ugh, check the right version of the mtp stubs in...

robots/mtp/mtp_config_rmc.java

 /*
- * Automatically generated by jrpcgen 1.0.5 on 1/8/05 2:03 PM
+ * Automatically generated by jrpcgen 1.0.5 on 14-Feb-05 4:35:56 PM
  * jrpcgen is part of the "Remote Tea" ONC/RPC package for Java
  * See http://acplt.org/ks/remotetea.html for details
  */
@@ -9,7 +9,8 @@ import java.io.IOException;
 
 public class mtp_config_rmc implements XdrAble {
     public robot_config [] robots;
-    public global_bound box;
+    public box [] bounds;
+    public obstacle_config [] obstacles;
 
     public mtp_config_rmc() {
     }
@@ -22,13 +23,15 @@ public class mtp_config_rmc implements XdrAble {
     public void xdrEncode(XdrEncodingStream xdr)
            throws OncRpcException, IOException {
         { int $size = robots.length; xdr.xdrEncodeInt($size); for ( int $idx = 0; $idx < $size; ++$idx ) { robots[$idx].xdrEncode(xdr); } }
-        box.xdrEncode(xdr);
+        { int $size = bounds.length; xdr.xdrEncodeInt($size); for ( int $idx = 0; $idx < $size; ++$idx ) { bounds[$idx].xdrEncode(xdr); } }
+        { int $size = obstacles.length; xdr.xdrEncodeInt($size); for ( int $idx = 0; $idx < $size; ++$idx ) { obstacles[$idx].xdrEncode(xdr); } }
     }
 
     public void xdrDecode(XdrDecodingStream xdr)
            throws OncRpcException, IOException {
         { int $size = xdr.xdrDecodeInt(); robots = new robot_config[$size]; for ( int $idx = 0; $idx < $size; ++$idx ) { robots[$idx] = new robot_config(xdr); } }
-        box = new global_bound(xdr);
+        { int $size = xdr.xdrDecodeInt(); bounds = new box[$size]; for ( int $idx = 0; $idx < $size; ++$idx ) { bounds[$idx] = new box(xdr); } }
+        { int $size = xdr.xdrDecodeInt(); obstacles = new obstacle_config[$size]; for ( int $idx = 0; $idx < $size; ++$idx ) { obstacles[$idx] = new obstacle_config(xdr); } }
     }
 
 }

robots/mtp/mtp_config_vmc.java

 /*
- * Automatically generated by jrpcgen 1.0.5 on 1/8/05 2:03 PM
+ * Automatically generated by jrpcgen 1.0.5 on 14-Feb-05 4:35:56 PM
  * jrpcgen is part of the "Remote Tea" ONC/RPC package for Java
  * See http://acplt.org/ks/remotetea.html for details
  */
@@ -9,6 +9,7 @@ import java.io.IOException;
 
 public class mtp_config_vmc implements XdrAble {
     public robot_config [] robots;
+    public camera_config [] cameras;
 
     public mtp_config_vmc() {
     }
@@ -21,11 +22,13 @@ public class mtp_config_vmc implements XdrAble {
     public void xdrEncode(XdrEncodingStream xdr)
            throws OncRpcException, IOException {
         { int $size = robots.length; xdr.xdrEncodeInt($size); for ( int $idx = 0; $idx < $size; ++$idx ) { robots[$idx].xdrEncode(xdr); } }
+        { int $size = cameras.length; xdr.xdrEncodeInt($size); for ( int $idx = 0; $idx < $size; ++$idx ) { cameras[$idx].xdrEncode(xdr); } }
     }
 
     public void xdrDecode(XdrDecodingStream xdr)
            throws OncRpcException, IOException {
         { int $size = xdr.xdrDecodeInt(); robots = new robot_config[$size]; for ( int $idx = 0; $idx < $size; ++$idx ) { robots[$idx] = new robot_config(xdr); } }
+        { int $size = xdr.xdrDecodeInt(); cameras = new camera_config[$size]; for ( int $idx = 0; $idx < $size; ++$idx ) { cameras[$idx] = new camera_config(xdr); } }
     }
 
