diff --git a/protos/orbita3d.proto b/protos/orbita3d.proto
index 9b25412..084a1dd 100644
--- a/protos/orbita3d.proto
+++ b/protos/orbita3d.proto
@@ -36,13 +36,13 @@ message Orbita3DState {
     string name = 2;
     uint32 id = 3;
 
-    Float3D present_position = 4;
-    Float3D present_speed = 5;
-    Float3D present_load = 6;
+    reachy.kinematics.Rotation3D present_position = 4;
+    Vector3D present_speed = 5;
+    Vector3D present_load = 6;
     Float3D temperature = 7;
 
     google.protobuf.BoolValue compliant = 8;
-    Float3D goal_position = 9;
+    reachy.kinematics.Rotation3D goal_position = 9;
     Float3D speed_limit = 10;
     Float3D torque_limit = 11;
 
@@ -60,22 +60,28 @@ message Orbita3DStreamStateRequest {
 }
 
 message PID3D {
-    PIDGains roll = 1;
-    PIDGains pitch = 2;
-    PIDGains yaw = 3;
+    PIDGains motor_1 = 1;
+    PIDGains motor_2 = 2;
+    PIDGains motor_3 = 3;
 }
 
 message Float3D {
-    float roll = 1;
-    float pitch = 2;
-    float yaw = 3;
+    float motor_1 = 1;
+    float motor_2 = 2;
+    float motor_3 = 3;
+}
+
+message Vector3D {
+    float x = 1;
+    float y = 2;
+    float z = 3;
 }
 
 message Orbita3DCommand {
     component.ComponentId id = 1;
 
     google.protobuf.BoolValue compliant = 2;
-    reachy.kinematics.Quaternion goal_position = 3;
+    reachy.kinematics.Rotation3D goal_position = 3;
     Float3D speed_limit = 4;
     Float3D torque_limit = 5;
 }
diff --git a/python/reachy_sdk_api_v2/orbita3d_pb2.py b/python/reachy_sdk_api_v2/orbita3d_pb2.py
index c20ecdb..cd43511 100644
--- a/python/reachy_sdk_api_v2/orbita3d_pb2.py
+++ b/python/reachy_sdk_api_v2/orbita3d_pb2.py
@@ -20,7 +20,7 @@
 import kinematics_pb2 as kinematics__pb2
 
