles.length; ++j)
+                        object.obstacles[j] = $root.message.vision.Obstacle.toObject(message.obstacles[j], options);
+                }
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this NUsightObstacles message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            NUsightObstacles.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this NUsightObstacles to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            NUsightObstacles.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return NUsightObstacles;
+        })();
+
+        vision.NUsightLines = (function() {
+
+            /**
+             * Properties of a NUsightLines.
+             * @typedef message.vision.NUsightLines$Properties
+             * @type {Object}
+             * @property {Array.<message.vision.Line$Properties>} [lines] NUsightLines lines.
+             */
+
+            /**
+             * Constructs a new NUsightLines.
+             * @exports message.vision.NUsightLines
+             * @constructor
+             * @param {message.vision.NUsightLines$Properties=} [properties] Properties to set
+             */
+            function NUsightLines(properties) {
+                this.lines = [];
+                if (properties)
+                    for (var keys = Object.keys(properties), i = 0; i < keys.length; ++i)
+                        if (properties[keys[i]] != null)
+                            this[keys[i]] = properties[keys[i]];
+            }
+
+            /**
+             * NUsightLines lines.
+             * @type {Array.<message.vision.Line$Properties>}
+             */
+            NUsightLines.prototype.lines = $util.emptyArray;
+
+            /**
+             * Creates a new NUsightLines instance using the specified properties.
+             * @param {message.vision.NUsightLines$Properties=} [properties] Properties to set
+             * @returns {message.vision.NUsightLines} NUsightLines instance
+             */
+            NUsightLines.create = function create(properties) {
+                return new NUsightLines(properties);
+            };
+
+            /**
+             * Encodes the specified NUsightLines message. Does not implicitly {@link message.vision.NUsightLines.verify|verify} messages.
+             * @param {message.vision.NUsightLines$Properties} message NUsightLines message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            NUsightLines.encode = function encode(message, writer) {
+                if (!writer)
+                    writer = $Writer.create();
+                if (message.lines != null && message.lines.length)
+                    for (var i = 0; i < message.lines.length; ++i)
+                        $root.message.vision.Line.encode(message.lines[i], writer.uint32(/* id 1, wireType 2 =*/10).fork()).ldelim();
+                return writer;
+            };
+
+            /**
+             * Encodes the specified NUsightLines message, length delimited. Does not implicitly {@link message.vision.NUsightLines.verify|verify} messages.
+             * @param {message.vision.NUsightLines$Properties} message NUsightLines message or plain object to encode
+             * @param {$protobuf.Writer} [writer] Writer to encode to
+             * @returns {$protobuf.Writer} Writer
+             */
+            NUsightLines.encodeDelimited = function encodeDelimited(message, writer) {
+                return this.encode(message, writer).ldelim();
+            };
+
+            /**
+             * Decodes a NUsightLines message from the specified reader or buffer.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @param {number} [length] Message length if known beforehand
+             * @returns {message.vision.NUsightLines} NUsightLines
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            NUsightLines.decode = function decode(reader, length) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader.create(reader);
+                var end = length === undefined ? reader.len : reader.pos + length, message = new $root.message.vision.NUsightLines();
+                while (reader.pos < end) {
+                    var tag = reader.uint32();
+                    switch (tag >>> 3) {
+                    case 1:
+                        if (!(message.lines && message.lines.length))
+                            message.lines = [];
+                        message.lines.push($root.message.vision.Line.decode(reader, reader.uint32()));
+                        break;
+                    default:
+                        reader.skipType(tag & 7);
+                        break;
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Decodes a NUsightLines message from the specified reader or buffer, length delimited.
+             * @param {$protobuf.Reader|Uint8Array} reader Reader or buffer to decode from
+             * @returns {message.vision.NUsightLines} NUsightLines
+             * @throws {Error} If the payload is not a reader or valid buffer
+             * @throws {$protobuf.util.ProtocolError} If required fields are missing
+             */
+            NUsightLines.decodeDelimited = function decodeDelimited(reader) {
+                if (!(reader instanceof $Reader))
+                    reader = $Reader(reader);
+                return this.decode(reader, reader.uint32());
+            };
+
+            /**
+             * Verifies a NUsightLines message.
+             * @param {Object.<string,*>} message Plain object to verify
+             * @returns {?string} `null` if valid, otherwise the reason why it is not
+             */
+            NUsightLines.verify = function verify(message) {
+                if (typeof message !== "object" || message === null)
+                    return "object expected";
+                if (message.lines != null && message.hasOwnProperty("lines")) {
+                    if (!Array.isArray(message.lines))
+                        return "lines: array expected";
+                    for (var i = 0; i < message.lines.length; ++i) {
+                        var error = $root.message.vision.Line.verify(message.lines[i]);
+                        if (error)
+                            return "lines." + error;
+                    }
+                }
+                return null;
+            };
+
+            /**
+             * Creates a NUsightLines message from a plain object. Also converts values to their respective internal types.
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.NUsightLines} NUsightLines
+             */
+            NUsightLines.fromObject = function fromObject(object) {
+                if (object instanceof $root.message.vision.NUsightLines)
+                    return object;
+                var message = new $root.message.vision.NUsightLines();
+                if (object.lines) {
+                    if (!Array.isArray(object.lines))
+                        throw TypeError(".message.vision.NUsightLines.lines: array expected");
+                    message.lines = [];
+                    for (var i = 0; i < object.lines.length; ++i) {
+                        if (typeof object.lines[i] !== "object")
+                            throw TypeError(".message.vision.NUsightLines.lines: object expected");
+                        message.lines[i] = $root.message.vision.Line.fromObject(object.lines[i]);
+                    }
+                }
+                return message;
+            };
+
+            /**
+             * Creates a NUsightLines message from a plain object. Also converts values to their respective internal types.
+             * This is an alias of {@link message.vision.NUsightLines.fromObject}.
+             * @function
+             * @param {Object.<string,*>} object Plain object
+             * @returns {message.vision.NUsightLines} NUsightLines
+             */
+            NUsightLines.from = NUsightLines.fromObject;
+
+            /**
+             * Creates a plain object from a NUsightLines message. Also converts values to other types if specified.
+             * @param {message.vision.NUsightLines} message NUsightLines
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            NUsightLines.toObject = function toObject(message, options) {
+                if (!options)
+                    options = {};
+                var object = {};
+                if (options.arrays || options.defaults)
+                    object.lines = [];
+                if (message.lines && message.lines.length) {
+                    object.lines = [];
+                    for (var j = 0; j < message.lines.length; ++j)
+                        object.lines[j] = $root.message.vision.Line.toObject(message.lines[j], options);
+                }
+                return object;
+            };
+
+            /**
+             * Creates a plain object from this NUsightLines message. Also converts values to other types if specified.
+             * @param {$protobuf.ConversionOptions} [options] Conversion options
+             * @returns {Object.<string,*>} Plain object
+             */
+            NUsightLines.prototype.toObject = function toObject(options) {
+                return this.constructor.toObject(this, options);
+            };
+
+            /**
+             * Converts this NUsightLines to JSON.
+             * @returns {Object.<string,*>} JSON object
+             */
+            NUsightLines.prototype.toJSON = function toJSON() {
+                return this.constructor.toObject(this, $protobuf.util.toJSONOptions);
+            };
+
+            return NUsightLines;
+        })();
+
+        return vision;
+    })();
+
+    return message;
+})();
+
+module.exports = $root;
diff --git a/src/simulators/flat_map.ts b/src/simulators/flat_map.ts
new file mode 100644
index 00000000..663ff9c1
--- /dev/null
+++ b/src/simulators/flat_map.ts
@@ -0,0 +1,8 @@
+/**
+ * Run fn on each item in the given array, flatten the list of lists into a single list.
+ *
+ * e.g. flatMap(x => [x, x * x], [1, 2, 3]); // [1, 1, 2, 4, 3, 9]
+ */
+export function flatMap<T, U>(fn: (item: T) => U[], arr: T[]): U[] {
+  return Array.prototype.concat.apply([], arr.map(fn))
+}
diff --git a/src/simulators/nodemon.json b/src/simulators/nodemon.json
new file mode 100644
index 00000000..8e47e980
--- /dev/null
+++ b/src/simulators/nodemon.json
@@ -0,0 +1,5 @@
+{
+  "execMap": {
+    "ts": "ts-node"
+  }
+}
diff --git a/src/simulators/nuclearnet/fake_nuclearnet.ts b/src/simulators/nuclearnet/fake_nuclearnet.ts
new file mode 100644
index 00000000..99a7a5bd
--- /dev/null
+++ b/src/simulators/nuclearnet/fake_nuclearnet.ts
@@ -0,0 +1,69 @@
+import { injectable } from 'inversify'
+import { inject } from 'inversify'
+import { NUClearNet } from 'nuclearnet.js'
+import { NUClearNetPacket } from 'nuclearnet.js'
+import { NUClearNetOptions } from 'nuclearnet.js'
+import { NUClearNetSend } from 'nuclearnet.js'
+import { NUClearNetPeer } from 'nuclearnet.js'
+import { FakeNUClearNetServer } from './fake_nuclearnet_server'
+
+type PacketListener = (packet: NUClearNetPacket) => void
+type EventListener = (peer: NUClearNetPeer) => void
+type Listener = EventListener | PacketListener
+type EventMessage = 'nuclear_join' | 'nuclear_leave'
+
+@injectable()
+export class FakeNUClearNet implements NUClearNet {
+  private peer: NUClearNetPeer
+  private listeners: Map<Listener, Listener>
+  private connected: boolean
+
+  public constructor(@inject(FakeNUClearNetServer) private server: FakeNUClearNetServer) {
+    this.listeners = new Map()
+    this.connected = false
+  }
+
+  public on(event: EventMessage, callback: EventListener): this
+  public on(event: string, callback: PacketListener): this
+  public on(event: string, callback: Listener): this {
+    const listener = (...args: any[]) => {
+      if (this.connected) {
+        callback.apply(null, args)
+      }
+    }
+    this.listeners.set(callback, listener)
+    this.server.on(event, listener)
+    return this
+  }
+
+  public removeListener(event: string, callback: Listener): this {
+    const listener = this.listeners.get(callback)
+    if (listener) {
+      this.server.removeListener(event, listener)
+      this.listeners.delete(callback)
+    }
+    return this
+  }
+
+  public connect(options: NUClearNetOptions): void {
+    this.peer = {
+      name: options.name,
+      address: '127.0.0.1',
+      port: options.port || 7447,
+    }
+    this.server.connect(this.peer)
+    this.connected = true
+  }
+
+  public disconnect(): void {
+    if (this.peer === undefined) {
+      throw new Error('Cannot disconnect without first connecting')
+    }
+    this.connected = false
+    this.server.disconnect(this.peer)
+  }
+
+  public send(options: NUClearNetSend): void {
+    this.server.send(this.peer, options)
+  }
+}
diff --git a/src/simulators/nuclearnet/fake_nuclearnet_server.ts b/src/simulators/nuclearnet/fake_nuclearnet_server.ts
new file mode 100644
index 00000000..03aa178f
--- /dev/null
+++ b/src/simulators/nuclearnet/fake_nuclearnet_server.ts
@@ -0,0 +1,36 @@
+import * as EventEmitter from 'events'
+import { injectable } from 'inversify'
+import { NUClearNetPeer } from 'nuclearnet.js'
+import { NUClearNetSend } from 'nuclearnet.js'
+
+@injectable()
+export class FakeNUClearNetServer extends EventEmitter {
+  private peers: NUClearNetPeer[]
+
+  public constructor() {
+    super()
+
+    this.peers = []
+  }
+
+  public connect(peer: NUClearNetPeer): void {
+    this.emit('nuclear_join', peer)
+    this.peers.push(peer)
+  }
+
+  public disconnect(peer: NUClearNetPeer) {
+    this.emit('nuclear_leave', peer)
+    this.peers.splice(this.peers.indexOf(peer), 1)
+  }
+
+  public send(peer: NUClearNetPeer, opts: NUClearNetSend) {
+    if (typeof opts.type === 'string') {
+      const packet = {
+        peer,
+        payload: opts.payload,
+      }
+      // TODO (Annable): Support opts.target
+      this.emit(opts.type, packet)
+    }
+  }
+}
diff --git a/src/simulators/nuclearnet/tests/fake_nuclearnet.tests.ts b/src/simulators/nuclearnet/tests/fake_nuclearnet.tests.ts
new file mode 100644
index 00000000..825e7ed9
--- /dev/null
+++ b/src/simulators/nuclearnet/tests/fake_nuclearnet.tests.ts
@@ -0,0 +1,91 @@
+import { NUClearNet } from 'nuclearnet.js'
+import 'reflect-metadata'
+import { FakeNUClearNet } from '../fake_nuclearnet'
+import { FakeNUClearNetServer } from '../fake_nuclearnet_server'
+
+describe('FakeNUClearNet', () => {
+  let server: FakeNUClearNetServer
+  let alice: NUClearNet
+  let bob: NUClearNet
+  let eve: NUClearNet
+
+  beforeEach(() => {
+    server = new FakeNUClearNetServer()
+    alice = new FakeNUClearNet(server)
+    bob = new FakeNUClearNet(server)
+    eve = new FakeNUClearNet(server)
+  })
+
+  it('calls nuclear_join event handlers on connect', () => {
+    alice.connect({ name: 'alice' })
+    eve.connect({ name: 'eve' })
+
+    const aliceOnJoin = jest.fn()
+    alice.on('nuclear_join', aliceOnJoin)
+
+    const eveOnJoin = jest.fn()
+    eve.on('nuclear_join', eveOnJoin)
+
+    const bobOnJoin = jest.fn()
+    bob.on('nuclear_join', bobOnJoin)
+
+    bob.connect({ name: 'bob' })
+
+    const expectedPeer = { name: 'bob', address: '127.0.0.1', port: 7447 }
+
+    expect(aliceOnJoin).toHaveBeenCalledWith(expectedPeer)
+    expect(eveOnJoin).toHaveBeenCalledWith(expectedPeer)
+    expect(bobOnJoin).not.toHaveBeenCalled()
+  })
+
+  it('calls nuclear_leave event handlers on disconnect', () => {
+    alice.connect({ name: 'alice' })
+    eve.connect({ name: 'eve' })
+
+    const aliceOnLeave = jest.fn()
+    alice.on('nuclear_leave', aliceOnLeave)
+
+    const eveOnLeave = jest.fn()
+    eve.on('nuclear_leave', eveOnLeave)
+
+    const bobOnLeave = jest.fn()
+    bob.on('nuclear_leave', bobOnLeave)
+
+    bob.connect({ name: 'bob' })
+
+    const expectedPeer = { name: 'bob', address: '127.0.0.1', port: 7447 }
+
+    bob.disconnect()
+
+    expect(aliceOnLeave).toHaveBeenCalledWith(expectedPeer)
+    expect(eveOnLeave).toHaveBeenCalledWith(expectedPeer)
+    expect(bobOnLeave).not.toHaveBeenCalled()
+  })
+
+  it('sends messages to others', () => {
+    alice.connect({ name: 'alice' })
+    eve.connect({ name: 'eve' })
+    bob.connect({ name: 'bob' })
+
+    const aliceOnFoo = jest.fn()
+    alice.on('foo', aliceOnFoo)
+
+    const eveOnFoo = jest.fn()
+    eve.on('foo', eveOnFoo)
+
+    const bobOnFoo = jest.fn()
+    bob.on('foo', bobOnFoo)
+
+    const payload = new Buffer(8)
+    bob.send({ type: 'foo', payload })
+
+    const expectedPacket = {
+      payload,
+      peer: { name: 'bob', address: '127.0.0.1', port: 7447 },
+    }
+
+    expect(aliceOnFoo).toHaveBeenCalledWith(expectedPacket)
+    expect(eveOnFoo).toHaveBeenCalledWith(expectedPacket)
+    expect(bobOnFoo).toHaveBeenCalledWith(expectedPacket)
+  })
+})
diff --git a/src/simulators/robot_simulator.ts b/src/simulators/robot_simulator.ts
new file mode 100644
index 00000000..14666ac4
--- /dev/null
+++ b/src/simulators/robot_simulator.ts
@@ -0,0 +1,78 @@
+import { inject } from 'inversify'
+import { NUClearNet } from 'nuclearnet.js'
+import { Clock } from '../../src/server/time/clock'
+import { CancelTimer } from '../../src/server/time/node_clock'
+import { ClockType } from '../server/time/clock'
+import { flatMap } from './flat_map'
+import { Simulator } from './simulator'
+
+export class RobotSimulator {
+  private name: string
+  private simulators: Simulator[]
+  public messagesSent: number
+
+  public constructor(@inject(NUClearNet) private network: NUClearNet,
+                     @inject(ClockType) private clock: Clock,
+                     opts: { name: string, simulators: Simulator[] }) {
+    Object.assign(this, opts)
+
+    this.messagesSent = 0
+  }
+
+  public simulateWithFrequency(frequency: number) {
+    this.connect()
+
+    const period = 1000 / frequency
+    const cancelLoop = this.clock.setInterval(() => this.simulate(), period)
+
+    return () => {
+      cancelLoop()
+      this.disconnect()
+    }
+  }
+
+  public send(messageType: string, buffer: Uint8Array, reliable?: boolean) {
+    const header = new Buffer(9)
+    header.writeUInt8(0, 0)
+    // TODO: A 64bit timestamp used to be written to the header here, but it does not seem to be used?
+    this.network.send({
+      type: `NUsight<${messageType}>`,
+      payload: Buffer.concat([header, new Buffer(buffer)]),
+      target: 'nusight',
+      reliable,
+    })
+    this.messagesSent++
+  }
+
+  private simulate() {
+    const messages = flatMap(simulator => simulator.simulate(this.clock.now()), this.simulators)
+    messages.forEach(message => this.send(message.messageType, message.buffer))
+  }
+
+  private connect() {
+    this.network.connect({ name: this.name })
+  }
+
+  private disconnect() {
+    this.network.disconnect()
+  }
+}
+
+export class SimulatorStatus {
+  private lastMessagesSent: number
+
+  public constructor(@inject(ClockType) private clock: Clock,
+                     private simulator: RobotSimulator) {
+    this.lastMessagesSent = 0
+  }
+
+  public statusEvery(seconds: number): CancelTimer {
+    return this.clock.setInterval(() => {
+      const messagesSent = this.simulator.messagesSent
+      const delta = messagesSent - this.lastMessagesSent
+      // tslint:disable-next-line no-console
+      console.log(`Simulator: Sending ${(delta / seconds).toFixed(2)} messages/second.`)
+      this.lastMessagesSent = messagesSent
+    }, seconds * 1000)
+  }
+}
diff --git a/src/simulators/sensor_data_simulator.ts b/src/simulators/sensor_data_simulator.ts
new file mode 100644
index 00000000..4a0c9de0
--- /dev/null
+++ b/src/simulators/sensor_data_simulator.ts
@@ -0,0 +1,46 @@
+import { message } from '../../src/shared/proto/messages'
+import { Simulator } from './simulator'
+import { Message } from './simulator'
+import Sensors = message.input.Sensors
+
+export class SensorDataSimulator implements Simulator {
+  public static of() {
+    return new SensorDataSimulator()
+  }
+
+  public simulate(time: number): Message[] {
+    const messageType = 'message.input.Sensors'
+
+    // Simulate a walk
+    const t = time * 5E-3
+
+    const buffer = Sensors.encode({
+      servo: [
+        { presentPosition: 3 * Math.PI / 4 + 0.5 * Math.cos(t - Math.PI) },
+        { presentPosition: 3 * Math.PI / 4 + 0.5 * Math.cos(t) },
+        { presentPosition: -Math.PI / 8 },
+        { presentPosition: Math.PI / 8 },
+        { presentPosition: -3 * Math.PI / 4 },
+        { presentPosition: -3 * Math.PI / 4 },
+        { presentPosition: 0 },
+        { presentPosition: 0 },
+        { presentPosition: 0 },
+        { presentPosition: 0 },
+        { presentPosition: 0.5 * (Math.cos(t) - 1) },
+        { presentPosition: 0.5 * (Math.cos(t - Math.PI) - 1) },
+        { presentPosition: 0.5 * (-Math.cos(t) + 1) },
+        { presentPosition: 0.5 * (-Math.cos(t - Math.PI) + 1) },
+        { presentPosition: 0 },
+        { presentPosition: 0 },
+        { presentPosition: 0 },
+        { presentPosition: 0 },
+        { presentPosition: 0.1 * Math.cos(t) },
+        { presentPosition: 0.1 * Math.cos(t / 3) + 0.4 },
+      ],
+    }).finish()
+
+    const message = { messageType, buffer }
+
+    return [message]
+  }
+}
diff --git a/src/simulators/simulate.ts b/src/simulators/simulate.ts
new file mode 100644
index 00000000..e63c408e
--- /dev/null
+++ b/src/simulators/simulate.ts
@@ -0,0 +1,44 @@
+import * as minimist from 'minimist'
+import { NUClearNet } from 'nuclearnet.js'
+import 'reflect-metadata'
+import { getContainer } from '../server/inversify.config'
+import { Clock } from '../server/time/clock'
+import { ClockType } from '../server/time/clock'
+import { SimulatorStatus } from './robot_simulator'
+import { RobotSimulator } from './robot_simulator'
+import { SensorDataSimulator } from './sensor_data_simulator'
+import { Simulator } from './simulator'
+
+function main() {
+  const args = minimist(process.argv.slice(2))
+
+  const simulators = getSimulators(args)
+  const container = getContainer({ fakeNetworking: false })
+  const clock = container.get<Clock>(ClockType)
+  const robotSimulator = new RobotSimulator(
+    container.get<NUClearNet>(NUClearNet),
+    clock,
+    {
+      name: 'Robot Simulator',
+      simulators,
+    },
+  )
+  new SimulatorStatus(clock, robotSimulator).statusEvery(2)
+  robotSimulator.simulateWithFrequency(60)
+}
+
+function getSimulators(args: minimist.ParsedArgs): Simulator[] {
+  const simulators = []
+  if (args.sensors || args.all) {
+    simulators.push(SensorDataSimulator.of())
+  }
+  if (simulators.length === 0) {
+    // If no simulators given, enable them all.
+    return getSimulators({ ...args, all: true })
+  }
+  return simulators
+}
+
+if (require.main === module) {
+  main()
+}
diff --git a/src/simulators/simulator.ts b/src/simulators/simulator.ts
new file mode 100644
index 00000000..a09bc4b4
--- /dev/null
+++ b/src/simulators/simulator.ts
@@ -0,0 +1,9 @@
+export interface Simulator {
+  simulate(time: number): Message[]
+}
+
+export interface Message {
+  messageType: string
+  buffer: Uint8Array
+  reliable?: boolean
+}
diff --git a/tsconfig.json b/tsconfig.json
index 5171f281..5755b861 100644
--- a/tsconfig.json
+++ b/tsconfig.json
@@ -12,6 +12,7 @@
     "noImplicitReturns": false,
     "removeComments": true,
     "strictNullChecks": true,
+    "downlevelIteration": true,
     "outDir": "build",
     "lib": [
       "es6",
diff --git a/tslint.json b/tslint.json
index 50c9eaee..1377b0ee 100644
--- a/tslint.json
+++ b/tslint.json
@@ -1,35 +1,79 @@
 {
-	"defaultSeverity": "error",
-	"extends": [
-		"tslint:recommended"
-	],
-	"rules": {
-		"semicolon": {
-			"options": ["never"]
-		},
-		"arrow-parens": false,
-		"object-literal-sort-keys": false,
-		"max-classes-per-file": false,
-		"interface-name": [true, "never-prefix"],
-		"quotemark": {
-			"options": [
-				"single",
-				"avoid-escape"
-			]
-		},
-		"member-ordering": [
-			true,
-			{
-				"order": [
-					"instance-field",
-					"constructor",
-					"static-method",
-					"public-instance-method",
-					"protected-instance-method",
-					"private-instance-method"
-				]
-			}
-		]
-	},
-	"rulesDirectory": []
+  "defaultSeverity": "error",
+  "extends": [
+    "tslint-eslint-rules"
+  ],
+  "rules": {
+    "semicolon": {
+      "options": [
+        "never"
+      ]
+    },
+    "curly": true,
+    "eofline": true,
+    "block-spacing": [
+      true,
+      "never"
+    ],
+    "array-bracket-spacing": [
+      true,
+      "never"
+    ],
+    "new-parens": true,
+    "ter-max-len": [
+      true,
+      120
+    ],
+    "ter-arrow-spacing": [
+      true,
+      {
+        "before": true,
+        "after": true
+      }
+    ],
+    "space-in-parens": [
+      true,
+      "never"
+    ],
+    "ter-indent": [
+      true,
+      2,
+      {
+        "SwitchCase": 1
+      }
+    ],
+    "object-literal-shorthand": true,
+    "ter-prefer-arrow-callback": true,
+    "linebreak-style": "unix",
+    "object-curly-spacing": true,
+    "arrow-parens": false,
+    "object-literal-sort-keys": false,
+    "max-classes-per-file": false,
+    "interface-name": [
+      true,
+      "never-prefix"
+    ],
+    "no-empty-interface": false,
+    "quotemark": {
+      "options": [
+        "single",
+        "avoid-escape"
+      ]
+    },
+    "member-access": true,
+    "member-ordering": [
+      true,
+      {
+        "order": [
+          "instance-field",
+          "constructor",
+          "static-method",
+          "public-instance-method",
+          "protected-instance-method",
+          "private-instance-method"
+        ]
+      }
+    ]
+  },
+  "rulesDirectory": []
 }
diff --git a/webpack.config.ts b/webpack.config.ts
index 2068e292..531bdc06 100644
--- a/webpack.config.ts
+++ b/webpack.config.ts
@@ -13,18 +13,22 @@ export default {
   devtool: isProduction ? false : 'inline-source-map',
   entry: {
     main: [
+      'reflect-metadata',
       './client/index.tsx',
     ].concat(isProduction ? [] : [
       'webpack-hot-middleware/client',
     ]),
     vendor: [
       'classnames',
+      'inversify',
+      'inversify-inject-decorators',
       'mobx',
       'mobx-react',
       'mobx-react-router',
       'react',
       'react-dom',
       'react-router',
+      'reflect-metadata',
       'socket.io-client',
       'three',
     ],
@@ -113,6 +117,8 @@ export default {
       { test: /\.html$/, use: 'html-loader' },
       { test: /\.png$/, use: 'url-loader?limit=10000' },
       { test: /\.jpg$/, use: 'file-loader' },
+      { test: /\.vert$/, use: 'raw-loader' },
+      { test: /\.frag$/, use: 'raw-loader' },
     ],
   },
   plugins: [
diff --git a/yarn.lock b/yarn.lock
index 05c8df14..ad5f2936 100644
--- a/yarn.lock
+++ b/yarn.lock
@@ -2,6 +2,49 @@
 # yarn lockfile v1
 