 }

robots/mtp/mtp_garcia_telemetry.java

 /*
- * Automatically generated by jrpcgen 1.0.5 on 1/8/05 2:03 PM
+ * Automatically generated by jrpcgen 1.0.5 on 14-Feb-05 4:35:56 PM
  * jrpcgen is part of the "Remote Tea" ONC/RPC package for Java
  * See http://acplt.org/ks/remotetea.html for details
  */
@@ -8,6 +8,7 @@ import org.acplt.oncrpc.*;
 import java.io.IOException;
 
 public class mtp_garcia_telemetry implements XdrAble {
+    public int robot_id;
     public float battery_level;
     public float battery_voltage;
     public int battery_misses;
@@ -36,6 +37,7 @@ public class mtp_garcia_telemetry implements XdrAble {
     public int idle;
     public int user_button;
     public int user_led;
+    public int stall_contact;
 
     public mtp_garcia_telemetry() {
     }
@@ -47,6 +49,7 @@ public class mtp_garcia_telemetry implements XdrAble {
 
     public void xdrEncode(XdrEncodingStream xdr)
            throws OncRpcException, IOException {
+        xdr.xdrEncodeInt(robot_id);
         xdr.xdrEncodeFloat(battery_level);
         xdr.xdrEncodeFloat(battery_voltage);
         xdr.xdrEncodeInt(battery_misses);
@@ -75,10 +78,12 @@ public class mtp_garcia_telemetry implements XdrAble {
         xdr.xdrEncodeInt(idle);
         xdr.xdrEncodeInt(user_button);
         xdr.xdrEncodeInt(user_led);
+        xdr.xdrEncodeInt(stall_contact);
     }
 
     public void xdrDecode(XdrDecodingStream xdr)
            throws OncRpcException, IOException {
+        robot_id = xdr.xdrDecodeInt();
         battery_level = xdr.xdrDecodeFloat();
         battery_voltage = xdr.xdrDecodeFloat();
         battery_misses = xdr.xdrDecodeInt();
@@ -107,6 +112,7 @@ public class mtp_garcia_telemetry implements XdrAble {
         idle = xdr.xdrDecodeInt();
         user_button = xdr.xdrDecodeInt();
         user_led = xdr.xdrDecodeInt();
+        stall_contact = xdr.xdrDecodeInt();
     }
 
 }

robots/mtp/mtp_opcode_t.java

 /*
- * Automatically generated by jrpcgen 1.0.5 on 1/8/05 2:03 PM
+ * Automatically generated by jrpcgen 1.0.5 on 14-Feb-05 4:35:56 PM
  * jrpcgen is part of the "Remote Tea" ONC/RPC package for Java
  * See http://acplt.org/ks/remotetea.html for details
  */
@@ -25,7 +25,11 @@ public interface mtp_opcode_t {
     public static final int MTP_COMMAND_GOTO = 50;
     public static final int MTP_COMMAND_STOP = 51;
     public static final int MTP_TELEMETRY = 60;
-    public static final int MTP_OPCODE_MAX = 60+1;
+    public static final int MTP_WIGGLE_REQUEST = 70;
+    public static final int MTP_WIGGLE_STATUS = 71;
+    public static final int MTP_REQUEST_REPORT = 80;
+    public static final int MTP_CONTACT_REPORT = 81;
+    public static final int MTP_OPCODE_MAX = 81+1;
 
 }
 // End of mtp_opcode_t.java

robots/mtp/mtp_payload.java

 /*
- * Automatically generated by jrpcgen 1.0.5 on 1/8/05 2:03 PM
+ * Automatically generated by jrpcgen 1.0.5 on 14-Feb-05 4:35:56 PM
  * jrpcgen is part of the "Remote Tea" ONC/RPC package for Java
  * See http://acplt.org/ks/remotetea.html for details
  */
@@ -22,6 +22,10 @@ public class mtp_payload implements XdrAble {
     public mtp_command_goto command_goto;
     public mtp_command_stop command_stop;
     public mtp_telemetry telemetry;
+    public mtp_wiggle_request wiggle_request;
+    public mtp_wiggle_status wiggle_status;
+    public mtp_request_position request_report;
+    public mtp_contact_report contact_report;
 