 
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x0eorbita3d.proto\x12\x12\x63omponent.orbita3d\x1a\x1fgoogle/protobuf/timestamp.proto\x1a\x1bgoogle/protobuf/empty.proto\x1a\x1egoogle/protobuf/wrappers.proto\x1a\x0f\x63omponent.proto\x1a\x10kinematics.proto\"\x98\x04\n\rOrbita3DState\x12-\n\ttimestamp\x18\x01 \x01(\x0b\x32\x1a.google.protobuf.Timestamp\x12\x0c\n\x04name\x18\x02 \x01(\t\x12\n\n\x02id\x18\x03 \x01(\r\x12\x35\n\x10present_position\x18\x04 \x01(\x0b\x32\x1b.component.orbita3d.Float3D\x12\x32\n\rpresent_speed\x18\x05 \x01(\x0b\x32\x1b.component.orbita3d.Float3D\x12\x31\n\x0cpresent_load\x18\x06 \x01(\x0b\x32\x1b.component.orbita3d.Float3D\x12\x30\n\x0btemperature\x18\x07 \x01(\x0b\x32\x1b.component.orbita3d.Float3D\x12-\n\tcompliant\x18\x08 \x01(\x0b\x32\x1a.google.protobuf.BoolValue\x12\x32\n\rgoal_position\x18\t \x01(\x0b\x32\x1b.component.orbita3d.Float3D\x12\x30\n\x0bspeed_limit\x18\n \x01(\x0b\x32\x1b.component.orbita3d.Float3D\x12\x31\n\x0ctorque_limit\x18\x0b \x01(\x0b\x32\x1b.component.orbita3d.Float3D\x12&\n\x03pid\x18\x0c \x01(\x0b\x32\x19.component.orbita3d.PID3D\"m\n\x14Orbita3DStateRequest\x12\x31\n\x06\x66ields\x18\x01 \x03(\x0e\x32!.component.orbita3d.Orbita3DField\x12\"\n\x02id\x18\x02 \x01(\x0b\x32\x16.component.ComponentId\"a\n\x1aOrbita3DStreamStateRequest\x12\x35\n\x03req\x18\x01 \x01(\x0b\x32(.component.orbita3d.Orbita3DStateRequest\x12\x0c\n\x04\x66req\x18\x02 \x01(\x02\"p\n\x05PID3D\x12!\n\x04roll\x18\x01 \x01(\x0b\x32\x13.component.PIDGains\x12\"\n\x05pitch\x18\x02 \x01(\x0b\x32\x13.component.PIDGains\x12 \n\x03yaw\x18\x03 \x01(\x0b\x32\x13.component.PIDGains\"3\n\x07\x46loat3D\x12\x0c\n\x04roll\x18\x01 \x01(\x02\x12\r\n\x05pitch\x18\x02 \x01(\x02\x12\x0b\n\x03yaw\x18\x03 \x01(\x02\"\xff\x01\n\x0fOrbita3DCommand\x12\"\n\x02id\x18\x01 \x01(\x0b\x32\x16.component.ComponentId\x12-\n\tcompliant\x18\x02 \x01(\x0b\x32\x1a.google.protobuf.BoolValue\x12\x34\n\rgoal_position\x18\x03 \x01(\x0b\x32\x1d.reachy.kinematics.Quaternion\x12\x30\n\x0bspeed_limit\x18\x04 \x01(\x0b\x32\x1b.component.orbita3d.Float3D\x12\x31\n\x0ctorque_limit\x18\x05 \x01(\x0b\x32\x1b.component.orbita3d.Float3D\"I\n\x0cOrbita3DInfo\x12\"\n\x02id\x18\x01 \x01(\x0b\x32\x16.component.ComponentId\x12\x15\n\rserial_number\x18\x02 \x01(\t\"D\n\x12ListOfOrbita3DInfo\x12.\n\x04info\x18\x01 \x03(\x0b\x32 .component.orbita3d.Orbita3DInfo\"\x10\n\x0eOrbita3DStatus*\xdf\x01\n\rOrbita3DField\x12\x08\n\x04NONE\x10\x00\x12\x08\n\x04NAME\x10\x01\x12\x06\n\x02ID\x10\x02\x12\x14\n\x10PRESENT_POSITION\x10\x03\x12\x11\n\rPRESENT_SPEED\x10\x04\x12\x10\n\x0cPRESENT_LOAD\x10\x05\x12\x0f\n\x0bTEMPERATURE\x10\x06\x12\x0f\n\x0bJOINT_LIMIT\x10\x07\x12\r\n\tCOMPLIANT\x10\x08\x12\x11\n\rGOAL_POSITION\x10\t\x12\x0f\n\x0bSPEED_LIMIT\x10\n\x12\x10\n\x0cTORQUE_LIMIT\x10\x0b\x12\x07\n\x03PID\x10\x0c\x12\x07\n\x03\x41LL\x10\x0f\x32\xf9\x04\n\x0fOrbita3DService\x12P\n\x0eGetAllOrbita3D\x12\x16.google.protobuf.Empty\x1a&.component.orbita3d.ListOfOrbita3DInfo\x12W\n\x08GetState\x12(.component.orbita3d.Orbita3DStateRequest\x1a!.component.orbita3d.Orbita3DState\x12\x62\n\x0bStreamState\x12..component.orbita3d.Orbita3DStreamStateRequest\x1a!.component.orbita3d.Orbita3DState0\x01\x12J\n\x0bSendCommand\x12#.component.orbita3d.Orbita3DCommand\x1a\x16.google.protobuf.Empty\x12N\n\rStreamCommand\x12#.component.orbita3d.Orbita3DCommand\x1a\x16.google.protobuf.Empty(\x01\x12\x43\n\x05\x41udit\x12\x16.component.ComponentId\x1a\".component.orbita3d.Orbita3DStatus\x12;\n\tHeartBeat\x12\x16.component.ComponentId\x1a\x16.google.protobuf.Empty\x12\x39\n\x07Restart\x12\x16.component.ComponentId\x1a\x16.google.protobuf.Emptyb\x06proto3')
