[Polymetis] Server breaks without informative errors

## Type of Issue

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- [ ] Bug report (to report a bug)
- [x] Feature request (to request an additional feature)
- [ ] Tracker (I am just using this as a tracker)
- [ ] Refactor request
- [ ] Documentation Ask

## Description

## Current Behavior

When `polymetis_pb2.RobotState` does not have valid lengths for the repeated fields, the server fails to execute the request and continues to run while returning the following uninformative status:
```
StatusCode.UNAVAILABLE
details = "Socket closed"
debug_error_string = "{"created":"@1659472214.520993418","description":"Error received from peer ipv6:[::1]:50051","file":"src/core/lib/surface/call.cc","file_line":952,"grpc_message":"Socket closed","grpc_status":14}"
```

## Expected Behavior

Informative error messages on the Polymetis server side to inform the user of what the problem is and even pinpoint the exact RobotState field that's causing the problem.

## Steps to reproduce

Please add steps to reproduce the bug here along with the stack trace.

## Links to any relevant pastes or documents

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## Checklist

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