     public mtp_payload() {
     }
@@ -74,6 +78,18 @@ public class mtp_payload implements XdrAble {
         case mtp_opcode_t.MTP_TELEMETRY:
             telemetry.xdrEncode(xdr);
             break;
+        case mtp_opcode_t.MTP_WIGGLE_REQUEST:
+            wiggle_request.xdrEncode(xdr);
+            break;
+        case mtp_opcode_t.MTP_WIGGLE_STATUS:
+            wiggle_status.xdrEncode(xdr);
+            break;
+        case mtp_opcode_t.MTP_REQUEST_REPORT:
+            request_report.xdrEncode(xdr);
+            break;
+        case mtp_opcode_t.MTP_CONTACT_REPORT:
+            contact_report.xdrEncode(xdr);
+            break;
         }
     }
 
@@ -120,6 +136,18 @@ public class mtp_payload implements XdrAble {
         case mtp_opcode_t.MTP_TELEMETRY:
             telemetry = new mtp_telemetry(xdr);
             break;
+        case mtp_opcode_t.MTP_WIGGLE_REQUEST:
+            wiggle_request = new mtp_wiggle_request(xdr);
+            break;
+        case mtp_opcode_t.MTP_WIGGLE_STATUS:
+            wiggle_status = new mtp_wiggle_status(xdr);
+            break;
+        case mtp_opcode_t.MTP_REQUEST_REPORT:
+            request_report = new mtp_request_position(xdr);
+            break;
+        case mtp_opcode_t.MTP_CONTACT_REPORT:
+            contact_report = new mtp_contact_report(xdr);
+            break;
         }
     }
 

robots/mtp/mtp_status_t.java

 /*
- * Automatically generated by jrpcgen 1.0.5 on 1/8/05 2:03 PM
+ * Automatically generated by jrpcgen 1.0.5 on 14-Feb-05 4:35:56 PM
  * jrpcgen is part of the "Remote Tea" ONC/RPC package for Java
  * See http://acplt.org/ks/remotetea.html for details
  */
@@ -17,7 +17,8 @@ public interface mtp_status_t {
     public static final int MTP_POSITION_STATUS_MOVING = 2;
     public static final int MTP_POSITION_STATUS_ERROR = 3;
     public static final int MTP_POSITION_STATUS_COMPLETE = 4;
-    public static final int MTP_POSITION_STATUS_OBSTRUCTED = 5;
+    public static final int MTP_POSITION_STATUS_CONTACT = 5;
+    public static final int MTP_POSITION_STATUS_ABORTED = 6;
     public static final int MTP_POSITION_STATUS_CYCLE_COMPLETE = 32;
 
 }

robots/mtp/mtp_update_position.java

 /*
- * Automatically generated by jrpcgen 1.0.5 on 1/8/05 2:03 PM
+ * Automatically generated by jrpcgen 1.0.5 on 14-Feb-05 4:35:56 PM
  * jrpcgen is part of the "Remote Tea" ONC/RPC package for Java
  * See http://acplt.org/ks/remotetea.html for details
  */
@@ -11,6 +11,7 @@ public class mtp_update_position implements XdrAble {
     public int robot_id;
     public robot_position position;
     public int status;
+    public int command_id;
 
     public mtp_update_position() {
     }
@@ -25,6 +26,7 @@ public class mtp_update_position implements XdrAble {
         xdr.xdrEncodeInt(robot_id);
         position.xdrEncode(xdr);
         xdr.xdrEncodeInt(status);
+        xdr.xdrEncodeInt(command_id);
     }
 
     public void xdrDecode(XdrDecodingStream xdr)
@@ -32,6 +34,7 @@ public class mtp_update_position implements XdrAble {
         robot_id = xdr.xdrDecodeInt();
         position = new robot_position(xdr);
         status = xdr.xdrDecodeInt();
+        command_id = xdr.xdrDecodeInt();
     }
 
 }