diff --git a/csharp/Mujoco.cs b/csharp/Mujoco.cs
new file mode 100644
index 0000000..fad3ad3
--- /dev/null
+++ b/csharp/Mujoco.cs
@@ -0,0 +1,463 @@
+// <auto-generated>
+//     Generated by the protocol buffer compiler.  DO NOT EDIT!
+//     source: mujoco.proto
+// </auto-generated>
+#pragma warning disable 1591, 0612, 3021, 8981
+#region Designer generated code
+
+using pb = global::Google.Protobuf;
+using pbc = global::Google.Protobuf.Collections;
+using pbr = global::Google.Protobuf.Reflection;
+using scg = global::System.Collections.Generic;
+namespace Reachy.Mujoco {
+
+  /// <summary>Holder for reflection information generated from mujoco.proto</summary>
+  public static partial class MujocoReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for mujoco.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static MujocoReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "CgxtdWpvY28ucHJvdG8SDXJlYWNoeS5tdWpvY28aG2dvb2dsZS9wcm90b2J1",
+            "Zi9lbXB0eS5wcm90bxoQa2luZW1hdGljcy5wcm90byJMChBNdWpvY29PYmpl",
+            "Y3RQb3NlEgwKBG5hbWUYASABKAkSKgoEcG9zZRgCIAEoCzIcLnJlYWNoeS5r",
+            "aW5lbWF0aWNzLk1hdHJpeDR4NCJEChJNdWpvY29PYmplY3RzUG9zZXMSLgoF",
+            "cG9zZXMYASADKAsyHy5yZWFjaHkubXVqb2NvLk11am9jb09iamVjdFBvc2Uy",
+            "XQoNTXVqb2NvU2VydmljZRJMCg9HZXRPYmplY3RzUG9zZXMSFi5nb29nbGUu",
+            "cHJvdG9idWYuRW1wdHkaIS5yZWFjaHkubXVqb2NvLk11am9jb09iamVjdHNQ",
+            "b3Nlc2IGcHJvdG8z"));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { global::Google.Protobuf.WellKnownTypes.EmptyReflection.Descriptor, global::Reachy.Kinematics.KinematicsReflection.Descriptor, },
+          new pbr::GeneratedClrTypeInfo(null, null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Reachy.Mujoco.MujocoObjectPose), global::Reachy.Mujoco.MujocoObjectPose.Parser, new[]{ "Name", "Pose" }, null, null, null, null),
+            new pbr::GeneratedClrTypeInfo(typeof(global::Reachy.Mujoco.MujocoObjectsPoses), global::Reachy.Mujoco.MujocoObjectsPoses.Parser, new[]{ "Poses" }, null, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class MujocoObjectPose : pb::IMessage<MujocoObjectPose>
+  #if !GOOGLE_PROTOBUF_REFSTRUCT_COMPATIBILITY_MODE
+      , pb::IBufferMessage
+  #endif
+  {
+    private static readonly pb::MessageParser<MujocoObjectPose> _parser = new pb::MessageParser<MujocoObjectPose>(() => new MujocoObjectPose());
+    private pb::UnknownFieldSet _unknownFields;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
+    public static pb::MessageParser<MujocoObjectPose> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Reachy.Mujoco.MujocoReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
+    public MujocoObjectPose() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
+    public MujocoObjectPose(MujocoObjectPose other) : this() {
+      name_ = other.name_;
+      pose_ = other.pose_ != null ? other.pose_.Clone() : null;
+      _unknownFields = pb::UnknownFieldSet.Clone(other._unknownFields);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
+    public MujocoObjectPose Clone() {
+      return new MujocoObjectPose(this);
+    }
+
+    /// <summary>Field number for the "name" field.</summary>
+    public const int NameFieldNumber = 1;
+    private string name_ = "";
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
+    public string Name {
+      get { return name_; }
+      set {
+        name_ = pb::ProtoPreconditions.CheckNotNull(value, "value");
+      }
+    }
+
+    /// <summary>Field number for the "pose" field.</summary>
+    public const int PoseFieldNumber = 2;
+    private global::Reachy.Kinematics.Matrix4x4 pose_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
+    public global::Reachy.Kinematics.Matrix4x4 Pose {
+      get { return pose_; }
+      set {
+        pose_ = value;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
+    public override bool Equals(object other) {
+      return Equals(other as MujocoObjectPose);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
+    public bool Equals(MujocoObjectPose other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      if (Name != other.Name) return false;
+      if (!object.Equals(Pose, other.Pose)) return false;