 
+"@protobufjs/aspromise@^1.1.1":
+  version "1.1.2"
+  resolved "https://registry.yarnpkg.com/@protobufjs/aspromise/-/aspromise-1.1.2.tgz#9b8b0cc663d669a7d8f6f5d0893a14d348f30fbf"
+
+"@protobufjs/base64@^1.1.1":
+  version "1.1.1"
+  resolved "https://registry.yarnpkg.com/@protobufjs/base64/-/base64-1.1.1.tgz#8f10115d2b1ac2c25f3602e55eba708e56bcd2bb"
+
+"@protobufjs/codegen@^1.0.8":
+  version "1.0.8"
+  resolved "https://registry.yarnpkg.com/@protobufjs/codegen/-/codegen-1.0.8.tgz#d29e3d48a9445d77ccbffa420379b29dc37c6d7d"
+
+"@protobufjs/eventemitter@^1.1.0":
+  version "1.1.0"
+  resolved "https://registry.yarnpkg.com/@protobufjs/eventemitter/-/eventemitter-1.1.0.tgz#355cbc98bafad5978f9ed095f397621f1d066b70"
+
+"@protobufjs/fetch@^1.1.0":
+  version "1.1.0"
+  resolved "https://registry.yarnpkg.com/@protobufjs/fetch/-/fetch-1.1.0.tgz#ba99fb598614af65700c1619ff06d454b0d84c45"
+  dependencies:
+    "@protobufjs/aspromise" "^1.1.1"
+    "@protobufjs/inquire" "^1.1.0"
+
+"@protobufjs/float@^1.0.2":
+  version "1.0.2"
+  resolved "https://registry.yarnpkg.com/@protobufjs/float/-/float-1.0.2.tgz#5e9e1abdcb73fc0a7cb8b291df78c8cbd97b87d1"
+
+"@protobufjs/inquire@^1.1.0":
+  version "1.1.0"
+  resolved "https://registry.yarnpkg.com/@protobufjs/inquire/-/inquire-1.1.0.tgz#ff200e3e7cf2429e2dcafc1140828e8cc638f089"
+
+"@protobufjs/path@^1.1.2":
+  version "1.1.2"
+  resolved "https://registry.yarnpkg.com/@protobufjs/path/-/path-1.1.2.tgz#6cc2b20c5c9ad6ad0dccfd21ca7673d8d7fbf68d"
+
+"@protobufjs/pool@^1.1.0":
+  version "1.1.0"
+  resolved "https://registry.yarnpkg.com/@protobufjs/pool/-/pool-1.1.0.tgz#09fd15f2d6d3abfa9b65bc366506d6ad7846ff54"
+
+"@protobufjs/utf8@^1.1.0":
+  version "1.1.0"
+  resolved "https://registry.yarnpkg.com/@protobufjs/utf8/-/utf8-1.1.0.tgz#a777360b5b39a1a2e5106f8e858f2fd2d060c570"
+
 "@types/chai@*", "@types/chai@^3.5.2":
   version "3.5.2"
   resolved "https://registry.yarnpkg.com/@types/chai/-/chai-3.5.2.tgz#c11cd2817d3a401b7ba0f5a420f35c56139b1c1e"
@@ -75,6 +118,10 @@
   version "19.2.3"
   resolved "https://registry.yarnpkg.com/@types/jest/-/jest-19.2.3.tgz#61748040e8589a891dfc2ec1d16a2dd74482980e"
 
+"@types/long@^3.0.31":
+  version "3.0.31"
+  resolved "https://registry.yarnpkg.com/@types/long/-/long-3.0.31.tgz#08635b0d0d322676940c1a88a7a9cef661c6f34a"
+
 "@types/mime@*":
   version "0.0.29"
   resolved "https://registry.yarnpkg.com/@types/mime/-/mime-0.0.29.tgz#fbcfd330573b912ef59eeee14602bface630754b"
@@ -83,10 +130,18 @@
   version "2.0.29"
   resolved "https://registry.yarnpkg.com/@types/minimatch/-/minimatch-2.0.29.tgz#5002e14f75e2d71e564281df0431c8c1b4a2a36a"
 
+"@types/minimist@^1.2.0":
+  version "1.2.0"
+  resolved "https://registry.yarnpkg.com/@types/minimist/-/minimist-1.2.0.tgz#69a23a3ad29caf0097f06eda59b361ee2f0639f6"
+
 "@types/node@*", "@types/node@^7.0.14":
   version "7.0.15"
   resolved "https://registry.yarnpkg.com/@types/node/-/node-7.0.15.tgz#628429289604c5f7e56c13f3a0422f3e59df1a17"
 
+"@types/node@7.0.12":
+  version "7.0.12"
+  resolved "https://registry.yarnpkg.com/@types/node/-/node-7.0.12.tgz#ae5f67a19c15f752148004db07cbbb372e69efc9"
+
 "@types/react-dom@^0.14.23":
   version "0.14.23"
   resolved "https://registry.yarnpkg.com/@types/react-dom/-/react-dom-0.14.23.tgz#cecfcfad754b4c2765fe5d29b81b301889ad6c2e"
@@ -1066,6 +1121,10 @@ binary-extensions@^1.0.0:
   version "1.8.0"
   resolved "https://registry.yarnpkg.com/binary-extensions/-/binary-extensions-1.8.0.tgz#48ec8d16df4377eae5fa5884682480af4d95c774"
 
+bindings@^1.2.1:
+  version "1.2.1"
+  resolved "https://registry.yarnpkg.com/bindings/-/bindings-1.2.1.tgz#14ad6113812d2d37d72e67b4cacb4bb726505f11"
+
 blob@0.0.4:
   version "0.0.4"
   resolved "https://registry.yarnpkg.com/blob/-/blob-0.0.4.tgz#bcf13052ca54463f30f9fc7e95b9a47630a94921"
@@ -1854,6 +1913,13 @@ directory-encoder@^0.7.2:
     handlebars "^1.3.0"
     img-stats "^0.5.2"
 
