diff --git a/autoware_adapi_v1_msgs/CMakeLists.txt b/autoware_adapi_v1_msgs/CMakeLists.txt
index 91ffe11..61d9358 100644
--- a/autoware_adapi_v1_msgs/CMakeLists.txt
+++ b/autoware_adapi_v1_msgs/CMakeLists.txt
@@ -6,6 +6,7 @@ ament_auto_find_build_dependencies()
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   common/msg/ResponseStatus.msg
+  common/msg/KeyValue.msg
   localization/msg/LocalizationInitializationState.msg
   localization/srv/InitializeLocalization.srv
   routing/msg/RouteState.msg
@@ -36,6 +37,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   planning/msg/CooperationDecision.msg
   planning/msg/CooperationPolicy.msg
   planning/msg/CooperationStatus.msg
+  planning/msg/CooperationStatusArray.msg
   planning/srv/SetCooperationCommands.srv
   planning/srv/SetCooperationPolicies.srv
   planning/srv/GetCooperationPolicies.srv
diff --git a/autoware_adapi_v1_msgs/common/msg/KeyValue.msg b/autoware_adapi_v1_msgs/common/msg/KeyValue.msg
new file mode 100644
index 0000000..6f825d5
--- /dev/null
+++ b/autoware_adapi_v1_msgs/common/msg/KeyValue.msg
@@ -0,0 +1,2 @@
+string key
+string value
diff --git a/autoware_adapi_v1_msgs/planning/msg/CooperationDecision.msg b/autoware_adapi_v1_msgs/planning/msg/CooperationDecision.msg
index 95773fe..0473995 100644
--- a/autoware_adapi_v1_msgs/planning/msg/CooperationDecision.msg
+++ b/autoware_adapi_v1_msgs/planning/msg/CooperationDecision.msg
@@ -1,7 +1,7 @@
 uint8 UNKNOWN = 0
-uint8 DEACTIVATE = 1
-uint8 ACTIVATE = 2
-uint8 AUTONOMOUS = 3
-uint8 UNDECIDED = 4
+uint8 WAIT = 1
+uint8 EXECUTE = 2
+uint8 NONE = 3
+uint8 FORCE = 4
 
 uint8 decision
diff --git a/autoware_adapi_v1_msgs/planning/msg/CooperationStatus.msg b/autoware_adapi_v1_msgs/planning/msg/CooperationStatus.msg
index 21f295d..c238853 100644
--- a/autoware_adapi_v1_msgs/planning/msg/CooperationStatus.msg
+++ b/autoware_adapi_v1_msgs/planning/msg/CooperationStatus.msg
@@ -1,4 +1,14 @@
+# constants for state
+uint8 UNKNOWN = 0
+uint8 WAITING = 1
+uint8 EXECUTING = 2
+uint8 ABORTING = 3
+uint8 SUCCEEDED = 4
+uint8 FAILED = 5
+
+# variables
 unique_identifier_msgs/UUID uuid
+uint8 state
 autoware_adapi_v1_msgs/CooperationDecision autonomous
 autoware_adapi_v1_msgs/CooperationDecision cooperator
-bool cancellable
+autoware_adapi_v1_msgs/KeyValue[] values
diff --git a/autoware_adapi_v1_msgs/planning/msg/CooperationStatusArray.msg b/autoware_adapi_v1_msgs/planning/msg/CooperationStatusArray.msg
new file mode 100644
index 0000000..5e556ac
--- /dev/null
+++ b/autoware_adapi_v1_msgs/planning/msg/CooperationStatusArray.msg
@@ -0,0 +1 @@
+autoware_adapi_v1_msgs/CooperationStatus[] cooperations
diff --git a/autoware_adapi_v1_msgs/planning/msg/SteeringFactor.msg b/autoware_adapi_v1_msgs/planning/msg/SteeringFactor.msg
index f685153..c3a17d8 100644
--- a/autoware_adapi_v1_msgs/planning/msg/SteeringFactor.msg
+++ b/autoware_adapi_v1_msgs/planning/msg/SteeringFactor.msg
@@ -18,4 +18,3 @@ uint16 status
 string behavior
 string sequence
 string detail
-autoware_adapi_v1_msgs/CooperationStatus[<=1] cooperation
diff --git a/autoware_adapi_v1_msgs/planning/msg/VelocityFactor.msg b/autoware_adapi_v1_msgs/planning/msg/VelocityFactor.msg
index 5c9327c..6fcf5b0 100644
--- a/autoware_adapi_v1_msgs/planning/msg/VelocityFactor.msg
+++ b/autoware_adapi_v1_msgs/planning/msg/VelocityFactor.msg
@@ -12,4 +12,3 @@ uint16 status
 string behavior
 string sequence
 string detail
-autoware_adapi_v1_msgs/CooperationStatus[<=1] cooperation