+      return Equals(_unknownFields, other._unknownFields);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
+    public override int GetHashCode() {
+      int hash = 1;
+      if (Name.Length != 0) hash ^= Name.GetHashCode();
+      if (pose_ != null) hash ^= Pose.GetHashCode();
+      if (_unknownFields != null) {
+        hash ^= _unknownFields.GetHashCode();
+      }
+      return hash;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
+    public override string ToString() {
+      return pb::JsonFormatter.ToDiagnosticString(this);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
+    public void WriteTo(pb::CodedOutputStream output) {
+    #if !GOOGLE_PROTOBUF_REFSTRUCT_COMPATIBILITY_MODE
+      output.WriteRawMessage(this);
+    #else
+      if (Name.Length != 0) {
+        output.WriteRawTag(10);
+        output.WriteString(Name);
+      }
+      if (pose_ != null) {
+        output.WriteRawTag(18);
+        output.WriteMessage(Pose);
+      }
+      if (_unknownFields != null) {
+        _unknownFields.WriteTo(output);
+      }
+    #endif
+    }
+
+    #if !GOOGLE_PROTOBUF_REFSTRUCT_COMPATIBILITY_MODE
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
+    void pb::IBufferMessage.InternalWriteTo(ref pb::WriteContext output) {
+      if (Name.Length != 0) {
+        output.WriteRawTag(10);
+        output.WriteString(Name);
+      }
+      if (pose_ != null) {
+        output.WriteRawTag(18);
+        output.WriteMessage(Pose);
+      }
+      if (_unknownFields != null) {
+        _unknownFields.WriteTo(ref output);
+      }
+    }
+    #endif
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
+    public int CalculateSize() {
+      int size = 0;
+      if (Name.Length != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeStringSize(Name);
+      }
+      if (pose_ != null) {
+        size += 1 + pb::CodedOutputStream.ComputeMessageSize(Pose);
+      }
+      if (_unknownFields != null) {
+        size += _unknownFields.CalculateSize();
+      }
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
+    public void MergeFrom(MujocoObjectPose other) {
+      if (other == null) {
+        return;
+      }
+      if (other.Name.Length != 0) {
+        Name = other.Name;
+      }
+      if (other.pose_ != null) {
+        if (pose_ == null) {
+          Pose = new global::Reachy.Kinematics.Matrix4x4();
+        }
+        Pose.MergeFrom(other.Pose);
+      }
+      _unknownFields = pb::UnknownFieldSet.MergeFrom(_unknownFields, other._unknownFields);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
+    public void MergeFrom(pb::CodedInputStream input) {
+    #if !GOOGLE_PROTOBUF_REFSTRUCT_COMPATIBILITY_MODE
+      input.ReadRawMessage(this);
+    #else
+      uint tag;
+      while ((tag = input.ReadTag()) != 0) {
+        switch(tag) {
+          default:
+            _unknownFields = pb::UnknownFieldSet.MergeFieldFrom(_unknownFields, input);
+            break;
+          case 10: {
+            Name = input.ReadString();
+            break;
+          }
+          case 18: {
+            if (pose_ == null) {
+              Pose = new global::Reachy.Kinematics.Matrix4x4();
+            }
+            input.ReadMessage(Pose);
+            break;
+          }
+        }
+      }
+    #endif
+    }
+
+    #if !GOOGLE_PROTOBUF_REFSTRUCT_COMPATIBILITY_MODE
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
+    void pb::IBufferMessage.InternalMergeFrom(ref pb::ParseContext input) {
+      uint tag;
+      while ((tag = input.ReadTag()) != 0) {
+        switch(tag) {
+          default:
+            _unknownFields = pb::UnknownFieldSet.MergeFieldFrom(_unknownFields, ref input);
+            break;
+          case 10: {
+            Name = input.ReadString();
+            break;
+          }
+          case 18: {
+            if (pose_ == null) {
+              Pose = new global::Reachy.Kinematics.Matrix4x4();
+            }
+            input.ReadMessage(Pose);
+            break;
+          }
+        }
+      }
+    }
+    #endif
+
+  }
+
+  public sealed partial class MujocoObjectsPoses : pb::IMessage<MujocoObjectsPoses>
+  #if !GOOGLE_PROTOBUF_REFSTRUCT_COMPATIBILITY_MODE
+      , pb::IBufferMessage