+doctrine@^0.7.2:
+  version "0.7.2"
+  resolved "https://registry.yarnpkg.com/doctrine/-/doctrine-0.7.2.tgz#7cb860359ba3be90e040b26b729ce4bfa654c523"
+  dependencies:
+    esutils "^1.1.6"
+    isarray "0.0.1"
+
 dom-converter@~0.1:
   version "0.1.4"
   resolved "https://registry.yarnpkg.com/dom-converter/-/dom-converter-0.1.4.tgz#a45ef5727b890c9bffe6d7c876e7b19cb0e17f3b"
@@ -2063,6 +2129,10 @@ estraverse@^1.9.1:
   version "1.9.3"
   resolved "https://registry.yarnpkg.com/estraverse/-/estraverse-1.9.3.tgz#af67f2dc922582415950926091a4005d29c9bb44"
 
+esutils@^1.1.6:
+  version "1.1.6"
+  resolved "https://registry.yarnpkg.com/esutils/-/esutils-1.1.6.tgz#c01ccaa9ae4b897c6d0c3e210ae52f3c7a844375"
+
 esutils@^2.0.0, esutils@^2.0.2:
   version "2.0.2"
   resolved "https://registry.yarnpkg.com/esutils/-/esutils-2.0.2.tgz#0abf4f1caa5bcb1f7a9d8acc6dea4faaa04bac9b"
@@ -2280,6 +2350,10 @@ find-cache-dir@^0.1.1:
     mkdirp "^0.5.1"
     pkg-dir "^1.0.0"
 
+find-parent-dir@^0.3.0:
+  version "0.3.0"
+  resolved "https://registry.yarnpkg.com/find-parent-dir/-/find-parent-dir-0.3.0.tgz#33c44b429ab2b2f0646299c5f9f718f376ff8d54"
+
 find-up@^1.0.0, find-up@^1.1.2:
   version "1.1.2"
   resolved "https://registry.yarnpkg.com/find-up/-/find-up-1.1.2.tgz#6b2e9822b1a2ce0a60ab64d610eccad53cb24d0f"
@@ -2751,6 +2825,15 @@ https-browserify@0.0.1:
   version "0.0.1"
   resolved "https://registry.yarnpkg.com/https-browserify/-/https-browserify-0.0.1.tgz#3f91365cabe60b77ed0ebba24b454e3e09d95a82"
 
+husky@^0.13.3:
+  version "0.13.3"
+  resolved "https://registry.yarnpkg.com/husky/-/husky-0.13.3.tgz#bc2066080badc8b8fe3516e881f5bc68a57052ff"
+  dependencies:
+    chalk "^1.1.3"
+    find-parent-dir "^0.3.0"
+    is-ci "^1.0.9"
+    normalize-path "^1.0.0"
+
 iconv-lite@0.4.13:
   version "0.4.13"
   resolved "https://registry.yarnpkg.com/iconv-lite/-/iconv-lite-0.4.13.tgz#1f88aba4ab0b1508e8312acc39345f36e992e2f2"
@@ -2828,6 +2911,14 @@ invariant@^2.2.0, invariant@^2.2.1:
   dependencies:
     loose-envify "^1.0.0"
 
+inversify-inject-decorators@^3.0.1:
+  version "3.0.1"
+  resolved "https://registry.yarnpkg.com/inversify-inject-decorators/-/inversify-inject-decorators-3.0.1.tgz#de46df46ba72642eacac79451ec5c101e4dbcb00"
+
+inversify@^4.1.0:
+  version "4.1.0"
+  resolved "https://registry.yarnpkg.com/inversify/-/inversify-4.1.0.tgz#e2fef98ebd7c754846d419857f412432125b4ee9"
+
 invert-kv@^1.0.0:
   version "1.0.0"
   resolved "https://registry.yarnpkg.com/invert-kv/-/invert-kv-1.0.0.tgz#104a8e4aaca6d3d8cd157a8ef8bfab2d7a3ffdb6"
@@ -2860,7 +2951,7 @@ is-builtin-module@^1.0.0:
   dependencies:
     builtin-modules "^1.0.0"
 
-is-ci@^1.0.10:
+is-ci@^1.0.10, is-ci@^1.0.9:
   version "1.0.10"
   resolved "https://registry.yarnpkg.com/is-ci/-/is-ci-1.0.10.tgz#f739336b2632365061a9d48270cd56ae3369318e"
   dependencies:
@@ -3599,6 +3690,10 @@ lolex@^1.6.0:
   version "1.6.0"
   resolved "https://registry.yarnpkg.com/lolex/-/lolex-1.6.0.tgz#3a9a0283452a47d7439e72731b9e07d7386e49f6"
 
+long@^3.2.0:
+  version "3.2.0"
+  resolved "https://registry.yarnpkg.com/long/-/long-3.2.0.tgz#d821b7138ca1cb581c172990ef14db200b5c474b"
+
 longest@^1.0.1:
   version "1.0.1"
   resolved "https://registry.yarnpkg.com/longest/-/longest-1.0.1.tgz#30a0b2da38f73770e8294a0d22e6625ed77d0097"
@@ -3786,13 +3881,7 @@ ms@1.0.0:
   version "1.0.0"
   resolved "https://registry.yarnpkg.com/ms/-/ms-1.0.0.tgz#59adcd22edc543f7b5381862d31387b1f4bc9473"
 
-murmurhash-native@1.0.1:
-  version "1.0.1"
-  resolved "https://registry.yarnpkg.com/murmurhash-native/-/murmurhash-native-1.0.1.tgz#5803e86ea2ab67c56d601d8356c9c56971f5ad42"
-  dependencies:
-    nan "^2.0.9"
-
-nan@^2.0.9, nan@^2.3.0:
+nan@^2.0.0, nan@^2.3.0:
   version "2.6.2"
   resolved "https://registry.yarnpkg.com/nan/-/nan-2.6.2.tgz#e4ff34e6c95fdfb5aecc08de6596f43605a7db45"
 
@@ -3931,6 +4020,10 @@ normalize-package-data@^2.3.2:
     semver "2 || 3 || 4 || 5"
     validate-npm-package-license "^3.0.1"
 
+normalize-path@^1.0.0:
+  version "1.0.0"
+  resolved "https://registry.yarnpkg.com/normalize-path/-/normalize-path-1.0.0.tgz#32d0e472f91ff345701c15a8311018d3b0a90379"
+
 normalize-path@^2.0.1:
   version "2.1.1"
   resolved "https://registry.yarnpkg.com/normalize-path/-/normalize-path-2.1.1.tgz#1ab28b556e198363a8c1a6f7e6fa20137fe6aed9"
@@ -3971,11 +4064,12 @@ nth-check@~1.0.1:
   dependencies:
     boolbase "~1.0.0"
 
-nuclearnet.js@^0.1.0:
-  version "0.1.0"
-  resolved "https://registry.yarnpkg.com/nuclearnet.js/-/nuclearnet.js-0.1.0.tgz#0caa28d3e138dfdc12112f2446d28144da7a298b"
+nuclearnet.js@^1.0.5:
+  version "1.0.5"
+  resolved "https://registry.yarnpkg.com/nuclearnet.js/-/nuclearnet.js-1.0.5.tgz#827c4b05e416ba591d0212629c82bdbc43aecb34"
   dependencies:
-    murmurhash-native "1.0.1"
+    bindings "^1.2.1"
+    nan "^2.0.0"
 
 num2fraction@^1.2.2:
   version "1.2.2"
@@ -4898,6 +4992,24 @@ prop-types@^15.5.6, prop-types@^15.5.7, prop-types@~15.5.7:
   dependencies:
     fbjs "^0.8.9"
 
+protobufjs@^6.7.3:
+  version "6.7.3"
+  resolved "https://registry.yarnpkg.com/protobufjs/-/protobufjs-6.7.3.tgz#9270aa5d75dfe4d37df1dec87c444a72140d0e1c"
+  dependencies:
+    "@protobufjs/aspromise" "^1.1.1"
+    "@protobufjs/base64" "^1.1.1"
+    "@protobufjs/codegen" "^1.0.8"
+    "@protobufjs/eventemitter" "^1.1.0"
+    "@protobufjs/fetch" "^1.1.0"
+    "@protobufjs/float" "^1.0.2"
+    "@protobufjs/inquire" "^1.1.0"
+    "@protobufjs/path" "^1.1.2"
+    "@protobufjs/pool" "^1.1.0"
+    "@protobufjs/utf8" "^1.1.0"
+    "@types/long" "^3.0.31"
+    "@types/node" "7.0.12"
+    long "^3.2.0"
+
 proxy-addr@~1.1.3:
   version "1.1.4"
   resolved "https://registry.yarnpkg.com/proxy-addr/-/proxy-addr-1.1.4.tgz#27e545f6960a44a627d9b44467e35c1b6b4ce2f3"
@@ -4979,6 +5091,10 @@ range-parser@^1.0.3, range-parser@~1.2.0:
   version "1.2.0"
   resolved "https://registry.yarnpkg.com/range-parser/-/range-parser-1.2.0.tgz#f49be6b487894ddc40dcc94a322f611092e00d5e"
 
+raw-loader@^0.5.1:
+  version "0.5.1"
+  resolved "https://registry.yarnpkg.com/raw-loader/-/raw-loader-0.5.1.tgz#0c3d0beaed8a01c966d9787bf778281252a979aa"
+
 rc@^1.0.1, rc@^1.1.7:
   version "1.2.1"
   resolved "https://registry.yarnpkg.com/rc/-/rc-1.2.1.tgz#2e03e8e42ee450b8cb3dce65be1bf8974e1dfd95"
@@ -5140,6 +5256,10 @@ reduce-function-call@^1.0.1:
   dependencies:
     balanced-match "^0.4.2"
 
+reflect-metadata@^0.1.10:
+  version "0.1.10"
+  resolved "https://registry.yarnpkg.com/reflect-metadata/-/reflect-metadata-0.1.10.tgz#b4f83704416acad89988c9b15635d47e03b9344a"
+
 regenerate@^1.2.1:
   version "1.3.2"
   resolved "https://registry.yarnpkg.com/regenerate/-/regenerate-1.3.2.tgz#d1941c67bad437e1be76433add5b385f95b19260"
@@ -5918,10 +6038,18 @@ tsconfig@^6.0.0:
     strip-bom "^3.0.0"
     strip-json-comments "^2.0.0"
 
-tslib@^1.6.0:
+tslib@^1.0.0, tslib@^1.6.0:
   version "1.7.0"
   resolved "https://registry.yarnpkg.com/tslib/-/tslib-1.7.0.tgz#6e8366695f72961252b35167b0dd4fbeeafba491"
 
+tslint-eslint-rules@^4.1.1:
+  version "4.1.1"
+  resolved "https://registry.yarnpkg.com/tslint-eslint-rules/-/tslint-eslint-rules-4.1.1.tgz#7c30e7882f26bc276bff91d2384975c69daf88ba"
+  dependencies:
+    doctrine "^0.7.2"
+    tslib "^1.0.0"
+    tsutils "^1.4.0"
+
 tslint@^5.2.0:
   version "5.2.0"
   resolved "https://registry.yarnpkg.com/tslint/-/tslint-5.2.0.tgz#16a2addf20cb748385f544e9a0edab086bc34114"
@@ -5937,7 +6065,7 @@ tslint@^5.2.0:
     tslib "^1.6.0"
     tsutils "^1.8.0"
 
-tsutils@^1.8.0:
+tsutils@^1.4.0, tsutils@^1.8.0:
   version "1.8.0"
   resolved "https://registry.yarnpkg.com/tsutils/-/tsutils-1.8.0.tgz#bf8118ed8e80cd5c9fc7d75728c7963d44ed2f52"
 

From 9135187c61b1b0f6e9a072e58070db1576b3f73a Mon Sep 17 00:00:00 2001
From: Josephus Paye II <j.paye96@gmail.com>
Date: Tue, 27 Jun 2017 17:35:19 +1000
Subject: [PATCH 15/17] WIP configuration editor

---
 .../components/configuration/controller.ts    |    13 +-
 src/client/components/configuration/data.ts   |   137 +-
 .../configuration/editor/editor.css           |     8 +
 .../configuration/editor/editor.tsx           |    50 +
 .../editor/fields/list_field.css              |    35 +
 .../editor/fields/list_field.tsx              |    40 +
 .../configuration/editor/fields/map_field.css |    18 +
 .../configuration/editor/fields/map_field.tsx |    41 +
 .../editor/fields/scalar_field.css            |    27 +
 .../editor/fields/scalar_field.tsx            |    29 +
 .../editor/values/bool_value.css              |    12 +
 .../editor/values/bool_value.tsx              |    25 +
 .../editor/values/number_value.css            |    11 +
 .../editor/values/number_value.tsx            |    21 +
 .../editor/values/string_value.css            |    11 +
 .../editor/values/string_value.tsx            |    21 +
 src/client/components/configuration/model.ts  |    18 +-
 .../configuration/sample-config-files.json    | 14675 ++++++++++++++++
 .../components/configuration/tree/tree.tsx    |    13 +-
 src/client/components/configuration/view.tsx  |    14 +-
 20 files changed, 15133 insertions(+), 86 deletions(-)
 create mode 100644 src/client/components/configuration/editor/editor.css
 create mode 100644 src/client/components/configuration/editor/editor.tsx
 create mode 100644 src/client/components/configuration/editor/fields/list_field.css
 create mode 100644 src/client/components/configuration/editor/fields/list_field.tsx
 create mode 100644 src/client/components/configuration/editor/fields/map_field.css
 create mode 100644 src/client/components/configuration/editor/fields/map_field.tsx
 create mode 100644 src/client/components/configuration/editor/fields/scalar_field.css
 create mode 100644 src/client/components/configuration/editor/fields/scalar_field.tsx
 create mode 100644 src/client/components/configuration/editor/values/bool_value.css
 create mode 100644 src/client/components/configuration/editor/values/bool_value.tsx
 create mode 100644 src/client/components/configuration/editor/values/number_value.css
 create mode 100644 src/client/components/configuration/editor/values/number_value.tsx
 create mode 100644 src/client/components/configuration/editor/values/string_value.css
 create mode 100644 src/client/components/configuration/editor/values/string_value.tsx
 create mode 100644 src/client/components/configuration/sample-config-files.json

diff --git a/src/client/components/configuration/controller.ts b/src/client/components/configuration/controller.ts
index 18e3ef6b..a1983f72 100644
--- a/src/client/components/configuration/controller.ts
+++ b/src/client/components/configuration/controller.ts
@@ -1,6 +1,6 @@
 import { action, observable } from 'mobx'
 import { ConfigurationModel } from './model'
-import { Node } from './tree/tree'
+import { TreeNode } from './model'
 
 export class ConfigurationController {
   private model: ConfigurationModel
@@ -14,7 +14,7 @@ export class ConfigurationController {
   }
 
   @action
-  public onNodeClick = (node: Node): void => {
+  public onNodeClick = (node: TreeNode): void => {
     if (node.leaf) {
       this.selectNode(node)
     } else {
@@ -23,7 +23,7 @@ export class ConfigurationController {
   }
 
   @action
-  public selectNode = (node: Node) => {
+  public selectNode = (node: TreeNode) => {
     if (this.model.selectedFile) {
       this.model.selectedFile.selected = false
     }
@@ -33,7 +33,12 @@ export class ConfigurationController {
   }
 
   @action
-  public toggleNodeExpansion = (node: Node) => {
+  public toggleNodeExpansion = (node: TreeNode) => {
     node.expanded = !node.expanded
   }
+
+  @action
+  public onEditorChange = () => {
+    // console.log('Editor field changed')
+  }
 }
diff --git a/src/client/components/configuration/data.ts b/src/client/components/configuration/data.ts
index 39d57fee..0f391b0c 100644
--- a/src/client/components/configuration/data.ts
+++ b/src/client/components/configuration/data.ts
@@ -1,65 +1,76 @@
-import { Node } from './tree/tree'
+import { TreeNode } from './model'
+import * as files from './sample-config-files.json'
 
