diff --git a/include/ugv_sdk/agilex_message.h b/include/ugv_sdk/agilex_message.h
index 0c82ba4..557e6e0 100644
--- a/include/ugv_sdk/agilex_message.h
+++ b/include/ugv_sdk/agilex_message.h
@@ -123,7 +123,7 @@ typedef struct {
   int8_t var_a;
 } RcStateMessage;
 
-// 0x251 - 0x254
+// 0x251 - 0x258
 typedef struct {
   uint8_t motor_id;
   int16_t rpm;
diff --git a/include/ugv_sdk/ranger_base.hpp b/include/ugv_sdk/ranger_base.hpp
index b46a211..f4b7426 100644
--- a/include/ugv_sdk/ranger_base.hpp
+++ b/include/ugv_sdk/ranger_base.hpp
@@ -24,10 +24,12 @@ struct RangerState {
   MotionStateMessage motion_state;
   LightStateMessage light_state;
 
+
+
   RcStateMessage rc_state;
 
-  ActuatorHSStateMessage actuator_hs_state[4];
-  ActuatorLSStateMessage actuator_ls_state[4];
+  ActuatorHSStateMessage actuator_hs_state[8];
+  ActuatorLSStateMessage actuator_ls_state[8];
 
   // sensor data
   OdometryMessage odometry;
diff --git a/src/agx_msg_parser.c b/src/agx_msg_parser.c
index 395d8a4..406dd3d 100644
--- a/src/agx_msg_parser.c
+++ b/src/agx_msg_parser.c
@@ -145,7 +145,11 @@ bool DecodeCanFrame(const struct can_frame *rx_frame, AgxMessage *msg) {
     case CAN_MSG_ACTUATOR1_HS_STATE_ID:
     case CAN_MSG_ACTUATOR2_HS_STATE_ID:
     case CAN_MSG_ACTUATOR3_HS_STATE_ID:
-    case CAN_MSG_ACTUATOR4_HS_STATE_ID: {
+    case CAN_MSG_ACTUATOR4_HS_STATE_ID:
+    case CAN_MSG_ACTUATOR5_HS_STATE_ID:
+    case CAN_MSG_ACTUATOR6_HS_STATE_ID:
+    case CAN_MSG_ACTUATOR7_HS_STATE_ID:
+    case CAN_MSG_ACTUATOR8_HS_STATE_ID: {
       msg->type = AgxMsgActuatorHSState;
       ActuatorHSStateFrame *frame = (ActuatorHSStateFrame *)(rx_frame->data);
       msg->body.actuator_hs_state_msg.motor_id =
@@ -167,7 +171,11 @@ bool DecodeCanFrame(const struct can_frame *rx_frame, AgxMessage *msg) {
     case CAN_MSG_ACTUATOR1_LS_STATE_ID:
     case CAN_MSG_ACTUATOR2_LS_STATE_ID:
     case CAN_MSG_ACTUATOR3_LS_STATE_ID:
-    case CAN_MSG_ACTUATOR4_LS_STATE_ID: {
+    case CAN_MSG_ACTUATOR4_LS_STATE_ID:
+    case CAN_MSG_ACTUATOR5_LS_STATE_ID:
+    case CAN_MSG_ACTUATOR6_LS_STATE_ID:
+    case CAN_MSG_ACTUATOR7_LS_STATE_ID:
+    case CAN_MSG_ACTUATOR8_LS_STATE_ID: {
       msg->type = AgxMsgActuatorLSState;
       ActuatorLSStateFrame *frame = (ActuatorLSStateFrame *)(rx_frame->data);
       msg->body.actuator_hs_state_msg.motor_id =