+  #endif
+  {
+    private static readonly pb::MessageParser<MujocoObjectsPoses> _parser = new pb::MessageParser<MujocoObjectsPoses>(() => new MujocoObjectsPoses());
+    private pb::UnknownFieldSet _unknownFields;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
+    public static pb::MessageParser<MujocoObjectsPoses> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Reachy.Mujoco.MujocoReflection.Descriptor.MessageTypes[1]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
+    public MujocoObjectsPoses() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
+    public MujocoObjectsPoses(MujocoObjectsPoses other) : this() {
+      poses_ = other.poses_.Clone();
+      _unknownFields = pb::UnknownFieldSet.Clone(other._unknownFields);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
+    public MujocoObjectsPoses Clone() {
+      return new MujocoObjectsPoses(this);
+    }
+
+    /// <summary>Field number for the "poses" field.</summary>
+    public const int PosesFieldNumber = 1;
+    private static readonly pb::FieldCodec<global::Reachy.Mujoco.MujocoObjectPose> _repeated_poses_codec
+        = pb::FieldCodec.ForMessage(10, global::Reachy.Mujoco.MujocoObjectPose.Parser);
+    private readonly pbc::RepeatedField<global::Reachy.Mujoco.MujocoObjectPose> poses_ = new pbc::RepeatedField<global::Reachy.Mujoco.MujocoObjectPose>();
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
+    public pbc::RepeatedField<global::Reachy.Mujoco.MujocoObjectPose> Poses {
+      get { return poses_; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
+    public override bool Equals(object other) {
+      return Equals(other as MujocoObjectsPoses);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
+    public bool Equals(MujocoObjectsPoses other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      if(!poses_.Equals(other.poses_)) return false;
+      return Equals(_unknownFields, other._unknownFields);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
+    public override int GetHashCode() {
+      int hash = 1;
+      hash ^= poses_.GetHashCode();
+      if (_unknownFields != null) {
+        hash ^= _unknownFields.GetHashCode();
+      }
+      return hash;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
+    public override string ToString() {
+      return pb::JsonFormatter.ToDiagnosticString(this);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
+    public void WriteTo(pb::CodedOutputStream output) {
+    #if !GOOGLE_PROTOBUF_REFSTRUCT_COMPATIBILITY_MODE
+      output.WriteRawMessage(this);
+    #else
+      poses_.WriteTo(output, _repeated_poses_codec);
+      if (_unknownFields != null) {
+        _unknownFields.WriteTo(output);
+      }
+    #endif
+    }
+
+    #if !GOOGLE_PROTOBUF_REFSTRUCT_COMPATIBILITY_MODE
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
+    void pb::IBufferMessage.InternalWriteTo(ref pb::WriteContext output) {
+      poses_.WriteTo(ref output, _repeated_poses_codec);
+      if (_unknownFields != null) {
+        _unknownFields.WriteTo(ref output);
+      }
+    }
+    #endif
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
+    public int CalculateSize() {
+      int size = 0;
+      size += poses_.CalculateSize(_repeated_poses_codec);
+      if (_unknownFields != null) {
+        size += _unknownFields.CalculateSize();
+      }
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
+    public void MergeFrom(MujocoObjectsPoses other) {
+      if (other == null) {
+        return;
+      }
+      poses_.Add(other.poses_);
+      _unknownFields = pb::UnknownFieldSet.MergeFrom(_unknownFields, other._unknownFields);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
+    public void MergeFrom(pb::CodedInputStream input) {
+    #if !GOOGLE_PROTOBUF_REFSTRUCT_COMPATIBILITY_MODE
+      input.ReadRawMessage(this);
+    #else
+      uint tag;
+      while ((tag = input.ReadTag()) != 0) {
+        switch(tag) {
+          default:
+            _unknownFields = pb::UnknownFieldSet.MergeFieldFrom(_unknownFields, input);
+            break;
+          case 10: {
+            poses_.AddEntriesFrom(input, _repeated_poses_codec);
+            break;
+          }
+        }
+      }