-export const configurationData = {
-  label: 'root',
-  expanded: true,
-  leaf: false,
-  selected: false,
-  children: [
-    {
-      label: 'parent',
-      expanded: false,
-      leaf: false,
-      selected: false,
-      children: [
-        {
-          label: 'child1',
-          expanded: false,
-          leaf: true,
-          selected: false,
-        },
-        {
-          label: 'child2',
-          expanded: false,
-          leaf: true,
-          selected: false,
-        },
-      ],
-    },
-    {
-      label: 'parent',
-      expanded: false,
-      leaf: false,
-      selected: false,
-      children: [
-        {
-          label: 'nested parent',
-          expanded: false,
-          leaf: false,
-          selected: false,
-          children: [
-            {
-              label: 'nested child 1',
-              expanded: false,
-              leaf: true,
-              selected: false,
-            },
-            {
-              label: 'nested child 2',
-              expanded: false,
-              leaf: true,
-              selected: false,
-            },
-          ],
-        },
-      ],
-    },
-    {
-      label: 'Some file here',
-      expanded: true,
-      leaf: true,
-      selected: false,
-      children: [] as Node[],
-    },
-  ],
+interface File {
+  path: string
+  content: any
 }
+
+export function createTreeFromFiles(files: any): TreeNode {
+  // The tree (root node)
+  const tree: TreeNode = {
+    label: 'config/',
+    expanded: true,
+    leaf: false,
+    selected: false,
+    children: [],
+  }
+
+  // A map of file paths to tree nodes
+  const pathNodeMap = {
+    'config/': tree,
+  }
+
+  // Create a node for each file and add it to the tree
+  files.forEach((file: File) => {
+    // Remove consecutive slashes from the path
+    file.path = file.path.replace(/\/\//g, '/')
+
+    // Remove the first segment ('config/') from the path and pass it as parentPath,
+    // since we've already created it as the root node - this assumes that every
+    // config file is in one directory - config/
+    createTreeNode(file.path.split('/').slice(1), 'config/', file, pathNodeMap)
+  })
+
+  return tree
+}
+
+export function createTreeNode(pathSegments: string[], parentPath: string, file: File, pathNodeMap: any) {
+  const isFolder = pathSegments.length > 1
+  const label = pathSegments[0] + (isFolder ? '/' : '')
+  const currentPath = parentPath + label
+
+  // Abort if the current path is a file node already in the tree
+  if (!isFolder && pathNodeMap[currentPath] !== undefined) {
+    return
+  }
+
+  // Recurse and abort if the current path is a folder node already in the tree
+  if (isFolder && pathNodeMap[currentPath] !== undefined) {
+    createTreeNode(pathSegments.slice(1), currentPath, file, pathNodeMap)
+    return
+  }
+
+  // Create the new node
+  const node = {
+    label,
+    expanded: false,
+    leaf: !isFolder,
+    selected: false,
+    data: isFolder ? undefined : file,
+    children: [],
+  }
+
+  // Add the new node to the tree
+  pathNodeMap[parentPath].children.push(node)
+
+  // Add the new node to the path map
+  pathNodeMap[currentPath] = node
+
+  // Recurse if the new node is a folder
+  if (isFolder) {
+    createTreeNode(pathSegments.slice(1), currentPath, file, pathNodeMap)
+  }
+}
+
+export const configurationData = createTreeFromFiles(files)
diff --git a/src/client/components/configuration/editor/editor.css b/src/client/components/configuration/editor/editor.css
new file mode 100644
index 00000000..0965c82a
--- /dev/null
+++ b/src/client/components/configuration/editor/editor.css
@@ -0,0 +1,8 @@
+.editor {
+  padding-top: 18px;
+}
+
+.editor,
+.editor * {
+  font-family: monospace;
+}
diff --git a/src/client/components/configuration/editor/editor.tsx b/src/client/components/configuration/editor/editor.tsx
new file mode 100644
index 00000000..9dd58e19
--- /dev/null
+++ b/src/client/components/configuration/editor/editor.tsx
@@ -0,0 +1,50 @@
+import { observer } from 'mobx-react'
+import * as React from 'react'
+import * as style from './editor.css'
+
+import { ListField } from './fields/list_field'
+import { MapField } from './fields/map_field'
+import { ScalarField } from './fields/scalar_field'
+
+export interface ConfigurationField {
+  type: string
+  value: any
+  tag?: string
+  name?: string
+  uid?: string
+  path?: string
+}
+
+export interface ConfigurationFile {
+  path: string,
+  content: ConfigurationField
+}
+
+export interface FieldProps {
+  data: ConfigurationField,
+  onChange?(data: any): void
+}
+
+export interface EditorProps {
+  data: ConfigurationFile,
+  onChange?(data: any): void
+}
+
+@observer
+export class Editor extends React.Component<EditorProps, void> {
+  public render(): JSX.Element {
+    const field = this.props.data.content
+    return (
+      <div className={style.editor}>
+        { field.type === 'MAP_VALUE' && <MapField data={field} onChange={this.props.onChange} /> }
+        { field.type === 'LIST_VALUE' && <ListField data={field} onChange={this.props.onChange} /> }
+        { (field.type === 'BOOL_VALUE' ||
+           field.type === 'INT_VALUE' ||
+           field.type === 'DOUBLE_VALUE' ||
+           field.type === 'STRING_VALUE') &&
+          <ScalarField data={field} onChange={this.props.onChange} />
+        }
+      </div>
+    )
+  }
+}
diff --git a/src/client/components/configuration/editor/fields/list_field.css b/src/client/components/configuration/editor/fields/list_field.css
new file mode 100644
index 00000000..e504696b
--- /dev/null
+++ b/src/client/components/configuration/editor/fields/list_field.css
@@ -0,0 +1,35 @@
+.listField {
+  padding: 0;
+  list-style: none;
+}
+
+.listField__header {
+  color: #63a35c;
+  margin-bottom: 8px;
+  cursor: default;
+}
+
+.listField__header::after {
+  display: inline-block;
+  content: ':';
+}
+
+.listField__subFields {
+  padding-left: 22px;
+}
+
+.listField__subFields li {
+  margin-bottom: 8px;
+  display: flex;
+}
+
+.listField__subFields li:last-child {
+  margin-bottom: 0;
+}
+
+.listField__subFields li::before {
+  display: inline-block;
+  content: '-';
+  margin-right: 8px;
+  color: rgba(0,0,0,0.5);
+}
diff --git a/src/client/components/configuration/editor/fields/list_field.tsx b/src/client/components/configuration/editor/fields/list_field.tsx
new file mode 100644
index 00000000..2f6b5299
--- /dev/null
+++ b/src/client/components/configuration/editor/fields/list_field.tsx
@@ -0,0 +1,40 @@
+import { observer } from 'mobx-react'
+import * as React from 'react'
+import * as style from './list_field.css'
+
+import { ConfigurationField, FieldProps } from '../editor'
+import { MapField } from './map_field'
+import { NumberValue } from '../values/number_value'
+import { StringValue } from '../values/string_value'
+
+@observer
+export class ListField extends React.Component<FieldProps, void> {
+  public render(): JSX.Element {
+    return (
+      <ul className={style.listField}>
+        { this.props.data.name &&
+          <div className={style.listField__header}>{ this.props.data.name }</div>
+        }
+
+        <div className={style.listField__subFields}>
+          { this.props.data.value.map((field: ConfigurationField) => {
+            switch (field.type) {
+              case 'INT_VALUE':
+              case 'DOUBLE_VALUE':
+                return <li key={field.uid}><NumberValue data={field} onChange={this.props.onChange} /></li>
+              case 'STRING_VALUE':
+                return <li key={field.uid}><StringValue data={field} onChange={this.props.onChange} /></li>
+              case 'MAP_VALUE':
+                return <li key={field.uid}><MapField data={field} onChange={this.props.onChange} /></li>
+              case 'LIST_VALUE':
+                return <li key={field.uid}><ListField data={field} onChange={this.props.onChange} /></li>
+              default:
+                // do nothing
+            }
+          })
+          }
+        </div>
+      </ul>
+    )
+  }
+}
diff --git a/src/client/components/configuration/editor/fields/map_field.css b/src/client/components/configuration/editor/fields/map_field.css
new file mode 100644
index 00000000..934dfd45
--- /dev/null
+++ b/src/client/components/configuration/editor/fields/map_field.css
@@ -0,0 +1,18 @@
+.mapField {
+
+}
+
+.mapField__header {
+  color: #63a35c;
+  margin-bottom: 8px;
+  cursor: default;
+}
+
+.mapField__header::after {
+  display: inline-block;
+  content: ':';
+}
+
+.mapField__subFields {
+  padding-left: 22px;
+}
diff --git a/src/client/components/configuration/editor/fields/map_field.tsx b/src/client/components/configuration/editor/fields/map_field.tsx
new file mode 100644
index 00000000..054cd62a
--- /dev/null
+++ b/src/client/components/configuration/editor/fields/map_field.tsx
@@ -0,0 +1,41 @@
+import { observer } from 'mobx-react'
+import * as React from 'react'
+import * as style from './map_field.css'
+
+import { ConfigurationField, FieldProps } from '../editor'
+import { ListField } from './list_field'
+import { ScalarField } from './scalar_field'
+
+@observer
+export class MapField extends React.Component<FieldProps, void> {
+  public render(): JSX.Element {
+    return (
+      <div className={style.mapField}>
+        { this.props.data.name &&
+          <div className={style.mapField__header}>{ this.props.data.name }</div>
+        }
+
+        <div className={style.mapField__subFields}>
+          { Object.keys(this.props.data.value).map(fieldName => {
+            const field: ConfigurationField = this.props.data.value[fieldName]
+
+            switch (field.type) {
+              case 'MAP_VALUE':
+                return <MapField data={field} onChange={this.props.onChange} key={field.uid} />
+              case 'LIST_VALUE':
+                return <ListField data={field} onChange={this.props.onChange} key={field.uid}  />
+              case 'BOOL_VALUE':
+              case 'INT_VALUE':
+              case 'DOUBLE_VALUE':
+              case 'STRING_VALUE':
+                return <ScalarField data={field} onChange={this.props.onChange} key={field.uid}  />
+              default:
+                // do nothing
+            }
+          })
+          }
+        </div>
+      </div>
+    )
+  }
+}
diff --git a/src/client/components/configuration/editor/fields/scalar_field.css b/src/client/components/configuration/editor/fields/scalar_field.css
new file mode 100644
index 00000000..3801b14b
--- /dev/null
+++ b/src/client/components/configuration/editor/fields/scalar_field.css
@@ -0,0 +1,27 @@
+.scalarField {
+  display: flex;
+  margin-bottom: 10px;
+  align-items: center;
+}
+
+.scalarField:last-child {
+  margin-bottom: 0;
+}
+
+.scalarField__label {
+  margin-right: 8px;
+  color: #63a35c;
+}
+
+.scalarField__label::after {
+  display: inline-block;
+  content: ':';
+}
+
+.scalarField__input {
+  background-color: #EEE;
+  border: none;
+  color: #183691;
+  min-width: 212px;
+  padding: 2px 4px;
+}
diff --git a/src/client/components/configuration/editor/fields/scalar_field.tsx b/src/client/components/configuration/editor/fields/scalar_field.tsx
new file mode 100644
index 00000000..75ccc071
--- /dev/null
+++ b/src/client/components/configuration/editor/fields/scalar_field.tsx
@@ -0,0 +1,29 @@
+import { observer } from 'mobx-react'
+import * as React from 'react'
+import * as style from './scalar_field.css'
+
+import { BoolValue } from '../values/bool_value'
+import { FieldProps } from '../editor'
+import { NumberValue } from '../values/number_value'
+import { StringValue } from '../values/string_value'
+
+@observer
+export class ScalarField extends React.Component<FieldProps, void> {
+  public render(): JSX.Element {
+    const field = this.props.data
+    return (
+      <label className={style.scalarField}>
+        <span className={style.scalarField__label} title={this.props.data.path}>{ this.props.data.name }</span>
+        <div className={style.scalarField__value}>
+          { field.type === 'BOOL_VALUE' &&
+            <BoolValue data={field} onChange={this.props.onChange} />
+          }
+          { (field.type === 'INT_VALUE' || field.type === 'DOUBLE_VALUE') &&
+            <NumberValue data={field} onChange={this.props.onChange} />
+          }
+          { field.type === 'STRING_VALUE' && <StringValue data={field} onChange={this.props.onChange} /> }
+        </div>
+      </label>
+    )
+  }
+}
diff --git a/src/client/components/configuration/editor/values/bool_value.css b/src/client/components/configuration/editor/values/bool_value.css
new file mode 100644
index 00000000..406eec10
--- /dev/null
+++ b/src/client/components/configuration/editor/values/bool_value.css
@@ -0,0 +1,12 @@
+.boolValue {
+  display: flex;
+  align-items: center;
+}
+
+.boolValue__input {
+
+}
+
+.boolValue__value {
+  color: #008080;
+}
diff --git a/src/client/components/configuration/editor/values/bool_value.tsx b/src/client/components/configuration/editor/values/bool_value.tsx
new file mode 100644
index 00000000..ee31b879
--- /dev/null
+++ b/src/client/components/configuration/editor/values/bool_value.tsx
@@ -0,0 +1,25 @@
+import { observer } from 'mobx-react'
+import * as React from 'react'
+import * as style from './bool_value.css'
+
+import { FieldProps } from '../editor'
+
+@observer
+export class BoolValue extends React.Component<FieldProps, void> {
+  public render(): JSX.Element {
+    return (
+      <div className={style.boolValue}>
+        <input
+          className={style.boolValue__input}
+          type='checkbox'
+          checked={this.props.data.value}
+          onChange={this.props.onChange}
+        />
+
+        <span className={style.boolValue__value}>
+          { this.props.data.value ? 'true' : 'false' }
+        </span>
+      </div>
+    )
+  }
+}
diff --git a/src/client/components/configuration/editor/values/number_value.css b/src/client/components/configuration/editor/values/number_value.css
new file mode 100644
index 00000000..fc1c5680
--- /dev/null
+++ b/src/client/components/configuration/editor/values/number_value.css
@@ -0,0 +1,11 @@
+.numberValue {
+
+}
+
+.numberValue__input {
+  color: #183691;
+  border: none;
+  background-color: #EEE;
+  padding: 2px 4px;
+  min-width: 212px;
+}
diff --git a/src/client/components/configuration/editor/values/number_value.tsx b/src/client/components/configuration/editor/values/number_value.tsx
new file mode 100644
index 00000000..52c8aff3
--- /dev/null
+++ b/src/client/components/configuration/editor/values/number_value.tsx
@@ -0,0 +1,21 @@
+import { observer } from 'mobx-react'
+import * as React from 'react'
+import * as style from './number_value.css'
+
+import { FieldProps } from '../editor'
+
+@observer
+export class NumberValue extends React.Component<FieldProps, void> {
+  public render(): JSX.Element {
+    return (
+      <div className={style.numberValue}>
+        <input
+          className={style.numberValue__input}
+          type='number'
+          value={this.props.data.value}
+          onChange={this.props.onChange}
+        />
+      </div>
+    )
+  }
+}
diff --git a/src/client/components/configuration/editor/values/string_value.css b/src/client/components/configuration/editor/values/string_value.css
new file mode 100644
index 00000000..e63d3808
--- /dev/null
+++ b/src/client/components/configuration/editor/values/string_value.css
@@ -0,0 +1,11 @@
+.stringValue {
+
+}
+
+.stringValue__input {
+  color: #183691;
+  border: none;
+  background-color: #EEE;
+  padding: 2px 4px;
+  min-width: 212px;
+}
diff --git a/src/client/components/configuration/editor/values/string_value.tsx b/src/client/components/configuration/editor/values/string_value.tsx
new file mode 100644
index 00000000..473691c5
--- /dev/null
+++ b/src/client/components/configuration/editor/values/string_value.tsx
@@ -0,0 +1,21 @@
+import { observer } from 'mobx-react'
+import * as React from 'react'
+import * as style from './string_value.css'
+
+import { FieldProps } from '../editor'
+
+@observer
+export class StringValue extends React.Component<FieldProps, void> {
+  public render(): JSX.Element {
+    return (
+      <div className={style.stringValue}>
+        <input
+          className={style.stringValue__input}
+          type='text'
+          value={this.props.data.value}
+          onChange={this.props.onChange}
+        />
+      </div>
+    )
+  }
+}
diff --git a/src/client/components/configuration/model.ts b/src/client/components/configuration/model.ts
index 13e85d0b..9cdf0f02 100644
--- a/src/client/components/configuration/model.ts
+++ b/src/client/components/configuration/model.ts
@@ -1,18 +1,26 @@
 import { action, observable } from 'mobx'
-import { Node } from './tree/tree'
+
+export interface TreeNode {
+  label: string
+  expanded: boolean
+  leaf: boolean
+  selected: boolean
+  data?: any
+  children?: TreeNode[]
+}
 
 export class ConfigurationModel {
   @observable
-  public files: Node
+  public files: TreeNode
 