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x0eorbita3d.proto\x12\x12\x63omponent.orbita3d\x1a\x1fgoogle/protobuf/timestamp.proto\x1a\x1bgoogle/protobuf/empty.proto\x1a\x1egoogle/protobuf/wrappers.proto\x1a\x0f\x63omponent.proto\x1a\x10kinematics.proto\"\x9e\x04\n\rOrbita3DState\x12-\n\ttimestamp\x18\x01 \x01(\x0b\x32\x1a.google.protobuf.Timestamp\x12\x0c\n\x04name\x18\x02 \x01(\t\x12\n\n\x02id\x18\x03 \x01(\r\x12\x37\n\x10present_position\x18\x04 \x01(\x0b\x32\x1d.reachy.kinematics.Rotation3D\x12\x33\n\rpresent_speed\x18\x05 \x01(\x0b\x32\x1c.component.orbita3d.Vector3D\x12\x32\n\x0cpresent_load\x18\x06 \x01(\x0b\x32\x1c.component.orbita3d.Vector3D\x12\x30\n\x0btemperature\x18\x07 \x01(\x0b\x32\x1b.component.orbita3d.Float3D\x12-\n\tcompliant\x18\x08 \x01(\x0b\x32\x1a.google.protobuf.BoolValue\x12\x34\n\rgoal_position\x18\t \x01(\x0b\x32\x1d.reachy.kinematics.Rotation3D\x12\x30\n\x0bspeed_limit\x18\n \x01(\x0b\x32\x1b.component.orbita3d.Float3D\x12\x31\n\x0ctorque_limit\x18\x0b \x01(\x0b\x32\x1b.component.orbita3d.Float3D\x12&\n\x03pid\x18\x0c \x01(\x0b\x32\x19.component.orbita3d.PID3D\"m\n\x14Orbita3DStateRequest\x12\x31\n\x06\x66ields\x18\x01 \x03(\x0e\x32!.component.orbita3d.Orbita3DField\x12\"\n\x02id\x18\x02 \x01(\x0b\x32\x16.component.ComponentId\"a\n\x1aOrbita3DStreamStateRequest\x12\x35\n\x03req\x18\x01 \x01(\x0b\x32(.component.orbita3d.Orbita3DStateRequest\x12\x0c\n\x04\x66req\x18\x02 \x01(\x02\"y\n\x05PID3D\x12$\n\x07motor_1\x18\x01 \x01(\x0b\x32\x13.component.PIDGains\x12$\n\x07motor_2\x18\x02 \x01(\x0b\x32\x13.component.PIDGains\x12$\n\x07motor_3\x18\x03 \x01(\x0b\x32\x13.component.PIDGains\"<\n\x07\x46loat3D\x12\x0f\n\x07motor_1\x18\x01 \x01(\x02\x12\x0f\n\x07motor_2\x18\x02 \x01(\x02\x12\x0f\n\x07motor_3\x18\x03 \x01(\x02\"+\n\x08Vector3D\x12\t\n\x01x\x18\x01 \x01(\x02\x12\t\n\x01y\x18\x02 \x01(\x02\x12\t\n\x01z\x18\x03 \x01(\x02\"\xff\x01\n\x0fOrbita3DCommand\x12\"\n\x02id\x18\x01 \x01(\x0b\x32\x16.component.ComponentId\x12-\n\tcompliant\x18\x02 \x01(\x0b\x32\x1a.google.protobuf.BoolValue\x12\x34\n\rgoal_position\x18\x03 \x01(\x0b\x32\x1d.reachy.kinematics.Rotation3D\x12\x30\n\x0bspeed_limit\x18\x04 \x01(\x0b\x32\x1b.component.orbita3d.Float3D\x12\x31\n\x0ctorque_limit\x18\x05 \x01(\x0b\x32\x1b.component.orbita3d.Float3D\"I\n\x0cOrbita3DInfo\x12\"\n\x02id\x18\x01 \x01(\x0b\x32\x16.component.ComponentId\x12\x15\n\rserial_number\x18\x02 \x01(\t\"D\n\x12ListOfOrbita3DInfo\x12.\n\x04info\x18\x01 \x03(\x0b\x32 .component.orbita3d.Orbita3DInfo\"\x10\n\x0eOrbita3DStatus*\xdf\x01\n\rOrbita3DField\x12\x08\n\x04NONE\x10\x00\x12\x08\n\x04NAME\x10\x01\x12\x06\n\x02ID\x10\x02\x12\x14\n\x10PRESENT_POSITION\x10\x03\x12\x11\n\rPRESENT_SPEED\x10\x04\x12\x10\n\x0cPRESENT_LOAD\x10\x05\x12\x0f\n\x0bTEMPERATURE\x10\x06\x12\x0f\n\x0bJOINT_LIMIT\x10\x07\x12\r\n\tCOMPLIANT\x10\x08\x12\x11\n\rGOAL_POSITION\x10\t\x12\x0f\n\x0bSPEED_LIMIT\x10\n\x12\x10\n\x0cTORQUE_LIMIT\x10\x0b\x12\x07\n\x03PID\x10\x0c\x12\x07\n\x03\x41LL\x10\x0f\x32\xf9\x04\n\x0fOrbita3DService\x12P\n\x0eGetAllOrbita3D\x12\x16.google.protobuf.Empty\x1a&.component.orbita3d.ListOfOrbita3DInfo\x12W\n\x08GetState\x12(.component.orbita3d.Orbita3DStateRequest\x1a!.component.orbita3d.Orbita3DState\x12\x62\n\x0bStreamState\x12..component.orbita3d.Orbita3DStreamStateRequest\x1a!.component.orbita3d.Orbita3DState0\x01\x12J\n\x0bSendCommand\x12#.component.orbita3d.Orbita3DCommand\x1a\x16.google.protobuf.Empty\x12N\n\rStreamCommand\x12#.component.orbita3d.Orbita3DCommand\x1a\x16.google.protobuf.Empty(\x01\x12\x43\n\x05\x41udit\x12\x16.component.ComponentId\x1a\".component.orbita3d.Orbita3DStatus\x12;\n\tHeartBeat\x12\x16.component.ComponentId\x1a\x16.google.protobuf.Empty\x12\x39\n\x07Restart\x12\x16.component.ComponentId\x1a\x16.google.protobuf.Emptyb\x06proto3')
 
 _ORBITA3DFIELD = DESCRIPTOR.enum_types_by_name['Orbita3DField']
 Orbita3DField = enum_type_wrapper.EnumTypeWrapper(_ORBITA3DFIELD)
@@ -45,6 +45,7 @@
 _ORBITA3DSTREAMSTATEREQUEST = DESCRIPTOR.message_types_by_name['Orbita3DStreamStateRequest']
 _PID3D = DESCRIPTOR.message_types_by_name['PID3D']
 _FLOAT3D = DESCRIPTOR.message_types_by_name['Float3D']
+_VECTOR3D = DESCRIPTOR.message_types_by_name['Vector3D']
 _ORBITA3DCOMMAND = DESCRIPTOR.message_types_by_name['Orbita3DCommand']
 _ORBITA3DINFO = DESCRIPTOR.message_types_by_name['Orbita3DInfo']
 _LISTOFORBITA3DINFO = DESCRIPTOR.message_types_by_name['ListOfOrbita3DInfo']
@@ -84,6 +85,13 @@
   })
 _sym_db.RegisterMessage(Float3D)
 
+Vector3D = _reflection.GeneratedProtocolMessageType('Vector3D', (_message.Message,), {
+  'DESCRIPTOR' : _VECTOR3D,
+  '__module__' : 'orbita3d_pb2'
+  # @@protoc_insertion_point(class_scope:component.orbita3d.Vector3D)
+  })
+_sym_db.RegisterMessage(Vector3D)
+
 Orbita3DCommand = _reflection.GeneratedProtocolMessageType('Orbita3DCommand', (_message.Message,), {
   'DESCRIPTOR' : _ORBITA3DCOMMAND,
   '__module__' : 'orbita3d_pb2'
@@ -116,26 +124,28 @@
 if _descriptor._USE_C_DESCRIPTORS == False:
 
   DESCRIPTOR._options = None
-  _ORBITA3DFIELD._serialized_start=1505
-  _ORBITA3DFIELD._serialized_end=1728
+  _ORBITA3DFIELD._serialized_start=1574
+  _ORBITA3DFIELD._serialized_end=1797
   _ORBITA3DSTATE._serialized_start=168
-  _ORBITA3DSTATE._serialized_end=704
-  _ORBITA3DSTATEREQUEST._serialized_start=706
-  _ORBITA3DSTATEREQUEST._serialized_end=815
-  _ORBITA3DSTREAMSTATEREQUEST._serialized_start=817
-  _ORBITA3DSTREAMSTATEREQUEST._serialized_end=914
-  _PID3D._serialized_start=916
-  _PID3D._serialized_end=1028
-  _FLOAT3D._serialized_start=1030
-  _FLOAT3D._serialized_end=1081
-  _ORBITA3DCOMMAND._serialized_start=1084
-  _ORBITA3DCOMMAND._serialized_end=1339
-  _ORBITA3DINFO._serialized_start=1341
-  _ORBITA3DINFO._serialized_end=1414
-  _LISTOFORBITA3DINFO._serialized_start=1416
-  _LISTOFORBITA3DINFO._serialized_end=1484
-  _ORBITA3DSTATUS._serialized_start=1486
-  _ORBITA3DSTATUS._serialized_end=1502
-  _ORBITA3DSERVICE._serialized_start=1731
-  _ORBITA3DSERVICE._serialized_end=2364
+  _ORBITA3DSTATE._serialized_end=710
+  _ORBITA3DSTATEREQUEST._serialized_start=712
+  _ORBITA3DSTATEREQUEST._serialized_end=821
+  _ORBITA3DSTREAMSTATEREQUEST._serialized_start=823
+  _ORBITA3DSTREAMSTATEREQUEST._serialized_end=920
+  _PID3D._serialized_start=922
+  _PID3D._serialized_end=1043
+  _FLOAT3D._serialized_start=1045
+  _FLOAT3D._serialized_end=1105
+  _VECTOR3D._serialized_start=1107
+  _VECTOR3D._serialized_end=1150
+  _ORBITA3DCOMMAND._serialized_start=1153
+  _ORBITA3DCOMMAND._serialized_end=1408
+  _ORBITA3DINFO._serialized_start=1410
+  _ORBITA3DINFO._serialized_end=1483
+  _LISTOFORBITA3DINFO._serialized_start=1485
+  _LISTOFORBITA3DINFO._serialized_end=1553
+  _ORBITA3DSTATUS._serialized_start=1555
+  _ORBITA3DSTATUS._serialized_end=1571
+  _ORBITA3DSERVICE._serialized_start=1800
+  _ORBITA3DSERVICE._serialized_end=2433
 # @@protoc_insertion_point(module_scope)