+    #endif
+    }
+
+    #if !GOOGLE_PROTOBUF_REFSTRUCT_COMPATIBILITY_MODE
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
+    void pb::IBufferMessage.InternalMergeFrom(ref pb::ParseContext input) {
+      uint tag;
+      while ((tag = input.ReadTag()) != 0) {
+        switch(tag) {
+          default:
+            _unknownFields = pb::UnknownFieldSet.MergeFieldFrom(_unknownFields, ref input);
+            break;
+          case 10: {
+            poses_.AddEntriesFrom(ref input, _repeated_poses_codec);
+            break;
+          }
+        }
+      }
+    }
+    #endif
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/protos/mujoco.proto b/protos/mujoco.proto
new file mode 100644
index 0000000..f136c01
--- /dev/null
+++ b/protos/mujoco.proto
@@ -0,0 +1,18 @@
+syntax = "proto3";
+import "google/protobuf/empty.proto";
+import "kinematics.proto";
+
+package reachy.mujoco;
+
+message MujocoObjectPose {
+    string name = 1;
+    kinematics.Matrix4x4 pose = 2;
+}
+
+message MujocoObjectsPoses {
+    repeated MujocoObjectPose poses = 1;
+}
+
+service MujocoService {
+    rpc GetObjectsPoses(google.protobuf.Empty) returns (MujocoObjectsPoses);
+}
diff --git a/python/reachy2_sdk_api/__init__.py b/python/reachy2_sdk_api/__init__.py
index efbb7db..a52553c 100644
--- a/python/reachy2_sdk_api/__init__.py
+++ b/python/reachy2_sdk_api/__init__.py
@@ -4,4 +4,4 @@
 
 sys.path.append(str(Path(__file__).parent))
 
-__version__ = "1.0.20"
+__version__ = "1.0.21"
diff --git a/python/reachy2_sdk_api/mujoco_pb2.py b/python/reachy2_sdk_api/mujoco_pb2.py
new file mode 100644
index 0000000..3edbe83
--- /dev/null
+++ b/python/reachy2_sdk_api/mujoco_pb2.py
@@ -0,0 +1,31 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: mujoco.proto
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from google.protobuf import empty_pb2 as google_dot_protobuf_dot_empty__pb2
+import kinematics_pb2 as kinematics__pb2
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x0cmujoco.proto\x12\rreachy.mujoco\x1a\x1bgoogle/protobuf/empty.proto\x1a\x10kinematics.proto\"L\n\x10MujocoObjectPose\x12\x0c\n\x04name\x18\x01 \x01(\t\x12*\n\x04pose\x18\x02 \x01(\x0b\x32\x1c.reachy.kinematics.Matrix4x4\"D\n\x12MujocoObjectsPoses\x12.\n\x05poses\x18\x01 \x03(\x0b\x32\x1f.reachy.mujoco.MujocoObjectPose2]\n\rMujocoService\x12L\n\x0fGetObjectsPoses\x12\x16.google.protobuf.Empty\x1a!.reachy.mujoco.MujocoObjectsPosesb\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'mujoco_pb2', _globals)
+if _descriptor._USE_C_DESCRIPTORS == False:
+  DESCRIPTOR._options = None
+  _globals['_MUJOCOOBJECTPOSE']._serialized_start=78
+  _globals['_MUJOCOOBJECTPOSE']._serialized_end=154
+  _globals['_MUJOCOOBJECTSPOSES']._serialized_start=156
+  _globals['_MUJOCOOBJECTSPOSES']._serialized_end=224
+  _globals['_MUJOCOSERVICE']._serialized_start=226
+  _globals['_MUJOCOSERVICE']._serialized_end=319
+# @@protoc_insertion_point(module_scope)
diff --git a/python/reachy2_sdk_api/mujoco_pb2.pyi b/python/reachy2_sdk_api/mujoco_pb2.pyi
new file mode 100644
index 0000000..239c030
--- /dev/null
+++ b/python/reachy2_sdk_api/mujoco_pb2.pyi
@@ -0,0 +1,54 @@
+"""
+@generated by mypy-protobuf.  Do not edit manually!
+isort:skip_file
+"""
+import builtins
+import collections.abc
+import google.protobuf.descriptor
+import google.protobuf.internal.containers
+import google.protobuf.message
+import kinematics_pb2
+import sys
+
+if sys.version_info >= (3, 8):
+    import typing as typing_extensions
+else:
+    import typing_extensions
+
+DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
+
+@typing_extensions.final
+class MujocoObjectPose(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    NAME_FIELD_NUMBER: builtins.int
+    POSE_FIELD_NUMBER: builtins.int
+    name: builtins.str
+    @property
+    def pose(self) -> kinematics_pb2.Matrix4x4: ...
+    def __init__(
+        self,
+        *,
+        name: builtins.str = ...,
+        pose: kinematics_pb2.Matrix4x4 | None = ...,
+    ) -> None: ...
+    def HasField(self, field_name: typing_extensions.Literal["pose", b"pose"]) -> builtins.bool: ...
+    def ClearField(self, field_name: typing_extensions.Literal["name", b"name", "pose", b"pose"]) -> None: ...