   @observable
-  public selectedFile: Node
+  public selectedFile: TreeNode | null = null
 
-  constructor(opts: { files: Node }) {
+  constructor(opts: { files: TreeNode }) {
     Object.assign(this, opts)
   }
 
-  public static of(opts: { files: Node }) {
+  public static of(opts: { files: TreeNode }) {
     return new ConfigurationModel(opts)
   }
 }
diff --git a/src/client/components/configuration/sample-config-files.json b/src/client/components/configuration/sample-config-files.json
new file mode 100644
index 00000000..02063145
--- /dev/null
+++ b/src/client/components/configuration/sample-config-files.json
@@ -0,0 +1,14675 @@
+[
+  {
+    "path": "config/BalanceKinematicResponse.yaml",
+    "content": {
+      "value": null,
+      "tag": "",
+      "type": "NULL_VALUE"
+    }
+  },
+  {
+    "path": "config/darwin1/GlobalConfig.yaml",
+    "content": {
+      "type": "MAP_VALUE",
+      "value": {
+        "teamId": {
+          "value": {
+            "low": 9,
+            "high": 0,
+            "unsigned": false
+          },
+          "tag": "?",
+          "type": "INT_VALUE",
+          "name": "teamId",
+          "uid": "413292388",
+          "path": ".teamId"
+        },
+        "playerId": {
+          "value": {
+            "low": 1,
+            "high": 0,
+            "unsigned": false
+          },
+          "tag": "?",
+          "type": "INT_VALUE",
+          "name": "playerId",
+          "uid": "1290210280",
+          "path": ".playerId"
+        }
+      }
+    }
+  },
+  {
+    "path": "config/darwin1/KinematicsConfiguration.yaml",
+    "content": {
+      "type": "MAP_VALUE",
+      "value": {
+        "mass_model": {
+          "type": "MAP_VALUE",
+          "value": {
+            "mass_representation_dimension": {
+              "value": {
+                "low": 4,
+                "high": 0,
+                "unsigned": false
+              },
+              "tag": "?",
+              "type": "INT_VALUE",
+              "name": "mass_representation_dimension",
+              "uid": "1990117084",
+              "path": ".mass_model.mass_representation_dimension"
+            },
+            "masses": {
+              "tag": "",
+              "type": "LIST_VALUE",
+              "value": [
+                {
+                  "tag": "",
+                  "type": "LIST_VALUE",
+                  "value": [
+                    {
+                      "value": -0.011264,
+                      "tag": "?",
+                      "type": "DOUBLE_VALUE",
+                      "uid": "-708176123",
+                      "path": ".mass_model.masses[0][0]"
+                    },
+                    {
+                      "value": 0.0109774,
+                      "tag": "?",
+                      "type": "DOUBLE_VALUE",
+                      "uid": "-708176092",
+                      "path": ".mass_model.masses[0][1]"
+                    },
+                    {
+                      "value": -0.00139357,
+                      "tag": "?",
+                      "type": "DOUBLE_VALUE",
+                      "uid": "-708176061",
+                      "path": ".mass_model.masses[0][2]"
+                    },
+                    {
+                      "value": 0.025913,
+                      "tag": "?",
+                      "type": "DOUBLE_VALUE",
+                      "uid": "-708176030",
+                      "path": ".mass_model.masses[0][3]"
+                    }
+                  ],
+                  "uid": "-100510237",
+                  "path": ".mass_model.masses[0]"
+                },
+                {
+                  "tag": "",
+                  "type": "LIST_VALUE",
+                  "value": [
+                    {
+                      "value": -0.011264,
+                      "tag": "?",
+                      "type": "DOUBLE_VALUE",
+                      "uid": "-707252602",
+                      "path": ".mass_model.masses[1][0]"
+                    },
+                    {
+                      "value": -0.0109774,
+                      "tag": "?",
+                      "type": "DOUBLE_VALUE",
+                      "uid": "-707252571",
+                      "path": ".mass_model.masses[1][1]"
+                    },
+                    {
+                      "value": -0.00139357,
+                      "tag": "?",
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+                              "name": "p",
+                              "uid": "-156170698",
+                              "path": ".walk_cycle.balance.push_recovery.translation_gain.Z.p"
+                            }
+                          },
+                          "name": "Z",
+                          "uid": "1872461108",
+                          "path": ".walk_cycle.balance.push_recovery.translation_gain.Z"
+                        },
+                        "Y": {
+                          "type": "MAP_VALUE",
+                          "value": {
+                            "d": {
+                              "value": {
+                                "low": 0,
+                                "high": 0,
+                                "unsigned": false
+                              },
+                              "tag": "?",
+                              "type": "INT_VALUE",
+                              "name": "d",
+                              "uid": "-156171671",
+                              "path": ".walk_cycle.balance.push_recovery.translation_gain.Y.d"
+                            },
+                            "p": {
+                              "value": {
+                                "low": 0,
+                                "high": 0,
+                                "unsigned": false
+                              },
+                              "tag": "?",
+                              "type": "INT_VALUE",
+                              "name": "p",
+                              "uid": "-156171659",
+                              "path": ".walk_cycle.balance.push_recovery.translation_gain.Y.p"
+                            }
+                          },
+                          "name": "Y",
+                          "uid": "1872461107",
+                          "path": ".walk_cycle.balance.push_recovery.translation_gain.Y"
+                        },
+                        "X": {
+                          "type": "MAP_VALUE",
+                          "value": {
+                            "d": {
+                              "value": 0,
+                              "tag": "?",
+                              "type": "DOUBLE_VALUE",
+                              "name": "d",
+                              "uid": "-156172632",
+                              "path": ".walk_cycle.balance.push_recovery.translation_gain.X.d"
+                            },
+                            "p": {
+                              "value": 0,
+                              "tag": "?",
+                              "type": "DOUBLE_VALUE",
+                              "name": "p",
+                              "uid": "-156172620",
+                              "path": ".walk_cycle.balance.push_recovery.translation_gain.X.p"
+                            }
+                          },
+                          "name": "X",
+                          "uid": "1872461106",
+                          "path": ".walk_cycle.balance.push_recovery.translation_gain.X"
+                        }
+                      },
+                      "name": "translation_gain",
+                      "uid": "891332936",
+                      "path": ".walk_cycle.balance.push_recovery.translation_gain"
+                    }
+                  },
+                  "name": "push_recovery",
+                  "uid": "-52196461",
+                  "path": ".walk_cycle.balance.push_recovery"
+                },
+                "weight": {
+                  "value": 0.7,
+                  "tag": "?",
+                  "type": "DOUBLE_VALUE",
+                  "name": "weight",
+                  "uid": "-1888404449",
+                  "path": ".walk_cycle.balance.weight"
+                }
+              },
+              "name": "balance",
+              "uid": "-304201177",
+              "path": ".walk_cycle.balance"
+            },
+            "zmp_time": {
+              "value": 0.31,
+              "tag": "?",
+              "type": "DOUBLE_VALUE",
+              "name": "zmp_time",
+              "uid": "210437188",
+              "path": ".walk_cycle.zmp_time"
+            },
+            "single_support_phase": {
+              "type": "MAP_VALUE",
+              "value": {
+                "start": {
+                  "value": 0.1,
+                  "tag": "?",
+                  "type": "DOUBLE_VALUE",
+                  "name": "start",
+                  "uid": "-1943385571",
+                  "path": ".walk_cycle.single_support_phase.start"
+                },
+                "end": {
+                  "value": 0.9,
+                  "tag": "?",
+                  "type": "DOUBLE_VALUE",
+                  "name": "end",
+                  "uid": "1101873494",
+                  "path": ".walk_cycle.single_support_phase.end"
+                }
+              },
+              "name": "single_support_phase",
+              "uid": "1563487209",
+              "path": ".walk_cycle.single_support_phase"
+            },
+            "step": {
+              "type": "MAP_VALUE",
+              "value": {
+                "limits": {
+                  "tag": "",
+                  "type": "LIST_VALUE",
+                  "value": [
+                    {
+                      "tag": "",
+                      "type": "LIST_VALUE",
+                      "value": [
+                        {
+                          "value": -0.1,
+                          "tag": "?",
+                          "type": "DOUBLE_VALUE",
+                          "uid": "1952040581",
+                          "path": ".walk_cycle.step.limits[0][0]"
+                        },
+                        {
+                          "value": 0.15,
+                          "tag": "?",
+                          "type": "DOUBLE_VALUE",
+                          "uid": "1952040612",
+                          "path": ".walk_cycle.step.limits[0][1]"
+                        }
+                      ],
+                      "uid": "2006767203",
+                      "path": ".walk_cycle.step.limits[0]"
+                    },
+                    {
+                      "tag": "",
+                      "type": "LIST_VALUE",
+                      "value": [
+                        {
+                          "value": 0,
+                          "tag": "?",
+                          "type": "DOUBLE_VALUE",
+                          "uid": "1952964102",
+                          "path": ".walk_cycle.step.limits[1][0]"
+                        },
+                        {
+                          "value": 0.3,
+                          "tag": "?",
+                          "type": "DOUBLE_VALUE",
+                          "uid": "1952964133",
+                          "path": ".walk_cycle.step.limits[1][1]"
+                        }
+                      ],
+                      "uid": "2006767234",
+                      "path": ".walk_cycle.step.limits[1]"
+                    },
+                    {
+                      "tag": "",
+                      "type": "LIST_VALUE",
+                      "value": [
+                        {
+                          "value": {
+                            "low": 0,
+                            "high": 0,
+                            "unsigned": false
+                          },
+                          "tag": "?",
+                          "type": "INT_VALUE",
+                          "uid": "1953887623",
+                          "path": ".walk_cycle.step.limits[2][0]"
+                        },
+                        {
+                          "value": "15 * pi / 180",
+                          "tag": "?",
+                          "type": "STRING_VALUE",
+                          "uid": "1953887654",
+                          "path": ".walk_cycle.step.limits[2][1]"
+                        }
+                      ],
+                      "uid": "2006767265",
+                      "path": ".walk_cycle.step.limits[2]"
+                    }
+                  ],
+                  "name": "limits",
+                  "uid": "1447101253",
+                  "path": ".walk_cycle.step.limits"
+                },
+                "height_slow_fraction": {
+                  "value": 0.5,
+                  "tag": "?",
+                  "type": "DOUBLE_VALUE",
+                  "name": "height_slow_fraction",
+                  "uid": "-833105451",
+                  "path": ".walk_cycle.step.height_slow_fraction"
+                },
+                "height_fast_fraction": {
+                  "value": 1.5,
+                  "tag": "?",
+                  "type": "DOUBLE_VALUE",
+                  "name": "height_fast_fraction",
+                  "uid": "-742073894",
+                  "path": ".walk_cycle.step.height_fast_fraction"
+                },
+                "height": {
+                  "value": 0.04,
+                  "tag": "?",
+                  "type": "DOUBLE_VALUE",
+                  "name": "height",
+                  "uid": "1328769108",
+                  "path": ".walk_cycle.step.height"
+                }
+              },
+              "name": "step",
+              "uid": "-1520767135",
+              "path": ".walk_cycle.step"
+            },
+            "step_time": {
+              "value": 0.3,
+              "tag": "?",
+              "type": "DOUBLE_VALUE",
+              "name": "step_time",
+              "uid": "605655275",
+              "path": ".walk_cycle.step_time"
+            },
+            "velocity": {
+              "type": "MAP_VALUE",
+              "value": {
+                "limits": {
+                  "tag": "",
+                  "type": "LIST_VALUE",
+                  "value": [
+                    {
+                      "tag": "",
+                      "type": "LIST_VALUE",
+                      "value": [
+                        {
+                          "value": -0.027,
+                          "tag": "?",
+                          "type": "DOUBLE_VALUE",
+                          "uid": "950138516",
+                          "path": ".walk_cycle.velocity.limits[0][0]"
+                        },
+                        {
+                          "value": 0.03,
+                          "tag": "?",
+                          "type": "DOUBLE_VALUE",
+                          "uid": "950138547",
+                          "path": ".walk_cycle.velocity.limits[0][1]"
+                        }
+                      ],
+                      "uid": "-546948940",
+                      "path": ".walk_cycle.velocity.limits[0]"
+                    },
+                    {
+                      "tag": "",
+                      "type": "LIST_VALUE",
+                      "value": [
+                        {
+                          "value": -0.01,
+                          "tag": "?",
+                          "type": "DOUBLE_VALUE",
+                          "uid": "951062037",
+                          "path": ".walk_cycle.velocity.limits[1][0]"
+                        },
+                        {
+                          "value": 0.01,
+                          "tag": "?",
+                          "type": "DOUBLE_VALUE",
+                          "uid": "951062068",
+                          "path": ".walk_cycle.velocity.limits[1][1]"
+                        }
+                      ],
+                      "uid": "-546948909",
+                      "path": ".walk_cycle.velocity.limits[1]"
+                    },
+                    {
+                      "tag": "",
+                      "type": "LIST_VALUE",
+                      "value": [
+                        {
+                          "value": -0.8,
+                          "tag": "?",
+                          "type": "DOUBLE_VALUE",
+                          "uid": "951985558",
+                          "path": ".walk_cycle.velocity.limits[2][0]"
+                        },
+                        {
+                          "value": 0.8,
+                          "tag": "?",
+                          "type": "DOUBLE_VALUE",
+                          "uid": "951985589",
+                          "path": ".walk_cycle.velocity.limits[2][1]"
+                        }
+                      ],
+                      "uid": "-546948878",
+                      "path": ".walk_cycle.velocity.limits[2]"
+                    }
+                  ],
+                  "name": "limits",
+                  "uid": "-1070191980",
+                  "path": ".walk_cycle.velocity.limits"
+                },
+                "high_speed": {
+                  "value": 0.06,
+                  "tag": "?",
+                  "type": "DOUBLE_VALUE",
+                  "name": "high_speed",
+                  "uid": "1950506982",
+                  "path": ".walk_cycle.velocity.high_speed"
+                }
+              },
+              "name": "velocity",
+              "uid": "-1076178190",
+              "path": ".walk_cycle.velocity"
+            },
+            "hip_roll_compensation": {
+              "value": "4 * pi / 180",
+              "tag": "?",
+              "type": "STRING_VALUE",
+              "name": "hip_roll_compensation",
+              "uid": "-894874569",
+              "path": ".walk_cycle.hip_roll_compensation"
+            }
+          },
+          "name": "walk_cycle",
+          "uid": "-1104212935",
+          "path": ".walk_cycle"
+        },
+        "stance": {
+          "type": "MAP_VALUE",
+          "value": {
+            "body_height": {
+              "value": 0.265,
+              "tag": "?",
+              "type": "DOUBLE_VALUE",
+              "name": "body_height",
+              "uid": "-411229969",
+              "path": ".stance.body_height"
+            },
+            "limit_margin_y": {
+              "value": 0.015,
+              "tag": "?",
+              "type": "DOUBLE_VALUE",
+              "name": "limit_margin_y",
+              "uid": "1259384769",
+              "path": ".stance.limit_margin_y"
+            },
+            "arms": {
+              "type": "MAP_VALUE",
+              "value": {
+                "right": {
+                  "type": "MAP_VALUE",
+                  "value": {
+                    "end": {
+                      "tag": "",
+                      "type": "LIST_VALUE",
+                      "value": [
+                        {
+                          "value": "135 * pi / 180",
+                          "tag": "?",
+                          "type": "STRING_VALUE",
+                          "uid": "-1325988255",
+                          "path": ".stance.arms.right.end[0]"
+                        },
+                        {
+                          "value": "0 * pi / 180",
+                          "tag": "?",
+                          "type": "STRING_VALUE",
+                          "uid": "-1325988224",
+                          "path": ".stance.arms.right.end[1]"
+                        },
+                        {
+                          "value": "-140 * pi / 180",
+                          "tag": "?",
+                          "type": "STRING_VALUE",
+                          "uid": "-1325988193",
+                          "path": ".stance.arms.right.end[2]"
+                        }
+                      ],
+                      "name": "end",
+                      "uid": "-1937832953",
+                      "path": ".stance.arms.right.end"
+                    },
+                    "start": {
+                      "tag": "",
+                      "type": "LIST_VALUE",
+                      "value": [
+                        {
+                          "value": "135 * pi / 180",
+                          "tag": "?",
+                          "type": "STRING_VALUE",
+                          "uid": "927548538",
+                          "path": ".stance.arms.right.start[0]"
+                        },
+                        {
+                          "value": "0 * pi / 180",
+                          "tag": "?",
+                          "type": "STRING_VALUE",
+                          "uid": "927548569",
+                          "path": ".stance.arms.right.start[1]"
+                        },
+                        {
+                          "value": "-140 * pi / 180",
+                          "tag": "?",
+                          "type": "STRING_VALUE",
+                          "uid": "927548600",
+                          "path": ".stance.arms.right.start[2]"
+                        }
+                      ],
+                      "name": "start",
+                      "uid": "1771447438",
+                      "path": ".stance.arms.right.start"
+                    }
+                  },
+                  "name": "right",
+                  "uid": "-982929638",
+                  "path": ".stance.arms.right"
+                },
+                "left": {
+                  "type": "MAP_VALUE",
+                  "value": {
+                    "end": {
+                      "tag": "",
+                      "type": "LIST_VALUE",
+                      "value": [
+                        {
+                          "value": "135 * pi / 180",
+                          "tag": "?",
+                          "type": "STRING_VALUE",
+                          "uid": "1274435410",
+                          "path": ".stance.arms.left.end[0]"
+                        },
+                        {
+                          "value": "0 * pi / 180",
+                          "tag": "?",
+                          "type": "STRING_VALUE",
+                          "uid": "1274435441",
+                          "path": ".stance.arms.left.end[1]"
+                        },
+                        {
+                          "value": "-140 * pi / 180",
+                          "tag": "?",
+                          "type": "STRING_VALUE",
+                          "uid": "1274435472",
+                          "path": ".stance.arms.left.end[2]"
+                        }
+                      ],
+                      "name": "end",
+                      "uid": "-511328074",
+                      "path": ".stance.arms.left.end"
+                    },
+                    "start": {
+                      "tag": "",
+                      "type": "LIST_VALUE",
+                      "value": [
+                        {
+                          "value": "135 * pi / 180",
+                          "tag": "?",
+                          "type": "STRING_VALUE",
+                          "uid": "263724331",
+                          "path": ".stance.arms.left.start[0]"
+                        },
+                        {
+                          "value": "0 * pi / 180",
+                          "tag": "?",
+                          "type": "STRING_VALUE",
+                          "uid": "263724362",
+                          "path": ".stance.arms.left.start[1]"
+                        },
+                        {
+                          "value": "-140 * pi / 180",
+                          "tag": "?",
+                          "type": "STRING_VALUE",
+                          "uid": "263724393",
+                          "path": ".stance.arms.left.start[2]"
+                        }
+                      ],
+                      "name": "start",
+                      "uid": "-1746898563",
+                      "path": ".stance.arms.left.start"
+                    }
+                  },
+                  "name": "left",
+                  "uid": "1492130633",
+                  "path": ".stance.arms.left"
+                }
+              },
+              "name": "arms",
+              "uid": "-2128166548",
+              "path": ".stance.arms"
+            },
+            "gains": {
+              "type": "MAP_VALUE",
+              "value": {
+                "legs": {
+                  "value": {
+                    "low": 30,
+                    "high": 0,
+                    "unsigned": false
+                  },
+                  "tag": "?",
+                  "type": "INT_VALUE",
+                  "name": "legs",
+                  "uid": "1888785684",
+                  "path": ".stance.gains.legs"
+                },
+                "arms": {
+                  "value": {
+                    "low": 30,
+                    "high": 0,
+                    "unsigned": false
+                  },
+                  "tag": "?",
+                  "type": "INT_VALUE",
+                  "name": "arms",
+                  "uid": "1888470662",
+                  "path": ".stance.gains.arms"
+                }
+              },
+              "name": "gains",
+              "uid": "-1543622753",
+              "path": ".stance.gains"
+            },
+            "foot_offset": {
+              "tag": "",
+              "type": "LIST_VALUE",
+              "value": [
+                {
+                  "value": -0.025,
+                  "tag": "?",
+                  "type": "DOUBLE_VALUE",
+                  "uid": "2036074841",
+                  "path": ".stance.foot_offset[0]"
+                },
+                {
+                  "value": 0,
+                  "tag": "?",
+                  "type": "DOUBLE_VALUE",
+                  "uid": "2036074872",
+                  "path": ".stance.foot_offset[1]"
+                }
+              ],
+              "name": "foot_offset",
+              "uid": "-1634098161",
+              "path": ".stance.foot_offset"
+            },
+            "body_tilt": {
+              "value": "25 * pi / 180",
+              "tag": "?",
+              "type": "STRING_VALUE",
+              "name": "body_tilt",
+              "uid": "-429116283",
+              "path": ".stance.body_tilt"
+            }
+          },
+          "name": "stance",
+          "uid": "-1790739207",
+          "path": ".stance"
+        },
+        "emit_localisation": {
+          "value": true,
+          "tag": "?",
+          "type": "BOOL_VALUE",
+          "name": "emit_localisation",
+          "uid": "-1592969789",
+          "path": ".emit_localisation"
+        },
+        "STAND_SCRIPT_DURATION": {
+          "value": {
+            "low": 1,
+            "high": 0,
+            "unsigned": false
+          },
+          "tag": "?",
+          "type": "INT_VALUE",
+          "name": "STAND_SCRIPT_DURATION",
+          "uid": "1367778070",
+          "path": ".STAND_SCRIPT_DURATION"
+        }
+      }
+    }
+  }
+]
diff --git a/src/client/components/configuration/tree/tree.tsx b/src/client/components/configuration/tree/tree.tsx
index b1bb9091..5e5d44d1 100644
--- a/src/client/components/configuration/tree/tree.tsx
+++ b/src/client/components/configuration/tree/tree.tsx
@@ -1,24 +1,17 @@
 import * as classnames from 'classnames'
 import { observer } from 'mobx-react'
 import * as React from 'react'
+import { TreeNode } from '../model'
 
