diff --git a/Cargo.lock b/Cargo.lock
index f01231e..24be539 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -851,7 +851,7 @@ dependencies = [
 
 [[package]]
 name = "lebai-proto"
-version = "3.2.3"
+version = "3.2.4"
 dependencies = [
  "jsonrpsee",
  "pbjson",
@@ -866,7 +866,7 @@ dependencies = [
 
 [[package]]
 name = "lebai_sdk"
-version = "0.2.21"
+version = "0.2.22"
 dependencies = [
  "async-lock",
  "cmod",
diff --git a/Cargo.toml b/Cargo.toml
index ad931ab..8c53349 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -5,7 +5,7 @@ edition = "2021"
 license-file = "LICENSE"
 name = "lebai_sdk"
 repository = "https://github.com/lebai-robotics/lebai-sdk.rs"
-version = "0.2.21"
+version = "0.2.22"
 
 [workspace]
 members = [
diff --git a/proto/Cargo.toml b/proto/Cargo.toml
index 50e8a34..b243590 100644
--- a/proto/Cargo.toml
+++ b/proto/Cargo.toml
@@ -6,7 +6,7 @@ keywords = ["protobuf"]
 license = "MIT"
 name = "lebai-proto"
 repository = "https://github.com/lebai-robotics/lebai-sdk.rs"
-version = "3.2.3"
+version = "3.2.4"
 
 [dependencies]
 jsonrpsee = {version = "0.24", features = ["client-core", "macros"]}
diff --git a/proto/lebai-proto b/proto/lebai-proto
index 3e38aa2..ffdeb18 160000
--- a/proto/lebai-proto
+++ b/proto/lebai-proto
@@ -1 +1 @@
-Subproject commit 3e38aa2d2788e2eb0a81c3feabce49d0027a6f4a
+Subproject commit ffdeb18116ea93df2deb5cd64324ae616a76910d
diff --git a/src/lib.rs b/src/lib.rs
index 4220fcb..9420285 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -84,6 +84,11 @@ mod lebai_sdk {
 
         // Posture
         #[classmethod]
+        #[cmod::tags(args(p))]
+        pub async fn measure_manipulation(&self, p: JointPose) -> Result<f64> {
+            self.0.measure_manipulation(p).await
+        }
+        #[classmethod]
         #[cmod::tags(args(p), ret)]
         pub async fn kinematics_forward(&self, p: Pose) -> Result<CartesianPose> {
             self.0.kinematics_forward(p).await
diff --git a/src/rpc/posture.rs b/src/rpc/posture.rs
index 472117e..c47b734 100644
--- a/src/rpc/posture.rs
+++ b/src/rpc/posture.rs
@@ -5,6 +5,10 @@ use proto::lebai::posture::{self, *};
 use proto::serde::posture::{CartesianPose, JointPose, Pose};
 
 impl Robot {
+    pub async fn measure_manipulation(&self, p: JointPose) -> Result<f64> {
+        let ret = self.c.measure_manipulation(Some(p.into())).await.map_err(|e| e.to_string())?;
+        Ok(ret.manipulation)
+    }
     pub async fn kinematics_forward(&self, p: Pose) -> Result<CartesianPose> {
         let req = PoseRequest { pose: Some(p.into()) };
         let pose = self.c.get_forward_kin(Some(req)).await.map_err(|e| e.to_string())?;