+
+global___MujocoObjectPose = MujocoObjectPose
+
+@typing_extensions.final
+class MujocoObjectsPoses(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    POSES_FIELD_NUMBER: builtins.int
+    @property
+    def poses(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___MujocoObjectPose]: ...
+    def __init__(
+        self,
+        *,
+        poses: collections.abc.Iterable[global___MujocoObjectPose] | None = ...,
+    ) -> None: ...
+    def ClearField(self, field_name: typing_extensions.Literal["poses", b"poses"]) -> None: ...
+
+global___MujocoObjectsPoses = MujocoObjectsPoses
diff --git a/python/reachy2_sdk_api/mujoco_pb2_grpc.py b/python/reachy2_sdk_api/mujoco_pb2_grpc.py
new file mode 100644
index 0000000..8fc455e
--- /dev/null
+++ b/python/reachy2_sdk_api/mujoco_pb2_grpc.py
@@ -0,0 +1,67 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+
+from google.protobuf import empty_pb2 as google_dot_protobuf_dot_empty__pb2
+import mujoco_pb2 as mujoco__pb2
+
+
+class MujocoServiceStub(object):
+    """Missing associated documentation comment in .proto file."""
+
+    def __init__(self, channel):
+        """Constructor.
+
+        Args:
+            channel: A grpc.Channel.
+        """
+        self.GetObjectsPoses = channel.unary_unary(
+                '/reachy.mujoco.MujocoService/GetObjectsPoses',
+                request_serializer=google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString,
+                response_deserializer=mujoco__pb2.MujocoObjectsPoses.FromString,
+                )
+
+
+class MujocoServiceServicer(object):
+    """Missing associated documentation comment in .proto file."""
+
+    def GetObjectsPoses(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+
+def add_MujocoServiceServicer_to_server(servicer, server):
+    rpc_method_handlers = {
+            'GetObjectsPoses': grpc.unary_unary_rpc_method_handler(
+                    servicer.GetObjectsPoses,
+                    request_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString,
+                    response_serializer=mujoco__pb2.MujocoObjectsPoses.SerializeToString,
+            ),
+    }
+    generic_handler = grpc.method_handlers_generic_handler(
+            'reachy.mujoco.MujocoService', rpc_method_handlers)
+    server.add_generic_rpc_handlers((generic_handler,))
+
+
+ # This class is part of an EXPERIMENTAL API.
+class MujocoService(object):
+    """Missing associated documentation comment in .proto file."""
+
+    @staticmethod
+    def GetObjectsPoses(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(request, target, '/reachy.mujoco.MujocoService/GetObjectsPoses',
+            google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString,
+            mujoco__pb2.MujocoObjectsPoses.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
diff --git a/python/reachy2_sdk_api/mujoco_pb2_grpc.pyi b/python/reachy2_sdk_api/mujoco_pb2_grpc.pyi
new file mode 100644
index 0000000..d64dba0
--- /dev/null
+++ b/python/reachy2_sdk_api/mujoco_pb2_grpc.pyi
@@ -0,0 +1,42 @@
+"""
+@generated by mypy-protobuf.  Do not edit manually!
+isort:skip_file
+"""
+import abc
+import collections.abc
+import google.protobuf.empty_pb2
+import grpc
+import grpc.aio
+import mujoco_pb2
+import typing
+
+_T = typing.TypeVar('_T')
+
+class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta):
+    ...
+
+class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext):  # type: ignore
+    ...
+
+class MujocoServiceStub:
+    def __init__(self, channel: typing.Union[grpc.Channel, grpc.aio.Channel]) -> None: ...
+    GetObjectsPoses: grpc.UnaryUnaryMultiCallable[
+        google.protobuf.empty_pb2.Empty,
+        mujoco_pb2.MujocoObjectsPoses,
+    ]
+
+class MujocoServiceAsyncStub:
+    GetObjectsPoses: grpc.aio.UnaryUnaryMultiCallable[
+        google.protobuf.empty_pb2.Empty,
+        mujoco_pb2.MujocoObjectsPoses,
+    ]
+
+class MujocoServiceServicer(metaclass=abc.ABCMeta):
+    @abc.abstractmethod
+    def GetObjectsPoses(
+        self,
+        request: google.protobuf.empty_pb2.Empty,
+        context: _ServicerContext,
+    ) -> typing.Union[mujoco_pb2.MujocoObjectsPoses, collections.abc.Awaitable[mujoco_pb2.MujocoObjectsPoses]]: ...
+
+def add_MujocoServiceServicer_to_server(servicer: MujocoServiceServicer, server: typing.Union[grpc.Server, grpc.aio.Server]) -> None: ...