 import FileIcon from './file.svg'
 import FolderIconOpen from './folder-open.svg'
 import FolderIcon from './folder.svg'
 import * as style from './style.css'
 
-export interface Node {
-  label: string
-  expanded: boolean
-  leaf: boolean
-  selected: boolean
-  children?: Node[]
-}
-
 export interface TreeProps {
-  data: Node
+  data: TreeNode
   level?: number
-  onClick(node: Node): void
+  onClick(node: TreeNode): void
 }
 
 @observer
diff --git a/src/client/components/configuration/view.tsx b/src/client/components/configuration/view.tsx
index 3ee60000..d18ac75b 100644
--- a/src/client/components/configuration/view.tsx
+++ b/src/client/components/configuration/view.tsx
@@ -1,10 +1,12 @@
+import { observer } from 'mobx-react'
 import * as React from 'react'
 import * as style from './style.css'
 
 import { ConfigurationController } from './controller'
+import { Editor } from './editor/editor'
 import { ConfigurationModel } from './model'
 import { Panel } from './panel/panel'
-import { Node, Tree } from './tree/tree'
+import { Tree } from './tree/tree'
 import { View } from './view/view'
 
 interface ConfigurationViewProps {
@@ -12,6 +14,7 @@ interface ConfigurationViewProps {
   model: ConfigurationModel
 }
 
+@observer
 export class ConfigurationView extends React.Component<ConfigurationViewProps, void> {
   private model: ConfigurationModel
   private controller: ConfigurationController
@@ -30,9 +33,12 @@ export class ConfigurationView extends React.Component<ConfigurationViewProps, v
         </Panel>
 
         <div className={style.configuration__content}>
-          <div className={style.configuration__contentPlaceholder}>
-            Select a file to edit
-          </div>
+          { this.model.selectedFile === null ?
+            <div className={style.configuration__contentPlaceholder}>Select a file to edit</div> :
+            <Panel title={this.model.selectedFile.data.path}>
+              <Editor data={this.model.selectedFile.data} onChange={this.controller.onEditorChange} />
+            </Panel>
+          }
         </div>
       </View>
     )

From 8ef925bd529d5a9e0fd4c2a88f4f1634ec79a63d Mon Sep 17 00:00:00 2001
From: Josephus Paye II <j.paye96@gmail.com>
Date: Fri, 30 Jun 2017 20:56:27 +1000
Subject: [PATCH 16/17] Make the basic editor work, fix styling

---
 .../components/configuration/controller.ts    |  9 +++++--
 .../configuration/editor/editor.css           | 15 ++++++++++-
 .../configuration/editor/editor.tsx           |  6 ++---
 .../editor/fields/list_field.css              | 15 +++--------
 .../editor/fields/list_field.tsx              | 25 ++++++++++++++-----
 .../configuration/editor/fields/map_field.css |  1 -
 .../configuration/editor/fields/map_field.tsx |  5 ++--
 .../editor/fields/scalar_field.css            |  6 -----
 .../editor/fields/scalar_field.tsx            |  7 +++---
 .../editor/values/bool_value.tsx              | 10 ++++++--
 .../editor/values/number_value.tsx            | 10 ++++++--
 .../editor/values/string_value.tsx            | 10 ++++++--
 .../components/configuration/panel/panel.tsx  |  2 +-
 .../components/configuration/tree/tree.tsx    |  2 +-
 src/client/components/configuration/view.tsx  |  2 +-
 .../components/configuration/view/view.tsx    |  2 +-
 src/client/components/navigation/view.tsx     |  1 +
 src/client/index.tsx                          | 10 ++++++++
 18 files changed, 93 insertions(+), 45 deletions(-)

diff --git a/src/client/components/configuration/controller.ts b/src/client/components/configuration/controller.ts
index a1983f72..b6acce5b 100644
--- a/src/client/components/configuration/controller.ts
+++ b/src/client/components/configuration/controller.ts
@@ -1,6 +1,7 @@
 import { action, observable } from 'mobx'
 import { ConfigurationModel } from './model'
 import { TreeNode } from './model'
+import { ConfigurationField } from './editor/editor'
 
 export class ConfigurationController {
   private model: ConfigurationModel
@@ -38,7 +39,11 @@ export class ConfigurationController {
   }
 
   @action
-  public onEditorChange = () => {
-    // console.log('Editor field changed')
+  public onEditorChange = (field: ConfigurationField, newValue: any, e: any) => {
+    field.value = newValue
+
+    // TODO (Paye):
+    // If in live (auto save) mode, send new value of field to robot, else
+    // save it in the list of changes and send in all changes when the user clicks "Save"
   }
 }
diff --git a/src/client/components/configuration/editor/editor.css b/src/client/components/configuration/editor/editor.css
index 0965c82a..5c1be5db 100644
--- a/src/client/components/configuration/editor/editor.css
+++ b/src/client/components/configuration/editor/editor.css
@@ -1,8 +1,21 @@
 .editor {
-  padding-top: 18px;
+  padding: 18px 0;
 }
 
 .editor,
 .editor * {
   font-family: monospace;
 }
+
+.editorLine {
+  margin-bottom: 4px;
+  min-height: 24px;
+  display: flex;
+  align-items: center;
+  /*border-bottom: 1px solid #EEE;*/
+}
+
+.editorLine__nestedList {
+  margin-bottom: 0;
+  /*border-bottom: 0;*/
+}
diff --git a/src/client/components/configuration/editor/editor.tsx b/src/client/components/configuration/editor/editor.tsx
index 9dd58e19..7ed3885c 100644
--- a/src/client/components/configuration/editor/editor.tsx
+++ b/src/client/components/configuration/editor/editor.tsx
@@ -22,16 +22,16 @@ export interface ConfigurationFile {
 
 export interface FieldProps {
   data: ConfigurationField,
-  onChange?(data: any): void
+  onChange?(field: ConfigurationField, newValue: any, e: any): void
 }
 
 export interface EditorProps {
   data: ConfigurationFile,
-  onChange?(data: any): void
+  onChange?(field: ConfigurationField, newValue: any, e: any): void
 }
 
 @observer
-export class Editor extends React.Component<EditorProps, void> {
+export class Editor extends React.Component<EditorProps> {
   public render(): JSX.Element {
     const field = this.props.data.content
     return (
diff --git a/src/client/components/configuration/editor/fields/list_field.css b/src/client/components/configuration/editor/fields/list_field.css
index e504696b..d9bdfc5d 100644
--- a/src/client/components/configuration/editor/fields/list_field.css
+++ b/src/client/components/configuration/editor/fields/list_field.css
@@ -1,11 +1,12 @@
 .listField {
   padding: 0;
   list-style: none;
+  margin: 0;
+  width: 100%;
 }
 
 .listField__header {
   color: #63a35c;
-  margin-bottom: 8px;
   cursor: default;
 }
 
@@ -18,18 +19,10 @@
   padding-left: 22px;
 }
 
-.listField__subFields li {
-  margin-bottom: 8px;
-  display: flex;
-}
-
-.listField__subFields li:last-child {
-  margin-bottom: 0;
-}
-
-.listField__subFields li::before {
+.listField__subFields .listField__subField::before {
   display: inline-block;
   content: '-';
   margin-right: 8px;
   color: rgba(0,0,0,0.5);
+  align-self: flex-start;
 }
diff --git a/src/client/components/configuration/editor/fields/list_field.tsx b/src/client/components/configuration/editor/fields/list_field.tsx
index 2f6b5299..d40a99b4 100644
--- a/src/client/components/configuration/editor/fields/list_field.tsx
+++ b/src/client/components/configuration/editor/fields/list_field.tsx
@@ -1,6 +1,8 @@
 import { observer } from 'mobx-react'
 import * as React from 'react'
 import * as style from './list_field.css'
+import * as editorStyle from '../editor.css'
+import * as classnames from 'classnames'
 
 import { ConfigurationField, FieldProps } from '../editor'
 import { MapField } from './map_field'
@@ -8,12 +10,12 @@ import { NumberValue } from '../values/number_value'
 import { StringValue } from '../values/string_value'
 
 @observer
-export class ListField extends React.Component<FieldProps, void> {
+export class ListField extends React.Component<FieldProps> {
   public render(): JSX.Element {
     return (
       <ul className={style.listField}>
         { this.props.data.name &&
-          <div className={style.listField__header}>{ this.props.data.name }</div>
+          <div className={style.listField__header + ' ' + editorStyle.editorLine}>{ this.props.data.name }</div>
         }
 
         <div className={style.listField__subFields}>
@@ -21,13 +23,24 @@ export class ListField extends React.Component<FieldProps, void> {
             switch (field.type) {
               case 'INT_VALUE':
               case 'DOUBLE_VALUE':
-                return <li key={field.uid}><NumberValue data={field} onChange={this.props.onChange} /></li>
+                return <li className={style.listField__subField + ' ' + editorStyle.editorLine} key={field.uid}>
+                  <NumberValue data={field} onChange={this.props.onChange} />
+                </li>
               case 'STRING_VALUE':
-                return <li key={field.uid}><StringValue data={field} onChange={this.props.onChange} /></li>
+                return <li className={style.listField__subField + ' ' + editorStyle.editorLine} key={field.uid}>
+                  <StringValue data={field} onChange={this.props.onChange} />
+                </li>
               case 'MAP_VALUE':
-                return <li key={field.uid}><MapField data={field} onChange={this.props.onChange} /></li>
+                return <li className={style.listField__subField + ' ' + editorStyle.editorLine} key={field.uid}>
+                  <MapField data={field} onChange={this.props.onChange} />
+                </li>
               case 'LIST_VALUE':
-                return <li key={field.uid}><ListField data={field} onChange={this.props.onChange} /></li>
+                const classes = classnames(
+                  style.listField__subField, editorStyle.editorLine, editorStyle.editorLine__nestedList
+                )
+                return <li className={classes} key={field.uid}>
+                  <ListField data={field} onChange={this.props.onChange} />
+                </li>
               default:
                 // do nothing
             }
diff --git a/src/client/components/configuration/editor/fields/map_field.css b/src/client/components/configuration/editor/fields/map_field.css
index 934dfd45..cb647316 100644
--- a/src/client/components/configuration/editor/fields/map_field.css
+++ b/src/client/components/configuration/editor/fields/map_field.css
@@ -4,7 +4,6 @@
 
 .mapField__header {
   color: #63a35c;
-  margin-bottom: 8px;
   cursor: default;
 }
 
diff --git a/src/client/components/configuration/editor/fields/map_field.tsx b/src/client/components/configuration/editor/fields/map_field.tsx
index 054cd62a..9837983d 100644
--- a/src/client/components/configuration/editor/fields/map_field.tsx
+++ b/src/client/components/configuration/editor/fields/map_field.tsx
@@ -1,18 +1,19 @@
 import { observer } from 'mobx-react'
 import * as React from 'react'
 import * as style from './map_field.css'
+import * as editorStyle from '../editor.css'
 
 import { ConfigurationField, FieldProps } from '../editor'
 import { ListField } from './list_field'
 import { ScalarField } from './scalar_field'
 
 @observer
-export class MapField extends React.Component<FieldProps, void> {
+export class MapField extends React.Component<FieldProps> {
   public render(): JSX.Element {
     return (
       <div className={style.mapField}>
         { this.props.data.name &&
-          <div className={style.mapField__header}>{ this.props.data.name }</div>
+          <div className={style.mapField__header + ' ' + editorStyle.editorLine}>{ this.props.data.name }</div>
         }
 
         <div className={style.mapField__subFields}>
diff --git a/src/client/components/configuration/editor/fields/scalar_field.css b/src/client/components/configuration/editor/fields/scalar_field.css
index 3801b14b..f5e82951 100644
--- a/src/client/components/configuration/editor/fields/scalar_field.css
+++ b/src/client/components/configuration/editor/fields/scalar_field.css
@@ -1,11 +1,5 @@
 .scalarField {
-  display: flex;
-  margin-bottom: 10px;
-  align-items: center;
-}
 
-.scalarField:last-child {
-  margin-bottom: 0;
 }
 
 .scalarField__label {
diff --git a/src/client/components/configuration/editor/fields/scalar_field.tsx b/src/client/components/configuration/editor/fields/scalar_field.tsx
index 75ccc071..78b5a9d2 100644
--- a/src/client/components/configuration/editor/fields/scalar_field.tsx
+++ b/src/client/components/configuration/editor/fields/scalar_field.tsx
@@ -1,6 +1,7 @@
 import { observer } from 'mobx-react'
 import * as React from 'react'
 import * as style from './scalar_field.css'
+import * as editorStyle from '../editor.css'
 
 import { BoolValue } from '../values/bool_value'
 import { FieldProps } from '../editor'
@@ -8,12 +9,12 @@ import { NumberValue } from '../values/number_value'
 import { StringValue } from '../values/string_value'
 
 @observer
-export class ScalarField extends React.Component<FieldProps, void> {
+export class ScalarField extends React.Component<FieldProps> {
   public render(): JSX.Element {
     const field = this.props.data
     return (
-      <label className={style.scalarField}>
-        <span className={style.scalarField__label} title={this.props.data.path}>{ this.props.data.name }</span>
+      <label className={style.scalarField + ' ' + editorStyle.editorLine}>
+        <span className={style.scalarField__label}>{ this.props.data.name }</span>
         <div className={style.scalarField__value}>
           { field.type === 'BOOL_VALUE' &&
             <BoolValue data={field} onChange={this.props.onChange} />
diff --git a/src/client/components/configuration/editor/values/bool_value.tsx b/src/client/components/configuration/editor/values/bool_value.tsx
index ee31b879..04553301 100644
--- a/src/client/components/configuration/editor/values/bool_value.tsx
+++ b/src/client/components/configuration/editor/values/bool_value.tsx
@@ -5,7 +5,7 @@ import * as style from './bool_value.css'
 import { FieldProps } from '../editor'
 
 @observer
-export class BoolValue extends React.Component<FieldProps, void> {
+export class BoolValue extends React.Component<FieldProps> {
   public render(): JSX.Element {
     return (
       <div className={style.boolValue}>
@@ -13,7 +13,7 @@ export class BoolValue extends React.Component<FieldProps, void> {
           className={style.boolValue__input}
           type='checkbox'
           checked={this.props.data.value}
-          onChange={this.props.onChange}
+          onChange={this.onChange}
         />
 
         <span className={style.boolValue__value}>
@@ -22,4 +22,10 @@ export class BoolValue extends React.Component<FieldProps, void> {
       </div>
     )
   }
+
+  public onChange = (e: any) => {
+    if (this.props.onChange) {
+      this.props.onChange(this.props.data, e.target.checked, e)
+    }
+  }
 }
diff --git a/src/client/components/configuration/editor/values/number_value.tsx b/src/client/components/configuration/editor/values/number_value.tsx
index 52c8aff3..4f6afd2c 100644
--- a/src/client/components/configuration/editor/values/number_value.tsx
+++ b/src/client/components/configuration/editor/values/number_value.tsx
@@ -5,7 +5,7 @@ import * as style from './number_value.css'
 import { FieldProps } from '../editor'
 
 @observer
-export class NumberValue extends React.Component<FieldProps, void> {
+export class NumberValue extends React.Component<FieldProps> {
   public render(): JSX.Element {
     return (
       <div className={style.numberValue}>
@@ -13,9 +13,15 @@ export class NumberValue extends React.Component<FieldProps, void> {
           className={style.numberValue__input}
           type='number'
           value={this.props.data.value}
-          onChange={this.props.onChange}
+          onChange={this.onChange}
         />
       </div>
     )
   }
+
+  public onChange = (e: any) => {
+    if (this.props.onChange) {
+      this.props.onChange(this.props.data, e.target.value, e)
+    }
+  }
 }
diff --git a/src/client/components/configuration/editor/values/string_value.tsx b/src/client/components/configuration/editor/values/string_value.tsx
index 473691c5..6f55b303 100644
--- a/src/client/components/configuration/editor/values/string_value.tsx
+++ b/src/client/components/configuration/editor/values/string_value.tsx
@@ -5,7 +5,7 @@ import * as style from './string_value.css'
 import { FieldProps } from '../editor'
 
 @observer
-export class StringValue extends React.Component<FieldProps, void> {
+export class StringValue extends React.Component<FieldProps> {
   public render(): JSX.Element {
     return (
       <div className={style.stringValue}>
@@ -13,9 +13,15 @@ export class StringValue extends React.Component<FieldProps, void> {
           className={style.stringValue__input}
           type='text'
           value={this.props.data.value}
-          onChange={this.props.onChange}
+          onChange={this.onChange}
         />
       </div>
     )
   }
+
+  public onChange = (e: any) => {
+    if (this.props.onChange) {
+      this.props.onChange(this.props.data, e.target.value, e)
+    }
+  }
 }
diff --git a/src/client/components/configuration/panel/panel.tsx b/src/client/components/configuration/panel/panel.tsx
index 8705197d..78efa919 100644
--- a/src/client/components/configuration/panel/panel.tsx
+++ b/src/client/components/configuration/panel/panel.tsx
@@ -6,7 +6,7 @@ export interface PanelProps {
   className?: string
 }
 
-export class Panel extends React.Component<PanelProps, void> {
+export class Panel extends React.Component<PanelProps> {
   public static defaultProps: Partial<PanelProps> = {
     className: '',
   }
diff --git a/src/client/components/configuration/tree/tree.tsx b/src/client/components/configuration/tree/tree.tsx
index 5e5d44d1..f338eb9d 100644
--- a/src/client/components/configuration/tree/tree.tsx
+++ b/src/client/components/configuration/tree/tree.tsx
@@ -15,7 +15,7 @@ export interface TreeProps {
 }
 
 @observer
-export class Tree extends React.Component<TreeProps, void> {
+export class Tree extends React.Component<TreeProps> {
   public render(): JSX.Element {
     const children = this.props.data.children || []
     const hasChildren = children.length > 0
diff --git a/src/client/components/configuration/view.tsx b/src/client/components/configuration/view.tsx
index d18ac75b..f4884957 100644
--- a/src/client/components/configuration/view.tsx
+++ b/src/client/components/configuration/view.tsx
@@ -15,7 +15,7 @@ interface ConfigurationViewProps {
 }
 
 @observer
-export class ConfigurationView extends React.Component<ConfigurationViewProps, void> {
+export class ConfigurationView extends React.Component<ConfigurationViewProps> {
   private model: ConfigurationModel
   private controller: ConfigurationController
 
diff --git a/src/client/components/configuration/view/view.tsx b/src/client/components/configuration/view/view.tsx
index 8178f58e..7435ff35 100644
--- a/src/client/components/configuration/view/view.tsx
+++ b/src/client/components/configuration/view/view.tsx
@@ -10,7 +10,7 @@ export interface ViewProps {
   rightMenu?: JSX.Element
 }
 
-export class View extends React.Component<ViewProps, void> {
+export class View extends React.Component<ViewProps> {
   public static defaultProps: Partial<ViewProps> = {
     className: '',
     headerClassName: '',
diff --git a/src/client/components/navigation/view.tsx b/src/client/components/navigation/view.tsx
index b237c33e..abb27ef2 100644
--- a/src/client/components/navigation/view.tsx
+++ b/src/client/components/navigation/view.tsx
@@ -40,6 +40,7 @@ export const NavigationView = () => (
       <NavigationItemView url='/classifier' Icon={CubeIcon}>Classifier</NavigationItemView>
       <NavigationItemView url='/subsumption' Icon={OrderingIcon}>Subsumption</NavigationItemView>
       <NavigationItemView url='/gamestate' Icon={ControllerIcon}>GameState</NavigationItemView>
+      <NavigationItemView url='/configuration' Icon={ControllerIcon}>Configuration</NavigationItemView>
     </ul>
   </header>
 )
diff --git a/src/client/index.tsx b/src/client/index.tsx
index 2097ace7..26f37497 100644
--- a/src/client/index.tsx
+++ b/src/client/index.tsx
@@ -8,6 +8,10 @@ import { Switch } from 'react-router-dom'
 import { AppView } from './components/app/view'
 import { Chart } from './components/chart/view'
 import { Classifier } from './components/classifier/view'
+import { ConfigurationController } from './components/configuration/controller'
+import { ConfigurationModel } from './components/configuration/model'
+import { configurationData } from './components/configuration/data'
+import { ConfigurationView } from './components/configuration/view'
 import { Dashboard } from './components/dashboard/view'
 import { GameState } from './components/game_state/view'
 import { LocalisationController } from './components/localisation/controller'
@@ -75,6 +79,12 @@ ReactDOM.render(
         <Route path='/classifier' component={Classifier}/>
         <Route path='/subsumption' component={Subsumption}/>
         <Route path='/gamestate' component={GameState}/>
+        <Route path='/configuration' render={() => {
+          // TODO (Paye): Use the network/simulator for the model data
+          const configurationModel = ConfigurationModel.of({ files: configurationData })
+          const configurationController = ConfigurationController.of({ model: configurationModel })
+          return <ConfigurationView controller={configurationController} model={configurationModel} />
+        }}/>
       </Switch>
     </AppView>
   </BrowserRouter>,

From fc526174ffd91574bcdb80eef7db428cbf883e5c Mon Sep 17 00:00:00 2001
From: Josephus Paye II <j.paye96@gmail.com>
Date: Wed, 26 Jul 2017 10:26:32 +0900
Subject: [PATCH 17/17] .

---
 .../components/configuration/controller.ts    |  27 +++-
 src/client/components/configuration/data.ts   |  13 +-
 .../configuration/editor/editor.tsx           |  15 +--
 .../editor/fields/list_field.tsx              |   3 +-
 .../configuration/editor/fields/map_field.tsx |   3 +-
 src/client/components/configuration/model.ts  |  28 +++-
 src/client/components/configuration/style.css |   6 +
 .../components/configuration/tree/style.css   |  20 ++-
 .../components/configuration/tree/tree.tsx    |   5 +-
 src/client/components/configuration/view.tsx  |  26 +++-
 src/client/components/select/dropdown.svg     |   3 +
 src/client/components/select/style.css        | 103 ++++++++++++++
 src/client/components/select/view.tsx         | 127 ++++++++++++++++++
 .../support/nubugger/Configuration.proto      |  56 ++++++++
 yarn.lock                                     |   8 +-
 15 files changed, 408 insertions(+), 35 deletions(-)
 create mode 100644 src/client/components/select/dropdown.svg
 create mode 100644 src/client/components/select/style.css
 create mode 100644 src/client/components/select/view.tsx
 create mode 100644 src/shared/proto/message/support/nubugger/Configuration.proto

diff --git a/src/client/components/configuration/controller.ts b/src/client/components/configuration/controller.ts
index b6acce5b..5f672674 100644
--- a/src/client/components/configuration/controller.ts
+++ b/src/client/components/configuration/controller.ts
@@ -1,19 +1,26 @@
 import { action, observable } from 'mobx'
 import { ConfigurationModel } from './model'
 import { TreeNode } from './model'
-import { ConfigurationField } from './editor/editor'
+import { ConfigurationField } from './model'
 
 export class ConfigurationController {
   private model: ConfigurationModel
 
   constructor(opts: { model: ConfigurationModel }) {
     Object.assign(this, opts)
+
+    console.log(this.model)
   }
 
   public static of(opts: { model: ConfigurationModel }) {
     return new ConfigurationController(opts)
   }
 
+  @action
+  public updateSaveOnChange = (saveOnChange: boolean): void => {
+    this.model.saveOnChange = saveOnChange
+  }
+
   @action
   public onNodeClick = (node: TreeNode): void => {
     if (node.leaf) {
@@ -27,9 +34,15 @@ export class ConfigurationController {
   public selectNode = (node: TreeNode) => {
     if (this.model.selectedFile) {
       this.model.selectedFile.selected = false
+
+      if (!this.model.selectedFile.status.changed) {
+        this.model.selectedFile.status.lastRevision = null
+      }
     }
 
     node.selected = true
+    node.status.lastRevision = JSON.stringify(node.data)
+
     this.model.selectedFile = node
   }
 
@@ -42,6 +55,18 @@ export class ConfigurationController {
   public onEditorChange = (field: ConfigurationField, newValue: any, e: any) => {
     field.value = newValue
 
+    if (this.model.selectedFile !== null) {
+      this.model.selectedFile.status.changed = true
+
+      const selectedFilePath = this.model.selectedFile.data!.path
+
+      if (!this.model.changedFields[selectedFilePath]) {
+        this.model.changedFields[selectedFilePath] = {}
+      }
+
+      this.model.changedFields[selectedFilePath][field.path!] = field
+    }
+
     // TODO (Paye):
     // If in live (auto save) mode, send new value of field to robot, else
     // save it in the list of changes and send in all changes when the user clicks "Save"
diff --git a/src/client/components/configuration/data.ts b/src/client/components/configuration/data.ts
index 0f391b0c..3d26f794 100644
--- a/src/client/components/configuration/data.ts
+++ b/src/client/components/configuration/data.ts
@@ -14,6 +14,10 @@ export function createTreeFromFiles(files: any): TreeNode {
     leaf: false,
     selected: false,
     children: [],
+    status: {
+      changed: false,
+      lastRevision: null
+    }
   }
 
   // A map of file paths to tree nodes
@@ -52,17 +56,24 @@ export function createTreeNode(pathSegments: string[], parentPath: string, file:
   }
 
   // Create the new node
-  const node = {
+  const node: TreeNode = {
     label,
     expanded: false,
     leaf: !isFolder,
     selected: false,
     data: isFolder ? undefined : file,
     children: [],
+    status: {
+      changed: false,
+      lastRevision: null
+    }
   }
 
   // Add the new node to the tree
   pathNodeMap[parentPath].children.push(node)
+  // pathNodeMap[parentPath].children.sort((a: TreeNode, b: TreeNode) => {
+  //   return (a.leaf === b.leaf ? a.label.toLowerCase() > b.label.toLowerCase() : a.leaf > b.leaf)
+  // })
 
   // Add the new node to the path map
   pathNodeMap[currentPath] = node
diff --git a/src/client/components/configuration/editor/editor.tsx b/src/client/components/configuration/editor/editor.tsx
index 7ed3885c..c8f60536 100644
--- a/src/client/components/configuration/editor/editor.tsx
+++ b/src/client/components/configuration/editor/editor.tsx
@@ -5,20 +5,7 @@ import * as style from './editor.css'
 import { ListField } from './fields/list_field'
 import { MapField } from './fields/map_field'
 import { ScalarField } from './fields/scalar_field'
-
-export interface ConfigurationField {
-  type: string
-  value: any
-  tag?: string
-  name?: string
-  uid?: string
-  path?: string
-}
-
-export interface ConfigurationFile {
-  path: string,
-  content: ConfigurationField
-}
+import { ConfigurationField, ConfigurationFile } from '../model'
 
 export interface FieldProps {
   data: ConfigurationField,
diff --git a/src/client/components/configuration/editor/fields/list_field.tsx b/src/client/components/configuration/editor/fields/list_field.tsx
index d40a99b4..6c0debeb 100644
--- a/src/client/components/configuration/editor/fields/list_field.tsx
+++ b/src/client/components/configuration/editor/fields/list_field.tsx
@@ -4,7 +4,8 @@ import * as style from './list_field.css'
 import * as editorStyle from '../editor.css'
 import * as classnames from 'classnames'
 
-import { ConfigurationField, FieldProps } from '../editor'
+import { ConfigurationField } from '../../model'
+import { FieldProps } from '../editor'
 import { MapField } from './map_field'
 import { NumberValue } from '../values/number_value'
 import { StringValue } from '../values/string_value'
diff --git a/src/client/components/configuration/editor/fields/map_field.tsx b/src/client/components/configuration/editor/fields/map_field.tsx
index 9837983d..1cdf2081 100644
--- a/src/client/components/configuration/editor/fields/map_field.tsx
+++ b/src/client/components/configuration/editor/fields/map_field.tsx
@@ -3,7 +3,8 @@ import * as React from 'react'
 import * as style from './map_field.css'
 import * as editorStyle from '../editor.css'
 
-import { ConfigurationField, FieldProps } from '../editor'
+import { ConfigurationField } from '../../model'
+import { FieldProps } from '../editor'
 import { ListField } from './list_field'
 import { ScalarField } from './scalar_field'
 
diff --git a/src/client/components/configuration/model.ts b/src/client/components/configuration/model.ts
index 9cdf0f02..076b1619 100644
--- a/src/client/components/configuration/model.ts
+++ b/src/client/components/configuration/model.ts
@@ -1,11 +1,31 @@
 import { action, observable } from 'mobx'
 
+export interface ConfigurationField {
+  type: string
+  value: any
+  tag?: string
+  name?: string
+  uid?: string
+  path?: string
+}
+
+export interface ConfigurationFile {
+  path: string,
+  content: ConfigurationField
+}
+
+interface FileStatus {
+  changed: boolean
+  lastRevision?: string | null
+}
+
 export interface TreeNode {
   label: string
   expanded: boolean
   leaf: boolean
   selected: boolean
-  data?: any
+  data?: ConfigurationFile
+  status: FileStatus
   children?: TreeNode[]
 }
 
@@ -16,6 +36,12 @@ export class ConfigurationModel {
   @observable
   public selectedFile: TreeNode | null = null
 
+  @observable
+  public changedFields: any = {}
+
+  @observable
+  public saveOnChange: boolean = false
+
   constructor(opts: { files: TreeNode }) {
     Object.assign(this, opts)
   }
diff --git a/src/client/components/configuration/style.css b/src/client/components/configuration/style.css
index 89dfd204..fb226fc3 100644
--- a/src/client/components/configuration/style.css
+++ b/src/client/components/configuration/style.css
@@ -19,3 +19,9 @@
   padding-top: 32px;
   text-align: center;
 }
+
+.configuration__saveCheckboxLabel {
+  display: inline-flex;
+  align-items: center;
+  margin-right: 12px;
+}
diff --git a/src/client/components/configuration/tree/style.css b/src/client/components/configuration/tree/style.css
index 8ee65e9d..0b3d6d14 100644
--- a/src/client/components/configuration/tree/style.css
+++ b/src/client/components/configuration/tree/style.css
@@ -15,11 +15,6 @@
   user-select: none;
 }
 
-.treenode__header:hover {
-  background-color: #EEE;
-  color: #1197d3;
-}
-
 .treenode__icon {
   margin-right: 4px;
 }
@@ -34,6 +29,16 @@
   flex-grow: 1;
 }
 
+.treenode--changed .treenode__header {
+  background-color: #FFF9C4;
+  color: #4d4d4d;
+}
+
+.treenode__header:hover {
+  background-color: #EEE;
+  color: #1197d3;
+}
+
 .treenode--selected .treenode__header {
   color: white;
   background-color: #1197d3;
@@ -42,3 +47,8 @@
 .treenode--selected .treenode__header svg {
   fill: rgba(255, 255, 255, 0.75);
 }
+
+.treenode--changed.treenode--selected .treenode__header {
+  color: white;
+  background-color: #1197d3;
+}
diff --git a/src/client/components/configuration/tree/tree.tsx b/src/client/components/configuration/tree/tree.tsx
index f338eb9d..da4e9624 100644
--- a/src/client/components/configuration/tree/tree.tsx
+++ b/src/client/components/configuration/tree/tree.tsx
@@ -23,11 +23,14 @@ export class Tree extends React.Component<TreeProps> {
     const classes = classnames(
       style.treenode,
       { [style['treenode--selected']]: this.props.data.selected },
+      { [style['treenode--changed']]: this.props.data.status.changed },
     )
 
     // We're using inline paddingLeft to indent so that the hover and selected background indicators
     // are full width. Padding is the default 8px plus each level's indent of 22px.
-    const headerInlineStyle = { paddingLeft: 8 + (level * 22) + 'px' }
+    const headerInlineStyle = {
+      paddingLeft: 8 + (level * 22) + 'px'
+    }
 
     return (
       <ul className={classes}>
diff --git a/src/client/components/configuration/view.tsx b/src/client/components/configuration/view.tsx
index f4884957..67c6473c 100644
--- a/src/client/components/configuration/view.tsx
+++ b/src/client/components/configuration/view.tsx
@@ -25,9 +25,29 @@ export class ConfigurationView extends React.Component<ConfigurationViewProps> {
     this.controller = this.props.controller
   }
 
+  public onSaveOnChangeChange = (e: any) => {
+    this.controller.updateSaveOnChange(e.target.checked)
+  }
+
   public render(): JSX.Element {
+    const ConfigurationMenu = <div>
+      <label className={style.configuration__saveCheckboxLabel}>
+        <input type='checkbox' checked={this.model.saveOnChange} onChange={this.onSaveOnChangeChange}/>
+        Save on change
+      </label>
+
+      { !this.model.saveOnChange &&
+        <button>Save now</button>
+      }
+    </div>
+
     return (
-      <View title='Configuration' className={style.configuration} bodyClassName={style.configuration__body}>
+      <View
+        title='Configuration'
+        className={style.configuration}
+        bodyClassName={style.configuration__body}
+        rightMenu={ConfigurationMenu}
+      >
         <Panel title='Files' className={style.configuration__sidebar}>
           <Tree onClick={this.controller.onNodeClick} data={this.model.files} />
         </Panel>
@@ -35,8 +55,8 @@ export class ConfigurationView extends React.Component<ConfigurationViewProps> {
         <div className={style.configuration__content}>
           { this.model.selectedFile === null ?
             <div className={style.configuration__contentPlaceholder}>Select a file to edit</div> :
-            <Panel title={this.model.selectedFile.data.path}>
-              <Editor data={this.model.selectedFile.data} onChange={this.controller.onEditorChange} />
+            <Panel title={this.model.selectedFile.data!.path}>
+              <Editor data={this.model.selectedFile.data!} onChange={this.controller.onEditorChange} />
             </Panel>
           }
         </div>
diff --git a/src/client/components/select/dropdown.svg b/src/client/components/select/dropdown.svg
new file mode 100644
index 00000000..70bfe6e9
--- /dev/null
+++ b/src/client/components/select/dropdown.svg
@@ -0,0 +1,3 @@
+<svg height="24" viewBox="0 0 24 24" width="24" xmlns="http://www.w3.org/2000/svg" fill="#757575">
+  <path d="M7 10l5 5 5-5z"/>
+</svg>
diff --git a/src/client/components/select/style.css b/src/client/components/select/style.css
new file mode 100644
index 00000000..8ded6e70
--- /dev/null
+++ b/src/client/components/select/style.css
@@ -0,0 +1,103 @@
+.select {
+  display: flex;
+  align-items: center;
+  user-select: none;
+  cursor: default;
+}
+
+.selectDisabled {
+  opacity: 0.75;
+}
+
+.selectLabel {
+  padding-left: 4px;
+  margin-right: 8px;
+}
+
+.selectContainer {
+  position: relative;
+}
+
+.selectInput {
+  display: flex;
+  border-width: 1px;
+  border-style: solid;
+  border-color: #DDD;
+  padding: 3px 3px 3px 6px;
+  align-items: center;
+  border-radius: 2px;
+  font-size: 13px;
+  transition: border-color 0.2s;
+  min-width: 80px;
+}
+
+.select:not(.selectDisabled) .selectInput:hover {
+  border-color: #BBB;
+  cursor: pointer;
+}
+
+.selectFocused .selectInput {
+  border-color: #57A3F3!important; /* Override specificity of :not() + :hover selectors above */
+  box-shadow: 0 0 0 2px rgba(45, 140, 240, 0.2);
+}
+
+.selectPlaceholder {
+  color: rgba(0, 0, 0, 0.5);
+  flex-grow: 1;
+}
+
+.selectValue {
+  flex-grow: 1;
+}
+
+.selectDropdownIcon {
+  width: 18px;
+  height: 18px;
+  margin-left: 4px;
+  fill: #999;
+}
+
+.selectOpen .selectDropdownIcon {
+  transform: rotate(180deg);
+}
+
+.selectDropdown {
+  display: none;
+  position: absolute;
+  max-height: 200px;
+  overflow: auto;
+  margin-top: 4px;
+  padding: 4px 0;
+  background-color: #FFF;
+  border-radius: 2px;
+  box-shadow: 0px 1px 5px 0px rgba(0, 0, 0, 0.35);
+  width: 100%;
+  min-width: 100px;
+  z-index: 1;
+}
+
+.selectOpen .selectDropdown {
+  display: block;
+}
+
+.selectDropdownList {
+  padding: 0;
+  margin: 0;
+  list-style: none;
+  width: 100%;
+}
+
+.selectDropdownItem {
+  padding: 4px 10px;
+  font-size: 13px;
+  cursor: pointer;
+}
+
+.selectDropdownItem:hover {
+  background-color: #EEE;
+}
+
+.selectDropdownItemSelected {
+  background: rgba(45, 140, 240, 0.9)!important; /* Override specificity of :hover selector above */
+  color: #FFF;
+}
diff --git a/src/client/components/select/view.tsx b/src/client/components/select/view.tsx
new file mode 100644
index 00000000..3842962a
--- /dev/null
+++ b/src/client/components/select/view.tsx
@@ -0,0 +1,127 @@
+import * as classNames from 'classnames'
+import * as React from 'react'
+import * as style from './style.css'
+import DropdownIcon from './dropdown.svg'
+
+export interface SelectOption {
+  label: string
+  value: string
+  data?: any
+}
+
+export interface SelectProps {
+  options: SelectOption[]
+  label?: string
+  placeholder?: string
+  disabled?: boolean
+  onChange: (selectedOption: SelectOption) => void
+}
+
+interface SelectState {
+  open: boolean
+  focused: boolean
+  selectedLabel: null | string
+  selectedValue: null | string
+}
+
+export class Select extends React.Component<SelectProps> {
+  public state: SelectState
+  public props: SelectProps
+  public selectContainer: HTMLDivElement
+
+  public constructor(props: SelectProps, context: any) {
+    super(props, context)
+
+    this.state = {
+      open: false,
+      focused: false,
+      selectedLabel: null,
+      selectedValue: null,
+    }
+
+    this.toggleDropdown = this.toggleDropdown.bind(this)
+    this.handleExternalClick = this.handleExternalClick.bind(this)
+  }
+
+  public render(): JSX.Element {
+    const classes = classNames(style.select, {
+      [style.selectOpen]: this.state.open,
+      [style.selectFocused]: this.state.focused,
+      [style.selectDisabled]: Boolean(this.props.disabled)
+    })
+
+    return (
+      <div className={classes}>
+        { this.props.label &&
+          <div className={style.selectLabel}>{ this.props.label }</div>
+        }
+
+        <div className={style.selectContainer} ref={(input: HTMLDivElement) => {this.selectContainer = input}}>
+          <div className={style.selectInput} onClick={this.toggleDropdown}>
+            { this.state.selectedLabel === null
+              ? <div className={style.selectPlaceholder}>{ this.props.placeholder || 'Select an option' }</div>
+              : <div className={style.selectValue}>{ this.state.selectedLabel }</div>
+            }
+            <DropdownIcon className={style.selectDropdownIcon} />
+          </div>
+
+          <div className={style.selectDropdown}>
+            <ul className={style.selectDropdownList}>
+              {
+                this.props.options.map((option, index) => {
+                  const classes = classNames(style.selectDropdownItem, {
+                    [style.selectDropdownItemSelected]: option.value === this.state.selectedValue
+                  })
+
+                  return <li className={classes} key={index} onClick={() => {this.selectOption(option)}}>
+                    { option.label }
+                  </li>
+                })
+              }
+            </ul>
+          </div>
+        </div>
+      </div>
+    )
+  }
+
+  public componentDidMount(): void | undefined {
+    document.addEventListener('click', this.handleExternalClick)
+  }
+
+  public componentWillUnmount(): void | undefined {
+    document.removeEventListener('click', this.handleExternalClick)
+  }
+
+  private handleExternalClick(event: MouseEvent): void {
+    if (this.selectContainer.contains(event.target as Node) || !this.state.focused) {
+      return
+    }
+
+    this.setState({
+      open: this.state.open ? false : this.state.open,
+      focused: false,
+    })
+  }
+
+  private toggleDropdown(event: any): void {
+    if (this.props.disabled) {
+      return
+    }
+
+    this.setState({
+      open: !this.state.open,
+      focused: true
+    })
+  }
+
+  private selectOption(option: SelectOption) {
+    this.setState({
+      selectedLabel: option.label,
+      selectedValue: option.value,
+      open: false
+    })
+
+    this.props.onChange(option)
+  }
+}
diff --git a/src/shared/proto/message/support/nubugger/Configuration.proto b/src/shared/proto/message/support/nubugger/Configuration.proto
new file mode 100644
index 00000000..c498d731
--- /dev/null
+++ b/src/shared/proto/message/support/nubugger/Configuration.proto
@@ -0,0 +1,56 @@
+/*
+* This file is part of the NUbots Codebase.
+*
+* The NUbots Codebase is free software: you can redistribute it and/or modify
+* it under the terms of the GNU General Public License as published by
+* the Free Software Foundation, either version 3 of the License, or
+* (at your option) any later version.
+*
+* The NUbots Codebase is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License
+* along with the NUbots Codebase.  If not, see <http://www.gnu.org/licenses/>.
+*
+* Copyright 2014 NUbots <nubots@nubots.net>
+*/
+
+syntax = "proto3";
+
+package message.support.nubugger;
+
+message Configuration {
+    message Value {
+        enum Type {
+            NULL_VALUE = 0;
+            INT_VALUE = 1;
+            DOUBLE_VALUE = 2;
+            STRING_VALUE = 3;
+            BOOL_VALUE = 4;
+            MAP_VALUE = 5;
+            LIST_VALUE = 6;
+        }
+
+        int64 int_value = 1;
+        double double_value = 2;
+        string string_value = 3;
+        bool bool_value = 4;
+        map<string, Value> map_value = 5;
+        repeated Value list_value = 6;
+
+        Type type = 7;
+        string tag = 8;
+        string name = 9;
+        string uid = 10;
+        string path = 11;
+    }
+
+    message File {
+        Value content = 1;
+        string path = 2;
+    }
+
+    repeated File files = 1;
+}
diff --git a/yarn.lock b/yarn.lock
index 7ca1a349..9e92e471 100644
--- a/yarn.lock
+++ b/yarn.lock
@@ -6412,13 +6412,7 @@ supports-color@^3.1.0, supports-color@^3.1.1, supports-color@^3.1.2, supports-co
   dependencies:
     has-flag "^1.0.0"
 
-supports-color@^4.0.0:
-  version "4.0.0"
-  resolved "https://registry.yarnpkg.com/supports-color/-/supports-color-4.0.0.tgz#33a7c680aa512c9d03ef929cacbb974d203d2790"
-  dependencies:
-    has-flag "^2.0.0"
-
-supports-color@^4.1.0:
+supports-color@^4.0.0, supports-color@^4.1.0:
   version "4.2.0"
   resolved "https://registry.yarnpkg.com/supports-color/-/supports-color-4.2.0.tgz#ad986dc7eb2315d009b4d77c8169c2231a684037"
   dependencies: