diff --git a/api_version.lock b/api_version.lock
index 30101ec0e..d2fa2a7cc 100644
--- a/api_version.lock
+++ b/api_version.lock
@@ -1 +1 @@
-v0.1.504
+v0.1.532
diff --git a/core/sdk/src/main/gen/com/viam/common/v1/Common.java b/core/sdk/src/main/gen/com/viam/common/v1/Common.java
index 47744ee7a..ffad02148 100644
--- a/core/sdk/src/main/gen/com/viam/common/v1/Common.java
+++ b/core/sdk/src/main/gen/com/viam/common/v1/Common.java
@@ -2105,186 +2105,288 @@ public static com.google.protobuf.Parser<Orientation> parser() {
     }
   }
 
-  public interface PoseInFrameOrBuilder extends
-      // @@protoc_insertion_point(interface_extends:viam.common.v1.PoseInFrame)
+  public interface PoseCloudOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:viam.common.v1.PoseCloud)
       com.google.protobuf.MessageLiteOrBuilder {
 
     /**
-     * <code>string reference_frame = 1 [json_name = "referenceFrame"];</code>
-     * @return The referenceFrame.
+     * <code>double x = 1 [json_name = "x"];</code>
+     * @return The x.
      */
-    java.lang.String getReferenceFrame();
+    double getX();
+
     /**
-     * <code>string reference_frame = 1 [json_name = "referenceFrame"];</code>
-     * @return The bytes for referenceFrame.
+     * <code>double y = 2 [json_name = "y"];</code>
+     * @return The y.
      */
-    com.google.protobuf.ByteString
-        getReferenceFrameBytes();
+    double getY();
 
     /**
-     * <code>.viam.common.v1.Pose pose = 2 [json_name = "pose"];</code>
-     * @return Whether the pose field is set.
+     * <code>double z = 3 [json_name = "z"];</code>
+     * @return The z.
      */
-    boolean hasPose();
+    double getZ();
+
     /**
-     * <code>.viam.common.v1.Pose pose = 2 [json_name = "pose"];</code>
-     * @return The pose.
+     * <code>double o_x = 4 [json_name = "oX"];</code>
+     * @return The oX.
      */
-    com.viam.common.v1.Common.Pose getPose();
+    double getOX();
+
+    /**
+     * <code>double o_y = 5 [json_name = "oY"];</code>
+     * @return The oY.
+     */
+    double getOY();
+
+    /**
+     * <code>double o_z = 6 [json_name = "oZ"];</code>
+     * @return The oZ.
+     */
+    double getOZ();
+
+    /**
+     * <code>double theta = 7 [json_name = "theta"];</code>
+     * @return The theta.
+     */
+    double getTheta();
   }
   /**
-   * <pre>
-   * PoseInFrame contains a pose and the reference frame in which it was observed
-   * </pre>
-   *
-   * Protobuf type {@code viam.common.v1.PoseInFrame}
+   * Protobuf type {@code viam.common.v1.PoseCloud}
    */
-  public  static final class PoseInFrame extends
+  public  static final class PoseCloud extends
       com.google.protobuf.GeneratedMessageLite<
-          PoseInFrame, PoseInFrame.Builder> implements
-      // @@protoc_insertion_point(message_implements:viam.common.v1.PoseInFrame)
-      PoseInFrameOrBuilder {
-    private PoseInFrame() {
-      referenceFrame_ = "";
+          PoseCloud, PoseCloud.Builder> implements
+      // @@protoc_insertion_point(message_implements:viam.common.v1.PoseCloud)
+      PoseCloudOrBuilder {
+    private PoseCloud() {
     }
-    private int bitField0_;
-    public static final int REFERENCE_FRAME_FIELD_NUMBER = 1;
-    private java.lang.String referenceFrame_;
+    public static final int X_FIELD_NUMBER = 1;
+    private double x_;
     /**
-     * <code>string reference_frame = 1 [json_name = "referenceFrame"];</code>
-     * @return The referenceFrame.
+     * <code>double x = 1 [json_name = "x"];</code>
+     * @return The x.
      */
     @java.lang.Override
-    public java.lang.String getReferenceFrame() {
-      return referenceFrame_;
+    public double getX() {
+      return x_;
     }
     /**
-     * <code>string reference_frame = 1 [json_name = "referenceFrame"];</code>
-     * @return The bytes for referenceFrame.
+     * <code>double x = 1 [json_name = "x"];</code>
+     * @param value The x to set.
+     */
+    private void setX(double value) {
+      
+      x_ = value;
+    }
+    /**
+     * <code>double x = 1 [json_name = "x"];</code>
+     */
+    private void clearX() {
+
+      x_ = 0D;
+    }
+
+    public static final int Y_FIELD_NUMBER = 2;
+    private double y_;
+    /**
+     * <code>double y = 2 [json_name = "y"];</code>
+     * @return The y.
      */
     @java.lang.Override
-    public com.google.protobuf.ByteString
-        getReferenceFrameBytes() {
-      return com.google.protobuf.ByteString.copyFromUtf8(referenceFrame_);
+    public double getY() {
+      return y_;
     }
     /**
-     * <code>string reference_frame = 1 [json_name = "referenceFrame"];</code>
-     * @param value The referenceFrame to set.
+     * <code>double y = 2 [json_name = "y"];</code>
+     * @param value The y to set.
      */
-    private void setReferenceFrame(
-        java.lang.String value) {
-      java.lang.Class<?> valueClass = value.getClass();
-  
-      referenceFrame_ = value;
+    private void setY(double value) {
+      
+      y_ = value;
     }
     /**
-     * <code>string reference_frame = 1 [json_name = "referenceFrame"];</code>
+     * <code>double y = 2 [json_name = "y"];</code>
      */
-    private void clearReferenceFrame() {
+    private void clearY() {
 
-      referenceFrame_ = getDefaultInstance().getReferenceFrame();
+      y_ = 0D;
     }
+
+    public static final int Z_FIELD_NUMBER = 3;
+    private double z_;
     /**
-     * <code>string reference_frame = 1 [json_name = "referenceFrame"];</code>
-     * @param value The bytes for referenceFrame to set.
+     * <code>double z = 3 [json_name = "z"];</code>
+     * @return The z.
      */
-    private void setReferenceFrameBytes(
-        com.google.protobuf.ByteString value) {
-      checkByteStringIsUtf8(value);
-      referenceFrame_ = value.toStringUtf8();
+    @java.lang.Override
+    public double getZ() {
+      return z_;
+    }
+    /**
+     * <code>double z = 3 [json_name = "z"];</code>
+     * @param value The z to set.
+     */
+    private void setZ(double value) {
+      
+      z_ = value;
+    }
+    /**
+     * <code>double z = 3 [json_name = "z"];</code>
+     */
+    private void clearZ() {
 
+      z_ = 0D;
     }
 
-    public static final int POSE_FIELD_NUMBER = 2;
-    private com.viam.common.v1.Common.Pose pose_;
+    public static final int O_X_FIELD_NUMBER = 4;
+    private double oX_;
     /**
-     * <code>.viam.common.v1.Pose pose = 2 [json_name = "pose"];</code>
+     * <code>double o_x = 4 [json_name = "oX"];</code>
+     * @return The oX.
      */
     @java.lang.Override
-    public boolean hasPose() {
-      return ((bitField0_ & 0x00000001) != 0);
+    public double getOX() {
+      return oX_;
     }
     /**
-     * <code>.viam.common.v1.Pose pose = 2 [json_name = "pose"];</code>
+     * <code>double o_x = 4 [json_name = "oX"];</code>
+     * @param value The oX to set.
      */
-    @java.lang.Override
-    public com.viam.common.v1.Common.Pose getPose() {
-      return pose_ == null ? com.viam.common.v1.Common.Pose.getDefaultInstance() : pose_;
+    private void setOX(double value) {
+      
+      oX_ = value;
     }
     /**
-     * <code>.viam.common.v1.Pose pose = 2 [json_name = "pose"];</code>
+     * <code>double o_x = 4 [json_name = "oX"];</code>
      */
-    private void setPose(com.viam.common.v1.Common.Pose value) {
-      value.getClass();
-  pose_ = value;
-      bitField0_ |= 0x00000001;
-      }
+    private void clearOX() {
+
+      oX_ = 0D;
+    }
+
+    public static final int O_Y_FIELD_NUMBER = 5;
+    private double oY_;
     /**
-     * <code>.viam.common.v1.Pose pose = 2 [json_name = "pose"];</code>
+     * <code>double o_y = 5 [json_name = "oY"];</code>
+     * @return The oY.
      */
-    @java.lang.SuppressWarnings({"ReferenceEquality"})
-    private void mergePose(com.viam.common.v1.Common.Pose value) {
-      value.getClass();
-  if (pose_ != null &&
-          pose_ != com.viam.common.v1.Common.Pose.getDefaultInstance()) {
-        pose_ =
-          com.viam.common.v1.Common.Pose.newBuilder(pose_).mergeFrom(value).buildPartial();
-      } else {
-        pose_ = value;
-      }
-      bitField0_ |= 0x00000001;
+    @java.lang.Override
+    public double getOY() {
+      return oY_;
     }
     /**
-     * <code>.viam.common.v1.Pose pose = 2 [json_name = "pose"];</code>
+     * <code>double o_y = 5 [json_name = "oY"];</code>
+     * @param value The oY to set.
      */
-    private void clearPose() {  pose_ = null;
-      bitField0_ = (bitField0_ & ~0x00000001);
+    private void setOY(double value) {
+      
+      oY_ = value;
     }
+    /**
+     * <code>double o_y = 5 [json_name = "oY"];</code>
+     */
+    private void clearOY() {
 
-    public static com.viam.common.v1.Common.PoseInFrame parseFrom(
-        java.nio.ByteBuffer data)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data);
+      oY_ = 0D;
     }
-    public static com.viam.common.v1.Common.PoseInFrame parseFrom(
-        java.nio.ByteBuffer data,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data, extensionRegistry);
+
+    public static final int O_Z_FIELD_NUMBER = 6;
+    private double oZ_;
+    /**
+     * <code>double o_z = 6 [json_name = "oZ"];</code>
+     * @return The oZ.
+     */
+    @java.lang.Override
+    public double getOZ() {
+      return oZ_;
     }
-    public static com.viam.common.v1.Common.PoseInFrame parseFrom(
-        com.google.protobuf.ByteString data)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data);
+    /**
+     * <code>double o_z = 6 [json_name = "oZ"];</code>
+     * @param value The oZ to set.
+     */
+    private void setOZ(double value) {
+      
+      oZ_ = value;
     }
-    public static com.viam.common.v1.Common.PoseInFrame parseFrom(
-        com.google.protobuf.ByteString data,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data, extensionRegistry);
+    /**
+     * <code>double o_z = 6 [json_name = "oZ"];</code>
+     */
+    private void clearOZ() {
+
+      oZ_ = 0D;
     }
-    public static com.viam.common.v1.Common.PoseInFrame parseFrom(byte[] data)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+
+    public static final int THETA_FIELD_NUMBER = 7;
+    private double theta_;
+    /**
+     * <code>double theta = 7 [json_name = "theta"];</code>
+     * @return The theta.
+     */
+    @java.lang.Override
+    public double getTheta() {
+      return theta_;
+    }
+    /**
+     * <code>double theta = 7 [json_name = "theta"];</code>
+     * @param value The theta to set.
+     */
+    private void setTheta(double value) {
+      
+      theta_ = value;
+    }
+    /**
+     * <code>double theta = 7 [json_name = "theta"];</code>
+     */
+    private void clearTheta() {
+
+      theta_ = 0D;
+    }
+
+    public static com.viam.common.v1.Common.PoseCloud parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.common.v1.Common.PoseInFrame parseFrom(
+    public static com.viam.common.v1.Common.PoseCloud parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static com.viam.common.v1.Common.PoseCloud parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static com.viam.common.v1.Common.PoseCloud parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static com.viam.common.v1.Common.PoseCloud parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static com.viam.common.v1.Common.PoseCloud parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.PoseInFrame parseFrom(java.io.InputStream input)
+    public static com.viam.common.v1.Common.PoseCloud parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, input);
     }
-    public static com.viam.common.v1.Common.PoseInFrame parseFrom(
+    public static com.viam.common.v1.Common.PoseCloud parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -2292,24 +2394,24 @@ public static com.viam.common.v1.Common.PoseInFrame parseFrom(
           DEFAULT_INSTANCE, input, extensionRegistry);
     }
 
-    public static com.viam.common.v1.Common.PoseInFrame parseDelimitedFrom(java.io.InputStream input)
+    public static com.viam.common.v1.Common.PoseCloud parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return parseDelimitedFrom(DEFAULT_INSTANCE, input);
     }
 
-    public static com.viam.common.v1.Common.PoseInFrame parseDelimitedFrom(
+    public static com.viam.common.v1.Common.PoseCloud parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.PoseInFrame parseFrom(
+    public static com.viam.common.v1.Common.PoseCloud parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, input);
     }
-    public static com.viam.common.v1.Common.PoseInFrame parseFrom(
+    public static com.viam.common.v1.Common.PoseCloud parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -2320,125 +2422,221 @@ public static com.viam.common.v1.Common.PoseInFrame parseFrom(
     public static Builder newBuilder() {
       return (Builder) DEFAULT_INSTANCE.createBuilder();
     }
-    public static Builder newBuilder(com.viam.common.v1.Common.PoseInFrame prototype) {
+    public static Builder newBuilder(com.viam.common.v1.Common.PoseCloud prototype) {
       return DEFAULT_INSTANCE.createBuilder(prototype);
     }
 
     /**
-     * <pre>
-     * PoseInFrame contains a pose and the reference frame in which it was observed
-     * </pre>
-     *
-     * Protobuf type {@code viam.common.v1.PoseInFrame}
+     * Protobuf type {@code viam.common.v1.PoseCloud}
      */
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageLite.Builder<
-          com.viam.common.v1.Common.PoseInFrame, Builder> implements
-        // @@protoc_insertion_point(builder_implements:viam.common.v1.PoseInFrame)
-        com.viam.common.v1.Common.PoseInFrameOrBuilder {
-      // Construct using com.viam.common.v1.Common.PoseInFrame.newBuilder()
+          com.viam.common.v1.Common.PoseCloud, Builder> implements
+        // @@protoc_insertion_point(builder_implements:viam.common.v1.PoseCloud)
+        com.viam.common.v1.Common.PoseCloudOrBuilder {
+      // Construct using com.viam.common.v1.Common.PoseCloud.newBuilder()
       private Builder() {
         super(DEFAULT_INSTANCE);
       }
 
 
       /**
-       * <code>string reference_frame = 1 [json_name = "referenceFrame"];</code>
-       * @return The referenceFrame.
+       * <code>double x = 1 [json_name = "x"];</code>
+       * @return The x.
        */
       @java.lang.Override
-      public java.lang.String getReferenceFrame() {
-        return instance.getReferenceFrame();
+      public double getX() {
+        return instance.getX();
       }
       /**
-       * <code>string reference_frame = 1 [json_name = "referenceFrame"];</code>
-       * @return The bytes for referenceFrame.
+       * <code>double x = 1 [json_name = "x"];</code>
+       * @param value The x to set.
+       * @return This builder for chaining.
+       */
+      public Builder setX(double value) {
+        copyOnWrite();
+        instance.setX(value);
+        return this;
+      }
+      /**
+       * <code>double x = 1 [json_name = "x"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearX() {
+        copyOnWrite();
+        instance.clearX();
+        return this;
+      }
+
+      /**
+       * <code>double y = 2 [json_name = "y"];</code>
+       * @return The y.
        */
       @java.lang.Override
-      public com.google.protobuf.ByteString
-          getReferenceFrameBytes() {
-        return instance.getReferenceFrameBytes();
+      public double getY() {
+        return instance.getY();
       }
       /**
-       * <code>string reference_frame = 1 [json_name = "referenceFrame"];</code>
-       * @param value The referenceFrame to set.
+       * <code>double y = 2 [json_name = "y"];</code>
+       * @param value The y to set.
        * @return This builder for chaining.
        */
-      public Builder setReferenceFrame(
-          java.lang.String value) {
+      public Builder setY(double value) {
         copyOnWrite();
-        instance.setReferenceFrame(value);
+        instance.setY(value);
         return this;
       }
       /**
-       * <code>string reference_frame = 1 [json_name = "referenceFrame"];</code>
+       * <code>double y = 2 [json_name = "y"];</code>
        * @return This builder for chaining.
        */
-      public Builder clearReferenceFrame() {
+      public Builder clearY() {
         copyOnWrite();
-        instance.clearReferenceFrame();
+        instance.clearY();
         return this;
       }
+
       /**
-       * <code>string reference_frame = 1 [json_name = "referenceFrame"];</code>
-       * @param value The bytes for referenceFrame to set.
+       * <code>double z = 3 [json_name = "z"];</code>
+       * @return The z.
+       */
+      @java.lang.Override
+      public double getZ() {
+        return instance.getZ();
+      }
+      /**
+       * <code>double z = 3 [json_name = "z"];</code>
+       * @param value The z to set.
        * @return This builder for chaining.
        */
-      public Builder setReferenceFrameBytes(
-          com.google.protobuf.ByteString value) {
+      public Builder setZ(double value) {
         copyOnWrite();
-        instance.setReferenceFrameBytes(value);
+        instance.setZ(value);
+        return this;
+      }
+      /**
+       * <code>double z = 3 [json_name = "z"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearZ() {
+        copyOnWrite();
+        instance.clearZ();
         return this;
       }
 
       /**
-       * <code>.viam.common.v1.Pose pose = 2 [json_name = "pose"];</code>
+       * <code>double o_x = 4 [json_name = "oX"];</code>
+       * @return The oX.
        */
       @java.lang.Override
-      public boolean hasPose() {
-        return instance.hasPose();
+      public double getOX() {
+        return instance.getOX();
       }
       /**
-       * <code>.viam.common.v1.Pose pose = 2 [json_name = "pose"];</code>
+       * <code>double o_x = 4 [json_name = "oX"];</code>
+       * @param value The oX to set.
+       * @return This builder for chaining.
+       */
+      public Builder setOX(double value) {
+        copyOnWrite();
+        instance.setOX(value);
+        return this;
+      }
+      /**
+       * <code>double o_x = 4 [json_name = "oX"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearOX() {
+        copyOnWrite();
+        instance.clearOX();
+        return this;
+      }
+
+      /**
+       * <code>double o_y = 5 [json_name = "oY"];</code>
+       * @return The oY.
        */
       @java.lang.Override
-      public com.viam.common.v1.Common.Pose getPose() {
-        return instance.getPose();
+      public double getOY() {
+        return instance.getOY();
       }
       /**
-       * <code>.viam.common.v1.Pose pose = 2 [json_name = "pose"];</code>
+       * <code>double o_y = 5 [json_name = "oY"];</code>
+       * @param value The oY to set.
+       * @return This builder for chaining.
        */
-      public Builder setPose(com.viam.common.v1.Common.Pose value) {
+      public Builder setOY(double value) {
         copyOnWrite();
-        instance.setPose(value);
+        instance.setOY(value);
         return this;
-        }
+      }
       /**
-       * <code>.viam.common.v1.Pose pose = 2 [json_name = "pose"];</code>
+       * <code>double o_y = 5 [json_name = "oY"];</code>
+       * @return This builder for chaining.
        */
-      public Builder setPose(
-          com.viam.common.v1.Common.Pose.Builder builderForValue) {
+      public Builder clearOY() {
         copyOnWrite();
-        instance.setPose(builderForValue.build());
+        instance.clearOY();
         return this;
       }
+
       /**
-       * <code>.viam.common.v1.Pose pose = 2 [json_name = "pose"];</code>
+       * <code>double o_z = 6 [json_name = "oZ"];</code>
+       * @return The oZ.
        */
-      public Builder mergePose(com.viam.common.v1.Common.Pose value) {
+      @java.lang.Override
+      public double getOZ() {
+        return instance.getOZ();
+      }
+      /**
+       * <code>double o_z = 6 [json_name = "oZ"];</code>
+       * @param value The oZ to set.
+       * @return This builder for chaining.
+       */
+      public Builder setOZ(double value) {
         copyOnWrite();
-        instance.mergePose(value);
+        instance.setOZ(value);
         return this;
       }
       /**
-       * <code>.viam.common.v1.Pose pose = 2 [json_name = "pose"];</code>
+       * <code>double o_z = 6 [json_name = "oZ"];</code>
+       * @return This builder for chaining.
        */
-      public Builder clearPose() {  copyOnWrite();
-        instance.clearPose();
+      public Builder clearOZ() {
+        copyOnWrite();
+        instance.clearOZ();
         return this;
       }
 
-      // @@protoc_insertion_point(builder_scope:viam.common.v1.PoseInFrame)
+      /**
+       * <code>double theta = 7 [json_name = "theta"];</code>
+       * @return The theta.
+       */
+      @java.lang.Override
+      public double getTheta() {
+        return instance.getTheta();
+      }
+      /**
+       * <code>double theta = 7 [json_name = "theta"];</code>
+       * @param value The theta to set.
+       * @return This builder for chaining.
+       */
+      public Builder setTheta(double value) {
+        copyOnWrite();
+        instance.setTheta(value);
+        return this;
+      }
+      /**
+       * <code>double theta = 7 [json_name = "theta"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearTheta() {
+        copyOnWrite();
+        instance.clearTheta();
+        return this;
+      }
+
+      // @@protoc_insertion_point(builder_scope:viam.common.v1.PoseCloud)
     }
     @java.lang.Override
     @java.lang.SuppressWarnings({"unchecked", "fallthrough"})
@@ -2447,20 +2645,24 @@ protected final java.lang.Object dynamicMethod(
         java.lang.Object arg0, java.lang.Object arg1) {
       switch (method) {
         case NEW_MUTABLE_INSTANCE: {
-          return new com.viam.common.v1.Common.PoseInFrame();
+          return new com.viam.common.v1.Common.PoseCloud();
         }
         case NEW_BUILDER: {
           return new Builder();
         }
         case BUILD_MESSAGE_INFO: {
             java.lang.Object[] objects = new java.lang.Object[] {
-              "bitField0_",
-              "referenceFrame_",
-              "pose_",
+              "x_",
+              "y_",
+              "z_",
+              "oX_",
+              "oY_",
+              "oZ_",
+              "theta_",
             };
             java.lang.String info =
-                "\u0000\u0002\u0000\u0001\u0001\u0002\u0002\u0000\u0000\u0000\u0001\u0208\u0002\u1009" +
-                "\u0000";
+                "\u0000\u0007\u0000\u0000\u0001\u0007\u0007\u0000\u0000\u0000\u0001\u0000\u0002\u0000" +
+                "\u0003\u0000\u0004\u0000\u0005\u0000\u0006\u0000\u0007\u0000";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         // fall through
@@ -2468,13 +2670,13 @@ protected final java.lang.Object dynamicMethod(
           return DEFAULT_INSTANCE;
         }
         case GET_PARSER: {
-          com.google.protobuf.Parser<com.viam.common.v1.Common.PoseInFrame> parser = PARSER;
+          com.google.protobuf.Parser<com.viam.common.v1.Common.PoseCloud> parser = PARSER;
           if (parser == null) {
-            synchronized (com.viam.common.v1.Common.PoseInFrame.class) {
+            synchronized (com.viam.common.v1.Common.PoseCloud.class) {
               parser = PARSER;
               if (parser == null) {
                 parser =
-                    new DefaultInstanceBasedParser<com.viam.common.v1.Common.PoseInFrame>(
+                    new DefaultInstanceBasedParser<com.viam.common.v1.Common.PoseCloud>(
                         DEFAULT_INSTANCE);
                 PARSER = parser;
               }
@@ -2493,182 +2695,265 @@ protected final java.lang.Object dynamicMethod(
     }
 
 
-    // @@protoc_insertion_point(class_scope:viam.common.v1.PoseInFrame)
-    private static final com.viam.common.v1.Common.PoseInFrame DEFAULT_INSTANCE;
+    // @@protoc_insertion_point(class_scope:viam.common.v1.PoseCloud)
+    private static final com.viam.common.v1.Common.PoseCloud DEFAULT_INSTANCE;
     static {
-      PoseInFrame defaultInstance = new PoseInFrame();
+      PoseCloud defaultInstance = new PoseCloud();
       // New instances are implicitly immutable so no need to make
       // immutable.
       DEFAULT_INSTANCE = defaultInstance;
       com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
-        PoseInFrame.class, defaultInstance);
+        PoseCloud.class, defaultInstance);
     }
 
-    public static com.viam.common.v1.Common.PoseInFrame getDefaultInstance() {
+    public static com.viam.common.v1.Common.PoseCloud getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
-    private static volatile com.google.protobuf.Parser<PoseInFrame> PARSER;
+    private static volatile com.google.protobuf.Parser<PoseCloud> PARSER;
 
-    public static com.google.protobuf.Parser<PoseInFrame> parser() {
+    public static com.google.protobuf.Parser<PoseCloud> parser() {
       return DEFAULT_INSTANCE.getParserForType();
     }
   }
 
-  public interface Vector3OrBuilder extends
-      // @@protoc_insertion_point(interface_extends:viam.common.v1.Vector3)
+  public interface PoseInFrameOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:viam.common.v1.PoseInFrame)
       com.google.protobuf.MessageLiteOrBuilder {
 
     /**
-     * <code>double x = 1 [json_name = "x"];</code>
-     * @return The x.
+     * <code>string reference_frame = 1 [json_name = "referenceFrame"];</code>
+     * @return The referenceFrame.
      */
-    double getX();
+    java.lang.String getReferenceFrame();
+    /**
+     * <code>string reference_frame = 1 [json_name = "referenceFrame"];</code>
+     * @return The bytes for referenceFrame.
+     */
+    com.google.protobuf.ByteString
+        getReferenceFrameBytes();
 
     /**
-     * <code>double y = 2 [json_name = "y"];</code>
-     * @return The y.
+     * <code>.viam.common.v1.Pose pose = 2 [json_name = "pose"];</code>
+     * @return Whether the pose field is set.
      */
-    double getY();
+    boolean hasPose();
+    /**
+     * <code>.viam.common.v1.Pose pose = 2 [json_name = "pose"];</code>
+     * @return The pose.
+     */
+    com.viam.common.v1.Common.Pose getPose();
 
     /**
-     * <code>double z = 3 [json_name = "z"];</code>
-     * @return The z.
+     * <code>optional .viam.common.v1.PoseCloud goal_cloud = 3 [json_name = "goalCloud"];</code>
+     * @return Whether the goalCloud field is set.
      */
-    double getZ();
+    boolean hasGoalCloud();
+    /**
+     * <code>optional .viam.common.v1.PoseCloud goal_cloud = 3 [json_name = "goalCloud"];</code>
+     * @return The goalCloud.
+     */
+    com.viam.common.v1.Common.PoseCloud getGoalCloud();
   }
   /**
-   * Protobuf type {@code viam.common.v1.Vector3}
+   * <pre>
+   * PoseInFrame contains a pose and the reference frame in which it was observed
+   * </pre>
+   *
+   * Protobuf type {@code viam.common.v1.PoseInFrame}
    */
-  public  static final class Vector3 extends
+  public  static final class PoseInFrame extends
       com.google.protobuf.GeneratedMessageLite<
-          Vector3, Vector3.Builder> implements
-      // @@protoc_insertion_point(message_implements:viam.common.v1.Vector3)
-      Vector3OrBuilder {
-    private Vector3() {
+          PoseInFrame, PoseInFrame.Builder> implements
+      // @@protoc_insertion_point(message_implements:viam.common.v1.PoseInFrame)
+      PoseInFrameOrBuilder {
+    private PoseInFrame() {
+      referenceFrame_ = "";
     }
-    public static final int X_FIELD_NUMBER = 1;
-    private double x_;
+    private int bitField0_;
+    public static final int REFERENCE_FRAME_FIELD_NUMBER = 1;
+    private java.lang.String referenceFrame_;
     /**
-     * <code>double x = 1 [json_name = "x"];</code>
-     * @return The x.
+     * <code>string reference_frame = 1 [json_name = "referenceFrame"];</code>
+     * @return The referenceFrame.
      */
     @java.lang.Override
-    public double getX() {
-      return x_;
+    public java.lang.String getReferenceFrame() {
+      return referenceFrame_;
     }
     /**
-     * <code>double x = 1 [json_name = "x"];</code>
-     * @param value The x to set.
+     * <code>string reference_frame = 1 [json_name = "referenceFrame"];</code>
+     * @return The bytes for referenceFrame.
      */
-    private void setX(double value) {
-      
-      x_ = value;
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getReferenceFrameBytes() {
+      return com.google.protobuf.ByteString.copyFromUtf8(referenceFrame_);
     }
     /**
-     * <code>double x = 1 [json_name = "x"];</code>
+     * <code>string reference_frame = 1 [json_name = "referenceFrame"];</code>
+     * @param value The referenceFrame to set.
      */
-    private void clearX() {
+    private void setReferenceFrame(
+        java.lang.String value) {
+      java.lang.Class<?> valueClass = value.getClass();
+  
+      referenceFrame_ = value;
+    }
+    /**
+     * <code>string reference_frame = 1 [json_name = "referenceFrame"];</code>
+     */
+    private void clearReferenceFrame() {
+
+      referenceFrame_ = getDefaultInstance().getReferenceFrame();
+    }
+    /**
+     * <code>string reference_frame = 1 [json_name = "referenceFrame"];</code>
+     * @param value The bytes for referenceFrame to set.
+     */
+    private void setReferenceFrameBytes(
+        com.google.protobuf.ByteString value) {
+      checkByteStringIsUtf8(value);
+      referenceFrame_ = value.toStringUtf8();
 
-      x_ = 0D;
     }
 
-    public static final int Y_FIELD_NUMBER = 2;
-    private double y_;
+    public static final int POSE_FIELD_NUMBER = 2;
+    private com.viam.common.v1.Common.Pose pose_;
     /**
-     * <code>double y = 2 [json_name = "y"];</code>
-     * @return The y.
+     * <code>.viam.common.v1.Pose pose = 2 [json_name = "pose"];</code>
      */
     @java.lang.Override
-    public double getY() {
-      return y_;
+    public boolean hasPose() {
+      return ((bitField0_ & 0x00000001) != 0);
     }
     /**
-     * <code>double y = 2 [json_name = "y"];</code>
-     * @param value The y to set.
+     * <code>.viam.common.v1.Pose pose = 2 [json_name = "pose"];</code>
      */
-    private void setY(double value) {
-      
-      y_ = value;
+    @java.lang.Override
+    public com.viam.common.v1.Common.Pose getPose() {
+      return pose_ == null ? com.viam.common.v1.Common.Pose.getDefaultInstance() : pose_;
     }
     /**
-     * <code>double y = 2 [json_name = "y"];</code>
+     * <code>.viam.common.v1.Pose pose = 2 [json_name = "pose"];</code>
      */
-    private void clearY() {
-
-      y_ = 0D;
+    private void setPose(com.viam.common.v1.Common.Pose value) {
+      value.getClass();
+  pose_ = value;
+      bitField0_ |= 0x00000001;
+      }
+    /**
+     * <code>.viam.common.v1.Pose pose = 2 [json_name = "pose"];</code>
+     */
+    @java.lang.SuppressWarnings({"ReferenceEquality"})
+    private void mergePose(com.viam.common.v1.Common.Pose value) {
+      value.getClass();
+  if (pose_ != null &&
+          pose_ != com.viam.common.v1.Common.Pose.getDefaultInstance()) {
+        pose_ =
+          com.viam.common.v1.Common.Pose.newBuilder(pose_).mergeFrom(value).buildPartial();
+      } else {
+        pose_ = value;
+      }
+      bitField0_ |= 0x00000001;
+    }
+    /**
+     * <code>.viam.common.v1.Pose pose = 2 [json_name = "pose"];</code>
+     */
+    private void clearPose() {  pose_ = null;
+      bitField0_ = (bitField0_ & ~0x00000001);
     }
 
-    public static final int Z_FIELD_NUMBER = 3;
-    private double z_;
+    public static final int GOAL_CLOUD_FIELD_NUMBER = 3;
+    private com.viam.common.v1.Common.PoseCloud goalCloud_;
     /**
-     * <code>double z = 3 [json_name = "z"];</code>
-     * @return The z.
+     * <code>optional .viam.common.v1.PoseCloud goal_cloud = 3 [json_name = "goalCloud"];</code>
      */
     @java.lang.Override
-    public double getZ() {
-      return z_;
+    public boolean hasGoalCloud() {
+      return ((bitField0_ & 0x00000002) != 0);
     }
     /**
-     * <code>double z = 3 [json_name = "z"];</code>
-     * @param value The z to set.
+     * <code>optional .viam.common.v1.PoseCloud goal_cloud = 3 [json_name = "goalCloud"];</code>
      */
-    private void setZ(double value) {
-      
-      z_ = value;
+    @java.lang.Override
+    public com.viam.common.v1.Common.PoseCloud getGoalCloud() {
+      return goalCloud_ == null ? com.viam.common.v1.Common.PoseCloud.getDefaultInstance() : goalCloud_;
     }
     /**
-     * <code>double z = 3 [json_name = "z"];</code>
+     * <code>optional .viam.common.v1.PoseCloud goal_cloud = 3 [json_name = "goalCloud"];</code>
      */
-    private void clearZ() {
-
-      z_ = 0D;
+    private void setGoalCloud(com.viam.common.v1.Common.PoseCloud value) {
+      value.getClass();
+  goalCloud_ = value;
+      bitField0_ |= 0x00000002;
+      }
+    /**
+     * <code>optional .viam.common.v1.PoseCloud goal_cloud = 3 [json_name = "goalCloud"];</code>
+     */
+    @java.lang.SuppressWarnings({"ReferenceEquality"})
+    private void mergeGoalCloud(com.viam.common.v1.Common.PoseCloud value) {
+      value.getClass();
+  if (goalCloud_ != null &&
+          goalCloud_ != com.viam.common.v1.Common.PoseCloud.getDefaultInstance()) {
+        goalCloud_ =
+          com.viam.common.v1.Common.PoseCloud.newBuilder(goalCloud_).mergeFrom(value).buildPartial();
+      } else {
+        goalCloud_ = value;
+      }
+      bitField0_ |= 0x00000002;
+    }
+    /**
+     * <code>optional .viam.common.v1.PoseCloud goal_cloud = 3 [json_name = "goalCloud"];</code>
+     */
+    private void clearGoalCloud() {  goalCloud_ = null;
+      bitField0_ = (bitField0_ & ~0x00000002);
     }
 
-    public static com.viam.common.v1.Common.Vector3 parseFrom(
+    public static com.viam.common.v1.Common.PoseInFrame parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.common.v1.Common.Vector3 parseFrom(
+    public static com.viam.common.v1.Common.PoseInFrame parseFrom(
         java.nio.ByteBuffer data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.Vector3 parseFrom(
+    public static com.viam.common.v1.Common.PoseInFrame parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.common.v1.Common.Vector3 parseFrom(
+    public static com.viam.common.v1.Common.PoseInFrame parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.Vector3 parseFrom(byte[] data)
+    public static com.viam.common.v1.Common.PoseInFrame parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.common.v1.Common.Vector3 parseFrom(
+    public static com.viam.common.v1.Common.PoseInFrame parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.Vector3 parseFrom(java.io.InputStream input)
+    public static com.viam.common.v1.Common.PoseInFrame parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, input);
     }
-    public static com.viam.common.v1.Common.Vector3 parseFrom(
+    public static com.viam.common.v1.Common.PoseInFrame parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -2676,24 +2961,24 @@ public static com.viam.common.v1.Common.Vector3 parseFrom(
           DEFAULT_INSTANCE, input, extensionRegistry);
     }
 
-    public static com.viam.common.v1.Common.Vector3 parseDelimitedFrom(java.io.InputStream input)
+    public static com.viam.common.v1.Common.PoseInFrame parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return parseDelimitedFrom(DEFAULT_INSTANCE, input);
     }
 
-    public static com.viam.common.v1.Common.Vector3 parseDelimitedFrom(
+    public static com.viam.common.v1.Common.PoseInFrame parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.Vector3 parseFrom(
+    public static com.viam.common.v1.Common.PoseInFrame parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, input);
     }
-    public static com.viam.common.v1.Common.Vector3 parseFrom(
+    public static com.viam.common.v1.Common.PoseInFrame parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -2704,109 +2989,172 @@ public static com.viam.common.v1.Common.Vector3 parseFrom(
     public static Builder newBuilder() {
       return (Builder) DEFAULT_INSTANCE.createBuilder();
     }
-    public static Builder newBuilder(com.viam.common.v1.Common.Vector3 prototype) {
+    public static Builder newBuilder(com.viam.common.v1.Common.PoseInFrame prototype) {
       return DEFAULT_INSTANCE.createBuilder(prototype);
     }
 
     /**
-     * Protobuf type {@code viam.common.v1.Vector3}
+     * <pre>
+     * PoseInFrame contains a pose and the reference frame in which it was observed
+     * </pre>
+     *
+     * Protobuf type {@code viam.common.v1.PoseInFrame}
      */
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageLite.Builder<
-          com.viam.common.v1.Common.Vector3, Builder> implements
-        // @@protoc_insertion_point(builder_implements:viam.common.v1.Vector3)
-        com.viam.common.v1.Common.Vector3OrBuilder {
-      // Construct using com.viam.common.v1.Common.Vector3.newBuilder()
+          com.viam.common.v1.Common.PoseInFrame, Builder> implements
+        // @@protoc_insertion_point(builder_implements:viam.common.v1.PoseInFrame)
+        com.viam.common.v1.Common.PoseInFrameOrBuilder {
+      // Construct using com.viam.common.v1.Common.PoseInFrame.newBuilder()
       private Builder() {
         super(DEFAULT_INSTANCE);
       }
 
 
       /**
-       * <code>double x = 1 [json_name = "x"];</code>
-       * @return The x.
+       * <code>string reference_frame = 1 [json_name = "referenceFrame"];</code>
+       * @return The referenceFrame.
        */
       @java.lang.Override
-      public double getX() {
-        return instance.getX();
+      public java.lang.String getReferenceFrame() {
+        return instance.getReferenceFrame();
       }
       /**
-       * <code>double x = 1 [json_name = "x"];</code>
-       * @param value The x to set.
-       * @return This builder for chaining.
+       * <code>string reference_frame = 1 [json_name = "referenceFrame"];</code>
+       * @return The bytes for referenceFrame.
        */
-      public Builder setX(double value) {
+      @java.lang.Override
+      public com.google.protobuf.ByteString
+          getReferenceFrameBytes() {
+        return instance.getReferenceFrameBytes();
+      }
+      /**
+       * <code>string reference_frame = 1 [json_name = "referenceFrame"];</code>
+       * @param value The referenceFrame to set.
+       * @return This builder for chaining.
+       */
+      public Builder setReferenceFrame(
+          java.lang.String value) {
         copyOnWrite();
-        instance.setX(value);
+        instance.setReferenceFrame(value);
         return this;
       }
       /**
-       * <code>double x = 1 [json_name = "x"];</code>
+       * <code>string reference_frame = 1 [json_name = "referenceFrame"];</code>
        * @return This builder for chaining.
        */
-      public Builder clearX() {
+      public Builder clearReferenceFrame() {
         copyOnWrite();
-        instance.clearX();
+        instance.clearReferenceFrame();
+        return this;
+      }
+      /**
+       * <code>string reference_frame = 1 [json_name = "referenceFrame"];</code>
+       * @param value The bytes for referenceFrame to set.
+       * @return This builder for chaining.
+       */
+      public Builder setReferenceFrameBytes(
+          com.google.protobuf.ByteString value) {
+        copyOnWrite();
+        instance.setReferenceFrameBytes(value);
         return this;
       }
 
       /**
-       * <code>double y = 2 [json_name = "y"];</code>
-       * @return The y.
+       * <code>.viam.common.v1.Pose pose = 2 [json_name = "pose"];</code>
        */
       @java.lang.Override
-      public double getY() {
-        return instance.getY();
+      public boolean hasPose() {
+        return instance.hasPose();
       }
       /**
-       * <code>double y = 2 [json_name = "y"];</code>
-       * @param value The y to set.
-       * @return This builder for chaining.
+       * <code>.viam.common.v1.Pose pose = 2 [json_name = "pose"];</code>
        */
-      public Builder setY(double value) {
+      @java.lang.Override
+      public com.viam.common.v1.Common.Pose getPose() {
+        return instance.getPose();
+      }
+      /**
+       * <code>.viam.common.v1.Pose pose = 2 [json_name = "pose"];</code>
+       */
+      public Builder setPose(com.viam.common.v1.Common.Pose value) {
         copyOnWrite();
-        instance.setY(value);
+        instance.setPose(value);
+        return this;
+        }
+      /**
+       * <code>.viam.common.v1.Pose pose = 2 [json_name = "pose"];</code>
+       */
+      public Builder setPose(
+          com.viam.common.v1.Common.Pose.Builder builderForValue) {
+        copyOnWrite();
+        instance.setPose(builderForValue.build());
         return this;
       }
       /**
-       * <code>double y = 2 [json_name = "y"];</code>
-       * @return This builder for chaining.
+       * <code>.viam.common.v1.Pose pose = 2 [json_name = "pose"];</code>
        */
-      public Builder clearY() {
+      public Builder mergePose(com.viam.common.v1.Common.Pose value) {
         copyOnWrite();
-        instance.clearY();
+        instance.mergePose(value);
+        return this;
+      }
+      /**
+       * <code>.viam.common.v1.Pose pose = 2 [json_name = "pose"];</code>
+       */
+      public Builder clearPose() {  copyOnWrite();
+        instance.clearPose();
         return this;
       }
 
       /**
-       * <code>double z = 3 [json_name = "z"];</code>
-       * @return The z.
+       * <code>optional .viam.common.v1.PoseCloud goal_cloud = 3 [json_name = "goalCloud"];</code>
        */
       @java.lang.Override
-      public double getZ() {
-        return instance.getZ();
+      public boolean hasGoalCloud() {
+        return instance.hasGoalCloud();
       }
       /**
-       * <code>double z = 3 [json_name = "z"];</code>
-       * @param value The z to set.
-       * @return This builder for chaining.
+       * <code>optional .viam.common.v1.PoseCloud goal_cloud = 3 [json_name = "goalCloud"];</code>
        */
-      public Builder setZ(double value) {
+      @java.lang.Override
+      public com.viam.common.v1.Common.PoseCloud getGoalCloud() {
+        return instance.getGoalCloud();
+      }
+      /**
+       * <code>optional .viam.common.v1.PoseCloud goal_cloud = 3 [json_name = "goalCloud"];</code>
+       */
+      public Builder setGoalCloud(com.viam.common.v1.Common.PoseCloud value) {
         copyOnWrite();
-        instance.setZ(value);
+        instance.setGoalCloud(value);
+        return this;
+        }
+      /**
+       * <code>optional .viam.common.v1.PoseCloud goal_cloud = 3 [json_name = "goalCloud"];</code>
+       */
+      public Builder setGoalCloud(
+          com.viam.common.v1.Common.PoseCloud.Builder builderForValue) {
+        copyOnWrite();
+        instance.setGoalCloud(builderForValue.build());
         return this;
       }
       /**
-       * <code>double z = 3 [json_name = "z"];</code>
-       * @return This builder for chaining.
+       * <code>optional .viam.common.v1.PoseCloud goal_cloud = 3 [json_name = "goalCloud"];</code>
        */
-      public Builder clearZ() {
+      public Builder mergeGoalCloud(com.viam.common.v1.Common.PoseCloud value) {
         copyOnWrite();
-        instance.clearZ();
+        instance.mergeGoalCloud(value);
+        return this;
+      }
+      /**
+       * <code>optional .viam.common.v1.PoseCloud goal_cloud = 3 [json_name = "goalCloud"];</code>
+       */
+      public Builder clearGoalCloud() {  copyOnWrite();
+        instance.clearGoalCloud();
         return this;
       }
 
-      // @@protoc_insertion_point(builder_scope:viam.common.v1.Vector3)
+      // @@protoc_insertion_point(builder_scope:viam.common.v1.PoseInFrame)
     }
     @java.lang.Override
     @java.lang.SuppressWarnings({"unchecked", "fallthrough"})
@@ -2815,20 +3163,21 @@ protected final java.lang.Object dynamicMethod(
         java.lang.Object arg0, java.lang.Object arg1) {
       switch (method) {
         case NEW_MUTABLE_INSTANCE: {
-          return new com.viam.common.v1.Common.Vector3();
+          return new com.viam.common.v1.Common.PoseInFrame();
         }
         case NEW_BUILDER: {
           return new Builder();
         }
         case BUILD_MESSAGE_INFO: {
             java.lang.Object[] objects = new java.lang.Object[] {
-              "x_",
-              "y_",
-              "z_",
+              "bitField0_",
+              "referenceFrame_",
+              "pose_",
+              "goalCloud_",
             };
             java.lang.String info =
-                "\u0000\u0003\u0000\u0000\u0001\u0003\u0003\u0000\u0000\u0000\u0001\u0000\u0002\u0000" +
-                "\u0003\u0000";
+                "\u0000\u0003\u0000\u0001\u0001\u0003\u0003\u0000\u0000\u0000\u0001\u0208\u0002\u1009" +
+                "\u0000\u0003\u1009\u0001";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         // fall through
@@ -2836,13 +3185,13 @@ protected final java.lang.Object dynamicMethod(
           return DEFAULT_INSTANCE;
         }
         case GET_PARSER: {
-          com.google.protobuf.Parser<com.viam.common.v1.Common.Vector3> parser = PARSER;
+          com.google.protobuf.Parser<com.viam.common.v1.Common.PoseInFrame> parser = PARSER;
           if (parser == null) {
-            synchronized (com.viam.common.v1.Common.Vector3.class) {
+            synchronized (com.viam.common.v1.Common.PoseInFrame.class) {
               parser = PARSER;
               if (parser == null) {
                 parser =
-                    new DefaultInstanceBasedParser<com.viam.common.v1.Common.Vector3>(
+                    new DefaultInstanceBasedParser<com.viam.common.v1.Common.PoseInFrame>(
                         DEFAULT_INSTANCE);
                 PARSER = parser;
               }
@@ -2861,118 +3210,182 @@ protected final java.lang.Object dynamicMethod(
     }
 
 
-    // @@protoc_insertion_point(class_scope:viam.common.v1.Vector3)
-    private static final com.viam.common.v1.Common.Vector3 DEFAULT_INSTANCE;
+    // @@protoc_insertion_point(class_scope:viam.common.v1.PoseInFrame)
+    private static final com.viam.common.v1.Common.PoseInFrame DEFAULT_INSTANCE;
     static {
-      Vector3 defaultInstance = new Vector3();
+      PoseInFrame defaultInstance = new PoseInFrame();
       // New instances are implicitly immutable so no need to make
       // immutable.
       DEFAULT_INSTANCE = defaultInstance;
       com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
-        Vector3.class, defaultInstance);
+        PoseInFrame.class, defaultInstance);
     }
 
-    public static com.viam.common.v1.Common.Vector3 getDefaultInstance() {
+    public static com.viam.common.v1.Common.PoseInFrame getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
-    private static volatile com.google.protobuf.Parser<Vector3> PARSER;
+    private static volatile com.google.protobuf.Parser<PoseInFrame> PARSER;
 
-    public static com.google.protobuf.Parser<Vector3> parser() {
+    public static com.google.protobuf.Parser<PoseInFrame> parser() {
       return DEFAULT_INSTANCE.getParserForType();
     }
   }
 
-  public interface SphereOrBuilder extends
-      // @@protoc_insertion_point(interface_extends:viam.common.v1.Sphere)
+  public interface Vector3OrBuilder extends
+      // @@protoc_insertion_point(interface_extends:viam.common.v1.Vector3)
       com.google.protobuf.MessageLiteOrBuilder {
 
     /**
-     * <code>double radius_mm = 1 [json_name = "radiusMm"];</code>
-     * @return The radiusMm.
+     * <code>double x = 1 [json_name = "x"];</code>
+     * @return The x.
      */
-    double getRadiusMm();
+    double getX();
+
+    /**
+     * <code>double y = 2 [json_name = "y"];</code>
+     * @return The y.
+     */
+    double getY();
+
+    /**
+     * <code>double z = 3 [json_name = "z"];</code>
+     * @return The z.
+     */
+    double getZ();
   }
   /**
-   * Protobuf type {@code viam.common.v1.Sphere}
+   * Protobuf type {@code viam.common.v1.Vector3}
    */
-  public  static final class Sphere extends
+  public  static final class Vector3 extends
       com.google.protobuf.GeneratedMessageLite<
-          Sphere, Sphere.Builder> implements
-      // @@protoc_insertion_point(message_implements:viam.common.v1.Sphere)
-      SphereOrBuilder {
-    private Sphere() {
+          Vector3, Vector3.Builder> implements
+      // @@protoc_insertion_point(message_implements:viam.common.v1.Vector3)
+      Vector3OrBuilder {
+    private Vector3() {
     }
-    public static final int RADIUS_MM_FIELD_NUMBER = 1;
-    private double radiusMm_;
+    public static final int X_FIELD_NUMBER = 1;
+    private double x_;
     /**
-     * <code>double radius_mm = 1 [json_name = "radiusMm"];</code>
-     * @return The radiusMm.
+     * <code>double x = 1 [json_name = "x"];</code>
+     * @return The x.
      */
     @java.lang.Override
-    public double getRadiusMm() {
-      return radiusMm_;
+    public double getX() {
+      return x_;
     }
     /**
-     * <code>double radius_mm = 1 [json_name = "radiusMm"];</code>
-     * @param value The radiusMm to set.
+     * <code>double x = 1 [json_name = "x"];</code>
+     * @param value The x to set.
      */
-    private void setRadiusMm(double value) {
+    private void setX(double value) {
       
-      radiusMm_ = value;
+      x_ = value;
     }
     /**
-     * <code>double radius_mm = 1 [json_name = "radiusMm"];</code>
+     * <code>double x = 1 [json_name = "x"];</code>
      */
-    private void clearRadiusMm() {
+    private void clearX() {
 
-      radiusMm_ = 0D;
+      x_ = 0D;
     }
 
-    public static com.viam.common.v1.Common.Sphere parseFrom(
+    public static final int Y_FIELD_NUMBER = 2;
+    private double y_;
+    /**
+     * <code>double y = 2 [json_name = "y"];</code>
+     * @return The y.
+     */
+    @java.lang.Override
+    public double getY() {
+      return y_;
+    }
+    /**
+     * <code>double y = 2 [json_name = "y"];</code>
+     * @param value The y to set.
+     */
+    private void setY(double value) {
+      
+      y_ = value;
+    }
+    /**
+     * <code>double y = 2 [json_name = "y"];</code>
+     */
+    private void clearY() {
+
+      y_ = 0D;
+    }
+
+    public static final int Z_FIELD_NUMBER = 3;
+    private double z_;
+    /**
+     * <code>double z = 3 [json_name = "z"];</code>
+     * @return The z.
+     */
+    @java.lang.Override
+    public double getZ() {
+      return z_;
+    }
+    /**
+     * <code>double z = 3 [json_name = "z"];</code>
+     * @param value The z to set.
+     */
+    private void setZ(double value) {
+      
+      z_ = value;
+    }
+    /**
+     * <code>double z = 3 [json_name = "z"];</code>
+     */
+    private void clearZ() {
+
+      z_ = 0D;
+    }
+
+    public static com.viam.common.v1.Common.Vector3 parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.common.v1.Common.Sphere parseFrom(
+    public static com.viam.common.v1.Common.Vector3 parseFrom(
         java.nio.ByteBuffer data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.Sphere parseFrom(
+    public static com.viam.common.v1.Common.Vector3 parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.common.v1.Common.Sphere parseFrom(
+    public static com.viam.common.v1.Common.Vector3 parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.Sphere parseFrom(byte[] data)
+    public static com.viam.common.v1.Common.Vector3 parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.common.v1.Common.Sphere parseFrom(
+    public static com.viam.common.v1.Common.Vector3 parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.Sphere parseFrom(java.io.InputStream input)
+    public static com.viam.common.v1.Common.Vector3 parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, input);
     }
-    public static com.viam.common.v1.Common.Sphere parseFrom(
+    public static com.viam.common.v1.Common.Vector3 parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -2980,24 +3393,24 @@ public static com.viam.common.v1.Common.Sphere parseFrom(
           DEFAULT_INSTANCE, input, extensionRegistry);
     }
 
-    public static com.viam.common.v1.Common.Sphere parseDelimitedFrom(java.io.InputStream input)
+    public static com.viam.common.v1.Common.Vector3 parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return parseDelimitedFrom(DEFAULT_INSTANCE, input);
     }
 
-    public static com.viam.common.v1.Common.Sphere parseDelimitedFrom(
+    public static com.viam.common.v1.Common.Vector3 parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.Sphere parseFrom(
+    public static com.viam.common.v1.Common.Vector3 parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, input);
     }
-    public static com.viam.common.v1.Common.Sphere parseFrom(
+    public static com.viam.common.v1.Common.Vector3 parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -3008,53 +3421,109 @@ public static com.viam.common.v1.Common.Sphere parseFrom(
     public static Builder newBuilder() {
       return (Builder) DEFAULT_INSTANCE.createBuilder();
     }
-    public static Builder newBuilder(com.viam.common.v1.Common.Sphere prototype) {
+    public static Builder newBuilder(com.viam.common.v1.Common.Vector3 prototype) {
       return DEFAULT_INSTANCE.createBuilder(prototype);
     }
 
     /**
-     * Protobuf type {@code viam.common.v1.Sphere}
+     * Protobuf type {@code viam.common.v1.Vector3}
      */
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageLite.Builder<
-          com.viam.common.v1.Common.Sphere, Builder> implements
-        // @@protoc_insertion_point(builder_implements:viam.common.v1.Sphere)
-        com.viam.common.v1.Common.SphereOrBuilder {
-      // Construct using com.viam.common.v1.Common.Sphere.newBuilder()
+          com.viam.common.v1.Common.Vector3, Builder> implements
+        // @@protoc_insertion_point(builder_implements:viam.common.v1.Vector3)
+        com.viam.common.v1.Common.Vector3OrBuilder {
+      // Construct using com.viam.common.v1.Common.Vector3.newBuilder()
       private Builder() {
         super(DEFAULT_INSTANCE);
       }
 
 
       /**
-       * <code>double radius_mm = 1 [json_name = "radiusMm"];</code>
-       * @return The radiusMm.
+       * <code>double x = 1 [json_name = "x"];</code>
+       * @return The x.
        */
       @java.lang.Override
-      public double getRadiusMm() {
-        return instance.getRadiusMm();
+      public double getX() {
+        return instance.getX();
       }
       /**
-       * <code>double radius_mm = 1 [json_name = "radiusMm"];</code>
-       * @param value The radiusMm to set.
+       * <code>double x = 1 [json_name = "x"];</code>
+       * @param value The x to set.
        * @return This builder for chaining.
        */
-      public Builder setRadiusMm(double value) {
+      public Builder setX(double value) {
         copyOnWrite();
-        instance.setRadiusMm(value);
+        instance.setX(value);
         return this;
       }
       /**
-       * <code>double radius_mm = 1 [json_name = "radiusMm"];</code>
+       * <code>double x = 1 [json_name = "x"];</code>
        * @return This builder for chaining.
        */
-      public Builder clearRadiusMm() {
+      public Builder clearX() {
         copyOnWrite();
-        instance.clearRadiusMm();
+        instance.clearX();
         return this;
       }
 
-      // @@protoc_insertion_point(builder_scope:viam.common.v1.Sphere)
+      /**
+       * <code>double y = 2 [json_name = "y"];</code>
+       * @return The y.
+       */
+      @java.lang.Override
+      public double getY() {
+        return instance.getY();
+      }
+      /**
+       * <code>double y = 2 [json_name = "y"];</code>
+       * @param value The y to set.
+       * @return This builder for chaining.
+       */
+      public Builder setY(double value) {
+        copyOnWrite();
+        instance.setY(value);
+        return this;
+      }
+      /**
+       * <code>double y = 2 [json_name = "y"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearY() {
+        copyOnWrite();
+        instance.clearY();
+        return this;
+      }
+
+      /**
+       * <code>double z = 3 [json_name = "z"];</code>
+       * @return The z.
+       */
+      @java.lang.Override
+      public double getZ() {
+        return instance.getZ();
+      }
+      /**
+       * <code>double z = 3 [json_name = "z"];</code>
+       * @param value The z to set.
+       * @return This builder for chaining.
+       */
+      public Builder setZ(double value) {
+        copyOnWrite();
+        instance.setZ(value);
+        return this;
+      }
+      /**
+       * <code>double z = 3 [json_name = "z"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearZ() {
+        copyOnWrite();
+        instance.clearZ();
+        return this;
+      }
+
+      // @@protoc_insertion_point(builder_scope:viam.common.v1.Vector3)
     }
     @java.lang.Override
     @java.lang.SuppressWarnings({"unchecked", "fallthrough"})
@@ -3063,17 +3532,20 @@ protected final java.lang.Object dynamicMethod(
         java.lang.Object arg0, java.lang.Object arg1) {
       switch (method) {
         case NEW_MUTABLE_INSTANCE: {
-          return new com.viam.common.v1.Common.Sphere();
+          return new com.viam.common.v1.Common.Vector3();
         }
         case NEW_BUILDER: {
           return new Builder();
         }
         case BUILD_MESSAGE_INFO: {
             java.lang.Object[] objects = new java.lang.Object[] {
-              "radiusMm_",
+              "x_",
+              "y_",
+              "z_",
             };
             java.lang.String info =
-                "\u0000\u0001\u0000\u0000\u0001\u0001\u0001\u0000\u0000\u0000\u0001\u0000";
+                "\u0000\u0003\u0000\u0000\u0001\u0003\u0003\u0000\u0000\u0000\u0001\u0000\u0002\u0000" +
+                "\u0003\u0000";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         // fall through
@@ -3081,13 +3553,13 @@ protected final java.lang.Object dynamicMethod(
           return DEFAULT_INSTANCE;
         }
         case GET_PARSER: {
-          com.google.protobuf.Parser<com.viam.common.v1.Common.Sphere> parser = PARSER;
+          com.google.protobuf.Parser<com.viam.common.v1.Common.Vector3> parser = PARSER;
           if (parser == null) {
-            synchronized (com.viam.common.v1.Common.Sphere.class) {
+            synchronized (com.viam.common.v1.Common.Vector3.class) {
               parser = PARSER;
               if (parser == null) {
                 parser =
-                    new DefaultInstanceBasedParser<com.viam.common.v1.Common.Sphere>(
+                    new DefaultInstanceBasedParser<com.viam.common.v1.Common.Vector3>(
                         DEFAULT_INSTANCE);
                 PARSER = parser;
               }
@@ -3106,30 +3578,30 @@ protected final java.lang.Object dynamicMethod(
     }
 
 
-    // @@protoc_insertion_point(class_scope:viam.common.v1.Sphere)
-    private static final com.viam.common.v1.Common.Sphere DEFAULT_INSTANCE;
+    // @@protoc_insertion_point(class_scope:viam.common.v1.Vector3)
+    private static final com.viam.common.v1.Common.Vector3 DEFAULT_INSTANCE;
     static {
-      Sphere defaultInstance = new Sphere();
+      Vector3 defaultInstance = new Vector3();
       // New instances are implicitly immutable so no need to make
       // immutable.
       DEFAULT_INSTANCE = defaultInstance;
       com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
-        Sphere.class, defaultInstance);
+        Vector3.class, defaultInstance);
     }
 
-    public static com.viam.common.v1.Common.Sphere getDefaultInstance() {
+    public static com.viam.common.v1.Common.Vector3 getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
-    private static volatile com.google.protobuf.Parser<Sphere> PARSER;
+    private static volatile com.google.protobuf.Parser<Vector3> PARSER;
 
-    public static com.google.protobuf.Parser<Sphere> parser() {
+    public static com.google.protobuf.Parser<Vector3> parser() {
       return DEFAULT_INSTANCE.getParserForType();
     }
   }
 
-  public interface CapsuleOrBuilder extends
-      // @@protoc_insertion_point(interface_extends:viam.common.v1.Capsule)
+  public interface SphereOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:viam.common.v1.Sphere)
       com.google.protobuf.MessageLiteOrBuilder {
 
     /**
@@ -3137,22 +3609,16 @@ public interface CapsuleOrBuilder extends
      * @return The radiusMm.
      */
     double getRadiusMm();
-
-    /**
-     * <code>double length_mm = 2 [json_name = "lengthMm"];</code>
-     * @return The lengthMm.
-     */
-    double getLengthMm();
   }
   /**
-   * Protobuf type {@code viam.common.v1.Capsule}
+   * Protobuf type {@code viam.common.v1.Sphere}
    */
-  public  static final class Capsule extends
+  public  static final class Sphere extends
       com.google.protobuf.GeneratedMessageLite<
-          Capsule, Capsule.Builder> implements
-      // @@protoc_insertion_point(message_implements:viam.common.v1.Capsule)
-      CapsuleOrBuilder {
-    private Capsule() {
+          Sphere, Sphere.Builder> implements
+      // @@protoc_insertion_point(message_implements:viam.common.v1.Sphere)
+      SphereOrBuilder {
+    private Sphere() {
     }
     public static final int RADIUS_MM_FIELD_NUMBER = 1;
     private double radiusMm_;
@@ -3180,76 +3646,50 @@ private void clearRadiusMm() {
       radiusMm_ = 0D;
     }
 
-    public static final int LENGTH_MM_FIELD_NUMBER = 2;
-    private double lengthMm_;
-    /**
-     * <code>double length_mm = 2 [json_name = "lengthMm"];</code>
-     * @return The lengthMm.
-     */
-    @java.lang.Override
-    public double getLengthMm() {
-      return lengthMm_;
-    }
-    /**
-     * <code>double length_mm = 2 [json_name = "lengthMm"];</code>
-     * @param value The lengthMm to set.
-     */
-    private void setLengthMm(double value) {
-      
-      lengthMm_ = value;
-    }
-    /**
-     * <code>double length_mm = 2 [json_name = "lengthMm"];</code>
-     */
-    private void clearLengthMm() {
-
-      lengthMm_ = 0D;
-    }
-
-    public static com.viam.common.v1.Common.Capsule parseFrom(
+    public static com.viam.common.v1.Common.Sphere parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.common.v1.Common.Capsule parseFrom(
+    public static com.viam.common.v1.Common.Sphere parseFrom(
         java.nio.ByteBuffer data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.Capsule parseFrom(
+    public static com.viam.common.v1.Common.Sphere parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.common.v1.Common.Capsule parseFrom(
+    public static com.viam.common.v1.Common.Sphere parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.Capsule parseFrom(byte[] data)
+    public static com.viam.common.v1.Common.Sphere parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.common.v1.Common.Capsule parseFrom(
+    public static com.viam.common.v1.Common.Sphere parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.Capsule parseFrom(java.io.InputStream input)
+    public static com.viam.common.v1.Common.Sphere parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, input);
     }
-    public static com.viam.common.v1.Common.Capsule parseFrom(
+    public static com.viam.common.v1.Common.Sphere parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -3257,24 +3697,24 @@ public static com.viam.common.v1.Common.Capsule parseFrom(
           DEFAULT_INSTANCE, input, extensionRegistry);
     }
 
-    public static com.viam.common.v1.Common.Capsule parseDelimitedFrom(java.io.InputStream input)
+    public static com.viam.common.v1.Common.Sphere parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return parseDelimitedFrom(DEFAULT_INSTANCE, input);
     }
 
-    public static com.viam.common.v1.Common.Capsule parseDelimitedFrom(
+    public static com.viam.common.v1.Common.Sphere parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.Capsule parseFrom(
+    public static com.viam.common.v1.Common.Sphere parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, input);
     }
-    public static com.viam.common.v1.Common.Capsule parseFrom(
+    public static com.viam.common.v1.Common.Sphere parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -3285,19 +3725,19 @@ public static com.viam.common.v1.Common.Capsule parseFrom(
     public static Builder newBuilder() {
       return (Builder) DEFAULT_INSTANCE.createBuilder();
     }
-    public static Builder newBuilder(com.viam.common.v1.Common.Capsule prototype) {
+    public static Builder newBuilder(com.viam.common.v1.Common.Sphere prototype) {
       return DEFAULT_INSTANCE.createBuilder(prototype);
     }
 
     /**
-     * Protobuf type {@code viam.common.v1.Capsule}
+     * Protobuf type {@code viam.common.v1.Sphere}
      */
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageLite.Builder<
-          com.viam.common.v1.Common.Capsule, Builder> implements
-        // @@protoc_insertion_point(builder_implements:viam.common.v1.Capsule)
-        com.viam.common.v1.Common.CapsuleOrBuilder {
-      // Construct using com.viam.common.v1.Common.Capsule.newBuilder()
+          com.viam.common.v1.Common.Sphere, Builder> implements
+        // @@protoc_insertion_point(builder_implements:viam.common.v1.Sphere)
+        com.viam.common.v1.Common.SphereOrBuilder {
+      // Construct using com.viam.common.v1.Common.Sphere.newBuilder()
       private Builder() {
         super(DEFAULT_INSTANCE);
       }
@@ -3331,35 +3771,7 @@ public Builder clearRadiusMm() {
         return this;
       }
 
-      /**
-       * <code>double length_mm = 2 [json_name = "lengthMm"];</code>
-       * @return The lengthMm.
-       */
-      @java.lang.Override
-      public double getLengthMm() {
-        return instance.getLengthMm();
-      }
-      /**
-       * <code>double length_mm = 2 [json_name = "lengthMm"];</code>
-       * @param value The lengthMm to set.
-       * @return This builder for chaining.
-       */
-      public Builder setLengthMm(double value) {
-        copyOnWrite();
-        instance.setLengthMm(value);
-        return this;
-      }
-      /**
-       * <code>double length_mm = 2 [json_name = "lengthMm"];</code>
-       * @return This builder for chaining.
-       */
-      public Builder clearLengthMm() {
-        copyOnWrite();
-        instance.clearLengthMm();
-        return this;
-      }
-
-      // @@protoc_insertion_point(builder_scope:viam.common.v1.Capsule)
+      // @@protoc_insertion_point(builder_scope:viam.common.v1.Sphere)
     }
     @java.lang.Override
     @java.lang.SuppressWarnings({"unchecked", "fallthrough"})
@@ -3368,7 +3780,7 @@ protected final java.lang.Object dynamicMethod(
         java.lang.Object arg0, java.lang.Object arg1) {
       switch (method) {
         case NEW_MUTABLE_INSTANCE: {
-          return new com.viam.common.v1.Common.Capsule();
+          return new com.viam.common.v1.Common.Sphere();
         }
         case NEW_BUILDER: {
           return new Builder();
@@ -3376,11 +3788,9 @@ protected final java.lang.Object dynamicMethod(
         case BUILD_MESSAGE_INFO: {
             java.lang.Object[] objects = new java.lang.Object[] {
               "radiusMm_",
-              "lengthMm_",
             };
             java.lang.String info =
-                "\u0000\u0002\u0000\u0000\u0001\u0002\u0002\u0000\u0000\u0000\u0001\u0000\u0002\u0000" +
-                "";
+                "\u0000\u0001\u0000\u0000\u0001\u0001\u0001\u0000\u0000\u0000\u0001\u0000";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         // fall through
@@ -3388,13 +3798,13 @@ protected final java.lang.Object dynamicMethod(
           return DEFAULT_INSTANCE;
         }
         case GET_PARSER: {
-          com.google.protobuf.Parser<com.viam.common.v1.Common.Capsule> parser = PARSER;
+          com.google.protobuf.Parser<com.viam.common.v1.Common.Sphere> parser = PARSER;
           if (parser == null) {
-            synchronized (com.viam.common.v1.Common.Capsule.class) {
+            synchronized (com.viam.common.v1.Common.Sphere.class) {
               parser = PARSER;
               if (parser == null) {
                 parser =
-                    new DefaultInstanceBasedParser<com.viam.common.v1.Common.Capsule>(
+                    new DefaultInstanceBasedParser<com.viam.common.v1.Common.Sphere>(
                         DEFAULT_INSTANCE);
                 PARSER = parser;
               }
@@ -3413,149 +3823,150 @@ protected final java.lang.Object dynamicMethod(
     }
 
 
-    // @@protoc_insertion_point(class_scope:viam.common.v1.Capsule)
-    private static final com.viam.common.v1.Common.Capsule DEFAULT_INSTANCE;
+    // @@protoc_insertion_point(class_scope:viam.common.v1.Sphere)
+    private static final com.viam.common.v1.Common.Sphere DEFAULT_INSTANCE;
     static {
-      Capsule defaultInstance = new Capsule();
+      Sphere defaultInstance = new Sphere();
       // New instances are implicitly immutable so no need to make
       // immutable.
       DEFAULT_INSTANCE = defaultInstance;
       com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
-        Capsule.class, defaultInstance);
+        Sphere.class, defaultInstance);
     }
 
-    public static com.viam.common.v1.Common.Capsule getDefaultInstance() {
+    public static com.viam.common.v1.Common.Sphere getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
-    private static volatile com.google.protobuf.Parser<Capsule> PARSER;
+    private static volatile com.google.protobuf.Parser<Sphere> PARSER;
 
-    public static com.google.protobuf.Parser<Capsule> parser() {
+    public static com.google.protobuf.Parser<Sphere> parser() {
       return DEFAULT_INSTANCE.getParserForType();
     }
   }
 
-  public interface RectangularPrismOrBuilder extends
-      // @@protoc_insertion_point(interface_extends:viam.common.v1.RectangularPrism)
+  public interface CapsuleOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:viam.common.v1.Capsule)
       com.google.protobuf.MessageLiteOrBuilder {
 
     /**
-     * <code>.viam.common.v1.Vector3 dims_mm = 1 [json_name = "dimsMm"];</code>
-     * @return Whether the dimsMm field is set.
+     * <code>double radius_mm = 1 [json_name = "radiusMm"];</code>
+     * @return The radiusMm.
      */
-    boolean hasDimsMm();
+    double getRadiusMm();
+
     /**
-     * <code>.viam.common.v1.Vector3 dims_mm = 1 [json_name = "dimsMm"];</code>
-     * @return The dimsMm.
+     * <code>double length_mm = 2 [json_name = "lengthMm"];</code>
+     * @return The lengthMm.
      */
-    com.viam.common.v1.Common.Vector3 getDimsMm();
+    double getLengthMm();
   }
   /**
-   * <pre>
-   * RectangularPrism contains a Vector3 field corresponding to the X, Y, Z dimensions of the prism in mms
-   * These dimensions are with respect to the referenceframe in which the RectangularPrism is defined
-   * </pre>
-   *
-   * Protobuf type {@code viam.common.v1.RectangularPrism}
+   * Protobuf type {@code viam.common.v1.Capsule}
    */
-  public  static final class RectangularPrism extends
+  public  static final class Capsule extends
       com.google.protobuf.GeneratedMessageLite<
-          RectangularPrism, RectangularPrism.Builder> implements
-      // @@protoc_insertion_point(message_implements:viam.common.v1.RectangularPrism)
-      RectangularPrismOrBuilder {
-    private RectangularPrism() {
+          Capsule, Capsule.Builder> implements
+      // @@protoc_insertion_point(message_implements:viam.common.v1.Capsule)
+      CapsuleOrBuilder {
+    private Capsule() {
     }
-    private int bitField0_;
-    public static final int DIMS_MM_FIELD_NUMBER = 1;
-    private com.viam.common.v1.Common.Vector3 dimsMm_;
+    public static final int RADIUS_MM_FIELD_NUMBER = 1;
+    private double radiusMm_;
     /**
-     * <code>.viam.common.v1.Vector3 dims_mm = 1 [json_name = "dimsMm"];</code>
+     * <code>double radius_mm = 1 [json_name = "radiusMm"];</code>
+     * @return The radiusMm.
      */
     @java.lang.Override
-    public boolean hasDimsMm() {
-      return ((bitField0_ & 0x00000001) != 0);
+    public double getRadiusMm() {
+      return radiusMm_;
     }
     /**
-     * <code>.viam.common.v1.Vector3 dims_mm = 1 [json_name = "dimsMm"];</code>
+     * <code>double radius_mm = 1 [json_name = "radiusMm"];</code>
+     * @param value The radiusMm to set.
      */
-    @java.lang.Override
-    public com.viam.common.v1.Common.Vector3 getDimsMm() {
-      return dimsMm_ == null ? com.viam.common.v1.Common.Vector3.getDefaultInstance() : dimsMm_;
+    private void setRadiusMm(double value) {
+      
+      radiusMm_ = value;
     }
     /**
-     * <code>.viam.common.v1.Vector3 dims_mm = 1 [json_name = "dimsMm"];</code>
+     * <code>double radius_mm = 1 [json_name = "radiusMm"];</code>
      */
-    private void setDimsMm(com.viam.common.v1.Common.Vector3 value) {
-      value.getClass();
-  dimsMm_ = value;
-      bitField0_ |= 0x00000001;
-      }
+    private void clearRadiusMm() {
+
+      radiusMm_ = 0D;
+    }
+
+    public static final int LENGTH_MM_FIELD_NUMBER = 2;
+    private double lengthMm_;
     /**
-     * <code>.viam.common.v1.Vector3 dims_mm = 1 [json_name = "dimsMm"];</code>
+     * <code>double length_mm = 2 [json_name = "lengthMm"];</code>
+     * @return The lengthMm.
      */
-    @java.lang.SuppressWarnings({"ReferenceEquality"})
-    private void mergeDimsMm(com.viam.common.v1.Common.Vector3 value) {
-      value.getClass();
-  if (dimsMm_ != null &&
-          dimsMm_ != com.viam.common.v1.Common.Vector3.getDefaultInstance()) {
-        dimsMm_ =
-          com.viam.common.v1.Common.Vector3.newBuilder(dimsMm_).mergeFrom(value).buildPartial();
-      } else {
-        dimsMm_ = value;
-      }
-      bitField0_ |= 0x00000001;
+    @java.lang.Override
+    public double getLengthMm() {
+      return lengthMm_;
     }
     /**
-     * <code>.viam.common.v1.Vector3 dims_mm = 1 [json_name = "dimsMm"];</code>
+     * <code>double length_mm = 2 [json_name = "lengthMm"];</code>
+     * @param value The lengthMm to set.
      */
-    private void clearDimsMm() {  dimsMm_ = null;
-      bitField0_ = (bitField0_ & ~0x00000001);
+    private void setLengthMm(double value) {
+      
+      lengthMm_ = value;
     }
+    /**
+     * <code>double length_mm = 2 [json_name = "lengthMm"];</code>
+     */
+    private void clearLengthMm() {
 
-    public static com.viam.common.v1.Common.RectangularPrism parseFrom(
+      lengthMm_ = 0D;
+    }
+
+    public static com.viam.common.v1.Common.Capsule parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.common.v1.Common.RectangularPrism parseFrom(
+    public static com.viam.common.v1.Common.Capsule parseFrom(
         java.nio.ByteBuffer data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.RectangularPrism parseFrom(
+    public static com.viam.common.v1.Common.Capsule parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.common.v1.Common.RectangularPrism parseFrom(
+    public static com.viam.common.v1.Common.Capsule parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.RectangularPrism parseFrom(byte[] data)
+    public static com.viam.common.v1.Common.Capsule parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.common.v1.Common.RectangularPrism parseFrom(
+    public static com.viam.common.v1.Common.Capsule parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.RectangularPrism parseFrom(java.io.InputStream input)
+    public static com.viam.common.v1.Common.Capsule parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, input);
     }
-    public static com.viam.common.v1.Common.RectangularPrism parseFrom(
+    public static com.viam.common.v1.Common.Capsule parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -3563,24 +3974,24 @@ public static com.viam.common.v1.Common.RectangularPrism parseFrom(
           DEFAULT_INSTANCE, input, extensionRegistry);
     }
 
-    public static com.viam.common.v1.Common.RectangularPrism parseDelimitedFrom(java.io.InputStream input)
+    public static com.viam.common.v1.Common.Capsule parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return parseDelimitedFrom(DEFAULT_INSTANCE, input);
     }
 
-    public static com.viam.common.v1.Common.RectangularPrism parseDelimitedFrom(
+    public static com.viam.common.v1.Common.Capsule parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.RectangularPrism parseFrom(
+    public static com.viam.common.v1.Common.Capsule parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, input);
     }
-    public static com.viam.common.v1.Common.RectangularPrism parseFrom(
+    public static com.viam.common.v1.Common.Capsule parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -3591,77 +4002,81 @@ public static com.viam.common.v1.Common.RectangularPrism parseFrom(
     public static Builder newBuilder() {
       return (Builder) DEFAULT_INSTANCE.createBuilder();
     }
-    public static Builder newBuilder(com.viam.common.v1.Common.RectangularPrism prototype) {
+    public static Builder newBuilder(com.viam.common.v1.Common.Capsule prototype) {
       return DEFAULT_INSTANCE.createBuilder(prototype);
     }
 
     /**
-     * <pre>
-     * RectangularPrism contains a Vector3 field corresponding to the X, Y, Z dimensions of the prism in mms
-     * These dimensions are with respect to the referenceframe in which the RectangularPrism is defined
-     * </pre>
-     *
-     * Protobuf type {@code viam.common.v1.RectangularPrism}
+     * Protobuf type {@code viam.common.v1.Capsule}
      */
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageLite.Builder<
-          com.viam.common.v1.Common.RectangularPrism, Builder> implements
-        // @@protoc_insertion_point(builder_implements:viam.common.v1.RectangularPrism)
-        com.viam.common.v1.Common.RectangularPrismOrBuilder {
-      // Construct using com.viam.common.v1.Common.RectangularPrism.newBuilder()
+          com.viam.common.v1.Common.Capsule, Builder> implements
+        // @@protoc_insertion_point(builder_implements:viam.common.v1.Capsule)
+        com.viam.common.v1.Common.CapsuleOrBuilder {
+      // Construct using com.viam.common.v1.Common.Capsule.newBuilder()
       private Builder() {
         super(DEFAULT_INSTANCE);
       }
 
 
       /**
-       * <code>.viam.common.v1.Vector3 dims_mm = 1 [json_name = "dimsMm"];</code>
+       * <code>double radius_mm = 1 [json_name = "radiusMm"];</code>
+       * @return The radiusMm.
        */
       @java.lang.Override
-      public boolean hasDimsMm() {
-        return instance.hasDimsMm();
+      public double getRadiusMm() {
+        return instance.getRadiusMm();
       }
       /**
-       * <code>.viam.common.v1.Vector3 dims_mm = 1 [json_name = "dimsMm"];</code>
+       * <code>double radius_mm = 1 [json_name = "radiusMm"];</code>
+       * @param value The radiusMm to set.
+       * @return This builder for chaining.
        */
-      @java.lang.Override
-      public com.viam.common.v1.Common.Vector3 getDimsMm() {
-        return instance.getDimsMm();
+      public Builder setRadiusMm(double value) {
+        copyOnWrite();
+        instance.setRadiusMm(value);
+        return this;
       }
       /**
-       * <code>.viam.common.v1.Vector3 dims_mm = 1 [json_name = "dimsMm"];</code>
+       * <code>double radius_mm = 1 [json_name = "radiusMm"];</code>
+       * @return This builder for chaining.
        */
-      public Builder setDimsMm(com.viam.common.v1.Common.Vector3 value) {
+      public Builder clearRadiusMm() {
         copyOnWrite();
-        instance.setDimsMm(value);
+        instance.clearRadiusMm();
         return this;
-        }
+      }
+
       /**
-       * <code>.viam.common.v1.Vector3 dims_mm = 1 [json_name = "dimsMm"];</code>
+       * <code>double length_mm = 2 [json_name = "lengthMm"];</code>
+       * @return The lengthMm.
        */
-      public Builder setDimsMm(
-          com.viam.common.v1.Common.Vector3.Builder builderForValue) {
-        copyOnWrite();
-        instance.setDimsMm(builderForValue.build());
-        return this;
+      @java.lang.Override
+      public double getLengthMm() {
+        return instance.getLengthMm();
       }
       /**
-       * <code>.viam.common.v1.Vector3 dims_mm = 1 [json_name = "dimsMm"];</code>
+       * <code>double length_mm = 2 [json_name = "lengthMm"];</code>
+       * @param value The lengthMm to set.
+       * @return This builder for chaining.
        */
-      public Builder mergeDimsMm(com.viam.common.v1.Common.Vector3 value) {
+      public Builder setLengthMm(double value) {
         copyOnWrite();
-        instance.mergeDimsMm(value);
+        instance.setLengthMm(value);
         return this;
       }
       /**
-       * <code>.viam.common.v1.Vector3 dims_mm = 1 [json_name = "dimsMm"];</code>
+       * <code>double length_mm = 2 [json_name = "lengthMm"];</code>
+       * @return This builder for chaining.
        */
-      public Builder clearDimsMm() {  copyOnWrite();
-        instance.clearDimsMm();
+      public Builder clearLengthMm() {
+        copyOnWrite();
+        instance.clearLengthMm();
         return this;
       }
 
-      // @@protoc_insertion_point(builder_scope:viam.common.v1.RectangularPrism)
+      // @@protoc_insertion_point(builder_scope:viam.common.v1.Capsule)
     }
     @java.lang.Override
     @java.lang.SuppressWarnings({"unchecked", "fallthrough"})
@@ -3670,18 +4085,19 @@ protected final java.lang.Object dynamicMethod(
         java.lang.Object arg0, java.lang.Object arg1) {
       switch (method) {
         case NEW_MUTABLE_INSTANCE: {
-          return new com.viam.common.v1.Common.RectangularPrism();
+          return new com.viam.common.v1.Common.Capsule();
         }
         case NEW_BUILDER: {
           return new Builder();
         }
         case BUILD_MESSAGE_INFO: {
             java.lang.Object[] objects = new java.lang.Object[] {
-              "bitField0_",
-              "dimsMm_",
+              "radiusMm_",
+              "lengthMm_",
             };
             java.lang.String info =
-                "\u0000\u0001\u0000\u0001\u0001\u0001\u0001\u0000\u0000\u0000\u0001\u1009\u0000";
+                "\u0000\u0002\u0000\u0000\u0001\u0002\u0002\u0000\u0000\u0000\u0001\u0000\u0002\u0000" +
+                "";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         // fall through
@@ -3689,13 +4105,13 @@ protected final java.lang.Object dynamicMethod(
           return DEFAULT_INSTANCE;
         }
         case GET_PARSER: {
-          com.google.protobuf.Parser<com.viam.common.v1.Common.RectangularPrism> parser = PARSER;
+          com.google.protobuf.Parser<com.viam.common.v1.Common.Capsule> parser = PARSER;
           if (parser == null) {
-            synchronized (com.viam.common.v1.Common.RectangularPrism.class) {
+            synchronized (com.viam.common.v1.Common.Capsule.class) {
               parser = PARSER;
               if (parser == null) {
                 parser =
-                    new DefaultInstanceBasedParser<com.viam.common.v1.Common.RectangularPrism>(
+                    new DefaultInstanceBasedParser<com.viam.common.v1.Common.Capsule>(
                         DEFAULT_INSTANCE);
                 PARSER = parser;
               }
@@ -3714,224 +4130,149 @@ protected final java.lang.Object dynamicMethod(
     }
 
 
-    // @@protoc_insertion_point(class_scope:viam.common.v1.RectangularPrism)
-    private static final com.viam.common.v1.Common.RectangularPrism DEFAULT_INSTANCE;
+    // @@protoc_insertion_point(class_scope:viam.common.v1.Capsule)
+    private static final com.viam.common.v1.Common.Capsule DEFAULT_INSTANCE;
     static {
-      RectangularPrism defaultInstance = new RectangularPrism();
+      Capsule defaultInstance = new Capsule();
       // New instances are implicitly immutable so no need to make
       // immutable.
       DEFAULT_INSTANCE = defaultInstance;
       com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
-        RectangularPrism.class, defaultInstance);
+        Capsule.class, defaultInstance);
     }
 
-    public static com.viam.common.v1.Common.RectangularPrism getDefaultInstance() {
+    public static com.viam.common.v1.Common.Capsule getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
-    private static volatile com.google.protobuf.Parser<RectangularPrism> PARSER;
+    private static volatile com.google.protobuf.Parser<Capsule> PARSER;
 
-    public static com.google.protobuf.Parser<RectangularPrism> parser() {
+    public static com.google.protobuf.Parser<Capsule> parser() {
       return DEFAULT_INSTANCE.getParserForType();
     }
   }
 
-  public interface MeshOrBuilder extends
-      // @@protoc_insertion_point(interface_extends:viam.common.v1.Mesh)
+  public interface RectangularPrismOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:viam.common.v1.RectangularPrism)
       com.google.protobuf.MessageLiteOrBuilder {
 
     /**
-     * <pre>
-     * Content type of mesh (e.g. ply)
-     * </pre>
-     *
-     * <code>string content_type = 1 [json_name = "contentType"];</code>
-     * @return The contentType.
-     */
-    java.lang.String getContentType();
-    /**
-     * <pre>
-     * Content type of mesh (e.g. ply)
-     * </pre>
-     *
-     * <code>string content_type = 1 [json_name = "contentType"];</code>
-     * @return The bytes for contentType.
+     * <code>.viam.common.v1.Vector3 dims_mm = 1 [json_name = "dimsMm"];</code>
+     * @return Whether the dimsMm field is set.
      */
-    com.google.protobuf.ByteString
-        getContentTypeBytes();
-
+    boolean hasDimsMm();
     /**
-     * <pre>
-     * Contents of mesh data in binary form defined by content_type
-     * </pre>
-     *
-     * <code>bytes mesh = 2 [json_name = "mesh"];</code>
-     * @return The mesh.
+     * <code>.viam.common.v1.Vector3 dims_mm = 1 [json_name = "dimsMm"];</code>
+     * @return The dimsMm.
      */
-    com.google.protobuf.ByteString getMesh();
+    com.viam.common.v1.Common.Vector3 getDimsMm();
   }
   /**
-   * Protobuf type {@code viam.common.v1.Mesh}
+   * <pre>
+   * RectangularPrism contains a Vector3 field corresponding to the X, Y, Z dimensions of the prism in mms
+   * These dimensions are with respect to the referenceframe in which the RectangularPrism is defined
+   * </pre>
+   *
+   * Protobuf type {@code viam.common.v1.RectangularPrism}
    */
-  public  static final class Mesh extends
+  public  static final class RectangularPrism extends
       com.google.protobuf.GeneratedMessageLite<
-          Mesh, Mesh.Builder> implements
-      // @@protoc_insertion_point(message_implements:viam.common.v1.Mesh)
-      MeshOrBuilder {
-    private Mesh() {
-      contentType_ = "";
-      mesh_ = com.google.protobuf.ByteString.EMPTY;
+          RectangularPrism, RectangularPrism.Builder> implements
+      // @@protoc_insertion_point(message_implements:viam.common.v1.RectangularPrism)
+      RectangularPrismOrBuilder {
+    private RectangularPrism() {
     }
-    public static final int CONTENT_TYPE_FIELD_NUMBER = 1;
-    private java.lang.String contentType_;
+    private int bitField0_;
+    public static final int DIMS_MM_FIELD_NUMBER = 1;
+    private com.viam.common.v1.Common.Vector3 dimsMm_;
     /**
-     * <pre>
-     * Content type of mesh (e.g. ply)
-     * </pre>
-     *
-     * <code>string content_type = 1 [json_name = "contentType"];</code>
-     * @return The contentType.
+     * <code>.viam.common.v1.Vector3 dims_mm = 1 [json_name = "dimsMm"];</code>
      */
     @java.lang.Override
-    public java.lang.String getContentType() {
-      return contentType_;
+    public boolean hasDimsMm() {
+      return ((bitField0_ & 0x00000001) != 0);
     }
     /**
-     * <pre>
-     * Content type of mesh (e.g. ply)
-     * </pre>
-     *
-     * <code>string content_type = 1 [json_name = "contentType"];</code>
-     * @return The bytes for contentType.
+     * <code>.viam.common.v1.Vector3 dims_mm = 1 [json_name = "dimsMm"];</code>
      */
     @java.lang.Override
-    public com.google.protobuf.ByteString
-        getContentTypeBytes() {
-      return com.google.protobuf.ByteString.copyFromUtf8(contentType_);
-    }
-    /**
-     * <pre>
-     * Content type of mesh (e.g. ply)
-     * </pre>
-     *
-     * <code>string content_type = 1 [json_name = "contentType"];</code>
-     * @param value The contentType to set.
-     */
-    private void setContentType(
-        java.lang.String value) {
-      java.lang.Class<?> valueClass = value.getClass();
-  
-      contentType_ = value;
-    }
-    /**
-     * <pre>
-     * Content type of mesh (e.g. ply)
-     * </pre>
-     *
-     * <code>string content_type = 1 [json_name = "contentType"];</code>
-     */
-    private void clearContentType() {
-
-      contentType_ = getDefaultInstance().getContentType();
-    }
-    /**
-     * <pre>
-     * Content type of mesh (e.g. ply)
-     * </pre>
-     *
-     * <code>string content_type = 1 [json_name = "contentType"];</code>
-     * @param value The bytes for contentType to set.
-     */
-    private void setContentTypeBytes(
-        com.google.protobuf.ByteString value) {
-      checkByteStringIsUtf8(value);
-      contentType_ = value.toStringUtf8();
-
+    public com.viam.common.v1.Common.Vector3 getDimsMm() {
+      return dimsMm_ == null ? com.viam.common.v1.Common.Vector3.getDefaultInstance() : dimsMm_;
     }
-
-    public static final int MESH_FIELD_NUMBER = 2;
-    private com.google.protobuf.ByteString mesh_;
     /**
-     * <pre>
-     * Contents of mesh data in binary form defined by content_type
-     * </pre>
-     *
-     * <code>bytes mesh = 2 [json_name = "mesh"];</code>
-     * @return The mesh.
+     * <code>.viam.common.v1.Vector3 dims_mm = 1 [json_name = "dimsMm"];</code>
      */
-    @java.lang.Override
-    public com.google.protobuf.ByteString getMesh() {
-      return mesh_;
-    }
+    private void setDimsMm(com.viam.common.v1.Common.Vector3 value) {
+      value.getClass();
+  dimsMm_ = value;
+      bitField0_ |= 0x00000001;
+      }
     /**
-     * <pre>
-     * Contents of mesh data in binary form defined by content_type
-     * </pre>
-     *
-     * <code>bytes mesh = 2 [json_name = "mesh"];</code>
-     * @param value The mesh to set.
+     * <code>.viam.common.v1.Vector3 dims_mm = 1 [json_name = "dimsMm"];</code>
      */
-    private void setMesh(com.google.protobuf.ByteString value) {
-      java.lang.Class<?> valueClass = value.getClass();
-  
-      mesh_ = value;
+    @java.lang.SuppressWarnings({"ReferenceEquality"})
+    private void mergeDimsMm(com.viam.common.v1.Common.Vector3 value) {
+      value.getClass();
+  if (dimsMm_ != null &&
+          dimsMm_ != com.viam.common.v1.Common.Vector3.getDefaultInstance()) {
+        dimsMm_ =
+          com.viam.common.v1.Common.Vector3.newBuilder(dimsMm_).mergeFrom(value).buildPartial();
+      } else {
+        dimsMm_ = value;
+      }
+      bitField0_ |= 0x00000001;
     }
     /**
-     * <pre>
-     * Contents of mesh data in binary form defined by content_type
-     * </pre>
-     *
-     * <code>bytes mesh = 2 [json_name = "mesh"];</code>
+     * <code>.viam.common.v1.Vector3 dims_mm = 1 [json_name = "dimsMm"];</code>
      */
-    private void clearMesh() {
-
-      mesh_ = getDefaultInstance().getMesh();
+    private void clearDimsMm() {  dimsMm_ = null;
+      bitField0_ = (bitField0_ & ~0x00000001);
     }
 
-    public static com.viam.common.v1.Common.Mesh parseFrom(
+    public static com.viam.common.v1.Common.RectangularPrism parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.common.v1.Common.Mesh parseFrom(
+    public static com.viam.common.v1.Common.RectangularPrism parseFrom(
         java.nio.ByteBuffer data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.Mesh parseFrom(
+    public static com.viam.common.v1.Common.RectangularPrism parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.common.v1.Common.Mesh parseFrom(
+    public static com.viam.common.v1.Common.RectangularPrism parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.Mesh parseFrom(byte[] data)
+    public static com.viam.common.v1.Common.RectangularPrism parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.common.v1.Common.Mesh parseFrom(
+    public static com.viam.common.v1.Common.RectangularPrism parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.Mesh parseFrom(java.io.InputStream input)
+    public static com.viam.common.v1.Common.RectangularPrism parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, input);
     }
-    public static com.viam.common.v1.Common.Mesh parseFrom(
+    public static com.viam.common.v1.Common.RectangularPrism parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -3939,24 +4280,24 @@ public static com.viam.common.v1.Common.Mesh parseFrom(
           DEFAULT_INSTANCE, input, extensionRegistry);
     }
 
-    public static com.viam.common.v1.Common.Mesh parseDelimitedFrom(java.io.InputStream input)
+    public static com.viam.common.v1.Common.RectangularPrism parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return parseDelimitedFrom(DEFAULT_INSTANCE, input);
     }
 
-    public static com.viam.common.v1.Common.Mesh parseDelimitedFrom(
+    public static com.viam.common.v1.Common.RectangularPrism parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.Mesh parseFrom(
+    public static com.viam.common.v1.Common.RectangularPrism parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, input);
     }
-    public static com.viam.common.v1.Common.Mesh parseFrom(
+    public static com.viam.common.v1.Common.RectangularPrism parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -3967,134 +4308,77 @@ public static com.viam.common.v1.Common.Mesh parseFrom(
     public static Builder newBuilder() {
       return (Builder) DEFAULT_INSTANCE.createBuilder();
     }
-    public static Builder newBuilder(com.viam.common.v1.Common.Mesh prototype) {
+    public static Builder newBuilder(com.viam.common.v1.Common.RectangularPrism prototype) {
       return DEFAULT_INSTANCE.createBuilder(prototype);
     }
 
     /**
-     * Protobuf type {@code viam.common.v1.Mesh}
+     * <pre>
+     * RectangularPrism contains a Vector3 field corresponding to the X, Y, Z dimensions of the prism in mms
+     * These dimensions are with respect to the referenceframe in which the RectangularPrism is defined
+     * </pre>
+     *
+     * Protobuf type {@code viam.common.v1.RectangularPrism}
      */
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageLite.Builder<
-          com.viam.common.v1.Common.Mesh, Builder> implements
-        // @@protoc_insertion_point(builder_implements:viam.common.v1.Mesh)
-        com.viam.common.v1.Common.MeshOrBuilder {
-      // Construct using com.viam.common.v1.Common.Mesh.newBuilder()
+          com.viam.common.v1.Common.RectangularPrism, Builder> implements
+        // @@protoc_insertion_point(builder_implements:viam.common.v1.RectangularPrism)
+        com.viam.common.v1.Common.RectangularPrismOrBuilder {
+      // Construct using com.viam.common.v1.Common.RectangularPrism.newBuilder()
       private Builder() {
         super(DEFAULT_INSTANCE);
       }
 
 
       /**
-       * <pre>
-       * Content type of mesh (e.g. ply)
-       * </pre>
-       *
-       * <code>string content_type = 1 [json_name = "contentType"];</code>
-       * @return The contentType.
+       * <code>.viam.common.v1.Vector3 dims_mm = 1 [json_name = "dimsMm"];</code>
        */
       @java.lang.Override
-      public java.lang.String getContentType() {
-        return instance.getContentType();
+      public boolean hasDimsMm() {
+        return instance.hasDimsMm();
       }
       /**
-       * <pre>
-       * Content type of mesh (e.g. ply)
-       * </pre>
-       *
-       * <code>string content_type = 1 [json_name = "contentType"];</code>
-       * @return The bytes for contentType.
+       * <code>.viam.common.v1.Vector3 dims_mm = 1 [json_name = "dimsMm"];</code>
        */
       @java.lang.Override
-      public com.google.protobuf.ByteString
-          getContentTypeBytes() {
-        return instance.getContentTypeBytes();
+      public com.viam.common.v1.Common.Vector3 getDimsMm() {
+        return instance.getDimsMm();
       }
       /**
-       * <pre>
-       * Content type of mesh (e.g. ply)
-       * </pre>
-       *
-       * <code>string content_type = 1 [json_name = "contentType"];</code>
-       * @param value The contentType to set.
-       * @return This builder for chaining.
+       * <code>.viam.common.v1.Vector3 dims_mm = 1 [json_name = "dimsMm"];</code>
        */
-      public Builder setContentType(
-          java.lang.String value) {
+      public Builder setDimsMm(com.viam.common.v1.Common.Vector3 value) {
         copyOnWrite();
-        instance.setContentType(value);
+        instance.setDimsMm(value);
         return this;
-      }
+        }
       /**
-       * <pre>
-       * Content type of mesh (e.g. ply)
-       * </pre>
-       *
-       * <code>string content_type = 1 [json_name = "contentType"];</code>
-       * @return This builder for chaining.
+       * <code>.viam.common.v1.Vector3 dims_mm = 1 [json_name = "dimsMm"];</code>
        */
-      public Builder clearContentType() {
+      public Builder setDimsMm(
+          com.viam.common.v1.Common.Vector3.Builder builderForValue) {
         copyOnWrite();
-        instance.clearContentType();
+        instance.setDimsMm(builderForValue.build());
         return this;
       }
       /**
-       * <pre>
-       * Content type of mesh (e.g. ply)
-       * </pre>
-       *
-       * <code>string content_type = 1 [json_name = "contentType"];</code>
-       * @param value The bytes for contentType to set.
-       * @return This builder for chaining.
-       */
-      public Builder setContentTypeBytes(
-          com.google.protobuf.ByteString value) {
-        copyOnWrite();
-        instance.setContentTypeBytes(value);
-        return this;
-      }
-
-      /**
-       * <pre>
-       * Contents of mesh data in binary form defined by content_type
-       * </pre>
-       *
-       * <code>bytes mesh = 2 [json_name = "mesh"];</code>
-       * @return The mesh.
-       */
-      @java.lang.Override
-      public com.google.protobuf.ByteString getMesh() {
-        return instance.getMesh();
-      }
-      /**
-       * <pre>
-       * Contents of mesh data in binary form defined by content_type
-       * </pre>
-       *
-       * <code>bytes mesh = 2 [json_name = "mesh"];</code>
-       * @param value The mesh to set.
-       * @return This builder for chaining.
+       * <code>.viam.common.v1.Vector3 dims_mm = 1 [json_name = "dimsMm"];</code>
        */
-      public Builder setMesh(com.google.protobuf.ByteString value) {
+      public Builder mergeDimsMm(com.viam.common.v1.Common.Vector3 value) {
         copyOnWrite();
-        instance.setMesh(value);
+        instance.mergeDimsMm(value);
         return this;
       }
       /**
-       * <pre>
-       * Contents of mesh data in binary form defined by content_type
-       * </pre>
-       *
-       * <code>bytes mesh = 2 [json_name = "mesh"];</code>
-       * @return This builder for chaining.
+       * <code>.viam.common.v1.Vector3 dims_mm = 1 [json_name = "dimsMm"];</code>
        */
-      public Builder clearMesh() {
-        copyOnWrite();
-        instance.clearMesh();
+      public Builder clearDimsMm() {  copyOnWrite();
+        instance.clearDimsMm();
         return this;
       }
 
-      // @@protoc_insertion_point(builder_scope:viam.common.v1.Mesh)
+      // @@protoc_insertion_point(builder_scope:viam.common.v1.RectangularPrism)
     }
     @java.lang.Override
     @java.lang.SuppressWarnings({"unchecked", "fallthrough"})
@@ -4103,19 +4387,18 @@ protected final java.lang.Object dynamicMethod(
         java.lang.Object arg0, java.lang.Object arg1) {
       switch (method) {
         case NEW_MUTABLE_INSTANCE: {
-          return new com.viam.common.v1.Common.Mesh();
+          return new com.viam.common.v1.Common.RectangularPrism();
         }
         case NEW_BUILDER: {
           return new Builder();
         }
         case BUILD_MESSAGE_INFO: {
             java.lang.Object[] objects = new java.lang.Object[] {
-              "contentType_",
-              "mesh_",
+              "bitField0_",
+              "dimsMm_",
             };
             java.lang.String info =
-                "\u0000\u0002\u0000\u0000\u0001\u0002\u0002\u0000\u0000\u0000\u0001\u0208\u0002\n" +
-                "";
+                "\u0000\u0001\u0000\u0001\u0001\u0001\u0001\u0000\u0000\u0000\u0001\u1009\u0000";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         // fall through
@@ -4123,13 +4406,13 @@ protected final java.lang.Object dynamicMethod(
           return DEFAULT_INSTANCE;
         }
         case GET_PARSER: {
-          com.google.protobuf.Parser<com.viam.common.v1.Common.Mesh> parser = PARSER;
+          com.google.protobuf.Parser<com.viam.common.v1.Common.RectangularPrism> parser = PARSER;
           if (parser == null) {
-            synchronized (com.viam.common.v1.Common.Mesh.class) {
+            synchronized (com.viam.common.v1.Common.RectangularPrism.class) {
               parser = PARSER;
               if (parser == null) {
                 parser =
-                    new DefaultInstanceBasedParser<com.viam.common.v1.Common.Mesh>(
+                    new DefaultInstanceBasedParser<com.viam.common.v1.Common.RectangularPrism>(
                         DEFAULT_INSTANCE);
                 PARSER = parser;
               }
@@ -4148,120 +4431,224 @@ protected final java.lang.Object dynamicMethod(
     }
 
 
-    // @@protoc_insertion_point(class_scope:viam.common.v1.Mesh)
-    private static final com.viam.common.v1.Common.Mesh DEFAULT_INSTANCE;
+    // @@protoc_insertion_point(class_scope:viam.common.v1.RectangularPrism)
+    private static final com.viam.common.v1.Common.RectangularPrism DEFAULT_INSTANCE;
     static {
-      Mesh defaultInstance = new Mesh();
+      RectangularPrism defaultInstance = new RectangularPrism();
       // New instances are implicitly immutable so no need to make
       // immutable.
       DEFAULT_INSTANCE = defaultInstance;
       com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
-        Mesh.class, defaultInstance);
+        RectangularPrism.class, defaultInstance);
     }
 
-    public static com.viam.common.v1.Common.Mesh getDefaultInstance() {
+    public static com.viam.common.v1.Common.RectangularPrism getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
-    private static volatile com.google.protobuf.Parser<Mesh> PARSER;
+    private static volatile com.google.protobuf.Parser<RectangularPrism> PARSER;
 
-    public static com.google.protobuf.Parser<Mesh> parser() {
+    public static com.google.protobuf.Parser<RectangularPrism> parser() {
       return DEFAULT_INSTANCE.getParserForType();
     }
   }
 
-  public interface PointCloudOrBuilder extends
-      // @@protoc_insertion_point(interface_extends:viam.common.v1.PointCloud)
+  public interface MeshOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:viam.common.v1.Mesh)
       com.google.protobuf.MessageLiteOrBuilder {
 
     /**
-     * <code>bytes point_cloud = 1 [json_name = "pointCloud"];</code>
-     * @return The pointCloud.
+     * <pre>
+     * Content type of mesh (e.g. ply)
+     * </pre>
+     *
+     * <code>string content_type = 1 [json_name = "contentType"];</code>
+     * @return The contentType.
      */
-    com.google.protobuf.ByteString getPointCloud();
+    java.lang.String getContentType();
+    /**
+     * <pre>
+     * Content type of mesh (e.g. ply)
+     * </pre>
+     *
+     * <code>string content_type = 1 [json_name = "contentType"];</code>
+     * @return The bytes for contentType.
+     */
+    com.google.protobuf.ByteString
+        getContentTypeBytes();
+
+    /**
+     * <pre>
+     * Contents of mesh data in binary form defined by content_type
+     * </pre>
+     *
+     * <code>bytes mesh = 2 [json_name = "mesh"];</code>
+     * @return The mesh.
+     */
+    com.google.protobuf.ByteString getMesh();
   }
   /**
-   * Protobuf type {@code viam.common.v1.PointCloud}
+   * Protobuf type {@code viam.common.v1.Mesh}
    */
-  public  static final class PointCloud extends
+  public  static final class Mesh extends
       com.google.protobuf.GeneratedMessageLite<
-          PointCloud, PointCloud.Builder> implements
-      // @@protoc_insertion_point(message_implements:viam.common.v1.PointCloud)
-      PointCloudOrBuilder {
-    private PointCloud() {
-      pointCloud_ = com.google.protobuf.ByteString.EMPTY;
+          Mesh, Mesh.Builder> implements
+      // @@protoc_insertion_point(message_implements:viam.common.v1.Mesh)
+      MeshOrBuilder {
+    private Mesh() {
+      contentType_ = "";
+      mesh_ = com.google.protobuf.ByteString.EMPTY;
     }
-    public static final int POINT_CLOUD_FIELD_NUMBER = 1;
-    private com.google.protobuf.ByteString pointCloud_;
+    public static final int CONTENT_TYPE_FIELD_NUMBER = 1;
+    private java.lang.String contentType_;
     /**
-     * <code>bytes point_cloud = 1 [json_name = "pointCloud"];</code>
-     * @return The pointCloud.
+     * <pre>
+     * Content type of mesh (e.g. ply)
+     * </pre>
+     *
+     * <code>string content_type = 1 [json_name = "contentType"];</code>
+     * @return The contentType.
      */
     @java.lang.Override
-    public com.google.protobuf.ByteString getPointCloud() {
-      return pointCloud_;
+    public java.lang.String getContentType() {
+      return contentType_;
     }
     /**
-     * <code>bytes point_cloud = 1 [json_name = "pointCloud"];</code>
-     * @param value The pointCloud to set.
+     * <pre>
+     * Content type of mesh (e.g. ply)
+     * </pre>
+     *
+     * <code>string content_type = 1 [json_name = "contentType"];</code>
+     * @return The bytes for contentType.
      */
-    private void setPointCloud(com.google.protobuf.ByteString value) {
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getContentTypeBytes() {
+      return com.google.protobuf.ByteString.copyFromUtf8(contentType_);
+    }
+    /**
+     * <pre>
+     * Content type of mesh (e.g. ply)
+     * </pre>
+     *
+     * <code>string content_type = 1 [json_name = "contentType"];</code>
+     * @param value The contentType to set.
+     */
+    private void setContentType(
+        java.lang.String value) {
       java.lang.Class<?> valueClass = value.getClass();
   
-      pointCloud_ = value;
+      contentType_ = value;
     }
     /**
-     * <code>bytes point_cloud = 1 [json_name = "pointCloud"];</code>
+     * <pre>
+     * Content type of mesh (e.g. ply)
+     * </pre>
+     *
+     * <code>string content_type = 1 [json_name = "contentType"];</code>
      */
-    private void clearPointCloud() {
+    private void clearContentType() {
+
+      contentType_ = getDefaultInstance().getContentType();
+    }
+    /**
+     * <pre>
+     * Content type of mesh (e.g. ply)
+     * </pre>
+     *
+     * <code>string content_type = 1 [json_name = "contentType"];</code>
+     * @param value The bytes for contentType to set.
+     */
+    private void setContentTypeBytes(
+        com.google.protobuf.ByteString value) {
+      checkByteStringIsUtf8(value);
+      contentType_ = value.toStringUtf8();
 
-      pointCloud_ = getDefaultInstance().getPointCloud();
     }
 
-    public static com.viam.common.v1.Common.PointCloud parseFrom(
+    public static final int MESH_FIELD_NUMBER = 2;
+    private com.google.protobuf.ByteString mesh_;
+    /**
+     * <pre>
+     * Contents of mesh data in binary form defined by content_type
+     * </pre>
+     *
+     * <code>bytes mesh = 2 [json_name = "mesh"];</code>
+     * @return The mesh.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString getMesh() {
+      return mesh_;
+    }
+    /**
+     * <pre>
+     * Contents of mesh data in binary form defined by content_type
+     * </pre>
+     *
+     * <code>bytes mesh = 2 [json_name = "mesh"];</code>
+     * @param value The mesh to set.
+     */
+    private void setMesh(com.google.protobuf.ByteString value) {
+      java.lang.Class<?> valueClass = value.getClass();
+  
+      mesh_ = value;
+    }
+    /**
+     * <pre>
+     * Contents of mesh data in binary form defined by content_type
+     * </pre>
+     *
+     * <code>bytes mesh = 2 [json_name = "mesh"];</code>
+     */
+    private void clearMesh() {
+
+      mesh_ = getDefaultInstance().getMesh();
+    }
+
+    public static com.viam.common.v1.Common.Mesh parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.common.v1.Common.PointCloud parseFrom(
+    public static com.viam.common.v1.Common.Mesh parseFrom(
         java.nio.ByteBuffer data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.PointCloud parseFrom(
+    public static com.viam.common.v1.Common.Mesh parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.common.v1.Common.PointCloud parseFrom(
+    public static com.viam.common.v1.Common.Mesh parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.PointCloud parseFrom(byte[] data)
+    public static com.viam.common.v1.Common.Mesh parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.common.v1.Common.PointCloud parseFrom(
+    public static com.viam.common.v1.Common.Mesh parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.PointCloud parseFrom(java.io.InputStream input)
+    public static com.viam.common.v1.Common.Mesh parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, input);
     }
-    public static com.viam.common.v1.Common.PointCloud parseFrom(
+    public static com.viam.common.v1.Common.Mesh parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -4269,24 +4656,24 @@ public static com.viam.common.v1.Common.PointCloud parseFrom(
           DEFAULT_INSTANCE, input, extensionRegistry);
     }
 
-    public static com.viam.common.v1.Common.PointCloud parseDelimitedFrom(java.io.InputStream input)
+    public static com.viam.common.v1.Common.Mesh parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return parseDelimitedFrom(DEFAULT_INSTANCE, input);
     }
 
-    public static com.viam.common.v1.Common.PointCloud parseDelimitedFrom(
+    public static com.viam.common.v1.Common.Mesh parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.PointCloud parseFrom(
+    public static com.viam.common.v1.Common.Mesh parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, input);
     }
-    public static com.viam.common.v1.Common.PointCloud parseFrom(
+    public static com.viam.common.v1.Common.Mesh parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -4297,53 +4684,134 @@ public static com.viam.common.v1.Common.PointCloud parseFrom(
     public static Builder newBuilder() {
       return (Builder) DEFAULT_INSTANCE.createBuilder();
     }
-    public static Builder newBuilder(com.viam.common.v1.Common.PointCloud prototype) {
+    public static Builder newBuilder(com.viam.common.v1.Common.Mesh prototype) {
       return DEFAULT_INSTANCE.createBuilder(prototype);
     }
 
     /**
-     * Protobuf type {@code viam.common.v1.PointCloud}
+     * Protobuf type {@code viam.common.v1.Mesh}
      */
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageLite.Builder<
-          com.viam.common.v1.Common.PointCloud, Builder> implements
-        // @@protoc_insertion_point(builder_implements:viam.common.v1.PointCloud)
-        com.viam.common.v1.Common.PointCloudOrBuilder {
-      // Construct using com.viam.common.v1.Common.PointCloud.newBuilder()
+          com.viam.common.v1.Common.Mesh, Builder> implements
+        // @@protoc_insertion_point(builder_implements:viam.common.v1.Mesh)
+        com.viam.common.v1.Common.MeshOrBuilder {
+      // Construct using com.viam.common.v1.Common.Mesh.newBuilder()
       private Builder() {
         super(DEFAULT_INSTANCE);
       }
 
 
       /**
-       * <code>bytes point_cloud = 1 [json_name = "pointCloud"];</code>
-       * @return The pointCloud.
+       * <pre>
+       * Content type of mesh (e.g. ply)
+       * </pre>
+       *
+       * <code>string content_type = 1 [json_name = "contentType"];</code>
+       * @return The contentType.
        */
       @java.lang.Override
-      public com.google.protobuf.ByteString getPointCloud() {
-        return instance.getPointCloud();
+      public java.lang.String getContentType() {
+        return instance.getContentType();
       }
       /**
-       * <code>bytes point_cloud = 1 [json_name = "pointCloud"];</code>
-       * @param value The pointCloud to set.
+       * <pre>
+       * Content type of mesh (e.g. ply)
+       * </pre>
+       *
+       * <code>string content_type = 1 [json_name = "contentType"];</code>
+       * @return The bytes for contentType.
+       */
+      @java.lang.Override
+      public com.google.protobuf.ByteString
+          getContentTypeBytes() {
+        return instance.getContentTypeBytes();
+      }
+      /**
+       * <pre>
+       * Content type of mesh (e.g. ply)
+       * </pre>
+       *
+       * <code>string content_type = 1 [json_name = "contentType"];</code>
+       * @param value The contentType to set.
        * @return This builder for chaining.
        */
-      public Builder setPointCloud(com.google.protobuf.ByteString value) {
+      public Builder setContentType(
+          java.lang.String value) {
         copyOnWrite();
-        instance.setPointCloud(value);
+        instance.setContentType(value);
         return this;
       }
       /**
-       * <code>bytes point_cloud = 1 [json_name = "pointCloud"];</code>
+       * <pre>
+       * Content type of mesh (e.g. ply)
+       * </pre>
+       *
+       * <code>string content_type = 1 [json_name = "contentType"];</code>
        * @return This builder for chaining.
        */
-      public Builder clearPointCloud() {
+      public Builder clearContentType() {
         copyOnWrite();
-        instance.clearPointCloud();
+        instance.clearContentType();
+        return this;
+      }
+      /**
+       * <pre>
+       * Content type of mesh (e.g. ply)
+       * </pre>
+       *
+       * <code>string content_type = 1 [json_name = "contentType"];</code>
+       * @param value The bytes for contentType to set.
+       * @return This builder for chaining.
+       */
+      public Builder setContentTypeBytes(
+          com.google.protobuf.ByteString value) {
+        copyOnWrite();
+        instance.setContentTypeBytes(value);
         return this;
       }
 
-      // @@protoc_insertion_point(builder_scope:viam.common.v1.PointCloud)
+      /**
+       * <pre>
+       * Contents of mesh data in binary form defined by content_type
+       * </pre>
+       *
+       * <code>bytes mesh = 2 [json_name = "mesh"];</code>
+       * @return The mesh.
+       */
+      @java.lang.Override
+      public com.google.protobuf.ByteString getMesh() {
+        return instance.getMesh();
+      }
+      /**
+       * <pre>
+       * Contents of mesh data in binary form defined by content_type
+       * </pre>
+       *
+       * <code>bytes mesh = 2 [json_name = "mesh"];</code>
+       * @param value The mesh to set.
+       * @return This builder for chaining.
+       */
+      public Builder setMesh(com.google.protobuf.ByteString value) {
+        copyOnWrite();
+        instance.setMesh(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * Contents of mesh data in binary form defined by content_type
+       * </pre>
+       *
+       * <code>bytes mesh = 2 [json_name = "mesh"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearMesh() {
+        copyOnWrite();
+        instance.clearMesh();
+        return this;
+      }
+
+      // @@protoc_insertion_point(builder_scope:viam.common.v1.Mesh)
     }
     @java.lang.Override
     @java.lang.SuppressWarnings({"unchecked", "fallthrough"})
@@ -4352,17 +4820,19 @@ protected final java.lang.Object dynamicMethod(
         java.lang.Object arg0, java.lang.Object arg1) {
       switch (method) {
         case NEW_MUTABLE_INSTANCE: {
-          return new com.viam.common.v1.Common.PointCloud();
+          return new com.viam.common.v1.Common.Mesh();
         }
         case NEW_BUILDER: {
           return new Builder();
         }
         case BUILD_MESSAGE_INFO: {
             java.lang.Object[] objects = new java.lang.Object[] {
-              "pointCloud_",
+              "contentType_",
+              "mesh_",
             };
             java.lang.String info =
-                "\u0000\u0001\u0000\u0000\u0001\u0001\u0001\u0000\u0000\u0000\u0001\n";
+                "\u0000\u0002\u0000\u0000\u0001\u0002\u0002\u0000\u0000\u0000\u0001\u0208\u0002\n" +
+                "";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         // fall through
@@ -4370,13 +4840,13 @@ protected final java.lang.Object dynamicMethod(
           return DEFAULT_INSTANCE;
         }
         case GET_PARSER: {
-          com.google.protobuf.Parser<com.viam.common.v1.Common.PointCloud> parser = PARSER;
+          com.google.protobuf.Parser<com.viam.common.v1.Common.Mesh> parser = PARSER;
           if (parser == null) {
-            synchronized (com.viam.common.v1.Common.PointCloud.class) {
+            synchronized (com.viam.common.v1.Common.Mesh.class) {
               parser = PARSER;
               if (parser == null) {
                 parser =
-                    new DefaultInstanceBasedParser<com.viam.common.v1.Common.PointCloud>(
+                    new DefaultInstanceBasedParser<com.viam.common.v1.Common.Mesh>(
                         DEFAULT_INSTANCE);
                 PARSER = parser;
               }
@@ -4395,195 +4865,442 @@ protected final java.lang.Object dynamicMethod(
     }
 
 
-    // @@protoc_insertion_point(class_scope:viam.common.v1.PointCloud)
-    private static final com.viam.common.v1.Common.PointCloud DEFAULT_INSTANCE;
+    // @@protoc_insertion_point(class_scope:viam.common.v1.Mesh)
+    private static final com.viam.common.v1.Common.Mesh DEFAULT_INSTANCE;
     static {
-      PointCloud defaultInstance = new PointCloud();
+      Mesh defaultInstance = new Mesh();
       // New instances are implicitly immutable so no need to make
       // immutable.
       DEFAULT_INSTANCE = defaultInstance;
       com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
-        PointCloud.class, defaultInstance);
+        Mesh.class, defaultInstance);
     }
 
-    public static com.viam.common.v1.Common.PointCloud getDefaultInstance() {
+    public static com.viam.common.v1.Common.Mesh getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
-    private static volatile com.google.protobuf.Parser<PointCloud> PARSER;
+    private static volatile com.google.protobuf.Parser<Mesh> PARSER;
 
-    public static com.google.protobuf.Parser<PointCloud> parser() {
+    public static com.google.protobuf.Parser<Mesh> parser() {
       return DEFAULT_INSTANCE.getParserForType();
     }
   }
 
-  public interface GeometryOrBuilder extends
-      // @@protoc_insertion_point(interface_extends:viam.common.v1.Geometry)
+  public interface PointCloudOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:viam.common.v1.PointCloud)
       com.google.protobuf.MessageLiteOrBuilder {
 
     /**
-     * <pre>
-     * Pose of a geometries center point
-     * </pre>
-     *
-     * <code>.viam.common.v1.Pose center = 1 [json_name = "center"];</code>
-     * @return Whether the center field is set.
-     */
-    boolean hasCenter();
-    /**
-     * <pre>
-     * Pose of a geometries center point
-     * </pre>
-     *
-     * <code>.viam.common.v1.Pose center = 1 [json_name = "center"];</code>
-     * @return The center.
-     */
-    com.viam.common.v1.Common.Pose getCenter();
-
-    /**
-     * <code>.viam.common.v1.Sphere sphere = 2 [json_name = "sphere"];</code>
-     * @return Whether the sphere field is set.
-     */
-    boolean hasSphere();
-    /**
-     * <code>.viam.common.v1.Sphere sphere = 2 [json_name = "sphere"];</code>
-     * @return The sphere.
-     */
-    com.viam.common.v1.Common.Sphere getSphere();
-
-    /**
-     * <code>.viam.common.v1.RectangularPrism box = 3 [json_name = "box"];</code>
-     * @return Whether the box field is set.
-     */
-    boolean hasBox();
-    /**
-     * <code>.viam.common.v1.RectangularPrism box = 3 [json_name = "box"];</code>
-     * @return The box.
-     */
-    com.viam.common.v1.Common.RectangularPrism getBox();
-
-    /**
-     * <code>.viam.common.v1.Capsule capsule = 5 [json_name = "capsule"];</code>
-     * @return Whether the capsule field is set.
+     * <code>bytes point_cloud = 1 [json_name = "pointCloud"];</code>
+     * @return The pointCloud.
      */
-    boolean hasCapsule();
+    com.google.protobuf.ByteString getPointCloud();
+  }
+  /**
+   * Protobuf type {@code viam.common.v1.PointCloud}
+   */
+  public  static final class PointCloud extends
+      com.google.protobuf.GeneratedMessageLite<
+          PointCloud, PointCloud.Builder> implements
+      // @@protoc_insertion_point(message_implements:viam.common.v1.PointCloud)
+      PointCloudOrBuilder {
+    private PointCloud() {
+      pointCloud_ = com.google.protobuf.ByteString.EMPTY;
+    }
+    public static final int POINT_CLOUD_FIELD_NUMBER = 1;
+    private com.google.protobuf.ByteString pointCloud_;
     /**
-     * <code>.viam.common.v1.Capsule capsule = 5 [json_name = "capsule"];</code>
-     * @return The capsule.
+     * <code>bytes point_cloud = 1 [json_name = "pointCloud"];</code>
+     * @return The pointCloud.
      */
-    com.viam.common.v1.Common.Capsule getCapsule();
-
+    @java.lang.Override
+    public com.google.protobuf.ByteString getPointCloud() {
+      return pointCloud_;
+    }
     /**
-     * <code>.viam.common.v1.Mesh mesh = 6 [json_name = "mesh"];</code>
-     * @return Whether the mesh field is set.
+     * <code>bytes point_cloud = 1 [json_name = "pointCloud"];</code>
+     * @param value The pointCloud to set.
      */
-    boolean hasMesh();
+    private void setPointCloud(com.google.protobuf.ByteString value) {
+      java.lang.Class<?> valueClass = value.getClass();
+  
+      pointCloud_ = value;
+    }
     /**
-     * <code>.viam.common.v1.Mesh mesh = 6 [json_name = "mesh"];</code>
-     * @return The mesh.
+     * <code>bytes point_cloud = 1 [json_name = "pointCloud"];</code>
      */
-    com.viam.common.v1.Common.Mesh getMesh();
+    private void clearPointCloud() {
 
-    /**
-     * <code>.viam.common.v1.PointCloud pointcloud = 7 [json_name = "pointcloud"];</code>
-     * @return Whether the pointcloud field is set.
-     */
-    boolean hasPointcloud();
-    /**
-     * <code>.viam.common.v1.PointCloud pointcloud = 7 [json_name = "pointcloud"];</code>
-     * @return The pointcloud.
-     */
-    com.viam.common.v1.Common.PointCloud getPointcloud();
+      pointCloud_ = getDefaultInstance().getPointCloud();
+    }
+
+    public static com.viam.common.v1.Common.PointCloud parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static com.viam.common.v1.Common.PointCloud parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static com.viam.common.v1.Common.PointCloud parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static com.viam.common.v1.Common.PointCloud parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static com.viam.common.v1.Common.PointCloud parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static com.viam.common.v1.Common.PointCloud parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static com.viam.common.v1.Common.PointCloud parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static com.viam.common.v1.Common.PointCloud parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static com.viam.common.v1.Common.PointCloud parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input);
+    }
+
+    public static com.viam.common.v1.Common.PointCloud parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+    public static com.viam.common.v1.Common.PointCloud parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static com.viam.common.v1.Common.PointCloud parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static Builder newBuilder() {
+      return (Builder) DEFAULT_INSTANCE.createBuilder();
+    }
+    public static Builder newBuilder(com.viam.common.v1.Common.PointCloud prototype) {
+      return DEFAULT_INSTANCE.createBuilder(prototype);
+    }
 
     /**
-     * <pre>
-     * Label of the geometry. If none supplied, will be an empty string.
-     * </pre>
-     *
-     * <code>string label = 4 [json_name = "label"];</code>
-     * @return The label.
-     */
-    java.lang.String getLabel();
-    /**
-     * <pre>
-     * Label of the geometry. If none supplied, will be an empty string.
-     * </pre>
-     *
-     * <code>string label = 4 [json_name = "label"];</code>
-     * @return The bytes for label.
+     * Protobuf type {@code viam.common.v1.PointCloud}
      */
-    com.google.protobuf.ByteString
-        getLabelBytes();
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageLite.Builder<
+          com.viam.common.v1.Common.PointCloud, Builder> implements
+        // @@protoc_insertion_point(builder_implements:viam.common.v1.PointCloud)
+        com.viam.common.v1.Common.PointCloudOrBuilder {
+      // Construct using com.viam.common.v1.Common.PointCloud.newBuilder()
+      private Builder() {
+        super(DEFAULT_INSTANCE);
+      }
 
-    public com.viam.common.v1.Common.Geometry.GeometryTypeCase getGeometryTypeCase();
-  }
-  /**
-   * <pre>
-   * Geometry contains the dimensions of a given geometry and the pose of its center. The geometry is one of either a sphere or a box.
-   * </pre>
-   *
-   * Protobuf type {@code viam.common.v1.Geometry}
-   */
-  public  static final class Geometry extends
-      com.google.protobuf.GeneratedMessageLite<
-          Geometry, Geometry.Builder> implements
-      // @@protoc_insertion_point(message_implements:viam.common.v1.Geometry)
-      GeometryOrBuilder {
-    private Geometry() {
-      label_ = "";
-    }
-    private int bitField0_;
-    private int geometryTypeCase_ = 0;
-    private java.lang.Object geometryType_;
-    public enum GeometryTypeCase {
-      SPHERE(2),
-      BOX(3),
-      CAPSULE(5),
-      MESH(6),
-      POINTCLOUD(7),
-      GEOMETRYTYPE_NOT_SET(0);
-      private final int value;
-      private GeometryTypeCase(int value) {
-        this.value = value;
+
+      /**
+       * <code>bytes point_cloud = 1 [json_name = "pointCloud"];</code>
+       * @return The pointCloud.
+       */
+      @java.lang.Override
+      public com.google.protobuf.ByteString getPointCloud() {
+        return instance.getPointCloud();
       }
       /**
-       * @deprecated Use {@link #forNumber(int)} instead.
+       * <code>bytes point_cloud = 1 [json_name = "pointCloud"];</code>
+       * @param value The pointCloud to set.
+       * @return This builder for chaining.
        */
-      @java.lang.Deprecated
-      public static GeometryTypeCase valueOf(int value) {
-        return forNumber(value);
+      public Builder setPointCloud(com.google.protobuf.ByteString value) {
+        copyOnWrite();
+        instance.setPointCloud(value);
+        return this;
+      }
+      /**
+       * <code>bytes point_cloud = 1 [json_name = "pointCloud"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearPointCloud() {
+        copyOnWrite();
+        instance.clearPointCloud();
+        return this;
       }
 
-      public static GeometryTypeCase forNumber(int value) {
-        switch (value) {
-          case 2: return SPHERE;
-          case 3: return BOX;
-          case 5: return CAPSULE;
-          case 6: return MESH;
-          case 7: return POINTCLOUD;
-          case 0: return GEOMETRYTYPE_NOT_SET;
-          default: return null;
+      // @@protoc_insertion_point(builder_scope:viam.common.v1.PointCloud)
+    }
+    @java.lang.Override
+    @java.lang.SuppressWarnings({"unchecked", "fallthrough"})
+    protected final java.lang.Object dynamicMethod(
+        com.google.protobuf.GeneratedMessageLite.MethodToInvoke method,
+        java.lang.Object arg0, java.lang.Object arg1) {
+      switch (method) {
+        case NEW_MUTABLE_INSTANCE: {
+          return new com.viam.common.v1.Common.PointCloud();
+        }
+        case NEW_BUILDER: {
+          return new Builder();
+        }
+        case BUILD_MESSAGE_INFO: {
+            java.lang.Object[] objects = new java.lang.Object[] {
+              "pointCloud_",
+            };
+            java.lang.String info =
+                "\u0000\u0001\u0000\u0000\u0001\u0001\u0001\u0000\u0000\u0000\u0001\n";
+            return newMessageInfo(DEFAULT_INSTANCE, info, objects);
+        }
+        // fall through
+        case GET_DEFAULT_INSTANCE: {
+          return DEFAULT_INSTANCE;
         }
+        case GET_PARSER: {
+          com.google.protobuf.Parser<com.viam.common.v1.Common.PointCloud> parser = PARSER;
+          if (parser == null) {
+            synchronized (com.viam.common.v1.Common.PointCloud.class) {
+              parser = PARSER;
+              if (parser == null) {
+                parser =
+                    new DefaultInstanceBasedParser<com.viam.common.v1.Common.PointCloud>(
+                        DEFAULT_INSTANCE);
+                PARSER = parser;
+              }
+            }
+          }
+          return parser;
       }
-      public int getNumber() {
-        return this.value;
+      case GET_MEMOIZED_IS_INITIALIZED: {
+        return (byte) 1;
       }
-    };
+      case SET_MEMOIZED_IS_INITIALIZED: {
+        return null;
+      }
+      }
+      throw new UnsupportedOperationException();
+    }
 
-    @java.lang.Override
-    public GeometryTypeCase
-    getGeometryTypeCase() {
-      return GeometryTypeCase.forNumber(
-          geometryTypeCase_);
+
+    // @@protoc_insertion_point(class_scope:viam.common.v1.PointCloud)
+    private static final com.viam.common.v1.Common.PointCloud DEFAULT_INSTANCE;
+    static {
+      PointCloud defaultInstance = new PointCloud();
+      // New instances are implicitly immutable so no need to make
+      // immutable.
+      DEFAULT_INSTANCE = defaultInstance;
+      com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
+        PointCloud.class, defaultInstance);
     }
 
-    private void clearGeometryType() {
-      geometryTypeCase_ = 0;
-      geometryType_ = null;
+    public static com.viam.common.v1.Common.PointCloud getDefaultInstance() {
+      return DEFAULT_INSTANCE;
     }
 
-    public static final int CENTER_FIELD_NUMBER = 1;
-    private com.viam.common.v1.Common.Pose center_;
+    private static volatile com.google.protobuf.Parser<PointCloud> PARSER;
+
+    public static com.google.protobuf.Parser<PointCloud> parser() {
+      return DEFAULT_INSTANCE.getParserForType();
+    }
+  }
+
+  public interface GeometryOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:viam.common.v1.Geometry)
+      com.google.protobuf.MessageLiteOrBuilder {
+
+    /**
+     * <pre>
+     * Pose of a geometries center point
+     * </pre>
+     *
+     * <code>.viam.common.v1.Pose center = 1 [json_name = "center"];</code>
+     * @return Whether the center field is set.
+     */
+    boolean hasCenter();
+    /**
+     * <pre>
+     * Pose of a geometries center point
+     * </pre>
+     *
+     * <code>.viam.common.v1.Pose center = 1 [json_name = "center"];</code>
+     * @return The center.
+     */
+    com.viam.common.v1.Common.Pose getCenter();
+
+    /**
+     * <code>.viam.common.v1.Sphere sphere = 2 [json_name = "sphere"];</code>
+     * @return Whether the sphere field is set.
+     */
+    boolean hasSphere();
+    /**
+     * <code>.viam.common.v1.Sphere sphere = 2 [json_name = "sphere"];</code>
+     * @return The sphere.
+     */
+    com.viam.common.v1.Common.Sphere getSphere();
+
+    /**
+     * <code>.viam.common.v1.RectangularPrism box = 3 [json_name = "box"];</code>
+     * @return Whether the box field is set.
+     */
+    boolean hasBox();
+    /**
+     * <code>.viam.common.v1.RectangularPrism box = 3 [json_name = "box"];</code>
+     * @return The box.
+     */
+    com.viam.common.v1.Common.RectangularPrism getBox();
+
+    /**
+     * <code>.viam.common.v1.Capsule capsule = 5 [json_name = "capsule"];</code>
+     * @return Whether the capsule field is set.
+     */
+    boolean hasCapsule();
+    /**
+     * <code>.viam.common.v1.Capsule capsule = 5 [json_name = "capsule"];</code>
+     * @return The capsule.
+     */
+    com.viam.common.v1.Common.Capsule getCapsule();
+
+    /**
+     * <code>.viam.common.v1.Mesh mesh = 6 [json_name = "mesh"];</code>
+     * @return Whether the mesh field is set.
+     */
+    boolean hasMesh();
+    /**
+     * <code>.viam.common.v1.Mesh mesh = 6 [json_name = "mesh"];</code>
+     * @return The mesh.
+     */
+    com.viam.common.v1.Common.Mesh getMesh();
+
+    /**
+     * <code>.viam.common.v1.PointCloud pointcloud = 7 [json_name = "pointcloud"];</code>
+     * @return Whether the pointcloud field is set.
+     */
+    boolean hasPointcloud();
+    /**
+     * <code>.viam.common.v1.PointCloud pointcloud = 7 [json_name = "pointcloud"];</code>
+     * @return The pointcloud.
+     */
+    com.viam.common.v1.Common.PointCloud getPointcloud();
+
+    /**
+     * <pre>
+     * Label of the geometry. If none supplied, will be an empty string.
+     * </pre>
+     *
+     * <code>string label = 4 [json_name = "label"];</code>
+     * @return The label.
+     */
+    java.lang.String getLabel();
+    /**
+     * <pre>
+     * Label of the geometry. If none supplied, will be an empty string.
+     * </pre>
+     *
+     * <code>string label = 4 [json_name = "label"];</code>
+     * @return The bytes for label.
+     */
+    com.google.protobuf.ByteString
+        getLabelBytes();
+
+    public com.viam.common.v1.Common.Geometry.GeometryTypeCase getGeometryTypeCase();
+  }
+  /**
+   * <pre>
+   * Geometry contains the dimensions of a given geometry and the pose of its center. The geometry is one of either a sphere or a box.
+   * </pre>
+   *
+   * Protobuf type {@code viam.common.v1.Geometry}
+   */
+  public  static final class Geometry extends
+      com.google.protobuf.GeneratedMessageLite<
+          Geometry, Geometry.Builder> implements
+      // @@protoc_insertion_point(message_implements:viam.common.v1.Geometry)
+      GeometryOrBuilder {
+    private Geometry() {
+      label_ = "";
+    }
+    private int bitField0_;
+    private int geometryTypeCase_ = 0;
+    private java.lang.Object geometryType_;
+    public enum GeometryTypeCase {
+      SPHERE(2),
+      BOX(3),
+      CAPSULE(5),
+      MESH(6),
+      POINTCLOUD(7),
+      GEOMETRYTYPE_NOT_SET(0);
+      private final int value;
+      private GeometryTypeCase(int value) {
+        this.value = value;
+      }
+      /**
+       * @deprecated Use {@link #forNumber(int)} instead.
+       */
+      @java.lang.Deprecated
+      public static GeometryTypeCase valueOf(int value) {
+        return forNumber(value);
+      }
+
+      public static GeometryTypeCase forNumber(int value) {
+        switch (value) {
+          case 2: return SPHERE;
+          case 3: return BOX;
+          case 5: return CAPSULE;
+          case 6: return MESH;
+          case 7: return POINTCLOUD;
+          case 0: return GEOMETRYTYPE_NOT_SET;
+          default: return null;
+        }
+      }
+      public int getNumber() {
+        return this.value;
+      }
+    };
+
+    @java.lang.Override
+    public GeometryTypeCase
+    getGeometryTypeCase() {
+      return GeometryTypeCase.forNumber(
+          geometryTypeCase_);
+    }
+
+    private void clearGeometryType() {
+      geometryTypeCase_ = 0;
+      geometryType_ = null;
+    }
+
+    public static final int CENTER_FIELD_NUMBER = 1;
+    private com.viam.common.v1.Common.Pose center_;
     /**
      * <pre>
      * Pose of a geometries center point
@@ -9117,169 +9834,807 @@ public Builder removeObstacles(int index) {
         return this;
       }
 
-      /**
-       * <pre>
-       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
-       * another, or to attach moving geometries to the frame system. This field is optional
-       * </pre>
-       *
-       * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
-       */
-      @java.lang.Override
-      public java.util.List<com.viam.common.v1.Common.Transform> getTransformsList() {
-        return java.util.Collections.unmodifiableList(
-            instance.getTransformsList());
+      /**
+       * <pre>
+       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
+       * another, or to attach moving geometries to the frame system. This field is optional
+       * </pre>
+       *
+       * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
+       */
+      @java.lang.Override
+      public java.util.List<com.viam.common.v1.Common.Transform> getTransformsList() {
+        return java.util.Collections.unmodifiableList(
+            instance.getTransformsList());
+      }
+      /**
+       * <pre>
+       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
+       * another, or to attach moving geometries to the frame system. This field is optional
+       * </pre>
+       *
+       * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
+       */
+      @java.lang.Override
+      public int getTransformsCount() {
+        return instance.getTransformsCount();
+      }/**
+       * <pre>
+       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
+       * another, or to attach moving geometries to the frame system. This field is optional
+       * </pre>
+       *
+       * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
+       */
+      @java.lang.Override
+      public com.viam.common.v1.Common.Transform getTransforms(int index) {
+        return instance.getTransforms(index);
+      }
+      /**
+       * <pre>
+       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
+       * another, or to attach moving geometries to the frame system. This field is optional
+       * </pre>
+       *
+       * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
+       */
+      public Builder setTransforms(
+          int index, com.viam.common.v1.Common.Transform value) {
+        copyOnWrite();
+        instance.setTransforms(index, value);
+        return this;
+      }
+      /**
+       * <pre>
+       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
+       * another, or to attach moving geometries to the frame system. This field is optional
+       * </pre>
+       *
+       * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
+       */
+      public Builder setTransforms(
+          int index, com.viam.common.v1.Common.Transform.Builder builderForValue) {
+        copyOnWrite();
+        instance.setTransforms(index,
+            builderForValue.build());
+        return this;
+      }
+      /**
+       * <pre>
+       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
+       * another, or to attach moving geometries to the frame system. This field is optional
+       * </pre>
+       *
+       * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
+       */
+      public Builder addTransforms(com.viam.common.v1.Common.Transform value) {
+        copyOnWrite();
+        instance.addTransforms(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
+       * another, or to attach moving geometries to the frame system. This field is optional
+       * </pre>
+       *
+       * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
+       */
+      public Builder addTransforms(
+          int index, com.viam.common.v1.Common.Transform value) {
+        copyOnWrite();
+        instance.addTransforms(index, value);
+        return this;
+      }
+      /**
+       * <pre>
+       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
+       * another, or to attach moving geometries to the frame system. This field is optional
+       * </pre>
+       *
+       * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
+       */
+      public Builder addTransforms(
+          com.viam.common.v1.Common.Transform.Builder builderForValue) {
+        copyOnWrite();
+        instance.addTransforms(builderForValue.build());
+        return this;
+      }
+      /**
+       * <pre>
+       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
+       * another, or to attach moving geometries to the frame system. This field is optional
+       * </pre>
+       *
+       * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
+       */
+      public Builder addTransforms(
+          int index, com.viam.common.v1.Common.Transform.Builder builderForValue) {
+        copyOnWrite();
+        instance.addTransforms(index,
+            builderForValue.build());
+        return this;
+      }
+      /**
+       * <pre>
+       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
+       * another, or to attach moving geometries to the frame system. This field is optional
+       * </pre>
+       *
+       * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
+       */
+      public Builder addAllTransforms(
+          java.lang.Iterable<? extends com.viam.common.v1.Common.Transform> values) {
+        copyOnWrite();
+        instance.addAllTransforms(values);
+        return this;
+      }
+      /**
+       * <pre>
+       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
+       * another, or to attach moving geometries to the frame system. This field is optional
+       * </pre>
+       *
+       * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
+       */
+      public Builder clearTransforms() {
+        copyOnWrite();
+        instance.clearTransforms();
+        return this;
+      }
+      /**
+       * <pre>
+       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
+       * another, or to attach moving geometries to the frame system. This field is optional
+       * </pre>
+       *
+       * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
+       */
+      public Builder removeTransforms(int index) {
+        copyOnWrite();
+        instance.removeTransforms(index);
+        return this;
+      }
+
+      // @@protoc_insertion_point(builder_scope:viam.common.v1.WorldState)
+    }
+    @java.lang.Override
+    @java.lang.SuppressWarnings({"unchecked", "fallthrough"})
+    protected final java.lang.Object dynamicMethod(
+        com.google.protobuf.GeneratedMessageLite.MethodToInvoke method,
+        java.lang.Object arg0, java.lang.Object arg1) {
+      switch (method) {
+        case NEW_MUTABLE_INSTANCE: {
+          return new com.viam.common.v1.Common.WorldState();
+        }
+        case NEW_BUILDER: {
+          return new Builder();
+        }
+        case BUILD_MESSAGE_INFO: {
+            java.lang.Object[] objects = new java.lang.Object[] {
+              "obstacles_",
+              com.viam.common.v1.Common.GeometriesInFrame.class,
+              "transforms_",
+              com.viam.common.v1.Common.Transform.class,
+            };
+            java.lang.String info =
+                "\u0000\u0002\u0000\u0000\u0001\u0003\u0002\u0000\u0002\u0000\u0001\u001b\u0003\u001b" +
+                "";
+            return newMessageInfo(DEFAULT_INSTANCE, info, objects);
+        }
+        // fall through
+        case GET_DEFAULT_INSTANCE: {
+          return DEFAULT_INSTANCE;
+        }
+        case GET_PARSER: {
+          com.google.protobuf.Parser<com.viam.common.v1.Common.WorldState> parser = PARSER;
+          if (parser == null) {
+            synchronized (com.viam.common.v1.Common.WorldState.class) {
+              parser = PARSER;
+              if (parser == null) {
+                parser =
+                    new DefaultInstanceBasedParser<com.viam.common.v1.Common.WorldState>(
+                        DEFAULT_INSTANCE);
+                PARSER = parser;
+              }
+            }
+          }
+          return parser;
+      }
+      case GET_MEMOIZED_IS_INITIALIZED: {
+        return (byte) 1;
+      }
+      case SET_MEMOIZED_IS_INITIALIZED: {
+        return null;
+      }
+      }
+      throw new UnsupportedOperationException();
+    }
+
+
+    // @@protoc_insertion_point(class_scope:viam.common.v1.WorldState)
+    private static final com.viam.common.v1.Common.WorldState DEFAULT_INSTANCE;
+    static {
+      WorldState defaultInstance = new WorldState();
+      // New instances are implicitly immutable so no need to make
+      // immutable.
+      DEFAULT_INSTANCE = defaultInstance;
+      com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
+        WorldState.class, defaultInstance);
+    }
+
+    public static com.viam.common.v1.Common.WorldState getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static volatile com.google.protobuf.Parser<WorldState> PARSER;
+
+    public static com.google.protobuf.Parser<WorldState> parser() {
+      return DEFAULT_INSTANCE.getParserForType();
+    }
+  }
+
+  public interface ActuatorStatusOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:viam.common.v1.ActuatorStatus)
+      com.google.protobuf.MessageLiteOrBuilder {
+
+    /**
+     * <code>bool is_moving = 1 [json_name = "isMoving"];</code>
+     * @return The isMoving.
+     */
+    boolean getIsMoving();
+  }
+  /**
+   * <pre>
+   * ActuatorStatus is a generic status for resources that only need to return actuator status.
+   * </pre>
+   *
+   * Protobuf type {@code viam.common.v1.ActuatorStatus}
+   */
+  public  static final class ActuatorStatus extends
+      com.google.protobuf.GeneratedMessageLite<
+          ActuatorStatus, ActuatorStatus.Builder> implements
+      // @@protoc_insertion_point(message_implements:viam.common.v1.ActuatorStatus)
+      ActuatorStatusOrBuilder {
+    private ActuatorStatus() {
+    }
+    public static final int IS_MOVING_FIELD_NUMBER = 1;
+    private boolean isMoving_;
+    /**
+     * <code>bool is_moving = 1 [json_name = "isMoving"];</code>
+     * @return The isMoving.
+     */
+    @java.lang.Override
+    public boolean getIsMoving() {
+      return isMoving_;
+    }
+    /**
+     * <code>bool is_moving = 1 [json_name = "isMoving"];</code>
+     * @param value The isMoving to set.
+     */
+    private void setIsMoving(boolean value) {
+      
+      isMoving_ = value;
+    }
+    /**
+     * <code>bool is_moving = 1 [json_name = "isMoving"];</code>
+     */
+    private void clearIsMoving() {
+
+      isMoving_ = false;
+    }
+
+    public static com.viam.common.v1.Common.ActuatorStatus parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static com.viam.common.v1.Common.ActuatorStatus parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static com.viam.common.v1.Common.ActuatorStatus parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static com.viam.common.v1.Common.ActuatorStatus parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static com.viam.common.v1.Common.ActuatorStatus parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static com.viam.common.v1.Common.ActuatorStatus parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static com.viam.common.v1.Common.ActuatorStatus parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static com.viam.common.v1.Common.ActuatorStatus parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static com.viam.common.v1.Common.ActuatorStatus parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input);
+    }
+
+    public static com.viam.common.v1.Common.ActuatorStatus parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+    public static com.viam.common.v1.Common.ActuatorStatus parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static com.viam.common.v1.Common.ActuatorStatus parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static Builder newBuilder() {
+      return (Builder) DEFAULT_INSTANCE.createBuilder();
+    }
+    public static Builder newBuilder(com.viam.common.v1.Common.ActuatorStatus prototype) {
+      return DEFAULT_INSTANCE.createBuilder(prototype);
+    }
+
+    /**
+     * <pre>
+     * ActuatorStatus is a generic status for resources that only need to return actuator status.
+     * </pre>
+     *
+     * Protobuf type {@code viam.common.v1.ActuatorStatus}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageLite.Builder<
+          com.viam.common.v1.Common.ActuatorStatus, Builder> implements
+        // @@protoc_insertion_point(builder_implements:viam.common.v1.ActuatorStatus)
+        com.viam.common.v1.Common.ActuatorStatusOrBuilder {
+      // Construct using com.viam.common.v1.Common.ActuatorStatus.newBuilder()
+      private Builder() {
+        super(DEFAULT_INSTANCE);
+      }
+
+
+      /**
+       * <code>bool is_moving = 1 [json_name = "isMoving"];</code>
+       * @return The isMoving.
+       */
+      @java.lang.Override
+      public boolean getIsMoving() {
+        return instance.getIsMoving();
+      }
+      /**
+       * <code>bool is_moving = 1 [json_name = "isMoving"];</code>
+       * @param value The isMoving to set.
+       * @return This builder for chaining.
+       */
+      public Builder setIsMoving(boolean value) {
+        copyOnWrite();
+        instance.setIsMoving(value);
+        return this;
+      }
+      /**
+       * <code>bool is_moving = 1 [json_name = "isMoving"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearIsMoving() {
+        copyOnWrite();
+        instance.clearIsMoving();
+        return this;
+      }
+
+      // @@protoc_insertion_point(builder_scope:viam.common.v1.ActuatorStatus)
+    }
+    @java.lang.Override
+    @java.lang.SuppressWarnings({"unchecked", "fallthrough"})
+    protected final java.lang.Object dynamicMethod(
+        com.google.protobuf.GeneratedMessageLite.MethodToInvoke method,
+        java.lang.Object arg0, java.lang.Object arg1) {
+      switch (method) {
+        case NEW_MUTABLE_INSTANCE: {
+          return new com.viam.common.v1.Common.ActuatorStatus();
+        }
+        case NEW_BUILDER: {
+          return new Builder();
+        }
+        case BUILD_MESSAGE_INFO: {
+            java.lang.Object[] objects = new java.lang.Object[] {
+              "isMoving_",
+            };
+            java.lang.String info =
+                "\u0000\u0001\u0000\u0000\u0001\u0001\u0001\u0000\u0000\u0000\u0001\u0007";
+            return newMessageInfo(DEFAULT_INSTANCE, info, objects);
+        }
+        // fall through
+        case GET_DEFAULT_INSTANCE: {
+          return DEFAULT_INSTANCE;
+        }
+        case GET_PARSER: {
+          com.google.protobuf.Parser<com.viam.common.v1.Common.ActuatorStatus> parser = PARSER;
+          if (parser == null) {
+            synchronized (com.viam.common.v1.Common.ActuatorStatus.class) {
+              parser = PARSER;
+              if (parser == null) {
+                parser =
+                    new DefaultInstanceBasedParser<com.viam.common.v1.Common.ActuatorStatus>(
+                        DEFAULT_INSTANCE);
+                PARSER = parser;
+              }
+            }
+          }
+          return parser;
+      }
+      case GET_MEMOIZED_IS_INITIALIZED: {
+        return (byte) 1;
+      }
+      case SET_MEMOIZED_IS_INITIALIZED: {
+        return null;
+      }
+      }
+      throw new UnsupportedOperationException();
+    }
+
+
+    // @@protoc_insertion_point(class_scope:viam.common.v1.ActuatorStatus)
+    private static final com.viam.common.v1.Common.ActuatorStatus DEFAULT_INSTANCE;
+    static {
+      ActuatorStatus defaultInstance = new ActuatorStatus();
+      // New instances are implicitly immutable so no need to make
+      // immutable.
+      DEFAULT_INSTANCE = defaultInstance;
+      com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
+        ActuatorStatus.class, defaultInstance);
+    }
+
+    public static com.viam.common.v1.Common.ActuatorStatus getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static volatile com.google.protobuf.Parser<ActuatorStatus> PARSER;
+
+    public static com.google.protobuf.Parser<ActuatorStatus> parser() {
+      return DEFAULT_INSTANCE.getParserForType();
+    }
+  }
+
+  public interface ResponseMetadataOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:viam.common.v1.ResponseMetadata)
+      com.google.protobuf.MessageLiteOrBuilder {
+
+    /**
+     * <pre>
+     * captured_at is the time at which the resource as close as physically possible, captured
+     * the data in the response.
+     * Note: If correlating between other resources, be sure that the means
+     * of measuring the capture are similar enough such that comparison can be made between them.
+     * </pre>
+     *
+     * <code>optional .google.protobuf.Timestamp captured_at = 1 [json_name = "capturedAt"];</code>
+     * @return Whether the capturedAt field is set.
+     */
+    boolean hasCapturedAt();
+    /**
+     * <pre>
+     * captured_at is the time at which the resource as close as physically possible, captured
+     * the data in the response.
+     * Note: If correlating between other resources, be sure that the means
+     * of measuring the capture are similar enough such that comparison can be made between them.
+     * </pre>
+     *
+     * <code>optional .google.protobuf.Timestamp captured_at = 1 [json_name = "capturedAt"];</code>
+     * @return The capturedAt.
+     */
+    com.google.protobuf.Timestamp getCapturedAt();
+  }
+  /**
+   * Protobuf type {@code viam.common.v1.ResponseMetadata}
+   */
+  public  static final class ResponseMetadata extends
+      com.google.protobuf.GeneratedMessageLite<
+          ResponseMetadata, ResponseMetadata.Builder> implements
+      // @@protoc_insertion_point(message_implements:viam.common.v1.ResponseMetadata)
+      ResponseMetadataOrBuilder {
+    private ResponseMetadata() {
+    }
+    private int bitField0_;
+    public static final int CAPTURED_AT_FIELD_NUMBER = 1;
+    private com.google.protobuf.Timestamp capturedAt_;
+    /**
+     * <pre>
+     * captured_at is the time at which the resource as close as physically possible, captured
+     * the data in the response.
+     * Note: If correlating between other resources, be sure that the means
+     * of measuring the capture are similar enough such that comparison can be made between them.
+     * </pre>
+     *
+     * <code>optional .google.protobuf.Timestamp captured_at = 1 [json_name = "capturedAt"];</code>
+     */
+    @java.lang.Override
+    public boolean hasCapturedAt() {
+      return ((bitField0_ & 0x00000001) != 0);
+    }
+    /**
+     * <pre>
+     * captured_at is the time at which the resource as close as physically possible, captured
+     * the data in the response.
+     * Note: If correlating between other resources, be sure that the means
+     * of measuring the capture are similar enough such that comparison can be made between them.
+     * </pre>
+     *
+     * <code>optional .google.protobuf.Timestamp captured_at = 1 [json_name = "capturedAt"];</code>
+     */
+    @java.lang.Override
+    public com.google.protobuf.Timestamp getCapturedAt() {
+      return capturedAt_ == null ? com.google.protobuf.Timestamp.getDefaultInstance() : capturedAt_;
+    }
+    /**
+     * <pre>
+     * captured_at is the time at which the resource as close as physically possible, captured
+     * the data in the response.
+     * Note: If correlating between other resources, be sure that the means
+     * of measuring the capture are similar enough such that comparison can be made between them.
+     * </pre>
+     *
+     * <code>optional .google.protobuf.Timestamp captured_at = 1 [json_name = "capturedAt"];</code>
+     */
+    private void setCapturedAt(com.google.protobuf.Timestamp value) {
+      value.getClass();
+  capturedAt_ = value;
+      bitField0_ |= 0x00000001;
+      }
+    /**
+     * <pre>
+     * captured_at is the time at which the resource as close as physically possible, captured
+     * the data in the response.
+     * Note: If correlating between other resources, be sure that the means
+     * of measuring the capture are similar enough such that comparison can be made between them.
+     * </pre>
+     *
+     * <code>optional .google.protobuf.Timestamp captured_at = 1 [json_name = "capturedAt"];</code>
+     */
+    @java.lang.SuppressWarnings({"ReferenceEquality"})
+    private void mergeCapturedAt(com.google.protobuf.Timestamp value) {
+      value.getClass();
+  if (capturedAt_ != null &&
+          capturedAt_ != com.google.protobuf.Timestamp.getDefaultInstance()) {
+        capturedAt_ =
+          com.google.protobuf.Timestamp.newBuilder(capturedAt_).mergeFrom(value).buildPartial();
+      } else {
+        capturedAt_ = value;
+      }
+      bitField0_ |= 0x00000001;
+    }
+    /**
+     * <pre>
+     * captured_at is the time at which the resource as close as physically possible, captured
+     * the data in the response.
+     * Note: If correlating between other resources, be sure that the means
+     * of measuring the capture are similar enough such that comparison can be made between them.
+     * </pre>
+     *
+     * <code>optional .google.protobuf.Timestamp captured_at = 1 [json_name = "capturedAt"];</code>
+     */
+    private void clearCapturedAt() {  capturedAt_ = null;
+      bitField0_ = (bitField0_ & ~0x00000001);
+    }
+
+    public static com.viam.common.v1.Common.ResponseMetadata parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static com.viam.common.v1.Common.ResponseMetadata parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static com.viam.common.v1.Common.ResponseMetadata parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static com.viam.common.v1.Common.ResponseMetadata parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static com.viam.common.v1.Common.ResponseMetadata parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static com.viam.common.v1.Common.ResponseMetadata parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static com.viam.common.v1.Common.ResponseMetadata parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static com.viam.common.v1.Common.ResponseMetadata parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static com.viam.common.v1.Common.ResponseMetadata parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input);
+    }
+
+    public static com.viam.common.v1.Common.ResponseMetadata parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+    public static com.viam.common.v1.Common.ResponseMetadata parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static com.viam.common.v1.Common.ResponseMetadata parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static Builder newBuilder() {
+      return (Builder) DEFAULT_INSTANCE.createBuilder();
+    }
+    public static Builder newBuilder(com.viam.common.v1.Common.ResponseMetadata prototype) {
+      return DEFAULT_INSTANCE.createBuilder(prototype);
+    }
+
+    /**
+     * Protobuf type {@code viam.common.v1.ResponseMetadata}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageLite.Builder<
+          com.viam.common.v1.Common.ResponseMetadata, Builder> implements
+        // @@protoc_insertion_point(builder_implements:viam.common.v1.ResponseMetadata)
+        com.viam.common.v1.Common.ResponseMetadataOrBuilder {
+      // Construct using com.viam.common.v1.Common.ResponseMetadata.newBuilder()
+      private Builder() {
+        super(DEFAULT_INSTANCE);
       }
+
+
       /**
        * <pre>
-       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
-       * another, or to attach moving geometries to the frame system. This field is optional
-       * </pre>
-       *
-       * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
-       */
-      @java.lang.Override
-      public int getTransformsCount() {
-        return instance.getTransformsCount();
-      }/**
-       * <pre>
-       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
-       * another, or to attach moving geometries to the frame system. This field is optional
+       * captured_at is the time at which the resource as close as physically possible, captured
+       * the data in the response.
+       * Note: If correlating between other resources, be sure that the means
+       * of measuring the capture are similar enough such that comparison can be made between them.
        * </pre>
        *
-       * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
+       * <code>optional .google.protobuf.Timestamp captured_at = 1 [json_name = "capturedAt"];</code>
        */
       @java.lang.Override
-      public com.viam.common.v1.Common.Transform getTransforms(int index) {
-        return instance.getTransforms(index);
-      }
-      /**
-       * <pre>
-       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
-       * another, or to attach moving geometries to the frame system. This field is optional
-       * </pre>
-       *
-       * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
-       */
-      public Builder setTransforms(
-          int index, com.viam.common.v1.Common.Transform value) {
-        copyOnWrite();
-        instance.setTransforms(index, value);
-        return this;
-      }
-      /**
-       * <pre>
-       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
-       * another, or to attach moving geometries to the frame system. This field is optional
-       * </pre>
-       *
-       * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
-       */
-      public Builder setTransforms(
-          int index, com.viam.common.v1.Common.Transform.Builder builderForValue) {
-        copyOnWrite();
-        instance.setTransforms(index,
-            builderForValue.build());
-        return this;
-      }
-      /**
-       * <pre>
-       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
-       * another, or to attach moving geometries to the frame system. This field is optional
-       * </pre>
-       *
-       * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
-       */
-      public Builder addTransforms(com.viam.common.v1.Common.Transform value) {
-        copyOnWrite();
-        instance.addTransforms(value);
-        return this;
-      }
-      /**
-       * <pre>
-       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
-       * another, or to attach moving geometries to the frame system. This field is optional
-       * </pre>
-       *
-       * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
-       */
-      public Builder addTransforms(
-          int index, com.viam.common.v1.Common.Transform value) {
-        copyOnWrite();
-        instance.addTransforms(index, value);
-        return this;
+      public boolean hasCapturedAt() {
+        return instance.hasCapturedAt();
       }
       /**
        * <pre>
-       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
-       * another, or to attach moving geometries to the frame system. This field is optional
+       * captured_at is the time at which the resource as close as physically possible, captured
+       * the data in the response.
+       * Note: If correlating between other resources, be sure that the means
+       * of measuring the capture are similar enough such that comparison can be made between them.
        * </pre>
        *
-       * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
+       * <code>optional .google.protobuf.Timestamp captured_at = 1 [json_name = "capturedAt"];</code>
        */
-      public Builder addTransforms(
-          com.viam.common.v1.Common.Transform.Builder builderForValue) {
-        copyOnWrite();
-        instance.addTransforms(builderForValue.build());
-        return this;
+      @java.lang.Override
+      public com.google.protobuf.Timestamp getCapturedAt() {
+        return instance.getCapturedAt();
       }
       /**
        * <pre>
-       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
-       * another, or to attach moving geometries to the frame system. This field is optional
+       * captured_at is the time at which the resource as close as physically possible, captured
+       * the data in the response.
+       * Note: If correlating between other resources, be sure that the means
+       * of measuring the capture are similar enough such that comparison can be made between them.
        * </pre>
        *
-       * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
+       * <code>optional .google.protobuf.Timestamp captured_at = 1 [json_name = "capturedAt"];</code>
        */
-      public Builder addTransforms(
-          int index, com.viam.common.v1.Common.Transform.Builder builderForValue) {
+      public Builder setCapturedAt(com.google.protobuf.Timestamp value) {
         copyOnWrite();
-        instance.addTransforms(index,
-            builderForValue.build());
+        instance.setCapturedAt(value);
         return this;
-      }
+        }
       /**
        * <pre>
-       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
-       * another, or to attach moving geometries to the frame system. This field is optional
+       * captured_at is the time at which the resource as close as physically possible, captured
+       * the data in the response.
+       * Note: If correlating between other resources, be sure that the means
+       * of measuring the capture are similar enough such that comparison can be made between them.
        * </pre>
        *
-       * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
+       * <code>optional .google.protobuf.Timestamp captured_at = 1 [json_name = "capturedAt"];</code>
        */
-      public Builder addAllTransforms(
-          java.lang.Iterable<? extends com.viam.common.v1.Common.Transform> values) {
+      public Builder setCapturedAt(
+          com.google.protobuf.Timestamp.Builder builderForValue) {
         copyOnWrite();
-        instance.addAllTransforms(values);
+        instance.setCapturedAt(builderForValue.build());
         return this;
       }
       /**
        * <pre>
-       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
-       * another, or to attach moving geometries to the frame system. This field is optional
+       * captured_at is the time at which the resource as close as physically possible, captured
+       * the data in the response.
+       * Note: If correlating between other resources, be sure that the means
+       * of measuring the capture are similar enough such that comparison can be made between them.
        * </pre>
        *
-       * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
+       * <code>optional .google.protobuf.Timestamp captured_at = 1 [json_name = "capturedAt"];</code>
        */
-      public Builder clearTransforms() {
+      public Builder mergeCapturedAt(com.google.protobuf.Timestamp value) {
         copyOnWrite();
-        instance.clearTransforms();
+        instance.mergeCapturedAt(value);
         return this;
       }
       /**
        * <pre>
-       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
-       * another, or to attach moving geometries to the frame system. This field is optional
+       * captured_at is the time at which the resource as close as physically possible, captured
+       * the data in the response.
+       * Note: If correlating between other resources, be sure that the means
+       * of measuring the capture are similar enough such that comparison can be made between them.
        * </pre>
        *
-       * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
+       * <code>optional .google.protobuf.Timestamp captured_at = 1 [json_name = "capturedAt"];</code>
        */
-      public Builder removeTransforms(int index) {
-        copyOnWrite();
-        instance.removeTransforms(index);
+      public Builder clearCapturedAt() {  copyOnWrite();
+        instance.clearCapturedAt();
         return this;
       }
 
-      // @@protoc_insertion_point(builder_scope:viam.common.v1.WorldState)
+      // @@protoc_insertion_point(builder_scope:viam.common.v1.ResponseMetadata)
     }
     @java.lang.Override
     @java.lang.SuppressWarnings({"unchecked", "fallthrough"})
@@ -9288,21 +10643,18 @@ protected final java.lang.Object dynamicMethod(
         java.lang.Object arg0, java.lang.Object arg1) {
       switch (method) {
         case NEW_MUTABLE_INSTANCE: {
-          return new com.viam.common.v1.Common.WorldState();
+          return new com.viam.common.v1.Common.ResponseMetadata();
         }
         case NEW_BUILDER: {
           return new Builder();
         }
         case BUILD_MESSAGE_INFO: {
             java.lang.Object[] objects = new java.lang.Object[] {
-              "obstacles_",
-              com.viam.common.v1.Common.GeometriesInFrame.class,
-              "transforms_",
-              com.viam.common.v1.Common.Transform.class,
+              "bitField0_",
+              "capturedAt_",
             };
             java.lang.String info =
-                "\u0000\u0002\u0000\u0000\u0001\u0003\u0002\u0000\u0002\u0000\u0001\u001b\u0003\u001b" +
-                "";
+                "\u0000\u0001\u0000\u0001\u0001\u0001\u0001\u0000\u0000\u0000\u0001\u1009\u0000";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         // fall through
@@ -9310,13 +10662,13 @@ protected final java.lang.Object dynamicMethod(
           return DEFAULT_INSTANCE;
         }
         case GET_PARSER: {
-          com.google.protobuf.Parser<com.viam.common.v1.Common.WorldState> parser = PARSER;
+          com.google.protobuf.Parser<com.viam.common.v1.Common.ResponseMetadata> parser = PARSER;
           if (parser == null) {
-            synchronized (com.viam.common.v1.Common.WorldState.class) {
+            synchronized (com.viam.common.v1.Common.ResponseMetadata.class) {
               parser = PARSER;
               if (parser == null) {
                 parser =
-                    new DefaultInstanceBasedParser<com.viam.common.v1.Common.WorldState>(
+                    new DefaultInstanceBasedParser<com.viam.common.v1.Common.ResponseMetadata>(
                         DEFAULT_INSTANCE);
                 PARSER = parser;
               }
@@ -9335,122 +10687,208 @@ protected final java.lang.Object dynamicMethod(
     }
 
 
-    // @@protoc_insertion_point(class_scope:viam.common.v1.WorldState)
-    private static final com.viam.common.v1.Common.WorldState DEFAULT_INSTANCE;
+    // @@protoc_insertion_point(class_scope:viam.common.v1.ResponseMetadata)
+    private static final com.viam.common.v1.Common.ResponseMetadata DEFAULT_INSTANCE;
     static {
-      WorldState defaultInstance = new WorldState();
+      ResponseMetadata defaultInstance = new ResponseMetadata();
       // New instances are implicitly immutable so no need to make
       // immutable.
       DEFAULT_INSTANCE = defaultInstance;
       com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
-        WorldState.class, defaultInstance);
+        ResponseMetadata.class, defaultInstance);
     }
 
-    public static com.viam.common.v1.Common.WorldState getDefaultInstance() {
+    public static com.viam.common.v1.Common.ResponseMetadata getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
-    private static volatile com.google.protobuf.Parser<WorldState> PARSER;
+    private static volatile com.google.protobuf.Parser<ResponseMetadata> PARSER;
 
-    public static com.google.protobuf.Parser<WorldState> parser() {
+    public static com.google.protobuf.Parser<ResponseMetadata> parser() {
       return DEFAULT_INSTANCE.getParserForType();
     }
   }
 
-  public interface ActuatorStatusOrBuilder extends
-      // @@protoc_insertion_point(interface_extends:viam.common.v1.ActuatorStatus)
+  public interface DoCommandRequestOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:viam.common.v1.DoCommandRequest)
       com.google.protobuf.MessageLiteOrBuilder {
 
     /**
-     * <code>bool is_moving = 1 [json_name = "isMoving"];</code>
-     * @return The isMoving.
+     * <code>string name = 1 [json_name = "name"];</code>
+     * @return The name.
      */
-    boolean getIsMoving();
+    java.lang.String getName();
+    /**
+     * <code>string name = 1 [json_name = "name"];</code>
+     * @return The bytes for name.
+     */
+    com.google.protobuf.ByteString
+        getNameBytes();
+
+    /**
+     * <code>.google.protobuf.Struct command = 2 [json_name = "command"];</code>
+     * @return Whether the command field is set.
+     */
+    boolean hasCommand();
+    /**
+     * <code>.google.protobuf.Struct command = 2 [json_name = "command"];</code>
+     * @return The command.
+     */
+    com.google.protobuf.Struct getCommand();
   }
   /**
    * <pre>
-   * ActuatorStatus is a generic status for resources that only need to return actuator status.
+   * DoCommandRequest represents a generic DoCommand input
    * </pre>
    *
-   * Protobuf type {@code viam.common.v1.ActuatorStatus}
+   * Protobuf type {@code viam.common.v1.DoCommandRequest}
    */
-  public  static final class ActuatorStatus extends
+  public  static final class DoCommandRequest extends
       com.google.protobuf.GeneratedMessageLite<
-          ActuatorStatus, ActuatorStatus.Builder> implements
-      // @@protoc_insertion_point(message_implements:viam.common.v1.ActuatorStatus)
-      ActuatorStatusOrBuilder {
-    private ActuatorStatus() {
+          DoCommandRequest, DoCommandRequest.Builder> implements
+      // @@protoc_insertion_point(message_implements:viam.common.v1.DoCommandRequest)
+      DoCommandRequestOrBuilder {
+    private DoCommandRequest() {
+      name_ = "";
     }
-    public static final int IS_MOVING_FIELD_NUMBER = 1;
-    private boolean isMoving_;
+    private int bitField0_;
+    public static final int NAME_FIELD_NUMBER = 1;
+    private java.lang.String name_;
     /**
-     * <code>bool is_moving = 1 [json_name = "isMoving"];</code>
-     * @return The isMoving.
+     * <code>string name = 1 [json_name = "name"];</code>
+     * @return The name.
      */
     @java.lang.Override
-    public boolean getIsMoving() {
-      return isMoving_;
+    public java.lang.String getName() {
+      return name_;
     }
     /**
-     * <code>bool is_moving = 1 [json_name = "isMoving"];</code>
-     * @param value The isMoving to set.
+     * <code>string name = 1 [json_name = "name"];</code>
+     * @return The bytes for name.
      */
-    private void setIsMoving(boolean value) {
-      
-      isMoving_ = value;
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getNameBytes() {
+      return com.google.protobuf.ByteString.copyFromUtf8(name_);
     }
     /**
-     * <code>bool is_moving = 1 [json_name = "isMoving"];</code>
+     * <code>string name = 1 [json_name = "name"];</code>
+     * @param value The name to set.
      */
-    private void clearIsMoving() {
+    private void setName(
+        java.lang.String value) {
+      java.lang.Class<?> valueClass = value.getClass();
+  
+      name_ = value;
+    }
+    /**
+     * <code>string name = 1 [json_name = "name"];</code>
+     */
+    private void clearName() {
+
+      name_ = getDefaultInstance().getName();
+    }
+    /**
+     * <code>string name = 1 [json_name = "name"];</code>
+     * @param value The bytes for name to set.
+     */
+    private void setNameBytes(
+        com.google.protobuf.ByteString value) {
+      checkByteStringIsUtf8(value);
+      name_ = value.toStringUtf8();
 
-      isMoving_ = false;
     }
 
-    public static com.viam.common.v1.Common.ActuatorStatus parseFrom(
+    public static final int COMMAND_FIELD_NUMBER = 2;
+    private com.google.protobuf.Struct command_;
+    /**
+     * <code>.google.protobuf.Struct command = 2 [json_name = "command"];</code>
+     */
+    @java.lang.Override
+    public boolean hasCommand() {
+      return ((bitField0_ & 0x00000001) != 0);
+    }
+    /**
+     * <code>.google.protobuf.Struct command = 2 [json_name = "command"];</code>
+     */
+    @java.lang.Override
+    public com.google.protobuf.Struct getCommand() {
+      return command_ == null ? com.google.protobuf.Struct.getDefaultInstance() : command_;
+    }
+    /**
+     * <code>.google.protobuf.Struct command = 2 [json_name = "command"];</code>
+     */
+    private void setCommand(com.google.protobuf.Struct value) {
+      value.getClass();
+  command_ = value;
+      bitField0_ |= 0x00000001;
+      }
+    /**
+     * <code>.google.protobuf.Struct command = 2 [json_name = "command"];</code>
+     */
+    @java.lang.SuppressWarnings({"ReferenceEquality"})
+    private void mergeCommand(com.google.protobuf.Struct value) {
+      value.getClass();
+  if (command_ != null &&
+          command_ != com.google.protobuf.Struct.getDefaultInstance()) {
+        command_ =
+          com.google.protobuf.Struct.newBuilder(command_).mergeFrom(value).buildPartial();
+      } else {
+        command_ = value;
+      }
+      bitField0_ |= 0x00000001;
+    }
+    /**
+     * <code>.google.protobuf.Struct command = 2 [json_name = "command"];</code>
+     */
+    private void clearCommand() {  command_ = null;
+      bitField0_ = (bitField0_ & ~0x00000001);
+    }
+
+    public static com.viam.common.v1.Common.DoCommandRequest parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.common.v1.Common.ActuatorStatus parseFrom(
+    public static com.viam.common.v1.Common.DoCommandRequest parseFrom(
         java.nio.ByteBuffer data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.ActuatorStatus parseFrom(
+    public static com.viam.common.v1.Common.DoCommandRequest parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.common.v1.Common.ActuatorStatus parseFrom(
+    public static com.viam.common.v1.Common.DoCommandRequest parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.ActuatorStatus parseFrom(byte[] data)
+    public static com.viam.common.v1.Common.DoCommandRequest parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.common.v1.Common.ActuatorStatus parseFrom(
+    public static com.viam.common.v1.Common.DoCommandRequest parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.ActuatorStatus parseFrom(java.io.InputStream input)
+    public static com.viam.common.v1.Common.DoCommandRequest parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, input);
     }
-    public static com.viam.common.v1.Common.ActuatorStatus parseFrom(
+    public static com.viam.common.v1.Common.DoCommandRequest parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -9458,24 +10896,24 @@ public static com.viam.common.v1.Common.ActuatorStatus parseFrom(
           DEFAULT_INSTANCE, input, extensionRegistry);
     }
 
-    public static com.viam.common.v1.Common.ActuatorStatus parseDelimitedFrom(java.io.InputStream input)
+    public static com.viam.common.v1.Common.DoCommandRequest parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return parseDelimitedFrom(DEFAULT_INSTANCE, input);
     }
 
-    public static com.viam.common.v1.Common.ActuatorStatus parseDelimitedFrom(
+    public static com.viam.common.v1.Common.DoCommandRequest parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.ActuatorStatus parseFrom(
+    public static com.viam.common.v1.Common.DoCommandRequest parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, input);
     }
-    public static com.viam.common.v1.Common.ActuatorStatus parseFrom(
+    public static com.viam.common.v1.Common.DoCommandRequest parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -9486,57 +10924,125 @@ public static com.viam.common.v1.Common.ActuatorStatus parseFrom(
     public static Builder newBuilder() {
       return (Builder) DEFAULT_INSTANCE.createBuilder();
     }
-    public static Builder newBuilder(com.viam.common.v1.Common.ActuatorStatus prototype) {
+    public static Builder newBuilder(com.viam.common.v1.Common.DoCommandRequest prototype) {
       return DEFAULT_INSTANCE.createBuilder(prototype);
     }
 
     /**
      * <pre>
-     * ActuatorStatus is a generic status for resources that only need to return actuator status.
+     * DoCommandRequest represents a generic DoCommand input
      * </pre>
      *
-     * Protobuf type {@code viam.common.v1.ActuatorStatus}
+     * Protobuf type {@code viam.common.v1.DoCommandRequest}
      */
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageLite.Builder<
-          com.viam.common.v1.Common.ActuatorStatus, Builder> implements
-        // @@protoc_insertion_point(builder_implements:viam.common.v1.ActuatorStatus)
-        com.viam.common.v1.Common.ActuatorStatusOrBuilder {
-      // Construct using com.viam.common.v1.Common.ActuatorStatus.newBuilder()
+          com.viam.common.v1.Common.DoCommandRequest, Builder> implements
+        // @@protoc_insertion_point(builder_implements:viam.common.v1.DoCommandRequest)
+        com.viam.common.v1.Common.DoCommandRequestOrBuilder {
+      // Construct using com.viam.common.v1.Common.DoCommandRequest.newBuilder()
       private Builder() {
         super(DEFAULT_INSTANCE);
       }
-
+
+
+      /**
+       * <code>string name = 1 [json_name = "name"];</code>
+       * @return The name.
+       */
+      @java.lang.Override
+      public java.lang.String getName() {
+        return instance.getName();
+      }
+      /**
+       * <code>string name = 1 [json_name = "name"];</code>
+       * @return The bytes for name.
+       */
+      @java.lang.Override
+      public com.google.protobuf.ByteString
+          getNameBytes() {
+        return instance.getNameBytes();
+      }
+      /**
+       * <code>string name = 1 [json_name = "name"];</code>
+       * @param value The name to set.
+       * @return This builder for chaining.
+       */
+      public Builder setName(
+          java.lang.String value) {
+        copyOnWrite();
+        instance.setName(value);
+        return this;
+      }
+      /**
+       * <code>string name = 1 [json_name = "name"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearName() {
+        copyOnWrite();
+        instance.clearName();
+        return this;
+      }
+      /**
+       * <code>string name = 1 [json_name = "name"];</code>
+       * @param value The bytes for name to set.
+       * @return This builder for chaining.
+       */
+      public Builder setNameBytes(
+          com.google.protobuf.ByteString value) {
+        copyOnWrite();
+        instance.setNameBytes(value);
+        return this;
+      }
 
       /**
-       * <code>bool is_moving = 1 [json_name = "isMoving"];</code>
-       * @return The isMoving.
+       * <code>.google.protobuf.Struct command = 2 [json_name = "command"];</code>
        */
       @java.lang.Override
-      public boolean getIsMoving() {
-        return instance.getIsMoving();
+      public boolean hasCommand() {
+        return instance.hasCommand();
       }
       /**
-       * <code>bool is_moving = 1 [json_name = "isMoving"];</code>
-       * @param value The isMoving to set.
-       * @return This builder for chaining.
+       * <code>.google.protobuf.Struct command = 2 [json_name = "command"];</code>
        */
-      public Builder setIsMoving(boolean value) {
+      @java.lang.Override
+      public com.google.protobuf.Struct getCommand() {
+        return instance.getCommand();
+      }
+      /**
+       * <code>.google.protobuf.Struct command = 2 [json_name = "command"];</code>
+       */
+      public Builder setCommand(com.google.protobuf.Struct value) {
         copyOnWrite();
-        instance.setIsMoving(value);
+        instance.setCommand(value);
+        return this;
+        }
+      /**
+       * <code>.google.protobuf.Struct command = 2 [json_name = "command"];</code>
+       */
+      public Builder setCommand(
+          com.google.protobuf.Struct.Builder builderForValue) {
+        copyOnWrite();
+        instance.setCommand(builderForValue.build());
         return this;
       }
       /**
-       * <code>bool is_moving = 1 [json_name = "isMoving"];</code>
-       * @return This builder for chaining.
+       * <code>.google.protobuf.Struct command = 2 [json_name = "command"];</code>
        */
-      public Builder clearIsMoving() {
+      public Builder mergeCommand(com.google.protobuf.Struct value) {
         copyOnWrite();
-        instance.clearIsMoving();
+        instance.mergeCommand(value);
+        return this;
+      }
+      /**
+       * <code>.google.protobuf.Struct command = 2 [json_name = "command"];</code>
+       */
+      public Builder clearCommand() {  copyOnWrite();
+        instance.clearCommand();
         return this;
       }
 
-      // @@protoc_insertion_point(builder_scope:viam.common.v1.ActuatorStatus)
+      // @@protoc_insertion_point(builder_scope:viam.common.v1.DoCommandRequest)
     }
     @java.lang.Override
     @java.lang.SuppressWarnings({"unchecked", "fallthrough"})
@@ -9545,17 +11051,20 @@ protected final java.lang.Object dynamicMethod(
         java.lang.Object arg0, java.lang.Object arg1) {
       switch (method) {
         case NEW_MUTABLE_INSTANCE: {
-          return new com.viam.common.v1.Common.ActuatorStatus();
+          return new com.viam.common.v1.Common.DoCommandRequest();
         }
         case NEW_BUILDER: {
           return new Builder();
         }
         case BUILD_MESSAGE_INFO: {
             java.lang.Object[] objects = new java.lang.Object[] {
-              "isMoving_",
+              "bitField0_",
+              "name_",
+              "command_",
             };
             java.lang.String info =
-                "\u0000\u0001\u0000\u0000\u0001\u0001\u0001\u0000\u0000\u0000\u0001\u0007";
+                "\u0000\u0002\u0000\u0001\u0001\u0002\u0002\u0000\u0000\u0000\u0001\u0208\u0002\u1009" +
+                "\u0000";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         // fall through
@@ -9563,13 +11072,13 @@ protected final java.lang.Object dynamicMethod(
           return DEFAULT_INSTANCE;
         }
         case GET_PARSER: {
-          com.google.protobuf.Parser<com.viam.common.v1.Common.ActuatorStatus> parser = PARSER;
+          com.google.protobuf.Parser<com.viam.common.v1.Common.DoCommandRequest> parser = PARSER;
           if (parser == null) {
-            synchronized (com.viam.common.v1.Common.ActuatorStatus.class) {
+            synchronized (com.viam.common.v1.Common.DoCommandRequest.class) {
               parser = PARSER;
               if (parser == null) {
                 parser =
-                    new DefaultInstanceBasedParser<com.viam.common.v1.Common.ActuatorStatus>(
+                    new DefaultInstanceBasedParser<com.viam.common.v1.Common.DoCommandRequest>(
                         DEFAULT_INSTANCE);
                 PARSER = parser;
               }
@@ -9588,193 +11097,148 @@ protected final java.lang.Object dynamicMethod(
     }
 
 
-    // @@protoc_insertion_point(class_scope:viam.common.v1.ActuatorStatus)
-    private static final com.viam.common.v1.Common.ActuatorStatus DEFAULT_INSTANCE;
+    // @@protoc_insertion_point(class_scope:viam.common.v1.DoCommandRequest)
+    private static final com.viam.common.v1.Common.DoCommandRequest DEFAULT_INSTANCE;
     static {
-      ActuatorStatus defaultInstance = new ActuatorStatus();
+      DoCommandRequest defaultInstance = new DoCommandRequest();
       // New instances are implicitly immutable so no need to make
       // immutable.
       DEFAULT_INSTANCE = defaultInstance;
       com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
-        ActuatorStatus.class, defaultInstance);
+        DoCommandRequest.class, defaultInstance);
     }
 
-    public static com.viam.common.v1.Common.ActuatorStatus getDefaultInstance() {
+    public static com.viam.common.v1.Common.DoCommandRequest getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
-    private static volatile com.google.protobuf.Parser<ActuatorStatus> PARSER;
+    private static volatile com.google.protobuf.Parser<DoCommandRequest> PARSER;
 
-    public static com.google.protobuf.Parser<ActuatorStatus> parser() {
+    public static com.google.protobuf.Parser<DoCommandRequest> parser() {
       return DEFAULT_INSTANCE.getParserForType();
     }
   }
 
-  public interface ResponseMetadataOrBuilder extends
-      // @@protoc_insertion_point(interface_extends:viam.common.v1.ResponseMetadata)
+  public interface DoCommandResponseOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:viam.common.v1.DoCommandResponse)
       com.google.protobuf.MessageLiteOrBuilder {
 
     /**
-     * <pre>
-     * captured_at is the time at which the resource as close as physically possible, captured
-     * the data in the response.
-     * Note: If correlating between other resources, be sure that the means
-     * of measuring the capture are similar enough such that comparison can be made between them.
-     * </pre>
-     *
-     * <code>optional .google.protobuf.Timestamp captured_at = 1 [json_name = "capturedAt"];</code>
-     * @return Whether the capturedAt field is set.
+     * <code>.google.protobuf.Struct result = 1 [json_name = "result"];</code>
+     * @return Whether the result field is set.
      */
-    boolean hasCapturedAt();
+    boolean hasResult();
     /**
-     * <pre>
-     * captured_at is the time at which the resource as close as physically possible, captured
-     * the data in the response.
-     * Note: If correlating between other resources, be sure that the means
-     * of measuring the capture are similar enough such that comparison can be made between them.
-     * </pre>
-     *
-     * <code>optional .google.protobuf.Timestamp captured_at = 1 [json_name = "capturedAt"];</code>
-     * @return The capturedAt.
+     * <code>.google.protobuf.Struct result = 1 [json_name = "result"];</code>
+     * @return The result.
      */
-    com.google.protobuf.Timestamp getCapturedAt();
+    com.google.protobuf.Struct getResult();
   }
   /**
-   * Protobuf type {@code viam.common.v1.ResponseMetadata}
+   * <pre>
+   * DoCommandResponse represents a generic DoCommand output
+   * </pre>
+   *
+   * Protobuf type {@code viam.common.v1.DoCommandResponse}
    */
-  public  static final class ResponseMetadata extends
+  public  static final class DoCommandResponse extends
       com.google.protobuf.GeneratedMessageLite<
-          ResponseMetadata, ResponseMetadata.Builder> implements
-      // @@protoc_insertion_point(message_implements:viam.common.v1.ResponseMetadata)
-      ResponseMetadataOrBuilder {
-    private ResponseMetadata() {
+          DoCommandResponse, DoCommandResponse.Builder> implements
+      // @@protoc_insertion_point(message_implements:viam.common.v1.DoCommandResponse)
+      DoCommandResponseOrBuilder {
+    private DoCommandResponse() {
     }
     private int bitField0_;
-    public static final int CAPTURED_AT_FIELD_NUMBER = 1;
-    private com.google.protobuf.Timestamp capturedAt_;
+    public static final int RESULT_FIELD_NUMBER = 1;
+    private com.google.protobuf.Struct result_;
     /**
-     * <pre>
-     * captured_at is the time at which the resource as close as physically possible, captured
-     * the data in the response.
-     * Note: If correlating between other resources, be sure that the means
-     * of measuring the capture are similar enough such that comparison can be made between them.
-     * </pre>
-     *
-     * <code>optional .google.protobuf.Timestamp captured_at = 1 [json_name = "capturedAt"];</code>
+     * <code>.google.protobuf.Struct result = 1 [json_name = "result"];</code>
      */
     @java.lang.Override
-    public boolean hasCapturedAt() {
+    public boolean hasResult() {
       return ((bitField0_ & 0x00000001) != 0);
     }
     /**
-     * <pre>
-     * captured_at is the time at which the resource as close as physically possible, captured
-     * the data in the response.
-     * Note: If correlating between other resources, be sure that the means
-     * of measuring the capture are similar enough such that comparison can be made between them.
-     * </pre>
-     *
-     * <code>optional .google.protobuf.Timestamp captured_at = 1 [json_name = "capturedAt"];</code>
+     * <code>.google.protobuf.Struct result = 1 [json_name = "result"];</code>
      */
     @java.lang.Override
-    public com.google.protobuf.Timestamp getCapturedAt() {
-      return capturedAt_ == null ? com.google.protobuf.Timestamp.getDefaultInstance() : capturedAt_;
+    public com.google.protobuf.Struct getResult() {
+      return result_ == null ? com.google.protobuf.Struct.getDefaultInstance() : result_;
     }
     /**
-     * <pre>
-     * captured_at is the time at which the resource as close as physically possible, captured
-     * the data in the response.
-     * Note: If correlating between other resources, be sure that the means
-     * of measuring the capture are similar enough such that comparison can be made between them.
-     * </pre>
-     *
-     * <code>optional .google.protobuf.Timestamp captured_at = 1 [json_name = "capturedAt"];</code>
+     * <code>.google.protobuf.Struct result = 1 [json_name = "result"];</code>
      */
-    private void setCapturedAt(com.google.protobuf.Timestamp value) {
+    private void setResult(com.google.protobuf.Struct value) {
       value.getClass();
-  capturedAt_ = value;
+  result_ = value;
       bitField0_ |= 0x00000001;
       }
     /**
-     * <pre>
-     * captured_at is the time at which the resource as close as physically possible, captured
-     * the data in the response.
-     * Note: If correlating between other resources, be sure that the means
-     * of measuring the capture are similar enough such that comparison can be made between them.
-     * </pre>
-     *
-     * <code>optional .google.protobuf.Timestamp captured_at = 1 [json_name = "capturedAt"];</code>
+     * <code>.google.protobuf.Struct result = 1 [json_name = "result"];</code>
      */
     @java.lang.SuppressWarnings({"ReferenceEquality"})
-    private void mergeCapturedAt(com.google.protobuf.Timestamp value) {
+    private void mergeResult(com.google.protobuf.Struct value) {
       value.getClass();
-  if (capturedAt_ != null &&
-          capturedAt_ != com.google.protobuf.Timestamp.getDefaultInstance()) {
-        capturedAt_ =
-          com.google.protobuf.Timestamp.newBuilder(capturedAt_).mergeFrom(value).buildPartial();
+  if (result_ != null &&
+          result_ != com.google.protobuf.Struct.getDefaultInstance()) {
+        result_ =
+          com.google.protobuf.Struct.newBuilder(result_).mergeFrom(value).buildPartial();
       } else {
-        capturedAt_ = value;
+        result_ = value;
       }
       bitField0_ |= 0x00000001;
     }
     /**
-     * <pre>
-     * captured_at is the time at which the resource as close as physically possible, captured
-     * the data in the response.
-     * Note: If correlating between other resources, be sure that the means
-     * of measuring the capture are similar enough such that comparison can be made between them.
-     * </pre>
-     *
-     * <code>optional .google.protobuf.Timestamp captured_at = 1 [json_name = "capturedAt"];</code>
+     * <code>.google.protobuf.Struct result = 1 [json_name = "result"];</code>
      */
-    private void clearCapturedAt() {  capturedAt_ = null;
+    private void clearResult() {  result_ = null;
       bitField0_ = (bitField0_ & ~0x00000001);
     }
 
-    public static com.viam.common.v1.Common.ResponseMetadata parseFrom(
+    public static com.viam.common.v1.Common.DoCommandResponse parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.common.v1.Common.ResponseMetadata parseFrom(
+    public static com.viam.common.v1.Common.DoCommandResponse parseFrom(
         java.nio.ByteBuffer data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.ResponseMetadata parseFrom(
+    public static com.viam.common.v1.Common.DoCommandResponse parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.common.v1.Common.ResponseMetadata parseFrom(
+    public static com.viam.common.v1.Common.DoCommandResponse parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.ResponseMetadata parseFrom(byte[] data)
+    public static com.viam.common.v1.Common.DoCommandResponse parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.common.v1.Common.ResponseMetadata parseFrom(
+    public static com.viam.common.v1.Common.DoCommandResponse parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.ResponseMetadata parseFrom(java.io.InputStream input)
+    public static com.viam.common.v1.Common.DoCommandResponse parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, input);
     }
-    public static com.viam.common.v1.Common.ResponseMetadata parseFrom(
+    public static com.viam.common.v1.Common.DoCommandResponse parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -9782,24 +11246,24 @@ public static com.viam.common.v1.Common.ResponseMetadata parseFrom(
           DEFAULT_INSTANCE, input, extensionRegistry);
     }
 
-    public static com.viam.common.v1.Common.ResponseMetadata parseDelimitedFrom(java.io.InputStream input)
+    public static com.viam.common.v1.Common.DoCommandResponse parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return parseDelimitedFrom(DEFAULT_INSTANCE, input);
     }
 
-    public static com.viam.common.v1.Common.ResponseMetadata parseDelimitedFrom(
+    public static com.viam.common.v1.Common.DoCommandResponse parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.ResponseMetadata parseFrom(
+    public static com.viam.common.v1.Common.DoCommandResponse parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, input);
     }
-    public static com.viam.common.v1.Common.ResponseMetadata parseFrom(
+    public static com.viam.common.v1.Common.DoCommandResponse parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -9810,114 +11274,76 @@ public static com.viam.common.v1.Common.ResponseMetadata parseFrom(
     public static Builder newBuilder() {
       return (Builder) DEFAULT_INSTANCE.createBuilder();
     }
-    public static Builder newBuilder(com.viam.common.v1.Common.ResponseMetadata prototype) {
+    public static Builder newBuilder(com.viam.common.v1.Common.DoCommandResponse prototype) {
       return DEFAULT_INSTANCE.createBuilder(prototype);
     }
 
     /**
-     * Protobuf type {@code viam.common.v1.ResponseMetadata}
+     * <pre>
+     * DoCommandResponse represents a generic DoCommand output
+     * </pre>
+     *
+     * Protobuf type {@code viam.common.v1.DoCommandResponse}
      */
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageLite.Builder<
-          com.viam.common.v1.Common.ResponseMetadata, Builder> implements
-        // @@protoc_insertion_point(builder_implements:viam.common.v1.ResponseMetadata)
-        com.viam.common.v1.Common.ResponseMetadataOrBuilder {
-      // Construct using com.viam.common.v1.Common.ResponseMetadata.newBuilder()
+          com.viam.common.v1.Common.DoCommandResponse, Builder> implements
+        // @@protoc_insertion_point(builder_implements:viam.common.v1.DoCommandResponse)
+        com.viam.common.v1.Common.DoCommandResponseOrBuilder {
+      // Construct using com.viam.common.v1.Common.DoCommandResponse.newBuilder()
       private Builder() {
         super(DEFAULT_INSTANCE);
       }
 
 
       /**
-       * <pre>
-       * captured_at is the time at which the resource as close as physically possible, captured
-       * the data in the response.
-       * Note: If correlating between other resources, be sure that the means
-       * of measuring the capture are similar enough such that comparison can be made between them.
-       * </pre>
-       *
-       * <code>optional .google.protobuf.Timestamp captured_at = 1 [json_name = "capturedAt"];</code>
+       * <code>.google.protobuf.Struct result = 1 [json_name = "result"];</code>
        */
       @java.lang.Override
-      public boolean hasCapturedAt() {
-        return instance.hasCapturedAt();
+      public boolean hasResult() {
+        return instance.hasResult();
       }
       /**
-       * <pre>
-       * captured_at is the time at which the resource as close as physically possible, captured
-       * the data in the response.
-       * Note: If correlating between other resources, be sure that the means
-       * of measuring the capture are similar enough such that comparison can be made between them.
-       * </pre>
-       *
-       * <code>optional .google.protobuf.Timestamp captured_at = 1 [json_name = "capturedAt"];</code>
+       * <code>.google.protobuf.Struct result = 1 [json_name = "result"];</code>
        */
       @java.lang.Override
-      public com.google.protobuf.Timestamp getCapturedAt() {
-        return instance.getCapturedAt();
+      public com.google.protobuf.Struct getResult() {
+        return instance.getResult();
       }
       /**
-       * <pre>
-       * captured_at is the time at which the resource as close as physically possible, captured
-       * the data in the response.
-       * Note: If correlating between other resources, be sure that the means
-       * of measuring the capture are similar enough such that comparison can be made between them.
-       * </pre>
-       *
-       * <code>optional .google.protobuf.Timestamp captured_at = 1 [json_name = "capturedAt"];</code>
+       * <code>.google.protobuf.Struct result = 1 [json_name = "result"];</code>
        */
-      public Builder setCapturedAt(com.google.protobuf.Timestamp value) {
+      public Builder setResult(com.google.protobuf.Struct value) {
         copyOnWrite();
-        instance.setCapturedAt(value);
+        instance.setResult(value);
         return this;
         }
       /**
-       * <pre>
-       * captured_at is the time at which the resource as close as physically possible, captured
-       * the data in the response.
-       * Note: If correlating between other resources, be sure that the means
-       * of measuring the capture are similar enough such that comparison can be made between them.
-       * </pre>
-       *
-       * <code>optional .google.protobuf.Timestamp captured_at = 1 [json_name = "capturedAt"];</code>
+       * <code>.google.protobuf.Struct result = 1 [json_name = "result"];</code>
        */
-      public Builder setCapturedAt(
-          com.google.protobuf.Timestamp.Builder builderForValue) {
+      public Builder setResult(
+          com.google.protobuf.Struct.Builder builderForValue) {
         copyOnWrite();
-        instance.setCapturedAt(builderForValue.build());
+        instance.setResult(builderForValue.build());
         return this;
       }
       /**
-       * <pre>
-       * captured_at is the time at which the resource as close as physically possible, captured
-       * the data in the response.
-       * Note: If correlating between other resources, be sure that the means
-       * of measuring the capture are similar enough such that comparison can be made between them.
-       * </pre>
-       *
-       * <code>optional .google.protobuf.Timestamp captured_at = 1 [json_name = "capturedAt"];</code>
+       * <code>.google.protobuf.Struct result = 1 [json_name = "result"];</code>
        */
-      public Builder mergeCapturedAt(com.google.protobuf.Timestamp value) {
+      public Builder mergeResult(com.google.protobuf.Struct value) {
         copyOnWrite();
-        instance.mergeCapturedAt(value);
+        instance.mergeResult(value);
         return this;
       }
       /**
-       * <pre>
-       * captured_at is the time at which the resource as close as physically possible, captured
-       * the data in the response.
-       * Note: If correlating between other resources, be sure that the means
-       * of measuring the capture are similar enough such that comparison can be made between them.
-       * </pre>
-       *
-       * <code>optional .google.protobuf.Timestamp captured_at = 1 [json_name = "capturedAt"];</code>
+       * <code>.google.protobuf.Struct result = 1 [json_name = "result"];</code>
        */
-      public Builder clearCapturedAt() {  copyOnWrite();
-        instance.clearCapturedAt();
+      public Builder clearResult() {  copyOnWrite();
+        instance.clearResult();
         return this;
       }
 
-      // @@protoc_insertion_point(builder_scope:viam.common.v1.ResponseMetadata)
+      // @@protoc_insertion_point(builder_scope:viam.common.v1.DoCommandResponse)
     }
     @java.lang.Override
     @java.lang.SuppressWarnings({"unchecked", "fallthrough"})
@@ -9926,7 +11352,7 @@ protected final java.lang.Object dynamicMethod(
         java.lang.Object arg0, java.lang.Object arg1) {
       switch (method) {
         case NEW_MUTABLE_INSTANCE: {
-          return new com.viam.common.v1.Common.ResponseMetadata();
+          return new com.viam.common.v1.Common.DoCommandResponse();
         }
         case NEW_BUILDER: {
           return new Builder();
@@ -9934,7 +11360,7 @@ protected final java.lang.Object dynamicMethod(
         case BUILD_MESSAGE_INFO: {
             java.lang.Object[] objects = new java.lang.Object[] {
               "bitField0_",
-              "capturedAt_",
+              "result_",
             };
             java.lang.String info =
                 "\u0000\u0001\u0000\u0001\u0001\u0001\u0001\u0000\u0000\u0000\u0001\u1009\u0000";
@@ -9945,13 +11371,13 @@ protected final java.lang.Object dynamicMethod(
           return DEFAULT_INSTANCE;
         }
         case GET_PARSER: {
-          com.google.protobuf.Parser<com.viam.common.v1.Common.ResponseMetadata> parser = PARSER;
+          com.google.protobuf.Parser<com.viam.common.v1.Common.DoCommandResponse> parser = PARSER;
           if (parser == null) {
-            synchronized (com.viam.common.v1.Common.ResponseMetadata.class) {
+            synchronized (com.viam.common.v1.Common.DoCommandResponse.class) {
               parser = PARSER;
               if (parser == null) {
                 parser =
-                    new DefaultInstanceBasedParser<com.viam.common.v1.Common.ResponseMetadata>(
+                    new DefaultInstanceBasedParser<com.viam.common.v1.Common.DoCommandResponse>(
                         DEFAULT_INSTANCE);
                 PARSER = parser;
               }
@@ -9970,30 +11396,30 @@ protected final java.lang.Object dynamicMethod(
     }
 
 
-    // @@protoc_insertion_point(class_scope:viam.common.v1.ResponseMetadata)
-    private static final com.viam.common.v1.Common.ResponseMetadata DEFAULT_INSTANCE;
+    // @@protoc_insertion_point(class_scope:viam.common.v1.DoCommandResponse)
+    private static final com.viam.common.v1.Common.DoCommandResponse DEFAULT_INSTANCE;
     static {
-      ResponseMetadata defaultInstance = new ResponseMetadata();
+      DoCommandResponse defaultInstance = new DoCommandResponse();
       // New instances are implicitly immutable so no need to make
       // immutable.
       DEFAULT_INSTANCE = defaultInstance;
       com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
-        ResponseMetadata.class, defaultInstance);
+        DoCommandResponse.class, defaultInstance);
     }
 
-    public static com.viam.common.v1.Common.ResponseMetadata getDefaultInstance() {
+    public static com.viam.common.v1.Common.DoCommandResponse getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
-    private static volatile com.google.protobuf.Parser<ResponseMetadata> PARSER;
+    private static volatile com.google.protobuf.Parser<DoCommandResponse> PARSER;
 
-    public static com.google.protobuf.Parser<ResponseMetadata> parser() {
+    public static com.google.protobuf.Parser<DoCommandResponse> parser() {
       return DEFAULT_INSTANCE.getParserForType();
     }
   }
 
-  public interface DoCommandRequestOrBuilder extends
-      // @@protoc_insertion_point(interface_extends:viam.common.v1.DoCommandRequest)
+  public interface GetStatusRequestOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:viam.common.v1.GetStatusRequest)
       com.google.protobuf.MessageLiteOrBuilder {
 
     /**
@@ -10007,34 +11433,22 @@ public interface DoCommandRequestOrBuilder extends
      */
     com.google.protobuf.ByteString
         getNameBytes();
-
-    /**
-     * <code>.google.protobuf.Struct command = 2 [json_name = "command"];</code>
-     * @return Whether the command field is set.
-     */
-    boolean hasCommand();
-    /**
-     * <code>.google.protobuf.Struct command = 2 [json_name = "command"];</code>
-     * @return The command.
-     */
-    com.google.protobuf.Struct getCommand();
   }
   /**
    * <pre>
-   * DoCommandRequest represents a generic DoCommand input
+   * GetStatusRequest represents a generic GetStatus input
    * </pre>
    *
-   * Protobuf type {@code viam.common.v1.DoCommandRequest}
+   * Protobuf type {@code viam.common.v1.GetStatusRequest}
    */
-  public  static final class DoCommandRequest extends
+  public  static final class GetStatusRequest extends
       com.google.protobuf.GeneratedMessageLite<
-          DoCommandRequest, DoCommandRequest.Builder> implements
-      // @@protoc_insertion_point(message_implements:viam.common.v1.DoCommandRequest)
-      DoCommandRequestOrBuilder {
-    private DoCommandRequest() {
+          GetStatusRequest, GetStatusRequest.Builder> implements
+      // @@protoc_insertion_point(message_implements:viam.common.v1.GetStatusRequest)
+      GetStatusRequestOrBuilder {
+    private GetStatusRequest() {
       name_ = "";
     }
-    private int bitField0_;
     public static final int NAME_FIELD_NUMBER = 1;
     private java.lang.String name_;
     /**
@@ -10082,96 +11496,50 @@ private void setNameBytes(
 
     }
 
-    public static final int COMMAND_FIELD_NUMBER = 2;
-    private com.google.protobuf.Struct command_;
-    /**
-     * <code>.google.protobuf.Struct command = 2 [json_name = "command"];</code>
-     */
-    @java.lang.Override
-    public boolean hasCommand() {
-      return ((bitField0_ & 0x00000001) != 0);
-    }
-    /**
-     * <code>.google.protobuf.Struct command = 2 [json_name = "command"];</code>
-     */
-    @java.lang.Override
-    public com.google.protobuf.Struct getCommand() {
-      return command_ == null ? com.google.protobuf.Struct.getDefaultInstance() : command_;
-    }
-    /**
-     * <code>.google.protobuf.Struct command = 2 [json_name = "command"];</code>
-     */
-    private void setCommand(com.google.protobuf.Struct value) {
-      value.getClass();
-  command_ = value;
-      bitField0_ |= 0x00000001;
-      }
-    /**
-     * <code>.google.protobuf.Struct command = 2 [json_name = "command"];</code>
-     */
-    @java.lang.SuppressWarnings({"ReferenceEquality"})
-    private void mergeCommand(com.google.protobuf.Struct value) {
-      value.getClass();
-  if (command_ != null &&
-          command_ != com.google.protobuf.Struct.getDefaultInstance()) {
-        command_ =
-          com.google.protobuf.Struct.newBuilder(command_).mergeFrom(value).buildPartial();
-      } else {
-        command_ = value;
-      }
-      bitField0_ |= 0x00000001;
-    }
-    /**
-     * <code>.google.protobuf.Struct command = 2 [json_name = "command"];</code>
-     */
-    private void clearCommand() {  command_ = null;
-      bitField0_ = (bitField0_ & ~0x00000001);
-    }
-
-    public static com.viam.common.v1.Common.DoCommandRequest parseFrom(
+    public static com.viam.common.v1.Common.GetStatusRequest parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.common.v1.Common.DoCommandRequest parseFrom(
+    public static com.viam.common.v1.Common.GetStatusRequest parseFrom(
         java.nio.ByteBuffer data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.DoCommandRequest parseFrom(
+    public static com.viam.common.v1.Common.GetStatusRequest parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.common.v1.Common.DoCommandRequest parseFrom(
+    public static com.viam.common.v1.Common.GetStatusRequest parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.DoCommandRequest parseFrom(byte[] data)
+    public static com.viam.common.v1.Common.GetStatusRequest parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.common.v1.Common.DoCommandRequest parseFrom(
+    public static com.viam.common.v1.Common.GetStatusRequest parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.DoCommandRequest parseFrom(java.io.InputStream input)
+    public static com.viam.common.v1.Common.GetStatusRequest parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, input);
     }
-    public static com.viam.common.v1.Common.DoCommandRequest parseFrom(
+    public static com.viam.common.v1.Common.GetStatusRequest parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -10179,24 +11547,24 @@ public static com.viam.common.v1.Common.DoCommandRequest parseFrom(
           DEFAULT_INSTANCE, input, extensionRegistry);
     }
 
-    public static com.viam.common.v1.Common.DoCommandRequest parseDelimitedFrom(java.io.InputStream input)
+    public static com.viam.common.v1.Common.GetStatusRequest parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return parseDelimitedFrom(DEFAULT_INSTANCE, input);
     }
 
-    public static com.viam.common.v1.Common.DoCommandRequest parseDelimitedFrom(
+    public static com.viam.common.v1.Common.GetStatusRequest parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.DoCommandRequest parseFrom(
+    public static com.viam.common.v1.Common.GetStatusRequest parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, input);
     }
-    public static com.viam.common.v1.Common.DoCommandRequest parseFrom(
+    public static com.viam.common.v1.Common.GetStatusRequest parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -10207,23 +11575,23 @@ public static com.viam.common.v1.Common.DoCommandRequest parseFrom(
     public static Builder newBuilder() {
       return (Builder) DEFAULT_INSTANCE.createBuilder();
     }
-    public static Builder newBuilder(com.viam.common.v1.Common.DoCommandRequest prototype) {
+    public static Builder newBuilder(com.viam.common.v1.Common.GetStatusRequest prototype) {
       return DEFAULT_INSTANCE.createBuilder(prototype);
     }
 
     /**
      * <pre>
-     * DoCommandRequest represents a generic DoCommand input
+     * GetStatusRequest represents a generic GetStatus input
      * </pre>
      *
-     * Protobuf type {@code viam.common.v1.DoCommandRequest}
+     * Protobuf type {@code viam.common.v1.GetStatusRequest}
      */
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageLite.Builder<
-          com.viam.common.v1.Common.DoCommandRequest, Builder> implements
-        // @@protoc_insertion_point(builder_implements:viam.common.v1.DoCommandRequest)
-        com.viam.common.v1.Common.DoCommandRequestOrBuilder {
-      // Construct using com.viam.common.v1.Common.DoCommandRequest.newBuilder()
+          com.viam.common.v1.Common.GetStatusRequest, Builder> implements
+        // @@protoc_insertion_point(builder_implements:viam.common.v1.GetStatusRequest)
+        com.viam.common.v1.Common.GetStatusRequestOrBuilder {
+      // Construct using com.viam.common.v1.Common.GetStatusRequest.newBuilder()
       private Builder() {
         super(DEFAULT_INSTANCE);
       }
@@ -10278,54 +11646,7 @@ public Builder setNameBytes(
         return this;
       }
 
-      /**
-       * <code>.google.protobuf.Struct command = 2 [json_name = "command"];</code>
-       */
-      @java.lang.Override
-      public boolean hasCommand() {
-        return instance.hasCommand();
-      }
-      /**
-       * <code>.google.protobuf.Struct command = 2 [json_name = "command"];</code>
-       */
-      @java.lang.Override
-      public com.google.protobuf.Struct getCommand() {
-        return instance.getCommand();
-      }
-      /**
-       * <code>.google.protobuf.Struct command = 2 [json_name = "command"];</code>
-       */
-      public Builder setCommand(com.google.protobuf.Struct value) {
-        copyOnWrite();
-        instance.setCommand(value);
-        return this;
-        }
-      /**
-       * <code>.google.protobuf.Struct command = 2 [json_name = "command"];</code>
-       */
-      public Builder setCommand(
-          com.google.protobuf.Struct.Builder builderForValue) {
-        copyOnWrite();
-        instance.setCommand(builderForValue.build());
-        return this;
-      }
-      /**
-       * <code>.google.protobuf.Struct command = 2 [json_name = "command"];</code>
-       */
-      public Builder mergeCommand(com.google.protobuf.Struct value) {
-        copyOnWrite();
-        instance.mergeCommand(value);
-        return this;
-      }
-      /**
-       * <code>.google.protobuf.Struct command = 2 [json_name = "command"];</code>
-       */
-      public Builder clearCommand() {  copyOnWrite();
-        instance.clearCommand();
-        return this;
-      }
-
-      // @@protoc_insertion_point(builder_scope:viam.common.v1.DoCommandRequest)
+      // @@protoc_insertion_point(builder_scope:viam.common.v1.GetStatusRequest)
     }
     @java.lang.Override
     @java.lang.SuppressWarnings({"unchecked", "fallthrough"})
@@ -10334,20 +11655,17 @@ protected final java.lang.Object dynamicMethod(
         java.lang.Object arg0, java.lang.Object arg1) {
       switch (method) {
         case NEW_MUTABLE_INSTANCE: {
-          return new com.viam.common.v1.Common.DoCommandRequest();
+          return new com.viam.common.v1.Common.GetStatusRequest();
         }
         case NEW_BUILDER: {
           return new Builder();
         }
         case BUILD_MESSAGE_INFO: {
             java.lang.Object[] objects = new java.lang.Object[] {
-              "bitField0_",
               "name_",
-              "command_",
             };
             java.lang.String info =
-                "\u0000\u0002\u0000\u0001\u0001\u0002\u0002\u0000\u0000\u0000\u0001\u0208\u0002\u1009" +
-                "\u0000";
+                "\u0000\u0001\u0000\u0000\u0001\u0001\u0001\u0000\u0000\u0000\u0001\u0208";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         // fall through
@@ -10355,13 +11673,13 @@ protected final java.lang.Object dynamicMethod(
           return DEFAULT_INSTANCE;
         }
         case GET_PARSER: {
-          com.google.protobuf.Parser<com.viam.common.v1.Common.DoCommandRequest> parser = PARSER;
+          com.google.protobuf.Parser<com.viam.common.v1.Common.GetStatusRequest> parser = PARSER;
           if (parser == null) {
-            synchronized (com.viam.common.v1.Common.DoCommandRequest.class) {
+            synchronized (com.viam.common.v1.Common.GetStatusRequest.class) {
               parser = PARSER;
               if (parser == null) {
                 parser =
-                    new DefaultInstanceBasedParser<com.viam.common.v1.Common.DoCommandRequest>(
+                    new DefaultInstanceBasedParser<com.viam.common.v1.Common.GetStatusRequest>(
                         DEFAULT_INSTANCE);
                 PARSER = parser;
               }
@@ -10380,30 +11698,30 @@ protected final java.lang.Object dynamicMethod(
     }
 
 
-    // @@protoc_insertion_point(class_scope:viam.common.v1.DoCommandRequest)
-    private static final com.viam.common.v1.Common.DoCommandRequest DEFAULT_INSTANCE;
+    // @@protoc_insertion_point(class_scope:viam.common.v1.GetStatusRequest)
+    private static final com.viam.common.v1.Common.GetStatusRequest DEFAULT_INSTANCE;
     static {
-      DoCommandRequest defaultInstance = new DoCommandRequest();
+      GetStatusRequest defaultInstance = new GetStatusRequest();
       // New instances are implicitly immutable so no need to make
       // immutable.
       DEFAULT_INSTANCE = defaultInstance;
       com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
-        DoCommandRequest.class, defaultInstance);
+        GetStatusRequest.class, defaultInstance);
     }
 
-    public static com.viam.common.v1.Common.DoCommandRequest getDefaultInstance() {
+    public static com.viam.common.v1.Common.GetStatusRequest getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
-    private static volatile com.google.protobuf.Parser<DoCommandRequest> PARSER;
+    private static volatile com.google.protobuf.Parser<GetStatusRequest> PARSER;
 
-    public static com.google.protobuf.Parser<DoCommandRequest> parser() {
+    public static com.google.protobuf.Parser<GetStatusRequest> parser() {
       return DEFAULT_INSTANCE.getParserForType();
     }
   }
 
-  public interface DoCommandResponseOrBuilder extends
-      // @@protoc_insertion_point(interface_extends:viam.common.v1.DoCommandResponse)
+  public interface GetStatusResponseOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:viam.common.v1.GetStatusResponse)
       com.google.protobuf.MessageLiteOrBuilder {
 
     /**
@@ -10419,17 +11737,17 @@ public interface DoCommandResponseOrBuilder extends
   }
   /**
    * <pre>
-   * DoCommandResponse represents a generic DoCommand output
+   * GetStatusResponse represents a generic GetStatus output
    * </pre>
    *
-   * Protobuf type {@code viam.common.v1.DoCommandResponse}
+   * Protobuf type {@code viam.common.v1.GetStatusResponse}
    */
-  public  static final class DoCommandResponse extends
+  public  static final class GetStatusResponse extends
       com.google.protobuf.GeneratedMessageLite<
-          DoCommandResponse, DoCommandResponse.Builder> implements
-      // @@protoc_insertion_point(message_implements:viam.common.v1.DoCommandResponse)
-      DoCommandResponseOrBuilder {
-    private DoCommandResponse() {
+          GetStatusResponse, GetStatusResponse.Builder> implements
+      // @@protoc_insertion_point(message_implements:viam.common.v1.GetStatusResponse)
+      GetStatusResponseOrBuilder {
+    private GetStatusResponse() {
     }
     private int bitField0_;
     public static final int RESULT_FIELD_NUMBER = 1;
@@ -10478,50 +11796,50 @@ private void mergeResult(com.google.protobuf.Struct value) {
       bitField0_ = (bitField0_ & ~0x00000001);
     }
 
-    public static com.viam.common.v1.Common.DoCommandResponse parseFrom(
+    public static com.viam.common.v1.Common.GetStatusResponse parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.common.v1.Common.DoCommandResponse parseFrom(
+    public static com.viam.common.v1.Common.GetStatusResponse parseFrom(
         java.nio.ByteBuffer data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.DoCommandResponse parseFrom(
+    public static com.viam.common.v1.Common.GetStatusResponse parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.common.v1.Common.DoCommandResponse parseFrom(
+    public static com.viam.common.v1.Common.GetStatusResponse parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.DoCommandResponse parseFrom(byte[] data)
+    public static com.viam.common.v1.Common.GetStatusResponse parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.common.v1.Common.DoCommandResponse parseFrom(
+    public static com.viam.common.v1.Common.GetStatusResponse parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.DoCommandResponse parseFrom(java.io.InputStream input)
+    public static com.viam.common.v1.Common.GetStatusResponse parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, input);
     }
-    public static com.viam.common.v1.Common.DoCommandResponse parseFrom(
+    public static com.viam.common.v1.Common.GetStatusResponse parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -10529,24 +11847,24 @@ public static com.viam.common.v1.Common.DoCommandResponse parseFrom(
           DEFAULT_INSTANCE, input, extensionRegistry);
     }
 
-    public static com.viam.common.v1.Common.DoCommandResponse parseDelimitedFrom(java.io.InputStream input)
+    public static com.viam.common.v1.Common.GetStatusResponse parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return parseDelimitedFrom(DEFAULT_INSTANCE, input);
     }
 
-    public static com.viam.common.v1.Common.DoCommandResponse parseDelimitedFrom(
+    public static com.viam.common.v1.Common.GetStatusResponse parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.DoCommandResponse parseFrom(
+    public static com.viam.common.v1.Common.GetStatusResponse parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, input);
     }
-    public static com.viam.common.v1.Common.DoCommandResponse parseFrom(
+    public static com.viam.common.v1.Common.GetStatusResponse parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -10557,23 +11875,23 @@ public static com.viam.common.v1.Common.DoCommandResponse parseFrom(
     public static Builder newBuilder() {
       return (Builder) DEFAULT_INSTANCE.createBuilder();
     }
-    public static Builder newBuilder(com.viam.common.v1.Common.DoCommandResponse prototype) {
+    public static Builder newBuilder(com.viam.common.v1.Common.GetStatusResponse prototype) {
       return DEFAULT_INSTANCE.createBuilder(prototype);
     }
 
     /**
      * <pre>
-     * DoCommandResponse represents a generic DoCommand output
+     * GetStatusResponse represents a generic GetStatus output
      * </pre>
      *
-     * Protobuf type {@code viam.common.v1.DoCommandResponse}
+     * Protobuf type {@code viam.common.v1.GetStatusResponse}
      */
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageLite.Builder<
-          com.viam.common.v1.Common.DoCommandResponse, Builder> implements
-        // @@protoc_insertion_point(builder_implements:viam.common.v1.DoCommandResponse)
-        com.viam.common.v1.Common.DoCommandResponseOrBuilder {
-      // Construct using com.viam.common.v1.Common.DoCommandResponse.newBuilder()
+          com.viam.common.v1.Common.GetStatusResponse, Builder> implements
+        // @@protoc_insertion_point(builder_implements:viam.common.v1.GetStatusResponse)
+        com.viam.common.v1.Common.GetStatusResponseOrBuilder {
+      // Construct using com.viam.common.v1.Common.GetStatusResponse.newBuilder()
       private Builder() {
         super(DEFAULT_INSTANCE);
       }
@@ -10626,7 +11944,7 @@ public Builder mergeResult(com.google.protobuf.Struct value) {
         return this;
       }
 
-      // @@protoc_insertion_point(builder_scope:viam.common.v1.DoCommandResponse)
+      // @@protoc_insertion_point(builder_scope:viam.common.v1.GetStatusResponse)
     }
     @java.lang.Override
     @java.lang.SuppressWarnings({"unchecked", "fallthrough"})
@@ -10635,7 +11953,7 @@ protected final java.lang.Object dynamicMethod(
         java.lang.Object arg0, java.lang.Object arg1) {
       switch (method) {
         case NEW_MUTABLE_INSTANCE: {
-          return new com.viam.common.v1.Common.DoCommandResponse();
+          return new com.viam.common.v1.Common.GetStatusResponse();
         }
         case NEW_BUILDER: {
           return new Builder();
@@ -10654,13 +11972,13 @@ protected final java.lang.Object dynamicMethod(
           return DEFAULT_INSTANCE;
         }
         case GET_PARSER: {
-          com.google.protobuf.Parser<com.viam.common.v1.Common.DoCommandResponse> parser = PARSER;
+          com.google.protobuf.Parser<com.viam.common.v1.Common.GetStatusResponse> parser = PARSER;
           if (parser == null) {
-            synchronized (com.viam.common.v1.Common.DoCommandResponse.class) {
+            synchronized (com.viam.common.v1.Common.GetStatusResponse.class) {
               parser = PARSER;
               if (parser == null) {
                 parser =
-                    new DefaultInstanceBasedParser<com.viam.common.v1.Common.DoCommandResponse>(
+                    new DefaultInstanceBasedParser<com.viam.common.v1.Common.GetStatusResponse>(
                         DEFAULT_INSTANCE);
                 PARSER = parser;
               }
@@ -10679,24 +11997,24 @@ protected final java.lang.Object dynamicMethod(
     }
 
 
-    // @@protoc_insertion_point(class_scope:viam.common.v1.DoCommandResponse)
-    private static final com.viam.common.v1.Common.DoCommandResponse DEFAULT_INSTANCE;
+    // @@protoc_insertion_point(class_scope:viam.common.v1.GetStatusResponse)
+    private static final com.viam.common.v1.Common.GetStatusResponse DEFAULT_INSTANCE;
     static {
-      DoCommandResponse defaultInstance = new DoCommandResponse();
+      GetStatusResponse defaultInstance = new GetStatusResponse();
       // New instances are implicitly immutable so no need to make
       // immutable.
       DEFAULT_INSTANCE = defaultInstance;
       com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
-        DoCommandResponse.class, defaultInstance);
+        GetStatusResponse.class, defaultInstance);
     }
 
-    public static com.viam.common.v1.Common.DoCommandResponse getDefaultInstance() {
+    public static com.viam.common.v1.Common.GetStatusResponse getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
-    private static volatile com.google.protobuf.Parser<DoCommandResponse> PARSER;
+    private static volatile com.google.protobuf.Parser<GetStatusResponse> PARSER;
 
-    public static com.google.protobuf.Parser<DoCommandResponse> parser() {
+    public static com.google.protobuf.Parser<GetStatusResponse> parser() {
       return DEFAULT_INSTANCE.getParserForType();
     }
   }
@@ -11237,6 +12555,62 @@ public interface GetKinematicsResponseOrBuilder extends
      * @return The kinematicsData.
      */
     com.google.protobuf.ByteString getKinematicsData();
+
+    /**
+     * <pre>
+     * Map of URDF mesh file paths to mesh data
+     * </pre>
+     *
+     * <code>map&lt;string, .viam.common.v1.Mesh&gt; meshes_by_urdf_filepath = 3 [json_name = "meshesByUrdfFilepath"];</code>
+     */
+    int getMeshesByUrdfFilepathCount();
+    /**
+     * <pre>
+     * Map of URDF mesh file paths to mesh data
+     * </pre>
+     *
+     * <code>map&lt;string, .viam.common.v1.Mesh&gt; meshes_by_urdf_filepath = 3 [json_name = "meshesByUrdfFilepath"];</code>
+     */
+    boolean containsMeshesByUrdfFilepath(
+        java.lang.String key);
+    /**
+     * Use {@link #getMeshesByUrdfFilepathMap()} instead.
+     */
+    @java.lang.Deprecated
+    java.util.Map<java.lang.String, com.viam.common.v1.Common.Mesh>
+    getMeshesByUrdfFilepath();
+    /**
+     * <pre>
+     * Map of URDF mesh file paths to mesh data
+     * </pre>
+     *
+     * <code>map&lt;string, .viam.common.v1.Mesh&gt; meshes_by_urdf_filepath = 3 [json_name = "meshesByUrdfFilepath"];</code>
+     */
+    java.util.Map<java.lang.String, com.viam.common.v1.Common.Mesh>
+    getMeshesByUrdfFilepathMap();
+    /**
+     * <pre>
+     * Map of URDF mesh file paths to mesh data
+     * </pre>
+     *
+     * <code>map&lt;string, .viam.common.v1.Mesh&gt; meshes_by_urdf_filepath = 3 [json_name = "meshesByUrdfFilepath"];</code>
+     */
+
+    /* nullable */
+com.viam.common.v1.Common.Mesh getMeshesByUrdfFilepathOrDefault(
+        java.lang.String key,
+        /* nullable */
+com.viam.common.v1.Common.Mesh defaultValue);
+    /**
+     * <pre>
+     * Map of URDF mesh file paths to mesh data
+     * </pre>
+     *
+     * <code>map&lt;string, .viam.common.v1.Mesh&gt; meshes_by_urdf_filepath = 3 [json_name = "meshesByUrdfFilepath"];</code>
+     */
+
+    com.viam.common.v1.Common.Mesh getMeshesByUrdfFilepathOrThrow(
+        java.lang.String key);
   }
   /**
    * Protobuf type {@code viam.common.v1.GetKinematicsResponse}
@@ -11355,6 +12729,121 @@ private void clearKinematicsData() {
       kinematicsData_ = getDefaultInstance().getKinematicsData();
     }
 
+    public static final int MESHES_BY_URDF_FILEPATH_FIELD_NUMBER = 3;
+    private static final class MeshesByUrdfFilepathDefaultEntryHolder {
+      static final com.google.protobuf.MapEntryLite<
+          java.lang.String, com.viam.common.v1.Common.Mesh> defaultEntry =
+              com.google.protobuf.MapEntryLite
+              .<java.lang.String, com.viam.common.v1.Common.Mesh>newDefaultInstance(
+                  com.google.protobuf.WireFormat.FieldType.STRING,
+                  "",
+                  com.google.protobuf.WireFormat.FieldType.MESSAGE,
+                  com.viam.common.v1.Common.Mesh.getDefaultInstance());
+    }
+    private com.google.protobuf.MapFieldLite<
+        java.lang.String, com.viam.common.v1.Common.Mesh> meshesByUrdfFilepath_ =
+            com.google.protobuf.MapFieldLite.emptyMapField();
+    private com.google.protobuf.MapFieldLite<java.lang.String, com.viam.common.v1.Common.Mesh>
+    internalGetMeshesByUrdfFilepath() {
+      return meshesByUrdfFilepath_;
+    }
+    private com.google.protobuf.MapFieldLite<java.lang.String, com.viam.common.v1.Common.Mesh>
+    internalGetMutableMeshesByUrdfFilepath() {
+      if (!meshesByUrdfFilepath_.isMutable()) {
+        meshesByUrdfFilepath_ = meshesByUrdfFilepath_.mutableCopy();
+      }
+      return meshesByUrdfFilepath_;
+    }
+    @java.lang.Override
+
+    public int getMeshesByUrdfFilepathCount() {
+      return internalGetMeshesByUrdfFilepath().size();
+    }
+    /**
+     * <pre>
+     * Map of URDF mesh file paths to mesh data
+     * </pre>
+     *
+     * <code>map&lt;string, .viam.common.v1.Mesh&gt; meshes_by_urdf_filepath = 3 [json_name = "meshesByUrdfFilepath"];</code>
+     */
+    @java.lang.Override
+
+    public boolean containsMeshesByUrdfFilepath(
+        java.lang.String key) {
+      java.lang.Class<?> keyClass = key.getClass();
+      return internalGetMeshesByUrdfFilepath().containsKey(key);
+    }
+    /**
+     * Use {@link #getMeshesByUrdfFilepathMap()} instead.
+     */
+    @java.lang.Override
+    @java.lang.Deprecated
+    public java.util.Map<java.lang.String, com.viam.common.v1.Common.Mesh> getMeshesByUrdfFilepath() {
+      return getMeshesByUrdfFilepathMap();
+    }
+    /**
+     * <pre>
+     * Map of URDF mesh file paths to mesh data
+     * </pre>
+     *
+     * <code>map&lt;string, .viam.common.v1.Mesh&gt; meshes_by_urdf_filepath = 3 [json_name = "meshesByUrdfFilepath"];</code>
+     */
+    @java.lang.Override
+
+    public java.util.Map<java.lang.String, com.viam.common.v1.Common.Mesh> getMeshesByUrdfFilepathMap() {
+      return java.util.Collections.unmodifiableMap(
+          internalGetMeshesByUrdfFilepath());
+    }
+    /**
+     * <pre>
+     * Map of URDF mesh file paths to mesh data
+     * </pre>
+     *
+     * <code>map&lt;string, .viam.common.v1.Mesh&gt; meshes_by_urdf_filepath = 3 [json_name = "meshesByUrdfFilepath"];</code>
+     */
+    @java.lang.Override
+
+    public /* nullable */
+com.viam.common.v1.Common.Mesh getMeshesByUrdfFilepathOrDefault(
+        java.lang.String key,
+        /* nullable */
+com.viam.common.v1.Common.Mesh defaultValue) {
+      java.lang.Class<?> keyClass = key.getClass();
+      java.util.Map<java.lang.String, com.viam.common.v1.Common.Mesh> map =
+          internalGetMeshesByUrdfFilepath();
+      return map.containsKey(key) ? map.get(key) : defaultValue;
+    }
+    /**
+     * <pre>
+     * Map of URDF mesh file paths to mesh data
+     * </pre>
+     *
+     * <code>map&lt;string, .viam.common.v1.Mesh&gt; meshes_by_urdf_filepath = 3 [json_name = "meshesByUrdfFilepath"];</code>
+     */
+    @java.lang.Override
+
+    public com.viam.common.v1.Common.Mesh getMeshesByUrdfFilepathOrThrow(
+        java.lang.String key) {
+      java.lang.Class<?> keyClass = key.getClass();
+      java.util.Map<java.lang.String, com.viam.common.v1.Common.Mesh> map =
+          internalGetMeshesByUrdfFilepath();
+      if (!map.containsKey(key)) {
+        throw new java.lang.IllegalArgumentException();
+      }
+      return map.get(key);
+    }
+    /**
+     * <pre>
+     * Map of URDF mesh file paths to mesh data
+     * </pre>
+     *
+     * <code>map&lt;string, .viam.common.v1.Mesh&gt; meshes_by_urdf_filepath = 3 [json_name = "meshesByUrdfFilepath"];</code>
+     */
+    private java.util.Map<java.lang.String, com.viam.common.v1.Common.Mesh>
+    getMutableMeshesByUrdfFilepathMap() {
+      return internalGetMutableMeshesByUrdfFilepath();
+    }
+
     public static com.viam.common.v1.Common.GetKinematicsResponse parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
@@ -11563,6 +13052,134 @@ public Builder clearKinematicsData() {
         return this;
       }
 
+      @java.lang.Override
+
+      public int getMeshesByUrdfFilepathCount() {
+        return instance.getMeshesByUrdfFilepathMap().size();
+      }
+      /**
+       * <pre>
+       * Map of URDF mesh file paths to mesh data
+       * </pre>
+       *
+       * <code>map&lt;string, .viam.common.v1.Mesh&gt; meshes_by_urdf_filepath = 3 [json_name = "meshesByUrdfFilepath"];</code>
+       */
+      @java.lang.Override
+
+      public boolean containsMeshesByUrdfFilepath(
+          java.lang.String key) {
+        java.lang.Class<?> keyClass = key.getClass();
+        return instance.getMeshesByUrdfFilepathMap().containsKey(key);
+      }
+
+      public Builder clearMeshesByUrdfFilepath() {
+        copyOnWrite();
+        instance.getMutableMeshesByUrdfFilepathMap().clear();
+        return this;
+      }
+      /**
+       * <pre>
+       * Map of URDF mesh file paths to mesh data
+       * </pre>
+       *
+       * <code>map&lt;string, .viam.common.v1.Mesh&gt; meshes_by_urdf_filepath = 3 [json_name = "meshesByUrdfFilepath"];</code>
+       */
+
+      public Builder removeMeshesByUrdfFilepath(
+          java.lang.String key) {
+        java.lang.Class<?> keyClass = key.getClass();
+        copyOnWrite();
+        instance.getMutableMeshesByUrdfFilepathMap().remove(key);
+        return this;
+      }
+      /**
+       * Use {@link #getMeshesByUrdfFilepathMap()} instead.
+       */
+      @java.lang.Override
+      @java.lang.Deprecated
+      public java.util.Map<java.lang.String, com.viam.common.v1.Common.Mesh> getMeshesByUrdfFilepath() {
+        return getMeshesByUrdfFilepathMap();
+      }
+      /**
+       * <pre>
+       * Map of URDF mesh file paths to mesh data
+       * </pre>
+       *
+       * <code>map&lt;string, .viam.common.v1.Mesh&gt; meshes_by_urdf_filepath = 3 [json_name = "meshesByUrdfFilepath"];</code>
+       */
+      @java.lang.Override
+      public java.util.Map<java.lang.String, com.viam.common.v1.Common.Mesh> getMeshesByUrdfFilepathMap() {
+        return java.util.Collections.unmodifiableMap(
+            instance.getMeshesByUrdfFilepathMap());
+      }
+      /**
+       * <pre>
+       * Map of URDF mesh file paths to mesh data
+       * </pre>
+       *
+       * <code>map&lt;string, .viam.common.v1.Mesh&gt; meshes_by_urdf_filepath = 3 [json_name = "meshesByUrdfFilepath"];</code>
+       */
+      @java.lang.Override
+
+      public /* nullable */
+com.viam.common.v1.Common.Mesh getMeshesByUrdfFilepathOrDefault(
+          java.lang.String key,
+          /* nullable */
+com.viam.common.v1.Common.Mesh defaultValue) {
+        java.lang.Class<?> keyClass = key.getClass();
+        java.util.Map<java.lang.String, com.viam.common.v1.Common.Mesh> map =
+            instance.getMeshesByUrdfFilepathMap();
+        return map.containsKey(key) ? map.get(key) : defaultValue;
+      }
+      /**
+       * <pre>
+       * Map of URDF mesh file paths to mesh data
+       * </pre>
+       *
+       * <code>map&lt;string, .viam.common.v1.Mesh&gt; meshes_by_urdf_filepath = 3 [json_name = "meshesByUrdfFilepath"];</code>
+       */
+      @java.lang.Override
+
+      public com.viam.common.v1.Common.Mesh getMeshesByUrdfFilepathOrThrow(
+          java.lang.String key) {
+        java.lang.Class<?> keyClass = key.getClass();
+        java.util.Map<java.lang.String, com.viam.common.v1.Common.Mesh> map =
+            instance.getMeshesByUrdfFilepathMap();
+        if (!map.containsKey(key)) {
+          throw new java.lang.IllegalArgumentException();
+        }
+        return map.get(key);
+      }
+      /**
+       * <pre>
+       * Map of URDF mesh file paths to mesh data
+       * </pre>
+       *
+       * <code>map&lt;string, .viam.common.v1.Mesh&gt; meshes_by_urdf_filepath = 3 [json_name = "meshesByUrdfFilepath"];</code>
+       */
+      public Builder putMeshesByUrdfFilepath(
+          java.lang.String key,
+          com.viam.common.v1.Common.Mesh value) {
+        java.lang.Class<?> keyClass = key.getClass();
+        java.lang.Class<?> valueClass = value.getClass();
+        copyOnWrite();
+        instance.getMutableMeshesByUrdfFilepathMap().put(key, value);
+        return this;
+      }
+      /**
+       * <pre>
+       * Map of URDF mesh file paths to mesh data
+       * </pre>
+       *
+       * <code>map&lt;string, .viam.common.v1.Mesh&gt; meshes_by_urdf_filepath = 3 [json_name = "meshesByUrdfFilepath"];</code>
+       */
+      public Builder putAllMeshesByUrdfFilepath(
+          java.util.Map<java.lang.String, com.viam.common.v1.Common.Mesh> values) {
+        copyOnWrite();
+        instance.getMutableMeshesByUrdfFilepathMap().putAll(values);
+        return this;
+      }
+
       // @@protoc_insertion_point(builder_scope:viam.common.v1.GetKinematicsResponse)
     }
     @java.lang.Override
@@ -11581,9 +13198,12 @@ protected final java.lang.Object dynamicMethod(
             java.lang.Object[] objects = new java.lang.Object[] {
               "format_",
               "kinematicsData_",
+              "meshesByUrdfFilepath_",
+              MeshesByUrdfFilepathDefaultEntryHolder.defaultEntry,
             };
             java.lang.String info =
-                "\u0000\u0002\u0000\u0000\u0001\u0002\u0002\u0000\u0000\u0000\u0001\f\u0002\n";
+                "\u0000\u0003\u0000\u0000\u0001\u0003\u0003\u0001\u0000\u0000\u0001\f\u0002\n\u0003" +
+                "2";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         // fall through
diff --git a/core/sdk/src/main/gen/com/viam/component/arm/v1/Arm.java b/core/sdk/src/main/gen/com/viam/component/arm/v1/Arm.java
index 4bed6aaab..3ccd06dd9 100644
--- a/core/sdk/src/main/gen/com/viam/component/arm/v1/Arm.java
+++ b/core/sdk/src/main/gen/com/viam/component/arm/v1/Arm.java
@@ -6693,7 +6693,8 @@ public interface MoveOptionsOrBuilder extends
 
     /**
      * <pre>
-     * Maximum allowable velocity of an arm joint, in degrees per second
+     * Maximum allowable velocity of an arm joint, in degrees per second.
+     * Ignored when max_vel_degs_per_sec_joints is set.
      * </pre>
      *
      * <code>optional double max_vel_degs_per_sec = 1 [json_name = "maxVelDegsPerSec"];</code>
@@ -6702,7 +6703,8 @@ public interface MoveOptionsOrBuilder extends
     boolean hasMaxVelDegsPerSec();
     /**
      * <pre>
-     * Maximum allowable velocity of an arm joint, in degrees per second
+     * Maximum allowable velocity of an arm joint, in degrees per second.
+     * Ignored when max_vel_degs_per_sec_joints is set.
      * </pre>
      *
      * <code>optional double max_vel_degs_per_sec = 1 [json_name = "maxVelDegsPerSec"];</code>
@@ -6712,7 +6714,8 @@ public interface MoveOptionsOrBuilder extends
 
     /**
      * <pre>
-     * Maximum allowable acceleration of an arm joint, in degrees per second squared
+     * Maximum allowable acceleration of an arm joint, in degrees per second squared.
+     * ignored when max_acc_degs_per_sec2_joints is set.
      * </pre>
      *
      * <code>optional double max_acc_degs_per_sec2 = 2 [json_name = "maxAccDegsPerSec2"];</code>
@@ -6721,13 +6724,72 @@ public interface MoveOptionsOrBuilder extends
     boolean hasMaxAccDegsPerSec2();
     /**
      * <pre>
-     * Maximum allowable acceleration of an arm joint, in degrees per second squared
+     * Maximum allowable acceleration of an arm joint, in degrees per second squared.
+     * ignored when max_acc_degs_per_sec2_joints is set.
      * </pre>
      *
      * <code>optional double max_acc_degs_per_sec2 = 2 [json_name = "maxAccDegsPerSec2"];</code>
      * @return The maxAccDegsPerSec2.
      */
     double getMaxAccDegsPerSec2();
+
+    /**
+     * <pre>
+     * Per-joint maximum velocity in degrees per second.
+     * </pre>
+     *
+     * <code>repeated double max_vel_degs_per_sec_joints = 3 [json_name = "maxVelDegsPerSecJoints"];</code>
+     * @return A list containing the maxVelDegsPerSecJoints.
+     */
+    java.util.List<java.lang.Double> getMaxVelDegsPerSecJointsList();
+    /**
+     * <pre>
+     * Per-joint maximum velocity in degrees per second.
+     * </pre>
+     *
+     * <code>repeated double max_vel_degs_per_sec_joints = 3 [json_name = "maxVelDegsPerSecJoints"];</code>
+     * @return The count of maxVelDegsPerSecJoints.
+     */
+    int getMaxVelDegsPerSecJointsCount();
+    /**
+     * <pre>
+     * Per-joint maximum velocity in degrees per second.
+     * </pre>
+     *
+     * <code>repeated double max_vel_degs_per_sec_joints = 3 [json_name = "maxVelDegsPerSecJoints"];</code>
+     * @param index The index of the element to return.
+     * @return The maxVelDegsPerSecJoints at the given index.
+     */
+    double getMaxVelDegsPerSecJoints(int index);
+
+    /**
+     * <pre>
+     * Per-joint maximum acceleration in degrees per second squared.
+     * </pre>
+     *
+     * <code>repeated double max_acc_degs_per_sec2_joints = 4 [json_name = "maxAccDegsPerSec2Joints"];</code>
+     * @return A list containing the maxAccDegsPerSec2Joints.
+     */
+    java.util.List<java.lang.Double> getMaxAccDegsPerSec2JointsList();
+    /**
+     * <pre>
+     * Per-joint maximum acceleration in degrees per second squared.
+     * </pre>
+     *
+     * <code>repeated double max_acc_degs_per_sec2_joints = 4 [json_name = "maxAccDegsPerSec2Joints"];</code>
+     * @return The count of maxAccDegsPerSec2Joints.
+     */
+    int getMaxAccDegsPerSec2JointsCount();
+    /**
+     * <pre>
+     * Per-joint maximum acceleration in degrees per second squared.
+     * </pre>
+     *
+     * <code>repeated double max_acc_degs_per_sec2_joints = 4 [json_name = "maxAccDegsPerSec2Joints"];</code>
+     * @param index The index of the element to return.
+     * @return The maxAccDegsPerSec2Joints at the given index.
+     */
+    double getMaxAccDegsPerSec2Joints(int index);
   }
   /**
    * Protobuf type {@code viam.component.arm.v1.MoveOptions}
@@ -6738,13 +6800,16 @@ public  static final class MoveOptions extends
       // @@protoc_insertion_point(message_implements:viam.component.arm.v1.MoveOptions)
       MoveOptionsOrBuilder {
     private MoveOptions() {
+      maxVelDegsPerSecJoints_ = emptyDoubleList();
+      maxAccDegsPerSec2Joints_ = emptyDoubleList();
     }
     private int bitField0_;
     public static final int MAX_VEL_DEGS_PER_SEC_FIELD_NUMBER = 1;
     private double maxVelDegsPerSec_;
     /**
      * <pre>
-     * Maximum allowable velocity of an arm joint, in degrees per second
+     * Maximum allowable velocity of an arm joint, in degrees per second.
+     * Ignored when max_vel_degs_per_sec_joints is set.
      * </pre>
      *
      * <code>optional double max_vel_degs_per_sec = 1 [json_name = "maxVelDegsPerSec"];</code>
@@ -6756,7 +6821,8 @@ public boolean hasMaxVelDegsPerSec() {
     }
     /**
      * <pre>
-     * Maximum allowable velocity of an arm joint, in degrees per second
+     * Maximum allowable velocity of an arm joint, in degrees per second.
+     * Ignored when max_vel_degs_per_sec_joints is set.
      * </pre>
      *
      * <code>optional double max_vel_degs_per_sec = 1 [json_name = "maxVelDegsPerSec"];</code>
@@ -6768,7 +6834,8 @@ public double getMaxVelDegsPerSec() {
     }
     /**
      * <pre>
-     * Maximum allowable velocity of an arm joint, in degrees per second
+     * Maximum allowable velocity of an arm joint, in degrees per second.
+     * Ignored when max_vel_degs_per_sec_joints is set.
      * </pre>
      *
      * <code>optional double max_vel_degs_per_sec = 1 [json_name = "maxVelDegsPerSec"];</code>
@@ -6780,7 +6847,8 @@ private void setMaxVelDegsPerSec(double value) {
     }
     /**
      * <pre>
-     * Maximum allowable velocity of an arm joint, in degrees per second
+     * Maximum allowable velocity of an arm joint, in degrees per second.
+     * Ignored when max_vel_degs_per_sec_joints is set.
      * </pre>
      *
      * <code>optional double max_vel_degs_per_sec = 1 [json_name = "maxVelDegsPerSec"];</code>
@@ -6794,7 +6862,8 @@ private void clearMaxVelDegsPerSec() {
     private double maxAccDegsPerSec2_;
     /**
      * <pre>
-     * Maximum allowable acceleration of an arm joint, in degrees per second squared
+     * Maximum allowable acceleration of an arm joint, in degrees per second squared.
+     * ignored when max_acc_degs_per_sec2_joints is set.
      * </pre>
      *
      * <code>optional double max_acc_degs_per_sec2 = 2 [json_name = "maxAccDegsPerSec2"];</code>
@@ -6806,7 +6875,8 @@ public boolean hasMaxAccDegsPerSec2() {
     }
     /**
      * <pre>
-     * Maximum allowable acceleration of an arm joint, in degrees per second squared
+     * Maximum allowable acceleration of an arm joint, in degrees per second squared.
+     * ignored when max_acc_degs_per_sec2_joints is set.
      * </pre>
      *
      * <code>optional double max_acc_degs_per_sec2 = 2 [json_name = "maxAccDegsPerSec2"];</code>
@@ -6818,7 +6888,8 @@ public double getMaxAccDegsPerSec2() {
     }
     /**
      * <pre>
-     * Maximum allowable acceleration of an arm joint, in degrees per second squared
+     * Maximum allowable acceleration of an arm joint, in degrees per second squared.
+     * ignored when max_acc_degs_per_sec2_joints is set.
      * </pre>
      *
      * <code>optional double max_acc_degs_per_sec2 = 2 [json_name = "maxAccDegsPerSec2"];</code>
@@ -6830,7 +6901,8 @@ private void setMaxAccDegsPerSec2(double value) {
     }
     /**
      * <pre>
-     * Maximum allowable acceleration of an arm joint, in degrees per second squared
+     * Maximum allowable acceleration of an arm joint, in degrees per second squared.
+     * ignored when max_acc_degs_per_sec2_joints is set.
      * </pre>
      *
      * <code>optional double max_acc_degs_per_sec2 = 2 [json_name = "maxAccDegsPerSec2"];</code>
@@ -6840,6 +6912,204 @@ private void clearMaxAccDegsPerSec2() {
       maxAccDegsPerSec2_ = 0D;
     }
 
+    public static final int MAX_VEL_DEGS_PER_SEC_JOINTS_FIELD_NUMBER = 3;
+    private com.google.protobuf.Internal.DoubleList maxVelDegsPerSecJoints_;
+    /**
+     * <pre>
+     * Per-joint maximum velocity in degrees per second.
+     * </pre>
+     *
+     * <code>repeated double max_vel_degs_per_sec_joints = 3 [json_name = "maxVelDegsPerSecJoints"];</code>
+     * @return A list containing the maxVelDegsPerSecJoints.
+     */
+    @java.lang.Override
+    public java.util.List<java.lang.Double>
+        getMaxVelDegsPerSecJointsList() {
+      return maxVelDegsPerSecJoints_;
+    }
+    /**
+     * <pre>
+     * Per-joint maximum velocity in degrees per second.
+     * </pre>
+     *
+     * <code>repeated double max_vel_degs_per_sec_joints = 3 [json_name = "maxVelDegsPerSecJoints"];</code>
+     * @return The count of maxVelDegsPerSecJoints.
+     */
+    @java.lang.Override
+    public int getMaxVelDegsPerSecJointsCount() {
+      return maxVelDegsPerSecJoints_.size();
+    }
+    /**
+     * <pre>
+     * Per-joint maximum velocity in degrees per second.
+     * </pre>
+     *
+     * <code>repeated double max_vel_degs_per_sec_joints = 3 [json_name = "maxVelDegsPerSecJoints"];</code>
+     * @param index The index of the element to return.
+     * @return The maxVelDegsPerSecJoints at the given index.
+     */
+    @java.lang.Override
+    public double getMaxVelDegsPerSecJoints(int index) {
+      return maxVelDegsPerSecJoints_.getDouble(index);
+    }
+    private int maxVelDegsPerSecJointsMemoizedSerializedSize = -1;
+    private void ensureMaxVelDegsPerSecJointsIsMutable() {
+      com.google.protobuf.Internal.DoubleList tmp = maxVelDegsPerSecJoints_;
+      if (!tmp.isModifiable()) {
+        maxVelDegsPerSecJoints_ =
+            com.google.protobuf.GeneratedMessageLite.mutableCopy(tmp);
+       }
+    }
+    /**
+     * <pre>
+     * Per-joint maximum velocity in degrees per second.
+     * </pre>
+     *
+     * <code>repeated double max_vel_degs_per_sec_joints = 3 [json_name = "maxVelDegsPerSecJoints"];</code>
+     * @param index The index to set the value at.
+     * @param value The maxVelDegsPerSecJoints to set.
+     */
+    private void setMaxVelDegsPerSecJoints(
+        int index, double value) {
+      ensureMaxVelDegsPerSecJointsIsMutable();
+      maxVelDegsPerSecJoints_.setDouble(index, value);
+    }
+    /**
+     * <pre>
+     * Per-joint maximum velocity in degrees per second.
+     * </pre>
+     *
+     * <code>repeated double max_vel_degs_per_sec_joints = 3 [json_name = "maxVelDegsPerSecJoints"];</code>
+     * @param value The maxVelDegsPerSecJoints to add.
+     */
+    private void addMaxVelDegsPerSecJoints(double value) {
+      ensureMaxVelDegsPerSecJointsIsMutable();
+      maxVelDegsPerSecJoints_.addDouble(value);
+    }
+    /**
+     * <pre>
+     * Per-joint maximum velocity in degrees per second.
+     * </pre>
+     *
+     * <code>repeated double max_vel_degs_per_sec_joints = 3 [json_name = "maxVelDegsPerSecJoints"];</code>
+     * @param values The maxVelDegsPerSecJoints to add.
+     */
+    private void addAllMaxVelDegsPerSecJoints(
+        java.lang.Iterable<? extends java.lang.Double> values) {
+      ensureMaxVelDegsPerSecJointsIsMutable();
+      com.google.protobuf.AbstractMessageLite.addAll(
+          values, maxVelDegsPerSecJoints_);
+    }
+    /**
+     * <pre>
+     * Per-joint maximum velocity in degrees per second.
+     * </pre>
+     *
+     * <code>repeated double max_vel_degs_per_sec_joints = 3 [json_name = "maxVelDegsPerSecJoints"];</code>
+     */
+    private void clearMaxVelDegsPerSecJoints() {
+      maxVelDegsPerSecJoints_ = emptyDoubleList();
+    }
+
+    public static final int MAX_ACC_DEGS_PER_SEC2_JOINTS_FIELD_NUMBER = 4;
+    private com.google.protobuf.Internal.DoubleList maxAccDegsPerSec2Joints_;
+    /**
+     * <pre>
+     * Per-joint maximum acceleration in degrees per second squared.
+     * </pre>
+     *
+     * <code>repeated double max_acc_degs_per_sec2_joints = 4 [json_name = "maxAccDegsPerSec2Joints"];</code>
+     * @return A list containing the maxAccDegsPerSec2Joints.
+     */
+    @java.lang.Override
+    public java.util.List<java.lang.Double>
+        getMaxAccDegsPerSec2JointsList() {
+      return maxAccDegsPerSec2Joints_;
+    }
+    /**
+     * <pre>
+     * Per-joint maximum acceleration in degrees per second squared.
+     * </pre>
+     *
+     * <code>repeated double max_acc_degs_per_sec2_joints = 4 [json_name = "maxAccDegsPerSec2Joints"];</code>
+     * @return The count of maxAccDegsPerSec2Joints.
+     */
+    @java.lang.Override
+    public int getMaxAccDegsPerSec2JointsCount() {
+      return maxAccDegsPerSec2Joints_.size();
+    }
+    /**
+     * <pre>
+     * Per-joint maximum acceleration in degrees per second squared.
+     * </pre>
+     *
+     * <code>repeated double max_acc_degs_per_sec2_joints = 4 [json_name = "maxAccDegsPerSec2Joints"];</code>
+     * @param index The index of the element to return.
+     * @return The maxAccDegsPerSec2Joints at the given index.
+     */
+    @java.lang.Override
+    public double getMaxAccDegsPerSec2Joints(int index) {
+      return maxAccDegsPerSec2Joints_.getDouble(index);
+    }
+    private int maxAccDegsPerSec2JointsMemoizedSerializedSize = -1;
+    private void ensureMaxAccDegsPerSec2JointsIsMutable() {
+      com.google.protobuf.Internal.DoubleList tmp = maxAccDegsPerSec2Joints_;
+      if (!tmp.isModifiable()) {
+        maxAccDegsPerSec2Joints_ =
+            com.google.protobuf.GeneratedMessageLite.mutableCopy(tmp);
+       }
+    }
+    /**
+     * <pre>
+     * Per-joint maximum acceleration in degrees per second squared.
+     * </pre>
+     *
+     * <code>repeated double max_acc_degs_per_sec2_joints = 4 [json_name = "maxAccDegsPerSec2Joints"];</code>
+     * @param index The index to set the value at.
+     * @param value The maxAccDegsPerSec2Joints to set.
+     */
+    private void setMaxAccDegsPerSec2Joints(
+        int index, double value) {
+      ensureMaxAccDegsPerSec2JointsIsMutable();
+      maxAccDegsPerSec2Joints_.setDouble(index, value);
+    }
+    /**
+     * <pre>
+     * Per-joint maximum acceleration in degrees per second squared.
+     * </pre>
+     *
+     * <code>repeated double max_acc_degs_per_sec2_joints = 4 [json_name = "maxAccDegsPerSec2Joints"];</code>
+     * @param value The maxAccDegsPerSec2Joints to add.
+     */
+    private void addMaxAccDegsPerSec2Joints(double value) {
+      ensureMaxAccDegsPerSec2JointsIsMutable();
+      maxAccDegsPerSec2Joints_.addDouble(value);
+    }
+    /**
+     * <pre>
+     * Per-joint maximum acceleration in degrees per second squared.
+     * </pre>
+     *
+     * <code>repeated double max_acc_degs_per_sec2_joints = 4 [json_name = "maxAccDegsPerSec2Joints"];</code>
+     * @param values The maxAccDegsPerSec2Joints to add.
+     */
+    private void addAllMaxAccDegsPerSec2Joints(
+        java.lang.Iterable<? extends java.lang.Double> values) {
+      ensureMaxAccDegsPerSec2JointsIsMutable();
+      com.google.protobuf.AbstractMessageLite.addAll(
+          values, maxAccDegsPerSec2Joints_);
+    }
+    /**
+     * <pre>
+     * Per-joint maximum acceleration in degrees per second squared.
+     * </pre>
+     *
+     * <code>repeated double max_acc_degs_per_sec2_joints = 4 [json_name = "maxAccDegsPerSec2Joints"];</code>
+     */
+    private void clearMaxAccDegsPerSec2Joints() {
+      maxAccDegsPerSec2Joints_ = emptyDoubleList();
+    }
+
     public static com.viam.component.arm.v1.Arm.MoveOptions parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
@@ -6939,7 +7209,8 @@ private Builder() {
 
       /**
        * <pre>
-       * Maximum allowable velocity of an arm joint, in degrees per second
+       * Maximum allowable velocity of an arm joint, in degrees per second.
+       * Ignored when max_vel_degs_per_sec_joints is set.
        * </pre>
        *
        * <code>optional double max_vel_degs_per_sec = 1 [json_name = "maxVelDegsPerSec"];</code>
@@ -6951,7 +7222,8 @@ public boolean hasMaxVelDegsPerSec() {
       }
       /**
        * <pre>
-       * Maximum allowable velocity of an arm joint, in degrees per second
+       * Maximum allowable velocity of an arm joint, in degrees per second.
+       * Ignored when max_vel_degs_per_sec_joints is set.
        * </pre>
        *
        * <code>optional double max_vel_degs_per_sec = 1 [json_name = "maxVelDegsPerSec"];</code>
@@ -6963,7 +7235,8 @@ public double getMaxVelDegsPerSec() {
       }
       /**
        * <pre>
-       * Maximum allowable velocity of an arm joint, in degrees per second
+       * Maximum allowable velocity of an arm joint, in degrees per second.
+       * Ignored when max_vel_degs_per_sec_joints is set.
        * </pre>
        *
        * <code>optional double max_vel_degs_per_sec = 1 [json_name = "maxVelDegsPerSec"];</code>
@@ -6977,7 +7250,8 @@ public Builder setMaxVelDegsPerSec(double value) {
       }
       /**
        * <pre>
-       * Maximum allowable velocity of an arm joint, in degrees per second
+       * Maximum allowable velocity of an arm joint, in degrees per second.
+       * Ignored when max_vel_degs_per_sec_joints is set.
        * </pre>
        *
        * <code>optional double max_vel_degs_per_sec = 1 [json_name = "maxVelDegsPerSec"];</code>
@@ -6991,7 +7265,8 @@ public Builder clearMaxVelDegsPerSec() {
 
       /**
        * <pre>
-       * Maximum allowable acceleration of an arm joint, in degrees per second squared
+       * Maximum allowable acceleration of an arm joint, in degrees per second squared.
+       * ignored when max_acc_degs_per_sec2_joints is set.
        * </pre>
        *
        * <code>optional double max_acc_degs_per_sec2 = 2 [json_name = "maxAccDegsPerSec2"];</code>
@@ -7003,7 +7278,8 @@ public boolean hasMaxAccDegsPerSec2() {
       }
       /**
        * <pre>
-       * Maximum allowable acceleration of an arm joint, in degrees per second squared
+       * Maximum allowable acceleration of an arm joint, in degrees per second squared.
+       * ignored when max_acc_degs_per_sec2_joints is set.
        * </pre>
        *
        * <code>optional double max_acc_degs_per_sec2 = 2 [json_name = "maxAccDegsPerSec2"];</code>
@@ -7015,7 +7291,8 @@ public double getMaxAccDegsPerSec2() {
       }
       /**
        * <pre>
-       * Maximum allowable acceleration of an arm joint, in degrees per second squared
+       * Maximum allowable acceleration of an arm joint, in degrees per second squared.
+       * ignored when max_acc_degs_per_sec2_joints is set.
        * </pre>
        *
        * <code>optional double max_acc_degs_per_sec2 = 2 [json_name = "maxAccDegsPerSec2"];</code>
@@ -7029,7 +7306,8 @@ public Builder setMaxAccDegsPerSec2(double value) {
       }
       /**
        * <pre>
-       * Maximum allowable acceleration of an arm joint, in degrees per second squared
+       * Maximum allowable acceleration of an arm joint, in degrees per second squared.
+       * ignored when max_acc_degs_per_sec2_joints is set.
        * </pre>
        *
        * <code>optional double max_acc_degs_per_sec2 = 2 [json_name = "maxAccDegsPerSec2"];</code>
@@ -7041,6 +7319,200 @@ public Builder clearMaxAccDegsPerSec2() {
         return this;
       }
 
+      /**
+       * <pre>
+       * Per-joint maximum velocity in degrees per second.
+       * </pre>
+       *
+       * <code>repeated double max_vel_degs_per_sec_joints = 3 [json_name = "maxVelDegsPerSecJoints"];</code>
+       * @return A list containing the maxVelDegsPerSecJoints.
+       */
+      @java.lang.Override
+      public java.util.List<java.lang.Double>
+          getMaxVelDegsPerSecJointsList() {
+        return java.util.Collections.unmodifiableList(
+            instance.getMaxVelDegsPerSecJointsList());
+      }
+      /**
+       * <pre>
+       * Per-joint maximum velocity in degrees per second.
+       * </pre>
+       *
+       * <code>repeated double max_vel_degs_per_sec_joints = 3 [json_name = "maxVelDegsPerSecJoints"];</code>
+       * @return The count of maxVelDegsPerSecJoints.
+       */
+      @java.lang.Override
+      public int getMaxVelDegsPerSecJointsCount() {
+        return instance.getMaxVelDegsPerSecJointsCount();
+      }
+      /**
+       * <pre>
+       * Per-joint maximum velocity in degrees per second.
+       * </pre>
+       *
+       * <code>repeated double max_vel_degs_per_sec_joints = 3 [json_name = "maxVelDegsPerSecJoints"];</code>
+       * @param index The index of the element to return.
+       * @return The maxVelDegsPerSecJoints at the given index.
+       */
+      @java.lang.Override
+      public double getMaxVelDegsPerSecJoints(int index) {
+        return instance.getMaxVelDegsPerSecJoints(index);
+      }
+      /**
+       * <pre>
+       * Per-joint maximum velocity in degrees per second.
+       * </pre>
+       *
+       * <code>repeated double max_vel_degs_per_sec_joints = 3 [json_name = "maxVelDegsPerSecJoints"];</code>
+       * @param value The maxVelDegsPerSecJoints to set.
+       * @return This builder for chaining.
+       */
+      public Builder setMaxVelDegsPerSecJoints(
+          int index, double value) {
+        copyOnWrite();
+        instance.setMaxVelDegsPerSecJoints(index, value);
+        return this;
+      }
+      /**
+       * <pre>
+       * Per-joint maximum velocity in degrees per second.
+       * </pre>
+       *
+       * <code>repeated double max_vel_degs_per_sec_joints = 3 [json_name = "maxVelDegsPerSecJoints"];</code>
+       * @param value The maxVelDegsPerSecJoints to add.
+       * @return This builder for chaining.
+       */
+      public Builder addMaxVelDegsPerSecJoints(double value) {
+        copyOnWrite();
+        instance.addMaxVelDegsPerSecJoints(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * Per-joint maximum velocity in degrees per second.
+       * </pre>
+       *
+       * <code>repeated double max_vel_degs_per_sec_joints = 3 [json_name = "maxVelDegsPerSecJoints"];</code>
+       * @param values The maxVelDegsPerSecJoints to add.
+       * @return This builder for chaining.
+       */
+      public Builder addAllMaxVelDegsPerSecJoints(
+          java.lang.Iterable<? extends java.lang.Double> values) {
+        copyOnWrite();
+        instance.addAllMaxVelDegsPerSecJoints(values);
+        return this;
+      }
+      /**
+       * <pre>
+       * Per-joint maximum velocity in degrees per second.
+       * </pre>
+       *
+       * <code>repeated double max_vel_degs_per_sec_joints = 3 [json_name = "maxVelDegsPerSecJoints"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearMaxVelDegsPerSecJoints() {
+        copyOnWrite();
+        instance.clearMaxVelDegsPerSecJoints();
+        return this;
+      }
+
+      /**
+       * <pre>
+       * Per-joint maximum acceleration in degrees per second squared.
+       * </pre>
+       *
+       * <code>repeated double max_acc_degs_per_sec2_joints = 4 [json_name = "maxAccDegsPerSec2Joints"];</code>
+       * @return A list containing the maxAccDegsPerSec2Joints.
+       */
+      @java.lang.Override
+      public java.util.List<java.lang.Double>
+          getMaxAccDegsPerSec2JointsList() {
+        return java.util.Collections.unmodifiableList(
+            instance.getMaxAccDegsPerSec2JointsList());
+      }
+      /**
+       * <pre>
+       * Per-joint maximum acceleration in degrees per second squared.
+       * </pre>
+       *
+       * <code>repeated double max_acc_degs_per_sec2_joints = 4 [json_name = "maxAccDegsPerSec2Joints"];</code>
+       * @return The count of maxAccDegsPerSec2Joints.
+       */
+      @java.lang.Override
+      public int getMaxAccDegsPerSec2JointsCount() {
+        return instance.getMaxAccDegsPerSec2JointsCount();
+      }
+      /**
+       * <pre>
+       * Per-joint maximum acceleration in degrees per second squared.
+       * </pre>
+       *
+       * <code>repeated double max_acc_degs_per_sec2_joints = 4 [json_name = "maxAccDegsPerSec2Joints"];</code>
+       * @param index The index of the element to return.
+       * @return The maxAccDegsPerSec2Joints at the given index.
+       */
+      @java.lang.Override
+      public double getMaxAccDegsPerSec2Joints(int index) {
+        return instance.getMaxAccDegsPerSec2Joints(index);
+      }
+      /**
+       * <pre>
+       * Per-joint maximum acceleration in degrees per second squared.
+       * </pre>
+       *
+       * <code>repeated double max_acc_degs_per_sec2_joints = 4 [json_name = "maxAccDegsPerSec2Joints"];</code>
+       * @param value The maxAccDegsPerSec2Joints to set.
+       * @return This builder for chaining.
+       */
+      public Builder setMaxAccDegsPerSec2Joints(
+          int index, double value) {
+        copyOnWrite();
+        instance.setMaxAccDegsPerSec2Joints(index, value);
+        return this;
+      }
+      /**
+       * <pre>
+       * Per-joint maximum acceleration in degrees per second squared.
+       * </pre>
+       *
+       * <code>repeated double max_acc_degs_per_sec2_joints = 4 [json_name = "maxAccDegsPerSec2Joints"];</code>
+       * @param value The maxAccDegsPerSec2Joints to add.
+       * @return This builder for chaining.
+       */
+      public Builder addMaxAccDegsPerSec2Joints(double value) {
+        copyOnWrite();
+        instance.addMaxAccDegsPerSec2Joints(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * Per-joint maximum acceleration in degrees per second squared.
+       * </pre>
+       *
+       * <code>repeated double max_acc_degs_per_sec2_joints = 4 [json_name = "maxAccDegsPerSec2Joints"];</code>
+       * @param values The maxAccDegsPerSec2Joints to add.
+       * @return This builder for chaining.
+       */
+      public Builder addAllMaxAccDegsPerSec2Joints(
+          java.lang.Iterable<? extends java.lang.Double> values) {
+        copyOnWrite();
+        instance.addAllMaxAccDegsPerSec2Joints(values);
+        return this;
+      }
+      /**
+       * <pre>
+       * Per-joint maximum acceleration in degrees per second squared.
+       * </pre>
+       *
+       * <code>repeated double max_acc_degs_per_sec2_joints = 4 [json_name = "maxAccDegsPerSec2Joints"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearMaxAccDegsPerSec2Joints() {
+        copyOnWrite();
+        instance.clearMaxAccDegsPerSec2Joints();
+        return this;
+      }
+
       // @@protoc_insertion_point(builder_scope:viam.component.arm.v1.MoveOptions)
     }
     @java.lang.Override
@@ -7060,10 +7532,12 @@ protected final java.lang.Object dynamicMethod(
               "bitField0_",
               "maxVelDegsPerSec_",
               "maxAccDegsPerSec2_",
+              "maxVelDegsPerSecJoints_",
+              "maxAccDegsPerSec2Joints_",
             };
             java.lang.String info =
-                "\u0000\u0002\u0000\u0001\u0001\u0002\u0002\u0000\u0000\u0000\u0001\u1000\u0000\u0002" +
-                "\u1000\u0001";
+                "\u0000\u0004\u0000\u0001\u0001\u0004\u0004\u0000\u0002\u0000\u0001\u1000\u0000\u0002" +
+                "\u1000\u0001\u0003#\u0004#";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         // fall through
diff --git a/core/sdk/src/main/gen/com/viam/component/arm/v1/ArmServiceGrpc.java b/core/sdk/src/main/gen/com/viam/component/arm/v1/ArmServiceGrpc.java
index 75bc73265..c2ad442bd 100644
--- a/core/sdk/src/main/gen/com/viam/component/arm/v1/ArmServiceGrpc.java
+++ b/core/sdk/src/main/gen/com/viam/component/arm/v1/ArmServiceGrpc.java
@@ -258,6 +258,36 @@ com.viam.common.v1.Common.DoCommandResponse> getDoCommandMethod() {
     return getDoCommandMethod;
   }
 
+  private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "GetStatus",
+      requestType = com.viam.common.v1.Common.GetStatusRequest.class,
+      responseType = com.viam.common.v1.Common.GetStatusResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod() {
+    io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+    if ((getGetStatusMethod = ArmServiceGrpc.getGetStatusMethod) == null) {
+      synchronized (ArmServiceGrpc.class) {
+        if ((getGetStatusMethod = ArmServiceGrpc.getGetStatusMethod) == null) {
+          ArmServiceGrpc.getGetStatusMethod = getGetStatusMethod =
+              io.grpc.MethodDescriptor.<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetStatus"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusResponse.getDefaultInstance()))
+              .build();
+        }
+      }
+    }
+    return getGetStatusMethod;
+  }
+
   private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetKinematicsRequest,
       com.viam.common.v1.Common.GetKinematicsResponse> getGetKinematicsMethod;
 
@@ -483,6 +513,16 @@ default void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
       io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getDoCommandMethod(), responseObserver);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    default void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetStatusMethod(), responseObserver);
+    }
+
     /**
      * <pre>
      * GetKinematics returns the kinematics file for the component
@@ -639,6 +679,17 @@ public void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request, responseObserver);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request, responseObserver);
+    }
+
     /**
      * <pre>
      * GetKinematics returns the kinematics file for the component
@@ -776,6 +827,16 @@ public com.viam.common.v1.Common.DoCommandResponse doCommand(com.viam.common.v1.
           getChannel(), getDoCommandMethod(), getCallOptions(), request);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.viam.common.v1.Common.GetStatusResponse getStatus(com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getGetStatusMethod(), getCallOptions(), request);
+    }
+
     /**
      * <pre>
      * GetKinematics returns the kinematics file for the component
@@ -918,6 +979,17 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Common.GetStatusResponse> getStatus(
+        com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request);
+    }
+
     /**
      * <pre>
      * GetKinematics returns the kinematics file for the component
@@ -960,9 +1032,10 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
   private static final int METHODID_STOP = 5;
   private static final int METHODID_IS_MOVING = 6;
   private static final int METHODID_DO_COMMAND = 7;
-  private static final int METHODID_GET_KINEMATICS = 8;
-  private static final int METHODID_GET_GEOMETRIES = 9;
-  private static final int METHODID_GET3DMODELS = 10;
+  private static final int METHODID_GET_STATUS = 8;
+  private static final int METHODID_GET_KINEMATICS = 9;
+  private static final int METHODID_GET_GEOMETRIES = 10;
+  private static final int METHODID_GET3DMODELS = 11;
 
   private static final class MethodHandlers<Req, Resp> implements
       io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@@ -1013,6 +1086,10 @@ public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserv
           serviceImpl.doCommand((com.viam.common.v1.Common.DoCommandRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse>) responseObserver);
           break;
+        case METHODID_GET_STATUS:
+          serviceImpl.getStatus((com.viam.common.v1.Common.GetStatusRequest) request,
+              (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse>) responseObserver);
+          break;
         case METHODID_GET_KINEMATICS:
           serviceImpl.getKinematics((com.viam.common.v1.Common.GetKinematicsRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetKinematicsResponse>) responseObserver);
@@ -1099,6 +1176,13 @@ public static final io.grpc.ServerServiceDefinition bindService(AsyncService ser
               com.viam.common.v1.Common.DoCommandRequest,
               com.viam.common.v1.Common.DoCommandResponse>(
                 service, METHODID_DO_COMMAND)))
+        .addMethod(
+          getGetStatusMethod(),
+          io.grpc.stub.ServerCalls.asyncUnaryCall(
+            new MethodHandlers<
+              com.viam.common.v1.Common.GetStatusRequest,
+              com.viam.common.v1.Common.GetStatusResponse>(
+                service, METHODID_GET_STATUS)))
         .addMethod(
           getGetKinematicsMethod(),
           io.grpc.stub.ServerCalls.asyncUnaryCall(
@@ -1140,6 +1224,7 @@ public static io.grpc.ServiceDescriptor getServiceDescriptor() {
               .addMethod(getStopMethod())
               .addMethod(getIsMovingMethod())
               .addMethod(getDoCommandMethod())
+              .addMethod(getGetStatusMethod())
               .addMethod(getGetKinematicsMethod())
               .addMethod(getGetGeometriesMethod())
               .addMethod(getGet3DModelsMethod())
diff --git a/core/sdk/src/main/gen/com/viam/component/audioin/v1/AudioInServiceGrpc.java b/core/sdk/src/main/gen/com/viam/component/audioin/v1/AudioInServiceGrpc.java
index c9174d2b7..a88fddc4d 100644
--- a/core/sdk/src/main/gen/com/viam/component/audioin/v1/AudioInServiceGrpc.java
+++ b/core/sdk/src/main/gen/com/viam/component/audioin/v1/AudioInServiceGrpc.java
@@ -108,6 +108,36 @@ com.viam.common.v1.Common.DoCommandResponse> getDoCommandMethod() {
     return getDoCommandMethod;
   }
 
+  private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "GetStatus",
+      requestType = com.viam.common.v1.Common.GetStatusRequest.class,
+      responseType = com.viam.common.v1.Common.GetStatusResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod() {
+    io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+    if ((getGetStatusMethod = AudioInServiceGrpc.getGetStatusMethod) == null) {
+      synchronized (AudioInServiceGrpc.class) {
+        if ((getGetStatusMethod = AudioInServiceGrpc.getGetStatusMethod) == null) {
+          AudioInServiceGrpc.getGetStatusMethod = getGetStatusMethod =
+              io.grpc.MethodDescriptor.<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetStatus"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusResponse.getDefaultInstance()))
+              .build();
+        }
+      }
+    }
+    return getGetStatusMethod;
+  }
+
   private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetGeometriesRequest,
       com.viam.common.v1.Common.GetGeometriesResponse> getGetGeometriesMethod;
 
@@ -219,6 +249,16 @@ default void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
       io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getDoCommandMethod(), responseObserver);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    default void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetStatusMethod(), responseObserver);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -296,6 +336,17 @@ public void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request, responseObserver);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request, responseObserver);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -358,6 +409,16 @@ public com.viam.common.v1.Common.DoCommandResponse doCommand(com.viam.common.v1.
           getChannel(), getDoCommandMethod(), getCallOptions(), request);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.viam.common.v1.Common.GetStatusResponse getStatus(com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getGetStatusMethod(), getCallOptions(), request);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -410,6 +471,17 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Common.GetStatusResponse> getStatus(
+        com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -425,7 +497,8 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
   private static final int METHODID_GET_AUDIO = 0;
   private static final int METHODID_GET_PROPERTIES = 1;
   private static final int METHODID_DO_COMMAND = 2;
-  private static final int METHODID_GET_GEOMETRIES = 3;
+  private static final int METHODID_GET_STATUS = 3;
+  private static final int METHODID_GET_GEOMETRIES = 4;
 
   private static final class MethodHandlers<Req, Resp> implements
       io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@@ -456,6 +529,10 @@ public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserv
           serviceImpl.doCommand((com.viam.common.v1.Common.DoCommandRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse>) responseObserver);
           break;
+        case METHODID_GET_STATUS:
+          serviceImpl.getStatus((com.viam.common.v1.Common.GetStatusRequest) request,
+              (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse>) responseObserver);
+          break;
         case METHODID_GET_GEOMETRIES:
           serviceImpl.getGeometries((com.viam.common.v1.Common.GetGeometriesRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetGeometriesResponse>) responseObserver);
@@ -499,6 +576,13 @@ public static final io.grpc.ServerServiceDefinition bindService(AsyncService ser
               com.viam.common.v1.Common.DoCommandRequest,
               com.viam.common.v1.Common.DoCommandResponse>(
                 service, METHODID_DO_COMMAND)))
+        .addMethod(
+          getGetStatusMethod(),
+          io.grpc.stub.ServerCalls.asyncUnaryCall(
+            new MethodHandlers<
+              com.viam.common.v1.Common.GetStatusRequest,
+              com.viam.common.v1.Common.GetStatusResponse>(
+                service, METHODID_GET_STATUS)))
         .addMethod(
           getGetGeometriesMethod(),
           io.grpc.stub.ServerCalls.asyncUnaryCall(
@@ -521,6 +605,7 @@ public static io.grpc.ServiceDescriptor getServiceDescriptor() {
               .addMethod(getGetAudioMethod())
               .addMethod(getGetPropertiesMethod())
               .addMethod(getDoCommandMethod())
+              .addMethod(getGetStatusMethod())
               .addMethod(getGetGeometriesMethod())
               .build();
         }
diff --git a/core/sdk/src/main/gen/com/viam/component/audioinput/v1/AudioInputServiceGrpc.java b/core/sdk/src/main/gen/com/viam/component/audioinput/v1/AudioInputServiceGrpc.java
deleted file mode 100644
index 7a1d5fe75..000000000
--- a/core/sdk/src/main/gen/com/viam/component/audioinput/v1/AudioInputServiceGrpc.java
+++ /dev/null
@@ -1,624 +0,0 @@
-package com.viam.component.audioinput.v1;
-
-import static io.grpc.MethodDescriptor.generateFullMethodName;
-
-/**
- * <pre>
- * An AudioInputService services all audio inputs associated with a robot
- * </pre>
- */
-@javax.annotation.Generated(
-    value = "by gRPC proto compiler (version 1.68.1)",
-    comments = "Source: component/audioinput/v1/audioinput.proto")
-@io.grpc.stub.annotations.GrpcGenerated
-public final class AudioInputServiceGrpc {
-
-  private AudioInputServiceGrpc() {}
-
-  public static final java.lang.String SERVICE_NAME = "viam.component.audioinput.v1.AudioInputService";
-
-  // Static method descriptors that strictly reflect the proto.
-  private static volatile io.grpc.MethodDescriptor<com.viam.component.audioinput.v1.Audioinput.ChunksRequest,
-      com.viam.component.audioinput.v1.Audioinput.ChunksResponse> getChunksMethod;
-
-  @io.grpc.stub.annotations.RpcMethod(
-      fullMethodName = SERVICE_NAME + '/' + "Chunks",
-      requestType = com.viam.component.audioinput.v1.Audioinput.ChunksRequest.class,
-      responseType = com.viam.component.audioinput.v1.Audioinput.ChunksResponse.class,
-      methodType = io.grpc.MethodDescriptor.MethodType.SERVER_STREAMING)
-  public static io.grpc.MethodDescriptor<com.viam.component.audioinput.v1.Audioinput.ChunksRequest,
-      com.viam.component.audioinput.v1.Audioinput.ChunksResponse> getChunksMethod() {
-    io.grpc.MethodDescriptor<com.viam.component.audioinput.v1.Audioinput.ChunksRequest, com.viam.component.audioinput.v1.Audioinput.ChunksResponse> getChunksMethod;
-    if ((getChunksMethod = AudioInputServiceGrpc.getChunksMethod) == null) {
-      synchronized (AudioInputServiceGrpc.class) {
-        if ((getChunksMethod = AudioInputServiceGrpc.getChunksMethod) == null) {
-          AudioInputServiceGrpc.getChunksMethod = getChunksMethod =
-              io.grpc.MethodDescriptor.<com.viam.component.audioinput.v1.Audioinput.ChunksRequest, com.viam.component.audioinput.v1.Audioinput.ChunksResponse>newBuilder()
-              .setType(io.grpc.MethodDescriptor.MethodType.SERVER_STREAMING)
-              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "Chunks"))
-              .setSampledToLocalTracing(true)
-              .setRequestMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
-                  com.viam.component.audioinput.v1.Audioinput.ChunksRequest.getDefaultInstance()))
-              .setResponseMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
-                  com.viam.component.audioinput.v1.Audioinput.ChunksResponse.getDefaultInstance()))
-              .build();
-        }
-      }
-    }
-    return getChunksMethod;
-  }
-
-  private static volatile io.grpc.MethodDescriptor<com.viam.component.audioinput.v1.Audioinput.PropertiesRequest,
-      com.viam.component.audioinput.v1.Audioinput.PropertiesResponse> getPropertiesMethod;
-
-  @io.grpc.stub.annotations.RpcMethod(
-      fullMethodName = SERVICE_NAME + '/' + "Properties",
-      requestType = com.viam.component.audioinput.v1.Audioinput.PropertiesRequest.class,
-      responseType = com.viam.component.audioinput.v1.Audioinput.PropertiesResponse.class,
-      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
-  public static io.grpc.MethodDescriptor<com.viam.component.audioinput.v1.Audioinput.PropertiesRequest,
-      com.viam.component.audioinput.v1.Audioinput.PropertiesResponse> getPropertiesMethod() {
-    io.grpc.MethodDescriptor<com.viam.component.audioinput.v1.Audioinput.PropertiesRequest, com.viam.component.audioinput.v1.Audioinput.PropertiesResponse> getPropertiesMethod;
-    if ((getPropertiesMethod = AudioInputServiceGrpc.getPropertiesMethod) == null) {
-      synchronized (AudioInputServiceGrpc.class) {
-        if ((getPropertiesMethod = AudioInputServiceGrpc.getPropertiesMethod) == null) {
-          AudioInputServiceGrpc.getPropertiesMethod = getPropertiesMethod =
-              io.grpc.MethodDescriptor.<com.viam.component.audioinput.v1.Audioinput.PropertiesRequest, com.viam.component.audioinput.v1.Audioinput.PropertiesResponse>newBuilder()
-              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
-              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "Properties"))
-              .setSampledToLocalTracing(true)
-              .setRequestMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
-                  com.viam.component.audioinput.v1.Audioinput.PropertiesRequest.getDefaultInstance()))
-              .setResponseMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
-                  com.viam.component.audioinput.v1.Audioinput.PropertiesResponse.getDefaultInstance()))
-              .build();
-        }
-      }
-    }
-    return getPropertiesMethod;
-  }
-
-  private static volatile io.grpc.MethodDescriptor<com.viam.component.audioinput.v1.Audioinput.RecordRequest,
-      com.google.api.HttpBody> getRecordMethod;
-
-  @io.grpc.stub.annotations.RpcMethod(
-      fullMethodName = SERVICE_NAME + '/' + "Record",
-      requestType = com.viam.component.audioinput.v1.Audioinput.RecordRequest.class,
-      responseType = com.google.api.HttpBody.class,
-      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
-  public static io.grpc.MethodDescriptor<com.viam.component.audioinput.v1.Audioinput.RecordRequest,
-      com.google.api.HttpBody> getRecordMethod() {
-    io.grpc.MethodDescriptor<com.viam.component.audioinput.v1.Audioinput.RecordRequest, com.google.api.HttpBody> getRecordMethod;
-    if ((getRecordMethod = AudioInputServiceGrpc.getRecordMethod) == null) {
-      synchronized (AudioInputServiceGrpc.class) {
-        if ((getRecordMethod = AudioInputServiceGrpc.getRecordMethod) == null) {
-          AudioInputServiceGrpc.getRecordMethod = getRecordMethod =
-              io.grpc.MethodDescriptor.<com.viam.component.audioinput.v1.Audioinput.RecordRequest, com.google.api.HttpBody>newBuilder()
-              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
-              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "Record"))
-              .setSampledToLocalTracing(true)
-              .setRequestMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
-                  com.viam.component.audioinput.v1.Audioinput.RecordRequest.getDefaultInstance()))
-              .setResponseMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
-                  com.google.api.HttpBody.getDefaultInstance()))
-              .build();
-        }
-      }
-    }
-    return getRecordMethod;
-  }
-
-  private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.DoCommandRequest,
-      com.viam.common.v1.Common.DoCommandResponse> getDoCommandMethod;
-
-  @io.grpc.stub.annotations.RpcMethod(
-      fullMethodName = SERVICE_NAME + '/' + "DoCommand",
-      requestType = com.viam.common.v1.Common.DoCommandRequest.class,
-      responseType = com.viam.common.v1.Common.DoCommandResponse.class,
-      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
-  public static io.grpc.MethodDescriptor<com.viam.common.v1.Common.DoCommandRequest,
-      com.viam.common.v1.Common.DoCommandResponse> getDoCommandMethod() {
-    io.grpc.MethodDescriptor<com.viam.common.v1.Common.DoCommandRequest, com.viam.common.v1.Common.DoCommandResponse> getDoCommandMethod;
-    if ((getDoCommandMethod = AudioInputServiceGrpc.getDoCommandMethod) == null) {
-      synchronized (AudioInputServiceGrpc.class) {
-        if ((getDoCommandMethod = AudioInputServiceGrpc.getDoCommandMethod) == null) {
-          AudioInputServiceGrpc.getDoCommandMethod = getDoCommandMethod =
-              io.grpc.MethodDescriptor.<com.viam.common.v1.Common.DoCommandRequest, com.viam.common.v1.Common.DoCommandResponse>newBuilder()
-              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
-              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "DoCommand"))
-              .setSampledToLocalTracing(true)
-              .setRequestMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
-                  com.viam.common.v1.Common.DoCommandRequest.getDefaultInstance()))
-              .setResponseMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
-                  com.viam.common.v1.Common.DoCommandResponse.getDefaultInstance()))
-              .build();
-        }
-      }
-    }
-    return getDoCommandMethod;
-  }
-
-  private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetGeometriesRequest,
-      com.viam.common.v1.Common.GetGeometriesResponse> getGetGeometriesMethod;
-
-  @io.grpc.stub.annotations.RpcMethod(
-      fullMethodName = SERVICE_NAME + '/' + "GetGeometries",
-      requestType = com.viam.common.v1.Common.GetGeometriesRequest.class,
-      responseType = com.viam.common.v1.Common.GetGeometriesResponse.class,
-      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
-  public static io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetGeometriesRequest,
-      com.viam.common.v1.Common.GetGeometriesResponse> getGetGeometriesMethod() {
-    io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetGeometriesRequest, com.viam.common.v1.Common.GetGeometriesResponse> getGetGeometriesMethod;
-    if ((getGetGeometriesMethod = AudioInputServiceGrpc.getGetGeometriesMethod) == null) {
-      synchronized (AudioInputServiceGrpc.class) {
-        if ((getGetGeometriesMethod = AudioInputServiceGrpc.getGetGeometriesMethod) == null) {
-          AudioInputServiceGrpc.getGetGeometriesMethod = getGetGeometriesMethod =
-              io.grpc.MethodDescriptor.<com.viam.common.v1.Common.GetGeometriesRequest, com.viam.common.v1.Common.GetGeometriesResponse>newBuilder()
-              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
-              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetGeometries"))
-              .setSampledToLocalTracing(true)
-              .setRequestMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
-                  com.viam.common.v1.Common.GetGeometriesRequest.getDefaultInstance()))
-              .setResponseMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
-                  com.viam.common.v1.Common.GetGeometriesResponse.getDefaultInstance()))
-              .build();
-        }
-      }
-    }
-    return getGetGeometriesMethod;
-  }
-
-  /**
-   * Creates a new async stub that supports all call types for the service
-   */
-  public static AudioInputServiceStub newStub(io.grpc.Channel channel) {
-    io.grpc.stub.AbstractStub.StubFactory<AudioInputServiceStub> factory =
-      new io.grpc.stub.AbstractStub.StubFactory<AudioInputServiceStub>() {
-        @java.lang.Override
-        public AudioInputServiceStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
-          return new AudioInputServiceStub(channel, callOptions);
-        }
-      };
-    return AudioInputServiceStub.newStub(factory, channel);
-  }
-
-  /**
-   * Creates a new blocking-style stub that supports unary and streaming output calls on the service
-   */
-  public static AudioInputServiceBlockingStub newBlockingStub(
-      io.grpc.Channel channel) {
-    io.grpc.stub.AbstractStub.StubFactory<AudioInputServiceBlockingStub> factory =
-      new io.grpc.stub.AbstractStub.StubFactory<AudioInputServiceBlockingStub>() {
-        @java.lang.Override
-        public AudioInputServiceBlockingStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
-          return new AudioInputServiceBlockingStub(channel, callOptions);
-        }
-      };
-    return AudioInputServiceBlockingStub.newStub(factory, channel);
-  }
-
-  /**
-   * Creates a new ListenableFuture-style stub that supports unary calls on the service
-   */
-  public static AudioInputServiceFutureStub newFutureStub(
-      io.grpc.Channel channel) {
-    io.grpc.stub.AbstractStub.StubFactory<AudioInputServiceFutureStub> factory =
-      new io.grpc.stub.AbstractStub.StubFactory<AudioInputServiceFutureStub>() {
-        @java.lang.Override
-        public AudioInputServiceFutureStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
-          return new AudioInputServiceFutureStub(channel, callOptions);
-        }
-      };
-    return AudioInputServiceFutureStub.newStub(factory, channel);
-  }
-
-  /**
-   * <pre>
-   * An AudioInputService services all audio inputs associated with a robot
-   * </pre>
-   */
-  public interface AsyncService {
-
-    /**
-     * <pre>
-     * Chunks returns audio chunks forever from an audio input of the underlying robot.
-     * </pre>
-     */
-    default void chunks(com.viam.component.audioinput.v1.Audioinput.ChunksRequest request,
-        io.grpc.stub.StreamObserver<com.viam.component.audioinput.v1.Audioinput.ChunksResponse> responseObserver) {
-      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getChunksMethod(), responseObserver);
-    }
-
-    /**
-     * <pre>
-     * Properties returns properties of an audio input of the underlying robot.
-     * </pre>
-     */
-    default void properties(com.viam.component.audioinput.v1.Audioinput.PropertiesRequest request,
-        io.grpc.stub.StreamObserver<com.viam.component.audioinput.v1.Audioinput.PropertiesResponse> responseObserver) {
-      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getPropertiesMethod(), responseObserver);
-    }
-
-    /**
-     * <pre>
-     * Record records audio from an audio input of the underlying robot
-     * to an HTTP response. A specific MIME type cannot be requested and may not necessarily
-     * be the same one returned each time.
-     * </pre>
-     */
-    default void record(com.viam.component.audioinput.v1.Audioinput.RecordRequest request,
-        io.grpc.stub.StreamObserver<com.google.api.HttpBody> responseObserver) {
-      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getRecordMethod(), responseObserver);
-    }
-
-    /**
-     * <pre>
-     * DoCommand sends/receives arbitrary commands
-     * </pre>
-     */
-    default void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
-        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse> responseObserver) {
-      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getDoCommandMethod(), responseObserver);
-    }
-
-    /**
-     * <pre>
-     * GetGeometries returns the geometries of the component in their current configuration
-     * </pre>
-     */
-    default void getGeometries(com.viam.common.v1.Common.GetGeometriesRequest request,
-        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetGeometriesResponse> responseObserver) {
-      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetGeometriesMethod(), responseObserver);
-    }
-  }
-
-  /**
-   * Base class for the server implementation of the service AudioInputService.
-   * <pre>
-   * An AudioInputService services all audio inputs associated with a robot
-   * </pre>
-   */
-  public static abstract class AudioInputServiceImplBase
-      implements io.grpc.BindableService, AsyncService {
-
-    @java.lang.Override public final io.grpc.ServerServiceDefinition bindService() {
-      return AudioInputServiceGrpc.bindService(this);
-    }
-  }
-
-  /**
-   * A stub to allow clients to do asynchronous rpc calls to service AudioInputService.
-   * <pre>
-   * An AudioInputService services all audio inputs associated with a robot
-   * </pre>
-   */
-  public static final class AudioInputServiceStub
-      extends io.grpc.stub.AbstractAsyncStub<AudioInputServiceStub> {
-    private AudioInputServiceStub(
-        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
-      super(channel, callOptions);
-    }
-
-    @java.lang.Override
-    protected AudioInputServiceStub build(
-        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
-      return new AudioInputServiceStub(channel, callOptions);
-    }
-
-    /**
-     * <pre>
-     * Chunks returns audio chunks forever from an audio input of the underlying robot.
-     * </pre>
-     */
-    public void chunks(com.viam.component.audioinput.v1.Audioinput.ChunksRequest request,
-        io.grpc.stub.StreamObserver<com.viam.component.audioinput.v1.Audioinput.ChunksResponse> responseObserver) {
-      io.grpc.stub.ClientCalls.asyncServerStreamingCall(
-          getChannel().newCall(getChunksMethod(), getCallOptions()), request, responseObserver);
-    }
-
-    /**
-     * <pre>
-     * Properties returns properties of an audio input of the underlying robot.
-     * </pre>
-     */
-    public void properties(com.viam.component.audioinput.v1.Audioinput.PropertiesRequest request,
-        io.grpc.stub.StreamObserver<com.viam.component.audioinput.v1.Audioinput.PropertiesResponse> responseObserver) {
-      io.grpc.stub.ClientCalls.asyncUnaryCall(
-          getChannel().newCall(getPropertiesMethod(), getCallOptions()), request, responseObserver);
-    }
-
-    /**
-     * <pre>
-     * Record records audio from an audio input of the underlying robot
-     * to an HTTP response. A specific MIME type cannot be requested and may not necessarily
-     * be the same one returned each time.
-     * </pre>
-     */
-    public void record(com.viam.component.audioinput.v1.Audioinput.RecordRequest request,
-        io.grpc.stub.StreamObserver<com.google.api.HttpBody> responseObserver) {
-      io.grpc.stub.ClientCalls.asyncUnaryCall(
-          getChannel().newCall(getRecordMethod(), getCallOptions()), request, responseObserver);
-    }
-
-    /**
-     * <pre>
-     * DoCommand sends/receives arbitrary commands
-     * </pre>
-     */
-    public void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
-        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse> responseObserver) {
-      io.grpc.stub.ClientCalls.asyncUnaryCall(
-          getChannel().newCall(getDoCommandMethod(), getCallOptions()), request, responseObserver);
-    }
-
-    /**
-     * <pre>
-     * GetGeometries returns the geometries of the component in their current configuration
-     * </pre>
-     */
-    public void getGeometries(com.viam.common.v1.Common.GetGeometriesRequest request,
-        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetGeometriesResponse> responseObserver) {
-      io.grpc.stub.ClientCalls.asyncUnaryCall(
-          getChannel().newCall(getGetGeometriesMethod(), getCallOptions()), request, responseObserver);
-    }
-  }
-
-  /**
-   * A stub to allow clients to do synchronous rpc calls to service AudioInputService.
-   * <pre>
-   * An AudioInputService services all audio inputs associated with a robot
-   * </pre>
-   */
-  public static final class AudioInputServiceBlockingStub
-      extends io.grpc.stub.AbstractBlockingStub<AudioInputServiceBlockingStub> {
-    private AudioInputServiceBlockingStub(
-        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
-      super(channel, callOptions);
-    }
-
-    @java.lang.Override
-    protected AudioInputServiceBlockingStub build(
-        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
-      return new AudioInputServiceBlockingStub(channel, callOptions);
-    }
-
-    /**
-     * <pre>
-     * Chunks returns audio chunks forever from an audio input of the underlying robot.
-     * </pre>
-     */
-    public java.util.Iterator<com.viam.component.audioinput.v1.Audioinput.ChunksResponse> chunks(
-        com.viam.component.audioinput.v1.Audioinput.ChunksRequest request) {
-      return io.grpc.stub.ClientCalls.blockingServerStreamingCall(
-          getChannel(), getChunksMethod(), getCallOptions(), request);
-    }
-
-    /**
-     * <pre>
-     * Properties returns properties of an audio input of the underlying robot.
-     * </pre>
-     */
-    public com.viam.component.audioinput.v1.Audioinput.PropertiesResponse properties(com.viam.component.audioinput.v1.Audioinput.PropertiesRequest request) {
-      return io.grpc.stub.ClientCalls.blockingUnaryCall(
-          getChannel(), getPropertiesMethod(), getCallOptions(), request);
-    }
-
-    /**
-     * <pre>
-     * Record records audio from an audio input of the underlying robot
-     * to an HTTP response. A specific MIME type cannot be requested and may not necessarily
-     * be the same one returned each time.
-     * </pre>
-     */
-    public com.google.api.HttpBody record(com.viam.component.audioinput.v1.Audioinput.RecordRequest request) {
-      return io.grpc.stub.ClientCalls.blockingUnaryCall(
-          getChannel(), getRecordMethod(), getCallOptions(), request);
-    }
-
-    /**
-     * <pre>
-     * DoCommand sends/receives arbitrary commands
-     * </pre>
-     */
-    public com.viam.common.v1.Common.DoCommandResponse doCommand(com.viam.common.v1.Common.DoCommandRequest request) {
-      return io.grpc.stub.ClientCalls.blockingUnaryCall(
-          getChannel(), getDoCommandMethod(), getCallOptions(), request);
-    }
-
-    /**
-     * <pre>
-     * GetGeometries returns the geometries of the component in their current configuration
-     * </pre>
-     */
-    public com.viam.common.v1.Common.GetGeometriesResponse getGeometries(com.viam.common.v1.Common.GetGeometriesRequest request) {
-      return io.grpc.stub.ClientCalls.blockingUnaryCall(
-          getChannel(), getGetGeometriesMethod(), getCallOptions(), request);
-    }
-  }
-
-  /**
-   * A stub to allow clients to do ListenableFuture-style rpc calls to service AudioInputService.
-   * <pre>
-   * An AudioInputService services all audio inputs associated with a robot
-   * </pre>
-   */
-  public static final class AudioInputServiceFutureStub
-      extends io.grpc.stub.AbstractFutureStub<AudioInputServiceFutureStub> {
-    private AudioInputServiceFutureStub(
-        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
-      super(channel, callOptions);
-    }
-
-    @java.lang.Override
-    protected AudioInputServiceFutureStub build(
-        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
-      return new AudioInputServiceFutureStub(channel, callOptions);
-    }
-
-    /**
-     * <pre>
-     * Properties returns properties of an audio input of the underlying robot.
-     * </pre>
-     */
-    public com.google.common.util.concurrent.ListenableFuture<com.viam.component.audioinput.v1.Audioinput.PropertiesResponse> properties(
-        com.viam.component.audioinput.v1.Audioinput.PropertiesRequest request) {
-      return io.grpc.stub.ClientCalls.futureUnaryCall(
-          getChannel().newCall(getPropertiesMethod(), getCallOptions()), request);
-    }
-
-    /**
-     * <pre>
-     * Record records audio from an audio input of the underlying robot
-     * to an HTTP response. A specific MIME type cannot be requested and may not necessarily
-     * be the same one returned each time.
-     * </pre>
-     */
-    public com.google.common.util.concurrent.ListenableFuture<com.google.api.HttpBody> record(
-        com.viam.component.audioinput.v1.Audioinput.RecordRequest request) {
-      return io.grpc.stub.ClientCalls.futureUnaryCall(
-          getChannel().newCall(getRecordMethod(), getCallOptions()), request);
-    }
-
-    /**
-     * <pre>
-     * DoCommand sends/receives arbitrary commands
-     * </pre>
-     */
-    public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Common.DoCommandResponse> doCommand(
-        com.viam.common.v1.Common.DoCommandRequest request) {
-      return io.grpc.stub.ClientCalls.futureUnaryCall(
-          getChannel().newCall(getDoCommandMethod(), getCallOptions()), request);
-    }
-
-    /**
-     * <pre>
-     * GetGeometries returns the geometries of the component in their current configuration
-     * </pre>
-     */
-    public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Common.GetGeometriesResponse> getGeometries(
-        com.viam.common.v1.Common.GetGeometriesRequest request) {
-      return io.grpc.stub.ClientCalls.futureUnaryCall(
-          getChannel().newCall(getGetGeometriesMethod(), getCallOptions()), request);
-    }
-  }
-
-  private static final int METHODID_CHUNKS = 0;
-  private static final int METHODID_PROPERTIES = 1;
-  private static final int METHODID_RECORD = 2;
-  private static final int METHODID_DO_COMMAND = 3;
-  private static final int METHODID_GET_GEOMETRIES = 4;
-
-  private static final class MethodHandlers<Req, Resp> implements
-      io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
-      io.grpc.stub.ServerCalls.ServerStreamingMethod<Req, Resp>,
-      io.grpc.stub.ServerCalls.ClientStreamingMethod<Req, Resp>,
-      io.grpc.stub.ServerCalls.BidiStreamingMethod<Req, Resp> {
-    private final AsyncService serviceImpl;
-    private final int methodId;
-
-    MethodHandlers(AsyncService serviceImpl, int methodId) {
-      this.serviceImpl = serviceImpl;
-      this.methodId = methodId;
-    }
-
-    @java.lang.Override
-    @java.lang.SuppressWarnings("unchecked")
-    public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserver) {
-      switch (methodId) {
-        case METHODID_CHUNKS:
-          serviceImpl.chunks((com.viam.component.audioinput.v1.Audioinput.ChunksRequest) request,
-              (io.grpc.stub.StreamObserver<com.viam.component.audioinput.v1.Audioinput.ChunksResponse>) responseObserver);
-          break;
-        case METHODID_PROPERTIES:
-          serviceImpl.properties((com.viam.component.audioinput.v1.Audioinput.PropertiesRequest) request,
-              (io.grpc.stub.StreamObserver<com.viam.component.audioinput.v1.Audioinput.PropertiesResponse>) responseObserver);
-          break;
-        case METHODID_RECORD:
-          serviceImpl.record((com.viam.component.audioinput.v1.Audioinput.RecordRequest) request,
-              (io.grpc.stub.StreamObserver<com.google.api.HttpBody>) responseObserver);
-          break;
-        case METHODID_DO_COMMAND:
-          serviceImpl.doCommand((com.viam.common.v1.Common.DoCommandRequest) request,
-              (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse>) responseObserver);
-          break;
-        case METHODID_GET_GEOMETRIES:
-          serviceImpl.getGeometries((com.viam.common.v1.Common.GetGeometriesRequest) request,
-              (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetGeometriesResponse>) responseObserver);
-          break;
-        default:
-          throw new AssertionError();
-      }
-    }
-
-    @java.lang.Override
-    @java.lang.SuppressWarnings("unchecked")
-    public io.grpc.stub.StreamObserver<Req> invoke(
-        io.grpc.stub.StreamObserver<Resp> responseObserver) {
-      switch (methodId) {
-        default:
-          throw new AssertionError();
-      }
-    }
-  }
-
-  public static final io.grpc.ServerServiceDefinition bindService(AsyncService service) {
-    return io.grpc.ServerServiceDefinition.builder(getServiceDescriptor())
-        .addMethod(
-          getChunksMethod(),
-          io.grpc.stub.ServerCalls.asyncServerStreamingCall(
-            new MethodHandlers<
-              com.viam.component.audioinput.v1.Audioinput.ChunksRequest,
-              com.viam.component.audioinput.v1.Audioinput.ChunksResponse>(
-                service, METHODID_CHUNKS)))
-        .addMethod(
-          getPropertiesMethod(),
-          io.grpc.stub.ServerCalls.asyncUnaryCall(
-            new MethodHandlers<
-              com.viam.component.audioinput.v1.Audioinput.PropertiesRequest,
-              com.viam.component.audioinput.v1.Audioinput.PropertiesResponse>(
-                service, METHODID_PROPERTIES)))
-        .addMethod(
-          getRecordMethod(),
-          io.grpc.stub.ServerCalls.asyncUnaryCall(
-            new MethodHandlers<
-              com.viam.component.audioinput.v1.Audioinput.RecordRequest,
-              com.google.api.HttpBody>(
-                service, METHODID_RECORD)))
-        .addMethod(
-          getDoCommandMethod(),
-          io.grpc.stub.ServerCalls.asyncUnaryCall(
-            new MethodHandlers<
-              com.viam.common.v1.Common.DoCommandRequest,
-              com.viam.common.v1.Common.DoCommandResponse>(
-                service, METHODID_DO_COMMAND)))
-        .addMethod(
-          getGetGeometriesMethod(),
-          io.grpc.stub.ServerCalls.asyncUnaryCall(
-            new MethodHandlers<
-              com.viam.common.v1.Common.GetGeometriesRequest,
-              com.viam.common.v1.Common.GetGeometriesResponse>(
-                service, METHODID_GET_GEOMETRIES)))
-        .build();
-  }
-
-  private static volatile io.grpc.ServiceDescriptor serviceDescriptor;
-
-  public static io.grpc.ServiceDescriptor getServiceDescriptor() {
-    io.grpc.ServiceDescriptor result = serviceDescriptor;
-    if (result == null) {
-      synchronized (AudioInputServiceGrpc.class) {
-        result = serviceDescriptor;
-        if (result == null) {
-          serviceDescriptor = result = io.grpc.ServiceDescriptor.newBuilder(SERVICE_NAME)
-              .addMethod(getChunksMethod())
-              .addMethod(getPropertiesMethod())
-              .addMethod(getRecordMethod())
-              .addMethod(getDoCommandMethod())
-              .addMethod(getGetGeometriesMethod())
-              .build();
-        }
-      }
-    }
-    return result;
-  }
-}
diff --git a/core/sdk/src/main/gen/com/viam/component/audioinput/v1/Audioinput.java b/core/sdk/src/main/gen/com/viam/component/audioinput/v1/Audioinput.java
deleted file mode 100644
index dd4bc51c7..000000000
--- a/core/sdk/src/main/gen/com/viam/component/audioinput/v1/Audioinput.java
+++ /dev/null
@@ -1,3355 +0,0 @@
-// Generated by the protocol buffer compiler.  DO NOT EDIT!
-// NO CHECKED-IN PROTOBUF GENCODE
-// source: component/audioinput/v1/audioinput.proto
-// Protobuf Java Version: 4.28.3
-
-package com.viam.component.audioinput.v1;
-
-public final class Audioinput {
-  private Audioinput() {}
-  public static void registerAllExtensions(
-      com.google.protobuf.ExtensionRegistryLite registry) {
-  }
-  /**
-   * Protobuf enum {@code viam.component.audioinput.v1.SampleFormat}
-   */
-  public enum SampleFormat
-      implements com.google.protobuf.Internal.EnumLite {
-    /**
-     * <code>SAMPLE_FORMAT_UNSPECIFIED = 0;</code>
-     */
-    SAMPLE_FORMAT_UNSPECIFIED(0),
-    /**
-     * <code>SAMPLE_FORMAT_INT16_INTERLEAVED = 1;</code>
-     */
-    SAMPLE_FORMAT_INT16_INTERLEAVED(1),
-    /**
-     * <code>SAMPLE_FORMAT_FLOAT32_INTERLEAVED = 2;</code>
-     */
-    SAMPLE_FORMAT_FLOAT32_INTERLEAVED(2),
-    UNRECOGNIZED(-1),
-    ;
-
-    /**
-     * <code>SAMPLE_FORMAT_UNSPECIFIED = 0;</code>
-     */
-    public static final int SAMPLE_FORMAT_UNSPECIFIED_VALUE = 0;
-    /**
-     * <code>SAMPLE_FORMAT_INT16_INTERLEAVED = 1;</code>
-     */
-    public static final int SAMPLE_FORMAT_INT16_INTERLEAVED_VALUE = 1;
-    /**
-     * <code>SAMPLE_FORMAT_FLOAT32_INTERLEAVED = 2;</code>
-     */
-    public static final int SAMPLE_FORMAT_FLOAT32_INTERLEAVED_VALUE = 2;
-
-
-    @java.lang.Override
-    public final int getNumber() {
-      if (this == UNRECOGNIZED) {
-        throw new java.lang.IllegalArgumentException(
-            "Can't get the number of an unknown enum value.");
-      }
-      return value;
-    }
-
-    /**
-     * @param value The number of the enum to look for.
-     * @return The enum associated with the given number.
-     * @deprecated Use {@link #forNumber(int)} instead.
-     */
-    @java.lang.Deprecated
-    public static SampleFormat valueOf(int value) {
-      return forNumber(value);
-    }
-
-    public static SampleFormat forNumber(int value) {
-      switch (value) {
-        case 0: return SAMPLE_FORMAT_UNSPECIFIED;
-        case 1: return SAMPLE_FORMAT_INT16_INTERLEAVED;
-        case 2: return SAMPLE_FORMAT_FLOAT32_INTERLEAVED;
-        default: return null;
-      }
-    }
-
-    public static com.google.protobuf.Internal.EnumLiteMap<SampleFormat>
-        internalGetValueMap() {
-      return internalValueMap;
-    }
-    private static final com.google.protobuf.Internal.EnumLiteMap<
-        SampleFormat> internalValueMap =
-          new com.google.protobuf.Internal.EnumLiteMap<SampleFormat>() {
-            @java.lang.Override
-            public SampleFormat findValueByNumber(int number) {
-              return SampleFormat.forNumber(number);
-            }
-          };
-
-    public static com.google.protobuf.Internal.EnumVerifier 
-        internalGetVerifier() {
-      return SampleFormatVerifier.INSTANCE;
-    }
-
-    private static final class SampleFormatVerifier implements 
-         com.google.protobuf.Internal.EnumVerifier { 
-            static final com.google.protobuf.Internal.EnumVerifier           INSTANCE = new SampleFormatVerifier();
-            @java.lang.Override
-            public boolean isInRange(int number) {
-              return SampleFormat.forNumber(number) != null;
-            }
-          };
-
-    private final int value;
-
-    private SampleFormat(int value) {
-      this.value = value;
-    }
-
-    // @@protoc_insertion_point(enum_scope:viam.component.audioinput.v1.SampleFormat)
-  }
-
-  public interface RecordRequestOrBuilder extends
-      // @@protoc_insertion_point(interface_extends:viam.component.audioinput.v1.RecordRequest)
-      com.google.protobuf.MessageLiteOrBuilder {
-
-    /**
-     * <pre>
-     * Name of an audio input
-     * </pre>
-     *
-     * <code>string name = 1 [json_name = "name"];</code>
-     * @return The name.
-     */
-    java.lang.String getName();
-    /**
-     * <pre>
-     * Name of an audio input
-     * </pre>
-     *
-     * <code>string name = 1 [json_name = "name"];</code>
-     * @return The bytes for name.
-     */
-    com.google.protobuf.ByteString
-        getNameBytes();
-
-    /**
-     * <code>.google.protobuf.Duration duration = 2 [json_name = "duration"];</code>
-     * @return Whether the duration field is set.
-     */
-    boolean hasDuration();
-    /**
-     * <code>.google.protobuf.Duration duration = 2 [json_name = "duration"];</code>
-     * @return The duration.
-     */
-    com.google.protobuf.Duration getDuration();
-  }
-  /**
-   * Protobuf type {@code viam.component.audioinput.v1.RecordRequest}
-   */
-  public  static final class RecordRequest extends
-      com.google.protobuf.GeneratedMessageLite<
-          RecordRequest, RecordRequest.Builder> implements
-      // @@protoc_insertion_point(message_implements:viam.component.audioinput.v1.RecordRequest)
-      RecordRequestOrBuilder {
-    private RecordRequest() {
-      name_ = "";
-    }
-    private int bitField0_;
-    public static final int NAME_FIELD_NUMBER = 1;
-    private java.lang.String name_;
-    /**
-     * <pre>
-     * Name of an audio input
-     * </pre>
-     *
-     * <code>string name = 1 [json_name = "name"];</code>
-     * @return The name.
-     */
-    @java.lang.Override
-    public java.lang.String getName() {
-      return name_;
-    }
-    /**
-     * <pre>
-     * Name of an audio input
-     * </pre>
-     *
-     * <code>string name = 1 [json_name = "name"];</code>
-     * @return The bytes for name.
-     */
-    @java.lang.Override
-    public com.google.protobuf.ByteString
-        getNameBytes() {
-      return com.google.protobuf.ByteString.copyFromUtf8(name_);
-    }
-    /**
-     * <pre>
-     * Name of an audio input
-     * </pre>
-     *
-     * <code>string name = 1 [json_name = "name"];</code>
-     * @param value The name to set.
-     */
-    private void setName(
-        java.lang.String value) {
-      java.lang.Class<?> valueClass = value.getClass();
-  
-      name_ = value;
-    }
-    /**
-     * <pre>
-     * Name of an audio input
-     * </pre>
-     *
-     * <code>string name = 1 [json_name = "name"];</code>
-     */
-    private void clearName() {
-
-      name_ = getDefaultInstance().getName();
-    }
-    /**
-     * <pre>
-     * Name of an audio input
-     * </pre>
-     *
-     * <code>string name = 1 [json_name = "name"];</code>
-     * @param value The bytes for name to set.
-     */
-    private void setNameBytes(
-        com.google.protobuf.ByteString value) {
-      checkByteStringIsUtf8(value);
-      name_ = value.toStringUtf8();
-
-    }
-
-    public static final int DURATION_FIELD_NUMBER = 2;
-    private com.google.protobuf.Duration duration_;
-    /**
-     * <code>.google.protobuf.Duration duration = 2 [json_name = "duration"];</code>
-     */
-    @java.lang.Override
-    public boolean hasDuration() {
-      return ((bitField0_ & 0x00000001) != 0);
-    }
-    /**
-     * <code>.google.protobuf.Duration duration = 2 [json_name = "duration"];</code>
-     */
-    @java.lang.Override
-    public com.google.protobuf.Duration getDuration() {
-      return duration_ == null ? com.google.protobuf.Duration.getDefaultInstance() : duration_;
-    }
-    /**
-     * <code>.google.protobuf.Duration duration = 2 [json_name = "duration"];</code>
-     */
-    private void setDuration(com.google.protobuf.Duration value) {
-      value.getClass();
-  duration_ = value;
-      bitField0_ |= 0x00000001;
-      }
-    /**
-     * <code>.google.protobuf.Duration duration = 2 [json_name = "duration"];</code>
-     */
-    @java.lang.SuppressWarnings({"ReferenceEquality"})
-    private void mergeDuration(com.google.protobuf.Duration value) {
-      value.getClass();
-  if (duration_ != null &&
-          duration_ != com.google.protobuf.Duration.getDefaultInstance()) {
-        duration_ =
-          com.google.protobuf.Duration.newBuilder(duration_).mergeFrom(value).buildPartial();
-      } else {
-        duration_ = value;
-      }
-      bitField0_ |= 0x00000001;
-    }
-    /**
-     * <code>.google.protobuf.Duration duration = 2 [json_name = "duration"];</code>
-     */
-    private void clearDuration() {  duration_ = null;
-      bitField0_ = (bitField0_ & ~0x00000001);
-    }
-
-    public static com.viam.component.audioinput.v1.Audioinput.RecordRequest parseFrom(
-        java.nio.ByteBuffer data)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.RecordRequest parseFrom(
-        java.nio.ByteBuffer data,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data, extensionRegistry);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.RecordRequest parseFrom(
-        com.google.protobuf.ByteString data)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.RecordRequest parseFrom(
-        com.google.protobuf.ByteString data,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data, extensionRegistry);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.RecordRequest parseFrom(byte[] data)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.RecordRequest parseFrom(
-        byte[] data,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data, extensionRegistry);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.RecordRequest parseFrom(java.io.InputStream input)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, input);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.RecordRequest parseFrom(
-        java.io.InputStream input,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, input, extensionRegistry);
-    }
-
-    public static com.viam.component.audioinput.v1.Audioinput.RecordRequest parseDelimitedFrom(java.io.InputStream input)
-        throws java.io.IOException {
-      return parseDelimitedFrom(DEFAULT_INSTANCE, input);
-    }
-
-    public static com.viam.component.audioinput.v1.Audioinput.RecordRequest parseDelimitedFrom(
-        java.io.InputStream input,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws java.io.IOException {
-      return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.RecordRequest parseFrom(
-        com.google.protobuf.CodedInputStream input)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, input);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.RecordRequest parseFrom(
-        com.google.protobuf.CodedInputStream input,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, input, extensionRegistry);
-    }
-
-    public static Builder newBuilder() {
-      return (Builder) DEFAULT_INSTANCE.createBuilder();
-    }
-    public static Builder newBuilder(com.viam.component.audioinput.v1.Audioinput.RecordRequest prototype) {
-      return DEFAULT_INSTANCE.createBuilder(prototype);
-    }
-
-    /**
-     * Protobuf type {@code viam.component.audioinput.v1.RecordRequest}
-     */
-    public static final class Builder extends
-        com.google.protobuf.GeneratedMessageLite.Builder<
-          com.viam.component.audioinput.v1.Audioinput.RecordRequest, Builder> implements
-        // @@protoc_insertion_point(builder_implements:viam.component.audioinput.v1.RecordRequest)
-        com.viam.component.audioinput.v1.Audioinput.RecordRequestOrBuilder {
-      // Construct using com.viam.component.audioinput.v1.Audioinput.RecordRequest.newBuilder()
-      private Builder() {
-        super(DEFAULT_INSTANCE);
-      }
-
-
-      /**
-       * <pre>
-       * Name of an audio input
-       * </pre>
-       *
-       * <code>string name = 1 [json_name = "name"];</code>
-       * @return The name.
-       */
-      @java.lang.Override
-      public java.lang.String getName() {
-        return instance.getName();
-      }
-      /**
-       * <pre>
-       * Name of an audio input
-       * </pre>
-       *
-       * <code>string name = 1 [json_name = "name"];</code>
-       * @return The bytes for name.
-       */
-      @java.lang.Override
-      public com.google.protobuf.ByteString
-          getNameBytes() {
-        return instance.getNameBytes();
-      }
-      /**
-       * <pre>
-       * Name of an audio input
-       * </pre>
-       *
-       * <code>string name = 1 [json_name = "name"];</code>
-       * @param value The name to set.
-       * @return This builder for chaining.
-       */
-      public Builder setName(
-          java.lang.String value) {
-        copyOnWrite();
-        instance.setName(value);
-        return this;
-      }
-      /**
-       * <pre>
-       * Name of an audio input
-       * </pre>
-       *
-       * <code>string name = 1 [json_name = "name"];</code>
-       * @return This builder for chaining.
-       */
-      public Builder clearName() {
-        copyOnWrite();
-        instance.clearName();
-        return this;
-      }
-      /**
-       * <pre>
-       * Name of an audio input
-       * </pre>
-       *
-       * <code>string name = 1 [json_name = "name"];</code>
-       * @param value The bytes for name to set.
-       * @return This builder for chaining.
-       */
-      public Builder setNameBytes(
-          com.google.protobuf.ByteString value) {
-        copyOnWrite();
-        instance.setNameBytes(value);
-        return this;
-      }
-
-      /**
-       * <code>.google.protobuf.Duration duration = 2 [json_name = "duration"];</code>
-       */
-      @java.lang.Override
-      public boolean hasDuration() {
-        return instance.hasDuration();
-      }
-      /**
-       * <code>.google.protobuf.Duration duration = 2 [json_name = "duration"];</code>
-       */
-      @java.lang.Override
-      public com.google.protobuf.Duration getDuration() {
-        return instance.getDuration();
-      }
-      /**
-       * <code>.google.protobuf.Duration duration = 2 [json_name = "duration"];</code>
-       */
-      public Builder setDuration(com.google.protobuf.Duration value) {
-        copyOnWrite();
-        instance.setDuration(value);
-        return this;
-        }
-      /**
-       * <code>.google.protobuf.Duration duration = 2 [json_name = "duration"];</code>
-       */
-      public Builder setDuration(
-          com.google.protobuf.Duration.Builder builderForValue) {
-        copyOnWrite();
-        instance.setDuration(builderForValue.build());
-        return this;
-      }
-      /**
-       * <code>.google.protobuf.Duration duration = 2 [json_name = "duration"];</code>
-       */
-      public Builder mergeDuration(com.google.protobuf.Duration value) {
-        copyOnWrite();
-        instance.mergeDuration(value);
-        return this;
-      }
-      /**
-       * <code>.google.protobuf.Duration duration = 2 [json_name = "duration"];</code>
-       */
-      public Builder clearDuration() {  copyOnWrite();
-        instance.clearDuration();
-        return this;
-      }
-
-      // @@protoc_insertion_point(builder_scope:viam.component.audioinput.v1.RecordRequest)
-    }
-    @java.lang.Override
-    @java.lang.SuppressWarnings({"unchecked", "fallthrough"})
-    protected final java.lang.Object dynamicMethod(
-        com.google.protobuf.GeneratedMessageLite.MethodToInvoke method,
-        java.lang.Object arg0, java.lang.Object arg1) {
-      switch (method) {
-        case NEW_MUTABLE_INSTANCE: {
-          return new com.viam.component.audioinput.v1.Audioinput.RecordRequest();
-        }
-        case NEW_BUILDER: {
-          return new Builder();
-        }
-        case BUILD_MESSAGE_INFO: {
-            java.lang.Object[] objects = new java.lang.Object[] {
-              "bitField0_",
-              "name_",
-              "duration_",
-            };
-            java.lang.String info =
-                "\u0000\u0002\u0000\u0001\u0001\u0002\u0002\u0000\u0000\u0000\u0001\u0208\u0002\u1009" +
-                "\u0000";
-            return newMessageInfo(DEFAULT_INSTANCE, info, objects);
-        }
-        // fall through
-        case GET_DEFAULT_INSTANCE: {
-          return DEFAULT_INSTANCE;
-        }
-        case GET_PARSER: {
-          com.google.protobuf.Parser<com.viam.component.audioinput.v1.Audioinput.RecordRequest> parser = PARSER;
-          if (parser == null) {
-            synchronized (com.viam.component.audioinput.v1.Audioinput.RecordRequest.class) {
-              parser = PARSER;
-              if (parser == null) {
-                parser =
-                    new DefaultInstanceBasedParser<com.viam.component.audioinput.v1.Audioinput.RecordRequest>(
-                        DEFAULT_INSTANCE);
-                PARSER = parser;
-              }
-            }
-          }
-          return parser;
-      }
-      case GET_MEMOIZED_IS_INITIALIZED: {
-        return (byte) 1;
-      }
-      case SET_MEMOIZED_IS_INITIALIZED: {
-        return null;
-      }
-      }
-      throw new UnsupportedOperationException();
-    }
-
-
-    // @@protoc_insertion_point(class_scope:viam.component.audioinput.v1.RecordRequest)
-    private static final com.viam.component.audioinput.v1.Audioinput.RecordRequest DEFAULT_INSTANCE;
-    static {
-      RecordRequest defaultInstance = new RecordRequest();
-      // New instances are implicitly immutable so no need to make
-      // immutable.
-      DEFAULT_INSTANCE = defaultInstance;
-      com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
-        RecordRequest.class, defaultInstance);
-    }
-
-    public static com.viam.component.audioinput.v1.Audioinput.RecordRequest getDefaultInstance() {
-      return DEFAULT_INSTANCE;
-    }
-
-    private static volatile com.google.protobuf.Parser<RecordRequest> PARSER;
-
-    public static com.google.protobuf.Parser<RecordRequest> parser() {
-      return DEFAULT_INSTANCE.getParserForType();
-    }
-  }
-
-  public interface AudioChunkInfoOrBuilder extends
-      // @@protoc_insertion_point(interface_extends:viam.component.audioinput.v1.AudioChunkInfo)
-      com.google.protobuf.MessageLiteOrBuilder {
-
-    /**
-     * <pre>
-     * Actual sample encoding format of the response
-     * </pre>
-     *
-     * <code>.viam.component.audioinput.v1.SampleFormat sample_format = 1 [json_name = "sampleFormat"];</code>
-     * @return The enum numeric value on the wire for sampleFormat.
-     */
-    int getSampleFormatValue();
-    /**
-     * <pre>
-     * Actual sample encoding format of the response
-     * </pre>
-     *
-     * <code>.viam.component.audioinput.v1.SampleFormat sample_format = 1 [json_name = "sampleFormat"];</code>
-     * @return The sampleFormat.
-     */
-    com.viam.component.audioinput.v1.Audioinput.SampleFormat getSampleFormat();
-
-    /**
-     * <code>uint32 channels = 2 [json_name = "channels"];</code>
-     * @return The channels.
-     */
-    int getChannels();
-
-    /**
-     * <code>int64 sampling_rate = 3 [json_name = "samplingRate"];</code>
-     * @return The samplingRate.
-     */
-    long getSamplingRate();
-  }
-  /**
-   * Protobuf type {@code viam.component.audioinput.v1.AudioChunkInfo}
-   */
-  public  static final class AudioChunkInfo extends
-      com.google.protobuf.GeneratedMessageLite<
-          AudioChunkInfo, AudioChunkInfo.Builder> implements
-      // @@protoc_insertion_point(message_implements:viam.component.audioinput.v1.AudioChunkInfo)
-      AudioChunkInfoOrBuilder {
-    private AudioChunkInfo() {
-    }
-    public static final int SAMPLE_FORMAT_FIELD_NUMBER = 1;
-    private int sampleFormat_;
-    /**
-     * <pre>
-     * Actual sample encoding format of the response
-     * </pre>
-     *
-     * <code>.viam.component.audioinput.v1.SampleFormat sample_format = 1 [json_name = "sampleFormat"];</code>
-     * @return The enum numeric value on the wire for sampleFormat.
-     */
-    @java.lang.Override
-    public int getSampleFormatValue() {
-      return sampleFormat_;
-    }
-    /**
-     * <pre>
-     * Actual sample encoding format of the response
-     * </pre>
-     *
-     * <code>.viam.component.audioinput.v1.SampleFormat sample_format = 1 [json_name = "sampleFormat"];</code>
-     * @return The sampleFormat.
-     */
-    @java.lang.Override
-    public com.viam.component.audioinput.v1.Audioinput.SampleFormat getSampleFormat() {
-      com.viam.component.audioinput.v1.Audioinput.SampleFormat result = com.viam.component.audioinput.v1.Audioinput.SampleFormat.forNumber(sampleFormat_);
-      return result == null ? com.viam.component.audioinput.v1.Audioinput.SampleFormat.UNRECOGNIZED : result;
-    }
-    /**
-     * <pre>
-     * Actual sample encoding format of the response
-     * </pre>
-     *
-     * <code>.viam.component.audioinput.v1.SampleFormat sample_format = 1 [json_name = "sampleFormat"];</code>
-     * @param value The enum numeric value on the wire for sampleFormat to set.
-     */
-    private void setSampleFormatValue(int value) {
-        sampleFormat_ = value;
-    }
-    /**
-     * <pre>
-     * Actual sample encoding format of the response
-     * </pre>
-     *
-     * <code>.viam.component.audioinput.v1.SampleFormat sample_format = 1 [json_name = "sampleFormat"];</code>
-     * @param value The sampleFormat to set.
-     */
-    private void setSampleFormat(com.viam.component.audioinput.v1.Audioinput.SampleFormat value) {
-      sampleFormat_ = value.getNumber();
-
-    }
-    /**
-     * <pre>
-     * Actual sample encoding format of the response
-     * </pre>
-     *
-     * <code>.viam.component.audioinput.v1.SampleFormat sample_format = 1 [json_name = "sampleFormat"];</code>
-     */
-    private void clearSampleFormat() {
-
-      sampleFormat_ = 0;
-    }
-
-    public static final int CHANNELS_FIELD_NUMBER = 2;
-    private int channels_;
-    /**
-     * <code>uint32 channels = 2 [json_name = "channels"];</code>
-     * @return The channels.
-     */
-    @java.lang.Override
-    public int getChannels() {
-      return channels_;
-    }
-    /**
-     * <code>uint32 channels = 2 [json_name = "channels"];</code>
-     * @param value The channels to set.
-     */
-    private void setChannels(int value) {
-      
-      channels_ = value;
-    }
-    /**
-     * <code>uint32 channels = 2 [json_name = "channels"];</code>
-     */
-    private void clearChannels() {
-
-      channels_ = 0;
-    }
-
-    public static final int SAMPLING_RATE_FIELD_NUMBER = 3;
-    private long samplingRate_;
-    /**
-     * <code>int64 sampling_rate = 3 [json_name = "samplingRate"];</code>
-     * @return The samplingRate.
-     */
-    @java.lang.Override
-    public long getSamplingRate() {
-      return samplingRate_;
-    }
-    /**
-     * <code>int64 sampling_rate = 3 [json_name = "samplingRate"];</code>
-     * @param value The samplingRate to set.
-     */
-    private void setSamplingRate(long value) {
-      
-      samplingRate_ = value;
-    }
-    /**
-     * <code>int64 sampling_rate = 3 [json_name = "samplingRate"];</code>
-     */
-    private void clearSamplingRate() {
-
-      samplingRate_ = 0L;
-    }
-
-    public static com.viam.component.audioinput.v1.Audioinput.AudioChunkInfo parseFrom(
-        java.nio.ByteBuffer data)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.AudioChunkInfo parseFrom(
-        java.nio.ByteBuffer data,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data, extensionRegistry);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.AudioChunkInfo parseFrom(
-        com.google.protobuf.ByteString data)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.AudioChunkInfo parseFrom(
-        com.google.protobuf.ByteString data,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data, extensionRegistry);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.AudioChunkInfo parseFrom(byte[] data)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.AudioChunkInfo parseFrom(
-        byte[] data,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data, extensionRegistry);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.AudioChunkInfo parseFrom(java.io.InputStream input)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, input);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.AudioChunkInfo parseFrom(
-        java.io.InputStream input,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, input, extensionRegistry);
-    }
-
-    public static com.viam.component.audioinput.v1.Audioinput.AudioChunkInfo parseDelimitedFrom(java.io.InputStream input)
-        throws java.io.IOException {
-      return parseDelimitedFrom(DEFAULT_INSTANCE, input);
-    }
-
-    public static com.viam.component.audioinput.v1.Audioinput.AudioChunkInfo parseDelimitedFrom(
-        java.io.InputStream input,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws java.io.IOException {
-      return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.AudioChunkInfo parseFrom(
-        com.google.protobuf.CodedInputStream input)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, input);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.AudioChunkInfo parseFrom(
-        com.google.protobuf.CodedInputStream input,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, input, extensionRegistry);
-    }
-
-    public static Builder newBuilder() {
-      return (Builder) DEFAULT_INSTANCE.createBuilder();
-    }
-    public static Builder newBuilder(com.viam.component.audioinput.v1.Audioinput.AudioChunkInfo prototype) {
-      return DEFAULT_INSTANCE.createBuilder(prototype);
-    }
-
-    /**
-     * Protobuf type {@code viam.component.audioinput.v1.AudioChunkInfo}
-     */
-    public static final class Builder extends
-        com.google.protobuf.GeneratedMessageLite.Builder<
-          com.viam.component.audioinput.v1.Audioinput.AudioChunkInfo, Builder> implements
-        // @@protoc_insertion_point(builder_implements:viam.component.audioinput.v1.AudioChunkInfo)
-        com.viam.component.audioinput.v1.Audioinput.AudioChunkInfoOrBuilder {
-      // Construct using com.viam.component.audioinput.v1.Audioinput.AudioChunkInfo.newBuilder()
-      private Builder() {
-        super(DEFAULT_INSTANCE);
-      }
-
-
-      /**
-       * <pre>
-       * Actual sample encoding format of the response
-       * </pre>
-       *
-       * <code>.viam.component.audioinput.v1.SampleFormat sample_format = 1 [json_name = "sampleFormat"];</code>
-       * @return The enum numeric value on the wire for sampleFormat.
-       */
-      @java.lang.Override
-      public int getSampleFormatValue() {
-        return instance.getSampleFormatValue();
-      }
-      /**
-       * <pre>
-       * Actual sample encoding format of the response
-       * </pre>
-       *
-       * <code>.viam.component.audioinput.v1.SampleFormat sample_format = 1 [json_name = "sampleFormat"];</code>
-       * @param value The sampleFormat to set.
-       * @return This builder for chaining.
-       */
-      public Builder setSampleFormatValue(int value) {
-        copyOnWrite();
-        instance.setSampleFormatValue(value);
-        return this;
-      }
-      /**
-       * <pre>
-       * Actual sample encoding format of the response
-       * </pre>
-       *
-       * <code>.viam.component.audioinput.v1.SampleFormat sample_format = 1 [json_name = "sampleFormat"];</code>
-       * @return The sampleFormat.
-       */
-      @java.lang.Override
-      public com.viam.component.audioinput.v1.Audioinput.SampleFormat getSampleFormat() {
-        return instance.getSampleFormat();
-      }
-      /**
-       * <pre>
-       * Actual sample encoding format of the response
-       * </pre>
-       *
-       * <code>.viam.component.audioinput.v1.SampleFormat sample_format = 1 [json_name = "sampleFormat"];</code>
-       * @param value The enum numeric value on the wire for sampleFormat to set.
-       * @return This builder for chaining.
-       */
-      public Builder setSampleFormat(com.viam.component.audioinput.v1.Audioinput.SampleFormat value) {
-        copyOnWrite();
-        instance.setSampleFormat(value);
-        return this;
-      }
-      /**
-       * <pre>
-       * Actual sample encoding format of the response
-       * </pre>
-       *
-       * <code>.viam.component.audioinput.v1.SampleFormat sample_format = 1 [json_name = "sampleFormat"];</code>
-       * @return This builder for chaining.
-       */
-      public Builder clearSampleFormat() {
-        copyOnWrite();
-        instance.clearSampleFormat();
-        return this;
-      }
-
-      /**
-       * <code>uint32 channels = 2 [json_name = "channels"];</code>
-       * @return The channels.
-       */
-      @java.lang.Override
-      public int getChannels() {
-        return instance.getChannels();
-      }
-      /**
-       * <code>uint32 channels = 2 [json_name = "channels"];</code>
-       * @param value The channels to set.
-       * @return This builder for chaining.
-       */
-      public Builder setChannels(int value) {
-        copyOnWrite();
-        instance.setChannels(value);
-        return this;
-      }
-      /**
-       * <code>uint32 channels = 2 [json_name = "channels"];</code>
-       * @return This builder for chaining.
-       */
-      public Builder clearChannels() {
-        copyOnWrite();
-        instance.clearChannels();
-        return this;
-      }
-
-      /**
-       * <code>int64 sampling_rate = 3 [json_name = "samplingRate"];</code>
-       * @return The samplingRate.
-       */
-      @java.lang.Override
-      public long getSamplingRate() {
-        return instance.getSamplingRate();
-      }
-      /**
-       * <code>int64 sampling_rate = 3 [json_name = "samplingRate"];</code>
-       * @param value The samplingRate to set.
-       * @return This builder for chaining.
-       */
-      public Builder setSamplingRate(long value) {
-        copyOnWrite();
-        instance.setSamplingRate(value);
-        return this;
-      }
-      /**
-       * <code>int64 sampling_rate = 3 [json_name = "samplingRate"];</code>
-       * @return This builder for chaining.
-       */
-      public Builder clearSamplingRate() {
-        copyOnWrite();
-        instance.clearSamplingRate();
-        return this;
-      }
-
-      // @@protoc_insertion_point(builder_scope:viam.component.audioinput.v1.AudioChunkInfo)
-    }
-    @java.lang.Override
-    @java.lang.SuppressWarnings({"unchecked", "fallthrough"})
-    protected final java.lang.Object dynamicMethod(
-        com.google.protobuf.GeneratedMessageLite.MethodToInvoke method,
-        java.lang.Object arg0, java.lang.Object arg1) {
-      switch (method) {
-        case NEW_MUTABLE_INSTANCE: {
-          return new com.viam.component.audioinput.v1.Audioinput.AudioChunkInfo();
-        }
-        case NEW_BUILDER: {
-          return new Builder();
-        }
-        case BUILD_MESSAGE_INFO: {
-            java.lang.Object[] objects = new java.lang.Object[] {
-              "sampleFormat_",
-              "channels_",
-              "samplingRate_",
-            };
-            java.lang.String info =
-                "\u0000\u0003\u0000\u0000\u0001\u0003\u0003\u0000\u0000\u0000\u0001\f\u0002\u000b" +
-                "\u0003\u0002";
-            return newMessageInfo(DEFAULT_INSTANCE, info, objects);
-        }
-        // fall through
-        case GET_DEFAULT_INSTANCE: {
-          return DEFAULT_INSTANCE;
-        }
-        case GET_PARSER: {
-          com.google.protobuf.Parser<com.viam.component.audioinput.v1.Audioinput.AudioChunkInfo> parser = PARSER;
-          if (parser == null) {
-            synchronized (com.viam.component.audioinput.v1.Audioinput.AudioChunkInfo.class) {
-              parser = PARSER;
-              if (parser == null) {
-                parser =
-                    new DefaultInstanceBasedParser<com.viam.component.audioinput.v1.Audioinput.AudioChunkInfo>(
-                        DEFAULT_INSTANCE);
-                PARSER = parser;
-              }
-            }
-          }
-          return parser;
-      }
-      case GET_MEMOIZED_IS_INITIALIZED: {
-        return (byte) 1;
-      }
-      case SET_MEMOIZED_IS_INITIALIZED: {
-        return null;
-      }
-      }
-      throw new UnsupportedOperationException();
-    }
-
-
-    // @@protoc_insertion_point(class_scope:viam.component.audioinput.v1.AudioChunkInfo)
-    private static final com.viam.component.audioinput.v1.Audioinput.AudioChunkInfo DEFAULT_INSTANCE;
-    static {
-      AudioChunkInfo defaultInstance = new AudioChunkInfo();
-      // New instances are implicitly immutable so no need to make
-      // immutable.
-      DEFAULT_INSTANCE = defaultInstance;
-      com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
-        AudioChunkInfo.class, defaultInstance);
-    }
-
-    public static com.viam.component.audioinput.v1.Audioinput.AudioChunkInfo getDefaultInstance() {
-      return DEFAULT_INSTANCE;
-    }
-
-    private static volatile com.google.protobuf.Parser<AudioChunkInfo> PARSER;
-
-    public static com.google.protobuf.Parser<AudioChunkInfo> parser() {
-      return DEFAULT_INSTANCE.getParserForType();
-    }
-  }
-
-  public interface AudioChunkOrBuilder extends
-      // @@protoc_insertion_point(interface_extends:viam.component.audioinput.v1.AudioChunk)
-      com.google.protobuf.MessageLiteOrBuilder {
-
-    /**
-     * <pre>
-     * Data is PCM data that is organized according to the sample format
-     * along with its possible interleaving. Data in each format is
-     * Little Endian.
-     * </pre>
-     *
-     * <code>bytes data = 1 [json_name = "data"];</code>
-     * @return The data.
-     */
-    com.google.protobuf.ByteString getData();
-
-    /**
-     * <pre>
-     * Length is the number of samples
-     * </pre>
-     *
-     * <code>uint32 length = 2 [json_name = "length"];</code>
-     * @return The length.
-     */
-    int getLength();
-  }
-  /**
-   * Protobuf type {@code viam.component.audioinput.v1.AudioChunk}
-   */
-  public  static final class AudioChunk extends
-      com.google.protobuf.GeneratedMessageLite<
-          AudioChunk, AudioChunk.Builder> implements
-      // @@protoc_insertion_point(message_implements:viam.component.audioinput.v1.AudioChunk)
-      AudioChunkOrBuilder {
-    private AudioChunk() {
-      data_ = com.google.protobuf.ByteString.EMPTY;
-    }
-    public static final int DATA_FIELD_NUMBER = 1;
-    private com.google.protobuf.ByteString data_;
-    /**
-     * <pre>
-     * Data is PCM data that is organized according to the sample format
-     * along with its possible interleaving. Data in each format is
-     * Little Endian.
-     * </pre>
-     *
-     * <code>bytes data = 1 [json_name = "data"];</code>
-     * @return The data.
-     */
-    @java.lang.Override
-    public com.google.protobuf.ByteString getData() {
-      return data_;
-    }
-    /**
-     * <pre>
-     * Data is PCM data that is organized according to the sample format
-     * along with its possible interleaving. Data in each format is
-     * Little Endian.
-     * </pre>
-     *
-     * <code>bytes data = 1 [json_name = "data"];</code>
-     * @param value The data to set.
-     */
-    private void setData(com.google.protobuf.ByteString value) {
-      java.lang.Class<?> valueClass = value.getClass();
-  
-      data_ = value;
-    }
-    /**
-     * <pre>
-     * Data is PCM data that is organized according to the sample format
-     * along with its possible interleaving. Data in each format is
-     * Little Endian.
-     * </pre>
-     *
-     * <code>bytes data = 1 [json_name = "data"];</code>
-     */
-    private void clearData() {
-
-      data_ = getDefaultInstance().getData();
-    }
-
-    public static final int LENGTH_FIELD_NUMBER = 2;
-    private int length_;
-    /**
-     * <pre>
-     * Length is the number of samples
-     * </pre>
-     *
-     * <code>uint32 length = 2 [json_name = "length"];</code>
-     * @return The length.
-     */
-    @java.lang.Override
-    public int getLength() {
-      return length_;
-    }
-    /**
-     * <pre>
-     * Length is the number of samples
-     * </pre>
-     *
-     * <code>uint32 length = 2 [json_name = "length"];</code>
-     * @param value The length to set.
-     */
-    private void setLength(int value) {
-      
-      length_ = value;
-    }
-    /**
-     * <pre>
-     * Length is the number of samples
-     * </pre>
-     *
-     * <code>uint32 length = 2 [json_name = "length"];</code>
-     */
-    private void clearLength() {
-
-      length_ = 0;
-    }
-
-    public static com.viam.component.audioinput.v1.Audioinput.AudioChunk parseFrom(
-        java.nio.ByteBuffer data)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.AudioChunk parseFrom(
-        java.nio.ByteBuffer data,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data, extensionRegistry);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.AudioChunk parseFrom(
-        com.google.protobuf.ByteString data)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.AudioChunk parseFrom(
-        com.google.protobuf.ByteString data,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data, extensionRegistry);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.AudioChunk parseFrom(byte[] data)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.AudioChunk parseFrom(
-        byte[] data,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data, extensionRegistry);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.AudioChunk parseFrom(java.io.InputStream input)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, input);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.AudioChunk parseFrom(
-        java.io.InputStream input,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, input, extensionRegistry);
-    }
-
-    public static com.viam.component.audioinput.v1.Audioinput.AudioChunk parseDelimitedFrom(java.io.InputStream input)
-        throws java.io.IOException {
-      return parseDelimitedFrom(DEFAULT_INSTANCE, input);
-    }
-
-    public static com.viam.component.audioinput.v1.Audioinput.AudioChunk parseDelimitedFrom(
-        java.io.InputStream input,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws java.io.IOException {
-      return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.AudioChunk parseFrom(
-        com.google.protobuf.CodedInputStream input)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, input);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.AudioChunk parseFrom(
-        com.google.protobuf.CodedInputStream input,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, input, extensionRegistry);
-    }
-
-    public static Builder newBuilder() {
-      return (Builder) DEFAULT_INSTANCE.createBuilder();
-    }
-    public static Builder newBuilder(com.viam.component.audioinput.v1.Audioinput.AudioChunk prototype) {
-      return DEFAULT_INSTANCE.createBuilder(prototype);
-    }
-
-    /**
-     * Protobuf type {@code viam.component.audioinput.v1.AudioChunk}
-     */
-    public static final class Builder extends
-        com.google.protobuf.GeneratedMessageLite.Builder<
-          com.viam.component.audioinput.v1.Audioinput.AudioChunk, Builder> implements
-        // @@protoc_insertion_point(builder_implements:viam.component.audioinput.v1.AudioChunk)
-        com.viam.component.audioinput.v1.Audioinput.AudioChunkOrBuilder {
-      // Construct using com.viam.component.audioinput.v1.Audioinput.AudioChunk.newBuilder()
-      private Builder() {
-        super(DEFAULT_INSTANCE);
-      }
-
-
-      /**
-       * <pre>
-       * Data is PCM data that is organized according to the sample format
-       * along with its possible interleaving. Data in each format is
-       * Little Endian.
-       * </pre>
-       *
-       * <code>bytes data = 1 [json_name = "data"];</code>
-       * @return The data.
-       */
-      @java.lang.Override
-      public com.google.protobuf.ByteString getData() {
-        return instance.getData();
-      }
-      /**
-       * <pre>
-       * Data is PCM data that is organized according to the sample format
-       * along with its possible interleaving. Data in each format is
-       * Little Endian.
-       * </pre>
-       *
-       * <code>bytes data = 1 [json_name = "data"];</code>
-       * @param value The data to set.
-       * @return This builder for chaining.
-       */
-      public Builder setData(com.google.protobuf.ByteString value) {
-        copyOnWrite();
-        instance.setData(value);
-        return this;
-      }
-      /**
-       * <pre>
-       * Data is PCM data that is organized according to the sample format
-       * along with its possible interleaving. Data in each format is
-       * Little Endian.
-       * </pre>
-       *
-       * <code>bytes data = 1 [json_name = "data"];</code>
-       * @return This builder for chaining.
-       */
-      public Builder clearData() {
-        copyOnWrite();
-        instance.clearData();
-        return this;
-      }
-
-      /**
-       * <pre>
-       * Length is the number of samples
-       * </pre>
-       *
-       * <code>uint32 length = 2 [json_name = "length"];</code>
-       * @return The length.
-       */
-      @java.lang.Override
-      public int getLength() {
-        return instance.getLength();
-      }
-      /**
-       * <pre>
-       * Length is the number of samples
-       * </pre>
-       *
-       * <code>uint32 length = 2 [json_name = "length"];</code>
-       * @param value The length to set.
-       * @return This builder for chaining.
-       */
-      public Builder setLength(int value) {
-        copyOnWrite();
-        instance.setLength(value);
-        return this;
-      }
-      /**
-       * <pre>
-       * Length is the number of samples
-       * </pre>
-       *
-       * <code>uint32 length = 2 [json_name = "length"];</code>
-       * @return This builder for chaining.
-       */
-      public Builder clearLength() {
-        copyOnWrite();
-        instance.clearLength();
-        return this;
-      }
-
-      // @@protoc_insertion_point(builder_scope:viam.component.audioinput.v1.AudioChunk)
-    }
-    @java.lang.Override
-    @java.lang.SuppressWarnings({"unchecked", "fallthrough"})
-    protected final java.lang.Object dynamicMethod(
-        com.google.protobuf.GeneratedMessageLite.MethodToInvoke method,
-        java.lang.Object arg0, java.lang.Object arg1) {
-      switch (method) {
-        case NEW_MUTABLE_INSTANCE: {
-          return new com.viam.component.audioinput.v1.Audioinput.AudioChunk();
-        }
-        case NEW_BUILDER: {
-          return new Builder();
-        }
-        case BUILD_MESSAGE_INFO: {
-            java.lang.Object[] objects = new java.lang.Object[] {
-              "data_",
-              "length_",
-            };
-            java.lang.String info =
-                "\u0000\u0002\u0000\u0000\u0001\u0002\u0002\u0000\u0000\u0000\u0001\n\u0002\u000b" +
-                "";
-            return newMessageInfo(DEFAULT_INSTANCE, info, objects);
-        }
-        // fall through
-        case GET_DEFAULT_INSTANCE: {
-          return DEFAULT_INSTANCE;
-        }
-        case GET_PARSER: {
-          com.google.protobuf.Parser<com.viam.component.audioinput.v1.Audioinput.AudioChunk> parser = PARSER;
-          if (parser == null) {
-            synchronized (com.viam.component.audioinput.v1.Audioinput.AudioChunk.class) {
-              parser = PARSER;
-              if (parser == null) {
-                parser =
-                    new DefaultInstanceBasedParser<com.viam.component.audioinput.v1.Audioinput.AudioChunk>(
-                        DEFAULT_INSTANCE);
-                PARSER = parser;
-              }
-            }
-          }
-          return parser;
-      }
-      case GET_MEMOIZED_IS_INITIALIZED: {
-        return (byte) 1;
-      }
-      case SET_MEMOIZED_IS_INITIALIZED: {
-        return null;
-      }
-      }
-      throw new UnsupportedOperationException();
-    }
-
-
-    // @@protoc_insertion_point(class_scope:viam.component.audioinput.v1.AudioChunk)
-    private static final com.viam.component.audioinput.v1.Audioinput.AudioChunk DEFAULT_INSTANCE;
-    static {
-      AudioChunk defaultInstance = new AudioChunk();
-      // New instances are implicitly immutable so no need to make
-      // immutable.
-      DEFAULT_INSTANCE = defaultInstance;
-      com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
-        AudioChunk.class, defaultInstance);
-    }
-
-    public static com.viam.component.audioinput.v1.Audioinput.AudioChunk getDefaultInstance() {
-      return DEFAULT_INSTANCE;
-    }
-
-    private static volatile com.google.protobuf.Parser<AudioChunk> PARSER;
-
-    public static com.google.protobuf.Parser<AudioChunk> parser() {
-      return DEFAULT_INSTANCE.getParserForType();
-    }
-  }
-
-  public interface ChunksRequestOrBuilder extends
-      // @@protoc_insertion_point(interface_extends:viam.component.audioinput.v1.ChunksRequest)
-      com.google.protobuf.MessageLiteOrBuilder {
-
-    /**
-     * <pre>
-     * Name of an audio input
-     * </pre>
-     *
-     * <code>string name = 1 [json_name = "name"];</code>
-     * @return The name.
-     */
-    java.lang.String getName();
-    /**
-     * <pre>
-     * Name of an audio input
-     * </pre>
-     *
-     * <code>string name = 1 [json_name = "name"];</code>
-     * @return The bytes for name.
-     */
-    com.google.protobuf.ByteString
-        getNameBytes();
-
-    /**
-     * <pre>
-     * Requested sample encoding format of the response
-     * </pre>
-     *
-     * <code>.viam.component.audioinput.v1.SampleFormat sample_format = 2 [json_name = "sampleFormat"];</code>
-     * @return The enum numeric value on the wire for sampleFormat.
-     */
-    int getSampleFormatValue();
-    /**
-     * <pre>
-     * Requested sample encoding format of the response
-     * </pre>
-     *
-     * <code>.viam.component.audioinput.v1.SampleFormat sample_format = 2 [json_name = "sampleFormat"];</code>
-     * @return The sampleFormat.
-     */
-    com.viam.component.audioinput.v1.Audioinput.SampleFormat getSampleFormat();
-  }
-  /**
-   * Protobuf type {@code viam.component.audioinput.v1.ChunksRequest}
-   */
-  public  static final class ChunksRequest extends
-      com.google.protobuf.GeneratedMessageLite<
-          ChunksRequest, ChunksRequest.Builder> implements
-      // @@protoc_insertion_point(message_implements:viam.component.audioinput.v1.ChunksRequest)
-      ChunksRequestOrBuilder {
-    private ChunksRequest() {
-      name_ = "";
-    }
-    public static final int NAME_FIELD_NUMBER = 1;
-    private java.lang.String name_;
-    /**
-     * <pre>
-     * Name of an audio input
-     * </pre>
-     *
-     * <code>string name = 1 [json_name = "name"];</code>
-     * @return The name.
-     */
-    @java.lang.Override
-    public java.lang.String getName() {
-      return name_;
-    }
-    /**
-     * <pre>
-     * Name of an audio input
-     * </pre>
-     *
-     * <code>string name = 1 [json_name = "name"];</code>
-     * @return The bytes for name.
-     */
-    @java.lang.Override
-    public com.google.protobuf.ByteString
-        getNameBytes() {
-      return com.google.protobuf.ByteString.copyFromUtf8(name_);
-    }
-    /**
-     * <pre>
-     * Name of an audio input
-     * </pre>
-     *
-     * <code>string name = 1 [json_name = "name"];</code>
-     * @param value The name to set.
-     */
-    private void setName(
-        java.lang.String value) {
-      java.lang.Class<?> valueClass = value.getClass();
-  
-      name_ = value;
-    }
-    /**
-     * <pre>
-     * Name of an audio input
-     * </pre>
-     *
-     * <code>string name = 1 [json_name = "name"];</code>
-     */
-    private void clearName() {
-
-      name_ = getDefaultInstance().getName();
-    }
-    /**
-     * <pre>
-     * Name of an audio input
-     * </pre>
-     *
-     * <code>string name = 1 [json_name = "name"];</code>
-     * @param value The bytes for name to set.
-     */
-    private void setNameBytes(
-        com.google.protobuf.ByteString value) {
-      checkByteStringIsUtf8(value);
-      name_ = value.toStringUtf8();
-
-    }
-
-    public static final int SAMPLE_FORMAT_FIELD_NUMBER = 2;
-    private int sampleFormat_;
-    /**
-     * <pre>
-     * Requested sample encoding format of the response
-     * </pre>
-     *
-     * <code>.viam.component.audioinput.v1.SampleFormat sample_format = 2 [json_name = "sampleFormat"];</code>
-     * @return The enum numeric value on the wire for sampleFormat.
-     */
-    @java.lang.Override
-    public int getSampleFormatValue() {
-      return sampleFormat_;
-    }
-    /**
-     * <pre>
-     * Requested sample encoding format of the response
-     * </pre>
-     *
-     * <code>.viam.component.audioinput.v1.SampleFormat sample_format = 2 [json_name = "sampleFormat"];</code>
-     * @return The sampleFormat.
-     */
-    @java.lang.Override
-    public com.viam.component.audioinput.v1.Audioinput.SampleFormat getSampleFormat() {
-      com.viam.component.audioinput.v1.Audioinput.SampleFormat result = com.viam.component.audioinput.v1.Audioinput.SampleFormat.forNumber(sampleFormat_);
-      return result == null ? com.viam.component.audioinput.v1.Audioinput.SampleFormat.UNRECOGNIZED : result;
-    }
-    /**
-     * <pre>
-     * Requested sample encoding format of the response
-     * </pre>
-     *
-     * <code>.viam.component.audioinput.v1.SampleFormat sample_format = 2 [json_name = "sampleFormat"];</code>
-     * @param value The enum numeric value on the wire for sampleFormat to set.
-     */
-    private void setSampleFormatValue(int value) {
-        sampleFormat_ = value;
-    }
-    /**
-     * <pre>
-     * Requested sample encoding format of the response
-     * </pre>
-     *
-     * <code>.viam.component.audioinput.v1.SampleFormat sample_format = 2 [json_name = "sampleFormat"];</code>
-     * @param value The sampleFormat to set.
-     */
-    private void setSampleFormat(com.viam.component.audioinput.v1.Audioinput.SampleFormat value) {
-      sampleFormat_ = value.getNumber();
-
-    }
-    /**
-     * <pre>
-     * Requested sample encoding format of the response
-     * </pre>
-     *
-     * <code>.viam.component.audioinput.v1.SampleFormat sample_format = 2 [json_name = "sampleFormat"];</code>
-     */
-    private void clearSampleFormat() {
-
-      sampleFormat_ = 0;
-    }
-
-    public static com.viam.component.audioinput.v1.Audioinput.ChunksRequest parseFrom(
-        java.nio.ByteBuffer data)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.ChunksRequest parseFrom(
-        java.nio.ByteBuffer data,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data, extensionRegistry);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.ChunksRequest parseFrom(
-        com.google.protobuf.ByteString data)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.ChunksRequest parseFrom(
-        com.google.protobuf.ByteString data,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data, extensionRegistry);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.ChunksRequest parseFrom(byte[] data)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.ChunksRequest parseFrom(
-        byte[] data,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data, extensionRegistry);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.ChunksRequest parseFrom(java.io.InputStream input)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, input);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.ChunksRequest parseFrom(
-        java.io.InputStream input,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, input, extensionRegistry);
-    }
-
-    public static com.viam.component.audioinput.v1.Audioinput.ChunksRequest parseDelimitedFrom(java.io.InputStream input)
-        throws java.io.IOException {
-      return parseDelimitedFrom(DEFAULT_INSTANCE, input);
-    }
-
-    public static com.viam.component.audioinput.v1.Audioinput.ChunksRequest parseDelimitedFrom(
-        java.io.InputStream input,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws java.io.IOException {
-      return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.ChunksRequest parseFrom(
-        com.google.protobuf.CodedInputStream input)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, input);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.ChunksRequest parseFrom(
-        com.google.protobuf.CodedInputStream input,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, input, extensionRegistry);
-    }
-
-    public static Builder newBuilder() {
-      return (Builder) DEFAULT_INSTANCE.createBuilder();
-    }
-    public static Builder newBuilder(com.viam.component.audioinput.v1.Audioinput.ChunksRequest prototype) {
-      return DEFAULT_INSTANCE.createBuilder(prototype);
-    }
-
-    /**
-     * Protobuf type {@code viam.component.audioinput.v1.ChunksRequest}
-     */
-    public static final class Builder extends
-        com.google.protobuf.GeneratedMessageLite.Builder<
-          com.viam.component.audioinput.v1.Audioinput.ChunksRequest, Builder> implements
-        // @@protoc_insertion_point(builder_implements:viam.component.audioinput.v1.ChunksRequest)
-        com.viam.component.audioinput.v1.Audioinput.ChunksRequestOrBuilder {
-      // Construct using com.viam.component.audioinput.v1.Audioinput.ChunksRequest.newBuilder()
-      private Builder() {
-        super(DEFAULT_INSTANCE);
-      }
-
-
-      /**
-       * <pre>
-       * Name of an audio input
-       * </pre>
-       *
-       * <code>string name = 1 [json_name = "name"];</code>
-       * @return The name.
-       */
-      @java.lang.Override
-      public java.lang.String getName() {
-        return instance.getName();
-      }
-      /**
-       * <pre>
-       * Name of an audio input
-       * </pre>
-       *
-       * <code>string name = 1 [json_name = "name"];</code>
-       * @return The bytes for name.
-       */
-      @java.lang.Override
-      public com.google.protobuf.ByteString
-          getNameBytes() {
-        return instance.getNameBytes();
-      }
-      /**
-       * <pre>
-       * Name of an audio input
-       * </pre>
-       *
-       * <code>string name = 1 [json_name = "name"];</code>
-       * @param value The name to set.
-       * @return This builder for chaining.
-       */
-      public Builder setName(
-          java.lang.String value) {
-        copyOnWrite();
-        instance.setName(value);
-        return this;
-      }
-      /**
-       * <pre>
-       * Name of an audio input
-       * </pre>
-       *
-       * <code>string name = 1 [json_name = "name"];</code>
-       * @return This builder for chaining.
-       */
-      public Builder clearName() {
-        copyOnWrite();
-        instance.clearName();
-        return this;
-      }
-      /**
-       * <pre>
-       * Name of an audio input
-       * </pre>
-       *
-       * <code>string name = 1 [json_name = "name"];</code>
-       * @param value The bytes for name to set.
-       * @return This builder for chaining.
-       */
-      public Builder setNameBytes(
-          com.google.protobuf.ByteString value) {
-        copyOnWrite();
-        instance.setNameBytes(value);
-        return this;
-      }
-
-      /**
-       * <pre>
-       * Requested sample encoding format of the response
-       * </pre>
-       *
-       * <code>.viam.component.audioinput.v1.SampleFormat sample_format = 2 [json_name = "sampleFormat"];</code>
-       * @return The enum numeric value on the wire for sampleFormat.
-       */
-      @java.lang.Override
-      public int getSampleFormatValue() {
-        return instance.getSampleFormatValue();
-      }
-      /**
-       * <pre>
-       * Requested sample encoding format of the response
-       * </pre>
-       *
-       * <code>.viam.component.audioinput.v1.SampleFormat sample_format = 2 [json_name = "sampleFormat"];</code>
-       * @param value The sampleFormat to set.
-       * @return This builder for chaining.
-       */
-      public Builder setSampleFormatValue(int value) {
-        copyOnWrite();
-        instance.setSampleFormatValue(value);
-        return this;
-      }
-      /**
-       * <pre>
-       * Requested sample encoding format of the response
-       * </pre>
-       *
-       * <code>.viam.component.audioinput.v1.SampleFormat sample_format = 2 [json_name = "sampleFormat"];</code>
-       * @return The sampleFormat.
-       */
-      @java.lang.Override
-      public com.viam.component.audioinput.v1.Audioinput.SampleFormat getSampleFormat() {
-        return instance.getSampleFormat();
-      }
-      /**
-       * <pre>
-       * Requested sample encoding format of the response
-       * </pre>
-       *
-       * <code>.viam.component.audioinput.v1.SampleFormat sample_format = 2 [json_name = "sampleFormat"];</code>
-       * @param value The enum numeric value on the wire for sampleFormat to set.
-       * @return This builder for chaining.
-       */
-      public Builder setSampleFormat(com.viam.component.audioinput.v1.Audioinput.SampleFormat value) {
-        copyOnWrite();
-        instance.setSampleFormat(value);
-        return this;
-      }
-      /**
-       * <pre>
-       * Requested sample encoding format of the response
-       * </pre>
-       *
-       * <code>.viam.component.audioinput.v1.SampleFormat sample_format = 2 [json_name = "sampleFormat"];</code>
-       * @return This builder for chaining.
-       */
-      public Builder clearSampleFormat() {
-        copyOnWrite();
-        instance.clearSampleFormat();
-        return this;
-      }
-
-      // @@protoc_insertion_point(builder_scope:viam.component.audioinput.v1.ChunksRequest)
-    }
-    @java.lang.Override
-    @java.lang.SuppressWarnings({"unchecked", "fallthrough"})
-    protected final java.lang.Object dynamicMethod(
-        com.google.protobuf.GeneratedMessageLite.MethodToInvoke method,
-        java.lang.Object arg0, java.lang.Object arg1) {
-      switch (method) {
-        case NEW_MUTABLE_INSTANCE: {
-          return new com.viam.component.audioinput.v1.Audioinput.ChunksRequest();
-        }
-        case NEW_BUILDER: {
-          return new Builder();
-        }
-        case BUILD_MESSAGE_INFO: {
-            java.lang.Object[] objects = new java.lang.Object[] {
-              "name_",
-              "sampleFormat_",
-            };
-            java.lang.String info =
-                "\u0000\u0002\u0000\u0000\u0001\u0002\u0002\u0000\u0000\u0000\u0001\u0208\u0002\f" +
-                "";
-            return newMessageInfo(DEFAULT_INSTANCE, info, objects);
-        }
-        // fall through
-        case GET_DEFAULT_INSTANCE: {
-          return DEFAULT_INSTANCE;
-        }
-        case GET_PARSER: {
-          com.google.protobuf.Parser<com.viam.component.audioinput.v1.Audioinput.ChunksRequest> parser = PARSER;
-          if (parser == null) {
-            synchronized (com.viam.component.audioinput.v1.Audioinput.ChunksRequest.class) {
-              parser = PARSER;
-              if (parser == null) {
-                parser =
-                    new DefaultInstanceBasedParser<com.viam.component.audioinput.v1.Audioinput.ChunksRequest>(
-                        DEFAULT_INSTANCE);
-                PARSER = parser;
-              }
-            }
-          }
-          return parser;
-      }
-      case GET_MEMOIZED_IS_INITIALIZED: {
-        return (byte) 1;
-      }
-      case SET_MEMOIZED_IS_INITIALIZED: {
-        return null;
-      }
-      }
-      throw new UnsupportedOperationException();
-    }
-
-
-    // @@protoc_insertion_point(class_scope:viam.component.audioinput.v1.ChunksRequest)
-    private static final com.viam.component.audioinput.v1.Audioinput.ChunksRequest DEFAULT_INSTANCE;
-    static {
-      ChunksRequest defaultInstance = new ChunksRequest();
-      // New instances are implicitly immutable so no need to make
-      // immutable.
-      DEFAULT_INSTANCE = defaultInstance;
-      com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
-        ChunksRequest.class, defaultInstance);
-    }
-
-    public static com.viam.component.audioinput.v1.Audioinput.ChunksRequest getDefaultInstance() {
-      return DEFAULT_INSTANCE;
-    }
-
-    private static volatile com.google.protobuf.Parser<ChunksRequest> PARSER;
-
-    public static com.google.protobuf.Parser<ChunksRequest> parser() {
-      return DEFAULT_INSTANCE.getParserForType();
-    }
-  }
-
-  public interface ChunksResponseOrBuilder extends
-      // @@protoc_insertion_point(interface_extends:viam.component.audioinput.v1.ChunksResponse)
-      com.google.protobuf.MessageLiteOrBuilder {
-
-    /**
-     * <code>.viam.component.audioinput.v1.AudioChunkInfo info = 1 [json_name = "info"];</code>
-     * @return Whether the info field is set.
-     */
-    boolean hasInfo();
-    /**
-     * <code>.viam.component.audioinput.v1.AudioChunkInfo info = 1 [json_name = "info"];</code>
-     * @return The info.
-     */
-    com.viam.component.audioinput.v1.Audioinput.AudioChunkInfo getInfo();
-
-    /**
-     * <code>.viam.component.audioinput.v1.AudioChunk chunk = 2 [json_name = "chunk"];</code>
-     * @return Whether the chunk field is set.
-     */
-    boolean hasChunk();
-    /**
-     * <code>.viam.component.audioinput.v1.AudioChunk chunk = 2 [json_name = "chunk"];</code>
-     * @return The chunk.
-     */
-    com.viam.component.audioinput.v1.Audioinput.AudioChunk getChunk();
-
-    public com.viam.component.audioinput.v1.Audioinput.ChunksResponse.TypeCase getTypeCase();
-  }
-  /**
-   * Protobuf type {@code viam.component.audioinput.v1.ChunksResponse}
-   */
-  public  static final class ChunksResponse extends
-      com.google.protobuf.GeneratedMessageLite<
-          ChunksResponse, ChunksResponse.Builder> implements
-      // @@protoc_insertion_point(message_implements:viam.component.audioinput.v1.ChunksResponse)
-      ChunksResponseOrBuilder {
-    private ChunksResponse() {
-    }
-    private int typeCase_ = 0;
-    private java.lang.Object type_;
-    public enum TypeCase {
-      INFO(1),
-      CHUNK(2),
-      TYPE_NOT_SET(0);
-      private final int value;
-      private TypeCase(int value) {
-        this.value = value;
-      }
-      /**
-       * @deprecated Use {@link #forNumber(int)} instead.
-       */
-      @java.lang.Deprecated
-      public static TypeCase valueOf(int value) {
-        return forNumber(value);
-      }
-
-      public static TypeCase forNumber(int value) {
-        switch (value) {
-          case 1: return INFO;
-          case 2: return CHUNK;
-          case 0: return TYPE_NOT_SET;
-          default: return null;
-        }
-      }
-      public int getNumber() {
-        return this.value;
-      }
-    };
-
-    @java.lang.Override
-    public TypeCase
-    getTypeCase() {
-      return TypeCase.forNumber(
-          typeCase_);
-    }
-
-    private void clearType() {
-      typeCase_ = 0;
-      type_ = null;
-    }
-
-    public static final int INFO_FIELD_NUMBER = 1;
-    /**
-     * <code>.viam.component.audioinput.v1.AudioChunkInfo info = 1 [json_name = "info"];</code>
-     */
-    @java.lang.Override
-    public boolean hasInfo() {
-      return typeCase_ == 1;
-    }
-    /**
-     * <code>.viam.component.audioinput.v1.AudioChunkInfo info = 1 [json_name = "info"];</code>
-     */
-    @java.lang.Override
-    public com.viam.component.audioinput.v1.Audioinput.AudioChunkInfo getInfo() {
-      if (typeCase_ == 1) {
-         return (com.viam.component.audioinput.v1.Audioinput.AudioChunkInfo) type_;
-      }
-      return com.viam.component.audioinput.v1.Audioinput.AudioChunkInfo.getDefaultInstance();
-    }
-    /**
-     * <code>.viam.component.audioinput.v1.AudioChunkInfo info = 1 [json_name = "info"];</code>
-     */
-    private void setInfo(com.viam.component.audioinput.v1.Audioinput.AudioChunkInfo value) {
-      value.getClass();
-  type_ = value;
-      typeCase_ = 1;
-    }
-    /**
-     * <code>.viam.component.audioinput.v1.AudioChunkInfo info = 1 [json_name = "info"];</code>
-     */
-    private void mergeInfo(com.viam.component.audioinput.v1.Audioinput.AudioChunkInfo value) {
-      value.getClass();
-  if (typeCase_ == 1 &&
-          type_ != com.viam.component.audioinput.v1.Audioinput.AudioChunkInfo.getDefaultInstance()) {
-        type_ = com.viam.component.audioinput.v1.Audioinput.AudioChunkInfo.newBuilder((com.viam.component.audioinput.v1.Audioinput.AudioChunkInfo) type_)
-            .mergeFrom(value).buildPartial();
-      } else {
-        type_ = value;
-      }
-      typeCase_ = 1;
-    }
-    /**
-     * <code>.viam.component.audioinput.v1.AudioChunkInfo info = 1 [json_name = "info"];</code>
-     */
-    private void clearInfo() {
-      if (typeCase_ == 1) {
-        typeCase_ = 0;
-        type_ = null;
-      }
-    }
-
-    public static final int CHUNK_FIELD_NUMBER = 2;
-    /**
-     * <code>.viam.component.audioinput.v1.AudioChunk chunk = 2 [json_name = "chunk"];</code>
-     */
-    @java.lang.Override
-    public boolean hasChunk() {
-      return typeCase_ == 2;
-    }
-    /**
-     * <code>.viam.component.audioinput.v1.AudioChunk chunk = 2 [json_name = "chunk"];</code>
-     */
-    @java.lang.Override
-    public com.viam.component.audioinput.v1.Audioinput.AudioChunk getChunk() {
-      if (typeCase_ == 2) {
-         return (com.viam.component.audioinput.v1.Audioinput.AudioChunk) type_;
-      }
-      return com.viam.component.audioinput.v1.Audioinput.AudioChunk.getDefaultInstance();
-    }
-    /**
-     * <code>.viam.component.audioinput.v1.AudioChunk chunk = 2 [json_name = "chunk"];</code>
-     */
-    private void setChunk(com.viam.component.audioinput.v1.Audioinput.AudioChunk value) {
-      value.getClass();
-  type_ = value;
-      typeCase_ = 2;
-    }
-    /**
-     * <code>.viam.component.audioinput.v1.AudioChunk chunk = 2 [json_name = "chunk"];</code>
-     */
-    private void mergeChunk(com.viam.component.audioinput.v1.Audioinput.AudioChunk value) {
-      value.getClass();
-  if (typeCase_ == 2 &&
-          type_ != com.viam.component.audioinput.v1.Audioinput.AudioChunk.getDefaultInstance()) {
-        type_ = com.viam.component.audioinput.v1.Audioinput.AudioChunk.newBuilder((com.viam.component.audioinput.v1.Audioinput.AudioChunk) type_)
-            .mergeFrom(value).buildPartial();
-      } else {
-        type_ = value;
-      }
-      typeCase_ = 2;
-    }
-    /**
-     * <code>.viam.component.audioinput.v1.AudioChunk chunk = 2 [json_name = "chunk"];</code>
-     */
-    private void clearChunk() {
-      if (typeCase_ == 2) {
-        typeCase_ = 0;
-        type_ = null;
-      }
-    }
-
-    public static com.viam.component.audioinput.v1.Audioinput.ChunksResponse parseFrom(
-        java.nio.ByteBuffer data)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.ChunksResponse parseFrom(
-        java.nio.ByteBuffer data,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data, extensionRegistry);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.ChunksResponse parseFrom(
-        com.google.protobuf.ByteString data)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.ChunksResponse parseFrom(
-        com.google.protobuf.ByteString data,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data, extensionRegistry);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.ChunksResponse parseFrom(byte[] data)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.ChunksResponse parseFrom(
-        byte[] data,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data, extensionRegistry);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.ChunksResponse parseFrom(java.io.InputStream input)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, input);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.ChunksResponse parseFrom(
-        java.io.InputStream input,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, input, extensionRegistry);
-    }
-
-    public static com.viam.component.audioinput.v1.Audioinput.ChunksResponse parseDelimitedFrom(java.io.InputStream input)
-        throws java.io.IOException {
-      return parseDelimitedFrom(DEFAULT_INSTANCE, input);
-    }
-
-    public static com.viam.component.audioinput.v1.Audioinput.ChunksResponse parseDelimitedFrom(
-        java.io.InputStream input,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws java.io.IOException {
-      return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.ChunksResponse parseFrom(
-        com.google.protobuf.CodedInputStream input)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, input);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.ChunksResponse parseFrom(
-        com.google.protobuf.CodedInputStream input,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, input, extensionRegistry);
-    }
-
-    public static Builder newBuilder() {
-      return (Builder) DEFAULT_INSTANCE.createBuilder();
-    }
-    public static Builder newBuilder(com.viam.component.audioinput.v1.Audioinput.ChunksResponse prototype) {
-      return DEFAULT_INSTANCE.createBuilder(prototype);
-    }
-
-    /**
-     * Protobuf type {@code viam.component.audioinput.v1.ChunksResponse}
-     */
-    public static final class Builder extends
-        com.google.protobuf.GeneratedMessageLite.Builder<
-          com.viam.component.audioinput.v1.Audioinput.ChunksResponse, Builder> implements
-        // @@protoc_insertion_point(builder_implements:viam.component.audioinput.v1.ChunksResponse)
-        com.viam.component.audioinput.v1.Audioinput.ChunksResponseOrBuilder {
-      // Construct using com.viam.component.audioinput.v1.Audioinput.ChunksResponse.newBuilder()
-      private Builder() {
-        super(DEFAULT_INSTANCE);
-      }
-
-      @java.lang.Override
-      public TypeCase
-          getTypeCase() {
-        return instance.getTypeCase();
-      }
-
-      public Builder clearType() {
-        copyOnWrite();
-        instance.clearType();
-        return this;
-      }
-
-
-      /**
-       * <code>.viam.component.audioinput.v1.AudioChunkInfo info = 1 [json_name = "info"];</code>
-       */
-      @java.lang.Override
-      public boolean hasInfo() {
-        return instance.hasInfo();
-      }
-      /**
-       * <code>.viam.component.audioinput.v1.AudioChunkInfo info = 1 [json_name = "info"];</code>
-       */
-      @java.lang.Override
-      public com.viam.component.audioinput.v1.Audioinput.AudioChunkInfo getInfo() {
-        return instance.getInfo();
-      }
-      /**
-       * <code>.viam.component.audioinput.v1.AudioChunkInfo info = 1 [json_name = "info"];</code>
-       */
-      public Builder setInfo(com.viam.component.audioinput.v1.Audioinput.AudioChunkInfo value) {
-        copyOnWrite();
-        instance.setInfo(value);
-        return this;
-      }
-      /**
-       * <code>.viam.component.audioinput.v1.AudioChunkInfo info = 1 [json_name = "info"];</code>
-       */
-      public Builder setInfo(
-          com.viam.component.audioinput.v1.Audioinput.AudioChunkInfo.Builder builderForValue) {
-        copyOnWrite();
-        instance.setInfo(builderForValue.build());
-        return this;
-      }
-      /**
-       * <code>.viam.component.audioinput.v1.AudioChunkInfo info = 1 [json_name = "info"];</code>
-       */
-      public Builder mergeInfo(com.viam.component.audioinput.v1.Audioinput.AudioChunkInfo value) {
-        copyOnWrite();
-        instance.mergeInfo(value);
-        return this;
-      }
-      /**
-       * <code>.viam.component.audioinput.v1.AudioChunkInfo info = 1 [json_name = "info"];</code>
-       */
-      public Builder clearInfo() {
-        copyOnWrite();
-        instance.clearInfo();
-        return this;
-      }
-
-      /**
-       * <code>.viam.component.audioinput.v1.AudioChunk chunk = 2 [json_name = "chunk"];</code>
-       */
-      @java.lang.Override
-      public boolean hasChunk() {
-        return instance.hasChunk();
-      }
-      /**
-       * <code>.viam.component.audioinput.v1.AudioChunk chunk = 2 [json_name = "chunk"];</code>
-       */
-      @java.lang.Override
-      public com.viam.component.audioinput.v1.Audioinput.AudioChunk getChunk() {
-        return instance.getChunk();
-      }
-      /**
-       * <code>.viam.component.audioinput.v1.AudioChunk chunk = 2 [json_name = "chunk"];</code>
-       */
-      public Builder setChunk(com.viam.component.audioinput.v1.Audioinput.AudioChunk value) {
-        copyOnWrite();
-        instance.setChunk(value);
-        return this;
-      }
-      /**
-       * <code>.viam.component.audioinput.v1.AudioChunk chunk = 2 [json_name = "chunk"];</code>
-       */
-      public Builder setChunk(
-          com.viam.component.audioinput.v1.Audioinput.AudioChunk.Builder builderForValue) {
-        copyOnWrite();
-        instance.setChunk(builderForValue.build());
-        return this;
-      }
-      /**
-       * <code>.viam.component.audioinput.v1.AudioChunk chunk = 2 [json_name = "chunk"];</code>
-       */
-      public Builder mergeChunk(com.viam.component.audioinput.v1.Audioinput.AudioChunk value) {
-        copyOnWrite();
-        instance.mergeChunk(value);
-        return this;
-      }
-      /**
-       * <code>.viam.component.audioinput.v1.AudioChunk chunk = 2 [json_name = "chunk"];</code>
-       */
-      public Builder clearChunk() {
-        copyOnWrite();
-        instance.clearChunk();
-        return this;
-      }
-
-      // @@protoc_insertion_point(builder_scope:viam.component.audioinput.v1.ChunksResponse)
-    }
-    @java.lang.Override
-    @java.lang.SuppressWarnings({"unchecked", "fallthrough"})
-    protected final java.lang.Object dynamicMethod(
-        com.google.protobuf.GeneratedMessageLite.MethodToInvoke method,
-        java.lang.Object arg0, java.lang.Object arg1) {
-      switch (method) {
-        case NEW_MUTABLE_INSTANCE: {
-          return new com.viam.component.audioinput.v1.Audioinput.ChunksResponse();
-        }
-        case NEW_BUILDER: {
-          return new Builder();
-        }
-        case BUILD_MESSAGE_INFO: {
-            java.lang.Object[] objects = new java.lang.Object[] {
-              "type_",
-              "typeCase_",
-              com.viam.component.audioinput.v1.Audioinput.AudioChunkInfo.class,
-              com.viam.component.audioinput.v1.Audioinput.AudioChunk.class,
-            };
-            java.lang.String info =
-                "\u0000\u0002\u0001\u0000\u0001\u0002\u0002\u0000\u0000\u0000\u0001<\u0000\u0002<" +
-                "\u0000";
-            return newMessageInfo(DEFAULT_INSTANCE, info, objects);
-        }
-        // fall through
-        case GET_DEFAULT_INSTANCE: {
-          return DEFAULT_INSTANCE;
-        }
-        case GET_PARSER: {
-          com.google.protobuf.Parser<com.viam.component.audioinput.v1.Audioinput.ChunksResponse> parser = PARSER;
-          if (parser == null) {
-            synchronized (com.viam.component.audioinput.v1.Audioinput.ChunksResponse.class) {
-              parser = PARSER;
-              if (parser == null) {
-                parser =
-                    new DefaultInstanceBasedParser<com.viam.component.audioinput.v1.Audioinput.ChunksResponse>(
-                        DEFAULT_INSTANCE);
-                PARSER = parser;
-              }
-            }
-          }
-          return parser;
-      }
-      case GET_MEMOIZED_IS_INITIALIZED: {
-        return (byte) 1;
-      }
-      case SET_MEMOIZED_IS_INITIALIZED: {
-        return null;
-      }
-      }
-      throw new UnsupportedOperationException();
-    }
-
-
-    // @@protoc_insertion_point(class_scope:viam.component.audioinput.v1.ChunksResponse)
-    private static final com.viam.component.audioinput.v1.Audioinput.ChunksResponse DEFAULT_INSTANCE;
-    static {
-      ChunksResponse defaultInstance = new ChunksResponse();
-      // New instances are implicitly immutable so no need to make
-      // immutable.
-      DEFAULT_INSTANCE = defaultInstance;
-      com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
-        ChunksResponse.class, defaultInstance);
-    }
-
-    public static com.viam.component.audioinput.v1.Audioinput.ChunksResponse getDefaultInstance() {
-      return DEFAULT_INSTANCE;
-    }
-
-    private static volatile com.google.protobuf.Parser<ChunksResponse> PARSER;
-
-    public static com.google.protobuf.Parser<ChunksResponse> parser() {
-      return DEFAULT_INSTANCE.getParserForType();
-    }
-  }
-
-  public interface PropertiesRequestOrBuilder extends
-      // @@protoc_insertion_point(interface_extends:viam.component.audioinput.v1.PropertiesRequest)
-      com.google.protobuf.MessageLiteOrBuilder {
-
-    /**
-     * <pre>
-     * Name of an audio input
-     * </pre>
-     *
-     * <code>string name = 1 [json_name = "name"];</code>
-     * @return The name.
-     */
-    java.lang.String getName();
-    /**
-     * <pre>
-     * Name of an audio input
-     * </pre>
-     *
-     * <code>string name = 1 [json_name = "name"];</code>
-     * @return The bytes for name.
-     */
-    com.google.protobuf.ByteString
-        getNameBytes();
-  }
-  /**
-   * Protobuf type {@code viam.component.audioinput.v1.PropertiesRequest}
-   */
-  public  static final class PropertiesRequest extends
-      com.google.protobuf.GeneratedMessageLite<
-          PropertiesRequest, PropertiesRequest.Builder> implements
-      // @@protoc_insertion_point(message_implements:viam.component.audioinput.v1.PropertiesRequest)
-      PropertiesRequestOrBuilder {
-    private PropertiesRequest() {
-      name_ = "";
-    }
-    public static final int NAME_FIELD_NUMBER = 1;
-    private java.lang.String name_;
-    /**
-     * <pre>
-     * Name of an audio input
-     * </pre>
-     *
-     * <code>string name = 1 [json_name = "name"];</code>
-     * @return The name.
-     */
-    @java.lang.Override
-    public java.lang.String getName() {
-      return name_;
-    }
-    /**
-     * <pre>
-     * Name of an audio input
-     * </pre>
-     *
-     * <code>string name = 1 [json_name = "name"];</code>
-     * @return The bytes for name.
-     */
-    @java.lang.Override
-    public com.google.protobuf.ByteString
-        getNameBytes() {
-      return com.google.protobuf.ByteString.copyFromUtf8(name_);
-    }
-    /**
-     * <pre>
-     * Name of an audio input
-     * </pre>
-     *
-     * <code>string name = 1 [json_name = "name"];</code>
-     * @param value The name to set.
-     */
-    private void setName(
-        java.lang.String value) {
-      java.lang.Class<?> valueClass = value.getClass();
-  
-      name_ = value;
-    }
-    /**
-     * <pre>
-     * Name of an audio input
-     * </pre>
-     *
-     * <code>string name = 1 [json_name = "name"];</code>
-     */
-    private void clearName() {
-
-      name_ = getDefaultInstance().getName();
-    }
-    /**
-     * <pre>
-     * Name of an audio input
-     * </pre>
-     *
-     * <code>string name = 1 [json_name = "name"];</code>
-     * @param value The bytes for name to set.
-     */
-    private void setNameBytes(
-        com.google.protobuf.ByteString value) {
-      checkByteStringIsUtf8(value);
-      name_ = value.toStringUtf8();
-
-    }
-
-    public static com.viam.component.audioinput.v1.Audioinput.PropertiesRequest parseFrom(
-        java.nio.ByteBuffer data)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.PropertiesRequest parseFrom(
-        java.nio.ByteBuffer data,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data, extensionRegistry);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.PropertiesRequest parseFrom(
-        com.google.protobuf.ByteString data)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.PropertiesRequest parseFrom(
-        com.google.protobuf.ByteString data,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data, extensionRegistry);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.PropertiesRequest parseFrom(byte[] data)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.PropertiesRequest parseFrom(
-        byte[] data,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data, extensionRegistry);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.PropertiesRequest parseFrom(java.io.InputStream input)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, input);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.PropertiesRequest parseFrom(
-        java.io.InputStream input,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, input, extensionRegistry);
-    }
-
-    public static com.viam.component.audioinput.v1.Audioinput.PropertiesRequest parseDelimitedFrom(java.io.InputStream input)
-        throws java.io.IOException {
-      return parseDelimitedFrom(DEFAULT_INSTANCE, input);
-    }
-
-    public static com.viam.component.audioinput.v1.Audioinput.PropertiesRequest parseDelimitedFrom(
-        java.io.InputStream input,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws java.io.IOException {
-      return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.PropertiesRequest parseFrom(
-        com.google.protobuf.CodedInputStream input)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, input);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.PropertiesRequest parseFrom(
-        com.google.protobuf.CodedInputStream input,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, input, extensionRegistry);
-    }
-
-    public static Builder newBuilder() {
-      return (Builder) DEFAULT_INSTANCE.createBuilder();
-    }
-    public static Builder newBuilder(com.viam.component.audioinput.v1.Audioinput.PropertiesRequest prototype) {
-      return DEFAULT_INSTANCE.createBuilder(prototype);
-    }
-
-    /**
-     * Protobuf type {@code viam.component.audioinput.v1.PropertiesRequest}
-     */
-    public static final class Builder extends
-        com.google.protobuf.GeneratedMessageLite.Builder<
-          com.viam.component.audioinput.v1.Audioinput.PropertiesRequest, Builder> implements
-        // @@protoc_insertion_point(builder_implements:viam.component.audioinput.v1.PropertiesRequest)
-        com.viam.component.audioinput.v1.Audioinput.PropertiesRequestOrBuilder {
-      // Construct using com.viam.component.audioinput.v1.Audioinput.PropertiesRequest.newBuilder()
-      private Builder() {
-        super(DEFAULT_INSTANCE);
-      }
-
-
-      /**
-       * <pre>
-       * Name of an audio input
-       * </pre>
-       *
-       * <code>string name = 1 [json_name = "name"];</code>
-       * @return The name.
-       */
-      @java.lang.Override
-      public java.lang.String getName() {
-        return instance.getName();
-      }
-      /**
-       * <pre>
-       * Name of an audio input
-       * </pre>
-       *
-       * <code>string name = 1 [json_name = "name"];</code>
-       * @return The bytes for name.
-       */
-      @java.lang.Override
-      public com.google.protobuf.ByteString
-          getNameBytes() {
-        return instance.getNameBytes();
-      }
-      /**
-       * <pre>
-       * Name of an audio input
-       * </pre>
-       *
-       * <code>string name = 1 [json_name = "name"];</code>
-       * @param value The name to set.
-       * @return This builder for chaining.
-       */
-      public Builder setName(
-          java.lang.String value) {
-        copyOnWrite();
-        instance.setName(value);
-        return this;
-      }
-      /**
-       * <pre>
-       * Name of an audio input
-       * </pre>
-       *
-       * <code>string name = 1 [json_name = "name"];</code>
-       * @return This builder for chaining.
-       */
-      public Builder clearName() {
-        copyOnWrite();
-        instance.clearName();
-        return this;
-      }
-      /**
-       * <pre>
-       * Name of an audio input
-       * </pre>
-       *
-       * <code>string name = 1 [json_name = "name"];</code>
-       * @param value The bytes for name to set.
-       * @return This builder for chaining.
-       */
-      public Builder setNameBytes(
-          com.google.protobuf.ByteString value) {
-        copyOnWrite();
-        instance.setNameBytes(value);
-        return this;
-      }
-
-      // @@protoc_insertion_point(builder_scope:viam.component.audioinput.v1.PropertiesRequest)
-    }
-    @java.lang.Override
-    @java.lang.SuppressWarnings({"unchecked", "fallthrough"})
-    protected final java.lang.Object dynamicMethod(
-        com.google.protobuf.GeneratedMessageLite.MethodToInvoke method,
-        java.lang.Object arg0, java.lang.Object arg1) {
-      switch (method) {
-        case NEW_MUTABLE_INSTANCE: {
-          return new com.viam.component.audioinput.v1.Audioinput.PropertiesRequest();
-        }
-        case NEW_BUILDER: {
-          return new Builder();
-        }
-        case BUILD_MESSAGE_INFO: {
-            java.lang.Object[] objects = new java.lang.Object[] {
-              "name_",
-            };
-            java.lang.String info =
-                "\u0000\u0001\u0000\u0000\u0001\u0001\u0001\u0000\u0000\u0000\u0001\u0208";
-            return newMessageInfo(DEFAULT_INSTANCE, info, objects);
-        }
-        // fall through
-        case GET_DEFAULT_INSTANCE: {
-          return DEFAULT_INSTANCE;
-        }
-        case GET_PARSER: {
-          com.google.protobuf.Parser<com.viam.component.audioinput.v1.Audioinput.PropertiesRequest> parser = PARSER;
-          if (parser == null) {
-            synchronized (com.viam.component.audioinput.v1.Audioinput.PropertiesRequest.class) {
-              parser = PARSER;
-              if (parser == null) {
-                parser =
-                    new DefaultInstanceBasedParser<com.viam.component.audioinput.v1.Audioinput.PropertiesRequest>(
-                        DEFAULT_INSTANCE);
-                PARSER = parser;
-              }
-            }
-          }
-          return parser;
-      }
-      case GET_MEMOIZED_IS_INITIALIZED: {
-        return (byte) 1;
-      }
-      case SET_MEMOIZED_IS_INITIALIZED: {
-        return null;
-      }
-      }
-      throw new UnsupportedOperationException();
-    }
-
-
-    // @@protoc_insertion_point(class_scope:viam.component.audioinput.v1.PropertiesRequest)
-    private static final com.viam.component.audioinput.v1.Audioinput.PropertiesRequest DEFAULT_INSTANCE;
-    static {
-      PropertiesRequest defaultInstance = new PropertiesRequest();
-      // New instances are implicitly immutable so no need to make
-      // immutable.
-      DEFAULT_INSTANCE = defaultInstance;
-      com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
-        PropertiesRequest.class, defaultInstance);
-    }
-
-    public static com.viam.component.audioinput.v1.Audioinput.PropertiesRequest getDefaultInstance() {
-      return DEFAULT_INSTANCE;
-    }
-
-    private static volatile com.google.protobuf.Parser<PropertiesRequest> PARSER;
-
-    public static com.google.protobuf.Parser<PropertiesRequest> parser() {
-      return DEFAULT_INSTANCE.getParserForType();
-    }
-  }
-
-  public interface PropertiesResponseOrBuilder extends
-      // @@protoc_insertion_point(interface_extends:viam.component.audioinput.v1.PropertiesResponse)
-      com.google.protobuf.MessageLiteOrBuilder {
-
-    /**
-     * <code>uint32 channel_count = 1 [json_name = "channelCount"];</code>
-     * @return The channelCount.
-     */
-    int getChannelCount();
-
-    /**
-     * <code>.google.protobuf.Duration latency = 2 [json_name = "latency"];</code>
-     * @return Whether the latency field is set.
-     */
-    boolean hasLatency();
-    /**
-     * <code>.google.protobuf.Duration latency = 2 [json_name = "latency"];</code>
-     * @return The latency.
-     */
-    com.google.protobuf.Duration getLatency();
-
-    /**
-     * <code>uint32 sample_rate = 3 [json_name = "sampleRate"];</code>
-     * @return The sampleRate.
-     */
-    int getSampleRate();
-
-    /**
-     * <code>uint32 sample_size = 4 [json_name = "sampleSize"];</code>
-     * @return The sampleSize.
-     */
-    int getSampleSize();
-
-    /**
-     * <code>bool is_big_endian = 5 [json_name = "isBigEndian"];</code>
-     * @return The isBigEndian.
-     */
-    boolean getIsBigEndian();
-
-    /**
-     * <code>bool is_float = 6 [json_name = "isFloat"];</code>
-     * @return The isFloat.
-     */
-    boolean getIsFloat();
-
-    /**
-     * <code>bool is_interleaved = 7 [json_name = "isInterleaved"];</code>
-     * @return The isInterleaved.
-     */
-    boolean getIsInterleaved();
-  }
-  /**
-   * Protobuf type {@code viam.component.audioinput.v1.PropertiesResponse}
-   */
-  public  static final class PropertiesResponse extends
-      com.google.protobuf.GeneratedMessageLite<
-          PropertiesResponse, PropertiesResponse.Builder> implements
-      // @@protoc_insertion_point(message_implements:viam.component.audioinput.v1.PropertiesResponse)
-      PropertiesResponseOrBuilder {
-    private PropertiesResponse() {
-    }
-    private int bitField0_;
-    public static final int CHANNEL_COUNT_FIELD_NUMBER = 1;
-    private int channelCount_;
-    /**
-     * <code>uint32 channel_count = 1 [json_name = "channelCount"];</code>
-     * @return The channelCount.
-     */
-    @java.lang.Override
-    public int getChannelCount() {
-      return channelCount_;
-    }
-    /**
-     * <code>uint32 channel_count = 1 [json_name = "channelCount"];</code>
-     * @param value The channelCount to set.
-     */
-    private void setChannelCount(int value) {
-      
-      channelCount_ = value;
-    }
-    /**
-     * <code>uint32 channel_count = 1 [json_name = "channelCount"];</code>
-     */
-    private void clearChannelCount() {
-
-      channelCount_ = 0;
-    }
-
-    public static final int LATENCY_FIELD_NUMBER = 2;
-    private com.google.protobuf.Duration latency_;
-    /**
-     * <code>.google.protobuf.Duration latency = 2 [json_name = "latency"];</code>
-     */
-    @java.lang.Override
-    public boolean hasLatency() {
-      return ((bitField0_ & 0x00000001) != 0);
-    }
-    /**
-     * <code>.google.protobuf.Duration latency = 2 [json_name = "latency"];</code>
-     */
-    @java.lang.Override
-    public com.google.protobuf.Duration getLatency() {
-      return latency_ == null ? com.google.protobuf.Duration.getDefaultInstance() : latency_;
-    }
-    /**
-     * <code>.google.protobuf.Duration latency = 2 [json_name = "latency"];</code>
-     */
-    private void setLatency(com.google.protobuf.Duration value) {
-      value.getClass();
-  latency_ = value;
-      bitField0_ |= 0x00000001;
-      }
-    /**
-     * <code>.google.protobuf.Duration latency = 2 [json_name = "latency"];</code>
-     */
-    @java.lang.SuppressWarnings({"ReferenceEquality"})
-    private void mergeLatency(com.google.protobuf.Duration value) {
-      value.getClass();
-  if (latency_ != null &&
-          latency_ != com.google.protobuf.Duration.getDefaultInstance()) {
-        latency_ =
-          com.google.protobuf.Duration.newBuilder(latency_).mergeFrom(value).buildPartial();
-      } else {
-        latency_ = value;
-      }
-      bitField0_ |= 0x00000001;
-    }
-    /**
-     * <code>.google.protobuf.Duration latency = 2 [json_name = "latency"];</code>
-     */
-    private void clearLatency() {  latency_ = null;
-      bitField0_ = (bitField0_ & ~0x00000001);
-    }
-
-    public static final int SAMPLE_RATE_FIELD_NUMBER = 3;
-    private int sampleRate_;
-    /**
-     * <code>uint32 sample_rate = 3 [json_name = "sampleRate"];</code>
-     * @return The sampleRate.
-     */
-    @java.lang.Override
-    public int getSampleRate() {
-      return sampleRate_;
-    }
-    /**
-     * <code>uint32 sample_rate = 3 [json_name = "sampleRate"];</code>
-     * @param value The sampleRate to set.
-     */
-    private void setSampleRate(int value) {
-      
-      sampleRate_ = value;
-    }
-    /**
-     * <code>uint32 sample_rate = 3 [json_name = "sampleRate"];</code>
-     */
-    private void clearSampleRate() {
-
-      sampleRate_ = 0;
-    }
-
-    public static final int SAMPLE_SIZE_FIELD_NUMBER = 4;
-    private int sampleSize_;
-    /**
-     * <code>uint32 sample_size = 4 [json_name = "sampleSize"];</code>
-     * @return The sampleSize.
-     */
-    @java.lang.Override
-    public int getSampleSize() {
-      return sampleSize_;
-    }
-    /**
-     * <code>uint32 sample_size = 4 [json_name = "sampleSize"];</code>
-     * @param value The sampleSize to set.
-     */
-    private void setSampleSize(int value) {
-      
-      sampleSize_ = value;
-    }
-    /**
-     * <code>uint32 sample_size = 4 [json_name = "sampleSize"];</code>
-     */
-    private void clearSampleSize() {
-
-      sampleSize_ = 0;
-    }
-
-    public static final int IS_BIG_ENDIAN_FIELD_NUMBER = 5;
-    private boolean isBigEndian_;
-    /**
-     * <code>bool is_big_endian = 5 [json_name = "isBigEndian"];</code>
-     * @return The isBigEndian.
-     */
-    @java.lang.Override
-    public boolean getIsBigEndian() {
-      return isBigEndian_;
-    }
-    /**
-     * <code>bool is_big_endian = 5 [json_name = "isBigEndian"];</code>
-     * @param value The isBigEndian to set.
-     */
-    private void setIsBigEndian(boolean value) {
-      
-      isBigEndian_ = value;
-    }
-    /**
-     * <code>bool is_big_endian = 5 [json_name = "isBigEndian"];</code>
-     */
-    private void clearIsBigEndian() {
-
-      isBigEndian_ = false;
-    }
-
-    public static final int IS_FLOAT_FIELD_NUMBER = 6;
-    private boolean isFloat_;
-    /**
-     * <code>bool is_float = 6 [json_name = "isFloat"];</code>
-     * @return The isFloat.
-     */
-    @java.lang.Override
-    public boolean getIsFloat() {
-      return isFloat_;
-    }
-    /**
-     * <code>bool is_float = 6 [json_name = "isFloat"];</code>
-     * @param value The isFloat to set.
-     */
-    private void setIsFloat(boolean value) {
-      
-      isFloat_ = value;
-    }
-    /**
-     * <code>bool is_float = 6 [json_name = "isFloat"];</code>
-     */
-    private void clearIsFloat() {
-
-      isFloat_ = false;
-    }
-
-    public static final int IS_INTERLEAVED_FIELD_NUMBER = 7;
-    private boolean isInterleaved_;
-    /**
-     * <code>bool is_interleaved = 7 [json_name = "isInterleaved"];</code>
-     * @return The isInterleaved.
-     */
-    @java.lang.Override
-    public boolean getIsInterleaved() {
-      return isInterleaved_;
-    }
-    /**
-     * <code>bool is_interleaved = 7 [json_name = "isInterleaved"];</code>
-     * @param value The isInterleaved to set.
-     */
-    private void setIsInterleaved(boolean value) {
-      
-      isInterleaved_ = value;
-    }
-    /**
-     * <code>bool is_interleaved = 7 [json_name = "isInterleaved"];</code>
-     */
-    private void clearIsInterleaved() {
-
-      isInterleaved_ = false;
-    }
-
-    public static com.viam.component.audioinput.v1.Audioinput.PropertiesResponse parseFrom(
-        java.nio.ByteBuffer data)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.PropertiesResponse parseFrom(
-        java.nio.ByteBuffer data,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data, extensionRegistry);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.PropertiesResponse parseFrom(
-        com.google.protobuf.ByteString data)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.PropertiesResponse parseFrom(
-        com.google.protobuf.ByteString data,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data, extensionRegistry);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.PropertiesResponse parseFrom(byte[] data)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.PropertiesResponse parseFrom(
-        byte[] data,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, data, extensionRegistry);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.PropertiesResponse parseFrom(java.io.InputStream input)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, input);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.PropertiesResponse parseFrom(
-        java.io.InputStream input,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, input, extensionRegistry);
-    }
-
-    public static com.viam.component.audioinput.v1.Audioinput.PropertiesResponse parseDelimitedFrom(java.io.InputStream input)
-        throws java.io.IOException {
-      return parseDelimitedFrom(DEFAULT_INSTANCE, input);
-    }
-
-    public static com.viam.component.audioinput.v1.Audioinput.PropertiesResponse parseDelimitedFrom(
-        java.io.InputStream input,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws java.io.IOException {
-      return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.PropertiesResponse parseFrom(
-        com.google.protobuf.CodedInputStream input)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, input);
-    }
-    public static com.viam.component.audioinput.v1.Audioinput.PropertiesResponse parseFrom(
-        com.google.protobuf.CodedInputStream input,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessageLite.parseFrom(
-          DEFAULT_INSTANCE, input, extensionRegistry);
-    }
-
-    public static Builder newBuilder() {
-      return (Builder) DEFAULT_INSTANCE.createBuilder();
-    }
-    public static Builder newBuilder(com.viam.component.audioinput.v1.Audioinput.PropertiesResponse prototype) {
-      return DEFAULT_INSTANCE.createBuilder(prototype);
-    }
-
-    /**
-     * Protobuf type {@code viam.component.audioinput.v1.PropertiesResponse}
-     */
-    public static final class Builder extends
-        com.google.protobuf.GeneratedMessageLite.Builder<
-          com.viam.component.audioinput.v1.Audioinput.PropertiesResponse, Builder> implements
-        // @@protoc_insertion_point(builder_implements:viam.component.audioinput.v1.PropertiesResponse)
-        com.viam.component.audioinput.v1.Audioinput.PropertiesResponseOrBuilder {
-      // Construct using com.viam.component.audioinput.v1.Audioinput.PropertiesResponse.newBuilder()
-      private Builder() {
-        super(DEFAULT_INSTANCE);
-      }
-
-
-      /**
-       * <code>uint32 channel_count = 1 [json_name = "channelCount"];</code>
-       * @return The channelCount.
-       */
-      @java.lang.Override
-      public int getChannelCount() {
-        return instance.getChannelCount();
-      }
-      /**
-       * <code>uint32 channel_count = 1 [json_name = "channelCount"];</code>
-       * @param value The channelCount to set.
-       * @return This builder for chaining.
-       */
-      public Builder setChannelCount(int value) {
-        copyOnWrite();
-        instance.setChannelCount(value);
-        return this;
-      }
-      /**
-       * <code>uint32 channel_count = 1 [json_name = "channelCount"];</code>
-       * @return This builder for chaining.
-       */
-      public Builder clearChannelCount() {
-        copyOnWrite();
-        instance.clearChannelCount();
-        return this;
-      }
-
-      /**
-       * <code>.google.protobuf.Duration latency = 2 [json_name = "latency"];</code>
-       */
-      @java.lang.Override
-      public boolean hasLatency() {
-        return instance.hasLatency();
-      }
-      /**
-       * <code>.google.protobuf.Duration latency = 2 [json_name = "latency"];</code>
-       */
-      @java.lang.Override
-      public com.google.protobuf.Duration getLatency() {
-        return instance.getLatency();
-      }
-      /**
-       * <code>.google.protobuf.Duration latency = 2 [json_name = "latency"];</code>
-       */
-      public Builder setLatency(com.google.protobuf.Duration value) {
-        copyOnWrite();
-        instance.setLatency(value);
-        return this;
-        }
-      /**
-       * <code>.google.protobuf.Duration latency = 2 [json_name = "latency"];</code>
-       */
-      public Builder setLatency(
-          com.google.protobuf.Duration.Builder builderForValue) {
-        copyOnWrite();
-        instance.setLatency(builderForValue.build());
-        return this;
-      }
-      /**
-       * <code>.google.protobuf.Duration latency = 2 [json_name = "latency"];</code>
-       */
-      public Builder mergeLatency(com.google.protobuf.Duration value) {
-        copyOnWrite();
-        instance.mergeLatency(value);
-        return this;
-      }
-      /**
-       * <code>.google.protobuf.Duration latency = 2 [json_name = "latency"];</code>
-       */
-      public Builder clearLatency() {  copyOnWrite();
-        instance.clearLatency();
-        return this;
-      }
-
-      /**
-       * <code>uint32 sample_rate = 3 [json_name = "sampleRate"];</code>
-       * @return The sampleRate.
-       */
-      @java.lang.Override
-      public int getSampleRate() {
-        return instance.getSampleRate();
-      }
-      /**
-       * <code>uint32 sample_rate = 3 [json_name = "sampleRate"];</code>
-       * @param value The sampleRate to set.
-       * @return This builder for chaining.
-       */
-      public Builder setSampleRate(int value) {
-        copyOnWrite();
-        instance.setSampleRate(value);
-        return this;
-      }
-      /**
-       * <code>uint32 sample_rate = 3 [json_name = "sampleRate"];</code>
-       * @return This builder for chaining.
-       */
-      public Builder clearSampleRate() {
-        copyOnWrite();
-        instance.clearSampleRate();
-        return this;
-      }
-
-      /**
-       * <code>uint32 sample_size = 4 [json_name = "sampleSize"];</code>
-       * @return The sampleSize.
-       */
-      @java.lang.Override
-      public int getSampleSize() {
-        return instance.getSampleSize();
-      }
-      /**
-       * <code>uint32 sample_size = 4 [json_name = "sampleSize"];</code>
-       * @param value The sampleSize to set.
-       * @return This builder for chaining.
-       */
-      public Builder setSampleSize(int value) {
-        copyOnWrite();
-        instance.setSampleSize(value);
-        return this;
-      }
-      /**
-       * <code>uint32 sample_size = 4 [json_name = "sampleSize"];</code>
-       * @return This builder for chaining.
-       */
-      public Builder clearSampleSize() {
-        copyOnWrite();
-        instance.clearSampleSize();
-        return this;
-      }
-
-      /**
-       * <code>bool is_big_endian = 5 [json_name = "isBigEndian"];</code>
-       * @return The isBigEndian.
-       */
-      @java.lang.Override
-      public boolean getIsBigEndian() {
-        return instance.getIsBigEndian();
-      }
-      /**
-       * <code>bool is_big_endian = 5 [json_name = "isBigEndian"];</code>
-       * @param value The isBigEndian to set.
-       * @return This builder for chaining.
-       */
-      public Builder setIsBigEndian(boolean value) {
-        copyOnWrite();
-        instance.setIsBigEndian(value);
-        return this;
-      }
-      /**
-       * <code>bool is_big_endian = 5 [json_name = "isBigEndian"];</code>
-       * @return This builder for chaining.
-       */
-      public Builder clearIsBigEndian() {
-        copyOnWrite();
-        instance.clearIsBigEndian();
-        return this;
-      }
-
-      /**
-       * <code>bool is_float = 6 [json_name = "isFloat"];</code>
-       * @return The isFloat.
-       */
-      @java.lang.Override
-      public boolean getIsFloat() {
-        return instance.getIsFloat();
-      }
-      /**
-       * <code>bool is_float = 6 [json_name = "isFloat"];</code>
-       * @param value The isFloat to set.
-       * @return This builder for chaining.
-       */
-      public Builder setIsFloat(boolean value) {
-        copyOnWrite();
-        instance.setIsFloat(value);
-        return this;
-      }
-      /**
-       * <code>bool is_float = 6 [json_name = "isFloat"];</code>
-       * @return This builder for chaining.
-       */
-      public Builder clearIsFloat() {
-        copyOnWrite();
-        instance.clearIsFloat();
-        return this;
-      }
-
-      /**
-       * <code>bool is_interleaved = 7 [json_name = "isInterleaved"];</code>
-       * @return The isInterleaved.
-       */
-      @java.lang.Override
-      public boolean getIsInterleaved() {
-        return instance.getIsInterleaved();
-      }
-      /**
-       * <code>bool is_interleaved = 7 [json_name = "isInterleaved"];</code>
-       * @param value The isInterleaved to set.
-       * @return This builder for chaining.
-       */
-      public Builder setIsInterleaved(boolean value) {
-        copyOnWrite();
-        instance.setIsInterleaved(value);
-        return this;
-      }
-      /**
-       * <code>bool is_interleaved = 7 [json_name = "isInterleaved"];</code>
-       * @return This builder for chaining.
-       */
-      public Builder clearIsInterleaved() {
-        copyOnWrite();
-        instance.clearIsInterleaved();
-        return this;
-      }
-
-      // @@protoc_insertion_point(builder_scope:viam.component.audioinput.v1.PropertiesResponse)
-    }
-    @java.lang.Override
-    @java.lang.SuppressWarnings({"unchecked", "fallthrough"})
-    protected final java.lang.Object dynamicMethod(
-        com.google.protobuf.GeneratedMessageLite.MethodToInvoke method,
-        java.lang.Object arg0, java.lang.Object arg1) {
-      switch (method) {
-        case NEW_MUTABLE_INSTANCE: {
-          return new com.viam.component.audioinput.v1.Audioinput.PropertiesResponse();
-        }
-        case NEW_BUILDER: {
-          return new Builder();
-        }
-        case BUILD_MESSAGE_INFO: {
-            java.lang.Object[] objects = new java.lang.Object[] {
-              "bitField0_",
-              "channelCount_",
-              "latency_",
-              "sampleRate_",
-              "sampleSize_",
-              "isBigEndian_",
-              "isFloat_",
-              "isInterleaved_",
-            };
-            java.lang.String info =
-                "\u0000\u0007\u0000\u0001\u0001\u0007\u0007\u0000\u0000\u0000\u0001\u000b\u0002\u1009" +
-                "\u0000\u0003\u000b\u0004\u000b\u0005\u0007\u0006\u0007\u0007\u0007";
-            return newMessageInfo(DEFAULT_INSTANCE, info, objects);
-        }
-        // fall through
-        case GET_DEFAULT_INSTANCE: {
-          return DEFAULT_INSTANCE;
-        }
-        case GET_PARSER: {
-          com.google.protobuf.Parser<com.viam.component.audioinput.v1.Audioinput.PropertiesResponse> parser = PARSER;
-          if (parser == null) {
-            synchronized (com.viam.component.audioinput.v1.Audioinput.PropertiesResponse.class) {
-              parser = PARSER;
-              if (parser == null) {
-                parser =
-                    new DefaultInstanceBasedParser<com.viam.component.audioinput.v1.Audioinput.PropertiesResponse>(
-                        DEFAULT_INSTANCE);
-                PARSER = parser;
-              }
-            }
-          }
-          return parser;
-      }
-      case GET_MEMOIZED_IS_INITIALIZED: {
-        return (byte) 1;
-      }
-      case SET_MEMOIZED_IS_INITIALIZED: {
-        return null;
-      }
-      }
-      throw new UnsupportedOperationException();
-    }
-
-
-    // @@protoc_insertion_point(class_scope:viam.component.audioinput.v1.PropertiesResponse)
-    private static final com.viam.component.audioinput.v1.Audioinput.PropertiesResponse DEFAULT_INSTANCE;
-    static {
-      PropertiesResponse defaultInstance = new PropertiesResponse();
-      // New instances are implicitly immutable so no need to make
-      // immutable.
-      DEFAULT_INSTANCE = defaultInstance;
-      com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
-        PropertiesResponse.class, defaultInstance);
-    }
-
-    public static com.viam.component.audioinput.v1.Audioinput.PropertiesResponse getDefaultInstance() {
-      return DEFAULT_INSTANCE;
-    }
-
-    private static volatile com.google.protobuf.Parser<PropertiesResponse> PARSER;
-
-    public static com.google.protobuf.Parser<PropertiesResponse> parser() {
-      return DEFAULT_INSTANCE.getParserForType();
-    }
-  }
-
-
-  static {
-  }
-
-  // @@protoc_insertion_point(outer_class_scope)
-}
diff --git a/core/sdk/src/main/gen/com/viam/component/audioout/v1/AudioOutServiceGrpc.java b/core/sdk/src/main/gen/com/viam/component/audioout/v1/AudioOutServiceGrpc.java
index a2bd61b2d..b35b10270 100644
--- a/core/sdk/src/main/gen/com/viam/component/audioout/v1/AudioOutServiceGrpc.java
+++ b/core/sdk/src/main/gen/com/viam/component/audioout/v1/AudioOutServiceGrpc.java
@@ -108,6 +108,36 @@ com.viam.common.v1.Common.DoCommandResponse> getDoCommandMethod() {
     return getDoCommandMethod;
   }
 
+  private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "GetStatus",
+      requestType = com.viam.common.v1.Common.GetStatusRequest.class,
+      responseType = com.viam.common.v1.Common.GetStatusResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod() {
+    io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+    if ((getGetStatusMethod = AudioOutServiceGrpc.getGetStatusMethod) == null) {
+      synchronized (AudioOutServiceGrpc.class) {
+        if ((getGetStatusMethod = AudioOutServiceGrpc.getGetStatusMethod) == null) {
+          AudioOutServiceGrpc.getGetStatusMethod = getGetStatusMethod =
+              io.grpc.MethodDescriptor.<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetStatus"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusResponse.getDefaultInstance()))
+              .build();
+        }
+      }
+    }
+    return getGetStatusMethod;
+  }
+
   private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetGeometriesRequest,
       com.viam.common.v1.Common.GetGeometriesResponse> getGetGeometriesMethod;
 
@@ -219,6 +249,16 @@ default void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
       io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getDoCommandMethod(), responseObserver);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    default void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetStatusMethod(), responseObserver);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -296,6 +336,17 @@ public void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request, responseObserver);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request, responseObserver);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -357,6 +408,16 @@ public com.viam.common.v1.Common.DoCommandResponse doCommand(com.viam.common.v1.
           getChannel(), getDoCommandMethod(), getCallOptions(), request);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.viam.common.v1.Common.GetStatusResponse getStatus(com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getGetStatusMethod(), getCallOptions(), request);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -420,6 +481,17 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Common.GetStatusResponse> getStatus(
+        com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -435,7 +507,8 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
   private static final int METHODID_PLAY = 0;
   private static final int METHODID_GET_PROPERTIES = 1;
   private static final int METHODID_DO_COMMAND = 2;
-  private static final int METHODID_GET_GEOMETRIES = 3;
+  private static final int METHODID_GET_STATUS = 3;
+  private static final int METHODID_GET_GEOMETRIES = 4;
 
   private static final class MethodHandlers<Req, Resp> implements
       io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@@ -466,6 +539,10 @@ public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserv
           serviceImpl.doCommand((com.viam.common.v1.Common.DoCommandRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse>) responseObserver);
           break;
+        case METHODID_GET_STATUS:
+          serviceImpl.getStatus((com.viam.common.v1.Common.GetStatusRequest) request,
+              (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse>) responseObserver);
+          break;
         case METHODID_GET_GEOMETRIES:
           serviceImpl.getGeometries((com.viam.common.v1.Common.GetGeometriesRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetGeometriesResponse>) responseObserver);
@@ -509,6 +586,13 @@ public static final io.grpc.ServerServiceDefinition bindService(AsyncService ser
               com.viam.common.v1.Common.DoCommandRequest,
               com.viam.common.v1.Common.DoCommandResponse>(
                 service, METHODID_DO_COMMAND)))
+        .addMethod(
+          getGetStatusMethod(),
+          io.grpc.stub.ServerCalls.asyncUnaryCall(
+            new MethodHandlers<
+              com.viam.common.v1.Common.GetStatusRequest,
+              com.viam.common.v1.Common.GetStatusResponse>(
+                service, METHODID_GET_STATUS)))
         .addMethod(
           getGetGeometriesMethod(),
           io.grpc.stub.ServerCalls.asyncUnaryCall(
@@ -531,6 +615,7 @@ public static io.grpc.ServiceDescriptor getServiceDescriptor() {
               .addMethod(getPlayMethod())
               .addMethod(getGetPropertiesMethod())
               .addMethod(getDoCommandMethod())
+              .addMethod(getGetStatusMethod())
               .addMethod(getGetGeometriesMethod())
               .build();
         }
diff --git a/core/sdk/src/main/gen/com/viam/component/base/v1/BaseServiceGrpc.java b/core/sdk/src/main/gen/com/viam/component/base/v1/BaseServiceGrpc.java
index ca7cd5af8..d7baa6704 100644
--- a/core/sdk/src/main/gen/com/viam/component/base/v1/BaseServiceGrpc.java
+++ b/core/sdk/src/main/gen/com/viam/component/base/v1/BaseServiceGrpc.java
@@ -225,6 +225,36 @@ com.viam.common.v1.Common.DoCommandResponse> getDoCommandMethod() {
     return getDoCommandMethod;
   }
 
+  private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "GetStatus",
+      requestType = com.viam.common.v1.Common.GetStatusRequest.class,
+      responseType = com.viam.common.v1.Common.GetStatusResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod() {
+    io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+    if ((getGetStatusMethod = BaseServiceGrpc.getGetStatusMethod) == null) {
+      synchronized (BaseServiceGrpc.class) {
+        if ((getGetStatusMethod = BaseServiceGrpc.getGetStatusMethod) == null) {
+          BaseServiceGrpc.getGetStatusMethod = getGetStatusMethod =
+              io.grpc.MethodDescriptor.<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetStatus"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusResponse.getDefaultInstance()))
+              .build();
+        }
+      }
+    }
+    return getGetStatusMethod;
+  }
+
   private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetGeometriesRequest,
       com.viam.common.v1.Common.GetGeometriesResponse> getGetGeometriesMethod;
 
@@ -408,6 +438,16 @@ default void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
       io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getDoCommandMethod(), responseObserver);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    default void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetStatusMethod(), responseObserver);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -538,6 +578,17 @@ public void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request, responseObserver);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request, responseObserver);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -652,6 +703,16 @@ public com.viam.common.v1.Common.DoCommandResponse doCommand(com.viam.common.v1.
           getChannel(), getDoCommandMethod(), getCallOptions(), request);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.viam.common.v1.Common.GetStatusResponse getStatus(com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getGetStatusMethod(), getCallOptions(), request);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -771,6 +832,17 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Common.GetStatusResponse> getStatus(
+        com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -801,8 +873,9 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.component.bas
   private static final int METHODID_STOP = 4;
   private static final int METHODID_IS_MOVING = 5;
   private static final int METHODID_DO_COMMAND = 6;
-  private static final int METHODID_GET_GEOMETRIES = 7;
-  private static final int METHODID_GET_PROPERTIES = 8;
+  private static final int METHODID_GET_STATUS = 7;
+  private static final int METHODID_GET_GEOMETRIES = 8;
+  private static final int METHODID_GET_PROPERTIES = 9;
 
   private static final class MethodHandlers<Req, Resp> implements
       io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@@ -849,6 +922,10 @@ public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserv
           serviceImpl.doCommand((com.viam.common.v1.Common.DoCommandRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse>) responseObserver);
           break;
+        case METHODID_GET_STATUS:
+          serviceImpl.getStatus((com.viam.common.v1.Common.GetStatusRequest) request,
+              (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse>) responseObserver);
+          break;
         case METHODID_GET_GEOMETRIES:
           serviceImpl.getGeometries((com.viam.common.v1.Common.GetGeometriesRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetGeometriesResponse>) responseObserver);
@@ -924,6 +1001,13 @@ public static final io.grpc.ServerServiceDefinition bindService(AsyncService ser
               com.viam.common.v1.Common.DoCommandRequest,
               com.viam.common.v1.Common.DoCommandResponse>(
                 service, METHODID_DO_COMMAND)))
+        .addMethod(
+          getGetStatusMethod(),
+          io.grpc.stub.ServerCalls.asyncUnaryCall(
+            new MethodHandlers<
+              com.viam.common.v1.Common.GetStatusRequest,
+              com.viam.common.v1.Common.GetStatusResponse>(
+                service, METHODID_GET_STATUS)))
         .addMethod(
           getGetGeometriesMethod(),
           io.grpc.stub.ServerCalls.asyncUnaryCall(
@@ -957,6 +1041,7 @@ public static io.grpc.ServiceDescriptor getServiceDescriptor() {
               .addMethod(getStopMethod())
               .addMethod(getIsMovingMethod())
               .addMethod(getDoCommandMethod())
+              .addMethod(getGetStatusMethod())
               .addMethod(getGetGeometriesMethod())
               .addMethod(getGetPropertiesMethod())
               .build();
diff --git a/core/sdk/src/main/gen/com/viam/component/board/v1/BoardServiceGrpc.java b/core/sdk/src/main/gen/com/viam/component/board/v1/BoardServiceGrpc.java
index 04548e551..0fe95c4cc 100644
--- a/core/sdk/src/main/gen/com/viam/component/board/v1/BoardServiceGrpc.java
+++ b/core/sdk/src/main/gen/com/viam/component/board/v1/BoardServiceGrpc.java
@@ -228,6 +228,36 @@ com.viam.common.v1.Common.DoCommandResponse> getDoCommandMethod() {
     return getDoCommandMethod;
   }
 
+  private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "GetStatus",
+      requestType = com.viam.common.v1.Common.GetStatusRequest.class,
+      responseType = com.viam.common.v1.Common.GetStatusResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod() {
+    io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+    if ((getGetStatusMethod = BoardServiceGrpc.getGetStatusMethod) == null) {
+      synchronized (BoardServiceGrpc.class) {
+        if ((getGetStatusMethod = BoardServiceGrpc.getGetStatusMethod) == null) {
+          BoardServiceGrpc.getGetStatusMethod = getGetStatusMethod =
+              io.grpc.MethodDescriptor.<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetStatus"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusResponse.getDefaultInstance()))
+              .build();
+        }
+      }
+    }
+    return getGetStatusMethod;
+  }
+
   private static volatile io.grpc.MethodDescriptor<com.viam.component.board.v1.Board.ReadAnalogReaderRequest,
       com.viam.component.board.v1.Board.ReadAnalogReaderResponse> getReadAnalogReaderMethod;
 
@@ -526,6 +556,16 @@ default void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
       io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getDoCommandMethod(), responseObserver);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    default void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetStatusMethod(), responseObserver);
+    }
+
     /**
      * <pre>
      * ReadAnalogReader reads off the current value of an analog reader of a board of the underlying robot.
@@ -694,6 +734,17 @@ public void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request, responseObserver);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request, responseObserver);
+    }
+
     /**
      * <pre>
      * ReadAnalogReader reads off the current value of an analog reader of a board of the underlying robot.
@@ -847,6 +898,16 @@ public com.viam.common.v1.Common.DoCommandResponse doCommand(com.viam.common.v1.
           getChannel(), getDoCommandMethod(), getCallOptions(), request);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.viam.common.v1.Common.GetStatusResponse getStatus(com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getGetStatusMethod(), getCallOptions(), request);
+    }
+
     /**
      * <pre>
      * ReadAnalogReader reads off the current value of an analog reader of a board of the underlying robot.
@@ -1002,6 +1063,17 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Common.GetStatusResponse> getStatus(
+        com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request);
+    }
+
     /**
      * <pre>
      * ReadAnalogReader reads off the current value of an analog reader of a board of the underlying robot.
@@ -1065,12 +1137,13 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
   private static final int METHODID_PWMFREQUENCY = 4;
   private static final int METHODID_SET_PWMFREQUENCY = 5;
   private static final int METHODID_DO_COMMAND = 6;
-  private static final int METHODID_READ_ANALOG_READER = 7;
-  private static final int METHODID_WRITE_ANALOG = 8;
-  private static final int METHODID_GET_DIGITAL_INTERRUPT_VALUE = 9;
-  private static final int METHODID_STREAM_TICKS = 10;
-  private static final int METHODID_SET_POWER_MODE = 11;
-  private static final int METHODID_GET_GEOMETRIES = 12;
+  private static final int METHODID_GET_STATUS = 7;
+  private static final int METHODID_READ_ANALOG_READER = 8;
+  private static final int METHODID_WRITE_ANALOG = 9;
+  private static final int METHODID_GET_DIGITAL_INTERRUPT_VALUE = 10;
+  private static final int METHODID_STREAM_TICKS = 11;
+  private static final int METHODID_SET_POWER_MODE = 12;
+  private static final int METHODID_GET_GEOMETRIES = 13;
 
   private static final class MethodHandlers<Req, Resp> implements
       io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@@ -1117,6 +1190,10 @@ public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserv
           serviceImpl.doCommand((com.viam.common.v1.Common.DoCommandRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse>) responseObserver);
           break;
+        case METHODID_GET_STATUS:
+          serviceImpl.getStatus((com.viam.common.v1.Common.GetStatusRequest) request,
+              (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse>) responseObserver);
+          break;
         case METHODID_READ_ANALOG_READER:
           serviceImpl.readAnalogReader((com.viam.component.board.v1.Board.ReadAnalogReaderRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.component.board.v1.Board.ReadAnalogReaderResponse>) responseObserver);
@@ -1208,6 +1285,13 @@ public static final io.grpc.ServerServiceDefinition bindService(AsyncService ser
               com.viam.common.v1.Common.DoCommandRequest,
               com.viam.common.v1.Common.DoCommandResponse>(
                 service, METHODID_DO_COMMAND)))
+        .addMethod(
+          getGetStatusMethod(),
+          io.grpc.stub.ServerCalls.asyncUnaryCall(
+            new MethodHandlers<
+              com.viam.common.v1.Common.GetStatusRequest,
+              com.viam.common.v1.Common.GetStatusResponse>(
+                service, METHODID_GET_STATUS)))
         .addMethod(
           getReadAnalogReaderMethod(),
           io.grpc.stub.ServerCalls.asyncUnaryCall(
@@ -1269,6 +1353,7 @@ public static io.grpc.ServiceDescriptor getServiceDescriptor() {
               .addMethod(getPWMFrequencyMethod())
               .addMethod(getSetPWMFrequencyMethod())
               .addMethod(getDoCommandMethod())
+              .addMethod(getGetStatusMethod())
               .addMethod(getReadAnalogReaderMethod())
               .addMethod(getWriteAnalogMethod())
               .addMethod(getGetDigitalInterruptValueMethod())
diff --git a/core/sdk/src/main/gen/com/viam/component/button/v1/ButtonServiceGrpc.java b/core/sdk/src/main/gen/com/viam/component/button/v1/ButtonServiceGrpc.java
index b121c76a2..ad751c86b 100644
--- a/core/sdk/src/main/gen/com/viam/component/button/v1/ButtonServiceGrpc.java
+++ b/core/sdk/src/main/gen/com/viam/component/button/v1/ButtonServiceGrpc.java
@@ -78,6 +78,36 @@ com.viam.common.v1.Common.DoCommandResponse> getDoCommandMethod() {
     return getDoCommandMethod;
   }
 
+  private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "GetStatus",
+      requestType = com.viam.common.v1.Common.GetStatusRequest.class,
+      responseType = com.viam.common.v1.Common.GetStatusResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod() {
+    io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+    if ((getGetStatusMethod = ButtonServiceGrpc.getGetStatusMethod) == null) {
+      synchronized (ButtonServiceGrpc.class) {
+        if ((getGetStatusMethod = ButtonServiceGrpc.getGetStatusMethod) == null) {
+          ButtonServiceGrpc.getGetStatusMethod = getGetStatusMethod =
+              io.grpc.MethodDescriptor.<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetStatus"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusResponse.getDefaultInstance()))
+              .build();
+        }
+      }
+    }
+    return getGetStatusMethod;
+  }
+
   /**
    * Creates a new async stub that supports all call types for the service
    */
@@ -148,6 +178,16 @@ default void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
         io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse> responseObserver) {
       io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getDoCommandMethod(), responseObserver);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    default void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetStatusMethod(), responseObserver);
+    }
   }
 
   /**
@@ -204,6 +244,17 @@ public void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
       io.grpc.stub.ClientCalls.asyncUnaryCall(
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request, responseObserver);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request, responseObserver);
+    }
   }
 
   /**
@@ -244,6 +295,16 @@ public com.viam.common.v1.Common.DoCommandResponse doCommand(com.viam.common.v1.
       return io.grpc.stub.ClientCalls.blockingUnaryCall(
           getChannel(), getDoCommandMethod(), getCallOptions(), request);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.viam.common.v1.Common.GetStatusResponse getStatus(com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getGetStatusMethod(), getCallOptions(), request);
+    }
   }
 
   /**
@@ -286,10 +347,22 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
       return io.grpc.stub.ClientCalls.futureUnaryCall(
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Common.GetStatusResponse> getStatus(
+        com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request);
+    }
   }
 
   private static final int METHODID_PUSH = 0;
   private static final int METHODID_DO_COMMAND = 1;
+  private static final int METHODID_GET_STATUS = 2;
 
   private static final class MethodHandlers<Req, Resp> implements
       io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@@ -316,6 +389,10 @@ public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserv
           serviceImpl.doCommand((com.viam.common.v1.Common.DoCommandRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse>) responseObserver);
           break;
+        case METHODID_GET_STATUS:
+          serviceImpl.getStatus((com.viam.common.v1.Common.GetStatusRequest) request,
+              (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse>) responseObserver);
+          break;
         default:
           throw new AssertionError();
       }
@@ -348,6 +425,13 @@ public static final io.grpc.ServerServiceDefinition bindService(AsyncService ser
               com.viam.common.v1.Common.DoCommandRequest,
               com.viam.common.v1.Common.DoCommandResponse>(
                 service, METHODID_DO_COMMAND)))
+        .addMethod(
+          getGetStatusMethod(),
+          io.grpc.stub.ServerCalls.asyncUnaryCall(
+            new MethodHandlers<
+              com.viam.common.v1.Common.GetStatusRequest,
+              com.viam.common.v1.Common.GetStatusResponse>(
+                service, METHODID_GET_STATUS)))
         .build();
   }
 
@@ -362,6 +446,7 @@ public static io.grpc.ServiceDescriptor getServiceDescriptor() {
           serviceDescriptor = result = io.grpc.ServiceDescriptor.newBuilder(SERVICE_NAME)
               .addMethod(getPushMethod())
               .addMethod(getDoCommandMethod())
+              .addMethod(getGetStatusMethod())
               .build();
         }
       }
diff --git a/core/sdk/src/main/gen/com/viam/component/camera/v1/Camera.java b/core/sdk/src/main/gen/com/viam/component/camera/v1/Camera.java
index 9382bc0f6..ed580840a 100644
--- a/core/sdk/src/main/gen/com/viam/component/camera/v1/Camera.java
+++ b/core/sdk/src/main/gen/com/viam/component/camera/v1/Camera.java
@@ -5819,6 +5819,27 @@ public interface GetPropertiesResponseOrBuilder extends
      * @return The frameRate.
      */
     float getFrameRate();
+
+    /**
+     * <pre>
+     * Parameters for the camera's position relative to a reference frame
+     * If camera does not provide extrinsic parameters, leave the field empty
+     * </pre>
+     *
+     * <code>.viam.component.camera.v1.ExtrinsicParameters extrinsic_parameters = 6 [json_name = "extrinsicParameters"];</code>
+     * @return Whether the extrinsicParameters field is set.
+     */
+    boolean hasExtrinsicParameters();
+    /**
+     * <pre>
+     * Parameters for the camera's position relative to a reference frame
+     * If camera does not provide extrinsic parameters, leave the field empty
+     * </pre>
+     *
+     * <code>.viam.component.camera.v1.ExtrinsicParameters extrinsic_parameters = 6 [json_name = "extrinsicParameters"];</code>
+     * @return The extrinsicParameters.
+     */
+    com.viam.component.camera.v1.Camera.ExtrinsicParameters getExtrinsicParameters();
   }
   /**
    * Protobuf type {@code viam.component.camera.v1.GetPropertiesResponse}
@@ -6201,6 +6222,77 @@ private void clearFrameRate() {
       frameRate_ = 0F;
     }
 
+    public static final int EXTRINSIC_PARAMETERS_FIELD_NUMBER = 6;
+    private com.viam.component.camera.v1.Camera.ExtrinsicParameters extrinsicParameters_;
+    /**
+     * <pre>
+     * Parameters for the camera's position relative to a reference frame
+     * If camera does not provide extrinsic parameters, leave the field empty
+     * </pre>
+     *
+     * <code>.viam.component.camera.v1.ExtrinsicParameters extrinsic_parameters = 6 [json_name = "extrinsicParameters"];</code>
+     */
+    @java.lang.Override
+    public boolean hasExtrinsicParameters() {
+      return ((bitField0_ & 0x00000008) != 0);
+    }
+    /**
+     * <pre>
+     * Parameters for the camera's position relative to a reference frame
+     * If camera does not provide extrinsic parameters, leave the field empty
+     * </pre>
+     *
+     * <code>.viam.component.camera.v1.ExtrinsicParameters extrinsic_parameters = 6 [json_name = "extrinsicParameters"];</code>
+     */
+    @java.lang.Override
+    public com.viam.component.camera.v1.Camera.ExtrinsicParameters getExtrinsicParameters() {
+      return extrinsicParameters_ == null ? com.viam.component.camera.v1.Camera.ExtrinsicParameters.getDefaultInstance() : extrinsicParameters_;
+    }
+    /**
+     * <pre>
+     * Parameters for the camera's position relative to a reference frame
+     * If camera does not provide extrinsic parameters, leave the field empty
+     * </pre>
+     *
+     * <code>.viam.component.camera.v1.ExtrinsicParameters extrinsic_parameters = 6 [json_name = "extrinsicParameters"];</code>
+     */
+    private void setExtrinsicParameters(com.viam.component.camera.v1.Camera.ExtrinsicParameters value) {
+      value.getClass();
+  extrinsicParameters_ = value;
+      bitField0_ |= 0x00000008;
+      }
+    /**
+     * <pre>
+     * Parameters for the camera's position relative to a reference frame
+     * If camera does not provide extrinsic parameters, leave the field empty
+     * </pre>
+     *
+     * <code>.viam.component.camera.v1.ExtrinsicParameters extrinsic_parameters = 6 [json_name = "extrinsicParameters"];</code>
+     */
+    @java.lang.SuppressWarnings({"ReferenceEquality"})
+    private void mergeExtrinsicParameters(com.viam.component.camera.v1.Camera.ExtrinsicParameters value) {
+      value.getClass();
+  if (extrinsicParameters_ != null &&
+          extrinsicParameters_ != com.viam.component.camera.v1.Camera.ExtrinsicParameters.getDefaultInstance()) {
+        extrinsicParameters_ =
+          com.viam.component.camera.v1.Camera.ExtrinsicParameters.newBuilder(extrinsicParameters_).mergeFrom(value).buildPartial();
+      } else {
+        extrinsicParameters_ = value;
+      }
+      bitField0_ |= 0x00000008;
+    }
+    /**
+     * <pre>
+     * Parameters for the camera's position relative to a reference frame
+     * If camera does not provide extrinsic parameters, leave the field empty
+     * </pre>
+     *
+     * <code>.viam.component.camera.v1.ExtrinsicParameters extrinsic_parameters = 6 [json_name = "extrinsicParameters"];</code>
+     */
+    private void clearExtrinsicParameters() {  extrinsicParameters_ = null;
+      bitField0_ = (bitField0_ & ~0x00000008);
+    }
+
     public static com.viam.component.camera.v1.Camera.GetPropertiesResponse parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
@@ -6684,6 +6776,83 @@ public Builder clearFrameRate() {
         return this;
       }
 
+      /**
+       * <pre>
+       * Parameters for the camera's position relative to a reference frame
+       * If camera does not provide extrinsic parameters, leave the field empty
+       * </pre>
+       *
+       * <code>.viam.component.camera.v1.ExtrinsicParameters extrinsic_parameters = 6 [json_name = "extrinsicParameters"];</code>
+       */
+      @java.lang.Override
+      public boolean hasExtrinsicParameters() {
+        return instance.hasExtrinsicParameters();
+      }
+      /**
+       * <pre>
+       * Parameters for the camera's position relative to a reference frame
+       * If camera does not provide extrinsic parameters, leave the field empty
+       * </pre>
+       *
+       * <code>.viam.component.camera.v1.ExtrinsicParameters extrinsic_parameters = 6 [json_name = "extrinsicParameters"];</code>
+       */
+      @java.lang.Override
+      public com.viam.component.camera.v1.Camera.ExtrinsicParameters getExtrinsicParameters() {
+        return instance.getExtrinsicParameters();
+      }
+      /**
+       * <pre>
+       * Parameters for the camera's position relative to a reference frame
+       * If camera does not provide extrinsic parameters, leave the field empty
+       * </pre>
+       *
+       * <code>.viam.component.camera.v1.ExtrinsicParameters extrinsic_parameters = 6 [json_name = "extrinsicParameters"];</code>
+       */
+      public Builder setExtrinsicParameters(com.viam.component.camera.v1.Camera.ExtrinsicParameters value) {
+        copyOnWrite();
+        instance.setExtrinsicParameters(value);
+        return this;
+        }
+      /**
+       * <pre>
+       * Parameters for the camera's position relative to a reference frame
+       * If camera does not provide extrinsic parameters, leave the field empty
+       * </pre>
+       *
+       * <code>.viam.component.camera.v1.ExtrinsicParameters extrinsic_parameters = 6 [json_name = "extrinsicParameters"];</code>
+       */
+      public Builder setExtrinsicParameters(
+          com.viam.component.camera.v1.Camera.ExtrinsicParameters.Builder builderForValue) {
+        copyOnWrite();
+        instance.setExtrinsicParameters(builderForValue.build());
+        return this;
+      }
+      /**
+       * <pre>
+       * Parameters for the camera's position relative to a reference frame
+       * If camera does not provide extrinsic parameters, leave the field empty
+       * </pre>
+       *
+       * <code>.viam.component.camera.v1.ExtrinsicParameters extrinsic_parameters = 6 [json_name = "extrinsicParameters"];</code>
+       */
+      public Builder mergeExtrinsicParameters(com.viam.component.camera.v1.Camera.ExtrinsicParameters value) {
+        copyOnWrite();
+        instance.mergeExtrinsicParameters(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * Parameters for the camera's position relative to a reference frame
+       * If camera does not provide extrinsic parameters, leave the field empty
+       * </pre>
+       *
+       * <code>.viam.component.camera.v1.ExtrinsicParameters extrinsic_parameters = 6 [json_name = "extrinsicParameters"];</code>
+       */
+      public Builder clearExtrinsicParameters() {  copyOnWrite();
+        instance.clearExtrinsicParameters();
+        return this;
+      }
+
       // @@protoc_insertion_point(builder_scope:viam.component.camera.v1.GetPropertiesResponse)
     }
     @java.lang.Override
@@ -6706,10 +6875,11 @@ protected final java.lang.Object dynamicMethod(
               "distortionParameters_",
               "mimeTypes_",
               "frameRate_",
+              "extrinsicParameters_",
             };
             java.lang.String info =
-                "\u0000\u0005\u0000\u0001\u0001\u0005\u0005\u0000\u0001\u0000\u0001\u0007\u0002\u1009" +
-                "\u0000\u0003\u1009\u0001\u0004\u021a\u0005\u1001\u0002";
+                "\u0000\u0006\u0000\u0001\u0001\u0006\u0006\u0000\u0001\u0000\u0001\u0007\u0002\u1009" +
+                "\u0000\u0003\u1009\u0001\u0004\u021a\u0005\u1001\u0002\u0006\u1009\u0003";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         // fall through
@@ -9909,6 +10079,517 @@ public static com.google.protobuf.Parser<DistortionParameters> parser() {
     }
   }
 
+  public interface ExtrinsicParametersOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:viam.component.camera.v1.ExtrinsicParameters)
+      com.google.protobuf.MessageLiteOrBuilder {
+
+    /**
+     * <pre>
+     * The translation from the reference frame to the camera.
+     * </pre>
+     *
+     * <code>.viam.common.v1.Vector3 translation = 1 [json_name = "translation"];</code>
+     * @return Whether the translation field is set.
+     */
+    boolean hasTranslation();
+    /**
+     * <pre>
+     * The translation from the reference frame to the camera.
+     * </pre>
+     *
+     * <code>.viam.common.v1.Vector3 translation = 1 [json_name = "translation"];</code>
+     * @return The translation.
+     */
+    com.viam.common.v1.Common.Vector3 getTranslation();
+
+    /**
+     * <pre>
+     * The orientation from the reference frame to the camera.
+     * </pre>
+     *
+     * <code>.viam.common.v1.Orientation orientation = 2 [json_name = "orientation"];</code>
+     * @return Whether the orientation field is set.
+     */
+    boolean hasOrientation();
+    /**
+     * <pre>
+     * The orientation from the reference frame to the camera.
+     * </pre>
+     *
+     * <code>.viam.common.v1.Orientation orientation = 2 [json_name = "orientation"];</code>
+     * @return The orientation.
+     */
+    com.viam.common.v1.Common.Orientation getOrientation();
+  }
+  /**
+   * <pre>
+   * ExtrinsicParameters define the position of the camera
+   * relative to a reference frame (the world or another sensor).
+   * </pre>
+   *
+   * Protobuf type {@code viam.component.camera.v1.ExtrinsicParameters}
+   */
+  public  static final class ExtrinsicParameters extends
+      com.google.protobuf.GeneratedMessageLite<
+          ExtrinsicParameters, ExtrinsicParameters.Builder> implements
+      // @@protoc_insertion_point(message_implements:viam.component.camera.v1.ExtrinsicParameters)
+      ExtrinsicParametersOrBuilder {
+    private ExtrinsicParameters() {
+    }
+    private int bitField0_;
+    public static final int TRANSLATION_FIELD_NUMBER = 1;
+    private com.viam.common.v1.Common.Vector3 translation_;
+    /**
+     * <pre>
+     * The translation from the reference frame to the camera.
+     * </pre>
+     *
+     * <code>.viam.common.v1.Vector3 translation = 1 [json_name = "translation"];</code>
+     */
+    @java.lang.Override
+    public boolean hasTranslation() {
+      return ((bitField0_ & 0x00000001) != 0);
+    }
+    /**
+     * <pre>
+     * The translation from the reference frame to the camera.
+     * </pre>
+     *
+     * <code>.viam.common.v1.Vector3 translation = 1 [json_name = "translation"];</code>
+     */
+    @java.lang.Override
+    public com.viam.common.v1.Common.Vector3 getTranslation() {
+      return translation_ == null ? com.viam.common.v1.Common.Vector3.getDefaultInstance() : translation_;
+    }
+    /**
+     * <pre>
+     * The translation from the reference frame to the camera.
+     * </pre>
+     *
+     * <code>.viam.common.v1.Vector3 translation = 1 [json_name = "translation"];</code>
+     */
+    private void setTranslation(com.viam.common.v1.Common.Vector3 value) {
+      value.getClass();
+  translation_ = value;
+      bitField0_ |= 0x00000001;
+      }
+    /**
+     * <pre>
+     * The translation from the reference frame to the camera.
+     * </pre>
+     *
+     * <code>.viam.common.v1.Vector3 translation = 1 [json_name = "translation"];</code>
+     */
+    @java.lang.SuppressWarnings({"ReferenceEquality"})
+    private void mergeTranslation(com.viam.common.v1.Common.Vector3 value) {
+      value.getClass();
+  if (translation_ != null &&
+          translation_ != com.viam.common.v1.Common.Vector3.getDefaultInstance()) {
+        translation_ =
+          com.viam.common.v1.Common.Vector3.newBuilder(translation_).mergeFrom(value).buildPartial();
+      } else {
+        translation_ = value;
+      }
+      bitField0_ |= 0x00000001;
+    }
+    /**
+     * <pre>
+     * The translation from the reference frame to the camera.
+     * </pre>
+     *
+     * <code>.viam.common.v1.Vector3 translation = 1 [json_name = "translation"];</code>
+     */
+    private void clearTranslation() {  translation_ = null;
+      bitField0_ = (bitField0_ & ~0x00000001);
+    }
+
+    public static final int ORIENTATION_FIELD_NUMBER = 2;
+    private com.viam.common.v1.Common.Orientation orientation_;
+    /**
+     * <pre>
+     * The orientation from the reference frame to the camera.
+     * </pre>
+     *
+     * <code>.viam.common.v1.Orientation orientation = 2 [json_name = "orientation"];</code>
+     */
+    @java.lang.Override
+    public boolean hasOrientation() {
+      return ((bitField0_ & 0x00000002) != 0);
+    }
+    /**
+     * <pre>
+     * The orientation from the reference frame to the camera.
+     * </pre>
+     *
+     * <code>.viam.common.v1.Orientation orientation = 2 [json_name = "orientation"];</code>
+     */
+    @java.lang.Override
+    public com.viam.common.v1.Common.Orientation getOrientation() {
+      return orientation_ == null ? com.viam.common.v1.Common.Orientation.getDefaultInstance() : orientation_;
+    }
+    /**
+     * <pre>
+     * The orientation from the reference frame to the camera.
+     * </pre>
+     *
+     * <code>.viam.common.v1.Orientation orientation = 2 [json_name = "orientation"];</code>
+     */
+    private void setOrientation(com.viam.common.v1.Common.Orientation value) {
+      value.getClass();
+  orientation_ = value;
+      bitField0_ |= 0x00000002;
+      }
+    /**
+     * <pre>
+     * The orientation from the reference frame to the camera.
+     * </pre>
+     *
+     * <code>.viam.common.v1.Orientation orientation = 2 [json_name = "orientation"];</code>
+     */
+    @java.lang.SuppressWarnings({"ReferenceEquality"})
+    private void mergeOrientation(com.viam.common.v1.Common.Orientation value) {
+      value.getClass();
+  if (orientation_ != null &&
+          orientation_ != com.viam.common.v1.Common.Orientation.getDefaultInstance()) {
+        orientation_ =
+          com.viam.common.v1.Common.Orientation.newBuilder(orientation_).mergeFrom(value).buildPartial();
+      } else {
+        orientation_ = value;
+      }
+      bitField0_ |= 0x00000002;
+    }
+    /**
+     * <pre>
+     * The orientation from the reference frame to the camera.
+     * </pre>
+     *
+     * <code>.viam.common.v1.Orientation orientation = 2 [json_name = "orientation"];</code>
+     */
+    private void clearOrientation() {  orientation_ = null;
+      bitField0_ = (bitField0_ & ~0x00000002);
+    }
+
+    public static com.viam.component.camera.v1.Camera.ExtrinsicParameters parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static com.viam.component.camera.v1.Camera.ExtrinsicParameters parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static com.viam.component.camera.v1.Camera.ExtrinsicParameters parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static com.viam.component.camera.v1.Camera.ExtrinsicParameters parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static com.viam.component.camera.v1.Camera.ExtrinsicParameters parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static com.viam.component.camera.v1.Camera.ExtrinsicParameters parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static com.viam.component.camera.v1.Camera.ExtrinsicParameters parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static com.viam.component.camera.v1.Camera.ExtrinsicParameters parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static com.viam.component.camera.v1.Camera.ExtrinsicParameters parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input);
+    }
+
+    public static com.viam.component.camera.v1.Camera.ExtrinsicParameters parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+    public static com.viam.component.camera.v1.Camera.ExtrinsicParameters parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static com.viam.component.camera.v1.Camera.ExtrinsicParameters parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static Builder newBuilder() {
+      return (Builder) DEFAULT_INSTANCE.createBuilder();
+    }
+    public static Builder newBuilder(com.viam.component.camera.v1.Camera.ExtrinsicParameters prototype) {
+      return DEFAULT_INSTANCE.createBuilder(prototype);
+    }
+
+    /**
+     * <pre>
+     * ExtrinsicParameters define the position of the camera
+     * relative to a reference frame (the world or another sensor).
+     * </pre>
+     *
+     * Protobuf type {@code viam.component.camera.v1.ExtrinsicParameters}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageLite.Builder<
+          com.viam.component.camera.v1.Camera.ExtrinsicParameters, Builder> implements
+        // @@protoc_insertion_point(builder_implements:viam.component.camera.v1.ExtrinsicParameters)
+        com.viam.component.camera.v1.Camera.ExtrinsicParametersOrBuilder {
+      // Construct using com.viam.component.camera.v1.Camera.ExtrinsicParameters.newBuilder()
+      private Builder() {
+        super(DEFAULT_INSTANCE);
+      }
+
+
+      /**
+       * <pre>
+       * The translation from the reference frame to the camera.
+       * </pre>
+       *
+       * <code>.viam.common.v1.Vector3 translation = 1 [json_name = "translation"];</code>
+       */
+      @java.lang.Override
+      public boolean hasTranslation() {
+        return instance.hasTranslation();
+      }
+      /**
+       * <pre>
+       * The translation from the reference frame to the camera.
+       * </pre>
+       *
+       * <code>.viam.common.v1.Vector3 translation = 1 [json_name = "translation"];</code>
+       */
+      @java.lang.Override
+      public com.viam.common.v1.Common.Vector3 getTranslation() {
+        return instance.getTranslation();
+      }
+      /**
+       * <pre>
+       * The translation from the reference frame to the camera.
+       * </pre>
+       *
+       * <code>.viam.common.v1.Vector3 translation = 1 [json_name = "translation"];</code>
+       */
+      public Builder setTranslation(com.viam.common.v1.Common.Vector3 value) {
+        copyOnWrite();
+        instance.setTranslation(value);
+        return this;
+        }
+      /**
+       * <pre>
+       * The translation from the reference frame to the camera.
+       * </pre>
+       *
+       * <code>.viam.common.v1.Vector3 translation = 1 [json_name = "translation"];</code>
+       */
+      public Builder setTranslation(
+          com.viam.common.v1.Common.Vector3.Builder builderForValue) {
+        copyOnWrite();
+        instance.setTranslation(builderForValue.build());
+        return this;
+      }
+      /**
+       * <pre>
+       * The translation from the reference frame to the camera.
+       * </pre>
+       *
+       * <code>.viam.common.v1.Vector3 translation = 1 [json_name = "translation"];</code>
+       */
+      public Builder mergeTranslation(com.viam.common.v1.Common.Vector3 value) {
+        copyOnWrite();
+        instance.mergeTranslation(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * The translation from the reference frame to the camera.
+       * </pre>
+       *
+       * <code>.viam.common.v1.Vector3 translation = 1 [json_name = "translation"];</code>
+       */
+      public Builder clearTranslation() {  copyOnWrite();
+        instance.clearTranslation();
+        return this;
+      }
+
+      /**
+       * <pre>
+       * The orientation from the reference frame to the camera.
+       * </pre>
+       *
+       * <code>.viam.common.v1.Orientation orientation = 2 [json_name = "orientation"];</code>
+       */
+      @java.lang.Override
+      public boolean hasOrientation() {
+        return instance.hasOrientation();
+      }
+      /**
+       * <pre>
+       * The orientation from the reference frame to the camera.
+       * </pre>
+       *
+       * <code>.viam.common.v1.Orientation orientation = 2 [json_name = "orientation"];</code>
+       */
+      @java.lang.Override
+      public com.viam.common.v1.Common.Orientation getOrientation() {
+        return instance.getOrientation();
+      }
+      /**
+       * <pre>
+       * The orientation from the reference frame to the camera.
+       * </pre>
+       *
+       * <code>.viam.common.v1.Orientation orientation = 2 [json_name = "orientation"];</code>
+       */
+      public Builder setOrientation(com.viam.common.v1.Common.Orientation value) {
+        copyOnWrite();
+        instance.setOrientation(value);
+        return this;
+        }
+      /**
+       * <pre>
+       * The orientation from the reference frame to the camera.
+       * </pre>
+       *
+       * <code>.viam.common.v1.Orientation orientation = 2 [json_name = "orientation"];</code>
+       */
+      public Builder setOrientation(
+          com.viam.common.v1.Common.Orientation.Builder builderForValue) {
+        copyOnWrite();
+        instance.setOrientation(builderForValue.build());
+        return this;
+      }
+      /**
+       * <pre>
+       * The orientation from the reference frame to the camera.
+       * </pre>
+       *
+       * <code>.viam.common.v1.Orientation orientation = 2 [json_name = "orientation"];</code>
+       */
+      public Builder mergeOrientation(com.viam.common.v1.Common.Orientation value) {
+        copyOnWrite();
+        instance.mergeOrientation(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * The orientation from the reference frame to the camera.
+       * </pre>
+       *
+       * <code>.viam.common.v1.Orientation orientation = 2 [json_name = "orientation"];</code>
+       */
+      public Builder clearOrientation() {  copyOnWrite();
+        instance.clearOrientation();
+        return this;
+      }
+
+      // @@protoc_insertion_point(builder_scope:viam.component.camera.v1.ExtrinsicParameters)
+    }
+    @java.lang.Override
+    @java.lang.SuppressWarnings({"unchecked", "fallthrough"})
+    protected final java.lang.Object dynamicMethod(
+        com.google.protobuf.GeneratedMessageLite.MethodToInvoke method,
+        java.lang.Object arg0, java.lang.Object arg1) {
+      switch (method) {
+        case NEW_MUTABLE_INSTANCE: {
+          return new com.viam.component.camera.v1.Camera.ExtrinsicParameters();
+        }
+        case NEW_BUILDER: {
+          return new Builder();
+        }
+        case BUILD_MESSAGE_INFO: {
+            java.lang.Object[] objects = new java.lang.Object[] {
+              "bitField0_",
+              "translation_",
+              "orientation_",
+            };
+            java.lang.String info =
+                "\u0000\u0002\u0000\u0001\u0001\u0002\u0002\u0000\u0000\u0000\u0001\u1009\u0000\u0002" +
+                "\u1009\u0001";
+            return newMessageInfo(DEFAULT_INSTANCE, info, objects);
+        }
+        // fall through
+        case GET_DEFAULT_INSTANCE: {
+          return DEFAULT_INSTANCE;
+        }
+        case GET_PARSER: {
+          com.google.protobuf.Parser<com.viam.component.camera.v1.Camera.ExtrinsicParameters> parser = PARSER;
+          if (parser == null) {
+            synchronized (com.viam.component.camera.v1.Camera.ExtrinsicParameters.class) {
+              parser = PARSER;
+              if (parser == null) {
+                parser =
+                    new DefaultInstanceBasedParser<com.viam.component.camera.v1.Camera.ExtrinsicParameters>(
+                        DEFAULT_INSTANCE);
+                PARSER = parser;
+              }
+            }
+          }
+          return parser;
+      }
+      case GET_MEMOIZED_IS_INITIALIZED: {
+        return (byte) 1;
+      }
+      case SET_MEMOIZED_IS_INITIALIZED: {
+        return null;
+      }
+      }
+      throw new UnsupportedOperationException();
+    }
+
+
+    // @@protoc_insertion_point(class_scope:viam.component.camera.v1.ExtrinsicParameters)
+    private static final com.viam.component.camera.v1.Camera.ExtrinsicParameters DEFAULT_INSTANCE;
+    static {
+      ExtrinsicParameters defaultInstance = new ExtrinsicParameters();
+      // New instances are implicitly immutable so no need to make
+      // immutable.
+      DEFAULT_INSTANCE = defaultInstance;
+      com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
+        ExtrinsicParameters.class, defaultInstance);
+    }
+
+    public static com.viam.component.camera.v1.Camera.ExtrinsicParameters getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static volatile com.google.protobuf.Parser<ExtrinsicParameters> PARSER;
+
+    public static com.google.protobuf.Parser<ExtrinsicParameters> parser() {
+      return DEFAULT_INSTANCE.getParserForType();
+    }
+  }
+
 
   static {
   }
diff --git a/core/sdk/src/main/gen/com/viam/component/camera/v1/CameraServiceGrpc.java b/core/sdk/src/main/gen/com/viam/component/camera/v1/CameraServiceGrpc.java
index 21c879c74..d45febb78 100644
--- a/core/sdk/src/main/gen/com/viam/component/camera/v1/CameraServiceGrpc.java
+++ b/core/sdk/src/main/gen/com/viam/component/camera/v1/CameraServiceGrpc.java
@@ -198,6 +198,36 @@ com.viam.common.v1.Common.DoCommandResponse> getDoCommandMethod() {
     return getDoCommandMethod;
   }
 
+  private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "GetStatus",
+      requestType = com.viam.common.v1.Common.GetStatusRequest.class,
+      responseType = com.viam.common.v1.Common.GetStatusResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod() {
+    io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+    if ((getGetStatusMethod = CameraServiceGrpc.getGetStatusMethod) == null) {
+      synchronized (CameraServiceGrpc.class) {
+        if ((getGetStatusMethod = CameraServiceGrpc.getGetStatusMethod) == null) {
+          CameraServiceGrpc.getGetStatusMethod = getGetStatusMethod =
+              io.grpc.MethodDescriptor.<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetStatus"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusResponse.getDefaultInstance()))
+              .build();
+        }
+      }
+    }
+    return getGetStatusMethod;
+  }
+
   private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetGeometriesRequest,
       com.viam.common.v1.Common.GetGeometriesResponse> getGetGeometriesMethod;
 
@@ -321,7 +351,7 @@ default void getPointCloud(com.viam.component.camera.v1.Camera.GetPointCloudRequ
 
     /**
      * <pre>
-     * GetProperties returns the camera intrinsic parameters and camera distortion parameters from a camera of the underlying robot, if available.
+     * GetProperties returns the camera intrinsic parameters, camera distortion parameters, and extrinsic parameters from a camera of the underlying robot, if available.
      * </pre>
      */
     default void getProperties(com.viam.component.camera.v1.Camera.GetPropertiesRequest request,
@@ -339,6 +369,16 @@ default void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
       io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getDoCommandMethod(), responseObserver);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    default void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetStatusMethod(), responseObserver);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -429,7 +469,7 @@ public void getPointCloud(com.viam.component.camera.v1.Camera.GetPointCloudReque
 
     /**
      * <pre>
-     * GetProperties returns the camera intrinsic parameters and camera distortion parameters from a camera of the underlying robot, if available.
+     * GetProperties returns the camera intrinsic parameters, camera distortion parameters, and extrinsic parameters from a camera of the underlying robot, if available.
      * </pre>
      */
     public void getProperties(com.viam.component.camera.v1.Camera.GetPropertiesRequest request,
@@ -449,6 +489,17 @@ public void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request, responseObserver);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request, responseObserver);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -522,7 +573,7 @@ public com.viam.component.camera.v1.Camera.GetPointCloudResponse getPointCloud(c
 
     /**
      * <pre>
-     * GetProperties returns the camera intrinsic parameters and camera distortion parameters from a camera of the underlying robot, if available.
+     * GetProperties returns the camera intrinsic parameters, camera distortion parameters, and extrinsic parameters from a camera of the underlying robot, if available.
      * </pre>
      */
     public com.viam.component.camera.v1.Camera.GetPropertiesResponse getProperties(com.viam.component.camera.v1.Camera.GetPropertiesRequest request) {
@@ -540,6 +591,16 @@ public com.viam.common.v1.Common.DoCommandResponse doCommand(com.viam.common.v1.
           getChannel(), getDoCommandMethod(), getCallOptions(), request);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.viam.common.v1.Common.GetStatusResponse getStatus(com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getGetStatusMethod(), getCallOptions(), request);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -616,7 +677,7 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.component.cam
 
     /**
      * <pre>
-     * GetProperties returns the camera intrinsic parameters and camera distortion parameters from a camera of the underlying robot, if available.
+     * GetProperties returns the camera intrinsic parameters, camera distortion parameters, and extrinsic parameters from a camera of the underlying robot, if available.
      * </pre>
      */
     public com.google.common.util.concurrent.ListenableFuture<com.viam.component.camera.v1.Camera.GetPropertiesResponse> getProperties(
@@ -636,6 +697,17 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Common.GetStatusResponse> getStatus(
+        com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -654,7 +726,8 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
   private static final int METHODID_GET_POINT_CLOUD = 3;
   private static final int METHODID_GET_PROPERTIES = 4;
   private static final int METHODID_DO_COMMAND = 5;
-  private static final int METHODID_GET_GEOMETRIES = 6;
+  private static final int METHODID_GET_STATUS = 6;
+  private static final int METHODID_GET_GEOMETRIES = 7;
 
   private static final class MethodHandlers<Req, Resp> implements
       io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@@ -697,6 +770,10 @@ public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserv
           serviceImpl.doCommand((com.viam.common.v1.Common.DoCommandRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse>) responseObserver);
           break;
+        case METHODID_GET_STATUS:
+          serviceImpl.getStatus((com.viam.common.v1.Common.GetStatusRequest) request,
+              (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse>) responseObserver);
+          break;
         case METHODID_GET_GEOMETRIES:
           serviceImpl.getGeometries((com.viam.common.v1.Common.GetGeometriesRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetGeometriesResponse>) responseObserver);
@@ -761,6 +838,13 @@ public static final io.grpc.ServerServiceDefinition bindService(AsyncService ser
               com.viam.common.v1.Common.DoCommandRequest,
               com.viam.common.v1.Common.DoCommandResponse>(
                 service, METHODID_DO_COMMAND)))
+        .addMethod(
+          getGetStatusMethod(),
+          io.grpc.stub.ServerCalls.asyncUnaryCall(
+            new MethodHandlers<
+              com.viam.common.v1.Common.GetStatusRequest,
+              com.viam.common.v1.Common.GetStatusResponse>(
+                service, METHODID_GET_STATUS)))
         .addMethod(
           getGetGeometriesMethod(),
           io.grpc.stub.ServerCalls.asyncUnaryCall(
@@ -786,6 +870,7 @@ public static io.grpc.ServiceDescriptor getServiceDescriptor() {
               .addMethod(getGetPointCloudMethod())
               .addMethod(getGetPropertiesMethod())
               .addMethod(getDoCommandMethod())
+              .addMethod(getGetStatusMethod())
               .addMethod(getGetGeometriesMethod())
               .build();
         }
diff --git a/core/sdk/src/main/gen/com/viam/component/encoder/v1/EncoderServiceGrpc.java b/core/sdk/src/main/gen/com/viam/component/encoder/v1/EncoderServiceGrpc.java
index bffd46b0c..db8890ebe 100644
--- a/core/sdk/src/main/gen/com/viam/component/encoder/v1/EncoderServiceGrpc.java
+++ b/core/sdk/src/main/gen/com/viam/component/encoder/v1/EncoderServiceGrpc.java
@@ -135,6 +135,36 @@ com.viam.common.v1.Common.DoCommandResponse> getDoCommandMethod() {
     return getDoCommandMethod;
   }
 
+  private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "GetStatus",
+      requestType = com.viam.common.v1.Common.GetStatusRequest.class,
+      responseType = com.viam.common.v1.Common.GetStatusResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod() {
+    io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+    if ((getGetStatusMethod = EncoderServiceGrpc.getGetStatusMethod) == null) {
+      synchronized (EncoderServiceGrpc.class) {
+        if ((getGetStatusMethod = EncoderServiceGrpc.getGetStatusMethod) == null) {
+          EncoderServiceGrpc.getGetStatusMethod = getGetStatusMethod =
+              io.grpc.MethodDescriptor.<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetStatus"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusResponse.getDefaultInstance()))
+              .build();
+        }
+      }
+    }
+    return getGetStatusMethod;
+  }
+
   private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetGeometriesRequest,
       com.viam.common.v1.Common.GetGeometriesResponse> getGetGeometriesMethod;
 
@@ -249,6 +279,16 @@ default void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
       io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getDoCommandMethod(), responseObserver);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    default void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetStatusMethod(), responseObserver);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -327,6 +367,17 @@ public void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request, responseObserver);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request, responseObserver);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -391,6 +442,16 @@ public com.viam.common.v1.Common.DoCommandResponse doCommand(com.viam.common.v1.
           getChannel(), getDoCommandMethod(), getCallOptions(), request);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.viam.common.v1.Common.GetStatusResponse getStatus(com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getGetStatusMethod(), getCallOptions(), request);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -458,6 +519,17 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Common.GetStatusResponse> getStatus(
+        com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -474,7 +546,8 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
   private static final int METHODID_RESET_POSITION = 1;
   private static final int METHODID_GET_PROPERTIES = 2;
   private static final int METHODID_DO_COMMAND = 3;
-  private static final int METHODID_GET_GEOMETRIES = 4;
+  private static final int METHODID_GET_STATUS = 4;
+  private static final int METHODID_GET_GEOMETRIES = 5;
 
   private static final class MethodHandlers<Req, Resp> implements
       io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@@ -509,6 +582,10 @@ public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserv
           serviceImpl.doCommand((com.viam.common.v1.Common.DoCommandRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse>) responseObserver);
           break;
+        case METHODID_GET_STATUS:
+          serviceImpl.getStatus((com.viam.common.v1.Common.GetStatusRequest) request,
+              (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse>) responseObserver);
+          break;
         case METHODID_GET_GEOMETRIES:
           serviceImpl.getGeometries((com.viam.common.v1.Common.GetGeometriesRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetGeometriesResponse>) responseObserver);
@@ -559,6 +636,13 @@ public static final io.grpc.ServerServiceDefinition bindService(AsyncService ser
               com.viam.common.v1.Common.DoCommandRequest,
               com.viam.common.v1.Common.DoCommandResponse>(
                 service, METHODID_DO_COMMAND)))
+        .addMethod(
+          getGetStatusMethod(),
+          io.grpc.stub.ServerCalls.asyncUnaryCall(
+            new MethodHandlers<
+              com.viam.common.v1.Common.GetStatusRequest,
+              com.viam.common.v1.Common.GetStatusResponse>(
+                service, METHODID_GET_STATUS)))
         .addMethod(
           getGetGeometriesMethod(),
           io.grpc.stub.ServerCalls.asyncUnaryCall(
@@ -582,6 +666,7 @@ public static io.grpc.ServiceDescriptor getServiceDescriptor() {
               .addMethod(getResetPositionMethod())
               .addMethod(getGetPropertiesMethod())
               .addMethod(getDoCommandMethod())
+              .addMethod(getGetStatusMethod())
               .addMethod(getGetGeometriesMethod())
               .build();
         }
diff --git a/core/sdk/src/main/gen/com/viam/component/gantry/v1/GantryServiceGrpc.java b/core/sdk/src/main/gen/com/viam/component/gantry/v1/GantryServiceGrpc.java
index a4fc1c9a4..7e187b926 100644
--- a/core/sdk/src/main/gen/com/viam/component/gantry/v1/GantryServiceGrpc.java
+++ b/core/sdk/src/main/gen/com/viam/component/gantry/v1/GantryServiceGrpc.java
@@ -228,6 +228,36 @@ com.viam.common.v1.Common.DoCommandResponse> getDoCommandMethod() {
     return getDoCommandMethod;
   }
 
+  private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "GetStatus",
+      requestType = com.viam.common.v1.Common.GetStatusRequest.class,
+      responseType = com.viam.common.v1.Common.GetStatusResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod() {
+    io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+    if ((getGetStatusMethod = GantryServiceGrpc.getGetStatusMethod) == null) {
+      synchronized (GantryServiceGrpc.class) {
+        if ((getGetStatusMethod = GantryServiceGrpc.getGetStatusMethod) == null) {
+          GantryServiceGrpc.getGetStatusMethod = getGetStatusMethod =
+              io.grpc.MethodDescriptor.<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetStatus"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusResponse.getDefaultInstance()))
+              .build();
+        }
+      }
+    }
+    return getGetStatusMethod;
+  }
+
   private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetKinematicsRequest,
       com.viam.common.v1.Common.GetKinematicsResponse> getGetKinematicsMethod;
 
@@ -409,6 +439,16 @@ default void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
       io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getDoCommandMethod(), responseObserver);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    default void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetStatusMethod(), responseObserver);
+    }
+
     /**
      */
     default void getKinematics(com.viam.common.v1.Common.GetKinematicsRequest request,
@@ -537,6 +577,17 @@ public void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request, responseObserver);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request, responseObserver);
+    }
+
     /**
      */
     public void getKinematics(com.viam.common.v1.Common.GetKinematicsRequest request,
@@ -646,6 +697,16 @@ public com.viam.common.v1.Common.DoCommandResponse doCommand(com.viam.common.v1.
           getChannel(), getDoCommandMethod(), getCallOptions(), request);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.viam.common.v1.Common.GetStatusResponse getStatus(com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getGetStatusMethod(), getCallOptions(), request);
+    }
+
     /**
      */
     public com.viam.common.v1.Common.GetKinematicsResponse getKinematics(com.viam.common.v1.Common.GetKinematicsRequest request) {
@@ -760,6 +821,17 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Common.GetStatusResponse> getStatus(
+        com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request);
+    }
+
     /**
      */
     public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Common.GetKinematicsResponse> getKinematics(
@@ -787,8 +859,9 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
   private static final int METHODID_STOP = 4;
   private static final int METHODID_IS_MOVING = 5;
   private static final int METHODID_DO_COMMAND = 6;
-  private static final int METHODID_GET_KINEMATICS = 7;
-  private static final int METHODID_GET_GEOMETRIES = 8;
+  private static final int METHODID_GET_STATUS = 7;
+  private static final int METHODID_GET_KINEMATICS = 8;
+  private static final int METHODID_GET_GEOMETRIES = 9;
 
   private static final class MethodHandlers<Req, Resp> implements
       io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@@ -835,6 +908,10 @@ public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserv
           serviceImpl.doCommand((com.viam.common.v1.Common.DoCommandRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse>) responseObserver);
           break;
+        case METHODID_GET_STATUS:
+          serviceImpl.getStatus((com.viam.common.v1.Common.GetStatusRequest) request,
+              (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse>) responseObserver);
+          break;
         case METHODID_GET_KINEMATICS:
           serviceImpl.getKinematics((com.viam.common.v1.Common.GetKinematicsRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetKinematicsResponse>) responseObserver);
@@ -910,6 +987,13 @@ public static final io.grpc.ServerServiceDefinition bindService(AsyncService ser
               com.viam.common.v1.Common.DoCommandRequest,
               com.viam.common.v1.Common.DoCommandResponse>(
                 service, METHODID_DO_COMMAND)))
+        .addMethod(
+          getGetStatusMethod(),
+          io.grpc.stub.ServerCalls.asyncUnaryCall(
+            new MethodHandlers<
+              com.viam.common.v1.Common.GetStatusRequest,
+              com.viam.common.v1.Common.GetStatusResponse>(
+                service, METHODID_GET_STATUS)))
         .addMethod(
           getGetKinematicsMethod(),
           io.grpc.stub.ServerCalls.asyncUnaryCall(
@@ -943,6 +1027,7 @@ public static io.grpc.ServiceDescriptor getServiceDescriptor() {
               .addMethod(getStopMethod())
               .addMethod(getIsMovingMethod())
               .addMethod(getDoCommandMethod())
+              .addMethod(getGetStatusMethod())
               .addMethod(getGetKinematicsMethod())
               .addMethod(getGetGeometriesMethod())
               .build();
diff --git a/core/sdk/src/main/gen/com/viam/component/generic/v1/GenericServiceGrpc.java b/core/sdk/src/main/gen/com/viam/component/generic/v1/GenericServiceGrpc.java
index f95ee5f34..ab14e8108 100644
--- a/core/sdk/src/main/gen/com/viam/component/generic/v1/GenericServiceGrpc.java
+++ b/core/sdk/src/main/gen/com/viam/component/generic/v1/GenericServiceGrpc.java
@@ -48,6 +48,36 @@ com.viam.common.v1.Common.DoCommandResponse> getDoCommandMethod() {
     return getDoCommandMethod;
   }
 
+  private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "GetStatus",
+      requestType = com.viam.common.v1.Common.GetStatusRequest.class,
+      responseType = com.viam.common.v1.Common.GetStatusResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod() {
+    io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+    if ((getGetStatusMethod = GenericServiceGrpc.getGetStatusMethod) == null) {
+      synchronized (GenericServiceGrpc.class) {
+        if ((getGetStatusMethod = GenericServiceGrpc.getGetStatusMethod) == null) {
+          GenericServiceGrpc.getGetStatusMethod = getGetStatusMethod =
+              io.grpc.MethodDescriptor.<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetStatus"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusResponse.getDefaultInstance()))
+              .build();
+        }
+      }
+    }
+    return getGetStatusMethod;
+  }
+
   private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetGeometriesRequest,
       com.viam.common.v1.Common.GetGeometriesResponse> getGetGeometriesMethod;
 
@@ -139,6 +169,16 @@ default void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
       io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getDoCommandMethod(), responseObserver);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    default void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetStatusMethod(), responseObserver);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -194,6 +234,17 @@ public void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request, responseObserver);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request, responseObserver);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -235,6 +286,16 @@ public com.viam.common.v1.Common.DoCommandResponse doCommand(com.viam.common.v1.
           getChannel(), getDoCommandMethod(), getCallOptions(), request);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.viam.common.v1.Common.GetStatusResponse getStatus(com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getGetStatusMethod(), getCallOptions(), request);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -276,6 +337,17 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Common.GetStatusResponse> getStatus(
+        com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -289,7 +361,8 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
   }
 
   private static final int METHODID_DO_COMMAND = 0;
-  private static final int METHODID_GET_GEOMETRIES = 1;
+  private static final int METHODID_GET_STATUS = 1;
+  private static final int METHODID_GET_GEOMETRIES = 2;
 
   private static final class MethodHandlers<Req, Resp> implements
       io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@@ -312,6 +385,10 @@ public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserv
           serviceImpl.doCommand((com.viam.common.v1.Common.DoCommandRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse>) responseObserver);
           break;
+        case METHODID_GET_STATUS:
+          serviceImpl.getStatus((com.viam.common.v1.Common.GetStatusRequest) request,
+              (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse>) responseObserver);
+          break;
         case METHODID_GET_GEOMETRIES:
           serviceImpl.getGeometries((com.viam.common.v1.Common.GetGeometriesRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetGeometriesResponse>) responseObserver);
@@ -341,6 +418,13 @@ public static final io.grpc.ServerServiceDefinition bindService(AsyncService ser
               com.viam.common.v1.Common.DoCommandRequest,
               com.viam.common.v1.Common.DoCommandResponse>(
                 service, METHODID_DO_COMMAND)))
+        .addMethod(
+          getGetStatusMethod(),
+          io.grpc.stub.ServerCalls.asyncUnaryCall(
+            new MethodHandlers<
+              com.viam.common.v1.Common.GetStatusRequest,
+              com.viam.common.v1.Common.GetStatusResponse>(
+                service, METHODID_GET_STATUS)))
         .addMethod(
           getGetGeometriesMethod(),
           io.grpc.stub.ServerCalls.asyncUnaryCall(
@@ -361,6 +445,7 @@ public static io.grpc.ServiceDescriptor getServiceDescriptor() {
         if (result == null) {
           serviceDescriptor = result = io.grpc.ServiceDescriptor.newBuilder(SERVICE_NAME)
               .addMethod(getDoCommandMethod())
+              .addMethod(getGetStatusMethod())
               .addMethod(getGetGeometriesMethod())
               .build();
         }
diff --git a/core/sdk/src/main/gen/com/viam/component/gripper/v1/GripperServiceGrpc.java b/core/sdk/src/main/gen/com/viam/component/gripper/v1/GripperServiceGrpc.java
index 5fb352d1a..15972e83d 100644
--- a/core/sdk/src/main/gen/com/viam/component/gripper/v1/GripperServiceGrpc.java
+++ b/core/sdk/src/main/gen/com/viam/component/gripper/v1/GripperServiceGrpc.java
@@ -198,6 +198,36 @@ com.viam.common.v1.Common.DoCommandResponse> getDoCommandMethod() {
     return getDoCommandMethod;
   }
 
+  private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "GetStatus",
+      requestType = com.viam.common.v1.Common.GetStatusRequest.class,
+      responseType = com.viam.common.v1.Common.GetStatusResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod() {
+    io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+    if ((getGetStatusMethod = GripperServiceGrpc.getGetStatusMethod) == null) {
+      synchronized (GripperServiceGrpc.class) {
+        if ((getGetStatusMethod = GripperServiceGrpc.getGetStatusMethod) == null) {
+          GripperServiceGrpc.getGetStatusMethod = getGetStatusMethod =
+              io.grpc.MethodDescriptor.<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetStatus"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusResponse.getDefaultInstance()))
+              .build();
+        }
+      }
+    }
+    return getGetStatusMethod;
+  }
+
   private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetGeometriesRequest,
       com.viam.common.v1.Common.GetGeometriesResponse> getGetGeometriesMethod;
 
@@ -369,6 +399,16 @@ default void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
       io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getDoCommandMethod(), responseObserver);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    default void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetStatusMethod(), responseObserver);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -489,6 +529,17 @@ public void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request, responseObserver);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request, responseObserver);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -591,6 +642,16 @@ public com.viam.common.v1.Common.DoCommandResponse doCommand(com.viam.common.v1.
           getChannel(), getDoCommandMethod(), getCallOptions(), request);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.viam.common.v1.Common.GetStatusResponse getStatus(com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getGetStatusMethod(), getCallOptions(), request);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -697,6 +758,17 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Common.GetStatusResponse> getStatus(
+        com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -726,8 +798,9 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
   private static final int METHODID_IS_MOVING = 3;
   private static final int METHODID_IS_HOLDING_SOMETHING = 4;
   private static final int METHODID_DO_COMMAND = 5;
-  private static final int METHODID_GET_GEOMETRIES = 6;
-  private static final int METHODID_GET_KINEMATICS = 7;
+  private static final int METHODID_GET_STATUS = 6;
+  private static final int METHODID_GET_GEOMETRIES = 7;
+  private static final int METHODID_GET_KINEMATICS = 8;
 
   private static final class MethodHandlers<Req, Resp> implements
       io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@@ -770,6 +843,10 @@ public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserv
           serviceImpl.doCommand((com.viam.common.v1.Common.DoCommandRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse>) responseObserver);
           break;
+        case METHODID_GET_STATUS:
+          serviceImpl.getStatus((com.viam.common.v1.Common.GetStatusRequest) request,
+              (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse>) responseObserver);
+          break;
         case METHODID_GET_GEOMETRIES:
           serviceImpl.getGeometries((com.viam.common.v1.Common.GetGeometriesRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetGeometriesResponse>) responseObserver);
@@ -838,6 +915,13 @@ public static final io.grpc.ServerServiceDefinition bindService(AsyncService ser
               com.viam.common.v1.Common.DoCommandRequest,
               com.viam.common.v1.Common.DoCommandResponse>(
                 service, METHODID_DO_COMMAND)))
+        .addMethod(
+          getGetStatusMethod(),
+          io.grpc.stub.ServerCalls.asyncUnaryCall(
+            new MethodHandlers<
+              com.viam.common.v1.Common.GetStatusRequest,
+              com.viam.common.v1.Common.GetStatusResponse>(
+                service, METHODID_GET_STATUS)))
         .addMethod(
           getGetGeometriesMethod(),
           io.grpc.stub.ServerCalls.asyncUnaryCall(
@@ -870,6 +954,7 @@ public static io.grpc.ServiceDescriptor getServiceDescriptor() {
               .addMethod(getIsMovingMethod())
               .addMethod(getIsHoldingSomethingMethod())
               .addMethod(getDoCommandMethod())
+              .addMethod(getGetStatusMethod())
               .addMethod(getGetGeometriesMethod())
               .addMethod(getGetKinematicsMethod())
               .build();
diff --git a/core/sdk/src/main/gen/com/viam/component/inputcontroller/v1/InputControllerServiceGrpc.java b/core/sdk/src/main/gen/com/viam/component/inputcontroller/v1/InputControllerServiceGrpc.java
index 39eac9518..c59a57c61 100644
--- a/core/sdk/src/main/gen/com/viam/component/inputcontroller/v1/InputControllerServiceGrpc.java
+++ b/core/sdk/src/main/gen/com/viam/component/inputcontroller/v1/InputControllerServiceGrpc.java
@@ -168,6 +168,36 @@ com.viam.common.v1.Common.DoCommandResponse> getDoCommandMethod() {
     return getDoCommandMethod;
   }
 
+  private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "GetStatus",
+      requestType = com.viam.common.v1.Common.GetStatusRequest.class,
+      responseType = com.viam.common.v1.Common.GetStatusResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod() {
+    io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+    if ((getGetStatusMethod = InputControllerServiceGrpc.getGetStatusMethod) == null) {
+      synchronized (InputControllerServiceGrpc.class) {
+        if ((getGetStatusMethod = InputControllerServiceGrpc.getGetStatusMethod) == null) {
+          InputControllerServiceGrpc.getGetStatusMethod = getGetStatusMethod =
+              io.grpc.MethodDescriptor.<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetStatus"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusResponse.getDefaultInstance()))
+              .build();
+        }
+      }
+    }
+    return getGetStatusMethod;
+  }
+
   private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetGeometriesRequest,
       com.viam.common.v1.Common.GetGeometriesResponse> getGetGeometriesMethod;
 
@@ -300,6 +330,16 @@ default void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
       io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getDoCommandMethod(), responseObserver);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    default void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetStatusMethod(), responseObserver);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -400,6 +440,17 @@ public void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request, responseObserver);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request, responseObserver);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -483,6 +534,16 @@ public com.viam.common.v1.Common.DoCommandResponse doCommand(com.viam.common.v1.
           getChannel(), getDoCommandMethod(), getCallOptions(), request);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.viam.common.v1.Common.GetStatusResponse getStatus(com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getGetStatusMethod(), getCallOptions(), request);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -558,6 +619,17 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Common.GetStatusResponse> getStatus(
+        com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -575,7 +647,8 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
   private static final int METHODID_STREAM_EVENTS = 2;
   private static final int METHODID_TRIGGER_EVENT = 3;
   private static final int METHODID_DO_COMMAND = 4;
-  private static final int METHODID_GET_GEOMETRIES = 5;
+  private static final int METHODID_GET_STATUS = 5;
+  private static final int METHODID_GET_GEOMETRIES = 6;
 
   private static final class MethodHandlers<Req, Resp> implements
       io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@@ -614,6 +687,10 @@ public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserv
           serviceImpl.doCommand((com.viam.common.v1.Common.DoCommandRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse>) responseObserver);
           break;
+        case METHODID_GET_STATUS:
+          serviceImpl.getStatus((com.viam.common.v1.Common.GetStatusRequest) request,
+              (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse>) responseObserver);
+          break;
         case METHODID_GET_GEOMETRIES:
           serviceImpl.getGeometries((com.viam.common.v1.Common.GetGeometriesRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetGeometriesResponse>) responseObserver);
@@ -671,6 +748,13 @@ public static final io.grpc.ServerServiceDefinition bindService(AsyncService ser
               com.viam.common.v1.Common.DoCommandRequest,
               com.viam.common.v1.Common.DoCommandResponse>(
                 service, METHODID_DO_COMMAND)))
+        .addMethod(
+          getGetStatusMethod(),
+          io.grpc.stub.ServerCalls.asyncUnaryCall(
+            new MethodHandlers<
+              com.viam.common.v1.Common.GetStatusRequest,
+              com.viam.common.v1.Common.GetStatusResponse>(
+                service, METHODID_GET_STATUS)))
         .addMethod(
           getGetGeometriesMethod(),
           io.grpc.stub.ServerCalls.asyncUnaryCall(
@@ -695,6 +779,7 @@ public static io.grpc.ServiceDescriptor getServiceDescriptor() {
               .addMethod(getStreamEventsMethod())
               .addMethod(getTriggerEventMethod())
               .addMethod(getDoCommandMethod())
+              .addMethod(getGetStatusMethod())
               .addMethod(getGetGeometriesMethod())
               .build();
         }
diff --git a/core/sdk/src/main/gen/com/viam/component/motor/v1/MotorServiceGrpc.java b/core/sdk/src/main/gen/com/viam/component/motor/v1/MotorServiceGrpc.java
index 728561f5f..f4c7b4f04 100644
--- a/core/sdk/src/main/gen/com/viam/component/motor/v1/MotorServiceGrpc.java
+++ b/core/sdk/src/main/gen/com/viam/component/motor/v1/MotorServiceGrpc.java
@@ -348,6 +348,36 @@ com.viam.common.v1.Common.DoCommandResponse> getDoCommandMethod() {
     return getDoCommandMethod;
   }
 
+  private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "GetStatus",
+      requestType = com.viam.common.v1.Common.GetStatusRequest.class,
+      responseType = com.viam.common.v1.Common.GetStatusResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod() {
+    io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+    if ((getGetStatusMethod = MotorServiceGrpc.getGetStatusMethod) == null) {
+      synchronized (MotorServiceGrpc.class) {
+        if ((getGetStatusMethod = MotorServiceGrpc.getGetStatusMethod) == null) {
+          MotorServiceGrpc.getGetStatusMethod = getGetStatusMethod =
+              io.grpc.MethodDescriptor.<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetStatus"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusResponse.getDefaultInstance()))
+              .build();
+        }
+      }
+    }
+    return getGetStatusMethod;
+  }
+
   private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetGeometriesRequest,
       com.viam.common.v1.Common.GetGeometriesResponse> getGetGeometriesMethod;
 
@@ -549,6 +579,16 @@ default void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
       io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getDoCommandMethod(), responseObserver);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    default void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetStatusMethod(), responseObserver);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -724,6 +764,17 @@ public void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request, responseObserver);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request, responseObserver);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -875,6 +926,16 @@ public com.viam.common.v1.Common.DoCommandResponse doCommand(com.viam.common.v1.
           getChannel(), getDoCommandMethod(), getCallOptions(), request);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.viam.common.v1.Common.GetStatusResponse getStatus(com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getGetStatusMethod(), getCallOptions(), request);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -1036,6 +1097,17 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Common.GetStatusResponse> getStatus(
+        com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -1059,7 +1131,8 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
   private static final int METHODID_IS_POWERED = 8;
   private static final int METHODID_IS_MOVING = 9;
   private static final int METHODID_DO_COMMAND = 10;
-  private static final int METHODID_GET_GEOMETRIES = 11;
+  private static final int METHODID_GET_STATUS = 11;
+  private static final int METHODID_GET_GEOMETRIES = 12;
 
   private static final class MethodHandlers<Req, Resp> implements
       io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@@ -1122,6 +1195,10 @@ public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserv
           serviceImpl.doCommand((com.viam.common.v1.Common.DoCommandRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse>) responseObserver);
           break;
+        case METHODID_GET_STATUS:
+          serviceImpl.getStatus((com.viam.common.v1.Common.GetStatusRequest) request,
+              (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse>) responseObserver);
+          break;
         case METHODID_GET_GEOMETRIES:
           serviceImpl.getGeometries((com.viam.common.v1.Common.GetGeometriesRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetGeometriesResponse>) responseObserver);
@@ -1221,6 +1298,13 @@ public static final io.grpc.ServerServiceDefinition bindService(AsyncService ser
               com.viam.common.v1.Common.DoCommandRequest,
               com.viam.common.v1.Common.DoCommandResponse>(
                 service, METHODID_DO_COMMAND)))
+        .addMethod(
+          getGetStatusMethod(),
+          io.grpc.stub.ServerCalls.asyncUnaryCall(
+            new MethodHandlers<
+              com.viam.common.v1.Common.GetStatusRequest,
+              com.viam.common.v1.Common.GetStatusResponse>(
+                service, METHODID_GET_STATUS)))
         .addMethod(
           getGetGeometriesMethod(),
           io.grpc.stub.ServerCalls.asyncUnaryCall(
@@ -1251,6 +1335,7 @@ public static io.grpc.ServiceDescriptor getServiceDescriptor() {
               .addMethod(getIsPoweredMethod())
               .addMethod(getIsMovingMethod())
               .addMethod(getDoCommandMethod())
+              .addMethod(getGetStatusMethod())
               .addMethod(getGetGeometriesMethod())
               .build();
         }
diff --git a/core/sdk/src/main/gen/com/viam/component/movementsensor/v1/MovementSensorServiceGrpc.java b/core/sdk/src/main/gen/com/viam/component/movementsensor/v1/MovementSensorServiceGrpc.java
index 8b2fe4d1c..02e5af1ad 100644
--- a/core/sdk/src/main/gen/com/viam/component/movementsensor/v1/MovementSensorServiceGrpc.java
+++ b/core/sdk/src/main/gen/com/viam/component/movementsensor/v1/MovementSensorServiceGrpc.java
@@ -285,6 +285,36 @@ com.viam.common.v1.Common.DoCommandResponse> getDoCommandMethod() {
     return getDoCommandMethod;
   }
 
+  private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "GetStatus",
+      requestType = com.viam.common.v1.Common.GetStatusRequest.class,
+      responseType = com.viam.common.v1.Common.GetStatusResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod() {
+    io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+    if ((getGetStatusMethod = MovementSensorServiceGrpc.getGetStatusMethod) == null) {
+      synchronized (MovementSensorServiceGrpc.class) {
+        if ((getGetStatusMethod = MovementSensorServiceGrpc.getGetStatusMethod) == null) {
+          MovementSensorServiceGrpc.getGetStatusMethod = getGetStatusMethod =
+              io.grpc.MethodDescriptor.<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetStatus"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusResponse.getDefaultInstance()))
+              .build();
+        }
+      }
+    }
+    return getGetStatusMethod;
+  }
+
   private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetGeometriesRequest,
       com.viam.common.v1.Common.GetGeometriesResponse> getGetGeometriesMethod;
 
@@ -456,6 +486,16 @@ default void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
       io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getDoCommandMethod(), responseObserver);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    default void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetStatusMethod(), responseObserver);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -576,6 +616,17 @@ public void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request, responseObserver);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request, responseObserver);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -678,6 +729,16 @@ public com.viam.common.v1.Common.DoCommandResponse doCommand(com.viam.common.v1.
           getChannel(), getDoCommandMethod(), getCallOptions(), request);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.viam.common.v1.Common.GetStatusResponse getStatus(com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getGetStatusMethod(), getCallOptions(), request);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -787,6 +848,17 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Common.GetStatusResponse> getStatus(
+        com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -819,8 +891,9 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
   private static final int METHODID_GET_ACCURACY = 6;
   private static final int METHODID_GET_LINEAR_ACCELERATION = 7;
   private static final int METHODID_DO_COMMAND = 8;
-  private static final int METHODID_GET_GEOMETRIES = 9;
-  private static final int METHODID_GET_READINGS = 10;
+  private static final int METHODID_GET_STATUS = 9;
+  private static final int METHODID_GET_GEOMETRIES = 10;
+  private static final int METHODID_GET_READINGS = 11;
 
   private static final class MethodHandlers<Req, Resp> implements
       io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@@ -875,6 +948,10 @@ public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserv
           serviceImpl.doCommand((com.viam.common.v1.Common.DoCommandRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse>) responseObserver);
           break;
+        case METHODID_GET_STATUS:
+          serviceImpl.getStatus((com.viam.common.v1.Common.GetStatusRequest) request,
+              (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse>) responseObserver);
+          break;
         case METHODID_GET_GEOMETRIES:
           serviceImpl.getGeometries((com.viam.common.v1.Common.GetGeometriesRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetGeometriesResponse>) responseObserver);
@@ -964,6 +1041,13 @@ public static final io.grpc.ServerServiceDefinition bindService(AsyncService ser
               com.viam.common.v1.Common.DoCommandRequest,
               com.viam.common.v1.Common.DoCommandResponse>(
                 service, METHODID_DO_COMMAND)))
+        .addMethod(
+          getGetStatusMethod(),
+          io.grpc.stub.ServerCalls.asyncUnaryCall(
+            new MethodHandlers<
+              com.viam.common.v1.Common.GetStatusRequest,
+              com.viam.common.v1.Common.GetStatusResponse>(
+                service, METHODID_GET_STATUS)))
         .addMethod(
           getGetGeometriesMethod(),
           io.grpc.stub.ServerCalls.asyncUnaryCall(
@@ -999,6 +1083,7 @@ public static io.grpc.ServiceDescriptor getServiceDescriptor() {
               .addMethod(getGetAccuracyMethod())
               .addMethod(getGetLinearAccelerationMethod())
               .addMethod(getDoCommandMethod())
+              .addMethod(getGetStatusMethod())
               .addMethod(getGetGeometriesMethod())
               .addMethod(getGetReadingsMethod())
               .build();
diff --git a/core/sdk/src/main/gen/com/viam/component/nswitch/v1/SwitchServiceGrpc.java b/core/sdk/src/main/gen/com/viam/component/nswitch/v1/SwitchServiceGrpc.java
index 2c608e287..597ab664a 100644
--- a/core/sdk/src/main/gen/com/viam/component/nswitch/v1/SwitchServiceGrpc.java
+++ b/core/sdk/src/main/gen/com/viam/component/nswitch/v1/SwitchServiceGrpc.java
@@ -140,6 +140,36 @@ com.viam.common.v1.Common.DoCommandResponse> getDoCommandMethod() {
     return getDoCommandMethod;
   }
 
+  private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "GetStatus",
+      requestType = com.viam.common.v1.Common.GetStatusRequest.class,
+      responseType = com.viam.common.v1.Common.GetStatusResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod() {
+    io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+    if ((getGetStatusMethod = SwitchServiceGrpc.getGetStatusMethod) == null) {
+      synchronized (SwitchServiceGrpc.class) {
+        if ((getGetStatusMethod = SwitchServiceGrpc.getGetStatusMethod) == null) {
+          SwitchServiceGrpc.getGetStatusMethod = getGetStatusMethod =
+              io.grpc.MethodDescriptor.<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetStatus"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusResponse.getDefaultInstance()))
+              .build();
+        }
+      }
+    }
+    return getGetStatusMethod;
+  }
+
   /**
    * Creates a new async stub that supports all call types for the service
    */
@@ -232,6 +262,16 @@ default void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
         io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse> responseObserver) {
       io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getDoCommandMethod(), responseObserver);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    default void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetStatusMethod(), responseObserver);
+    }
   }
 
   /**
@@ -314,6 +354,17 @@ public void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
       io.grpc.stub.ClientCalls.asyncUnaryCall(
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request, responseObserver);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request, responseObserver);
+    }
   }
 
   /**
@@ -376,6 +427,16 @@ public com.viam.common.v1.Common.DoCommandResponse doCommand(com.viam.common.v1.
       return io.grpc.stub.ClientCalls.blockingUnaryCall(
           getChannel(), getDoCommandMethod(), getCallOptions(), request);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.viam.common.v1.Common.GetStatusResponse getStatus(com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getGetStatusMethod(), getCallOptions(), request);
+    }
   }
 
   /**
@@ -442,12 +503,24 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
       return io.grpc.stub.ClientCalls.futureUnaryCall(
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Common.GetStatusResponse> getStatus(
+        com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request);
+    }
   }
 
   private static final int METHODID_SET_POSITION = 0;
   private static final int METHODID_GET_POSITION = 1;
   private static final int METHODID_GET_NUMBER_OF_POSITIONS = 2;
   private static final int METHODID_DO_COMMAND = 3;
+  private static final int METHODID_GET_STATUS = 4;
 
   private static final class MethodHandlers<Req, Resp> implements
       io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@@ -482,6 +555,10 @@ public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserv
           serviceImpl.doCommand((com.viam.common.v1.Common.DoCommandRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse>) responseObserver);
           break;
+        case METHODID_GET_STATUS:
+          serviceImpl.getStatus((com.viam.common.v1.Common.GetStatusRequest) request,
+              (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse>) responseObserver);
+          break;
         default:
           throw new AssertionError();
       }
@@ -528,6 +605,13 @@ public static final io.grpc.ServerServiceDefinition bindService(AsyncService ser
               com.viam.common.v1.Common.DoCommandRequest,
               com.viam.common.v1.Common.DoCommandResponse>(
                 service, METHODID_DO_COMMAND)))
+        .addMethod(
+          getGetStatusMethod(),
+          io.grpc.stub.ServerCalls.asyncUnaryCall(
+            new MethodHandlers<
+              com.viam.common.v1.Common.GetStatusRequest,
+              com.viam.common.v1.Common.GetStatusResponse>(
+                service, METHODID_GET_STATUS)))
         .build();
   }
 
@@ -544,6 +628,7 @@ public static io.grpc.ServiceDescriptor getServiceDescriptor() {
               .addMethod(getGetPositionMethod())
               .addMethod(getGetNumberOfPositionsMethod())
               .addMethod(getDoCommandMethod())
+              .addMethod(getGetStatusMethod())
               .build();
         }
       }
diff --git a/core/sdk/src/main/gen/com/viam/component/powersensor/v1/PowerSensorServiceGrpc.java b/core/sdk/src/main/gen/com/viam/component/powersensor/v1/PowerSensorServiceGrpc.java
index a22b4b918..f0fcdbbc9 100644
--- a/core/sdk/src/main/gen/com/viam/component/powersensor/v1/PowerSensorServiceGrpc.java
+++ b/core/sdk/src/main/gen/com/viam/component/powersensor/v1/PowerSensorServiceGrpc.java
@@ -168,6 +168,36 @@ com.viam.common.v1.Common.DoCommandResponse> getDoCommandMethod() {
     return getDoCommandMethod;
   }
 
+  private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "GetStatus",
+      requestType = com.viam.common.v1.Common.GetStatusRequest.class,
+      responseType = com.viam.common.v1.Common.GetStatusResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod() {
+    io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+    if ((getGetStatusMethod = PowerSensorServiceGrpc.getGetStatusMethod) == null) {
+      synchronized (PowerSensorServiceGrpc.class) {
+        if ((getGetStatusMethod = PowerSensorServiceGrpc.getGetStatusMethod) == null) {
+          PowerSensorServiceGrpc.getGetStatusMethod = getGetStatusMethod =
+              io.grpc.MethodDescriptor.<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetStatus"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusResponse.getDefaultInstance()))
+              .build();
+        }
+      }
+    }
+    return getGetStatusMethod;
+  }
+
   /**
    * Creates a new async stub that supports all call types for the service
    */
@@ -268,6 +298,16 @@ default void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
         io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse> responseObserver) {
       io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getDoCommandMethod(), responseObserver);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    default void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetStatusMethod(), responseObserver);
+    }
   }
 
   /**
@@ -357,6 +397,17 @@ public void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
       io.grpc.stub.ClientCalls.asyncUnaryCall(
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request, responseObserver);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request, responseObserver);
+    }
   }
 
   /**
@@ -427,6 +478,16 @@ public com.viam.common.v1.Common.DoCommandResponse doCommand(com.viam.common.v1.
       return io.grpc.stub.ClientCalls.blockingUnaryCall(
           getChannel(), getDoCommandMethod(), getCallOptions(), request);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.viam.common.v1.Common.GetStatusResponse getStatus(com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getGetStatusMethod(), getCallOptions(), request);
+    }
   }
 
   /**
@@ -502,6 +563,17 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
       return io.grpc.stub.ClientCalls.futureUnaryCall(
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Common.GetStatusResponse> getStatus(
+        com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request);
+    }
   }
 
   private static final int METHODID_GET_VOLTAGE = 0;
@@ -509,6 +581,7 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
   private static final int METHODID_GET_POWER = 2;
   private static final int METHODID_GET_READINGS = 3;
   private static final int METHODID_DO_COMMAND = 4;
+  private static final int METHODID_GET_STATUS = 5;
 
   private static final class MethodHandlers<Req, Resp> implements
       io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@@ -547,6 +620,10 @@ public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserv
           serviceImpl.doCommand((com.viam.common.v1.Common.DoCommandRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse>) responseObserver);
           break;
+        case METHODID_GET_STATUS:
+          serviceImpl.getStatus((com.viam.common.v1.Common.GetStatusRequest) request,
+              (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse>) responseObserver);
+          break;
         default:
           throw new AssertionError();
       }
@@ -600,6 +677,13 @@ public static final io.grpc.ServerServiceDefinition bindService(AsyncService ser
               com.viam.common.v1.Common.DoCommandRequest,
               com.viam.common.v1.Common.DoCommandResponse>(
                 service, METHODID_DO_COMMAND)))
+        .addMethod(
+          getGetStatusMethod(),
+          io.grpc.stub.ServerCalls.asyncUnaryCall(
+            new MethodHandlers<
+              com.viam.common.v1.Common.GetStatusRequest,
+              com.viam.common.v1.Common.GetStatusResponse>(
+                service, METHODID_GET_STATUS)))
         .build();
   }
 
@@ -617,6 +701,7 @@ public static io.grpc.ServiceDescriptor getServiceDescriptor() {
               .addMethod(getGetPowerMethod())
               .addMethod(getGetReadingsMethod())
               .addMethod(getDoCommandMethod())
+              .addMethod(getGetStatusMethod())
               .build();
         }
       }
diff --git a/core/sdk/src/main/gen/com/viam/component/sensor/v1/SensorServiceGrpc.java b/core/sdk/src/main/gen/com/viam/component/sensor/v1/SensorServiceGrpc.java
index d034d892c..89e6d2584 100644
--- a/core/sdk/src/main/gen/com/viam/component/sensor/v1/SensorServiceGrpc.java
+++ b/core/sdk/src/main/gen/com/viam/component/sensor/v1/SensorServiceGrpc.java
@@ -78,6 +78,36 @@ com.viam.common.v1.Common.DoCommandResponse> getDoCommandMethod() {
     return getDoCommandMethod;
   }
 
+  private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "GetStatus",
+      requestType = com.viam.common.v1.Common.GetStatusRequest.class,
+      responseType = com.viam.common.v1.Common.GetStatusResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod() {
+    io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+    if ((getGetStatusMethod = SensorServiceGrpc.getGetStatusMethod) == null) {
+      synchronized (SensorServiceGrpc.class) {
+        if ((getGetStatusMethod = SensorServiceGrpc.getGetStatusMethod) == null) {
+          SensorServiceGrpc.getGetStatusMethod = getGetStatusMethod =
+              io.grpc.MethodDescriptor.<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetStatus"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusResponse.getDefaultInstance()))
+              .build();
+        }
+      }
+    }
+    return getGetStatusMethod;
+  }
+
   private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetGeometriesRequest,
       com.viam.common.v1.Common.GetGeometriesResponse> getGetGeometriesMethod;
 
@@ -179,6 +209,16 @@ default void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
       io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getDoCommandMethod(), responseObserver);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    default void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetStatusMethod(), responseObserver);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -245,6 +285,17 @@ public void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request, responseObserver);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request, responseObserver);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -296,6 +347,16 @@ public com.viam.common.v1.Common.DoCommandResponse doCommand(com.viam.common.v1.
           getChannel(), getDoCommandMethod(), getCallOptions(), request);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.viam.common.v1.Common.GetStatusResponse getStatus(com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getGetStatusMethod(), getCallOptions(), request);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -348,6 +409,17 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Common.GetStatusResponse> getStatus(
+        com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -362,7 +434,8 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
 
   private static final int METHODID_GET_READINGS = 0;
   private static final int METHODID_DO_COMMAND = 1;
-  private static final int METHODID_GET_GEOMETRIES = 2;
+  private static final int METHODID_GET_STATUS = 2;
+  private static final int METHODID_GET_GEOMETRIES = 3;
 
   private static final class MethodHandlers<Req, Resp> implements
       io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@@ -389,6 +462,10 @@ public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserv
           serviceImpl.doCommand((com.viam.common.v1.Common.DoCommandRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse>) responseObserver);
           break;
+        case METHODID_GET_STATUS:
+          serviceImpl.getStatus((com.viam.common.v1.Common.GetStatusRequest) request,
+              (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse>) responseObserver);
+          break;
         case METHODID_GET_GEOMETRIES:
           serviceImpl.getGeometries((com.viam.common.v1.Common.GetGeometriesRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetGeometriesResponse>) responseObserver);
@@ -425,6 +502,13 @@ public static final io.grpc.ServerServiceDefinition bindService(AsyncService ser
               com.viam.common.v1.Common.DoCommandRequest,
               com.viam.common.v1.Common.DoCommandResponse>(
                 service, METHODID_DO_COMMAND)))
+        .addMethod(
+          getGetStatusMethod(),
+          io.grpc.stub.ServerCalls.asyncUnaryCall(
+            new MethodHandlers<
+              com.viam.common.v1.Common.GetStatusRequest,
+              com.viam.common.v1.Common.GetStatusResponse>(
+                service, METHODID_GET_STATUS)))
         .addMethod(
           getGetGeometriesMethod(),
           io.grpc.stub.ServerCalls.asyncUnaryCall(
@@ -446,6 +530,7 @@ public static io.grpc.ServiceDescriptor getServiceDescriptor() {
           serviceDescriptor = result = io.grpc.ServiceDescriptor.newBuilder(SERVICE_NAME)
               .addMethod(getGetReadingsMethod())
               .addMethod(getDoCommandMethod())
+              .addMethod(getGetStatusMethod())
               .addMethod(getGetGeometriesMethod())
               .build();
         }
diff --git a/core/sdk/src/main/gen/com/viam/component/servo/v1/ServoServiceGrpc.java b/core/sdk/src/main/gen/com/viam/component/servo/v1/ServoServiceGrpc.java
index e42eacd8a..25c989506 100644
--- a/core/sdk/src/main/gen/com/viam/component/servo/v1/ServoServiceGrpc.java
+++ b/core/sdk/src/main/gen/com/viam/component/servo/v1/ServoServiceGrpc.java
@@ -168,6 +168,36 @@ com.viam.common.v1.Common.DoCommandResponse> getDoCommandMethod() {
     return getDoCommandMethod;
   }
 
+  private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "GetStatus",
+      requestType = com.viam.common.v1.Common.GetStatusRequest.class,
+      responseType = com.viam.common.v1.Common.GetStatusResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod() {
+    io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+    if ((getGetStatusMethod = ServoServiceGrpc.getGetStatusMethod) == null) {
+      synchronized (ServoServiceGrpc.class) {
+        if ((getGetStatusMethod = ServoServiceGrpc.getGetStatusMethod) == null) {
+          ServoServiceGrpc.getGetStatusMethod = getGetStatusMethod =
+              io.grpc.MethodDescriptor.<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetStatus"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusResponse.getDefaultInstance()))
+              .build();
+        }
+      }
+    }
+    return getGetStatusMethod;
+  }
+
   private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetGeometriesRequest,
       com.viam.common.v1.Common.GetGeometriesResponse> getGetGeometriesMethod;
 
@@ -300,6 +330,16 @@ default void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
       io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getDoCommandMethod(), responseObserver);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    default void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetStatusMethod(), responseObserver);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -400,6 +440,17 @@ public void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request, responseObserver);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request, responseObserver);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -482,6 +533,16 @@ public com.viam.common.v1.Common.DoCommandResponse doCommand(com.viam.common.v1.
           getChannel(), getDoCommandMethod(), getCallOptions(), request);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.viam.common.v1.Common.GetStatusResponse getStatus(com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getGetStatusMethod(), getCallOptions(), request);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -568,6 +629,17 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Common.GetStatusResponse> getStatus(
+        com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -585,7 +657,8 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
   private static final int METHODID_STOP = 2;
   private static final int METHODID_IS_MOVING = 3;
   private static final int METHODID_DO_COMMAND = 4;
-  private static final int METHODID_GET_GEOMETRIES = 5;
+  private static final int METHODID_GET_STATUS = 5;
+  private static final int METHODID_GET_GEOMETRIES = 6;
 
   private static final class MethodHandlers<Req, Resp> implements
       io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@@ -624,6 +697,10 @@ public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserv
           serviceImpl.doCommand((com.viam.common.v1.Common.DoCommandRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse>) responseObserver);
           break;
+        case METHODID_GET_STATUS:
+          serviceImpl.getStatus((com.viam.common.v1.Common.GetStatusRequest) request,
+              (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse>) responseObserver);
+          break;
         case METHODID_GET_GEOMETRIES:
           serviceImpl.getGeometries((com.viam.common.v1.Common.GetGeometriesRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetGeometriesResponse>) responseObserver);
@@ -681,6 +758,13 @@ public static final io.grpc.ServerServiceDefinition bindService(AsyncService ser
               com.viam.common.v1.Common.DoCommandRequest,
               com.viam.common.v1.Common.DoCommandResponse>(
                 service, METHODID_DO_COMMAND)))
+        .addMethod(
+          getGetStatusMethod(),
+          io.grpc.stub.ServerCalls.asyncUnaryCall(
+            new MethodHandlers<
+              com.viam.common.v1.Common.GetStatusRequest,
+              com.viam.common.v1.Common.GetStatusResponse>(
+                service, METHODID_GET_STATUS)))
         .addMethod(
           getGetGeometriesMethod(),
           io.grpc.stub.ServerCalls.asyncUnaryCall(
@@ -705,6 +789,7 @@ public static io.grpc.ServiceDescriptor getServiceDescriptor() {
               .addMethod(getStopMethod())
               .addMethod(getIsMovingMethod())
               .addMethod(getDoCommandMethod())
+              .addMethod(getGetStatusMethod())
               .addMethod(getGetGeometriesMethod())
               .build();
         }
diff --git a/core/sdk/src/main/gen/com/viam/component/v1/PoseTrackerServiceGrpc.java b/core/sdk/src/main/gen/com/viam/component/v1/PoseTrackerServiceGrpc.java
index 84b0ee722..73fa10235 100644
--- a/core/sdk/src/main/gen/com/viam/component/v1/PoseTrackerServiceGrpc.java
+++ b/core/sdk/src/main/gen/com/viam/component/v1/PoseTrackerServiceGrpc.java
@@ -78,6 +78,36 @@ com.viam.common.v1.Common.DoCommandResponse> getDoCommandMethod() {
     return getDoCommandMethod;
   }
 
+  private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "GetStatus",
+      requestType = com.viam.common.v1.Common.GetStatusRequest.class,
+      responseType = com.viam.common.v1.Common.GetStatusResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod() {
+    io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+    if ((getGetStatusMethod = PoseTrackerServiceGrpc.getGetStatusMethod) == null) {
+      synchronized (PoseTrackerServiceGrpc.class) {
+        if ((getGetStatusMethod = PoseTrackerServiceGrpc.getGetStatusMethod) == null) {
+          PoseTrackerServiceGrpc.getGetStatusMethod = getGetStatusMethod =
+              io.grpc.MethodDescriptor.<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetStatus"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusResponse.getDefaultInstance()))
+              .build();
+        }
+      }
+    }
+    return getGetStatusMethod;
+  }
+
   private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetGeometriesRequest,
       com.viam.common.v1.Common.GetGeometriesResponse> getGetGeometriesMethod;
 
@@ -179,6 +209,16 @@ default void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
       io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getDoCommandMethod(), responseObserver);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    default void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetStatusMethod(), responseObserver);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -245,6 +285,17 @@ public void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request, responseObserver);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request, responseObserver);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -296,6 +347,16 @@ public com.viam.common.v1.Common.DoCommandResponse doCommand(com.viam.common.v1.
           getChannel(), getDoCommandMethod(), getCallOptions(), request);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.viam.common.v1.Common.GetStatusResponse getStatus(com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getGetStatusMethod(), getCallOptions(), request);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -348,6 +409,17 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Common.GetStatusResponse> getStatus(
+        com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request);
+    }
+
     /**
      * <pre>
      * GetGeometries returns the geometries of the component in their current configuration
@@ -362,7 +434,8 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
 
   private static final int METHODID_GET_POSES = 0;
   private static final int METHODID_DO_COMMAND = 1;
-  private static final int METHODID_GET_GEOMETRIES = 2;
+  private static final int METHODID_GET_STATUS = 2;
+  private static final int METHODID_GET_GEOMETRIES = 3;
 
   private static final class MethodHandlers<Req, Resp> implements
       io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@@ -389,6 +462,10 @@ public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserv
           serviceImpl.doCommand((com.viam.common.v1.Common.DoCommandRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse>) responseObserver);
           break;
+        case METHODID_GET_STATUS:
+          serviceImpl.getStatus((com.viam.common.v1.Common.GetStatusRequest) request,
+              (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse>) responseObserver);
+          break;
         case METHODID_GET_GEOMETRIES:
           serviceImpl.getGeometries((com.viam.common.v1.Common.GetGeometriesRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetGeometriesResponse>) responseObserver);
@@ -425,6 +502,13 @@ public static final io.grpc.ServerServiceDefinition bindService(AsyncService ser
               com.viam.common.v1.Common.DoCommandRequest,
               com.viam.common.v1.Common.DoCommandResponse>(
                 service, METHODID_DO_COMMAND)))
+        .addMethod(
+          getGetStatusMethod(),
+          io.grpc.stub.ServerCalls.asyncUnaryCall(
+            new MethodHandlers<
+              com.viam.common.v1.Common.GetStatusRequest,
+              com.viam.common.v1.Common.GetStatusResponse>(
+                service, METHODID_GET_STATUS)))
         .addMethod(
           getGetGeometriesMethod(),
           io.grpc.stub.ServerCalls.asyncUnaryCall(
@@ -446,6 +530,7 @@ public static io.grpc.ServiceDescriptor getServiceDescriptor() {
           serviceDescriptor = result = io.grpc.ServiceDescriptor.newBuilder(SERVICE_NAME)
               .addMethod(getGetPosesMethod())
               .addMethod(getDoCommandMethod())
+              .addMethod(getGetStatusMethod())
               .addMethod(getGetGeometriesMethod())
               .build();
         }
diff --git a/core/sdk/src/main/gen/com/viam/service/datamanager/v1/DataManagerServiceGrpc.java b/core/sdk/src/main/gen/com/viam/service/datamanager/v1/DataManagerServiceGrpc.java
index bac2eb65f..ab51ea004 100644
--- a/core/sdk/src/main/gen/com/viam/service/datamanager/v1/DataManagerServiceGrpc.java
+++ b/core/sdk/src/main/gen/com/viam/service/datamanager/v1/DataManagerServiceGrpc.java
@@ -78,6 +78,36 @@ com.viam.common.v1.Common.DoCommandResponse> getDoCommandMethod() {
     return getDoCommandMethod;
   }
 
+  private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "GetStatus",
+      requestType = com.viam.common.v1.Common.GetStatusRequest.class,
+      responseType = com.viam.common.v1.Common.GetStatusResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod() {
+    io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+    if ((getGetStatusMethod = DataManagerServiceGrpc.getGetStatusMethod) == null) {
+      synchronized (DataManagerServiceGrpc.class) {
+        if ((getGetStatusMethod = DataManagerServiceGrpc.getGetStatusMethod) == null) {
+          DataManagerServiceGrpc.getGetStatusMethod = getGetStatusMethod =
+              io.grpc.MethodDescriptor.<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetStatus"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusResponse.getDefaultInstance()))
+              .build();
+        }
+      }
+    }
+    return getGetStatusMethod;
+  }
+
   private static volatile io.grpc.MethodDescriptor<com.viam.service.datamanager.v1.DataManager.UploadBinaryDataToDatasetsRequest,
       com.viam.service.datamanager.v1.DataManager.UploadBinaryDataToDatasetsResponse> getUploadBinaryDataToDatasetsMethod;
 
@@ -179,6 +209,16 @@ default void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
       io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getDoCommandMethod(), responseObserver);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    default void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetStatusMethod(), responseObserver);
+    }
+
     /**
      * <pre>
      * UploadBinaryDataToDatasets uploads binary data to specified datasets.
@@ -245,6 +285,17 @@ public void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request, responseObserver);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request, responseObserver);
+    }
+
     /**
      * <pre>
      * UploadBinaryDataToDatasets uploads binary data to specified datasets.
@@ -296,6 +347,16 @@ public com.viam.common.v1.Common.DoCommandResponse doCommand(com.viam.common.v1.
           getChannel(), getDoCommandMethod(), getCallOptions(), request);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.viam.common.v1.Common.GetStatusResponse getStatus(com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getGetStatusMethod(), getCallOptions(), request);
+    }
+
     /**
      * <pre>
      * UploadBinaryDataToDatasets uploads binary data to specified datasets.
@@ -348,6 +409,17 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request);
     }
 
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Common.GetStatusResponse> getStatus(
+        com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request);
+    }
+
     /**
      * <pre>
      * UploadBinaryDataToDatasets uploads binary data to specified datasets.
@@ -362,7 +434,8 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.service.datam
 
   private static final int METHODID_SYNC = 0;
   private static final int METHODID_DO_COMMAND = 1;
-  private static final int METHODID_UPLOAD_BINARY_DATA_TO_DATASETS = 2;
+  private static final int METHODID_GET_STATUS = 2;
+  private static final int METHODID_UPLOAD_BINARY_DATA_TO_DATASETS = 3;
 
   private static final class MethodHandlers<Req, Resp> implements
       io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@@ -389,6 +462,10 @@ public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserv
           serviceImpl.doCommand((com.viam.common.v1.Common.DoCommandRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse>) responseObserver);
           break;
+        case METHODID_GET_STATUS:
+          serviceImpl.getStatus((com.viam.common.v1.Common.GetStatusRequest) request,
+              (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse>) responseObserver);
+          break;
         case METHODID_UPLOAD_BINARY_DATA_TO_DATASETS:
           serviceImpl.uploadBinaryDataToDatasets((com.viam.service.datamanager.v1.DataManager.UploadBinaryDataToDatasetsRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.service.datamanager.v1.DataManager.UploadBinaryDataToDatasetsResponse>) responseObserver);
@@ -425,6 +502,13 @@ public static final io.grpc.ServerServiceDefinition bindService(AsyncService ser
               com.viam.common.v1.Common.DoCommandRequest,
               com.viam.common.v1.Common.DoCommandResponse>(
                 service, METHODID_DO_COMMAND)))
+        .addMethod(
+          getGetStatusMethod(),
+          io.grpc.stub.ServerCalls.asyncUnaryCall(
+            new MethodHandlers<
+              com.viam.common.v1.Common.GetStatusRequest,
+              com.viam.common.v1.Common.GetStatusResponse>(
+                service, METHODID_GET_STATUS)))
         .addMethod(
           getUploadBinaryDataToDatasetsMethod(),
           io.grpc.stub.ServerCalls.asyncUnaryCall(
@@ -446,6 +530,7 @@ public static io.grpc.ServiceDescriptor getServiceDescriptor() {
           serviceDescriptor = result = io.grpc.ServiceDescriptor.newBuilder(SERVICE_NAME)
               .addMethod(getSyncMethod())
               .addMethod(getDoCommandMethod())
+              .addMethod(getGetStatusMethod())
               .addMethod(getUploadBinaryDataToDatasetsMethod())
               .build();
         }
diff --git a/core/sdk/src/main/gen/com/viam/service/discovery/v1/DiscoveryServiceGrpc.java b/core/sdk/src/main/gen/com/viam/service/discovery/v1/DiscoveryServiceGrpc.java
index bc8bcb8aa..7e9123b7f 100644
--- a/core/sdk/src/main/gen/com/viam/service/discovery/v1/DiscoveryServiceGrpc.java
+++ b/core/sdk/src/main/gen/com/viam/service/discovery/v1/DiscoveryServiceGrpc.java
@@ -75,6 +75,36 @@ com.viam.common.v1.Common.DoCommandResponse> getDoCommandMethod() {
     return getDoCommandMethod;
   }
 
+  private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "GetStatus",
+      requestType = com.viam.common.v1.Common.GetStatusRequest.class,
+      responseType = com.viam.common.v1.Common.GetStatusResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod() {
+    io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+    if ((getGetStatusMethod = DiscoveryServiceGrpc.getGetStatusMethod) == null) {
+      synchronized (DiscoveryServiceGrpc.class) {
+        if ((getGetStatusMethod = DiscoveryServiceGrpc.getGetStatusMethod) == null) {
+          DiscoveryServiceGrpc.getGetStatusMethod = getGetStatusMethod =
+              io.grpc.MethodDescriptor.<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetStatus"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusResponse.getDefaultInstance()))
+              .build();
+        }
+      }
+    }
+    return getGetStatusMethod;
+  }
+
   /**
    * Creates a new async stub that supports all call types for the service
    */
@@ -142,6 +172,16 @@ default void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
         io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse> responseObserver) {
       io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getDoCommandMethod(), responseObserver);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    default void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetStatusMethod(), responseObserver);
+    }
   }
 
   /**
@@ -192,6 +232,17 @@ public void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
       io.grpc.stub.ClientCalls.asyncUnaryCall(
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request, responseObserver);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request, responseObserver);
+    }
   }
 
   /**
@@ -229,6 +280,16 @@ public com.viam.common.v1.Common.DoCommandResponse doCommand(com.viam.common.v1.
       return io.grpc.stub.ClientCalls.blockingUnaryCall(
           getChannel(), getDoCommandMethod(), getCallOptions(), request);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.viam.common.v1.Common.GetStatusResponse getStatus(com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getGetStatusMethod(), getCallOptions(), request);
+    }
   }
 
   /**
@@ -268,10 +329,22 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
       return io.grpc.stub.ClientCalls.futureUnaryCall(
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Common.GetStatusResponse> getStatus(
+        com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request);
+    }
   }
 
   private static final int METHODID_DISCOVER_RESOURCES = 0;
   private static final int METHODID_DO_COMMAND = 1;
+  private static final int METHODID_GET_STATUS = 2;
 
   private static final class MethodHandlers<Req, Resp> implements
       io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@@ -298,6 +371,10 @@ public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserv
           serviceImpl.doCommand((com.viam.common.v1.Common.DoCommandRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse>) responseObserver);
           break;
+        case METHODID_GET_STATUS:
+          serviceImpl.getStatus((com.viam.common.v1.Common.GetStatusRequest) request,
+              (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse>) responseObserver);
+          break;
         default:
           throw new AssertionError();
       }
@@ -330,6 +407,13 @@ public static final io.grpc.ServerServiceDefinition bindService(AsyncService ser
               com.viam.common.v1.Common.DoCommandRequest,
               com.viam.common.v1.Common.DoCommandResponse>(
                 service, METHODID_DO_COMMAND)))
+        .addMethod(
+          getGetStatusMethod(),
+          io.grpc.stub.ServerCalls.asyncUnaryCall(
+            new MethodHandlers<
+              com.viam.common.v1.Common.GetStatusRequest,
+              com.viam.common.v1.Common.GetStatusResponse>(
+                service, METHODID_GET_STATUS)))
         .build();
   }
 
@@ -344,6 +428,7 @@ public static io.grpc.ServiceDescriptor getServiceDescriptor() {
           serviceDescriptor = result = io.grpc.ServiceDescriptor.newBuilder(SERVICE_NAME)
               .addMethod(getDiscoverResourcesMethod())
               .addMethod(getDoCommandMethod())
+              .addMethod(getGetStatusMethod())
               .build();
         }
       }
diff --git a/core/sdk/src/main/gen/com/viam/service/generic/v1/GenericServiceGrpc.java b/core/sdk/src/main/gen/com/viam/service/generic/v1/GenericServiceGrpc.java
index 5f8b16d6a..5e036fc5b 100644
--- a/core/sdk/src/main/gen/com/viam/service/generic/v1/GenericServiceGrpc.java
+++ b/core/sdk/src/main/gen/com/viam/service/generic/v1/GenericServiceGrpc.java
@@ -48,6 +48,36 @@ com.viam.common.v1.Common.DoCommandResponse> getDoCommandMethod() {
     return getDoCommandMethod;
   }
 
+  private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "GetStatus",
+      requestType = com.viam.common.v1.Common.GetStatusRequest.class,
+      responseType = com.viam.common.v1.Common.GetStatusResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod() {
+    io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+    if ((getGetStatusMethod = GenericServiceGrpc.getGetStatusMethod) == null) {
+      synchronized (GenericServiceGrpc.class) {
+        if ((getGetStatusMethod = GenericServiceGrpc.getGetStatusMethod) == null) {
+          GenericServiceGrpc.getGetStatusMethod = getGetStatusMethod =
+              io.grpc.MethodDescriptor.<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetStatus"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusResponse.getDefaultInstance()))
+              .build();
+        }
+      }
+    }
+    return getGetStatusMethod;
+  }
+
   /**
    * Creates a new async stub that supports all call types for the service
    */
@@ -108,6 +138,16 @@ default void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
         io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse> responseObserver) {
       io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getDoCommandMethod(), responseObserver);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    default void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetStatusMethod(), responseObserver);
+    }
   }
 
   /**
@@ -153,6 +193,17 @@ public void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
       io.grpc.stub.ClientCalls.asyncUnaryCall(
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request, responseObserver);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request, responseObserver);
+    }
   }
 
   /**
@@ -183,6 +234,16 @@ public com.viam.common.v1.Common.DoCommandResponse doCommand(com.viam.common.v1.
       return io.grpc.stub.ClientCalls.blockingUnaryCall(
           getChannel(), getDoCommandMethod(), getCallOptions(), request);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.viam.common.v1.Common.GetStatusResponse getStatus(com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getGetStatusMethod(), getCallOptions(), request);
+    }
   }
 
   /**
@@ -214,9 +275,21 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
       return io.grpc.stub.ClientCalls.futureUnaryCall(
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Common.GetStatusResponse> getStatus(
+        com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request);
+    }
   }
 
   private static final int METHODID_DO_COMMAND = 0;
+  private static final int METHODID_GET_STATUS = 1;
 
   private static final class MethodHandlers<Req, Resp> implements
       io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@@ -239,6 +312,10 @@ public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserv
           serviceImpl.doCommand((com.viam.common.v1.Common.DoCommandRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse>) responseObserver);
           break;
+        case METHODID_GET_STATUS:
+          serviceImpl.getStatus((com.viam.common.v1.Common.GetStatusRequest) request,
+              (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse>) responseObserver);
+          break;
         default:
           throw new AssertionError();
       }
@@ -264,6 +341,13 @@ public static final io.grpc.ServerServiceDefinition bindService(AsyncService ser
               com.viam.common.v1.Common.DoCommandRequest,
               com.viam.common.v1.Common.DoCommandResponse>(
                 service, METHODID_DO_COMMAND)))
+        .addMethod(
+          getGetStatusMethod(),
+          io.grpc.stub.ServerCalls.asyncUnaryCall(
+            new MethodHandlers<
+              com.viam.common.v1.Common.GetStatusRequest,
+              com.viam.common.v1.Common.GetStatusResponse>(
+                service, METHODID_GET_STATUS)))
         .build();
   }
 
@@ -277,6 +361,7 @@ public static io.grpc.ServiceDescriptor getServiceDescriptor() {
         if (result == null) {
           serviceDescriptor = result = io.grpc.ServiceDescriptor.newBuilder(SERVICE_NAME)
               .addMethod(getDoCommandMethod())
+              .addMethod(getGetStatusMethod())
               .build();
         }
       }
diff --git a/core/sdk/src/main/gen/com/viam/service/mlmodel/v1/MLModelServiceGrpc.java b/core/sdk/src/main/gen/com/viam/service/mlmodel/v1/MLModelServiceGrpc.java
index 2f3316dac..624c8734e 100644
--- a/core/sdk/src/main/gen/com/viam/service/mlmodel/v1/MLModelServiceGrpc.java
+++ b/core/sdk/src/main/gen/com/viam/service/mlmodel/v1/MLModelServiceGrpc.java
@@ -79,6 +79,36 @@ com.viam.service.mlmodel.v1.Mlmodel.MetadataResponse> getMetadataMethod() {
     return getMetadataMethod;
   }
 
+  private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "GetStatus",
+      requestType = com.viam.common.v1.Common.GetStatusRequest.class,
+      responseType = com.viam.common.v1.Common.GetStatusResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod() {
+    io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+    if ((getGetStatusMethod = MLModelServiceGrpc.getGetStatusMethod) == null) {
+      synchronized (MLModelServiceGrpc.class) {
+        if ((getGetStatusMethod = MLModelServiceGrpc.getGetStatusMethod) == null) {
+          MLModelServiceGrpc.getGetStatusMethod = getGetStatusMethod =
+              io.grpc.MethodDescriptor.<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetStatus"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusResponse.getDefaultInstance()))
+              .build();
+        }
+      }
+    }
+    return getGetStatusMethod;
+  }
+
   /**
    * Creates a new async stub that supports all call types for the service
    */
@@ -150,6 +180,16 @@ default void metadata(com.viam.service.mlmodel.v1.Mlmodel.MetadataRequest reques
         io.grpc.stub.StreamObserver<com.viam.service.mlmodel.v1.Mlmodel.MetadataResponse> responseObserver) {
       io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getMetadataMethod(), responseObserver);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    default void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetStatusMethod(), responseObserver);
+    }
   }
 
   /**
@@ -208,6 +248,17 @@ public void metadata(com.viam.service.mlmodel.v1.Mlmodel.MetadataRequest request
       io.grpc.stub.ClientCalls.asyncUnaryCall(
           getChannel().newCall(getMetadataMethod(), getCallOptions()), request, responseObserver);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request, responseObserver);
+    }
   }
 
   /**
@@ -249,6 +300,16 @@ public com.viam.service.mlmodel.v1.Mlmodel.MetadataResponse metadata(com.viam.se
       return io.grpc.stub.ClientCalls.blockingUnaryCall(
           getChannel(), getMetadataMethod(), getCallOptions(), request);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.viam.common.v1.Common.GetStatusResponse getStatus(com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getGetStatusMethod(), getCallOptions(), request);
+    }
   }
 
   /**
@@ -292,10 +353,22 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.service.mlmod
       return io.grpc.stub.ClientCalls.futureUnaryCall(
           getChannel().newCall(getMetadataMethod(), getCallOptions()), request);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Common.GetStatusResponse> getStatus(
+        com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request);
+    }
   }
 
   private static final int METHODID_INFER = 0;
   private static final int METHODID_METADATA = 1;
+  private static final int METHODID_GET_STATUS = 2;
 
   private static final class MethodHandlers<Req, Resp> implements
       io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@@ -322,6 +395,10 @@ public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserv
           serviceImpl.metadata((com.viam.service.mlmodel.v1.Mlmodel.MetadataRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.service.mlmodel.v1.Mlmodel.MetadataResponse>) responseObserver);
           break;
+        case METHODID_GET_STATUS:
+          serviceImpl.getStatus((com.viam.common.v1.Common.GetStatusRequest) request,
+              (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse>) responseObserver);
+          break;
         default:
           throw new AssertionError();
       }
@@ -354,6 +431,13 @@ public static final io.grpc.ServerServiceDefinition bindService(AsyncService ser
               com.viam.service.mlmodel.v1.Mlmodel.MetadataRequest,
               com.viam.service.mlmodel.v1.Mlmodel.MetadataResponse>(
                 service, METHODID_METADATA)))
+        .addMethod(
+          getGetStatusMethod(),
+          io.grpc.stub.ServerCalls.asyncUnaryCall(
+            new MethodHandlers<
+              com.viam.common.v1.Common.GetStatusRequest,
+              com.viam.common.v1.Common.GetStatusResponse>(
+                service, METHODID_GET_STATUS)))
         .build();
   }
 
@@ -368,6 +452,7 @@ public static io.grpc.ServiceDescriptor getServiceDescriptor() {
           serviceDescriptor = result = io.grpc.ServiceDescriptor.newBuilder(SERVICE_NAME)
               .addMethod(getInferMethod())
               .addMethod(getMetadataMethod())
+              .addMethod(getGetStatusMethod())
               .build();
         }
       }
diff --git a/core/sdk/src/main/gen/com/viam/service/motion/v1/Motion.java b/core/sdk/src/main/gen/com/viam/service/motion/v1/Motion.java
index 40aaed16c..1724e9157 100644
--- a/core/sdk/src/main/gen/com/viam/service/motion/v1/Motion.java
+++ b/core/sdk/src/main/gen/com/viam/service/motion/v1/Motion.java
@@ -184,7 +184,7 @@ public interface MoveRequestOrBuilder extends
      *
      * <code>.viam.common.v1.ResourceName component_name_deprecated = 3 [json_name = "componentNameDeprecated", deprecated = true];</code>
      * @deprecated viam.service.motion.v1.MoveRequest.component_name_deprecated is deprecated.
-     *     See service/motion/v1/motion.proto;l=75
+     *     See service/motion/v1/motion.proto;l=80
      * @return Whether the componentNameDeprecated field is set.
      */
     @java.lang.Deprecated boolean hasComponentNameDeprecated();
@@ -195,7 +195,7 @@ public interface MoveRequestOrBuilder extends
      *
      * <code>.viam.common.v1.ResourceName component_name_deprecated = 3 [json_name = "componentNameDeprecated", deprecated = true];</code>
      * @deprecated viam.service.motion.v1.MoveRequest.component_name_deprecated is deprecated.
-     *     See service/motion/v1/motion.proto;l=75
+     *     See service/motion/v1/motion.proto;l=80
      * @return The componentNameDeprecated.
      */
     @java.lang.Deprecated com.viam.common.v1.Common.ResourceName getComponentNameDeprecated();
@@ -1742,7 +1742,7 @@ public interface MoveOnMapRequestOrBuilder extends
      *
      * <code>.viam.common.v1.ResourceName component_name_deprecated = 3 [json_name = "componentNameDeprecated", deprecated = true];</code>
      * @deprecated viam.service.motion.v1.MoveOnMapRequest.component_name_deprecated is deprecated.
-     *     See service/motion/v1/motion.proto;l=97
+     *     See service/motion/v1/motion.proto;l=102
      * @return Whether the componentNameDeprecated field is set.
      */
     @java.lang.Deprecated boolean hasComponentNameDeprecated();
@@ -1753,7 +1753,7 @@ public interface MoveOnMapRequestOrBuilder extends
      *
      * <code>.viam.common.v1.ResourceName component_name_deprecated = 3 [json_name = "componentNameDeprecated", deprecated = true];</code>
      * @deprecated viam.service.motion.v1.MoveOnMapRequest.component_name_deprecated is deprecated.
-     *     See service/motion/v1/motion.proto;l=97
+     *     See service/motion/v1/motion.proto;l=102
      * @return The componentNameDeprecated.
      */
     @java.lang.Deprecated com.viam.common.v1.Common.ResourceName getComponentNameDeprecated();
@@ -1765,7 +1765,7 @@ public interface MoveOnMapRequestOrBuilder extends
      *
      * <code>.viam.common.v1.ResourceName slam_service_name_deprecated = 4 [json_name = "slamServiceNameDeprecated", deprecated = true];</code>
      * @deprecated viam.service.motion.v1.MoveOnMapRequest.slam_service_name_deprecated is deprecated.
-     *     See service/motion/v1/motion.proto;l=99
+     *     See service/motion/v1/motion.proto;l=104
      * @return Whether the slamServiceNameDeprecated field is set.
      */
     @java.lang.Deprecated boolean hasSlamServiceNameDeprecated();
@@ -1776,7 +1776,7 @@ public interface MoveOnMapRequestOrBuilder extends
      *
      * <code>.viam.common.v1.ResourceName slam_service_name_deprecated = 4 [json_name = "slamServiceNameDeprecated", deprecated = true];</code>
      * @deprecated viam.service.motion.v1.MoveOnMapRequest.slam_service_name_deprecated is deprecated.
-     *     See service/motion/v1/motion.proto;l=99
+     *     See service/motion/v1/motion.proto;l=104
      * @return The slamServiceNameDeprecated.
      */
     @java.lang.Deprecated com.viam.common.v1.Common.ResourceName getSlamServiceNameDeprecated();
@@ -3837,14 +3837,14 @@ public interface ObstacleDetectorOrBuilder extends
     /**
      * <code>.viam.common.v1.ResourceName vision_service_deprecated = 1 [json_name = "visionServiceDeprecated", deprecated = true];</code>
      * @deprecated viam.service.motion.v1.ObstacleDetector.vision_service_deprecated is deprecated.
-     *     See service/motion/v1/motion.proto;l=121
+     *     See service/motion/v1/motion.proto;l=126
      * @return Whether the visionServiceDeprecated field is set.
      */
     @java.lang.Deprecated boolean hasVisionServiceDeprecated();
     /**
      * <code>.viam.common.v1.ResourceName vision_service_deprecated = 1 [json_name = "visionServiceDeprecated", deprecated = true];</code>
      * @deprecated viam.service.motion.v1.ObstacleDetector.vision_service_deprecated is deprecated.
-     *     See service/motion/v1/motion.proto;l=121
+     *     See service/motion/v1/motion.proto;l=126
      * @return The visionServiceDeprecated.
      */
     @java.lang.Deprecated com.viam.common.v1.Common.ResourceName getVisionServiceDeprecated();
@@ -3852,14 +3852,14 @@ public interface ObstacleDetectorOrBuilder extends
     /**
      * <code>.viam.common.v1.ResourceName camera_deprecated = 2 [json_name = "cameraDeprecated", deprecated = true];</code>
      * @deprecated viam.service.motion.v1.ObstacleDetector.camera_deprecated is deprecated.
-     *     See service/motion/v1/motion.proto;l=122
+     *     See service/motion/v1/motion.proto;l=127
      * @return Whether the cameraDeprecated field is set.
      */
     @java.lang.Deprecated boolean hasCameraDeprecated();
     /**
      * <code>.viam.common.v1.ResourceName camera_deprecated = 2 [json_name = "cameraDeprecated", deprecated = true];</code>
      * @deprecated viam.service.motion.v1.ObstacleDetector.camera_deprecated is deprecated.
-     *     See service/motion/v1/motion.proto;l=122
+     *     See service/motion/v1/motion.proto;l=127
      * @return The cameraDeprecated.
      */
     @java.lang.Deprecated com.viam.common.v1.Common.ResourceName getCameraDeprecated();
@@ -5646,7 +5646,7 @@ public interface MoveOnGlobeRequestOrBuilder extends
      *
      * <code>.viam.common.v1.ResourceName component_name_deprecated = 4 [json_name = "componentNameDeprecated", deprecated = true];</code>
      * @deprecated viam.service.motion.v1.MoveOnGlobeRequest.component_name_deprecated is deprecated.
-     *     See service/motion/v1/motion.proto;l=150
+     *     See service/motion/v1/motion.proto;l=155
      * @return Whether the componentNameDeprecated field is set.
      */
     @java.lang.Deprecated boolean hasComponentNameDeprecated();
@@ -5657,7 +5657,7 @@ public interface MoveOnGlobeRequestOrBuilder extends
      *
      * <code>.viam.common.v1.ResourceName component_name_deprecated = 4 [json_name = "componentNameDeprecated", deprecated = true];</code>
      * @deprecated viam.service.motion.v1.MoveOnGlobeRequest.component_name_deprecated is deprecated.
-     *     See service/motion/v1/motion.proto;l=150
+     *     See service/motion/v1/motion.proto;l=155
      * @return The componentNameDeprecated.
      */
     @java.lang.Deprecated com.viam.common.v1.Common.ResourceName getComponentNameDeprecated();
@@ -5669,7 +5669,7 @@ public interface MoveOnGlobeRequestOrBuilder extends
      *
      * <code>.viam.common.v1.ResourceName movement_sensor_name_deprecated = 5 [json_name = "movementSensorNameDeprecated", deprecated = true];</code>
      * @deprecated viam.service.motion.v1.MoveOnGlobeRequest.movement_sensor_name_deprecated is deprecated.
-     *     See service/motion/v1/motion.proto;l=152
+     *     See service/motion/v1/motion.proto;l=157
      * @return Whether the movementSensorNameDeprecated field is set.
      */
     @java.lang.Deprecated boolean hasMovementSensorNameDeprecated();
@@ -5680,7 +5680,7 @@ public interface MoveOnGlobeRequestOrBuilder extends
      *
      * <code>.viam.common.v1.ResourceName movement_sensor_name_deprecated = 5 [json_name = "movementSensorNameDeprecated", deprecated = true];</code>
      * @deprecated viam.service.motion.v1.MoveOnGlobeRequest.movement_sensor_name_deprecated is deprecated.
-     *     See service/motion/v1/motion.proto;l=152
+     *     See service/motion/v1/motion.proto;l=157
      * @return The movementSensorNameDeprecated.
      */
     @java.lang.Deprecated com.viam.common.v1.Common.ResourceName getMovementSensorNameDeprecated();
@@ -8177,7 +8177,7 @@ public static com.google.protobuf.Parser<MoveOnGlobeResponse> parser() {
      *
      * <code>.viam.common.v1.ResourceName component_name_deprecated = 2 [json_name = "componentNameDeprecated", deprecated = true];</code>
      * @deprecated viam.service.motion.v1.GetPoseRequest.component_name_deprecated is deprecated.
-     *     See service/motion/v1/motion.proto;l=178
+     *     See service/motion/v1/motion.proto;l=183
      * @return Whether the componentNameDeprecated field is set.
      */
     @java.lang.Deprecated boolean hasComponentNameDeprecated();
@@ -8188,7 +8188,7 @@ public static com.google.protobuf.Parser<MoveOnGlobeResponse> parser() {
      *
      * <code>.viam.common.v1.ResourceName component_name_deprecated = 2 [json_name = "componentNameDeprecated", deprecated = true];</code>
      * @deprecated viam.service.motion.v1.GetPoseRequest.component_name_deprecated is deprecated.
-     *     See service/motion/v1/motion.proto;l=178
+     *     See service/motion/v1/motion.proto;l=183
      * @return The componentNameDeprecated.
      */
     @java.lang.Deprecated com.viam.common.v1.Common.ResourceName getComponentNameDeprecated();
@@ -9774,7 +9774,7 @@ public interface StopPlanRequestOrBuilder extends
      *
      * <code>.viam.common.v1.ResourceName component_name_deprecated = 2 [json_name = "componentNameDeprecated", deprecated = true];</code>
      * @deprecated viam.service.motion.v1.StopPlanRequest.component_name_deprecated is deprecated.
-     *     See service/motion/v1/motion.proto;l=202
+     *     See service/motion/v1/motion.proto;l=207
      * @return Whether the componentNameDeprecated field is set.
      */
     @java.lang.Deprecated boolean hasComponentNameDeprecated();
@@ -9785,7 +9785,7 @@ public interface StopPlanRequestOrBuilder extends
      *
      * <code>.viam.common.v1.ResourceName component_name_deprecated = 2 [json_name = "componentNameDeprecated", deprecated = true];</code>
      * @deprecated viam.service.motion.v1.StopPlanRequest.component_name_deprecated is deprecated.
-     *     See service/motion/v1/motion.proto;l=202
+     *     See service/motion/v1/motion.proto;l=207
      * @return The componentNameDeprecated.
      */
     @java.lang.Deprecated com.viam.common.v1.Common.ResourceName getComponentNameDeprecated();
@@ -11910,7 +11910,7 @@ public interface GetPlanRequestOrBuilder extends
      *
      * <code>.viam.common.v1.ResourceName component_name_deprecated = 2 [json_name = "componentNameDeprecated", deprecated = true];</code>
      * @deprecated viam.service.motion.v1.GetPlanRequest.component_name_deprecated is deprecated.
-     *     See service/motion/v1/motion.proto;l=236
+     *     See service/motion/v1/motion.proto;l=241
      * @return Whether the componentNameDeprecated field is set.
      */
     @java.lang.Deprecated boolean hasComponentNameDeprecated();
@@ -11921,7 +11921,7 @@ public interface GetPlanRequestOrBuilder extends
      *
      * <code>.viam.common.v1.ResourceName component_name_deprecated = 2 [json_name = "componentNameDeprecated", deprecated = true];</code>
      * @deprecated viam.service.motion.v1.GetPlanRequest.component_name_deprecated is deprecated.
-     *     See service/motion/v1/motion.proto;l=236
+     *     See service/motion/v1/motion.proto;l=241
      * @return The componentNameDeprecated.
      */
     @java.lang.Deprecated com.viam.common.v1.Common.ResourceName getComponentNameDeprecated();
@@ -17876,7 +17876,7 @@ public interface PlanStatusWithIDOrBuilder extends
      *
      * <code>.viam.common.v1.ResourceName component_name_deprecated = 2 [json_name = "componentNameDeprecated", deprecated = true];</code>
      * @deprecated viam.service.motion.v1.PlanStatusWithID.component_name_deprecated is deprecated.
-     *     See service/motion/v1/motion.proto;l=328
+     *     See service/motion/v1/motion.proto;l=333
      * @return Whether the componentNameDeprecated field is set.
      */
     @java.lang.Deprecated boolean hasComponentNameDeprecated();
@@ -17887,7 +17887,7 @@ public interface PlanStatusWithIDOrBuilder extends
      *
      * <code>.viam.common.v1.ResourceName component_name_deprecated = 2 [json_name = "componentNameDeprecated", deprecated = true];</code>
      * @deprecated viam.service.motion.v1.PlanStatusWithID.component_name_deprecated is deprecated.
-     *     See service/motion/v1/motion.proto;l=328
+     *     See service/motion/v1/motion.proto;l=333
      * @return The componentNameDeprecated.
      */
     @java.lang.Deprecated com.viam.common.v1.Common.ResourceName getComponentNameDeprecated();
@@ -19613,7 +19613,7 @@ public interface PlanOrBuilder extends
      *
      * <code>.viam.common.v1.ResourceName component_name_deprecated = 2 [json_name = "componentNameDeprecated", deprecated = true];</code>
      * @deprecated viam.service.motion.v1.Plan.component_name_deprecated is deprecated.
-     *     See service/motion/v1/motion.proto;l=379
+     *     See service/motion/v1/motion.proto;l=384
      * @return Whether the componentNameDeprecated field is set.
      */
     @java.lang.Deprecated boolean hasComponentNameDeprecated();
@@ -19624,7 +19624,7 @@ public interface PlanOrBuilder extends
      *
      * <code>.viam.common.v1.ResourceName component_name_deprecated = 2 [json_name = "componentNameDeprecated", deprecated = true];</code>
      * @deprecated viam.service.motion.v1.Plan.component_name_deprecated is deprecated.
-     *     See service/motion/v1/motion.proto;l=379
+     *     See service/motion/v1/motion.proto;l=384
      * @return The componentNameDeprecated.
      */
     @java.lang.Deprecated com.viam.common.v1.Common.ResourceName getComponentNameDeprecated();
diff --git a/core/sdk/src/main/gen/com/viam/service/motion/v1/MotionServiceGrpc.java b/core/sdk/src/main/gen/com/viam/service/motion/v1/MotionServiceGrpc.java
index a1ae2132e..af50ce35f 100644
--- a/core/sdk/src/main/gen/com/viam/service/motion/v1/MotionServiceGrpc.java
+++ b/core/sdk/src/main/gen/com/viam/service/motion/v1/MotionServiceGrpc.java
@@ -258,6 +258,36 @@ com.viam.common.v1.Common.DoCommandResponse> getDoCommandMethod() {
     return getDoCommandMethod;
   }
 
+  private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "GetStatus",
+      requestType = com.viam.common.v1.Common.GetStatusRequest.class,
+      responseType = com.viam.common.v1.Common.GetStatusResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod() {
+    io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+    if ((getGetStatusMethod = MotionServiceGrpc.getGetStatusMethod) == null) {
+      synchronized (MotionServiceGrpc.class) {
+        if ((getGetStatusMethod = MotionServiceGrpc.getGetStatusMethod) == null) {
+          MotionServiceGrpc.getGetStatusMethod = getGetStatusMethod =
+              io.grpc.MethodDescriptor.<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetStatus"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusResponse.getDefaultInstance()))
+              .build();
+        }
+      }
+    }
+    return getGetStatusMethod;
+  }
+
   /**
    * Creates a new async stub that supports all call types for the service
    */
@@ -397,6 +427,16 @@ default void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
         io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse> responseObserver) {
       io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getDoCommandMethod(), responseObserver);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    default void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetStatusMethod(), responseObserver);
+    }
   }
 
   /**
@@ -528,6 +568,17 @@ public void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
       io.grpc.stub.ClientCalls.asyncUnaryCall(
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request, responseObserver);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request, responseObserver);
+    }
   }
 
   /**
@@ -637,6 +688,16 @@ public com.viam.common.v1.Common.DoCommandResponse doCommand(com.viam.common.v1.
       return io.grpc.stub.ClientCalls.blockingUnaryCall(
           getChannel(), getDoCommandMethod(), getCallOptions(), request);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.viam.common.v1.Common.GetStatusResponse getStatus(com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getGetStatusMethod(), getCallOptions(), request);
+    }
   }
 
   /**
@@ -754,6 +815,17 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
       return io.grpc.stub.ClientCalls.futureUnaryCall(
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Common.GetStatusResponse> getStatus(
+        com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request);
+    }
   }
 
   private static final int METHODID_MOVE = 0;
@@ -764,6 +836,7 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
   private static final int METHODID_LIST_PLAN_STATUSES = 5;
   private static final int METHODID_GET_PLAN = 6;
   private static final int METHODID_DO_COMMAND = 7;
+  private static final int METHODID_GET_STATUS = 8;
 
   private static final class MethodHandlers<Req, Resp> implements
       io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@@ -814,6 +887,10 @@ public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserv
           serviceImpl.doCommand((com.viam.common.v1.Common.DoCommandRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse>) responseObserver);
           break;
+        case METHODID_GET_STATUS:
+          serviceImpl.getStatus((com.viam.common.v1.Common.GetStatusRequest) request,
+              (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse>) responseObserver);
+          break;
         default:
           throw new AssertionError();
       }
@@ -888,6 +965,13 @@ public static final io.grpc.ServerServiceDefinition bindService(AsyncService ser
               com.viam.common.v1.Common.DoCommandRequest,
               com.viam.common.v1.Common.DoCommandResponse>(
                 service, METHODID_DO_COMMAND)))
+        .addMethod(
+          getGetStatusMethod(),
+          io.grpc.stub.ServerCalls.asyncUnaryCall(
+            new MethodHandlers<
+              com.viam.common.v1.Common.GetStatusRequest,
+              com.viam.common.v1.Common.GetStatusResponse>(
+                service, METHODID_GET_STATUS)))
         .build();
   }
 
@@ -908,6 +992,7 @@ public static io.grpc.ServiceDescriptor getServiceDescriptor() {
               .addMethod(getListPlanStatusesMethod())
               .addMethod(getGetPlanMethod())
               .addMethod(getDoCommandMethod())
+              .addMethod(getGetStatusMethod())
               .build();
         }
       }
diff --git a/core/sdk/src/main/gen/com/viam/service/navigation/v1/NavigationServiceGrpc.java b/core/sdk/src/main/gen/com/viam/service/navigation/v1/NavigationServiceGrpc.java
index cdb21ab42..c3d5ea25b 100644
--- a/core/sdk/src/main/gen/com/viam/service/navigation/v1/NavigationServiceGrpc.java
+++ b/core/sdk/src/main/gen/com/viam/service/navigation/v1/NavigationServiceGrpc.java
@@ -318,6 +318,36 @@ com.viam.common.v1.Common.DoCommandResponse> getDoCommandMethod() {
     return getDoCommandMethod;
   }
 
+  private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "GetStatus",
+      requestType = com.viam.common.v1.Common.GetStatusRequest.class,
+      responseType = com.viam.common.v1.Common.GetStatusResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod() {
+    io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+    if ((getGetStatusMethod = NavigationServiceGrpc.getGetStatusMethod) == null) {
+      synchronized (NavigationServiceGrpc.class) {
+        if ((getGetStatusMethod = NavigationServiceGrpc.getGetStatusMethod) == null) {
+          NavigationServiceGrpc.getGetStatusMethod = getGetStatusMethod =
+              io.grpc.MethodDescriptor.<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetStatus"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusResponse.getDefaultInstance()))
+              .build();
+        }
+      }
+    }
+    return getGetStatusMethod;
+  }
+
   /**
    * Creates a new async stub that supports all call types for the service
    */
@@ -445,6 +475,16 @@ default void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
         io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse> responseObserver) {
       io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getDoCommandMethod(), responseObserver);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    default void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetStatusMethod(), responseObserver);
+    }
   }
 
   /**
@@ -566,6 +606,17 @@ public void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
       io.grpc.stub.ClientCalls.asyncUnaryCall(
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request, responseObserver);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request, responseObserver);
+    }
   }
 
   /**
@@ -663,6 +714,16 @@ public com.viam.common.v1.Common.DoCommandResponse doCommand(com.viam.common.v1.
       return io.grpc.stub.ClientCalls.blockingUnaryCall(
           getChannel(), getDoCommandMethod(), getCallOptions(), request);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.viam.common.v1.Common.GetStatusResponse getStatus(com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getGetStatusMethod(), getCallOptions(), request);
+    }
   }
 
   /**
@@ -770,6 +831,17 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
       return io.grpc.stub.ClientCalls.futureUnaryCall(
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Common.GetStatusResponse> getStatus(
+        com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request);
+    }
   }
 
   private static final int METHODID_GET_MODE = 0;
@@ -782,6 +854,7 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
   private static final int METHODID_GET_PATHS = 7;
   private static final int METHODID_GET_PROPERTIES = 8;
   private static final int METHODID_DO_COMMAND = 9;
+  private static final int METHODID_GET_STATUS = 10;
 
   private static final class MethodHandlers<Req, Resp> implements
       io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@@ -840,6 +913,10 @@ public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserv
           serviceImpl.doCommand((com.viam.common.v1.Common.DoCommandRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse>) responseObserver);
           break;
+        case METHODID_GET_STATUS:
+          serviceImpl.getStatus((com.viam.common.v1.Common.GetStatusRequest) request,
+              (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse>) responseObserver);
+          break;
         default:
           throw new AssertionError();
       }
@@ -928,6 +1005,13 @@ public static final io.grpc.ServerServiceDefinition bindService(AsyncService ser
               com.viam.common.v1.Common.DoCommandRequest,
               com.viam.common.v1.Common.DoCommandResponse>(
                 service, METHODID_DO_COMMAND)))
+        .addMethod(
+          getGetStatusMethod(),
+          io.grpc.stub.ServerCalls.asyncUnaryCall(
+            new MethodHandlers<
+              com.viam.common.v1.Common.GetStatusRequest,
+              com.viam.common.v1.Common.GetStatusResponse>(
+                service, METHODID_GET_STATUS)))
         .build();
   }
 
@@ -950,6 +1034,7 @@ public static io.grpc.ServiceDescriptor getServiceDescriptor() {
               .addMethod(getGetPathsMethod())
               .addMethod(getGetPropertiesMethod())
               .addMethod(getDoCommandMethod())
+              .addMethod(getGetStatusMethod())
               .build();
         }
       }
diff --git a/core/sdk/src/main/gen/com/viam/service/sensors/v1/Sensors.java b/core/sdk/src/main/gen/com/viam/service/sensors/v1/Sensors.java
index 54e62af62..e10a21731 100644
--- a/core/sdk/src/main/gen/com/viam/service/sensors/v1/Sensors.java
+++ b/core/sdk/src/main/gen/com/viam/service/sensors/v1/Sensors.java
@@ -17,14 +17,14 @@ public static void registerAllExtensions(
     /**
      * <code>string name = 1 [json_name = "name", deprecated = true];</code>
      * @deprecated viam.service.sensors.v1.GetSensorsRequest.name is deprecated.
-     *     See service/sensors/v1/sensors.proto;l=37
+     *     See service/sensors/v1/sensors.proto;l=42
      * @return The name.
      */
     @java.lang.Deprecated java.lang.String getName();
     /**
      * <code>string name = 1 [json_name = "name", deprecated = true];</code>
      * @deprecated viam.service.sensors.v1.GetSensorsRequest.name is deprecated.
-     *     See service/sensors/v1/sensors.proto;l=37
+     *     See service/sensors/v1/sensors.proto;l=42
      * @return The bytes for name.
      */
     @java.lang.Deprecated com.google.protobuf.ByteString
@@ -37,7 +37,7 @@ public static void registerAllExtensions(
      *
      * <code>.google.protobuf.Struct extra = 99 [json_name = "extra", deprecated = true];</code>
      * @deprecated viam.service.sensors.v1.GetSensorsRequest.extra is deprecated.
-     *     See service/sensors/v1/sensors.proto;l=39
+     *     See service/sensors/v1/sensors.proto;l=44
      * @return Whether the extra field is set.
      */
     @java.lang.Deprecated boolean hasExtra();
@@ -48,7 +48,7 @@ public static void registerAllExtensions(
      *
      * <code>.google.protobuf.Struct extra = 99 [json_name = "extra", deprecated = true];</code>
      * @deprecated viam.service.sensors.v1.GetSensorsRequest.extra is deprecated.
-     *     See service/sensors/v1/sensors.proto;l=39
+     *     See service/sensors/v1/sensors.proto;l=44
      * @return The extra.
      */
     @java.lang.Deprecated com.google.protobuf.Struct getExtra();
@@ -74,7 +74,7 @@ private GetSensorsRequest() {
     /**
      * <code>string name = 1 [json_name = "name", deprecated = true];</code>
      * @deprecated viam.service.sensors.v1.GetSensorsRequest.name is deprecated.
-     *     See service/sensors/v1/sensors.proto;l=37
+     *     See service/sensors/v1/sensors.proto;l=42
      * @return The name.
      */
     @java.lang.Override
@@ -84,7 +84,7 @@ private GetSensorsRequest() {
     /**
      * <code>string name = 1 [json_name = "name", deprecated = true];</code>
      * @deprecated viam.service.sensors.v1.GetSensorsRequest.name is deprecated.
-     *     See service/sensors/v1/sensors.proto;l=37
+     *     See service/sensors/v1/sensors.proto;l=42
      * @return The bytes for name.
      */
     @java.lang.Override
@@ -95,7 +95,7 @@ private GetSensorsRequest() {
     /**
      * <code>string name = 1 [json_name = "name", deprecated = true];</code>
      * @deprecated viam.service.sensors.v1.GetSensorsRequest.name is deprecated.
-     *     See service/sensors/v1/sensors.proto;l=37
+     *     See service/sensors/v1/sensors.proto;l=42
      * @param value The name to set.
      */
     private void setName(
@@ -107,7 +107,7 @@ private void setName(
     /**
      * <code>string name = 1 [json_name = "name", deprecated = true];</code>
      * @deprecated viam.service.sensors.v1.GetSensorsRequest.name is deprecated.
-     *     See service/sensors/v1/sensors.proto;l=37
+     *     See service/sensors/v1/sensors.proto;l=42
      */
     private void clearName() {
 
@@ -116,7 +116,7 @@ private void clearName() {
     /**
      * <code>string name = 1 [json_name = "name", deprecated = true];</code>
      * @deprecated viam.service.sensors.v1.GetSensorsRequest.name is deprecated.
-     *     See service/sensors/v1/sensors.proto;l=37
+     *     See service/sensors/v1/sensors.proto;l=42
      * @param value The bytes for name to set.
      */
     private void setNameBytes(
@@ -296,7 +296,7 @@ private Builder() {
       /**
        * <code>string name = 1 [json_name = "name", deprecated = true];</code>
        * @deprecated viam.service.sensors.v1.GetSensorsRequest.name is deprecated.
-       *     See service/sensors/v1/sensors.proto;l=37
+       *     See service/sensors/v1/sensors.proto;l=42
        * @return The name.
        */
       @java.lang.Override
@@ -306,7 +306,7 @@ private Builder() {
       /**
        * <code>string name = 1 [json_name = "name", deprecated = true];</code>
        * @deprecated viam.service.sensors.v1.GetSensorsRequest.name is deprecated.
-       *     See service/sensors/v1/sensors.proto;l=37
+       *     See service/sensors/v1/sensors.proto;l=42
        * @return The bytes for name.
        */
       @java.lang.Override
@@ -317,7 +317,7 @@ private Builder() {
       /**
        * <code>string name = 1 [json_name = "name", deprecated = true];</code>
        * @deprecated viam.service.sensors.v1.GetSensorsRequest.name is deprecated.
-       *     See service/sensors/v1/sensors.proto;l=37
+       *     See service/sensors/v1/sensors.proto;l=42
        * @param value The name to set.
        * @return This builder for chaining.
        */
@@ -330,7 +330,7 @@ private Builder() {
       /**
        * <code>string name = 1 [json_name = "name", deprecated = true];</code>
        * @deprecated viam.service.sensors.v1.GetSensorsRequest.name is deprecated.
-       *     See service/sensors/v1/sensors.proto;l=37
+       *     See service/sensors/v1/sensors.proto;l=42
        * @return This builder for chaining.
        */
       @java.lang.Deprecated public Builder clearName() {
@@ -341,7 +341,7 @@ private Builder() {
       /**
        * <code>string name = 1 [json_name = "name", deprecated = true];</code>
        * @deprecated viam.service.sensors.v1.GetSensorsRequest.name is deprecated.
-       *     See service/sensors/v1/sensors.proto;l=37
+       *     See service/sensors/v1/sensors.proto;l=42
        * @param value The bytes for name to set.
        * @return This builder for chaining.
        */
@@ -904,14 +904,14 @@ public static com.google.protobuf.Parser<GetSensorsResponse> parser() {
     /**
      * <code>string name = 1 [json_name = "name", deprecated = true];</code>
      * @deprecated viam.service.sensors.v1.GetReadingsRequest.name is deprecated.
-     *     See service/sensors/v1/sensors.proto;l=49
+     *     See service/sensors/v1/sensors.proto;l=54
      * @return The name.
      */
     @java.lang.Deprecated java.lang.String getName();
     /**
      * <code>string name = 1 [json_name = "name", deprecated = true];</code>
      * @deprecated viam.service.sensors.v1.GetReadingsRequest.name is deprecated.
-     *     See service/sensors/v1/sensors.proto;l=49
+     *     See service/sensors/v1/sensors.proto;l=54
      * @return The bytes for name.
      */
     @java.lang.Deprecated com.google.protobuf.ByteString
@@ -938,7 +938,7 @@ public static com.google.protobuf.Parser<GetSensorsResponse> parser() {
      *
      * <code>.google.protobuf.Struct extra = 99 [json_name = "extra", deprecated = true];</code>
      * @deprecated viam.service.sensors.v1.GetReadingsRequest.extra is deprecated.
-     *     See service/sensors/v1/sensors.proto;l=52
+     *     See service/sensors/v1/sensors.proto;l=57
      * @return Whether the extra field is set.
      */
     @java.lang.Deprecated boolean hasExtra();
@@ -949,7 +949,7 @@ public static com.google.protobuf.Parser<GetSensorsResponse> parser() {
      *
      * <code>.google.protobuf.Struct extra = 99 [json_name = "extra", deprecated = true];</code>
      * @deprecated viam.service.sensors.v1.GetReadingsRequest.extra is deprecated.
-     *     See service/sensors/v1/sensors.proto;l=52
+     *     See service/sensors/v1/sensors.proto;l=57
      * @return The extra.
      */
     @java.lang.Deprecated com.google.protobuf.Struct getExtra();
@@ -972,7 +972,7 @@ private GetReadingsRequest() {
     /**
      * <code>string name = 1 [json_name = "name", deprecated = true];</code>
      * @deprecated viam.service.sensors.v1.GetReadingsRequest.name is deprecated.
-     *     See service/sensors/v1/sensors.proto;l=49
+     *     See service/sensors/v1/sensors.proto;l=54
      * @return The name.
      */
     @java.lang.Override
@@ -982,7 +982,7 @@ private GetReadingsRequest() {
     /**
      * <code>string name = 1 [json_name = "name", deprecated = true];</code>
      * @deprecated viam.service.sensors.v1.GetReadingsRequest.name is deprecated.
-     *     See service/sensors/v1/sensors.proto;l=49
+     *     See service/sensors/v1/sensors.proto;l=54
      * @return The bytes for name.
      */
     @java.lang.Override
@@ -993,7 +993,7 @@ private GetReadingsRequest() {
     /**
      * <code>string name = 1 [json_name = "name", deprecated = true];</code>
      * @deprecated viam.service.sensors.v1.GetReadingsRequest.name is deprecated.
-     *     See service/sensors/v1/sensors.proto;l=49
+     *     See service/sensors/v1/sensors.proto;l=54
      * @param value The name to set.
      */
     private void setName(
@@ -1005,7 +1005,7 @@ private void setName(
     /**
      * <code>string name = 1 [json_name = "name", deprecated = true];</code>
      * @deprecated viam.service.sensors.v1.GetReadingsRequest.name is deprecated.
-     *     See service/sensors/v1/sensors.proto;l=49
+     *     See service/sensors/v1/sensors.proto;l=54
      */
     private void clearName() {
 
@@ -1014,7 +1014,7 @@ private void clearName() {
     /**
      * <code>string name = 1 [json_name = "name", deprecated = true];</code>
      * @deprecated viam.service.sensors.v1.GetReadingsRequest.name is deprecated.
-     *     See service/sensors/v1/sensors.proto;l=49
+     *     See service/sensors/v1/sensors.proto;l=54
      * @param value The bytes for name to set.
      */
     private void setNameBytes(
@@ -1284,7 +1284,7 @@ private Builder() {
       /**
        * <code>string name = 1 [json_name = "name", deprecated = true];</code>
        * @deprecated viam.service.sensors.v1.GetReadingsRequest.name is deprecated.
-       *     See service/sensors/v1/sensors.proto;l=49
+       *     See service/sensors/v1/sensors.proto;l=54
        * @return The name.
        */
       @java.lang.Override
@@ -1294,7 +1294,7 @@ private Builder() {
       /**
        * <code>string name = 1 [json_name = "name", deprecated = true];</code>
        * @deprecated viam.service.sensors.v1.GetReadingsRequest.name is deprecated.
-       *     See service/sensors/v1/sensors.proto;l=49
+       *     See service/sensors/v1/sensors.proto;l=54
        * @return The bytes for name.
        */
       @java.lang.Override
@@ -1305,7 +1305,7 @@ private Builder() {
       /**
        * <code>string name = 1 [json_name = "name", deprecated = true];</code>
        * @deprecated viam.service.sensors.v1.GetReadingsRequest.name is deprecated.
-       *     See service/sensors/v1/sensors.proto;l=49
+       *     See service/sensors/v1/sensors.proto;l=54
        * @param value The name to set.
        * @return This builder for chaining.
        */
@@ -1318,7 +1318,7 @@ private Builder() {
       /**
        * <code>string name = 1 [json_name = "name", deprecated = true];</code>
        * @deprecated viam.service.sensors.v1.GetReadingsRequest.name is deprecated.
-       *     See service/sensors/v1/sensors.proto;l=49
+       *     See service/sensors/v1/sensors.proto;l=54
        * @return This builder for chaining.
        */
       @java.lang.Deprecated public Builder clearName() {
@@ -1329,7 +1329,7 @@ private Builder() {
       /**
        * <code>string name = 1 [json_name = "name", deprecated = true];</code>
        * @deprecated viam.service.sensors.v1.GetReadingsRequest.name is deprecated.
-       *     See service/sensors/v1/sensors.proto;l=49
+       *     See service/sensors/v1/sensors.proto;l=54
        * @param value The bytes for name to set.
        * @return This builder for chaining.
        */
@@ -1599,14 +1599,14 @@ public static com.google.protobuf.Parser<GetReadingsRequest> parser() {
     /**
      * <code>.viam.common.v1.ResourceName name = 1 [json_name = "name", deprecated = true];</code>
      * @deprecated viam.service.sensors.v1.Readings.name is deprecated.
-     *     See service/sensors/v1/sensors.proto;l=57
+     *     See service/sensors/v1/sensors.proto;l=62
      * @return Whether the name field is set.
      */
     @java.lang.Deprecated boolean hasName();
     /**
      * <code>.viam.common.v1.ResourceName name = 1 [json_name = "name", deprecated = true];</code>
      * @deprecated viam.service.sensors.v1.Readings.name is deprecated.
-     *     See service/sensors/v1/sensors.proto;l=57
+     *     See service/sensors/v1/sensors.proto;l=62
      * @return The name.
      */
     @java.lang.Deprecated com.viam.common.v1.Common.ResourceName getName();
diff --git a/core/sdk/src/main/gen/com/viam/service/sensors/v1/SensorsServiceGrpc.java b/core/sdk/src/main/gen/com/viam/service/sensors/v1/SensorsServiceGrpc.java
index f0f6faef9..477b77bf5 100644
--- a/core/sdk/src/main/gen/com/viam/service/sensors/v1/SensorsServiceGrpc.java
+++ b/core/sdk/src/main/gen/com/viam/service/sensors/v1/SensorsServiceGrpc.java
@@ -109,6 +109,36 @@ com.viam.common.v1.Common.DoCommandResponse> getDoCommandMethod() {
     return getDoCommandMethod;
   }
 
+  private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "GetStatus",
+      requestType = com.viam.common.v1.Common.GetStatusRequest.class,
+      responseType = com.viam.common.v1.Common.GetStatusResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod() {
+    io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+    if ((getGetStatusMethod = SensorsServiceGrpc.getGetStatusMethod) == null) {
+      synchronized (SensorsServiceGrpc.class) {
+        if ((getGetStatusMethod = SensorsServiceGrpc.getGetStatusMethod) == null) {
+          SensorsServiceGrpc.getGetStatusMethod = getGetStatusMethod =
+              io.grpc.MethodDescriptor.<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetStatus"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusResponse.getDefaultInstance()))
+              .build();
+        }
+      }
+    }
+    return getGetStatusMethod;
+  }
+
   /**
    * Creates a new async stub that supports all call types for the service
    */
@@ -193,6 +223,16 @@ default void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
         io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse> responseObserver) {
       io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getDoCommandMethod(), responseObserver);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    default void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetStatusMethod(), responseObserver);
+    }
   }
 
   /**
@@ -265,6 +305,17 @@ public void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
       io.grpc.stub.ClientCalls.asyncUnaryCall(
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request, responseObserver);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request, responseObserver);
+    }
   }
 
   /**
@@ -319,6 +370,16 @@ public com.viam.common.v1.Common.DoCommandResponse doCommand(com.viam.common.v1.
       return io.grpc.stub.ClientCalls.blockingUnaryCall(
           getChannel(), getDoCommandMethod(), getCallOptions(), request);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.viam.common.v1.Common.GetStatusResponse getStatus(com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getGetStatusMethod(), getCallOptions(), request);
+    }
   }
 
   /**
@@ -376,11 +437,23 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
       return io.grpc.stub.ClientCalls.futureUnaryCall(
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Common.GetStatusResponse> getStatus(
+        com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request);
+    }
   }
 
   private static final int METHODID_GET_SENSORS = 0;
   private static final int METHODID_GET_READINGS = 1;
   private static final int METHODID_DO_COMMAND = 2;
+  private static final int METHODID_GET_STATUS = 3;
 
   private static final class MethodHandlers<Req, Resp> implements
       io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@@ -411,6 +484,10 @@ public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserv
           serviceImpl.doCommand((com.viam.common.v1.Common.DoCommandRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse>) responseObserver);
           break;
+        case METHODID_GET_STATUS:
+          serviceImpl.getStatus((com.viam.common.v1.Common.GetStatusRequest) request,
+              (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse>) responseObserver);
+          break;
         default:
           throw new AssertionError();
       }
@@ -450,6 +527,13 @@ public static final io.grpc.ServerServiceDefinition bindService(AsyncService ser
               com.viam.common.v1.Common.DoCommandRequest,
               com.viam.common.v1.Common.DoCommandResponse>(
                 service, METHODID_DO_COMMAND)))
+        .addMethod(
+          getGetStatusMethod(),
+          io.grpc.stub.ServerCalls.asyncUnaryCall(
+            new MethodHandlers<
+              com.viam.common.v1.Common.GetStatusRequest,
+              com.viam.common.v1.Common.GetStatusResponse>(
+                service, METHODID_GET_STATUS)))
         .build();
   }
 
@@ -465,6 +549,7 @@ public static io.grpc.ServiceDescriptor getServiceDescriptor() {
               .addMethod(getGetSensorsMethod())
               .addMethod(getGetReadingsMethod())
               .addMethod(getDoCommandMethod())
+              .addMethod(getGetStatusMethod())
               .build();
         }
       }
diff --git a/core/sdk/src/main/gen/com/viam/service/shell/v1/ShellServiceGrpc.java b/core/sdk/src/main/gen/com/viam/service/shell/v1/ShellServiceGrpc.java
index 3edc99abc..d42a6777b 100644
--- a/core/sdk/src/main/gen/com/viam/service/shell/v1/ShellServiceGrpc.java
+++ b/core/sdk/src/main/gen/com/viam/service/shell/v1/ShellServiceGrpc.java
@@ -139,6 +139,36 @@ com.viam.common.v1.Common.DoCommandResponse> getDoCommandMethod() {
     return getDoCommandMethod;
   }
 
+  private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "GetStatus",
+      requestType = com.viam.common.v1.Common.GetStatusRequest.class,
+      responseType = com.viam.common.v1.Common.GetStatusResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod() {
+    io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+    if ((getGetStatusMethod = ShellServiceGrpc.getGetStatusMethod) == null) {
+      synchronized (ShellServiceGrpc.class) {
+        if ((getGetStatusMethod = ShellServiceGrpc.getGetStatusMethod) == null) {
+          ShellServiceGrpc.getGetStatusMethod = getGetStatusMethod =
+              io.grpc.MethodDescriptor.<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetStatus"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusResponse.getDefaultInstance()))
+              .build();
+        }
+      }
+    }
+    return getGetStatusMethod;
+  }
+
   /**
    * Creates a new async stub that supports all call types for the service
    */
@@ -243,6 +273,16 @@ default void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
         io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse> responseObserver) {
       io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getDoCommandMethod(), responseObserver);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    default void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetStatusMethod(), responseObserver);
+    }
   }
 
   /**
@@ -336,6 +376,17 @@ public void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
       io.grpc.stub.ClientCalls.asyncUnaryCall(
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request, responseObserver);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request, responseObserver);
+    }
   }
 
   /**
@@ -367,6 +418,16 @@ public com.viam.common.v1.Common.DoCommandResponse doCommand(com.viam.common.v1.
       return io.grpc.stub.ClientCalls.blockingUnaryCall(
           getChannel(), getDoCommandMethod(), getCallOptions(), request);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.viam.common.v1.Common.GetStatusResponse getStatus(com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getGetStatusMethod(), getCallOptions(), request);
+    }
   }
 
   /**
@@ -399,12 +460,24 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
       return io.grpc.stub.ClientCalls.futureUnaryCall(
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Common.GetStatusResponse> getStatus(
+        com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request);
+    }
   }
 
   private static final int METHODID_DO_COMMAND = 0;
-  private static final int METHODID_SHELL = 1;
-  private static final int METHODID_COPY_FILES_TO_MACHINE = 2;
-  private static final int METHODID_COPY_FILES_FROM_MACHINE = 3;
+  private static final int METHODID_GET_STATUS = 1;
+  private static final int METHODID_SHELL = 2;
+  private static final int METHODID_COPY_FILES_TO_MACHINE = 3;
+  private static final int METHODID_COPY_FILES_FROM_MACHINE = 4;
 
   private static final class MethodHandlers<Req, Resp> implements
       io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@@ -427,6 +500,10 @@ public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserv
           serviceImpl.doCommand((com.viam.common.v1.Common.DoCommandRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse>) responseObserver);
           break;
+        case METHODID_GET_STATUS:
+          serviceImpl.getStatus((com.viam.common.v1.Common.GetStatusRequest) request,
+              (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse>) responseObserver);
+          break;
         default:
           throw new AssertionError();
       }
@@ -482,6 +559,13 @@ public static final io.grpc.ServerServiceDefinition bindService(AsyncService ser
               com.viam.common.v1.Common.DoCommandRequest,
               com.viam.common.v1.Common.DoCommandResponse>(
                 service, METHODID_DO_COMMAND)))
+        .addMethod(
+          getGetStatusMethod(),
+          io.grpc.stub.ServerCalls.asyncUnaryCall(
+            new MethodHandlers<
+              com.viam.common.v1.Common.GetStatusRequest,
+              com.viam.common.v1.Common.GetStatusResponse>(
+                service, METHODID_GET_STATUS)))
         .build();
   }
 
@@ -498,6 +582,7 @@ public static io.grpc.ServiceDescriptor getServiceDescriptor() {
               .addMethod(getCopyFilesToMachineMethod())
               .addMethod(getCopyFilesFromMachineMethod())
               .addMethod(getDoCommandMethod())
+              .addMethod(getGetStatusMethod())
               .build();
         }
       }
diff --git a/core/sdk/src/main/gen/com/viam/service/slam/v1/SLAMServiceGrpc.java b/core/sdk/src/main/gen/com/viam/service/slam/v1/SLAMServiceGrpc.java
index 7630e35a4..b125fd154 100644
--- a/core/sdk/src/main/gen/com/viam/service/slam/v1/SLAMServiceGrpc.java
+++ b/core/sdk/src/main/gen/com/viam/service/slam/v1/SLAMServiceGrpc.java
@@ -168,6 +168,36 @@ com.viam.common.v1.Common.DoCommandResponse> getDoCommandMethod() {
     return getDoCommandMethod;
   }
 
+  private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "GetStatus",
+      requestType = com.viam.common.v1.Common.GetStatusRequest.class,
+      responseType = com.viam.common.v1.Common.GetStatusResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod() {
+    io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+    if ((getGetStatusMethod = SLAMServiceGrpc.getGetStatusMethod) == null) {
+      synchronized (SLAMServiceGrpc.class) {
+        if ((getGetStatusMethod = SLAMServiceGrpc.getGetStatusMethod) == null) {
+          SLAMServiceGrpc.getGetStatusMethod = getGetStatusMethod =
+              io.grpc.MethodDescriptor.<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetStatus"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusResponse.getDefaultInstance()))
+              .build();
+        }
+      }
+    }
+    return getGetStatusMethod;
+  }
+
   /**
    * Creates a new async stub that supports all call types for the service
    */
@@ -274,6 +304,16 @@ default void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
         io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse> responseObserver) {
       io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getDoCommandMethod(), responseObserver);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    default void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetStatusMethod(), responseObserver);
+    }
   }
 
   /**
@@ -369,6 +409,17 @@ public void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
       io.grpc.stub.ClientCalls.asyncUnaryCall(
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request, responseObserver);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request, responseObserver);
+    }
   }
 
   /**
@@ -447,6 +498,16 @@ public com.viam.common.v1.Common.DoCommandResponse doCommand(com.viam.common.v1.
       return io.grpc.stub.ClientCalls.blockingUnaryCall(
           getChannel(), getDoCommandMethod(), getCallOptions(), request);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.viam.common.v1.Common.GetStatusResponse getStatus(com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getGetStatusMethod(), getCallOptions(), request);
+    }
   }
 
   /**
@@ -503,6 +564,17 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
       return io.grpc.stub.ClientCalls.futureUnaryCall(
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Common.GetStatusResponse> getStatus(
+        com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request);
+    }
   }
 
   private static final int METHODID_GET_POSITION = 0;
@@ -510,6 +582,7 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
   private static final int METHODID_GET_INTERNAL_STATE = 2;
   private static final int METHODID_GET_PROPERTIES = 3;
   private static final int METHODID_DO_COMMAND = 4;
+  private static final int METHODID_GET_STATUS = 5;
 
   private static final class MethodHandlers<Req, Resp> implements
       io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@@ -548,6 +621,10 @@ public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserv
           serviceImpl.doCommand((com.viam.common.v1.Common.DoCommandRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse>) responseObserver);
           break;
+        case METHODID_GET_STATUS:
+          serviceImpl.getStatus((com.viam.common.v1.Common.GetStatusRequest) request,
+              (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse>) responseObserver);
+          break;
         default:
           throw new AssertionError();
       }
@@ -601,6 +678,13 @@ public static final io.grpc.ServerServiceDefinition bindService(AsyncService ser
               com.viam.common.v1.Common.DoCommandRequest,
               com.viam.common.v1.Common.DoCommandResponse>(
                 service, METHODID_DO_COMMAND)))
+        .addMethod(
+          getGetStatusMethod(),
+          io.grpc.stub.ServerCalls.asyncUnaryCall(
+            new MethodHandlers<
+              com.viam.common.v1.Common.GetStatusRequest,
+              com.viam.common.v1.Common.GetStatusResponse>(
+                service, METHODID_GET_STATUS)))
         .build();
   }
 
@@ -618,6 +702,7 @@ public static io.grpc.ServiceDescriptor getServiceDescriptor() {
               .addMethod(getGetInternalStateMethod())
               .addMethod(getGetPropertiesMethod())
               .addMethod(getDoCommandMethod())
+              .addMethod(getGetStatusMethod())
               .build();
         }
       }
diff --git a/core/sdk/src/main/gen/com/viam/service/video/v1/VideoServiceGrpc.java b/core/sdk/src/main/gen/com/viam/service/video/v1/VideoServiceGrpc.java
index 3b600b550..cfb361c1e 100644
--- a/core/sdk/src/main/gen/com/viam/service/video/v1/VideoServiceGrpc.java
+++ b/core/sdk/src/main/gen/com/viam/service/video/v1/VideoServiceGrpc.java
@@ -78,6 +78,36 @@ com.viam.common.v1.Common.DoCommandResponse> getDoCommandMethod() {
     return getDoCommandMethod;
   }
 
+  private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "GetStatus",
+      requestType = com.viam.common.v1.Common.GetStatusRequest.class,
+      responseType = com.viam.common.v1.Common.GetStatusResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod() {
+    io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+    if ((getGetStatusMethod = VideoServiceGrpc.getGetStatusMethod) == null) {
+      synchronized (VideoServiceGrpc.class) {
+        if ((getGetStatusMethod = VideoServiceGrpc.getGetStatusMethod) == null) {
+          VideoServiceGrpc.getGetStatusMethod = getGetStatusMethod =
+              io.grpc.MethodDescriptor.<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetStatus"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusResponse.getDefaultInstance()))
+              .build();
+        }
+      }
+    }
+    return getGetStatusMethod;
+  }
+
   /**
    * Creates a new async stub that supports all call types for the service
    */
@@ -148,6 +178,16 @@ default void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
         io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse> responseObserver) {
       io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getDoCommandMethod(), responseObserver);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    default void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetStatusMethod(), responseObserver);
+    }
   }
 
   /**
@@ -204,6 +244,17 @@ public void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
       io.grpc.stub.ClientCalls.asyncUnaryCall(
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request, responseObserver);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request, responseObserver);
+    }
   }
 
   /**
@@ -245,6 +296,16 @@ public com.viam.common.v1.Common.DoCommandResponse doCommand(com.viam.common.v1.
       return io.grpc.stub.ClientCalls.blockingUnaryCall(
           getChannel(), getDoCommandMethod(), getCallOptions(), request);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.viam.common.v1.Common.GetStatusResponse getStatus(com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getGetStatusMethod(), getCallOptions(), request);
+    }
   }
 
   /**
@@ -276,10 +337,22 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
       return io.grpc.stub.ClientCalls.futureUnaryCall(
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Common.GetStatusResponse> getStatus(
+        com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request);
+    }
   }
 
   private static final int METHODID_GET_VIDEO = 0;
   private static final int METHODID_DO_COMMAND = 1;
+  private static final int METHODID_GET_STATUS = 2;
 
   private static final class MethodHandlers<Req, Resp> implements
       io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@@ -306,6 +379,10 @@ public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserv
           serviceImpl.doCommand((com.viam.common.v1.Common.DoCommandRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse>) responseObserver);
           break;
+        case METHODID_GET_STATUS:
+          serviceImpl.getStatus((com.viam.common.v1.Common.GetStatusRequest) request,
+              (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse>) responseObserver);
+          break;
         default:
           throw new AssertionError();
       }
@@ -338,6 +415,13 @@ public static final io.grpc.ServerServiceDefinition bindService(AsyncService ser
               com.viam.common.v1.Common.DoCommandRequest,
               com.viam.common.v1.Common.DoCommandResponse>(
                 service, METHODID_DO_COMMAND)))
+        .addMethod(
+          getGetStatusMethod(),
+          io.grpc.stub.ServerCalls.asyncUnaryCall(
+            new MethodHandlers<
+              com.viam.common.v1.Common.GetStatusRequest,
+              com.viam.common.v1.Common.GetStatusResponse>(
+                service, METHODID_GET_STATUS)))
         .build();
   }
 
@@ -352,6 +436,7 @@ public static io.grpc.ServiceDescriptor getServiceDescriptor() {
           serviceDescriptor = result = io.grpc.ServiceDescriptor.newBuilder(SERVICE_NAME)
               .addMethod(getGetVideoMethod())
               .addMethod(getDoCommandMethod())
+              .addMethod(getGetStatusMethod())
               .build();
         }
       }
diff --git a/core/sdk/src/main/gen/com/viam/service/vision/v1/VisionServiceGrpc.java b/core/sdk/src/main/gen/com/viam/service/vision/v1/VisionServiceGrpc.java
index 0bf4bfbc6..3c3faa031 100644
--- a/core/sdk/src/main/gen/com/viam/service/vision/v1/VisionServiceGrpc.java
+++ b/core/sdk/src/main/gen/com/viam/service/vision/v1/VisionServiceGrpc.java
@@ -258,6 +258,36 @@ com.viam.common.v1.Common.DoCommandResponse> getDoCommandMethod() {
     return getDoCommandMethod;
   }
 
+  private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "GetStatus",
+      requestType = com.viam.common.v1.Common.GetStatusRequest.class,
+      responseType = com.viam.common.v1.Common.GetStatusResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod() {
+    io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+    if ((getGetStatusMethod = VisionServiceGrpc.getGetStatusMethod) == null) {
+      synchronized (VisionServiceGrpc.class) {
+        if ((getGetStatusMethod = VisionServiceGrpc.getGetStatusMethod) == null) {
+          VisionServiceGrpc.getGetStatusMethod = getGetStatusMethod =
+              io.grpc.MethodDescriptor.<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetStatus"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusResponse.getDefaultInstance()))
+              .build();
+        }
+      }
+    }
+    return getGetStatusMethod;
+  }
+
   /**
    * Creates a new async stub that supports all call types for the service
    */
@@ -387,6 +417,16 @@ default void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
         io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse> responseObserver) {
       io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getDoCommandMethod(), responseObserver);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    default void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetStatusMethod(), responseObserver);
+    }
   }
 
   /**
@@ -508,6 +548,17 @@ public void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
       io.grpc.stub.ClientCalls.asyncUnaryCall(
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request, responseObserver);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request, responseObserver);
+    }
   }
 
   /**
@@ -607,6 +658,16 @@ public com.viam.common.v1.Common.DoCommandResponse doCommand(com.viam.common.v1.
       return io.grpc.stub.ClientCalls.blockingUnaryCall(
           getChannel(), getDoCommandMethod(), getCallOptions(), request);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.viam.common.v1.Common.GetStatusResponse getStatus(com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getGetStatusMethod(), getCallOptions(), request);
+    }
   }
 
   /**
@@ -714,6 +775,17 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
       return io.grpc.stub.ClientCalls.futureUnaryCall(
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Common.GetStatusResponse> getStatus(
+        com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request);
+    }
   }
 
   private static final int METHODID_GET_DETECTIONS_FROM_CAMERA = 0;
@@ -724,6 +796,7 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
   private static final int METHODID_GET_PROPERTIES = 5;
   private static final int METHODID_CAPTURE_ALL_FROM_CAMERA = 6;
   private static final int METHODID_DO_COMMAND = 7;
+  private static final int METHODID_GET_STATUS = 8;
 
   private static final class MethodHandlers<Req, Resp> implements
       io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@@ -774,6 +847,10 @@ public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserv
           serviceImpl.doCommand((com.viam.common.v1.Common.DoCommandRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse>) responseObserver);
           break;
+        case METHODID_GET_STATUS:
+          serviceImpl.getStatus((com.viam.common.v1.Common.GetStatusRequest) request,
+              (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse>) responseObserver);
+          break;
         default:
           throw new AssertionError();
       }
@@ -848,6 +925,13 @@ public static final io.grpc.ServerServiceDefinition bindService(AsyncService ser
               com.viam.common.v1.Common.DoCommandRequest,
               com.viam.common.v1.Common.DoCommandResponse>(
                 service, METHODID_DO_COMMAND)))
+        .addMethod(
+          getGetStatusMethod(),
+          io.grpc.stub.ServerCalls.asyncUnaryCall(
+            new MethodHandlers<
+              com.viam.common.v1.Common.GetStatusRequest,
+              com.viam.common.v1.Common.GetStatusResponse>(
+                service, METHODID_GET_STATUS)))
         .build();
   }
 
@@ -868,6 +952,7 @@ public static io.grpc.ServiceDescriptor getServiceDescriptor() {
               .addMethod(getGetPropertiesMethod())
               .addMethod(getCaptureAllFromCameraMethod())
               .addMethod(getDoCommandMethod())
+              .addMethod(getGetStatusMethod())
               .build();
         }
       }
diff --git a/core/sdk/src/main/gen/com/viam/service/worldstatestore/v1/WorldStateStoreServiceGrpc.java b/core/sdk/src/main/gen/com/viam/service/worldstatestore/v1/WorldStateStoreServiceGrpc.java
index 1b1e668ff..d616ea158 100644
--- a/core/sdk/src/main/gen/com/viam/service/worldstatestore/v1/WorldStateStoreServiceGrpc.java
+++ b/core/sdk/src/main/gen/com/viam/service/worldstatestore/v1/WorldStateStoreServiceGrpc.java
@@ -135,6 +135,36 @@ com.viam.common.v1.Common.DoCommandResponse> getDoCommandMethod() {
     return getDoCommandMethod;
   }
 
+  private static volatile io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "GetStatus",
+      requestType = com.viam.common.v1.Common.GetStatusRequest.class,
+      responseType = com.viam.common.v1.Common.GetStatusResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest,
+      com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod() {
+    io.grpc.MethodDescriptor<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse> getGetStatusMethod;
+    if ((getGetStatusMethod = WorldStateStoreServiceGrpc.getGetStatusMethod) == null) {
+      synchronized (WorldStateStoreServiceGrpc.class) {
+        if ((getGetStatusMethod = WorldStateStoreServiceGrpc.getGetStatusMethod) == null) {
+          WorldStateStoreServiceGrpc.getGetStatusMethod = getGetStatusMethod =
+              io.grpc.MethodDescriptor.<com.viam.common.v1.Common.GetStatusRequest, com.viam.common.v1.Common.GetStatusResponse>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetStatus"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.common.v1.Common.GetStatusResponse.getDefaultInstance()))
+              .build();
+        }
+      }
+    }
+    return getGetStatusMethod;
+  }
+
   /**
    * Creates a new async stub that supports all call types for the service
    */
@@ -222,6 +252,16 @@ default void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
         io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse> responseObserver) {
       io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getDoCommandMethod(), responseObserver);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    default void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetStatusMethod(), responseObserver);
+    }
   }
 
   /**
@@ -294,6 +334,17 @@ public void doCommand(com.viam.common.v1.Common.DoCommandRequest request,
       io.grpc.stub.ClientCalls.asyncUnaryCall(
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request, responseObserver);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public void getStatus(com.viam.common.v1.Common.GetStatusRequest request,
+        io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request, responseObserver);
+    }
   }
 
   /**
@@ -352,6 +403,16 @@ public com.viam.common.v1.Common.DoCommandResponse doCommand(com.viam.common.v1.
       return io.grpc.stub.ClientCalls.blockingUnaryCall(
           getChannel(), getDoCommandMethod(), getCallOptions(), request);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.viam.common.v1.Common.GetStatusResponse getStatus(com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getGetStatusMethod(), getCallOptions(), request);
+    }
   }
 
   /**
@@ -402,12 +463,24 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
       return io.grpc.stub.ClientCalls.futureUnaryCall(
           getChannel().newCall(getDoCommandMethod(), getCallOptions()), request);
     }
+
+    /**
+     * <pre>
+     * GetStatus returns the status of the resource
+     * </pre>
+     */
+    public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Common.GetStatusResponse> getStatus(
+        com.viam.common.v1.Common.GetStatusRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request);
+    }
   }
 
   private static final int METHODID_LIST_UUIDS = 0;
   private static final int METHODID_GET_TRANSFORM = 1;
   private static final int METHODID_STREAM_TRANSFORM_CHANGES = 2;
   private static final int METHODID_DO_COMMAND = 3;
+  private static final int METHODID_GET_STATUS = 4;
 
   private static final class MethodHandlers<Req, Resp> implements
       io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@@ -442,6 +515,10 @@ public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserv
           serviceImpl.doCommand((com.viam.common.v1.Common.DoCommandRequest) request,
               (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.DoCommandResponse>) responseObserver);
           break;
+        case METHODID_GET_STATUS:
+          serviceImpl.getStatus((com.viam.common.v1.Common.GetStatusRequest) request,
+              (io.grpc.stub.StreamObserver<com.viam.common.v1.Common.GetStatusResponse>) responseObserver);
+          break;
         default:
           throw new AssertionError();
       }
@@ -488,6 +565,13 @@ public static final io.grpc.ServerServiceDefinition bindService(AsyncService ser
               com.viam.common.v1.Common.DoCommandRequest,
               com.viam.common.v1.Common.DoCommandResponse>(
                 service, METHODID_DO_COMMAND)))
+        .addMethod(
+          getGetStatusMethod(),
+          io.grpc.stub.ServerCalls.asyncUnaryCall(
+            new MethodHandlers<
+              com.viam.common.v1.Common.GetStatusRequest,
+              com.viam.common.v1.Common.GetStatusResponse>(
+                service, METHODID_GET_STATUS)))
         .build();
   }
 
@@ -504,6 +588,7 @@ public static io.grpc.ServiceDescriptor getServiceDescriptor() {
               .addMethod(getGetTransformMethod())
               .addMethod(getStreamTransformChangesMethod())
               .addMethod(getDoCommandMethod())
+              .addMethod(getGetStatusMethod())
               .build();
         }
       }
diff --git a/core/sdk/src/main/gen/viam/app/agent/v1/Agent.java b/core/sdk/src/main/gen/viam/app/agent/v1/Agent.java
index b24633779..bd47e7726 100644
--- a/core/sdk/src/main/gen/viam/app/agent/v1/Agent.java
+++ b/core/sdk/src/main/gen/viam/app/agent/v1/Agent.java
@@ -288,6 +288,44 @@ java.lang.String getSubsystemVersionsOrThrow(
      * @return The versionInfo.
      */
     viam.app.agent.v1.Agent.VersionInfo getVersionInfo();
+
+    /**
+     * <pre>
+     * how long viam-agent has been running since its most recent start
+     * </pre>
+     *
+     * <code>.google.protobuf.Duration agent_uptime = 5 [json_name = "agentUptime"];</code>
+     * @return Whether the agentUptime field is set.
+     */
+    boolean hasAgentUptime();
+    /**
+     * <pre>
+     * how long viam-agent has been running since its most recent start
+     * </pre>
+     *
+     * <code>.google.protobuf.Duration agent_uptime = 5 [json_name = "agentUptime"];</code>
+     * @return The agentUptime.
+     */
+    com.google.protobuf.Duration getAgentUptime();
+
+    /**
+     * <pre>
+     * how long viam-server has been running since its most recent start (omitted if not running)
+     * </pre>
+     *
+     * <code>.google.protobuf.Duration viam_server_uptime = 6 [json_name = "viamServerUptime"];</code>
+     * @return Whether the viamServerUptime field is set.
+     */
+    boolean hasViamServerUptime();
+    /**
+     * <pre>
+     * how long viam-server has been running since its most recent start (omitted if not running)
+     * </pre>
+     *
+     * <code>.google.protobuf.Duration viam_server_uptime = 6 [json_name = "viamServerUptime"];</code>
+     * @return The viamServerUptime.
+     */
+    com.google.protobuf.Duration getViamServerUptime();
   }
   /**
    * <pre>
@@ -624,6 +662,138 @@ private void mergeVersionInfo(viam.app.agent.v1.Agent.VersionInfo value) {
       bitField0_ = (bitField0_ & ~0x00000002);
     }
 
+    public static final int AGENT_UPTIME_FIELD_NUMBER = 5;
+    private com.google.protobuf.Duration agentUptime_;
+    /**
+     * <pre>
+     * how long viam-agent has been running since its most recent start
+     * </pre>
+     *
+     * <code>.google.protobuf.Duration agent_uptime = 5 [json_name = "agentUptime"];</code>
+     */
+    @java.lang.Override
+    public boolean hasAgentUptime() {
+      return ((bitField0_ & 0x00000004) != 0);
+    }
+    /**
+     * <pre>
+     * how long viam-agent has been running since its most recent start
+     * </pre>
+     *
+     * <code>.google.protobuf.Duration agent_uptime = 5 [json_name = "agentUptime"];</code>
+     */
+    @java.lang.Override
+    public com.google.protobuf.Duration getAgentUptime() {
+      return agentUptime_ == null ? com.google.protobuf.Duration.getDefaultInstance() : agentUptime_;
+    }
+    /**
+     * <pre>
+     * how long viam-agent has been running since its most recent start
+     * </pre>
+     *
+     * <code>.google.protobuf.Duration agent_uptime = 5 [json_name = "agentUptime"];</code>
+     */
+    private void setAgentUptime(com.google.protobuf.Duration value) {
+      value.getClass();
+  agentUptime_ = value;
+      bitField0_ |= 0x00000004;
+      }
+    /**
+     * <pre>
+     * how long viam-agent has been running since its most recent start
+     * </pre>
+     *
+     * <code>.google.protobuf.Duration agent_uptime = 5 [json_name = "agentUptime"];</code>
+     */
+    @java.lang.SuppressWarnings({"ReferenceEquality"})
+    private void mergeAgentUptime(com.google.protobuf.Duration value) {
+      value.getClass();
+  if (agentUptime_ != null &&
+          agentUptime_ != com.google.protobuf.Duration.getDefaultInstance()) {
+        agentUptime_ =
+          com.google.protobuf.Duration.newBuilder(agentUptime_).mergeFrom(value).buildPartial();
+      } else {
+        agentUptime_ = value;
+      }
+      bitField0_ |= 0x00000004;
+    }
+    /**
+     * <pre>
+     * how long viam-agent has been running since its most recent start
+     * </pre>
+     *
+     * <code>.google.protobuf.Duration agent_uptime = 5 [json_name = "agentUptime"];</code>
+     */
+    private void clearAgentUptime() {  agentUptime_ = null;
+      bitField0_ = (bitField0_ & ~0x00000004);
+    }
+
+    public static final int VIAM_SERVER_UPTIME_FIELD_NUMBER = 6;
+    private com.google.protobuf.Duration viamServerUptime_;
+    /**
+     * <pre>
+     * how long viam-server has been running since its most recent start (omitted if not running)
+     * </pre>
+     *
+     * <code>.google.protobuf.Duration viam_server_uptime = 6 [json_name = "viamServerUptime"];</code>
+     */
+    @java.lang.Override
+    public boolean hasViamServerUptime() {
+      return ((bitField0_ & 0x00000008) != 0);
+    }
+    /**
+     * <pre>
+     * how long viam-server has been running since its most recent start (omitted if not running)
+     * </pre>
+     *
+     * <code>.google.protobuf.Duration viam_server_uptime = 6 [json_name = "viamServerUptime"];</code>
+     */
+    @java.lang.Override
+    public com.google.protobuf.Duration getViamServerUptime() {
+      return viamServerUptime_ == null ? com.google.protobuf.Duration.getDefaultInstance() : viamServerUptime_;
+    }
+    /**
+     * <pre>
+     * how long viam-server has been running since its most recent start (omitted if not running)
+     * </pre>
+     *
+     * <code>.google.protobuf.Duration viam_server_uptime = 6 [json_name = "viamServerUptime"];</code>
+     */
+    private void setViamServerUptime(com.google.protobuf.Duration value) {
+      value.getClass();
+  viamServerUptime_ = value;
+      bitField0_ |= 0x00000008;
+      }
+    /**
+     * <pre>
+     * how long viam-server has been running since its most recent start (omitted if not running)
+     * </pre>
+     *
+     * <code>.google.protobuf.Duration viam_server_uptime = 6 [json_name = "viamServerUptime"];</code>
+     */
+    @java.lang.SuppressWarnings({"ReferenceEquality"})
+    private void mergeViamServerUptime(com.google.protobuf.Duration value) {
+      value.getClass();
+  if (viamServerUptime_ != null &&
+          viamServerUptime_ != com.google.protobuf.Duration.getDefaultInstance()) {
+        viamServerUptime_ =
+          com.google.protobuf.Duration.newBuilder(viamServerUptime_).mergeFrom(value).buildPartial();
+      } else {
+        viamServerUptime_ = value;
+      }
+      bitField0_ |= 0x00000008;
+    }
+    /**
+     * <pre>
+     * how long viam-server has been running since its most recent start (omitted if not running)
+     * </pre>
+     *
+     * <code>.google.protobuf.Duration viam_server_uptime = 6 [json_name = "viamServerUptime"];</code>
+     */
+    private void clearViamServerUptime() {  viamServerUptime_ = null;
+      bitField0_ = (bitField0_ & ~0x00000008);
+    }
+
     public static viam.app.agent.v1.Agent.DeviceAgentConfigRequest parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
@@ -1071,6 +1241,148 @@ public Builder mergeVersionInfo(viam.app.agent.v1.Agent.VersionInfo value) {
         return this;
       }
 
+      /**
+       * <pre>
+       * how long viam-agent has been running since its most recent start
+       * </pre>
+       *
+       * <code>.google.protobuf.Duration agent_uptime = 5 [json_name = "agentUptime"];</code>
+       */
+      @java.lang.Override
+      public boolean hasAgentUptime() {
+        return instance.hasAgentUptime();
+      }
+      /**
+       * <pre>
+       * how long viam-agent has been running since its most recent start
+       * </pre>
+       *
+       * <code>.google.protobuf.Duration agent_uptime = 5 [json_name = "agentUptime"];</code>
+       */
+      @java.lang.Override
+      public com.google.protobuf.Duration getAgentUptime() {
+        return instance.getAgentUptime();
+      }
+      /**
+       * <pre>
+       * how long viam-agent has been running since its most recent start
+       * </pre>
+       *
+       * <code>.google.protobuf.Duration agent_uptime = 5 [json_name = "agentUptime"];</code>
+       */
+      public Builder setAgentUptime(com.google.protobuf.Duration value) {
+        copyOnWrite();
+        instance.setAgentUptime(value);
+        return this;
+        }
+      /**
+       * <pre>
+       * how long viam-agent has been running since its most recent start
+       * </pre>
+       *
+       * <code>.google.protobuf.Duration agent_uptime = 5 [json_name = "agentUptime"];</code>
+       */
+      public Builder setAgentUptime(
+          com.google.protobuf.Duration.Builder builderForValue) {
+        copyOnWrite();
+        instance.setAgentUptime(builderForValue.build());
+        return this;
+      }
+      /**
+       * <pre>
+       * how long viam-agent has been running since its most recent start
+       * </pre>
+       *
+       * <code>.google.protobuf.Duration agent_uptime = 5 [json_name = "agentUptime"];</code>
+       */
+      public Builder mergeAgentUptime(com.google.protobuf.Duration value) {
+        copyOnWrite();
+        instance.mergeAgentUptime(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * how long viam-agent has been running since its most recent start
+       * </pre>
+       *
+       * <code>.google.protobuf.Duration agent_uptime = 5 [json_name = "agentUptime"];</code>
+       */
+      public Builder clearAgentUptime() {  copyOnWrite();
+        instance.clearAgentUptime();
+        return this;
+      }
+
+      /**
+       * <pre>
+       * how long viam-server has been running since its most recent start (omitted if not running)
+       * </pre>
+       *
+       * <code>.google.protobuf.Duration viam_server_uptime = 6 [json_name = "viamServerUptime"];</code>
+       */
+      @java.lang.Override
+      public boolean hasViamServerUptime() {
+        return instance.hasViamServerUptime();
+      }
+      /**
+       * <pre>
+       * how long viam-server has been running since its most recent start (omitted if not running)
+       * </pre>
+       *
+       * <code>.google.protobuf.Duration viam_server_uptime = 6 [json_name = "viamServerUptime"];</code>
+       */
+      @java.lang.Override
+      public com.google.protobuf.Duration getViamServerUptime() {
+        return instance.getViamServerUptime();
+      }
+      /**
+       * <pre>
+       * how long viam-server has been running since its most recent start (omitted if not running)
+       * </pre>
+       *
+       * <code>.google.protobuf.Duration viam_server_uptime = 6 [json_name = "viamServerUptime"];</code>
+       */
+      public Builder setViamServerUptime(com.google.protobuf.Duration value) {
+        copyOnWrite();
+        instance.setViamServerUptime(value);
+        return this;
+        }
+      /**
+       * <pre>
+       * how long viam-server has been running since its most recent start (omitted if not running)
+       * </pre>
+       *
+       * <code>.google.protobuf.Duration viam_server_uptime = 6 [json_name = "viamServerUptime"];</code>
+       */
+      public Builder setViamServerUptime(
+          com.google.protobuf.Duration.Builder builderForValue) {
+        copyOnWrite();
+        instance.setViamServerUptime(builderForValue.build());
+        return this;
+      }
+      /**
+       * <pre>
+       * how long viam-server has been running since its most recent start (omitted if not running)
+       * </pre>
+       *
+       * <code>.google.protobuf.Duration viam_server_uptime = 6 [json_name = "viamServerUptime"];</code>
+       */
+      public Builder mergeViamServerUptime(com.google.protobuf.Duration value) {
+        copyOnWrite();
+        instance.mergeViamServerUptime(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * how long viam-server has been running since its most recent start (omitted if not running)
+       * </pre>
+       *
+       * <code>.google.protobuf.Duration viam_server_uptime = 6 [json_name = "viamServerUptime"];</code>
+       */
+      public Builder clearViamServerUptime() {  copyOnWrite();
+        instance.clearViamServerUptime();
+        return this;
+      }
+
       // @@protoc_insertion_point(builder_scope:viam.app.agent.v1.DeviceAgentConfigRequest)
     }
     @java.lang.Override
@@ -1093,10 +1405,12 @@ protected final java.lang.Object dynamicMethod(
               "subsystemVersions_",
               SubsystemVersionsDefaultEntryHolder.defaultEntry,
               "versionInfo_",
+              "agentUptime_",
+              "viamServerUptime_",
             };
             java.lang.String info =
-                "\u0000\u0004\u0000\u0001\u0001\u0004\u0004\u0001\u0000\u0000\u0001\u0208\u0002\u1009" +
-                "\u0000\u00032\u0004\u1009\u0001";
+                "\u0000\u0006\u0000\u0001\u0001\u0006\u0006\u0001\u0000\u0000\u0001\u0208\u0002\u1009" +
+                "\u0000\u00032\u0004\u1009\u0001\u0005\u1009\u0002\u0006\u1009\u0003";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         // fall through
diff --git a/core/sdk/src/main/gen/viam/app/data/v1/Data.java b/core/sdk/src/main/gen/viam/app/data/v1/Data.java
index c1b8cff87..d8b0d4d4f 100644
--- a/core/sdk/src/main/gen/viam/app/data/v1/Data.java
+++ b/core/sdk/src/main/gen/viam/app/data/v1/Data.java
@@ -19764,6 +19764,12 @@ public interface BinaryMetadataOrBuilder extends
      */
     com.google.protobuf.ByteString
         getBinaryDataIdBytes();
+
+    /**
+     * <code>uint64 file_size_bytes = 11 [json_name = "fileSizeBytes"];</code>
+     * @return The fileSizeBytes.
+     */
+    long getFileSizeBytes();
   }
   /**
    * <pre>
@@ -20308,6 +20314,32 @@ private void setBinaryDataIdBytes(
 
     }
 
+    public static final int FILE_SIZE_BYTES_FIELD_NUMBER = 11;
+    private long fileSizeBytes_;
+    /**
+     * <code>uint64 file_size_bytes = 11 [json_name = "fileSizeBytes"];</code>
+     * @return The fileSizeBytes.
+     */
+    @java.lang.Override
+    public long getFileSizeBytes() {
+      return fileSizeBytes_;
+    }
+    /**
+     * <code>uint64 file_size_bytes = 11 [json_name = "fileSizeBytes"];</code>
+     * @param value The fileSizeBytes to set.
+     */
+    private void setFileSizeBytes(long value) {
+      
+      fileSizeBytes_ = value;
+    }
+    /**
+     * <code>uint64 file_size_bytes = 11 [json_name = "fileSizeBytes"];</code>
+     */
+    private void clearFileSizeBytes() {
+
+      fileSizeBytes_ = 0L;
+    }
+
     public static viam.app.data.v1.Data.BinaryMetadata parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
@@ -20937,14 +20969,1109 @@ public Builder clearBinaryDataId() {
        * @param value The bytes for binaryDataId to set.
        * @return This builder for chaining.
        */
-      public Builder setBinaryDataIdBytes(
-          com.google.protobuf.ByteString value) {
-        copyOnWrite();
-        instance.setBinaryDataIdBytes(value);
+      public Builder setBinaryDataIdBytes(
+          com.google.protobuf.ByteString value) {
+        copyOnWrite();
+        instance.setBinaryDataIdBytes(value);
+        return this;
+      }
+
+      /**
+       * <code>uint64 file_size_bytes = 11 [json_name = "fileSizeBytes"];</code>
+       * @return The fileSizeBytes.
+       */
+      @java.lang.Override
+      public long getFileSizeBytes() {
+        return instance.getFileSizeBytes();
+      }
+      /**
+       * <code>uint64 file_size_bytes = 11 [json_name = "fileSizeBytes"];</code>
+       * @param value The fileSizeBytes to set.
+       * @return This builder for chaining.
+       */
+      public Builder setFileSizeBytes(long value) {
+        copyOnWrite();
+        instance.setFileSizeBytes(value);
+        return this;
+      }
+      /**
+       * <code>uint64 file_size_bytes = 11 [json_name = "fileSizeBytes"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearFileSizeBytes() {
+        copyOnWrite();
+        instance.clearFileSizeBytes();
+        return this;
+      }
+
+      // @@protoc_insertion_point(builder_scope:viam.app.data.v1.BinaryMetadata)
+    }
+    @java.lang.Override
+    @java.lang.SuppressWarnings({"unchecked", "fallthrough"})
+    protected final java.lang.Object dynamicMethod(
+        com.google.protobuf.GeneratedMessageLite.MethodToInvoke method,
+        java.lang.Object arg0, java.lang.Object arg1) {
+      switch (method) {
+        case NEW_MUTABLE_INSTANCE: {
+          return new viam.app.data.v1.Data.BinaryMetadata();
+        }
+        case NEW_BUILDER: {
+          return new Builder();
+        }
+        case BUILD_MESSAGE_INFO: {
+            java.lang.Object[] objects = new java.lang.Object[] {
+              "bitField0_",
+              "id_",
+              "captureMetadata_",
+              "timeRequested_",
+              "timeReceived_",
+              "fileName_",
+              "fileExt_",
+              "uri_",
+              "annotations_",
+              "datasetIds_",
+              "binaryDataId_",
+              "fileSizeBytes_",
+            };
+            java.lang.String info =
+                "\u0000\u000b\u0000\u0001\u0001\u000b\u000b\u0000\u0001\u0000\u0001\u0208\u0002\u1009" +
+                "\u0000\u0003\u1009\u0001\u0004\u1009\u0002\u0005\u0208\u0006\u0208\u0007\u0208\b" +
+                "\u1009\u0003\t\u021a\n\u0208\u000b\u0003";
+            return newMessageInfo(DEFAULT_INSTANCE, info, objects);
+        }
+        // fall through
+        case GET_DEFAULT_INSTANCE: {
+          return DEFAULT_INSTANCE;
+        }
+        case GET_PARSER: {
+          com.google.protobuf.Parser<viam.app.data.v1.Data.BinaryMetadata> parser = PARSER;
+          if (parser == null) {
+            synchronized (viam.app.data.v1.Data.BinaryMetadata.class) {
+              parser = PARSER;
+              if (parser == null) {
+                parser =
+                    new DefaultInstanceBasedParser<viam.app.data.v1.Data.BinaryMetadata>(
+                        DEFAULT_INSTANCE);
+                PARSER = parser;
+              }
+            }
+          }
+          return parser;
+      }
+      case GET_MEMOIZED_IS_INITIALIZED: {
+        return (byte) 1;
+      }
+      case SET_MEMOIZED_IS_INITIALIZED: {
+        return null;
+      }
+      }
+      throw new UnsupportedOperationException();
+    }
+
+
+    // @@protoc_insertion_point(class_scope:viam.app.data.v1.BinaryMetadata)
+    private static final viam.app.data.v1.Data.BinaryMetadata DEFAULT_INSTANCE;
+    static {
+      BinaryMetadata defaultInstance = new BinaryMetadata();
+      // New instances are implicitly immutable so no need to make
+      // immutable.
+      DEFAULT_INSTANCE = defaultInstance;
+      com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
+        BinaryMetadata.class, defaultInstance);
+    }
+
+    public static viam.app.data.v1.Data.BinaryMetadata getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static volatile com.google.protobuf.Parser<BinaryMetadata> PARSER;
+
+    public static com.google.protobuf.Parser<BinaryMetadata> parser() {
+      return DEFAULT_INSTANCE.getParserForType();
+    }
+  }
+
+  public interface DeleteTabularFilterOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:viam.app.data.v1.DeleteTabularFilter)
+      com.google.protobuf.MessageLiteOrBuilder {
+
+    /**
+     * <code>repeated string location_ids = 1 [json_name = "locationIds"];</code>
+     * @return A list containing the locationIds.
+     */
+    java.util.List<java.lang.String>
+        getLocationIdsList();
+    /**
+     * <code>repeated string location_ids = 1 [json_name = "locationIds"];</code>
+     * @return The count of locationIds.
+     */
+    int getLocationIdsCount();
+    /**
+     * <code>repeated string location_ids = 1 [json_name = "locationIds"];</code>
+     * @param index The index of the element to return.
+     * @return The locationIds at the given index.
+     */
+    java.lang.String getLocationIds(int index);
+    /**
+     * <code>repeated string location_ids = 1 [json_name = "locationIds"];</code>
+     * @param index The index of the element to return.
+     * @return The locationIds at the given index.
+     */
+    com.google.protobuf.ByteString
+        getLocationIdsBytes(int index);
+
+    /**
+     * <code>string robot_id = 2 [json_name = "robotId"];</code>
+     * @return The robotId.
+     */
+    java.lang.String getRobotId();
+    /**
+     * <code>string robot_id = 2 [json_name = "robotId"];</code>
+     * @return The bytes for robotId.
+     */
+    com.google.protobuf.ByteString
+        getRobotIdBytes();
+
+    /**
+     * <code>string part_id = 3 [json_name = "partId"];</code>
+     * @return The partId.
+     */
+    java.lang.String getPartId();
+    /**
+     * <code>string part_id = 3 [json_name = "partId"];</code>
+     * @return The bytes for partId.
+     */
+    com.google.protobuf.ByteString
+        getPartIdBytes();
+
+    /**
+     * <code>string component_type = 4 [json_name = "componentType"];</code>
+     * @return The componentType.
+     */
+    java.lang.String getComponentType();
+    /**
+     * <code>string component_type = 4 [json_name = "componentType"];</code>
+     * @return The bytes for componentType.
+     */
+    com.google.protobuf.ByteString
+        getComponentTypeBytes();
+
+    /**
+     * <code>string component_name = 5 [json_name = "componentName"];</code>
+     * @return The componentName.
+     */
+    java.lang.String getComponentName();
+    /**
+     * <code>string component_name = 5 [json_name = "componentName"];</code>
+     * @return The bytes for componentName.
+     */
+    com.google.protobuf.ByteString
+        getComponentNameBytes();
+
+    /**
+     * <code>string method = 6 [json_name = "method"];</code>
+     * @return The method.
+     */
+    java.lang.String getMethod();
+    /**
+     * <code>string method = 6 [json_name = "method"];</code>
+     * @return The bytes for method.
+     */
+    com.google.protobuf.ByteString
+        getMethodBytes();
+
+    /**
+     * <code>.viam.app.data.v1.TagsFilter tags_filter = 7 [json_name = "tagsFilter"];</code>
+     * @return Whether the tagsFilter field is set.
+     */
+    boolean hasTagsFilter();
+    /**
+     * <code>.viam.app.data.v1.TagsFilter tags_filter = 7 [json_name = "tagsFilter"];</code>
+     * @return The tagsFilter.
+     */
+    viam.app.data.v1.Data.TagsFilter getTagsFilter();
+  }
+  /**
+   * <pre>
+   * TabularFilter filters tabular data. All fields are optional; omitted fields are treated as unconstrained.
+   * </pre>
+   *
+   * Protobuf type {@code viam.app.data.v1.DeleteTabularFilter}
+   */
+  public  static final class DeleteTabularFilter extends
+      com.google.protobuf.GeneratedMessageLite<
+          DeleteTabularFilter, DeleteTabularFilter.Builder> implements
+      // @@protoc_insertion_point(message_implements:viam.app.data.v1.DeleteTabularFilter)
+      DeleteTabularFilterOrBuilder {
+    private DeleteTabularFilter() {
+      locationIds_ = com.google.protobuf.GeneratedMessageLite.emptyProtobufList();
+      robotId_ = "";
+      partId_ = "";
+      componentType_ = "";
+      componentName_ = "";
+      method_ = "";
+    }
+    private int bitField0_;
+    public static final int LOCATION_IDS_FIELD_NUMBER = 1;
+    private com.google.protobuf.Internal.ProtobufList<java.lang.String> locationIds_;
+    /**
+     * <code>repeated string location_ids = 1 [json_name = "locationIds"];</code>
+     * @return A list containing the locationIds.
+     */
+    @java.lang.Override
+    public java.util.List<java.lang.String> getLocationIdsList() {
+      return locationIds_;
+    }
+    /**
+     * <code>repeated string location_ids = 1 [json_name = "locationIds"];</code>
+     * @return The count of locationIds.
+     */
+    @java.lang.Override
+    public int getLocationIdsCount() {
+      return locationIds_.size();
+    }
+    /**
+     * <code>repeated string location_ids = 1 [json_name = "locationIds"];</code>
+     * @param index The index of the element to return.
+     * @return The locationIds at the given index.
+     */
+    @java.lang.Override
+    public java.lang.String getLocationIds(int index) {
+      return locationIds_.get(index);
+    }
+    /**
+     * <code>repeated string location_ids = 1 [json_name = "locationIds"];</code>
+     * @param index The index of the value to return.
+     * @return The bytes of the locationIds at the given index.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getLocationIdsBytes(int index) {
+      return com.google.protobuf.ByteString.copyFromUtf8(
+          locationIds_.get(index));
+    }
+    private void ensureLocationIdsIsMutable() {
+      com.google.protobuf.Internal.ProtobufList<java.lang.String> tmp =
+          locationIds_;  if (!tmp.isModifiable()) {
+        locationIds_ =
+            com.google.protobuf.GeneratedMessageLite.mutableCopy(tmp);
+       }
+    }
+    /**
+     * <code>repeated string location_ids = 1 [json_name = "locationIds"];</code>
+     * @param index The index to set the value at.
+     * @param value The locationIds to set.
+     */
+    private void setLocationIds(
+        int index, java.lang.String value) {
+      java.lang.Class<?> valueClass = value.getClass();
+  ensureLocationIdsIsMutable();
+      locationIds_.set(index, value);
+    }
+    /**
+     * <code>repeated string location_ids = 1 [json_name = "locationIds"];</code>
+     * @param value The locationIds to add.
+     */
+    private void addLocationIds(
+        java.lang.String value) {
+      java.lang.Class<?> valueClass = value.getClass();
+  ensureLocationIdsIsMutable();
+      locationIds_.add(value);
+    }
+    /**
+     * <code>repeated string location_ids = 1 [json_name = "locationIds"];</code>
+     * @param values The locationIds to add.
+     */
+    private void addAllLocationIds(
+        java.lang.Iterable<java.lang.String> values) {
+      ensureLocationIdsIsMutable();
+      com.google.protobuf.AbstractMessageLite.addAll(
+          values, locationIds_);
+    }
+    /**
+     * <code>repeated string location_ids = 1 [json_name = "locationIds"];</code>
+     */
+    private void clearLocationIds() {
+      locationIds_ = com.google.protobuf.GeneratedMessageLite.emptyProtobufList();
+    }
+    /**
+     * <code>repeated string location_ids = 1 [json_name = "locationIds"];</code>
+     * @param value The bytes of the locationIds to add.
+     */
+    private void addLocationIdsBytes(
+        com.google.protobuf.ByteString value) {
+      checkByteStringIsUtf8(value);
+      ensureLocationIdsIsMutable();
+      locationIds_.add(value.toStringUtf8());
+    }
+
+    public static final int ROBOT_ID_FIELD_NUMBER = 2;
+    private java.lang.String robotId_;
+    /**
+     * <code>string robot_id = 2 [json_name = "robotId"];</code>
+     * @return The robotId.
+     */
+    @java.lang.Override
+    public java.lang.String getRobotId() {
+      return robotId_;
+    }
+    /**
+     * <code>string robot_id = 2 [json_name = "robotId"];</code>
+     * @return The bytes for robotId.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getRobotIdBytes() {
+      return com.google.protobuf.ByteString.copyFromUtf8(robotId_);
+    }
+    /**
+     * <code>string robot_id = 2 [json_name = "robotId"];</code>
+     * @param value The robotId to set.
+     */
+    private void setRobotId(
+        java.lang.String value) {
+      java.lang.Class<?> valueClass = value.getClass();
+  
+      robotId_ = value;
+    }
+    /**
+     * <code>string robot_id = 2 [json_name = "robotId"];</code>
+     */
+    private void clearRobotId() {
+
+      robotId_ = getDefaultInstance().getRobotId();
+    }
+    /**
+     * <code>string robot_id = 2 [json_name = "robotId"];</code>
+     * @param value The bytes for robotId to set.
+     */
+    private void setRobotIdBytes(
+        com.google.protobuf.ByteString value) {
+      checkByteStringIsUtf8(value);
+      robotId_ = value.toStringUtf8();
+
+    }
+
+    public static final int PART_ID_FIELD_NUMBER = 3;
+    private java.lang.String partId_;
+    /**
+     * <code>string part_id = 3 [json_name = "partId"];</code>
+     * @return The partId.
+     */
+    @java.lang.Override
+    public java.lang.String getPartId() {
+      return partId_;
+    }
+    /**
+     * <code>string part_id = 3 [json_name = "partId"];</code>
+     * @return The bytes for partId.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getPartIdBytes() {
+      return com.google.protobuf.ByteString.copyFromUtf8(partId_);
+    }
+    /**
+     * <code>string part_id = 3 [json_name = "partId"];</code>
+     * @param value The partId to set.
+     */
+    private void setPartId(
+        java.lang.String value) {
+      java.lang.Class<?> valueClass = value.getClass();
+  
+      partId_ = value;
+    }
+    /**
+     * <code>string part_id = 3 [json_name = "partId"];</code>
+     */
+    private void clearPartId() {
+
+      partId_ = getDefaultInstance().getPartId();
+    }
+    /**
+     * <code>string part_id = 3 [json_name = "partId"];</code>
+     * @param value The bytes for partId to set.
+     */
+    private void setPartIdBytes(
+        com.google.protobuf.ByteString value) {
+      checkByteStringIsUtf8(value);
+      partId_ = value.toStringUtf8();
+
+    }
+
+    public static final int COMPONENT_TYPE_FIELD_NUMBER = 4;
+    private java.lang.String componentType_;
+    /**
+     * <code>string component_type = 4 [json_name = "componentType"];</code>
+     * @return The componentType.
+     */
+    @java.lang.Override
+    public java.lang.String getComponentType() {
+      return componentType_;
+    }
+    /**
+     * <code>string component_type = 4 [json_name = "componentType"];</code>
+     * @return The bytes for componentType.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getComponentTypeBytes() {
+      return com.google.protobuf.ByteString.copyFromUtf8(componentType_);
+    }
+    /**
+     * <code>string component_type = 4 [json_name = "componentType"];</code>
+     * @param value The componentType to set.
+     */
+    private void setComponentType(
+        java.lang.String value) {
+      java.lang.Class<?> valueClass = value.getClass();
+  
+      componentType_ = value;
+    }
+    /**
+     * <code>string component_type = 4 [json_name = "componentType"];</code>
+     */
+    private void clearComponentType() {
+
+      componentType_ = getDefaultInstance().getComponentType();
+    }
+    /**
+     * <code>string component_type = 4 [json_name = "componentType"];</code>
+     * @param value The bytes for componentType to set.
+     */
+    private void setComponentTypeBytes(
+        com.google.protobuf.ByteString value) {
+      checkByteStringIsUtf8(value);
+      componentType_ = value.toStringUtf8();
+
+    }
+
+    public static final int COMPONENT_NAME_FIELD_NUMBER = 5;
+    private java.lang.String componentName_;
+    /**
+     * <code>string component_name = 5 [json_name = "componentName"];</code>
+     * @return The componentName.
+     */
+    @java.lang.Override
+    public java.lang.String getComponentName() {
+      return componentName_;
+    }
+    /**
+     * <code>string component_name = 5 [json_name = "componentName"];</code>
+     * @return The bytes for componentName.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getComponentNameBytes() {
+      return com.google.protobuf.ByteString.copyFromUtf8(componentName_);
+    }
+    /**
+     * <code>string component_name = 5 [json_name = "componentName"];</code>
+     * @param value The componentName to set.
+     */
+    private void setComponentName(
+        java.lang.String value) {
+      java.lang.Class<?> valueClass = value.getClass();
+  
+      componentName_ = value;
+    }
+    /**
+     * <code>string component_name = 5 [json_name = "componentName"];</code>
+     */
+    private void clearComponentName() {
+
+      componentName_ = getDefaultInstance().getComponentName();
+    }
+    /**
+     * <code>string component_name = 5 [json_name = "componentName"];</code>
+     * @param value The bytes for componentName to set.
+     */
+    private void setComponentNameBytes(
+        com.google.protobuf.ByteString value) {
+      checkByteStringIsUtf8(value);
+      componentName_ = value.toStringUtf8();
+
+    }
+
+    public static final int METHOD_FIELD_NUMBER = 6;
+    private java.lang.String method_;
+    /**
+     * <code>string method = 6 [json_name = "method"];</code>
+     * @return The method.
+     */
+    @java.lang.Override
+    public java.lang.String getMethod() {
+      return method_;
+    }
+    /**
+     * <code>string method = 6 [json_name = "method"];</code>
+     * @return The bytes for method.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getMethodBytes() {
+      return com.google.protobuf.ByteString.copyFromUtf8(method_);
+    }
+    /**
+     * <code>string method = 6 [json_name = "method"];</code>
+     * @param value The method to set.
+     */
+    private void setMethod(
+        java.lang.String value) {
+      java.lang.Class<?> valueClass = value.getClass();
+  
+      method_ = value;
+    }
+    /**
+     * <code>string method = 6 [json_name = "method"];</code>
+     */
+    private void clearMethod() {
+
+      method_ = getDefaultInstance().getMethod();
+    }
+    /**
+     * <code>string method = 6 [json_name = "method"];</code>
+     * @param value The bytes for method to set.
+     */
+    private void setMethodBytes(
+        com.google.protobuf.ByteString value) {
+      checkByteStringIsUtf8(value);
+      method_ = value.toStringUtf8();
+
+    }
+
+    public static final int TAGS_FILTER_FIELD_NUMBER = 7;
+    private viam.app.data.v1.Data.TagsFilter tagsFilter_;
+    /**
+     * <code>.viam.app.data.v1.TagsFilter tags_filter = 7 [json_name = "tagsFilter"];</code>
+     */
+    @java.lang.Override
+    public boolean hasTagsFilter() {
+      return ((bitField0_ & 0x00000001) != 0);
+    }
+    /**
+     * <code>.viam.app.data.v1.TagsFilter tags_filter = 7 [json_name = "tagsFilter"];</code>
+     */
+    @java.lang.Override
+    public viam.app.data.v1.Data.TagsFilter getTagsFilter() {
+      return tagsFilter_ == null ? viam.app.data.v1.Data.TagsFilter.getDefaultInstance() : tagsFilter_;
+    }
+    /**
+     * <code>.viam.app.data.v1.TagsFilter tags_filter = 7 [json_name = "tagsFilter"];</code>
+     */
+    private void setTagsFilter(viam.app.data.v1.Data.TagsFilter value) {
+      value.getClass();
+  tagsFilter_ = value;
+      bitField0_ |= 0x00000001;
+      }
+    /**
+     * <code>.viam.app.data.v1.TagsFilter tags_filter = 7 [json_name = "tagsFilter"];</code>
+     */
+    @java.lang.SuppressWarnings({"ReferenceEquality"})
+    private void mergeTagsFilter(viam.app.data.v1.Data.TagsFilter value) {
+      value.getClass();
+  if (tagsFilter_ != null &&
+          tagsFilter_ != viam.app.data.v1.Data.TagsFilter.getDefaultInstance()) {
+        tagsFilter_ =
+          viam.app.data.v1.Data.TagsFilter.newBuilder(tagsFilter_).mergeFrom(value).buildPartial();
+      } else {
+        tagsFilter_ = value;
+      }
+      bitField0_ |= 0x00000001;
+    }
+    /**
+     * <code>.viam.app.data.v1.TagsFilter tags_filter = 7 [json_name = "tagsFilter"];</code>
+     */
+    private void clearTagsFilter() {  tagsFilter_ = null;
+      bitField0_ = (bitField0_ & ~0x00000001);
+    }
+
+    public static viam.app.data.v1.Data.DeleteTabularFilter parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static viam.app.data.v1.Data.DeleteTabularFilter parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static viam.app.data.v1.Data.DeleteTabularFilter parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static viam.app.data.v1.Data.DeleteTabularFilter parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static viam.app.data.v1.Data.DeleteTabularFilter parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static viam.app.data.v1.Data.DeleteTabularFilter parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static viam.app.data.v1.Data.DeleteTabularFilter parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static viam.app.data.v1.Data.DeleteTabularFilter parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static viam.app.data.v1.Data.DeleteTabularFilter parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input);
+    }
+
+    public static viam.app.data.v1.Data.DeleteTabularFilter parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+    public static viam.app.data.v1.Data.DeleteTabularFilter parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static viam.app.data.v1.Data.DeleteTabularFilter parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static Builder newBuilder() {
+      return (Builder) DEFAULT_INSTANCE.createBuilder();
+    }
+    public static Builder newBuilder(viam.app.data.v1.Data.DeleteTabularFilter prototype) {
+      return DEFAULT_INSTANCE.createBuilder(prototype);
+    }
+
+    /**
+     * <pre>
+     * TabularFilter filters tabular data. All fields are optional; omitted fields are treated as unconstrained.
+     * </pre>
+     *
+     * Protobuf type {@code viam.app.data.v1.DeleteTabularFilter}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageLite.Builder<
+          viam.app.data.v1.Data.DeleteTabularFilter, Builder> implements
+        // @@protoc_insertion_point(builder_implements:viam.app.data.v1.DeleteTabularFilter)
+        viam.app.data.v1.Data.DeleteTabularFilterOrBuilder {
+      // Construct using viam.app.data.v1.Data.DeleteTabularFilter.newBuilder()
+      private Builder() {
+        super(DEFAULT_INSTANCE);
+      }
+
+
+      /**
+       * <code>repeated string location_ids = 1 [json_name = "locationIds"];</code>
+       * @return A list containing the locationIds.
+       */
+      @java.lang.Override
+      public java.util.List<java.lang.String>
+          getLocationIdsList() {
+        return java.util.Collections.unmodifiableList(
+            instance.getLocationIdsList());
+      }
+      /**
+       * <code>repeated string location_ids = 1 [json_name = "locationIds"];</code>
+       * @return The count of locationIds.
+       */
+      @java.lang.Override
+      public int getLocationIdsCount() {
+        return instance.getLocationIdsCount();
+      }
+      /**
+       * <code>repeated string location_ids = 1 [json_name = "locationIds"];</code>
+       * @param index The index of the element to return.
+       * @return The locationIds at the given index.
+       */
+      @java.lang.Override
+      public java.lang.String getLocationIds(int index) {
+        return instance.getLocationIds(index);
+      }
+      /**
+       * <code>repeated string location_ids = 1 [json_name = "locationIds"];</code>
+       * @param index The index of the value to return.
+       * @return The bytes of the locationIds at the given index.
+       */
+      @java.lang.Override
+      public com.google.protobuf.ByteString
+          getLocationIdsBytes(int index) {
+        return instance.getLocationIdsBytes(index);
+      }
+      /**
+       * <code>repeated string location_ids = 1 [json_name = "locationIds"];</code>
+       * @param index The index to set the value at.
+       * @param value The locationIds to set.
+       * @return This builder for chaining.
+       */
+      public Builder setLocationIds(
+          int index, java.lang.String value) {
+        copyOnWrite();
+        instance.setLocationIds(index, value);
+        return this;
+      }
+      /**
+       * <code>repeated string location_ids = 1 [json_name = "locationIds"];</code>
+       * @param value The locationIds to add.
+       * @return This builder for chaining.
+       */
+      public Builder addLocationIds(
+          java.lang.String value) {
+        copyOnWrite();
+        instance.addLocationIds(value);
+        return this;
+      }
+      /**
+       * <code>repeated string location_ids = 1 [json_name = "locationIds"];</code>
+       * @param values The locationIds to add.
+       * @return This builder for chaining.
+       */
+      public Builder addAllLocationIds(
+          java.lang.Iterable<java.lang.String> values) {
+        copyOnWrite();
+        instance.addAllLocationIds(values);
+        return this;
+      }
+      /**
+       * <code>repeated string location_ids = 1 [json_name = "locationIds"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearLocationIds() {
+        copyOnWrite();
+        instance.clearLocationIds();
+        return this;
+      }
+      /**
+       * <code>repeated string location_ids = 1 [json_name = "locationIds"];</code>
+       * @param value The bytes of the locationIds to add.
+       * @return This builder for chaining.
+       */
+      public Builder addLocationIdsBytes(
+          com.google.protobuf.ByteString value) {
+        copyOnWrite();
+        instance.addLocationIdsBytes(value);
+        return this;
+      }
+
+      /**
+       * <code>string robot_id = 2 [json_name = "robotId"];</code>
+       * @return The robotId.
+       */
+      @java.lang.Override
+      public java.lang.String getRobotId() {
+        return instance.getRobotId();
+      }
+      /**
+       * <code>string robot_id = 2 [json_name = "robotId"];</code>
+       * @return The bytes for robotId.
+       */
+      @java.lang.Override
+      public com.google.protobuf.ByteString
+          getRobotIdBytes() {
+        return instance.getRobotIdBytes();
+      }
+      /**
+       * <code>string robot_id = 2 [json_name = "robotId"];</code>
+       * @param value The robotId to set.
+       * @return This builder for chaining.
+       */
+      public Builder setRobotId(
+          java.lang.String value) {
+        copyOnWrite();
+        instance.setRobotId(value);
+        return this;
+      }
+      /**
+       * <code>string robot_id = 2 [json_name = "robotId"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearRobotId() {
+        copyOnWrite();
+        instance.clearRobotId();
+        return this;
+      }
+      /**
+       * <code>string robot_id = 2 [json_name = "robotId"];</code>
+       * @param value The bytes for robotId to set.
+       * @return This builder for chaining.
+       */
+      public Builder setRobotIdBytes(
+          com.google.protobuf.ByteString value) {
+        copyOnWrite();
+        instance.setRobotIdBytes(value);
+        return this;
+      }
+
+      /**
+       * <code>string part_id = 3 [json_name = "partId"];</code>
+       * @return The partId.
+       */
+      @java.lang.Override
+      public java.lang.String getPartId() {
+        return instance.getPartId();
+      }
+      /**
+       * <code>string part_id = 3 [json_name = "partId"];</code>
+       * @return The bytes for partId.
+       */
+      @java.lang.Override
+      public com.google.protobuf.ByteString
+          getPartIdBytes() {
+        return instance.getPartIdBytes();
+      }
+      /**
+       * <code>string part_id = 3 [json_name = "partId"];</code>
+       * @param value The partId to set.
+       * @return This builder for chaining.
+       */
+      public Builder setPartId(
+          java.lang.String value) {
+        copyOnWrite();
+        instance.setPartId(value);
+        return this;
+      }
+      /**
+       * <code>string part_id = 3 [json_name = "partId"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearPartId() {
+        copyOnWrite();
+        instance.clearPartId();
+        return this;
+      }
+      /**
+       * <code>string part_id = 3 [json_name = "partId"];</code>
+       * @param value The bytes for partId to set.
+       * @return This builder for chaining.
+       */
+      public Builder setPartIdBytes(
+          com.google.protobuf.ByteString value) {
+        copyOnWrite();
+        instance.setPartIdBytes(value);
+        return this;
+      }
+
+      /**
+       * <code>string component_type = 4 [json_name = "componentType"];</code>
+       * @return The componentType.
+       */
+      @java.lang.Override
+      public java.lang.String getComponentType() {
+        return instance.getComponentType();
+      }
+      /**
+       * <code>string component_type = 4 [json_name = "componentType"];</code>
+       * @return The bytes for componentType.
+       */
+      @java.lang.Override
+      public com.google.protobuf.ByteString
+          getComponentTypeBytes() {
+        return instance.getComponentTypeBytes();
+      }
+      /**
+       * <code>string component_type = 4 [json_name = "componentType"];</code>
+       * @param value The componentType to set.
+       * @return This builder for chaining.
+       */
+      public Builder setComponentType(
+          java.lang.String value) {
+        copyOnWrite();
+        instance.setComponentType(value);
+        return this;
+      }
+      /**
+       * <code>string component_type = 4 [json_name = "componentType"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearComponentType() {
+        copyOnWrite();
+        instance.clearComponentType();
+        return this;
+      }
+      /**
+       * <code>string component_type = 4 [json_name = "componentType"];</code>
+       * @param value The bytes for componentType to set.
+       * @return This builder for chaining.
+       */
+      public Builder setComponentTypeBytes(
+          com.google.protobuf.ByteString value) {
+        copyOnWrite();
+        instance.setComponentTypeBytes(value);
+        return this;
+      }
+
+      /**
+       * <code>string component_name = 5 [json_name = "componentName"];</code>
+       * @return The componentName.
+       */
+      @java.lang.Override
+      public java.lang.String getComponentName() {
+        return instance.getComponentName();
+      }
+      /**
+       * <code>string component_name = 5 [json_name = "componentName"];</code>
+       * @return The bytes for componentName.
+       */
+      @java.lang.Override
+      public com.google.protobuf.ByteString
+          getComponentNameBytes() {
+        return instance.getComponentNameBytes();
+      }
+      /**
+       * <code>string component_name = 5 [json_name = "componentName"];</code>
+       * @param value The componentName to set.
+       * @return This builder for chaining.
+       */
+      public Builder setComponentName(
+          java.lang.String value) {
+        copyOnWrite();
+        instance.setComponentName(value);
+        return this;
+      }
+      /**
+       * <code>string component_name = 5 [json_name = "componentName"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearComponentName() {
+        copyOnWrite();
+        instance.clearComponentName();
+        return this;
+      }
+      /**
+       * <code>string component_name = 5 [json_name = "componentName"];</code>
+       * @param value The bytes for componentName to set.
+       * @return This builder for chaining.
+       */
+      public Builder setComponentNameBytes(
+          com.google.protobuf.ByteString value) {
+        copyOnWrite();
+        instance.setComponentNameBytes(value);
+        return this;
+      }
+
+      /**
+       * <code>string method = 6 [json_name = "method"];</code>
+       * @return The method.
+       */
+      @java.lang.Override
+      public java.lang.String getMethod() {
+        return instance.getMethod();
+      }
+      /**
+       * <code>string method = 6 [json_name = "method"];</code>
+       * @return The bytes for method.
+       */
+      @java.lang.Override
+      public com.google.protobuf.ByteString
+          getMethodBytes() {
+        return instance.getMethodBytes();
+      }
+      /**
+       * <code>string method = 6 [json_name = "method"];</code>
+       * @param value The method to set.
+       * @return This builder for chaining.
+       */
+      public Builder setMethod(
+          java.lang.String value) {
+        copyOnWrite();
+        instance.setMethod(value);
+        return this;
+      }
+      /**
+       * <code>string method = 6 [json_name = "method"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearMethod() {
+        copyOnWrite();
+        instance.clearMethod();
+        return this;
+      }
+      /**
+       * <code>string method = 6 [json_name = "method"];</code>
+       * @param value The bytes for method to set.
+       * @return This builder for chaining.
+       */
+      public Builder setMethodBytes(
+          com.google.protobuf.ByteString value) {
+        copyOnWrite();
+        instance.setMethodBytes(value);
+        return this;
+      }
+
+      /**
+       * <code>.viam.app.data.v1.TagsFilter tags_filter = 7 [json_name = "tagsFilter"];</code>
+       */
+      @java.lang.Override
+      public boolean hasTagsFilter() {
+        return instance.hasTagsFilter();
+      }
+      /**
+       * <code>.viam.app.data.v1.TagsFilter tags_filter = 7 [json_name = "tagsFilter"];</code>
+       */
+      @java.lang.Override
+      public viam.app.data.v1.Data.TagsFilter getTagsFilter() {
+        return instance.getTagsFilter();
+      }
+      /**
+       * <code>.viam.app.data.v1.TagsFilter tags_filter = 7 [json_name = "tagsFilter"];</code>
+       */
+      public Builder setTagsFilter(viam.app.data.v1.Data.TagsFilter value) {
+        copyOnWrite();
+        instance.setTagsFilter(value);
+        return this;
+        }
+      /**
+       * <code>.viam.app.data.v1.TagsFilter tags_filter = 7 [json_name = "tagsFilter"];</code>
+       */
+      public Builder setTagsFilter(
+          viam.app.data.v1.Data.TagsFilter.Builder builderForValue) {
+        copyOnWrite();
+        instance.setTagsFilter(builderForValue.build());
+        return this;
+      }
+      /**
+       * <code>.viam.app.data.v1.TagsFilter tags_filter = 7 [json_name = "tagsFilter"];</code>
+       */
+      public Builder mergeTagsFilter(viam.app.data.v1.Data.TagsFilter value) {
+        copyOnWrite();
+        instance.mergeTagsFilter(value);
+        return this;
+      }
+      /**
+       * <code>.viam.app.data.v1.TagsFilter tags_filter = 7 [json_name = "tagsFilter"];</code>
+       */
+      public Builder clearTagsFilter() {  copyOnWrite();
+        instance.clearTagsFilter();
         return this;
       }
 
-      // @@protoc_insertion_point(builder_scope:viam.app.data.v1.BinaryMetadata)
+      // @@protoc_insertion_point(builder_scope:viam.app.data.v1.DeleteTabularFilter)
     }
     @java.lang.Override
     @java.lang.SuppressWarnings({"unchecked", "fallthrough"})
@@ -20953,7 +22080,7 @@ protected final java.lang.Object dynamicMethod(
         java.lang.Object arg0, java.lang.Object arg1) {
       switch (method) {
         case NEW_MUTABLE_INSTANCE: {
-          return new viam.app.data.v1.Data.BinaryMetadata();
+          return new viam.app.data.v1.Data.DeleteTabularFilter();
         }
         case NEW_BUILDER: {
           return new Builder();
@@ -20961,21 +22088,17 @@ protected final java.lang.Object dynamicMethod(
         case BUILD_MESSAGE_INFO: {
             java.lang.Object[] objects = new java.lang.Object[] {
               "bitField0_",
-              "id_",
-              "captureMetadata_",
-              "timeRequested_",
-              "timeReceived_",
-              "fileName_",
-              "fileExt_",
-              "uri_",
-              "annotations_",
-              "datasetIds_",
-              "binaryDataId_",
+              "locationIds_",
+              "robotId_",
+              "partId_",
+              "componentType_",
+              "componentName_",
+              "method_",
+              "tagsFilter_",
             };
             java.lang.String info =
-                "\u0000\n\u0000\u0001\u0001\n\n\u0000\u0001\u0000\u0001\u0208\u0002\u1009\u0000\u0003" +
-                "\u1009\u0001\u0004\u1009\u0002\u0005\u0208\u0006\u0208\u0007\u0208\b\u1009\u0003" +
-                "\t\u021a\n\u0208";
+                "\u0000\u0007\u0000\u0001\u0001\u0007\u0007\u0000\u0001\u0000\u0001\u021a\u0002\u0208" +
+                "\u0003\u0208\u0004\u0208\u0005\u0208\u0006\u0208\u0007\u1009\u0000";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         // fall through
@@ -20983,13 +22106,13 @@ protected final java.lang.Object dynamicMethod(
           return DEFAULT_INSTANCE;
         }
         case GET_PARSER: {
-          com.google.protobuf.Parser<viam.app.data.v1.Data.BinaryMetadata> parser = PARSER;
+          com.google.protobuf.Parser<viam.app.data.v1.Data.DeleteTabularFilter> parser = PARSER;
           if (parser == null) {
-            synchronized (viam.app.data.v1.Data.BinaryMetadata.class) {
+            synchronized (viam.app.data.v1.Data.DeleteTabularFilter.class) {
               parser = PARSER;
               if (parser == null) {
                 parser =
-                    new DefaultInstanceBasedParser<viam.app.data.v1.Data.BinaryMetadata>(
+                    new DefaultInstanceBasedParser<viam.app.data.v1.Data.DeleteTabularFilter>(
                         DEFAULT_INSTANCE);
                 PARSER = parser;
               }
@@ -21008,24 +22131,24 @@ protected final java.lang.Object dynamicMethod(
     }
 
 
-    // @@protoc_insertion_point(class_scope:viam.app.data.v1.BinaryMetadata)
-    private static final viam.app.data.v1.Data.BinaryMetadata DEFAULT_INSTANCE;
+    // @@protoc_insertion_point(class_scope:viam.app.data.v1.DeleteTabularFilter)
+    private static final viam.app.data.v1.Data.DeleteTabularFilter DEFAULT_INSTANCE;
     static {
-      BinaryMetadata defaultInstance = new BinaryMetadata();
+      DeleteTabularFilter defaultInstance = new DeleteTabularFilter();
       // New instances are implicitly immutable so no need to make
       // immutable.
       DEFAULT_INSTANCE = defaultInstance;
       com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
-        BinaryMetadata.class, defaultInstance);
+        DeleteTabularFilter.class, defaultInstance);
     }
 
-    public static viam.app.data.v1.Data.BinaryMetadata getDefaultInstance() {
+    public static viam.app.data.v1.Data.DeleteTabularFilter getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
-    private static volatile com.google.protobuf.Parser<BinaryMetadata> PARSER;
+    private static volatile com.google.protobuf.Parser<DeleteTabularFilter> PARSER;
 
-    public static com.google.protobuf.Parser<BinaryMetadata> parser() {
+    public static com.google.protobuf.Parser<DeleteTabularFilter> parser() {
       return DEFAULT_INSTANCE.getParserForType();
     }
   }
@@ -21051,6 +22174,17 @@ public interface DeleteTabularDataRequestOrBuilder extends
      * @return The deleteOlderThanDays.
      */
     int getDeleteOlderThanDays();
+
+    /**
+     * <code>optional .viam.app.data.v1.DeleteTabularFilter filter = 3 [json_name = "filter"];</code>
+     * @return Whether the filter field is set.
+     */
+    boolean hasFilter();
+    /**
+     * <code>optional .viam.app.data.v1.DeleteTabularFilter filter = 3 [json_name = "filter"];</code>
+     * @return The filter.
+     */
+    viam.app.data.v1.Data.DeleteTabularFilter getFilter();
   }
   /**
    * <pre>
@@ -21060,6 +22194,7 @@ public interface DeleteTabularDataRequestOrBuilder extends
    * If the request is at 10PM EST on March 11 (March 12 2AM UTC), this deletes all data captured
    * through March 11 11:59:59PM UTC.
    * If delete_older_than_days is 0, all existing data is deleted.
+   * If no filter is provided, data will be deleted based on organization_id.
    * </pre>
    *
    * Protobuf type {@code viam.app.data.v1.DeleteTabularDataRequest}
@@ -21072,6 +22207,7 @@ public  static final class DeleteTabularDataRequest extends
     private DeleteTabularDataRequest() {
       organizationId_ = "";
     }
+    private int bitField0_;
     public static final int ORGANIZATION_ID_FIELD_NUMBER = 1;
     private java.lang.String organizationId_;
     /**
@@ -21145,6 +22281,52 @@ private void clearDeleteOlderThanDays() {
       deleteOlderThanDays_ = 0;
     }
 
+    public static final int FILTER_FIELD_NUMBER = 3;
+    private viam.app.data.v1.Data.DeleteTabularFilter filter_;
+    /**
+     * <code>optional .viam.app.data.v1.DeleteTabularFilter filter = 3 [json_name = "filter"];</code>
+     */
+    @java.lang.Override
+    public boolean hasFilter() {
+      return ((bitField0_ & 0x00000001) != 0);
+    }
+    /**
+     * <code>optional .viam.app.data.v1.DeleteTabularFilter filter = 3 [json_name = "filter"];</code>
+     */
+    @java.lang.Override
+    public viam.app.data.v1.Data.DeleteTabularFilter getFilter() {
+      return filter_ == null ? viam.app.data.v1.Data.DeleteTabularFilter.getDefaultInstance() : filter_;
+    }
+    /**
+     * <code>optional .viam.app.data.v1.DeleteTabularFilter filter = 3 [json_name = "filter"];</code>
+     */
+    private void setFilter(viam.app.data.v1.Data.DeleteTabularFilter value) {
+      value.getClass();
+  filter_ = value;
+      bitField0_ |= 0x00000001;
+      }
+    /**
+     * <code>optional .viam.app.data.v1.DeleteTabularFilter filter = 3 [json_name = "filter"];</code>
+     */
+    @java.lang.SuppressWarnings({"ReferenceEquality"})
+    private void mergeFilter(viam.app.data.v1.Data.DeleteTabularFilter value) {
+      value.getClass();
+  if (filter_ != null &&
+          filter_ != viam.app.data.v1.Data.DeleteTabularFilter.getDefaultInstance()) {
+        filter_ =
+          viam.app.data.v1.Data.DeleteTabularFilter.newBuilder(filter_).mergeFrom(value).buildPartial();
+      } else {
+        filter_ = value;
+      }
+      bitField0_ |= 0x00000001;
+    }
+    /**
+     * <code>optional .viam.app.data.v1.DeleteTabularFilter filter = 3 [json_name = "filter"];</code>
+     */
+    private void clearFilter() {  filter_ = null;
+      bitField0_ = (bitField0_ & ~0x00000001);
+    }
+
     public static viam.app.data.v1.Data.DeleteTabularDataRequest parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
@@ -21236,6 +22418,7 @@ public static Builder newBuilder(viam.app.data.v1.Data.DeleteTabularDataRequest
      * If the request is at 10PM EST on March 11 (March 12 2AM UTC), this deletes all data captured
      * through March 11 11:59:59PM UTC.
      * If delete_older_than_days is 0, all existing data is deleted.
+     * If no filter is provided, data will be deleted based on organization_id.
      * </pre>
      *
      * Protobuf type {@code viam.app.data.v1.DeleteTabularDataRequest}
@@ -21328,6 +22511,53 @@ public Builder clearDeleteOlderThanDays() {
         return this;
       }
 
+      /**
+       * <code>optional .viam.app.data.v1.DeleteTabularFilter filter = 3 [json_name = "filter"];</code>
+       */
+      @java.lang.Override
+      public boolean hasFilter() {
+        return instance.hasFilter();
+      }
+      /**
+       * <code>optional .viam.app.data.v1.DeleteTabularFilter filter = 3 [json_name = "filter"];</code>
+       */
+      @java.lang.Override
+      public viam.app.data.v1.Data.DeleteTabularFilter getFilter() {
+        return instance.getFilter();
+      }
+      /**
+       * <code>optional .viam.app.data.v1.DeleteTabularFilter filter = 3 [json_name = "filter"];</code>
+       */
+      public Builder setFilter(viam.app.data.v1.Data.DeleteTabularFilter value) {
+        copyOnWrite();
+        instance.setFilter(value);
+        return this;
+        }
+      /**
+       * <code>optional .viam.app.data.v1.DeleteTabularFilter filter = 3 [json_name = "filter"];</code>
+       */
+      public Builder setFilter(
+          viam.app.data.v1.Data.DeleteTabularFilter.Builder builderForValue) {
+        copyOnWrite();
+        instance.setFilter(builderForValue.build());
+        return this;
+      }
+      /**
+       * <code>optional .viam.app.data.v1.DeleteTabularFilter filter = 3 [json_name = "filter"];</code>
+       */
+      public Builder mergeFilter(viam.app.data.v1.Data.DeleteTabularFilter value) {
+        copyOnWrite();
+        instance.mergeFilter(value);
+        return this;
+      }
+      /**
+       * <code>optional .viam.app.data.v1.DeleteTabularFilter filter = 3 [json_name = "filter"];</code>
+       */
+      public Builder clearFilter() {  copyOnWrite();
+        instance.clearFilter();
+        return this;
+      }
+
       // @@protoc_insertion_point(builder_scope:viam.app.data.v1.DeleteTabularDataRequest)
     }
     @java.lang.Override
@@ -21344,12 +22574,14 @@ protected final java.lang.Object dynamicMethod(
         }
         case BUILD_MESSAGE_INFO: {
             java.lang.Object[] objects = new java.lang.Object[] {
+              "bitField0_",
               "organizationId_",
               "deleteOlderThanDays_",
+              "filter_",
             };
             java.lang.String info =
-                "\u0000\u0002\u0000\u0000\u0001\u0002\u0002\u0000\u0000\u0000\u0001\u0208\u0002\u000b" +
-                "";
+                "\u0000\u0003\u0000\u0001\u0001\u0003\u0003\u0000\u0000\u0000\u0001\u0208\u0002\u000b" +
+                "\u0003\u1009\u0000";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         // fall through
@@ -27406,14 +28638,14 @@ public interface AddBoundingBoxToImageByIDRequestOrBuilder extends
     /**
      * <code>.viam.app.data.v1.BinaryID binary_id = 7 [json_name = "binaryId", deprecated = true];</code>
      * @deprecated viam.app.data.v1.AddBoundingBoxToImageByIDRequest.binary_id is deprecated.
-     *     See app/data/v1/data.proto;l=547
+     *     See app/data/v1/data.proto;l=561
      * @return Whether the binaryId field is set.
      */
     @java.lang.Deprecated boolean hasBinaryId();
     /**
      * <code>.viam.app.data.v1.BinaryID binary_id = 7 [json_name = "binaryId", deprecated = true];</code>
      * @deprecated viam.app.data.v1.AddBoundingBoxToImageByIDRequest.binary_id is deprecated.
-     *     See app/data/v1/data.proto;l=547
+     *     See app/data/v1/data.proto;l=561
      * @return The binaryId.
      */
     @java.lang.Deprecated viam.app.data.v1.Data.BinaryID getBinaryId();
@@ -27465,6 +28697,17 @@ public interface AddBoundingBoxToImageByIDRequestOrBuilder extends
      * @return The yMaxNormalized.
      */
     double getYMaxNormalized();
+
+    /**
+     * <code>optional double confidence = 9 [json_name = "confidence"];</code>
+     * @return Whether the confidence field is set.
+     */
+    boolean hasConfidence();
+    /**
+     * <code>optional double confidence = 9 [json_name = "confidence"];</code>
+     * @return The confidence.
+     */
+    double getConfidence();
   }
   /**
    * <pre>
@@ -27728,6 +28971,40 @@ private void clearYMaxNormalized() {
       yMaxNormalized_ = 0D;
     }
 
+    public static final int CONFIDENCE_FIELD_NUMBER = 9;
+    private double confidence_;
+    /**
+     * <code>optional double confidence = 9 [json_name = "confidence"];</code>
+     * @return Whether the confidence field is set.
+     */
+    @java.lang.Override
+    public boolean hasConfidence() {
+      return ((bitField0_ & 0x00000002) != 0);
+    }
+    /**
+     * <code>optional double confidence = 9 [json_name = "confidence"];</code>
+     * @return The confidence.
+     */
+    @java.lang.Override
+    public double getConfidence() {
+      return confidence_;
+    }
+    /**
+     * <code>optional double confidence = 9 [json_name = "confidence"];</code>
+     * @param value The confidence to set.
+     */
+    private void setConfidence(double value) {
+      bitField0_ |= 0x00000002;
+      confidence_ = value;
+    }
+    /**
+     * <code>optional double confidence = 9 [json_name = "confidence"];</code>
+     */
+    private void clearConfidence() {
+      bitField0_ = (bitField0_ & ~0x00000002);
+      confidence_ = 0D;
+    }
+
     public static viam.app.data.v1.Data.AddBoundingBoxToImageByIDRequest parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
@@ -28087,6 +29364,42 @@ public Builder clearYMaxNormalized() {
         return this;
       }
 
+      /**
+       * <code>optional double confidence = 9 [json_name = "confidence"];</code>
+       * @return Whether the confidence field is set.
+       */
+      @java.lang.Override
+      public boolean hasConfidence() {
+        return instance.hasConfidence();
+      }
+      /**
+       * <code>optional double confidence = 9 [json_name = "confidence"];</code>
+       * @return The confidence.
+       */
+      @java.lang.Override
+      public double getConfidence() {
+        return instance.getConfidence();
+      }
+      /**
+       * <code>optional double confidence = 9 [json_name = "confidence"];</code>
+       * @param value The confidence to set.
+       * @return This builder for chaining.
+       */
+      public Builder setConfidence(double value) {
+        copyOnWrite();
+        instance.setConfidence(value);
+        return this;
+      }
+      /**
+       * <code>optional double confidence = 9 [json_name = "confidence"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearConfidence() {
+        copyOnWrite();
+        instance.clearConfidence();
+        return this;
+      }
+
       // @@protoc_insertion_point(builder_scope:viam.app.data.v1.AddBoundingBoxToImageByIDRequest)
     }
     @java.lang.Override
@@ -28111,10 +29424,11 @@ protected final java.lang.Object dynamicMethod(
               "yMaxNormalized_",
               "binaryId_",
               "binaryDataId_",
+              "confidence_",
             };
             java.lang.String info =
-                "\u0000\u0007\u0000\u0001\u0002\b\u0007\u0000\u0000\u0000\u0002\u0208\u0003\u0000" +
-                "\u0004\u0000\u0005\u0000\u0006\u0000\u0007\u1009\u0000\b\u0208";
+                "\u0000\b\u0000\u0001\u0002\t\b\u0000\u0000\u0000\u0002\u0208\u0003\u0000\u0004\u0000" +
+                "\u0005\u0000\u0006\u0000\u0007\u1009\u0000\b\u0208\t\u1000\u0001";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         // fall through
@@ -28478,14 +29792,14 @@ public interface RemoveBoundingBoxFromImageByIDRequestOrBuilder extends
     /**
      * <code>.viam.app.data.v1.BinaryID binary_id = 3 [json_name = "binaryId", deprecated = true];</code>
      * @deprecated viam.app.data.v1.RemoveBoundingBoxFromImageByIDRequest.binary_id is deprecated.
-     *     See app/data/v1/data.proto;l=566
+     *     See app/data/v1/data.proto;l=581
      * @return Whether the binaryId field is set.
      */
     @java.lang.Deprecated boolean hasBinaryId();
     /**
      * <code>.viam.app.data.v1.BinaryID binary_id = 3 [json_name = "binaryId", deprecated = true];</code>
      * @deprecated viam.app.data.v1.RemoveBoundingBoxFromImageByIDRequest.binary_id is deprecated.
-     *     See app/data/v1/data.proto;l=566
+     *     See app/data/v1/data.proto;l=581
      * @return The binaryId.
      */
     @java.lang.Deprecated viam.app.data.v1.Data.BinaryID getBinaryId();
@@ -29184,14 +30498,14 @@ public interface UpdateBoundingBoxRequestOrBuilder extends
     /**
      * <code>.viam.app.data.v1.BinaryID binary_id = 1 [json_name = "binaryId", deprecated = true];</code>
      * @deprecated viam.app.data.v1.UpdateBoundingBoxRequest.binary_id is deprecated.
-     *     See app/data/v1/data.proto;l=578
+     *     See app/data/v1/data.proto;l=593
      * @return Whether the binaryId field is set.
      */
     @java.lang.Deprecated boolean hasBinaryId();
     /**
      * <code>.viam.app.data.v1.BinaryID binary_id = 1 [json_name = "binaryId", deprecated = true];</code>
      * @deprecated viam.app.data.v1.UpdateBoundingBoxRequest.binary_id is deprecated.
-     *     See app/data/v1/data.proto;l=578
+     *     See app/data/v1/data.proto;l=593
      * @return The binaryId.
      */
     @java.lang.Deprecated viam.app.data.v1.Data.BinaryID getBinaryId();
@@ -29280,6 +30594,17 @@ public interface UpdateBoundingBoxRequestOrBuilder extends
      * @return The yMaxNormalized.
      */
     double getYMaxNormalized();
+
+    /**
+     * <code>optional double confidence = 9 [json_name = "confidence"];</code>
+     * @return Whether the confidence field is set.
+     */
+    boolean hasConfidence();
+    /**
+     * <code>optional double confidence = 9 [json_name = "confidence"];</code>
+     * @return The confidence.
+     */
+    double getConfidence();
   }
   /**
    * <pre>
@@ -29630,6 +30955,40 @@ private void clearYMaxNormalized() {
       yMaxNormalized_ = 0D;
     }
 
+    public static final int CONFIDENCE_FIELD_NUMBER = 9;
+    private double confidence_;
+    /**
+     * <code>optional double confidence = 9 [json_name = "confidence"];</code>
+     * @return Whether the confidence field is set.
+     */
+    @java.lang.Override
+    public boolean hasConfidence() {
+      return ((bitField0_ & 0x00000040) != 0);
+    }
+    /**
+     * <code>optional double confidence = 9 [json_name = "confidence"];</code>
+     * @return The confidence.
+     */
+    @java.lang.Override
+    public double getConfidence() {
+      return confidence_;
+    }
+    /**
+     * <code>optional double confidence = 9 [json_name = "confidence"];</code>
+     * @param value The confidence to set.
+     */
+    private void setConfidence(double value) {
+      bitField0_ |= 0x00000040;
+      confidence_ = value;
+    }
+    /**
+     * <code>optional double confidence = 9 [json_name = "confidence"];</code>
+     */
+    private void clearConfidence() {
+      bitField0_ = (bitField0_ & ~0x00000040);
+      confidence_ = 0D;
+    }
+
     public static viam.app.data.v1.Data.UpdateBoundingBoxRequest parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
@@ -30077,6 +31436,42 @@ public Builder clearYMaxNormalized() {
         return this;
       }
 
+      /**
+       * <code>optional double confidence = 9 [json_name = "confidence"];</code>
+       * @return Whether the confidence field is set.
+       */
+      @java.lang.Override
+      public boolean hasConfidence() {
+        return instance.hasConfidence();
+      }
+      /**
+       * <code>optional double confidence = 9 [json_name = "confidence"];</code>
+       * @return The confidence.
+       */
+      @java.lang.Override
+      public double getConfidence() {
+        return instance.getConfidence();
+      }
+      /**
+       * <code>optional double confidence = 9 [json_name = "confidence"];</code>
+       * @param value The confidence to set.
+       * @return This builder for chaining.
+       */
+      public Builder setConfidence(double value) {
+        copyOnWrite();
+        instance.setConfidence(value);
+        return this;
+      }
+      /**
+       * <code>optional double confidence = 9 [json_name = "confidence"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearConfidence() {
+        copyOnWrite();
+        instance.clearConfidence();
+        return this;
+      }
+
       // @@protoc_insertion_point(builder_scope:viam.app.data.v1.UpdateBoundingBoxRequest)
     }
     @java.lang.Override
@@ -30102,11 +31497,12 @@ protected final java.lang.Object dynamicMethod(
               "xMaxNormalized_",
               "yMaxNormalized_",
               "binaryDataId_",
+              "confidence_",
             };
             java.lang.String info =
-                "\u0000\b\u0000\u0001\u0001\b\b\u0000\u0000\u0000\u0001\u1009\u0000\u0002\u0208\u0003" +
+                "\u0000\t\u0000\u0001\u0001\t\t\u0000\u0000\u0000\u0001\u1009\u0000\u0002\u0208\u0003" +
                 "\u1208\u0001\u0004\u1000\u0002\u0005\u1000\u0003\u0006\u1000\u0004\u0007\u1000\u0005" +
-                "\b\u0208";
+                "\b\u0208\t\u1000\u0006";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         // fall through
diff --git a/core/sdk/src/main/gen/viam/app/datasync/v1/DataSync.java b/core/sdk/src/main/gen/viam/app/datasync/v1/DataSync.java
index c10d203c2..0af318989 100644
--- a/core/sdk/src/main/gen/viam/app/datasync/v1/DataSync.java
+++ b/core/sdk/src/main/gen/viam/app/datasync/v1/DataSync.java
@@ -2988,15 +2988,19 @@ public interface SensorMetadataOrBuilder extends
     com.google.protobuf.Timestamp getTimeReceived();
 
     /**
-     * <code>.viam.app.datasync.v1.MimeType mime_type = 3 [json_name = "mimeType"];</code>
+     * <code>.viam.app.datasync.v1.MimeType mime_type = 3 [json_name = "mimeType", deprecated = true];</code>
+     * @deprecated viam.app.datasync.v1.SensorMetadata.mime_type is deprecated.
+     *     See app/datasync/v1/data_sync.proto;l=84
      * @return The enum numeric value on the wire for mimeType.
      */
-    int getMimeTypeValue();
+    @java.lang.Deprecated int getMimeTypeValue();
     /**
-     * <code>.viam.app.datasync.v1.MimeType mime_type = 3 [json_name = "mimeType"];</code>
+     * <code>.viam.app.datasync.v1.MimeType mime_type = 3 [json_name = "mimeType", deprecated = true];</code>
+     * @deprecated viam.app.datasync.v1.SensorMetadata.mime_type is deprecated.
+     *     See app/datasync/v1/data_sync.proto;l=84
      * @return The mimeType.
      */
-    viam.app.datasync.v1.DataSync.MimeType getMimeType();
+    @java.lang.Deprecated viam.app.datasync.v1.DataSync.MimeType getMimeType();
 
     /**
      * <code>.viam.app.data.v1.Annotations annotations = 4 [json_name = "annotations"];</code>
@@ -3120,31 +3124,39 @@ private void mergeTimeReceived(com.google.protobuf.Timestamp value) {
     public static final int MIME_TYPE_FIELD_NUMBER = 3;
     private int mimeType_;
     /**
-     * <code>.viam.app.datasync.v1.MimeType mime_type = 3 [json_name = "mimeType"];</code>
+     * <code>.viam.app.datasync.v1.MimeType mime_type = 3 [json_name = "mimeType", deprecated = true];</code>
+     * @deprecated viam.app.datasync.v1.SensorMetadata.mime_type is deprecated.
+     *     See app/datasync/v1/data_sync.proto;l=84
      * @return The enum numeric value on the wire for mimeType.
      */
     @java.lang.Override
-    public int getMimeTypeValue() {
+    @java.lang.Deprecated public int getMimeTypeValue() {
       return mimeType_;
     }
     /**
-     * <code>.viam.app.datasync.v1.MimeType mime_type = 3 [json_name = "mimeType"];</code>
+     * <code>.viam.app.datasync.v1.MimeType mime_type = 3 [json_name = "mimeType", deprecated = true];</code>
+     * @deprecated viam.app.datasync.v1.SensorMetadata.mime_type is deprecated.
+     *     See app/datasync/v1/data_sync.proto;l=84
      * @return The mimeType.
      */
     @java.lang.Override
-    public viam.app.datasync.v1.DataSync.MimeType getMimeType() {
+    @java.lang.Deprecated public viam.app.datasync.v1.DataSync.MimeType getMimeType() {
       viam.app.datasync.v1.DataSync.MimeType result = viam.app.datasync.v1.DataSync.MimeType.forNumber(mimeType_);
       return result == null ? viam.app.datasync.v1.DataSync.MimeType.UNRECOGNIZED : result;
     }
     /**
-     * <code>.viam.app.datasync.v1.MimeType mime_type = 3 [json_name = "mimeType"];</code>
+     * <code>.viam.app.datasync.v1.MimeType mime_type = 3 [json_name = "mimeType", deprecated = true];</code>
+     * @deprecated viam.app.datasync.v1.SensorMetadata.mime_type is deprecated.
+     *     See app/datasync/v1/data_sync.proto;l=84
      * @param value The enum numeric value on the wire for mimeType to set.
      */
     private void setMimeTypeValue(int value) {
         mimeType_ = value;
     }
     /**
-     * <code>.viam.app.datasync.v1.MimeType mime_type = 3 [json_name = "mimeType"];</code>
+     * <code>.viam.app.datasync.v1.MimeType mime_type = 3 [json_name = "mimeType", deprecated = true];</code>
+     * @deprecated viam.app.datasync.v1.SensorMetadata.mime_type is deprecated.
+     *     See app/datasync/v1/data_sync.proto;l=84
      * @param value The mimeType to set.
      */
     private void setMimeType(viam.app.datasync.v1.DataSync.MimeType value) {
@@ -3152,7 +3164,9 @@ private void setMimeType(viam.app.datasync.v1.DataSync.MimeType value) {
 
     }
     /**
-     * <code>.viam.app.datasync.v1.MimeType mime_type = 3 [json_name = "mimeType"];</code>
+     * <code>.viam.app.datasync.v1.MimeType mime_type = 3 [json_name = "mimeType", deprecated = true];</code>
+     * @deprecated viam.app.datasync.v1.SensorMetadata.mime_type is deprecated.
+     *     See app/datasync/v1/data_sync.proto;l=84
      */
     private void clearMimeType() {
 
@@ -3402,46 +3416,56 @@ public Builder mergeTimeReceived(com.google.protobuf.Timestamp value) {
       }
 
       /**
-       * <code>.viam.app.datasync.v1.MimeType mime_type = 3 [json_name = "mimeType"];</code>
+       * <code>.viam.app.datasync.v1.MimeType mime_type = 3 [json_name = "mimeType", deprecated = true];</code>
+       * @deprecated viam.app.datasync.v1.SensorMetadata.mime_type is deprecated.
+       *     See app/datasync/v1/data_sync.proto;l=84
        * @return The enum numeric value on the wire for mimeType.
        */
       @java.lang.Override
-      public int getMimeTypeValue() {
+      @java.lang.Deprecated public int getMimeTypeValue() {
         return instance.getMimeTypeValue();
       }
       /**
-       * <code>.viam.app.datasync.v1.MimeType mime_type = 3 [json_name = "mimeType"];</code>
+       * <code>.viam.app.datasync.v1.MimeType mime_type = 3 [json_name = "mimeType", deprecated = true];</code>
+       * @deprecated viam.app.datasync.v1.SensorMetadata.mime_type is deprecated.
+       *     See app/datasync/v1/data_sync.proto;l=84
        * @param value The mimeType to set.
        * @return This builder for chaining.
        */
-      public Builder setMimeTypeValue(int value) {
+      @java.lang.Deprecated public Builder setMimeTypeValue(int value) {
         copyOnWrite();
         instance.setMimeTypeValue(value);
         return this;
       }
       /**
-       * <code>.viam.app.datasync.v1.MimeType mime_type = 3 [json_name = "mimeType"];</code>
+       * <code>.viam.app.datasync.v1.MimeType mime_type = 3 [json_name = "mimeType", deprecated = true];</code>
+       * @deprecated viam.app.datasync.v1.SensorMetadata.mime_type is deprecated.
+       *     See app/datasync/v1/data_sync.proto;l=84
        * @return The mimeType.
        */
       @java.lang.Override
-      public viam.app.datasync.v1.DataSync.MimeType getMimeType() {
+      @java.lang.Deprecated public viam.app.datasync.v1.DataSync.MimeType getMimeType() {
         return instance.getMimeType();
       }
       /**
-       * <code>.viam.app.datasync.v1.MimeType mime_type = 3 [json_name = "mimeType"];</code>
+       * <code>.viam.app.datasync.v1.MimeType mime_type = 3 [json_name = "mimeType", deprecated = true];</code>
+       * @deprecated viam.app.datasync.v1.SensorMetadata.mime_type is deprecated.
+       *     See app/datasync/v1/data_sync.proto;l=84
        * @param value The enum numeric value on the wire for mimeType to set.
        * @return This builder for chaining.
        */
-      public Builder setMimeType(viam.app.datasync.v1.DataSync.MimeType value) {
+      @java.lang.Deprecated public Builder setMimeType(viam.app.datasync.v1.DataSync.MimeType value) {
         copyOnWrite();
         instance.setMimeType(value);
         return this;
       }
       /**
-       * <code>.viam.app.datasync.v1.MimeType mime_type = 3 [json_name = "mimeType"];</code>
+       * <code>.viam.app.datasync.v1.MimeType mime_type = 3 [json_name = "mimeType", deprecated = true];</code>
+       * @deprecated viam.app.datasync.v1.SensorMetadata.mime_type is deprecated.
+       *     See app/datasync/v1/data_sync.proto;l=84
        * @return This builder for chaining.
        */
-      public Builder clearMimeType() {
+      @java.lang.Deprecated public Builder clearMimeType() {
         copyOnWrite();
         instance.clearMimeType();
         return this;
@@ -4446,18 +4470,6 @@ public interface UploadMetadataOrBuilder extends
      */
     viam.app.datasync.v1.DataSync.DataType getType();
 
-    /**
-     * <code>string file_name = 7 [json_name = "fileName"];</code>
-     * @return The fileName.
-     */
-    java.lang.String getFileName();
-    /**
-     * <code>string file_name = 7 [json_name = "fileName"];</code>
-     * @return The bytes for fileName.
-     */
-    com.google.protobuf.ByteString
-        getFileNameBytes();
-
     /**
      * <code>map&lt;string, .google.protobuf.Any&gt; method_parameters = 8 [json_name = "methodParameters"];</code>
      */
@@ -4494,6 +4506,18 @@ com.google.protobuf.Any getMethodParametersOrDefault(
     com.google.protobuf.Any getMethodParametersOrThrow(
         java.lang.String key);
 
+    /**
+     * <code>string file_name = 7 [json_name = "fileName"];</code>
+     * @return The fileName.
+     */
+    java.lang.String getFileName();
+    /**
+     * <code>string file_name = 7 [json_name = "fileName"];</code>
+     * @return The bytes for fileName.
+     */
+    com.google.protobuf.ByteString
+        getFileNameBytes();
+
     /**
      * <code>string file_extension = 9 [json_name = "fileExtension"];</code>
      * @return The fileExtension.
@@ -4506,6 +4530,28 @@ com.google.protobuf.Any getMethodParametersOrThrow(
     com.google.protobuf.ByteString
         getFileExtensionBytes();
 
+    /**
+     * <code>.google.protobuf.Timestamp file_create_time = 14 [json_name = "fileCreateTime"];</code>
+     * @return Whether the fileCreateTime field is set.
+     */
+    boolean hasFileCreateTime();
+    /**
+     * <code>.google.protobuf.Timestamp file_create_time = 14 [json_name = "fileCreateTime"];</code>
+     * @return The fileCreateTime.
+     */
+    com.google.protobuf.Timestamp getFileCreateTime();
+
+    /**
+     * <code>.google.protobuf.Timestamp file_modify_time = 15 [json_name = "fileModifyTime"];</code>
+     * @return Whether the fileModifyTime field is set.
+     */
+    boolean hasFileModifyTime();
+    /**
+     * <code>.google.protobuf.Timestamp file_modify_time = 15 [json_name = "fileModifyTime"];</code>
+     * @return The fileModifyTime.
+     */
+    com.google.protobuf.Timestamp getFileModifyTime();
+
     /**
      * <code>repeated string tags = 10 [json_name = "tags"];</code>
      * @return A list containing the tags.
@@ -4555,6 +4601,18 @@ com.google.protobuf.Any getMethodParametersOrThrow(
      */
     com.google.protobuf.ByteString
         getDatasetIdsBytes(int index);
+
+    /**
+     * <code>string mime_type = 13 [json_name = "mimeType"];</code>
+     * @return The mimeType.
+     */
+    java.lang.String getMimeType();
+    /**
+     * <code>string mime_type = 13 [json_name = "mimeType"];</code>
+     * @return The bytes for mimeType.
+     */
+    com.google.protobuf.ByteString
+        getMimeTypeBytes();
   }
   /**
    * <pre>
@@ -4577,7 +4635,9 @@ private UploadMetadata() {
       fileExtension_ = "";
       tags_ = com.google.protobuf.GeneratedMessageLite.emptyProtobufList();
       datasetIds_ = com.google.protobuf.GeneratedMessageLite.emptyProtobufList();
+      mimeType_ = "";
     }
+    private int bitField0_;
     public static final int PART_ID_FIELD_NUMBER = 1;
     private java.lang.String partId_;
     /**
@@ -4808,53 +4868,6 @@ private void clearType() {
       type_ = 0;
     }
 
-    public static final int FILE_NAME_FIELD_NUMBER = 7;
-    private java.lang.String fileName_;
-    /**
-     * <code>string file_name = 7 [json_name = "fileName"];</code>
-     * @return The fileName.
-     */
-    @java.lang.Override
-    public java.lang.String getFileName() {
-      return fileName_;
-    }
-    /**
-     * <code>string file_name = 7 [json_name = "fileName"];</code>
-     * @return The bytes for fileName.
-     */
-    @java.lang.Override
-    public com.google.protobuf.ByteString
-        getFileNameBytes() {
-      return com.google.protobuf.ByteString.copyFromUtf8(fileName_);
-    }
-    /**
-     * <code>string file_name = 7 [json_name = "fileName"];</code>
-     * @param value The fileName to set.
-     */
-    private void setFileName(
-        java.lang.String value) {
-      java.lang.Class<?> valueClass = value.getClass();
-  
-      fileName_ = value;
-    }
-    /**
-     * <code>string file_name = 7 [json_name = "fileName"];</code>
-     */
-    private void clearFileName() {
-
-      fileName_ = getDefaultInstance().getFileName();
-    }
-    /**
-     * <code>string file_name = 7 [json_name = "fileName"];</code>
-     * @param value The bytes for fileName to set.
-     */
-    private void setFileNameBytes(
-        com.google.protobuf.ByteString value) {
-      checkByteStringIsUtf8(value);
-      fileName_ = value.toStringUtf8();
-
-    }
-
     public static final int METHOD_PARAMETERS_FIELD_NUMBER = 8;
     private static final class MethodParametersDefaultEntryHolder {
       static final com.google.protobuf.MapEntryLite<
@@ -4950,6 +4963,53 @@ public com.google.protobuf.Any getMethodParametersOrThrow(
       return internalGetMutableMethodParameters();
     }
 
+    public static final int FILE_NAME_FIELD_NUMBER = 7;
+    private java.lang.String fileName_;
+    /**
+     * <code>string file_name = 7 [json_name = "fileName"];</code>
+     * @return The fileName.
+     */
+    @java.lang.Override
+    public java.lang.String getFileName() {
+      return fileName_;
+    }
+    /**
+     * <code>string file_name = 7 [json_name = "fileName"];</code>
+     * @return The bytes for fileName.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getFileNameBytes() {
+      return com.google.protobuf.ByteString.copyFromUtf8(fileName_);
+    }
+    /**
+     * <code>string file_name = 7 [json_name = "fileName"];</code>
+     * @param value The fileName to set.
+     */
+    private void setFileName(
+        java.lang.String value) {
+      java.lang.Class<?> valueClass = value.getClass();
+  
+      fileName_ = value;
+    }
+    /**
+     * <code>string file_name = 7 [json_name = "fileName"];</code>
+     */
+    private void clearFileName() {
+
+      fileName_ = getDefaultInstance().getFileName();
+    }
+    /**
+     * <code>string file_name = 7 [json_name = "fileName"];</code>
+     * @param value The bytes for fileName to set.
+     */
+    private void setFileNameBytes(
+        com.google.protobuf.ByteString value) {
+      checkByteStringIsUtf8(value);
+      fileName_ = value.toStringUtf8();
+
+    }
+
     public static final int FILE_EXTENSION_FIELD_NUMBER = 9;
     private java.lang.String fileExtension_;
     /**
@@ -4997,6 +5057,98 @@ private void setFileExtensionBytes(
 
     }
 
+    public static final int FILE_CREATE_TIME_FIELD_NUMBER = 14;
+    private com.google.protobuf.Timestamp fileCreateTime_;
+    /**
+     * <code>.google.protobuf.Timestamp file_create_time = 14 [json_name = "fileCreateTime"];</code>
+     */
+    @java.lang.Override
+    public boolean hasFileCreateTime() {
+      return ((bitField0_ & 0x00000001) != 0);
+    }
+    /**
+     * <code>.google.protobuf.Timestamp file_create_time = 14 [json_name = "fileCreateTime"];</code>
+     */
+    @java.lang.Override
+    public com.google.protobuf.Timestamp getFileCreateTime() {
+      return fileCreateTime_ == null ? com.google.protobuf.Timestamp.getDefaultInstance() : fileCreateTime_;
+    }
+    /**
+     * <code>.google.protobuf.Timestamp file_create_time = 14 [json_name = "fileCreateTime"];</code>
+     */
+    private void setFileCreateTime(com.google.protobuf.Timestamp value) {
+      value.getClass();
+  fileCreateTime_ = value;
+      bitField0_ |= 0x00000001;
+      }
+    /**
+     * <code>.google.protobuf.Timestamp file_create_time = 14 [json_name = "fileCreateTime"];</code>
+     */
+    @java.lang.SuppressWarnings({"ReferenceEquality"})
+    private void mergeFileCreateTime(com.google.protobuf.Timestamp value) {
+      value.getClass();
+  if (fileCreateTime_ != null &&
+          fileCreateTime_ != com.google.protobuf.Timestamp.getDefaultInstance()) {
+        fileCreateTime_ =
+          com.google.protobuf.Timestamp.newBuilder(fileCreateTime_).mergeFrom(value).buildPartial();
+      } else {
+        fileCreateTime_ = value;
+      }
+      bitField0_ |= 0x00000001;
+    }
+    /**
+     * <code>.google.protobuf.Timestamp file_create_time = 14 [json_name = "fileCreateTime"];</code>
+     */
+    private void clearFileCreateTime() {  fileCreateTime_ = null;
+      bitField0_ = (bitField0_ & ~0x00000001);
+    }
+
+    public static final int FILE_MODIFY_TIME_FIELD_NUMBER = 15;
+    private com.google.protobuf.Timestamp fileModifyTime_;
+    /**
+     * <code>.google.protobuf.Timestamp file_modify_time = 15 [json_name = "fileModifyTime"];</code>
+     */
+    @java.lang.Override
+    public boolean hasFileModifyTime() {
+      return ((bitField0_ & 0x00000002) != 0);
+    }
+    /**
+     * <code>.google.protobuf.Timestamp file_modify_time = 15 [json_name = "fileModifyTime"];</code>
+     */
+    @java.lang.Override
+    public com.google.protobuf.Timestamp getFileModifyTime() {
+      return fileModifyTime_ == null ? com.google.protobuf.Timestamp.getDefaultInstance() : fileModifyTime_;
+    }
+    /**
+     * <code>.google.protobuf.Timestamp file_modify_time = 15 [json_name = "fileModifyTime"];</code>
+     */
+    private void setFileModifyTime(com.google.protobuf.Timestamp value) {
+      value.getClass();
+  fileModifyTime_ = value;
+      bitField0_ |= 0x00000002;
+      }
+    /**
+     * <code>.google.protobuf.Timestamp file_modify_time = 15 [json_name = "fileModifyTime"];</code>
+     */
+    @java.lang.SuppressWarnings({"ReferenceEquality"})
+    private void mergeFileModifyTime(com.google.protobuf.Timestamp value) {
+      value.getClass();
+  if (fileModifyTime_ != null &&
+          fileModifyTime_ != com.google.protobuf.Timestamp.getDefaultInstance()) {
+        fileModifyTime_ =
+          com.google.protobuf.Timestamp.newBuilder(fileModifyTime_).mergeFrom(value).buildPartial();
+      } else {
+        fileModifyTime_ = value;
+      }
+      bitField0_ |= 0x00000002;
+    }
+    /**
+     * <code>.google.protobuf.Timestamp file_modify_time = 15 [json_name = "fileModifyTime"];</code>
+     */
+    private void clearFileModifyTime() {  fileModifyTime_ = null;
+      bitField0_ = (bitField0_ & ~0x00000002);
+    }
+
     public static final int TAGS_FIELD_NUMBER = 10;
     private com.google.protobuf.Internal.ProtobufList<java.lang.String> tags_;
     /**
@@ -5183,6 +5335,53 @@ private void addDatasetIdsBytes(
       datasetIds_.add(value.toStringUtf8());
     }
 
+    public static final int MIME_TYPE_FIELD_NUMBER = 13;
+    private java.lang.String mimeType_;
+    /**
+     * <code>string mime_type = 13 [json_name = "mimeType"];</code>
+     * @return The mimeType.
+     */
+    @java.lang.Override
+    public java.lang.String getMimeType() {
+      return mimeType_;
+    }
+    /**
+     * <code>string mime_type = 13 [json_name = "mimeType"];</code>
+     * @return The bytes for mimeType.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getMimeTypeBytes() {
+      return com.google.protobuf.ByteString.copyFromUtf8(mimeType_);
+    }
+    /**
+     * <code>string mime_type = 13 [json_name = "mimeType"];</code>
+     * @param value The mimeType to set.
+     */
+    private void setMimeType(
+        java.lang.String value) {
+      java.lang.Class<?> valueClass = value.getClass();
+  
+      mimeType_ = value;
+    }
+    /**
+     * <code>string mime_type = 13 [json_name = "mimeType"];</code>
+     */
+    private void clearMimeType() {
+
+      mimeType_ = getDefaultInstance().getMimeType();
+    }
+    /**
+     * <code>string mime_type = 13 [json_name = "mimeType"];</code>
+     * @param value The bytes for mimeType to set.
+     */
+    private void setMimeTypeBytes(
+        com.google.protobuf.ByteString value) {
+      checkByteStringIsUtf8(value);
+      mimeType_ = value.toStringUtf8();
+
+    }
+
     public static viam.app.datasync.v1.DataSync.UploadMetadata parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
@@ -5526,55 +5725,6 @@ public Builder clearType() {
         return this;
       }
 
-      /**
-       * <code>string file_name = 7 [json_name = "fileName"];</code>
-       * @return The fileName.
-       */
-      @java.lang.Override
-      public java.lang.String getFileName() {
-        return instance.getFileName();
-      }
-      /**
-       * <code>string file_name = 7 [json_name = "fileName"];</code>
-       * @return The bytes for fileName.
-       */
-      @java.lang.Override
-      public com.google.protobuf.ByteString
-          getFileNameBytes() {
-        return instance.getFileNameBytes();
-      }
-      /**
-       * <code>string file_name = 7 [json_name = "fileName"];</code>
-       * @param value The fileName to set.
-       * @return This builder for chaining.
-       */
-      public Builder setFileName(
-          java.lang.String value) {
-        copyOnWrite();
-        instance.setFileName(value);
-        return this;
-      }
-      /**
-       * <code>string file_name = 7 [json_name = "fileName"];</code>
-       * @return This builder for chaining.
-       */
-      public Builder clearFileName() {
-        copyOnWrite();
-        instance.clearFileName();
-        return this;
-      }
-      /**
-       * <code>string file_name = 7 [json_name = "fileName"];</code>
-       * @param value The bytes for fileName to set.
-       * @return This builder for chaining.
-       */
-      public Builder setFileNameBytes(
-          com.google.protobuf.ByteString value) {
-        copyOnWrite();
-        instance.setFileNameBytes(value);
-        return this;
-      }
-
       @java.lang.Override
 
       public int getMethodParametersCount() {
@@ -5675,6 +5825,55 @@ public Builder putAllMethodParameters(
         return this;
       }
 
+      /**
+       * <code>string file_name = 7 [json_name = "fileName"];</code>
+       * @return The fileName.
+       */
+      @java.lang.Override
+      public java.lang.String getFileName() {
+        return instance.getFileName();
+      }
+      /**
+       * <code>string file_name = 7 [json_name = "fileName"];</code>
+       * @return The bytes for fileName.
+       */
+      @java.lang.Override
+      public com.google.protobuf.ByteString
+          getFileNameBytes() {
+        return instance.getFileNameBytes();
+      }
+      /**
+       * <code>string file_name = 7 [json_name = "fileName"];</code>
+       * @param value The fileName to set.
+       * @return This builder for chaining.
+       */
+      public Builder setFileName(
+          java.lang.String value) {
+        copyOnWrite();
+        instance.setFileName(value);
+        return this;
+      }
+      /**
+       * <code>string file_name = 7 [json_name = "fileName"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearFileName() {
+        copyOnWrite();
+        instance.clearFileName();
+        return this;
+      }
+      /**
+       * <code>string file_name = 7 [json_name = "fileName"];</code>
+       * @param value The bytes for fileName to set.
+       * @return This builder for chaining.
+       */
+      public Builder setFileNameBytes(
+          com.google.protobuf.ByteString value) {
+        copyOnWrite();
+        instance.setFileNameBytes(value);
+        return this;
+      }
+
       /**
        * <code>string file_extension = 9 [json_name = "fileExtension"];</code>
        * @return The fileExtension.
@@ -5724,6 +5923,100 @@ public Builder setFileExtensionBytes(
         return this;
       }
 
+      /**
+       * <code>.google.protobuf.Timestamp file_create_time = 14 [json_name = "fileCreateTime"];</code>
+       */
+      @java.lang.Override
+      public boolean hasFileCreateTime() {
+        return instance.hasFileCreateTime();
+      }
+      /**
+       * <code>.google.protobuf.Timestamp file_create_time = 14 [json_name = "fileCreateTime"];</code>
+       */
+      @java.lang.Override
+      public com.google.protobuf.Timestamp getFileCreateTime() {
+        return instance.getFileCreateTime();
+      }
+      /**
+       * <code>.google.protobuf.Timestamp file_create_time = 14 [json_name = "fileCreateTime"];</code>
+       */
+      public Builder setFileCreateTime(com.google.protobuf.Timestamp value) {
+        copyOnWrite();
+        instance.setFileCreateTime(value);
+        return this;
+        }
+      /**
+       * <code>.google.protobuf.Timestamp file_create_time = 14 [json_name = "fileCreateTime"];</code>
+       */
+      public Builder setFileCreateTime(
+          com.google.protobuf.Timestamp.Builder builderForValue) {
+        copyOnWrite();
+        instance.setFileCreateTime(builderForValue.build());
+        return this;
+      }
+      /**
+       * <code>.google.protobuf.Timestamp file_create_time = 14 [json_name = "fileCreateTime"];</code>
+       */
+      public Builder mergeFileCreateTime(com.google.protobuf.Timestamp value) {
+        copyOnWrite();
+        instance.mergeFileCreateTime(value);
+        return this;
+      }
+      /**
+       * <code>.google.protobuf.Timestamp file_create_time = 14 [json_name = "fileCreateTime"];</code>
+       */
+      public Builder clearFileCreateTime() {  copyOnWrite();
+        instance.clearFileCreateTime();
+        return this;
+      }
+
+      /**
+       * <code>.google.protobuf.Timestamp file_modify_time = 15 [json_name = "fileModifyTime"];</code>
+       */
+      @java.lang.Override
+      public boolean hasFileModifyTime() {
+        return instance.hasFileModifyTime();
+      }
+      /**
+       * <code>.google.protobuf.Timestamp file_modify_time = 15 [json_name = "fileModifyTime"];</code>
+       */
+      @java.lang.Override
+      public com.google.protobuf.Timestamp getFileModifyTime() {
+        return instance.getFileModifyTime();
+      }
+      /**
+       * <code>.google.protobuf.Timestamp file_modify_time = 15 [json_name = "fileModifyTime"];</code>
+       */
+      public Builder setFileModifyTime(com.google.protobuf.Timestamp value) {
+        copyOnWrite();
+        instance.setFileModifyTime(value);
+        return this;
+        }
+      /**
+       * <code>.google.protobuf.Timestamp file_modify_time = 15 [json_name = "fileModifyTime"];</code>
+       */
+      public Builder setFileModifyTime(
+          com.google.protobuf.Timestamp.Builder builderForValue) {
+        copyOnWrite();
+        instance.setFileModifyTime(builderForValue.build());
+        return this;
+      }
+      /**
+       * <code>.google.protobuf.Timestamp file_modify_time = 15 [json_name = "fileModifyTime"];</code>
+       */
+      public Builder mergeFileModifyTime(com.google.protobuf.Timestamp value) {
+        copyOnWrite();
+        instance.mergeFileModifyTime(value);
+        return this;
+      }
+      /**
+       * <code>.google.protobuf.Timestamp file_modify_time = 15 [json_name = "fileModifyTime"];</code>
+       */
+      public Builder clearFileModifyTime() {  copyOnWrite();
+        instance.clearFileModifyTime();
+        return this;
+      }
+
       /**
        * <code>repeated string tags = 10 [json_name = "tags"];</code>
        * @return A list containing the tags.
@@ -5908,6 +6201,55 @@ public Builder addDatasetIdsBytes(
         return this;
       }
 
+      /**
+       * <code>string mime_type = 13 [json_name = "mimeType"];</code>
+       * @return The mimeType.
+       */
+      @java.lang.Override
+      public java.lang.String getMimeType() {
+        return instance.getMimeType();
+      }
+      /**
+       * <code>string mime_type = 13 [json_name = "mimeType"];</code>
+       * @return The bytes for mimeType.
+       */
+      @java.lang.Override
+      public com.google.protobuf.ByteString
+          getMimeTypeBytes() {
+        return instance.getMimeTypeBytes();
+      }
+      /**
+       * <code>string mime_type = 13 [json_name = "mimeType"];</code>
+       * @param value The mimeType to set.
+       * @return This builder for chaining.
+       */
+      public Builder setMimeType(
+          java.lang.String value) {
+        copyOnWrite();
+        instance.setMimeType(value);
+        return this;
+      }
+      /**
+       * <code>string mime_type = 13 [json_name = "mimeType"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearMimeType() {
+        copyOnWrite();
+        instance.clearMimeType();
+        return this;
+      }
+      /**
+       * <code>string mime_type = 13 [json_name = "mimeType"];</code>
+       * @param value The bytes for mimeType to set.
+       * @return This builder for chaining.
+       */
+      public Builder setMimeTypeBytes(
+          com.google.protobuf.ByteString value) {
+        copyOnWrite();
+        instance.setMimeTypeBytes(value);
+        return this;
+      }
+
       // @@protoc_insertion_point(builder_scope:viam.app.datasync.v1.UploadMetadata)
     }
     @java.lang.Override
@@ -5924,6 +6266,7 @@ protected final java.lang.Object dynamicMethod(
         }
         case BUILD_MESSAGE_INFO: {
             java.lang.Object[] objects = new java.lang.Object[] {
+              "bitField0_",
               "partId_",
               "componentType_",
               "componentName_",
@@ -5935,10 +6278,14 @@ protected final java.lang.Object dynamicMethod(
               "fileExtension_",
               "tags_",
               "datasetIds_",
+              "mimeType_",
+              "fileCreateTime_",
+              "fileModifyTime_",
             };
             java.lang.String info =
-                "\u0000\n\u0000\u0000\u0001\f\n\u0001\u0002\u0000\u0001\u0208\u0002\u0208\u0003\u0208" +
-                "\u0005\u0208\u0006\f\u0007\u0208\b2\t\u0208\n\u021a\f\u021a";
+                "\u0000\r\u0000\u0001\u0001\u000f\r\u0001\u0002\u0000\u0001\u0208\u0002\u0208\u0003" +
+                "\u0208\u0005\u0208\u0006\f\u0007\u0208\b2\t\u0208\n\u021a\f\u021a\r\u0208\u000e\u1009" +
+                "\u0000\u000f\u1009\u0001";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         // fall through
@@ -6521,6 +6868,18 @@ com.google.protobuf.Any getMethodParametersOrThrow(
      */
     com.google.protobuf.ByteString
         getTagsBytes(int index);
+
+    /**
+     * <code>string mime_type = 10 [json_name = "mimeType"];</code>
+     * @return The mimeType.
+     */
+    java.lang.String getMimeType();
+    /**
+     * <code>string mime_type = 10 [json_name = "mimeType"];</code>
+     * @return The bytes for mimeType.
+     */
+    com.google.protobuf.ByteString
+        getMimeTypeBytes();
   }
   /**
    * <pre>
@@ -6540,6 +6899,7 @@ private DataCaptureMetadata() {
       methodName_ = "";
       fileExtension_ = "";
       tags_ = com.google.protobuf.GeneratedMessageLite.emptyProtobufList();
+      mimeType_ = "";
     }
     public static final int COMPONENT_TYPE_FIELD_NUMBER = 1;
     private java.lang.String componentType_;
@@ -6959,6 +7319,53 @@ private void addTagsBytes(
       tags_.add(value.toStringUtf8());
     }
 
+    public static final int MIME_TYPE_FIELD_NUMBER = 10;
+    private java.lang.String mimeType_;
+    /**
+     * <code>string mime_type = 10 [json_name = "mimeType"];</code>
+     * @return The mimeType.
+     */
+    @java.lang.Override
+    public java.lang.String getMimeType() {
+      return mimeType_;
+    }
+    /**
+     * <code>string mime_type = 10 [json_name = "mimeType"];</code>
+     * @return The bytes for mimeType.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getMimeTypeBytes() {
+      return com.google.protobuf.ByteString.copyFromUtf8(mimeType_);
+    }
+    /**
+     * <code>string mime_type = 10 [json_name = "mimeType"];</code>
+     * @param value The mimeType to set.
+     */
+    private void setMimeType(
+        java.lang.String value) {
+      java.lang.Class<?> valueClass = value.getClass();
+  
+      mimeType_ = value;
+    }
+    /**
+     * <code>string mime_type = 10 [json_name = "mimeType"];</code>
+     */
+    private void clearMimeType() {
+
+      mimeType_ = getDefaultInstance().getMimeType();
+    }
+    /**
+     * <code>string mime_type = 10 [json_name = "mimeType"];</code>
+     * @param value The bytes for mimeType to set.
+     */
+    private void setMimeTypeBytes(
+        com.google.protobuf.ByteString value) {
+      checkByteStringIsUtf8(value);
+      mimeType_ = value.toStringUtf8();
+
+    }
+
     public static viam.app.datasync.v1.DataSync.DataCaptureMetadata parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
@@ -7494,6 +7901,55 @@ public Builder addTagsBytes(
         return this;
       }
 
+      /**
+       * <code>string mime_type = 10 [json_name = "mimeType"];</code>
+       * @return The mimeType.
+       */
+      @java.lang.Override
+      public java.lang.String getMimeType() {
+        return instance.getMimeType();
+      }
+      /**
+       * <code>string mime_type = 10 [json_name = "mimeType"];</code>
+       * @return The bytes for mimeType.
+       */
+      @java.lang.Override
+      public com.google.protobuf.ByteString
+          getMimeTypeBytes() {
+        return instance.getMimeTypeBytes();
+      }
+      /**
+       * <code>string mime_type = 10 [json_name = "mimeType"];</code>
+       * @param value The mimeType to set.
+       * @return This builder for chaining.
+       */
+      public Builder setMimeType(
+          java.lang.String value) {
+        copyOnWrite();
+        instance.setMimeType(value);
+        return this;
+      }
+      /**
+       * <code>string mime_type = 10 [json_name = "mimeType"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearMimeType() {
+        copyOnWrite();
+        instance.clearMimeType();
+        return this;
+      }
+      /**
+       * <code>string mime_type = 10 [json_name = "mimeType"];</code>
+       * @param value The bytes for mimeType to set.
+       * @return This builder for chaining.
+       */
+      public Builder setMimeTypeBytes(
+          com.google.protobuf.ByteString value) {
+        copyOnWrite();
+        instance.setMimeTypeBytes(value);
+        return this;
+      }
+
       // @@protoc_insertion_point(builder_scope:viam.app.datasync.v1.DataCaptureMetadata)
     }
     @java.lang.Override
@@ -7518,10 +7974,11 @@ protected final java.lang.Object dynamicMethod(
               MethodParametersDefaultEntryHolder.defaultEntry,
               "fileExtension_",
               "tags_",
+              "mimeType_",
             };
             java.lang.String info =
-                "\u0000\u0007\u0000\u0000\u0001\b\u0007\u0001\u0001\u0000\u0001\u0208\u0002\u0208" +
-                "\u0004\u0208\u0005\f\u00062\u0007\u0208\b\u021a";
+                "\u0000\b\u0000\u0000\u0001\n\b\u0001\u0001\u0000\u0001\u0208\u0002\u0208\u0004\u0208" +
+                "\u0005\f\u00062\u0007\u0208\b\u021a\n\u0208";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         // fall through
diff --git a/core/sdk/src/main/gen/viam/app/v1/AppOuterClass.java b/core/sdk/src/main/gen/viam/app/v1/AppOuterClass.java
index 01683572e..d769b06da 100644
--- a/core/sdk/src/main/gen/viam/app/v1/AppOuterClass.java
+++ b/core/sdk/src/main/gen/viam/app/v1/AppOuterClass.java
@@ -456,6 +456,227 @@ private FragmentErrorType(int value) {
     // @@protoc_insertion_point(enum_scope:viam.app.v1.FragmentErrorType)
   }
 
+  /**
+   * Protobuf enum {@code viam.app.v1.ModuleSourceType}
+   */
+  public enum ModuleSourceType
+      implements com.google.protobuf.Internal.EnumLite {
+    /**
+     * <code>MODULE_SOURCE_TYPE_UNSPECIFIED = 0;</code>
+     */
+    MODULE_SOURCE_TYPE_UNSPECIFIED(0),
+    /**
+     * <pre>
+     * Module source code is stored externally, such as in github.
+     * </pre>
+     *
+     * <code>MODULE_SOURCE_TYPE_EXTERNAL = 1;</code>
+     */
+    MODULE_SOURCE_TYPE_EXTERNAL(1),
+    /**
+     * <pre>
+     * Module source code is versioned and managed within Viam.
+     * </pre>
+     *
+     * <code>MODULE_SOURCE_TYPE_VIAM_HOSTED = 2;</code>
+     */
+    MODULE_SOURCE_TYPE_VIAM_HOSTED(2),
+    UNRECOGNIZED(-1),
+    ;
+
+    /**
+     * <code>MODULE_SOURCE_TYPE_UNSPECIFIED = 0;</code>
+     */
+    public static final int MODULE_SOURCE_TYPE_UNSPECIFIED_VALUE = 0;
+    /**
+     * <pre>
+     * Module source code is stored externally, such as in github.
+     * </pre>
+     *
+     * <code>MODULE_SOURCE_TYPE_EXTERNAL = 1;</code>
+     */
+    public static final int MODULE_SOURCE_TYPE_EXTERNAL_VALUE = 1;
+    /**
+     * <pre>
+     * Module source code is versioned and managed within Viam.
+     * </pre>
+     *
+     * <code>MODULE_SOURCE_TYPE_VIAM_HOSTED = 2;</code>
+     */
+    public static final int MODULE_SOURCE_TYPE_VIAM_HOSTED_VALUE = 2;
+
+
+    @java.lang.Override
+    public final int getNumber() {
+      if (this == UNRECOGNIZED) {
+        throw new java.lang.IllegalArgumentException(
+            "Can't get the number of an unknown enum value.");
+      }
+      return value;
+    }
+
+    /**
+     * @param value The number of the enum to look for.
+     * @return The enum associated with the given number.
+     * @deprecated Use {@link #forNumber(int)} instead.
+     */
+    @java.lang.Deprecated
+    public static ModuleSourceType valueOf(int value) {
+      return forNumber(value);
+    }
+
+    public static ModuleSourceType forNumber(int value) {
+      switch (value) {
+        case 0: return MODULE_SOURCE_TYPE_UNSPECIFIED;
+        case 1: return MODULE_SOURCE_TYPE_EXTERNAL;
+        case 2: return MODULE_SOURCE_TYPE_VIAM_HOSTED;
+        default: return null;
+      }
+    }
+
+    public static com.google.protobuf.Internal.EnumLiteMap<ModuleSourceType>
+        internalGetValueMap() {
+      return internalValueMap;
+    }
+    private static final com.google.protobuf.Internal.EnumLiteMap<
+        ModuleSourceType> internalValueMap =
+          new com.google.protobuf.Internal.EnumLiteMap<ModuleSourceType>() {
+            @java.lang.Override
+            public ModuleSourceType findValueByNumber(int number) {
+              return ModuleSourceType.forNumber(number);
+            }
+          };
+
+    public static com.google.protobuf.Internal.EnumVerifier 
+        internalGetVerifier() {
+      return ModuleSourceTypeVerifier.INSTANCE;
+    }
+
+    private static final class ModuleSourceTypeVerifier implements 
+         com.google.protobuf.Internal.EnumVerifier { 
+            static final com.google.protobuf.Internal.EnumVerifier           INSTANCE = new ModuleSourceTypeVerifier();
+            @java.lang.Override
+            public boolean isInRange(int number) {
+              return ModuleSourceType.forNumber(number) != null;
+            }
+          };
+
+    private final int value;
+
+    private ModuleSourceType(int value) {
+      this.value = value;
+    }
+
+    // @@protoc_insertion_point(enum_scope:viam.app.v1.ModuleSourceType)
+  }
+
+  /**
+   * Protobuf enum {@code viam.app.v1.ModuleLanguage}
+   */
+  public enum ModuleLanguage
+      implements com.google.protobuf.Internal.EnumLite {
+    /**
+     * <code>MODULE_LANGUAGE_UNSPECIFIED = 0;</code>
+     */
+    MODULE_LANGUAGE_UNSPECIFIED(0),
+    /**
+     * <code>MODULE_LANGUAGE_GOLANG = 1;</code>
+     */
+    MODULE_LANGUAGE_GOLANG(1),
+    /**
+     * <code>MODULE_LANGUAGE_PYTHON = 2;</code>
+     */
+    MODULE_LANGUAGE_PYTHON(2),
+    /**
+     * <code>MODULE_LANGUAGE_CPP = 3;</code>
+     */
+    MODULE_LANGUAGE_CPP(3),
+    UNRECOGNIZED(-1),
+    ;
+
+    /**
+     * <code>MODULE_LANGUAGE_UNSPECIFIED = 0;</code>
+     */
+    public static final int MODULE_LANGUAGE_UNSPECIFIED_VALUE = 0;
+    /**
+     * <code>MODULE_LANGUAGE_GOLANG = 1;</code>
+     */
+    public static final int MODULE_LANGUAGE_GOLANG_VALUE = 1;
+    /**
+     * <code>MODULE_LANGUAGE_PYTHON = 2;</code>
+     */
+    public static final int MODULE_LANGUAGE_PYTHON_VALUE = 2;
+    /**
+     * <code>MODULE_LANGUAGE_CPP = 3;</code>
+     */
+    public static final int MODULE_LANGUAGE_CPP_VALUE = 3;
+
+
+    @java.lang.Override
+    public final int getNumber() {
+      if (this == UNRECOGNIZED) {
+        throw new java.lang.IllegalArgumentException(
+            "Can't get the number of an unknown enum value.");
+      }
+      return value;
+    }
+
+    /**
+     * @param value The number of the enum to look for.
+     * @return The enum associated with the given number.
+     * @deprecated Use {@link #forNumber(int)} instead.
+     */
+    @java.lang.Deprecated
+    public static ModuleLanguage valueOf(int value) {
+      return forNumber(value);
+    }
+
+    public static ModuleLanguage forNumber(int value) {
+      switch (value) {
+        case 0: return MODULE_LANGUAGE_UNSPECIFIED;
+        case 1: return MODULE_LANGUAGE_GOLANG;
+        case 2: return MODULE_LANGUAGE_PYTHON;
+        case 3: return MODULE_LANGUAGE_CPP;
+        default: return null;
+      }
+    }
+
+    public static com.google.protobuf.Internal.EnumLiteMap<ModuleLanguage>
+        internalGetValueMap() {
+      return internalValueMap;
+    }
+    private static final com.google.protobuf.Internal.EnumLiteMap<
+        ModuleLanguage> internalValueMap =
+          new com.google.protobuf.Internal.EnumLiteMap<ModuleLanguage>() {
+            @java.lang.Override
+            public ModuleLanguage findValueByNumber(int number) {
+              return ModuleLanguage.forNumber(number);
+            }
+          };
+
+    public static com.google.protobuf.Internal.EnumVerifier 
+        internalGetVerifier() {
+      return ModuleLanguageVerifier.INSTANCE;
+    }
+
+    private static final class ModuleLanguageVerifier implements 
+         com.google.protobuf.Internal.EnumVerifier { 
+            static final com.google.protobuf.Internal.EnumVerifier           INSTANCE = new ModuleLanguageVerifier();
+            @java.lang.Override
+            public boolean isInRange(int number) {
+              return ModuleLanguage.forNumber(number) != null;
+            }
+          };
+
+    private final int value;
+
+    private ModuleLanguage(int value) {
+      this.value = value;
+    }
+
+    // @@protoc_insertion_point(enum_scope:viam.app.v1.ModuleLanguage)
+  }
+
   /**
    * Protobuf enum {@code viam.app.v1.RegistryItemStatus}
    */
@@ -2337,6 +2558,35 @@ public interface RobotPartOrBuilder extends
      * @return The secondsSinceOnline.
      */
     long getSecondsSinceOnline();
+
+    /**
+     * <pre>
+     * robot_config_json is the raw JSON string of the robot config, preserving user-defined key order.
+     * </pre>
+     *
+     * <code>optional string robot_config_json = 18 [json_name = "robotConfigJson", (.tagger.v1.tags) = "bson:&#92;"config_json,omitempty&#92;" json:&#92;"config_json,omitempty&#92;""];</code>
+     * @return Whether the robotConfigJson field is set.
+     */
+    boolean hasRobotConfigJson();
+    /**
+     * <pre>
+     * robot_config_json is the raw JSON string of the robot config, preserving user-defined key order.
+     * </pre>
+     *
+     * <code>optional string robot_config_json = 18 [json_name = "robotConfigJson", (.tagger.v1.tags) = "bson:&#92;"config_json,omitempty&#92;" json:&#92;"config_json,omitempty&#92;""];</code>
+     * @return The robotConfigJson.
+     */
+    java.lang.String getRobotConfigJson();
+    /**
+     * <pre>
+     * robot_config_json is the raw JSON string of the robot config, preserving user-defined key order.
+     * </pre>
+     *
+     * <code>optional string robot_config_json = 18 [json_name = "robotConfigJson", (.tagger.v1.tags) = "bson:&#92;"config_json,omitempty&#92;" json:&#92;"config_json,omitempty&#92;""];</code>
+     * @return The bytes for robotConfigJson.
+     */
+    com.google.protobuf.ByteString
+        getRobotConfigJsonBytes();
   }
   /**
    * Protobuf type {@code viam.app.v1.RobotPart}
@@ -2356,6 +2606,7 @@ private RobotPart() {
       fqdn_ = "";
       localFqdn_ = "";
       secrets_ = emptyProtobufList();
+      robotConfigJson_ = "";
     }
     private int bitField0_;
     public static final int ID_FIELD_NUMBER = 1;
@@ -3261,6 +3512,85 @@ private void clearSecondsSinceOnline() {
       secondsSinceOnline_ = 0L;
     }
 
+    public static final int ROBOT_CONFIG_JSON_FIELD_NUMBER = 18;
+    private java.lang.String robotConfigJson_;
+    /**
+     * <pre>
+     * robot_config_json is the raw JSON string of the robot config, preserving user-defined key order.
+     * </pre>
+     *
+     * <code>optional string robot_config_json = 18 [json_name = "robotConfigJson", (.tagger.v1.tags) = "bson:&#92;"config_json,omitempty&#92;" json:&#92;"config_json,omitempty&#92;""];</code>
+     * @return Whether the robotConfigJson field is set.
+     */
+    @java.lang.Override
+    public boolean hasRobotConfigJson() {
+      return ((bitField0_ & 0x00000020) != 0);
+    }
+    /**
+     * <pre>
+     * robot_config_json is the raw JSON string of the robot config, preserving user-defined key order.
+     * </pre>
+     *
+     * <code>optional string robot_config_json = 18 [json_name = "robotConfigJson", (.tagger.v1.tags) = "bson:&#92;"config_json,omitempty&#92;" json:&#92;"config_json,omitempty&#92;""];</code>
+     * @return The robotConfigJson.
+     */
+    @java.lang.Override
+    public java.lang.String getRobotConfigJson() {
+      return robotConfigJson_;
+    }
+    /**
+     * <pre>
+     * robot_config_json is the raw JSON string of the robot config, preserving user-defined key order.
+     * </pre>
+     *
+     * <code>optional string robot_config_json = 18 [json_name = "robotConfigJson", (.tagger.v1.tags) = "bson:&#92;"config_json,omitempty&#92;" json:&#92;"config_json,omitempty&#92;""];</code>
+     * @return The bytes for robotConfigJson.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getRobotConfigJsonBytes() {
+      return com.google.protobuf.ByteString.copyFromUtf8(robotConfigJson_);
+    }
+    /**
+     * <pre>
+     * robot_config_json is the raw JSON string of the robot config, preserving user-defined key order.
+     * </pre>
+     *
+     * <code>optional string robot_config_json = 18 [json_name = "robotConfigJson", (.tagger.v1.tags) = "bson:&#92;"config_json,omitempty&#92;" json:&#92;"config_json,omitempty&#92;""];</code>
+     * @param value The robotConfigJson to set.
+     */
+    private void setRobotConfigJson(
+        java.lang.String value) {
+      java.lang.Class<?> valueClass = value.getClass();
+  bitField0_ |= 0x00000020;
+      robotConfigJson_ = value;
+    }
+    /**
+     * <pre>
+     * robot_config_json is the raw JSON string of the robot config, preserving user-defined key order.
+     * </pre>
+     *
+     * <code>optional string robot_config_json = 18 [json_name = "robotConfigJson", (.tagger.v1.tags) = "bson:&#92;"config_json,omitempty&#92;" json:&#92;"config_json,omitempty&#92;""];</code>
+     */
+    private void clearRobotConfigJson() {
+      bitField0_ = (bitField0_ & ~0x00000020);
+      robotConfigJson_ = getDefaultInstance().getRobotConfigJson();
+    }
+    /**
+     * <pre>
+     * robot_config_json is the raw JSON string of the robot config, preserving user-defined key order.
+     * </pre>
+     *
+     * <code>optional string robot_config_json = 18 [json_name = "robotConfigJson", (.tagger.v1.tags) = "bson:&#92;"config_json,omitempty&#92;" json:&#92;"config_json,omitempty&#92;""];</code>
+     * @param value The bytes for robotConfigJson to set.
+     */
+    private void setRobotConfigJsonBytes(
+        com.google.protobuf.ByteString value) {
+      checkByteStringIsUtf8(value);
+      robotConfigJson_ = value.toStringUtf8();
+      bitField0_ |= 0x00000020;
+    }
+
     public static viam.app.v1.AppOuterClass.RobotPart parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
@@ -4306,6 +4636,87 @@ public Builder clearSecondsSinceOnline() {
         return this;
       }
 
+      /**
+       * <pre>
+       * robot_config_json is the raw JSON string of the robot config, preserving user-defined key order.
+       * </pre>
+       *
+       * <code>optional string robot_config_json = 18 [json_name = "robotConfigJson", (.tagger.v1.tags) = "bson:&#92;"config_json,omitempty&#92;" json:&#92;"config_json,omitempty&#92;""];</code>
+       * @return Whether the robotConfigJson field is set.
+       */
+      @java.lang.Override
+      public boolean hasRobotConfigJson() {
+        return instance.hasRobotConfigJson();
+      }
+      /**
+       * <pre>
+       * robot_config_json is the raw JSON string of the robot config, preserving user-defined key order.
+       * </pre>
+       *
+       * <code>optional string robot_config_json = 18 [json_name = "robotConfigJson", (.tagger.v1.tags) = "bson:&#92;"config_json,omitempty&#92;" json:&#92;"config_json,omitempty&#92;""];</code>
+       * @return The robotConfigJson.
+       */
+      @java.lang.Override
+      public java.lang.String getRobotConfigJson() {
+        return instance.getRobotConfigJson();
+      }
+      /**
+       * <pre>
+       * robot_config_json is the raw JSON string of the robot config, preserving user-defined key order.
+       * </pre>
+       *
+       * <code>optional string robot_config_json = 18 [json_name = "robotConfigJson", (.tagger.v1.tags) = "bson:&#92;"config_json,omitempty&#92;" json:&#92;"config_json,omitempty&#92;""];</code>
+       * @return The bytes for robotConfigJson.
+       */
+      @java.lang.Override
+      public com.google.protobuf.ByteString
+          getRobotConfigJsonBytes() {
+        return instance.getRobotConfigJsonBytes();
+      }
+      /**
+       * <pre>
+       * robot_config_json is the raw JSON string of the robot config, preserving user-defined key order.
+       * </pre>
+       *
+       * <code>optional string robot_config_json = 18 [json_name = "robotConfigJson", (.tagger.v1.tags) = "bson:&#92;"config_json,omitempty&#92;" json:&#92;"config_json,omitempty&#92;""];</code>
+       * @param value The robotConfigJson to set.
+       * @return This builder for chaining.
+       */
+      public Builder setRobotConfigJson(
+          java.lang.String value) {
+        copyOnWrite();
+        instance.setRobotConfigJson(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * robot_config_json is the raw JSON string of the robot config, preserving user-defined key order.
+       * </pre>
+       *
+       * <code>optional string robot_config_json = 18 [json_name = "robotConfigJson", (.tagger.v1.tags) = "bson:&#92;"config_json,omitempty&#92;" json:&#92;"config_json,omitempty&#92;""];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearRobotConfigJson() {
+        copyOnWrite();
+        instance.clearRobotConfigJson();
+        return this;
+      }
+      /**
+       * <pre>
+       * robot_config_json is the raw JSON string of the robot config, preserving user-defined key order.
+       * </pre>
+       *
+       * <code>optional string robot_config_json = 18 [json_name = "robotConfigJson", (.tagger.v1.tags) = "bson:&#92;"config_json,omitempty&#92;" json:&#92;"config_json,omitempty&#92;""];</code>
+       * @param value The bytes for robotConfigJson to set.
+       * @return This builder for chaining.
+       */
+      public Builder setRobotConfigJsonBytes(
+          com.google.protobuf.ByteString value) {
+        copyOnWrite();
+        instance.setRobotConfigJsonBytes(value);
+        return this;
+      }
+
       // @@protoc_insertion_point(builder_scope:viam.app.v1.RobotPart)
     }
     @java.lang.Override
@@ -4341,12 +4752,13 @@ protected final java.lang.Object dynamicMethod(
               "lastUpdated_",
               "onlineState_",
               "secondsSinceOnline_",
+              "robotConfigJson_",
             };
             java.lang.String info =
-                "\u0000\u0011\u0000\u0001\u0001\u0011\u0011\u0000\u0001\u0000\u0001\u0208\u0002\u0208" +
+                "\u0000\u0012\u0000\u0001\u0001\u0012\u0012\u0000\u0001\u0000\u0001\u0208\u0002\u0208" +
                 "\u0003\u0208\u0004\u0208\u0005\u1009\u0000\u0006\u1009\u0001\u0007\u1009\u0002\b" +
                 "\u0007\t\u0208\n\u0208\u000b\u0208\f\u0208\r\u1009\u0003\u000e\u001b\u000f\u1009" +
-                "\u0004\u0010\f\u0011\u0002";
+                "\u0004\u0010\f\u0011\u0002\u0012\u1208\u0005";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         // fall through
@@ -5850,6 +6262,17 @@ public interface OrganizationOrBuilder extends
      */
     com.google.protobuf.ByteString
         getCidBytes();
+
+    /**
+     * <code>optional .viam.app.v1.FragmentImportList default_fragments = 7 [json_name = "defaultFragments"];</code>
+     * @return Whether the defaultFragments field is set.
+     */
+    boolean hasDefaultFragments();
+    /**
+     * <code>optional .viam.app.v1.FragmentImportList default_fragments = 7 [json_name = "defaultFragments"];</code>
+     * @return The defaultFragments.
+     */
+    viam.app.v1.AppOuterClass.FragmentImportList getDefaultFragments();
   }
   /**
    * Protobuf type {@code viam.app.v1.Organization}
@@ -6181,6 +6604,52 @@ private void setCidBytes(
       bitField0_ |= 0x00000002;
     }
 
+    public static final int DEFAULT_FRAGMENTS_FIELD_NUMBER = 7;
+    private viam.app.v1.AppOuterClass.FragmentImportList defaultFragments_;
+    /**
+     * <code>optional .viam.app.v1.FragmentImportList default_fragments = 7 [json_name = "defaultFragments"];</code>
+     */
+    @java.lang.Override
+    public boolean hasDefaultFragments() {
+      return ((bitField0_ & 0x00000004) != 0);
+    }
+    /**
+     * <code>optional .viam.app.v1.FragmentImportList default_fragments = 7 [json_name = "defaultFragments"];</code>
+     */
+    @java.lang.Override
+    public viam.app.v1.AppOuterClass.FragmentImportList getDefaultFragments() {
+      return defaultFragments_ == null ? viam.app.v1.AppOuterClass.FragmentImportList.getDefaultInstance() : defaultFragments_;
+    }
+    /**
+     * <code>optional .viam.app.v1.FragmentImportList default_fragments = 7 [json_name = "defaultFragments"];</code>
+     */
+    private void setDefaultFragments(viam.app.v1.AppOuterClass.FragmentImportList value) {
+      value.getClass();
+  defaultFragments_ = value;
+      bitField0_ |= 0x00000004;
+      }
+    /**
+     * <code>optional .viam.app.v1.FragmentImportList default_fragments = 7 [json_name = "defaultFragments"];</code>
+     */
+    @java.lang.SuppressWarnings({"ReferenceEquality"})
+    private void mergeDefaultFragments(viam.app.v1.AppOuterClass.FragmentImportList value) {
+      value.getClass();
+  if (defaultFragments_ != null &&
+          defaultFragments_ != viam.app.v1.AppOuterClass.FragmentImportList.getDefaultInstance()) {
+        defaultFragments_ =
+          viam.app.v1.AppOuterClass.FragmentImportList.newBuilder(defaultFragments_).mergeFrom(value).buildPartial();
+      } else {
+        defaultFragments_ = value;
+      }
+      bitField0_ |= 0x00000004;
+    }
+    /**
+     * <code>optional .viam.app.v1.FragmentImportList default_fragments = 7 [json_name = "defaultFragments"];</code>
+     */
+    private void clearDefaultFragments() {  defaultFragments_ = null;
+      bitField0_ = (bitField0_ & ~0x00000004);
+    }
+
     public static viam.app.v1.AppOuterClass.Organization parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
@@ -6603,6 +7072,53 @@ public Builder setCidBytes(
         return this;
       }
 
+      /**
+       * <code>optional .viam.app.v1.FragmentImportList default_fragments = 7 [json_name = "defaultFragments"];</code>
+       */
+      @java.lang.Override
+      public boolean hasDefaultFragments() {
+        return instance.hasDefaultFragments();
+      }
+      /**
+       * <code>optional .viam.app.v1.FragmentImportList default_fragments = 7 [json_name = "defaultFragments"];</code>
+       */
+      @java.lang.Override
+      public viam.app.v1.AppOuterClass.FragmentImportList getDefaultFragments() {
+        return instance.getDefaultFragments();
+      }
+      /**
+       * <code>optional .viam.app.v1.FragmentImportList default_fragments = 7 [json_name = "defaultFragments"];</code>
+       */
+      public Builder setDefaultFragments(viam.app.v1.AppOuterClass.FragmentImportList value) {
+        copyOnWrite();
+        instance.setDefaultFragments(value);
+        return this;
+        }
+      /**
+       * <code>optional .viam.app.v1.FragmentImportList default_fragments = 7 [json_name = "defaultFragments"];</code>
+       */
+      public Builder setDefaultFragments(
+          viam.app.v1.AppOuterClass.FragmentImportList.Builder builderForValue) {
+        copyOnWrite();
+        instance.setDefaultFragments(builderForValue.build());
+        return this;
+      }
+      /**
+       * <code>optional .viam.app.v1.FragmentImportList default_fragments = 7 [json_name = "defaultFragments"];</code>
+       */
+      public Builder mergeDefaultFragments(viam.app.v1.AppOuterClass.FragmentImportList value) {
+        copyOnWrite();
+        instance.mergeDefaultFragments(value);
+        return this;
+      }
+      /**
+       * <code>optional .viam.app.v1.FragmentImportList default_fragments = 7 [json_name = "defaultFragments"];</code>
+       */
+      public Builder clearDefaultFragments() {  copyOnWrite();
+        instance.clearDefaultFragments();
+        return this;
+      }
+
       // @@protoc_insertion_point(builder_scope:viam.app.v1.Organization)
     }
     @java.lang.Override
@@ -6626,10 +7142,11 @@ protected final java.lang.Object dynamicMethod(
               "publicNamespace_",
               "defaultRegion_",
               "cid_",
+              "defaultFragments_",
             };
             java.lang.String info =
-                "\u0000\u0006\u0000\u0001\u0001\u0006\u0006\u0000\u0000\u0000\u0001\u0208\u0002\u0208" +
-                "\u0003\u1009\u0000\u0004\u0208\u0005\u0208\u0006\u1208\u0001";
+                "\u0000\u0007\u0000\u0001\u0001\u0007\u0007\u0000\u0000\u0000\u0001\u0208\u0002\u0208" +
+                "\u0003\u1009\u0000\u0004\u0208\u0005\u0208\u0006\u1208\u0001\u0007\u1009\u0002";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         // fall through
@@ -10455,18 +10972,18 @@ public interface FragmentImportListOrBuilder extends
       com.google.protobuf.MessageLiteOrBuilder {
 
     /**
-     * <code>repeated .viam.app.v1.FragmentImport imports = 1 [json_name = "imports"];</code>
+     * <code>repeated .viam.app.v1.FragmentImport fragments = 1 [json_name = "fragments"];</code>
      */
     java.util.List<viam.app.v1.AppOuterClass.FragmentImport> 
-        getImportsList();
+        getFragmentsList();
     /**
-     * <code>repeated .viam.app.v1.FragmentImport imports = 1 [json_name = "imports"];</code>
+     * <code>repeated .viam.app.v1.FragmentImport fragments = 1 [json_name = "fragments"];</code>
      */
-    viam.app.v1.AppOuterClass.FragmentImport getImports(int index);
+    viam.app.v1.AppOuterClass.FragmentImport getFragments(int index);
     /**
-     * <code>repeated .viam.app.v1.FragmentImport imports = 1 [json_name = "imports"];</code>
+     * <code>repeated .viam.app.v1.FragmentImport fragments = 1 [json_name = "fragments"];</code>
      */
-    int getImportsCount();
+    int getFragmentsCount();
   }
   /**
    * Protobuf type {@code viam.app.v1.FragmentImportList}
@@ -10477,100 +10994,100 @@ public  static final class FragmentImportList extends
       // @@protoc_insertion_point(message_implements:viam.app.v1.FragmentImportList)
       FragmentImportListOrBuilder {
     private FragmentImportList() {
-      imports_ = emptyProtobufList();
+      fragments_ = emptyProtobufList();
     }
-    public static final int IMPORTS_FIELD_NUMBER = 1;
-    private com.google.protobuf.Internal.ProtobufList<viam.app.v1.AppOuterClass.FragmentImport> imports_;
+    public static final int FRAGMENTS_FIELD_NUMBER = 1;
+    private com.google.protobuf.Internal.ProtobufList<viam.app.v1.AppOuterClass.FragmentImport> fragments_;
     /**
-     * <code>repeated .viam.app.v1.FragmentImport imports = 1 [json_name = "imports"];</code>
+     * <code>repeated .viam.app.v1.FragmentImport fragments = 1 [json_name = "fragments"];</code>
      */
     @java.lang.Override
-    public java.util.List<viam.app.v1.AppOuterClass.FragmentImport> getImportsList() {
-      return imports_;
+    public java.util.List<viam.app.v1.AppOuterClass.FragmentImport> getFragmentsList() {
+      return fragments_;
     }
     /**
-     * <code>repeated .viam.app.v1.FragmentImport imports = 1 [json_name = "imports"];</code>
+     * <code>repeated .viam.app.v1.FragmentImport fragments = 1 [json_name = "fragments"];</code>
      */
     public java.util.List<? extends viam.app.v1.AppOuterClass.FragmentImportOrBuilder> 
-        getImportsOrBuilderList() {
-      return imports_;
+        getFragmentsOrBuilderList() {
+      return fragments_;
     }
     /**
-     * <code>repeated .viam.app.v1.FragmentImport imports = 1 [json_name = "imports"];</code>
+     * <code>repeated .viam.app.v1.FragmentImport fragments = 1 [json_name = "fragments"];</code>
      */
     @java.lang.Override
-    public int getImportsCount() {
-      return imports_.size();
+    public int getFragmentsCount() {
+      return fragments_.size();
     }
     /**
-     * <code>repeated .viam.app.v1.FragmentImport imports = 1 [json_name = "imports"];</code>
+     * <code>repeated .viam.app.v1.FragmentImport fragments = 1 [json_name = "fragments"];</code>
      */
     @java.lang.Override
-    public viam.app.v1.AppOuterClass.FragmentImport getImports(int index) {
-      return imports_.get(index);
+    public viam.app.v1.AppOuterClass.FragmentImport getFragments(int index) {
+      return fragments_.get(index);
     }
     /**
-     * <code>repeated .viam.app.v1.FragmentImport imports = 1 [json_name = "imports"];</code>
+     * <code>repeated .viam.app.v1.FragmentImport fragments = 1 [json_name = "fragments"];</code>
      */
-    public viam.app.v1.AppOuterClass.FragmentImportOrBuilder getImportsOrBuilder(
+    public viam.app.v1.AppOuterClass.FragmentImportOrBuilder getFragmentsOrBuilder(
         int index) {
-      return imports_.get(index);
+      return fragments_.get(index);
     }
-    private void ensureImportsIsMutable() {
-      com.google.protobuf.Internal.ProtobufList<viam.app.v1.AppOuterClass.FragmentImport> tmp = imports_;
+    private void ensureFragmentsIsMutable() {
+      com.google.protobuf.Internal.ProtobufList<viam.app.v1.AppOuterClass.FragmentImport> tmp = fragments_;
       if (!tmp.isModifiable()) {
-        imports_ =
+        fragments_ =
             com.google.protobuf.GeneratedMessageLite.mutableCopy(tmp);
        }
     }
 
     /**
-     * <code>repeated .viam.app.v1.FragmentImport imports = 1 [json_name = "imports"];</code>
+     * <code>repeated .viam.app.v1.FragmentImport fragments = 1 [json_name = "fragments"];</code>
      */
-    private void setImports(
+    private void setFragments(
         int index, viam.app.v1.AppOuterClass.FragmentImport value) {
       value.getClass();
-  ensureImportsIsMutable();
-      imports_.set(index, value);
+  ensureFragmentsIsMutable();
+      fragments_.set(index, value);
     }
     /**
-     * <code>repeated .viam.app.v1.FragmentImport imports = 1 [json_name = "imports"];</code>
+     * <code>repeated .viam.app.v1.FragmentImport fragments = 1 [json_name = "fragments"];</code>
      */
-    private void addImports(viam.app.v1.AppOuterClass.FragmentImport value) {
+    private void addFragments(viam.app.v1.AppOuterClass.FragmentImport value) {
       value.getClass();
-  ensureImportsIsMutable();
-      imports_.add(value);
+  ensureFragmentsIsMutable();
+      fragments_.add(value);
     }
     /**
-     * <code>repeated .viam.app.v1.FragmentImport imports = 1 [json_name = "imports"];</code>
+     * <code>repeated .viam.app.v1.FragmentImport fragments = 1 [json_name = "fragments"];</code>
      */
-    private void addImports(
+    private void addFragments(
         int index, viam.app.v1.AppOuterClass.FragmentImport value) {
       value.getClass();
-  ensureImportsIsMutable();
-      imports_.add(index, value);
+  ensureFragmentsIsMutable();
+      fragments_.add(index, value);
     }
     /**
-     * <code>repeated .viam.app.v1.FragmentImport imports = 1 [json_name = "imports"];</code>
+     * <code>repeated .viam.app.v1.FragmentImport fragments = 1 [json_name = "fragments"];</code>
      */
-    private void addAllImports(
+    private void addAllFragments(
         java.lang.Iterable<? extends viam.app.v1.AppOuterClass.FragmentImport> values) {
-      ensureImportsIsMutable();
+      ensureFragmentsIsMutable();
       com.google.protobuf.AbstractMessageLite.addAll(
-          values, imports_);
+          values, fragments_);
     }
     /**
-     * <code>repeated .viam.app.v1.FragmentImport imports = 1 [json_name = "imports"];</code>
+     * <code>repeated .viam.app.v1.FragmentImport fragments = 1 [json_name = "fragments"];</code>
      */
-    private void clearImports() {
-      imports_ = emptyProtobufList();
+    private void clearFragments() {
+      fragments_ = emptyProtobufList();
     }
     /**
-     * <code>repeated .viam.app.v1.FragmentImport imports = 1 [json_name = "imports"];</code>
+     * <code>repeated .viam.app.v1.FragmentImport fragments = 1 [json_name = "fragments"];</code>
      */
-    private void removeImports(int index) {
-      ensureImportsIsMutable();
-      imports_.remove(index);
+    private void removeFragments(int index) {
+      ensureFragmentsIsMutable();
+      fragments_.remove(index);
     }
 
     public static viam.app.v1.AppOuterClass.FragmentImportList parseFrom(
@@ -10671,104 +11188,104 @@ private Builder() {
 
 
       /**
-       * <code>repeated .viam.app.v1.FragmentImport imports = 1 [json_name = "imports"];</code>
+       * <code>repeated .viam.app.v1.FragmentImport fragments = 1 [json_name = "fragments"];</code>
        */
       @java.lang.Override
-      public java.util.List<viam.app.v1.AppOuterClass.FragmentImport> getImportsList() {
+      public java.util.List<viam.app.v1.AppOuterClass.FragmentImport> getFragmentsList() {
         return java.util.Collections.unmodifiableList(
-            instance.getImportsList());
+            instance.getFragmentsList());
       }
       /**
-       * <code>repeated .viam.app.v1.FragmentImport imports = 1 [json_name = "imports"];</code>
+       * <code>repeated .viam.app.v1.FragmentImport fragments = 1 [json_name = "fragments"];</code>
        */
       @java.lang.Override
-      public int getImportsCount() {
-        return instance.getImportsCount();
+      public int getFragmentsCount() {
+        return instance.getFragmentsCount();
       }/**
-       * <code>repeated .viam.app.v1.FragmentImport imports = 1 [json_name = "imports"];</code>
+       * <code>repeated .viam.app.v1.FragmentImport fragments = 1 [json_name = "fragments"];</code>
        */
       @java.lang.Override
-      public viam.app.v1.AppOuterClass.FragmentImport getImports(int index) {
-        return instance.getImports(index);
+      public viam.app.v1.AppOuterClass.FragmentImport getFragments(int index) {
+        return instance.getFragments(index);
       }
       /**
-       * <code>repeated .viam.app.v1.FragmentImport imports = 1 [json_name = "imports"];</code>
+       * <code>repeated .viam.app.v1.FragmentImport fragments = 1 [json_name = "fragments"];</code>
        */
-      public Builder setImports(
+      public Builder setFragments(
           int index, viam.app.v1.AppOuterClass.FragmentImport value) {
         copyOnWrite();
-        instance.setImports(index, value);
+        instance.setFragments(index, value);
         return this;
       }
       /**
-       * <code>repeated .viam.app.v1.FragmentImport imports = 1 [json_name = "imports"];</code>
+       * <code>repeated .viam.app.v1.FragmentImport fragments = 1 [json_name = "fragments"];</code>
        */
-      public Builder setImports(
+      public Builder setFragments(
           int index, viam.app.v1.AppOuterClass.FragmentImport.Builder builderForValue) {
         copyOnWrite();
-        instance.setImports(index,
+        instance.setFragments(index,
             builderForValue.build());
         return this;
       }
       /**
-       * <code>repeated .viam.app.v1.FragmentImport imports = 1 [json_name = "imports"];</code>
+       * <code>repeated .viam.app.v1.FragmentImport fragments = 1 [json_name = "fragments"];</code>
        */
-      public Builder addImports(viam.app.v1.AppOuterClass.FragmentImport value) {
+      public Builder addFragments(viam.app.v1.AppOuterClass.FragmentImport value) {
         copyOnWrite();
-        instance.addImports(value);
+        instance.addFragments(value);
         return this;
       }
       /**
-       * <code>repeated .viam.app.v1.FragmentImport imports = 1 [json_name = "imports"];</code>
+       * <code>repeated .viam.app.v1.FragmentImport fragments = 1 [json_name = "fragments"];</code>
        */
-      public Builder addImports(
+      public Builder addFragments(
           int index, viam.app.v1.AppOuterClass.FragmentImport value) {
         copyOnWrite();
-        instance.addImports(index, value);
+        instance.addFragments(index, value);
         return this;
       }
       /**
-       * <code>repeated .viam.app.v1.FragmentImport imports = 1 [json_name = "imports"];</code>
+       * <code>repeated .viam.app.v1.FragmentImport fragments = 1 [json_name = "fragments"];</code>
        */
-      public Builder addImports(
+      public Builder addFragments(
           viam.app.v1.AppOuterClass.FragmentImport.Builder builderForValue) {
         copyOnWrite();
-        instance.addImports(builderForValue.build());
+        instance.addFragments(builderForValue.build());
         return this;
       }
       /**
-       * <code>repeated .viam.app.v1.FragmentImport imports = 1 [json_name = "imports"];</code>
+       * <code>repeated .viam.app.v1.FragmentImport fragments = 1 [json_name = "fragments"];</code>
        */
-      public Builder addImports(
+      public Builder addFragments(
           int index, viam.app.v1.AppOuterClass.FragmentImport.Builder builderForValue) {
         copyOnWrite();
-        instance.addImports(index,
+        instance.addFragments(index,
             builderForValue.build());
         return this;
       }
       /**
-       * <code>repeated .viam.app.v1.FragmentImport imports = 1 [json_name = "imports"];</code>
+       * <code>repeated .viam.app.v1.FragmentImport fragments = 1 [json_name = "fragments"];</code>
        */
-      public Builder addAllImports(
+      public Builder addAllFragments(
           java.lang.Iterable<? extends viam.app.v1.AppOuterClass.FragmentImport> values) {
         copyOnWrite();
-        instance.addAllImports(values);
+        instance.addAllFragments(values);
         return this;
       }
       /**
-       * <code>repeated .viam.app.v1.FragmentImport imports = 1 [json_name = "imports"];</code>
+       * <code>repeated .viam.app.v1.FragmentImport fragments = 1 [json_name = "fragments"];</code>
        */
-      public Builder clearImports() {
+      public Builder clearFragments() {
         copyOnWrite();
-        instance.clearImports();
+        instance.clearFragments();
         return this;
       }
       /**
-       * <code>repeated .viam.app.v1.FragmentImport imports = 1 [json_name = "imports"];</code>
+       * <code>repeated .viam.app.v1.FragmentImport fragments = 1 [json_name = "fragments"];</code>
        */
-      public Builder removeImports(int index) {
+      public Builder removeFragments(int index) {
         copyOnWrite();
-        instance.removeImports(index);
+        instance.removeFragments(index);
         return this;
       }
 
@@ -10788,7 +11305,7 @@ protected final java.lang.Object dynamicMethod(
         }
         case BUILD_MESSAGE_INFO: {
             java.lang.Object[] objects = new java.lang.Object[] {
-              "imports_",
+              "fragments_",
               viam.app.v1.AppOuterClass.FragmentImport.class,
             };
             java.lang.String info =
@@ -10944,15 +11461,15 @@ public interface UpdateOrganizationRequestOrBuilder extends
         getCidBytes();
 
     /**
-     * <code>optional .viam.app.v1.FragmentImportList fragment_imports = 6 [json_name = "fragmentImports"];</code>
-     * @return Whether the fragmentImports field is set.
+     * <code>optional .viam.app.v1.FragmentImportList default_fragments = 6 [json_name = "defaultFragments"];</code>
+     * @return Whether the defaultFragments field is set.
      */
-    boolean hasFragmentImports();
+    boolean hasDefaultFragments();
     /**
-     * <code>optional .viam.app.v1.FragmentImportList fragment_imports = 6 [json_name = "fragmentImports"];</code>
-     * @return The fragmentImports.
+     * <code>optional .viam.app.v1.FragmentImportList default_fragments = 6 [json_name = "defaultFragments"];</code>
+     * @return The defaultFragments.
      */
-    viam.app.v1.AppOuterClass.FragmentImportList getFragmentImports();
+    viam.app.v1.AppOuterClass.FragmentImportList getDefaultFragments();
   }
   /**
    * Protobuf type {@code viam.app.v1.UpdateOrganizationRequest}
@@ -11261,49 +11778,49 @@ private void setCidBytes(
       bitField0_ |= 0x00000008;
     }
 
-    public static final int FRAGMENT_IMPORTS_FIELD_NUMBER = 6;
-    private viam.app.v1.AppOuterClass.FragmentImportList fragmentImports_;
+    public static final int DEFAULT_FRAGMENTS_FIELD_NUMBER = 6;
+    private viam.app.v1.AppOuterClass.FragmentImportList defaultFragments_;
     /**
-     * <code>optional .viam.app.v1.FragmentImportList fragment_imports = 6 [json_name = "fragmentImports"];</code>
+     * <code>optional .viam.app.v1.FragmentImportList default_fragments = 6 [json_name = "defaultFragments"];</code>
      */
     @java.lang.Override
-    public boolean hasFragmentImports() {
+    public boolean hasDefaultFragments() {
       return ((bitField0_ & 0x00000010) != 0);
     }
     /**
-     * <code>optional .viam.app.v1.FragmentImportList fragment_imports = 6 [json_name = "fragmentImports"];</code>
+     * <code>optional .viam.app.v1.FragmentImportList default_fragments = 6 [json_name = "defaultFragments"];</code>
      */
     @java.lang.Override
-    public viam.app.v1.AppOuterClass.FragmentImportList getFragmentImports() {
-      return fragmentImports_ == null ? viam.app.v1.AppOuterClass.FragmentImportList.getDefaultInstance() : fragmentImports_;
+    public viam.app.v1.AppOuterClass.FragmentImportList getDefaultFragments() {
+      return defaultFragments_ == null ? viam.app.v1.AppOuterClass.FragmentImportList.getDefaultInstance() : defaultFragments_;
     }
     /**
-     * <code>optional .viam.app.v1.FragmentImportList fragment_imports = 6 [json_name = "fragmentImports"];</code>
+     * <code>optional .viam.app.v1.FragmentImportList default_fragments = 6 [json_name = "defaultFragments"];</code>
      */
-    private void setFragmentImports(viam.app.v1.AppOuterClass.FragmentImportList value) {
+    private void setDefaultFragments(viam.app.v1.AppOuterClass.FragmentImportList value) {
       value.getClass();
-  fragmentImports_ = value;
+  defaultFragments_ = value;
       bitField0_ |= 0x00000010;
       }
     /**
-     * <code>optional .viam.app.v1.FragmentImportList fragment_imports = 6 [json_name = "fragmentImports"];</code>
+     * <code>optional .viam.app.v1.FragmentImportList default_fragments = 6 [json_name = "defaultFragments"];</code>
      */
     @java.lang.SuppressWarnings({"ReferenceEquality"})
-    private void mergeFragmentImports(viam.app.v1.AppOuterClass.FragmentImportList value) {
+    private void mergeDefaultFragments(viam.app.v1.AppOuterClass.FragmentImportList value) {
       value.getClass();
-  if (fragmentImports_ != null &&
-          fragmentImports_ != viam.app.v1.AppOuterClass.FragmentImportList.getDefaultInstance()) {
-        fragmentImports_ =
-          viam.app.v1.AppOuterClass.FragmentImportList.newBuilder(fragmentImports_).mergeFrom(value).buildPartial();
+  if (defaultFragments_ != null &&
+          defaultFragments_ != viam.app.v1.AppOuterClass.FragmentImportList.getDefaultInstance()) {
+        defaultFragments_ =
+          viam.app.v1.AppOuterClass.FragmentImportList.newBuilder(defaultFragments_).mergeFrom(value).buildPartial();
       } else {
-        fragmentImports_ = value;
+        defaultFragments_ = value;
       }
       bitField0_ |= 0x00000010;
     }
     /**
-     * <code>optional .viam.app.v1.FragmentImportList fragment_imports = 6 [json_name = "fragmentImports"];</code>
+     * <code>optional .viam.app.v1.FragmentImportList default_fragments = 6 [json_name = "defaultFragments"];</code>
      */
-    private void clearFragmentImports() {  fragmentImports_ = null;
+    private void clearDefaultFragments() {  defaultFragments_ = null;
       bitField0_ = (bitField0_ & ~0x00000010);
     }
 
@@ -11706,49 +12223,49 @@ public Builder setCidBytes(
       }
 
       /**
-       * <code>optional .viam.app.v1.FragmentImportList fragment_imports = 6 [json_name = "fragmentImports"];</code>
+       * <code>optional .viam.app.v1.FragmentImportList default_fragments = 6 [json_name = "defaultFragments"];</code>
        */
       @java.lang.Override
-      public boolean hasFragmentImports() {
-        return instance.hasFragmentImports();
+      public boolean hasDefaultFragments() {
+        return instance.hasDefaultFragments();
       }
       /**
-       * <code>optional .viam.app.v1.FragmentImportList fragment_imports = 6 [json_name = "fragmentImports"];</code>
+       * <code>optional .viam.app.v1.FragmentImportList default_fragments = 6 [json_name = "defaultFragments"];</code>
        */
       @java.lang.Override
-      public viam.app.v1.AppOuterClass.FragmentImportList getFragmentImports() {
-        return instance.getFragmentImports();
+      public viam.app.v1.AppOuterClass.FragmentImportList getDefaultFragments() {
+        return instance.getDefaultFragments();
       }
       /**
-       * <code>optional .viam.app.v1.FragmentImportList fragment_imports = 6 [json_name = "fragmentImports"];</code>
+       * <code>optional .viam.app.v1.FragmentImportList default_fragments = 6 [json_name = "defaultFragments"];</code>
        */
-      public Builder setFragmentImports(viam.app.v1.AppOuterClass.FragmentImportList value) {
+      public Builder setDefaultFragments(viam.app.v1.AppOuterClass.FragmentImportList value) {
         copyOnWrite();
-        instance.setFragmentImports(value);
+        instance.setDefaultFragments(value);
         return this;
         }
       /**
-       * <code>optional .viam.app.v1.FragmentImportList fragment_imports = 6 [json_name = "fragmentImports"];</code>
+       * <code>optional .viam.app.v1.FragmentImportList default_fragments = 6 [json_name = "defaultFragments"];</code>
        */
-      public Builder setFragmentImports(
+      public Builder setDefaultFragments(
           viam.app.v1.AppOuterClass.FragmentImportList.Builder builderForValue) {
         copyOnWrite();
-        instance.setFragmentImports(builderForValue.build());
+        instance.setDefaultFragments(builderForValue.build());
         return this;
       }
       /**
-       * <code>optional .viam.app.v1.FragmentImportList fragment_imports = 6 [json_name = "fragmentImports"];</code>
+       * <code>optional .viam.app.v1.FragmentImportList default_fragments = 6 [json_name = "defaultFragments"];</code>
        */
-      public Builder mergeFragmentImports(viam.app.v1.AppOuterClass.FragmentImportList value) {
+      public Builder mergeDefaultFragments(viam.app.v1.AppOuterClass.FragmentImportList value) {
         copyOnWrite();
-        instance.mergeFragmentImports(value);
+        instance.mergeDefaultFragments(value);
         return this;
       }
       /**
-       * <code>optional .viam.app.v1.FragmentImportList fragment_imports = 6 [json_name = "fragmentImports"];</code>
+       * <code>optional .viam.app.v1.FragmentImportList default_fragments = 6 [json_name = "defaultFragments"];</code>
        */
-      public Builder clearFragmentImports() {  copyOnWrite();
-        instance.clearFragmentImports();
+      public Builder clearDefaultFragments() {  copyOnWrite();
+        instance.clearDefaultFragments();
         return this;
       }
 
@@ -11774,7 +12291,7 @@ protected final java.lang.Object dynamicMethod(
               "publicNamespace_",
               "region_",
               "cid_",
-              "fragmentImports_",
+              "defaultFragments_",
             };
             java.lang.String info =
                 "\u0000\u0006\u0000\u0001\u0001\u0006\u0006\u0000\u0000\u0000\u0001\u0208\u0002\u1208" +
@@ -25206,7 +25723,7 @@ public interface LocationAuthOrBuilder extends
      *
      * <code>string secret = 1 [json_name = "secret", deprecated = true];</code>
      * @deprecated viam.app.v1.LocationAuth.secret is deprecated.
-     *     See app/v1/app.proto;l=621
+     *     See app/v1/app.proto;l=624
      * @return The secret.
      */
     @java.lang.Deprecated java.lang.String getSecret();
@@ -25217,7 +25734,7 @@ public interface LocationAuthOrBuilder extends
      *
      * <code>string secret = 1 [json_name = "secret", deprecated = true];</code>
      * @deprecated viam.app.v1.LocationAuth.secret is deprecated.
-     *     See app/v1/app.proto;l=621
+     *     See app/v1/app.proto;l=624
      * @return The bytes for secret.
      */
     @java.lang.Deprecated com.google.protobuf.ByteString
@@ -25291,7 +25808,7 @@ private LocationAuth() {
      *
      * <code>string secret = 1 [json_name = "secret", deprecated = true];</code>
      * @deprecated viam.app.v1.LocationAuth.secret is deprecated.
-     *     See app/v1/app.proto;l=621
+     *     See app/v1/app.proto;l=624
      * @return The secret.
      */
     @java.lang.Override
@@ -25305,7 +25822,7 @@ private LocationAuth() {
      *
      * <code>string secret = 1 [json_name = "secret", deprecated = true];</code>
      * @deprecated viam.app.v1.LocationAuth.secret is deprecated.
-     *     See app/v1/app.proto;l=621
+     *     See app/v1/app.proto;l=624
      * @return The bytes for secret.
      */
     @java.lang.Override
@@ -25320,7 +25837,7 @@ private LocationAuth() {
      *
      * <code>string secret = 1 [json_name = "secret", deprecated = true];</code>
      * @deprecated viam.app.v1.LocationAuth.secret is deprecated.
-     *     See app/v1/app.proto;l=621
+     *     See app/v1/app.proto;l=624
      * @param value The secret to set.
      */
     private void setSecret(
@@ -25336,7 +25853,7 @@ private void setSecret(
      *
      * <code>string secret = 1 [json_name = "secret", deprecated = true];</code>
      * @deprecated viam.app.v1.LocationAuth.secret is deprecated.
-     *     See app/v1/app.proto;l=621
+     *     See app/v1/app.proto;l=624
      */
     private void clearSecret() {
 
@@ -25349,7 +25866,7 @@ private void clearSecret() {
      *
      * <code>string secret = 1 [json_name = "secret", deprecated = true];</code>
      * @deprecated viam.app.v1.LocationAuth.secret is deprecated.
-     *     See app/v1/app.proto;l=621
+     *     See app/v1/app.proto;l=624
      * @param value The bytes for secret to set.
      */
     private void setSecretBytes(
@@ -25668,7 +26185,7 @@ private Builder() {
        *
        * <code>string secret = 1 [json_name = "secret", deprecated = true];</code>
        * @deprecated viam.app.v1.LocationAuth.secret is deprecated.
-       *     See app/v1/app.proto;l=621
+       *     See app/v1/app.proto;l=624
        * @return The secret.
        */
       @java.lang.Override
@@ -25682,7 +26199,7 @@ private Builder() {
        *
        * <code>string secret = 1 [json_name = "secret", deprecated = true];</code>
        * @deprecated viam.app.v1.LocationAuth.secret is deprecated.
-       *     See app/v1/app.proto;l=621
+       *     See app/v1/app.proto;l=624
        * @return The bytes for secret.
        */
       @java.lang.Override
@@ -25697,7 +26214,7 @@ private Builder() {
        *
        * <code>string secret = 1 [json_name = "secret", deprecated = true];</code>
        * @deprecated viam.app.v1.LocationAuth.secret is deprecated.
-       *     See app/v1/app.proto;l=621
+       *     See app/v1/app.proto;l=624
        * @param value The secret to set.
        * @return This builder for chaining.
        */
@@ -25714,7 +26231,7 @@ private Builder() {
        *
        * <code>string secret = 1 [json_name = "secret", deprecated = true];</code>
        * @deprecated viam.app.v1.LocationAuth.secret is deprecated.
-       *     See app/v1/app.proto;l=621
+       *     See app/v1/app.proto;l=624
        * @return This builder for chaining.
        */
       @java.lang.Deprecated public Builder clearSecret() {
@@ -25729,7 +26246,7 @@ private Builder() {
        *
        * <code>string secret = 1 [json_name = "secret", deprecated = true];</code>
        * @deprecated viam.app.v1.LocationAuth.secret is deprecated.
-       *     See app/v1/app.proto;l=621
+       *     See app/v1/app.proto;l=624
        * @param value The bytes for secret to set.
        * @return This builder for chaining.
        */
@@ -42298,7 +42815,7 @@ public interface GetRobotPartLogsRequestOrBuilder extends
      *
      * <code>bool errors_only = 2 [json_name = "errorsOnly", deprecated = true];</code>
      * @deprecated viam.app.v1.GetRobotPartLogsRequest.errors_only is deprecated.
-     *     See app/v1/app.proto;l=852
+     *     See app/v1/app.proto;l=855
      * @return The errorsOnly.
      */
     @java.lang.Deprecated boolean getErrorsOnly();
@@ -42511,7 +43028,7 @@ private void setIdBytes(
      *
      * <code>bool errors_only = 2 [json_name = "errorsOnly", deprecated = true];</code>
      * @deprecated viam.app.v1.GetRobotPartLogsRequest.errors_only is deprecated.
-     *     See app/v1/app.proto;l=852
+     *     See app/v1/app.proto;l=855
      * @return The errorsOnly.
      */
     @java.lang.Override
@@ -42525,7 +43042,7 @@ private void setIdBytes(
      *
      * <code>bool errors_only = 2 [json_name = "errorsOnly", deprecated = true];</code>
      * @deprecated viam.app.v1.GetRobotPartLogsRequest.errors_only is deprecated.
-     *     See app/v1/app.proto;l=852
+     *     See app/v1/app.proto;l=855
      * @param value The errorsOnly to set.
      */
     private void setErrorsOnly(boolean value) {
@@ -42539,7 +43056,7 @@ private void setErrorsOnly(boolean value) {
      *
      * <code>bool errors_only = 2 [json_name = "errorsOnly", deprecated = true];</code>
      * @deprecated viam.app.v1.GetRobotPartLogsRequest.errors_only is deprecated.
-     *     See app/v1/app.proto;l=852
+     *     See app/v1/app.proto;l=855
      */
     private void clearErrorsOnly() {
 
@@ -43153,7 +43670,7 @@ public Builder setIdBytes(
        *
        * <code>bool errors_only = 2 [json_name = "errorsOnly", deprecated = true];</code>
        * @deprecated viam.app.v1.GetRobotPartLogsRequest.errors_only is deprecated.
-       *     See app/v1/app.proto;l=852
+       *     See app/v1/app.proto;l=855
        * @return The errorsOnly.
        */
       @java.lang.Override
@@ -43167,7 +43684,7 @@ public Builder setIdBytes(
        *
        * <code>bool errors_only = 2 [json_name = "errorsOnly", deprecated = true];</code>
        * @deprecated viam.app.v1.GetRobotPartLogsRequest.errors_only is deprecated.
-       *     See app/v1/app.proto;l=852
+       *     See app/v1/app.proto;l=855
        * @param value The errorsOnly to set.
        * @return This builder for chaining.
        */
@@ -43183,7 +43700,7 @@ public Builder setIdBytes(
        *
        * <code>bool errors_only = 2 [json_name = "errorsOnly", deprecated = true];</code>
        * @deprecated viam.app.v1.GetRobotPartLogsRequest.errors_only is deprecated.
-       *     See app/v1/app.proto;l=852
+       *     See app/v1/app.proto;l=855
        * @return This builder for chaining.
        */
       @java.lang.Deprecated public Builder clearErrorsOnly() {
@@ -45877,6 +46394,38 @@ public interface UpdateRobotPartRequestOrBuilder extends
      * @return The lastKnownUpdate.
      */
     com.google.protobuf.Timestamp getLastKnownUpdate();
+
+    /**
+     * <pre>
+     * robot_config_json is the raw JSON string of the robot config, preserving user-defined key order.
+     * When set, this takes precedence over robot_config for storage purposes.
+     * </pre>
+     *
+     * <code>optional string robot_config_json = 5 [json_name = "robotConfigJson"];</code>
+     * @return Whether the robotConfigJson field is set.
+     */
+    boolean hasRobotConfigJson();
+    /**
+     * <pre>
+     * robot_config_json is the raw JSON string of the robot config, preserving user-defined key order.
+     * When set, this takes precedence over robot_config for storage purposes.
+     * </pre>
+     *
+     * <code>optional string robot_config_json = 5 [json_name = "robotConfigJson"];</code>
+     * @return The robotConfigJson.
+     */
+    java.lang.String getRobotConfigJson();
+    /**
+     * <pre>
+     * robot_config_json is the raw JSON string of the robot config, preserving user-defined key order.
+     * When set, this takes precedence over robot_config for storage purposes.
+     * </pre>
+     *
+     * <code>optional string robot_config_json = 5 [json_name = "robotConfigJson"];</code>
+     * @return The bytes for robotConfigJson.
+     */
+    com.google.protobuf.ByteString
+        getRobotConfigJsonBytes();
   }
   /**
    * Protobuf type {@code viam.app.v1.UpdateRobotPartRequest}
@@ -45889,6 +46438,7 @@ public  static final class UpdateRobotPartRequest extends
     private UpdateRobotPartRequest() {
       id_ = "";
       name_ = "";
+      robotConfigJson_ = "";
     }
     private int bitField0_;
     public static final int ID_FIELD_NUMBER = 1;
@@ -46077,6 +46627,91 @@ private void mergeLastKnownUpdate(com.google.protobuf.Timestamp value) {
       bitField0_ = (bitField0_ & ~0x00000002);
     }
 
+    public static final int ROBOT_CONFIG_JSON_FIELD_NUMBER = 5;
+    private java.lang.String robotConfigJson_;
+    /**
+     * <pre>
+     * robot_config_json is the raw JSON string of the robot config, preserving user-defined key order.
+     * When set, this takes precedence over robot_config for storage purposes.
+     * </pre>
+     *
+     * <code>optional string robot_config_json = 5 [json_name = "robotConfigJson"];</code>
+     * @return Whether the robotConfigJson field is set.
+     */
+    @java.lang.Override
+    public boolean hasRobotConfigJson() {
+      return ((bitField0_ & 0x00000004) != 0);
+    }
+    /**
+     * <pre>
+     * robot_config_json is the raw JSON string of the robot config, preserving user-defined key order.
+     * When set, this takes precedence over robot_config for storage purposes.
+     * </pre>
+     *
+     * <code>optional string robot_config_json = 5 [json_name = "robotConfigJson"];</code>
+     * @return The robotConfigJson.
+     */
+    @java.lang.Override
+    public java.lang.String getRobotConfigJson() {
+      return robotConfigJson_;
+    }
+    /**
+     * <pre>
+     * robot_config_json is the raw JSON string of the robot config, preserving user-defined key order.
+     * When set, this takes precedence over robot_config for storage purposes.
+     * </pre>
+     *
+     * <code>optional string robot_config_json = 5 [json_name = "robotConfigJson"];</code>
+     * @return The bytes for robotConfigJson.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getRobotConfigJsonBytes() {
+      return com.google.protobuf.ByteString.copyFromUtf8(robotConfigJson_);
+    }
+    /**
+     * <pre>
+     * robot_config_json is the raw JSON string of the robot config, preserving user-defined key order.
+     * When set, this takes precedence over robot_config for storage purposes.
+     * </pre>
+     *
+     * <code>optional string robot_config_json = 5 [json_name = "robotConfigJson"];</code>
+     * @param value The robotConfigJson to set.
+     */
+    private void setRobotConfigJson(
+        java.lang.String value) {
+      java.lang.Class<?> valueClass = value.getClass();
+  bitField0_ |= 0x00000004;
+      robotConfigJson_ = value;
+    }
+    /**
+     * <pre>
+     * robot_config_json is the raw JSON string of the robot config, preserving user-defined key order.
+     * When set, this takes precedence over robot_config for storage purposes.
+     * </pre>
+     *
+     * <code>optional string robot_config_json = 5 [json_name = "robotConfigJson"];</code>
+     */
+    private void clearRobotConfigJson() {
+      bitField0_ = (bitField0_ & ~0x00000004);
+      robotConfigJson_ = getDefaultInstance().getRobotConfigJson();
+    }
+    /**
+     * <pre>
+     * robot_config_json is the raw JSON string of the robot config, preserving user-defined key order.
+     * When set, this takes precedence over robot_config for storage purposes.
+     * </pre>
+     *
+     * <code>optional string robot_config_json = 5 [json_name = "robotConfigJson"];</code>
+     * @param value The bytes for robotConfigJson to set.
+     */
+    private void setRobotConfigJsonBytes(
+        com.google.protobuf.ByteString value) {
+      checkByteStringIsUtf8(value);
+      robotConfigJson_ = value.toStringUtf8();
+      bitField0_ |= 0x00000004;
+    }
+
     public static viam.app.v1.AppOuterClass.UpdateRobotPartRequest parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
@@ -46366,6 +47001,93 @@ public Builder mergeLastKnownUpdate(com.google.protobuf.Timestamp value) {
         return this;
       }
 
+      /**
+       * <pre>
+       * robot_config_json is the raw JSON string of the robot config, preserving user-defined key order.
+       * When set, this takes precedence over robot_config for storage purposes.
+       * </pre>
+       *
+       * <code>optional string robot_config_json = 5 [json_name = "robotConfigJson"];</code>
+       * @return Whether the robotConfigJson field is set.
+       */
+      @java.lang.Override
+      public boolean hasRobotConfigJson() {
+        return instance.hasRobotConfigJson();
+      }
+      /**
+       * <pre>
+       * robot_config_json is the raw JSON string of the robot config, preserving user-defined key order.
+       * When set, this takes precedence over robot_config for storage purposes.
+       * </pre>
+       *
+       * <code>optional string robot_config_json = 5 [json_name = "robotConfigJson"];</code>
+       * @return The robotConfigJson.
+       */
+      @java.lang.Override
+      public java.lang.String getRobotConfigJson() {
+        return instance.getRobotConfigJson();
+      }
+      /**
+       * <pre>
+       * robot_config_json is the raw JSON string of the robot config, preserving user-defined key order.
+       * When set, this takes precedence over robot_config for storage purposes.
+       * </pre>
+       *
+       * <code>optional string robot_config_json = 5 [json_name = "robotConfigJson"];</code>
+       * @return The bytes for robotConfigJson.
+       */
+      @java.lang.Override
+      public com.google.protobuf.ByteString
+          getRobotConfigJsonBytes() {
+        return instance.getRobotConfigJsonBytes();
+      }
+      /**
+       * <pre>
+       * robot_config_json is the raw JSON string of the robot config, preserving user-defined key order.
+       * When set, this takes precedence over robot_config for storage purposes.
+       * </pre>
+       *
+       * <code>optional string robot_config_json = 5 [json_name = "robotConfigJson"];</code>
+       * @param value The robotConfigJson to set.
+       * @return This builder for chaining.
+       */
+      public Builder setRobotConfigJson(
+          java.lang.String value) {
+        copyOnWrite();
+        instance.setRobotConfigJson(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * robot_config_json is the raw JSON string of the robot config, preserving user-defined key order.
+       * When set, this takes precedence over robot_config for storage purposes.
+       * </pre>
+       *
+       * <code>optional string robot_config_json = 5 [json_name = "robotConfigJson"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearRobotConfigJson() {
+        copyOnWrite();
+        instance.clearRobotConfigJson();
+        return this;
+      }
+      /**
+       * <pre>
+       * robot_config_json is the raw JSON string of the robot config, preserving user-defined key order.
+       * When set, this takes precedence over robot_config for storage purposes.
+       * </pre>
+       *
+       * <code>optional string robot_config_json = 5 [json_name = "robotConfigJson"];</code>
+       * @param value The bytes for robotConfigJson to set.
+       * @return This builder for chaining.
+       */
+      public Builder setRobotConfigJsonBytes(
+          com.google.protobuf.ByteString value) {
+        copyOnWrite();
+        instance.setRobotConfigJsonBytes(value);
+        return this;
+      }
+
       // @@protoc_insertion_point(builder_scope:viam.app.v1.UpdateRobotPartRequest)
     }
     @java.lang.Override
@@ -46387,10 +47109,11 @@ protected final java.lang.Object dynamicMethod(
               "name_",
               "robotConfig_",
               "lastKnownUpdate_",
+              "robotConfigJson_",
             };
             java.lang.String info =
-                "\u0000\u0004\u0000\u0001\u0001\u0004\u0004\u0000\u0000\u0000\u0001\u0208\u0002\u0208" +
-                "\u0003\u1009\u0000\u0004\u1009\u0001";
+                "\u0000\u0005\u0000\u0001\u0001\u0005\u0005\u0000\u0000\u0000\u0001\u0208\u0002\u0208" +
+                "\u0003\u1009\u0000\u0004\u1009\u0001\u0005\u1208\u0002";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         // fall through
@@ -88501,6 +89224,62 @@ public interface ModuleMetadataOrBuilder extends
      * <code>repeated .viam.app.v1.App apps = 6 [json_name = "apps"];</code>
      */
     int getAppsCount();
+
+    /**
+     * <pre>
+     * Determines the type of module, either a registry module or an inline module.
+     * </pre>
+     *
+     * <code>optional .viam.app.v1.ModuleSourceType source_type = 7 [json_name = "sourceType"];</code>
+     * @return Whether the sourceType field is set.
+     */
+    boolean hasSourceType();
+    /**
+     * <pre>
+     * Determines the type of module, either a registry module or an inline module.
+     * </pre>
+     *
+     * <code>optional .viam.app.v1.ModuleSourceType source_type = 7 [json_name = "sourceType"];</code>
+     * @return The enum numeric value on the wire for sourceType.
+     */
+    int getSourceTypeValue();
+    /**
+     * <pre>
+     * Determines the type of module, either a registry module or an inline module.
+     * </pre>
+     *
+     * <code>optional .viam.app.v1.ModuleSourceType source_type = 7 [json_name = "sourceType"];</code>
+     * @return The sourceType.
+     */
+    viam.app.v1.AppOuterClass.ModuleSourceType getSourceType();
+
+    /**
+     * <pre>
+     * Specifies the language that the module is written in.
+     * </pre>
+     *
+     * <code>optional .viam.app.v1.ModuleLanguage language = 8 [json_name = "language"];</code>
+     * @return Whether the language field is set.
+     */
+    boolean hasLanguage();
+    /**
+     * <pre>
+     * Specifies the language that the module is written in.
+     * </pre>
+     *
+     * <code>optional .viam.app.v1.ModuleLanguage language = 8 [json_name = "language"];</code>
+     * @return The enum numeric value on the wire for language.
+     */
+    int getLanguageValue();
+    /**
+     * <pre>
+     * Specifies the language that the module is written in.
+     * </pre>
+     *
+     * <code>optional .viam.app.v1.ModuleLanguage language = 8 [json_name = "language"];</code>
+     * @return The language.
+     */
+    viam.app.v1.AppOuterClass.ModuleLanguage getLanguage();
   }
   /**
    * Protobuf type {@code viam.app.v1.ModuleMetadata}
@@ -89169,6 +89948,154 @@ private void removeApps(int index) {
       apps_.remove(index);
     }
 
+    public static final int SOURCE_TYPE_FIELD_NUMBER = 7;
+    private int sourceType_;
+    /**
+     * <pre>
+     * Determines the type of module, either a registry module or an inline module.
+     * </pre>
+     *
+     * <code>optional .viam.app.v1.ModuleSourceType source_type = 7 [json_name = "sourceType"];</code>
+     * @return Whether the sourceType field is set.
+     */
+    @java.lang.Override
+    public boolean hasSourceType() {
+      return ((bitField0_ & 0x00000004) != 0);
+    }
+    /**
+     * <pre>
+     * Determines the type of module, either a registry module or an inline module.
+     * </pre>
+     *
+     * <code>optional .viam.app.v1.ModuleSourceType source_type = 7 [json_name = "sourceType"];</code>
+     * @return The enum numeric value on the wire for sourceType.
+     */
+    @java.lang.Override
+    public int getSourceTypeValue() {
+      return sourceType_;
+    }
+    /**
+     * <pre>
+     * Determines the type of module, either a registry module or an inline module.
+     * </pre>
+     *
+     * <code>optional .viam.app.v1.ModuleSourceType source_type = 7 [json_name = "sourceType"];</code>
+     * @return The sourceType.
+     */
+    @java.lang.Override
+    public viam.app.v1.AppOuterClass.ModuleSourceType getSourceType() {
+      viam.app.v1.AppOuterClass.ModuleSourceType result = viam.app.v1.AppOuterClass.ModuleSourceType.forNumber(sourceType_);
+      return result == null ? viam.app.v1.AppOuterClass.ModuleSourceType.UNRECOGNIZED : result;
+    }
+    /**
+     * <pre>
+     * Determines the type of module, either a registry module or an inline module.
+     * </pre>
+     *
+     * <code>optional .viam.app.v1.ModuleSourceType source_type = 7 [json_name = "sourceType"];</code>
+     * @param value The enum numeric value on the wire for sourceType to set.
+     */
+    private void setSourceTypeValue(int value) {
+      bitField0_ |= 0x00000004;  sourceType_ = value;
+    }
+    /**
+     * <pre>
+     * Determines the type of module, either a registry module or an inline module.
+     * </pre>
+     *
+     * <code>optional .viam.app.v1.ModuleSourceType source_type = 7 [json_name = "sourceType"];</code>
+     * @param value The sourceType to set.
+     */
+    private void setSourceType(viam.app.v1.AppOuterClass.ModuleSourceType value) {
+      sourceType_ = value.getNumber();
+      bitField0_ |= 0x00000004;
+    }
+    /**
+     * <pre>
+     * Determines the type of module, either a registry module or an inline module.
+     * </pre>
+     *
+     * <code>optional .viam.app.v1.ModuleSourceType source_type = 7 [json_name = "sourceType"];</code>
+     */
+    private void clearSourceType() {
+      bitField0_ = (bitField0_ & ~0x00000004);
+      sourceType_ = 0;
+    }
+
+    public static final int LANGUAGE_FIELD_NUMBER = 8;
+    private int language_;
+    /**
+     * <pre>
+     * Specifies the language that the module is written in.
+     * </pre>
+     *
+     * <code>optional .viam.app.v1.ModuleLanguage language = 8 [json_name = "language"];</code>
+     * @return Whether the language field is set.
+     */
+    @java.lang.Override
+    public boolean hasLanguage() {
+      return ((bitField0_ & 0x00000008) != 0);
+    }
+    /**
+     * <pre>
+     * Specifies the language that the module is written in.
+     * </pre>
+     *
+     * <code>optional .viam.app.v1.ModuleLanguage language = 8 [json_name = "language"];</code>
+     * @return The enum numeric value on the wire for language.
+     */
+    @java.lang.Override
+    public int getLanguageValue() {
+      return language_;
+    }
+    /**
+     * <pre>
+     * Specifies the language that the module is written in.
+     * </pre>
+     *
+     * <code>optional .viam.app.v1.ModuleLanguage language = 8 [json_name = "language"];</code>
+     * @return The language.
+     */
+    @java.lang.Override
+    public viam.app.v1.AppOuterClass.ModuleLanguage getLanguage() {
+      viam.app.v1.AppOuterClass.ModuleLanguage result = viam.app.v1.AppOuterClass.ModuleLanguage.forNumber(language_);
+      return result == null ? viam.app.v1.AppOuterClass.ModuleLanguage.UNRECOGNIZED : result;
+    }
+    /**
+     * <pre>
+     * Specifies the language that the module is written in.
+     * </pre>
+     *
+     * <code>optional .viam.app.v1.ModuleLanguage language = 8 [json_name = "language"];</code>
+     * @param value The enum numeric value on the wire for language to set.
+     */
+    private void setLanguageValue(int value) {
+      bitField0_ |= 0x00000008;  language_ = value;
+    }
+    /**
+     * <pre>
+     * Specifies the language that the module is written in.
+     * </pre>
+     *
+     * <code>optional .viam.app.v1.ModuleLanguage language = 8 [json_name = "language"];</code>
+     * @param value The language to set.
+     */
+    private void setLanguage(viam.app.v1.AppOuterClass.ModuleLanguage value) {
+      language_ = value.getNumber();
+      bitField0_ |= 0x00000008;
+    }
+    /**
+     * <pre>
+     * Specifies the language that the module is written in.
+     * </pre>
+     *
+     * <code>optional .viam.app.v1.ModuleLanguage language = 8 [json_name = "language"];</code>
+     */
+    private void clearLanguage() {
+      bitField0_ = (bitField0_ & ~0x00000008);
+      language_ = 0;
+    }
+
     public static viam.app.v1.AppOuterClass.ModuleMetadata parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
@@ -89959,6 +90886,162 @@ public Builder removeApps(int index) {
         return this;
       }
 
+      /**
+       * <pre>
+       * Determines the type of module, either a registry module or an inline module.
+       * </pre>
+       *
+       * <code>optional .viam.app.v1.ModuleSourceType source_type = 7 [json_name = "sourceType"];</code>
+       * @return Whether the sourceType field is set.
+       */
+      @java.lang.Override
+      public boolean hasSourceType() {
+        return instance.hasSourceType();
+      }
+      /**
+       * <pre>
+       * Determines the type of module, either a registry module or an inline module.
+       * </pre>
+       *
+       * <code>optional .viam.app.v1.ModuleSourceType source_type = 7 [json_name = "sourceType"];</code>
+       * @return The enum numeric value on the wire for sourceType.
+       */
+      @java.lang.Override
+      public int getSourceTypeValue() {
+        return instance.getSourceTypeValue();
+      }
+      /**
+       * <pre>
+       * Determines the type of module, either a registry module or an inline module.
+       * </pre>
+       *
+       * <code>optional .viam.app.v1.ModuleSourceType source_type = 7 [json_name = "sourceType"];</code>
+       * @param value The sourceType to set.
+       * @return This builder for chaining.
+       */
+      public Builder setSourceTypeValue(int value) {
+        copyOnWrite();
+        instance.setSourceTypeValue(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * Determines the type of module, either a registry module or an inline module.
+       * </pre>
+       *
+       * <code>optional .viam.app.v1.ModuleSourceType source_type = 7 [json_name = "sourceType"];</code>
+       * @return The sourceType.
+       */
+      @java.lang.Override
+      public viam.app.v1.AppOuterClass.ModuleSourceType getSourceType() {
+        return instance.getSourceType();
+      }
+      /**
+       * <pre>
+       * Determines the type of module, either a registry module or an inline module.
+       * </pre>
+       *
+       * <code>optional .viam.app.v1.ModuleSourceType source_type = 7 [json_name = "sourceType"];</code>
+       * @param value The enum numeric value on the wire for sourceType to set.
+       * @return This builder for chaining.
+       */
+      public Builder setSourceType(viam.app.v1.AppOuterClass.ModuleSourceType value) {
+        copyOnWrite();
+        instance.setSourceType(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * Determines the type of module, either a registry module or an inline module.
+       * </pre>
+       *
+       * <code>optional .viam.app.v1.ModuleSourceType source_type = 7 [json_name = "sourceType"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearSourceType() {
+        copyOnWrite();
+        instance.clearSourceType();
+        return this;
+      }
+
+      /**
+       * <pre>
+       * Specifies the language that the module is written in.
+       * </pre>
+       *
+       * <code>optional .viam.app.v1.ModuleLanguage language = 8 [json_name = "language"];</code>
+       * @return Whether the language field is set.
+       */
+      @java.lang.Override
+      public boolean hasLanguage() {
+        return instance.hasLanguage();
+      }
+      /**
+       * <pre>
+       * Specifies the language that the module is written in.
+       * </pre>
+       *
+       * <code>optional .viam.app.v1.ModuleLanguage language = 8 [json_name = "language"];</code>
+       * @return The enum numeric value on the wire for language.
+       */
+      @java.lang.Override
+      public int getLanguageValue() {
+        return instance.getLanguageValue();
+      }
+      /**
+       * <pre>
+       * Specifies the language that the module is written in.
+       * </pre>
+       *
+       * <code>optional .viam.app.v1.ModuleLanguage language = 8 [json_name = "language"];</code>
+       * @param value The language to set.
+       * @return This builder for chaining.
+       */
+      public Builder setLanguageValue(int value) {
+        copyOnWrite();
+        instance.setLanguageValue(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * Specifies the language that the module is written in.
+       * </pre>
+       *
+       * <code>optional .viam.app.v1.ModuleLanguage language = 8 [json_name = "language"];</code>
+       * @return The language.
+       */
+      @java.lang.Override
+      public viam.app.v1.AppOuterClass.ModuleLanguage getLanguage() {
+        return instance.getLanguage();
+      }
+      /**
+       * <pre>
+       * Specifies the language that the module is written in.
+       * </pre>
+       *
+       * <code>optional .viam.app.v1.ModuleLanguage language = 8 [json_name = "language"];</code>
+       * @param value The enum numeric value on the wire for language to set.
+       * @return This builder for chaining.
+       */
+      public Builder setLanguage(viam.app.v1.AppOuterClass.ModuleLanguage value) {
+        copyOnWrite();
+        instance.setLanguage(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * Specifies the language that the module is written in.
+       * </pre>
+       *
+       * <code>optional .viam.app.v1.ModuleLanguage language = 8 [json_name = "language"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearLanguage() {
+        copyOnWrite();
+        instance.clearLanguage();
+        return this;
+      }
+
       // @@protoc_insertion_point(builder_scope:viam.app.v1.ModuleMetadata)
     }
     @java.lang.Override
@@ -89985,10 +91068,13 @@ protected final java.lang.Object dynamicMethod(
               "markdownDescription_",
               "apps_",
               viam.app.v1.AppOuterClass.App.class,
+              "sourceType_",
+              "language_",
             };
             java.lang.String info =
-                "\u0000\u0006\u0000\u0001\u0001\u0006\u0006\u0000\u0003\u0000\u0001\u001b\u0002\u001b" +
-                "\u0003\u0208\u0004\u1208\u0000\u0005\u1208\u0001\u0006\u001b";
+                "\u0000\b\u0000\u0001\u0001\b\b\u0000\u0003\u0000\u0001\u001b\u0002\u001b\u0003\u0208" +
+                "\u0004\u1208\u0000\u0005\u1208\u0001\u0006\u001b\u0007\u100c\u0002\b\u100c\u0003" +
+                "";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         // fall through
@@ -90043,6 +91129,408 @@ public static com.google.protobuf.Parser<ModuleMetadata> parser() {
     }
   }
 
+  public interface MLModelVersionOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:viam.app.v1.MLModelVersion)
+      com.google.protobuf.MessageLiteOrBuilder {
+
+    /**
+     * <code>string version = 1 [json_name = "version"];</code>
+     * @return The version.
+     */
+    java.lang.String getVersion();
+    /**
+     * <code>string version = 1 [json_name = "version"];</code>
+     * @return The bytes for version.
+     */
+    com.google.protobuf.ByteString
+        getVersionBytes();
+
+    /**
+     * <code>.google.protobuf.Timestamp created_on = 2 [json_name = "createdOn"];</code>
+     * @return Whether the createdOn field is set.
+     */
+    boolean hasCreatedOn();
+    /**
+     * <code>.google.protobuf.Timestamp created_on = 2 [json_name = "createdOn"];</code>
+     * @return The createdOn.
+     */
+    com.google.protobuf.Timestamp getCreatedOn();
+  }
+  /**
+   * Protobuf type {@code viam.app.v1.MLModelVersion}
+   */
+  public  static final class MLModelVersion extends
+      com.google.protobuf.GeneratedMessageLite<
+          MLModelVersion, MLModelVersion.Builder> implements
+      // @@protoc_insertion_point(message_implements:viam.app.v1.MLModelVersion)
+      MLModelVersionOrBuilder {
+    private MLModelVersion() {
+      version_ = "";
+    }
+    private int bitField0_;
+    public static final int VERSION_FIELD_NUMBER = 1;
+    private java.lang.String version_;
+    /**
+     * <code>string version = 1 [json_name = "version"];</code>
+     * @return The version.
+     */
+    @java.lang.Override
+    public java.lang.String getVersion() {
+      return version_;
+    }
+    /**
+     * <code>string version = 1 [json_name = "version"];</code>
+     * @return The bytes for version.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getVersionBytes() {
+      return com.google.protobuf.ByteString.copyFromUtf8(version_);
+    }
+    /**
+     * <code>string version = 1 [json_name = "version"];</code>
+     * @param value The version to set.
+     */
+    private void setVersion(
+        java.lang.String value) {
+      java.lang.Class<?> valueClass = value.getClass();
+  
+      version_ = value;
+    }
+    /**
+     * <code>string version = 1 [json_name = "version"];</code>
+     */
+    private void clearVersion() {
+
+      version_ = getDefaultInstance().getVersion();
+    }
+    /**
+     * <code>string version = 1 [json_name = "version"];</code>
+     * @param value The bytes for version to set.
+     */
+    private void setVersionBytes(
+        com.google.protobuf.ByteString value) {
+      checkByteStringIsUtf8(value);
+      version_ = value.toStringUtf8();
+
+    }
+
+    public static final int CREATED_ON_FIELD_NUMBER = 2;
+    private com.google.protobuf.Timestamp createdOn_;
+    /**
+     * <code>.google.protobuf.Timestamp created_on = 2 [json_name = "createdOn"];</code>
+     */
+    @java.lang.Override
+    public boolean hasCreatedOn() {
+      return ((bitField0_ & 0x00000001) != 0);
+    }
+    /**
+     * <code>.google.protobuf.Timestamp created_on = 2 [json_name = "createdOn"];</code>
+     */
+    @java.lang.Override
+    public com.google.protobuf.Timestamp getCreatedOn() {
+      return createdOn_ == null ? com.google.protobuf.Timestamp.getDefaultInstance() : createdOn_;
+    }
+    /**
+     * <code>.google.protobuf.Timestamp created_on = 2 [json_name = "createdOn"];</code>
+     */
+    private void setCreatedOn(com.google.protobuf.Timestamp value) {
+      value.getClass();
+  createdOn_ = value;
+      bitField0_ |= 0x00000001;
+      }
+    /**
+     * <code>.google.protobuf.Timestamp created_on = 2 [json_name = "createdOn"];</code>
+     */
+    @java.lang.SuppressWarnings({"ReferenceEquality"})
+    private void mergeCreatedOn(com.google.protobuf.Timestamp value) {
+      value.getClass();
+  if (createdOn_ != null &&
+          createdOn_ != com.google.protobuf.Timestamp.getDefaultInstance()) {
+        createdOn_ =
+          com.google.protobuf.Timestamp.newBuilder(createdOn_).mergeFrom(value).buildPartial();
+      } else {
+        createdOn_ = value;
+      }
+      bitField0_ |= 0x00000001;
+    }
+    /**
+     * <code>.google.protobuf.Timestamp created_on = 2 [json_name = "createdOn"];</code>
+     */
+    private void clearCreatedOn() {  createdOn_ = null;
+      bitField0_ = (bitField0_ & ~0x00000001);
+    }
+
+    public static viam.app.v1.AppOuterClass.MLModelVersion parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static viam.app.v1.AppOuterClass.MLModelVersion parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static viam.app.v1.AppOuterClass.MLModelVersion parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static viam.app.v1.AppOuterClass.MLModelVersion parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static viam.app.v1.AppOuterClass.MLModelVersion parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static viam.app.v1.AppOuterClass.MLModelVersion parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static viam.app.v1.AppOuterClass.MLModelVersion parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static viam.app.v1.AppOuterClass.MLModelVersion parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static viam.app.v1.AppOuterClass.MLModelVersion parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input);
+    }
+
+    public static viam.app.v1.AppOuterClass.MLModelVersion parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+    public static viam.app.v1.AppOuterClass.MLModelVersion parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static viam.app.v1.AppOuterClass.MLModelVersion parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static Builder newBuilder() {
+      return (Builder) DEFAULT_INSTANCE.createBuilder();
+    }
+    public static Builder newBuilder(viam.app.v1.AppOuterClass.MLModelVersion prototype) {
+      return DEFAULT_INSTANCE.createBuilder(prototype);
+    }
+
+    /**
+     * Protobuf type {@code viam.app.v1.MLModelVersion}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageLite.Builder<
+          viam.app.v1.AppOuterClass.MLModelVersion, Builder> implements
+        // @@protoc_insertion_point(builder_implements:viam.app.v1.MLModelVersion)
+        viam.app.v1.AppOuterClass.MLModelVersionOrBuilder {
+      // Construct using viam.app.v1.AppOuterClass.MLModelVersion.newBuilder()
+      private Builder() {
+        super(DEFAULT_INSTANCE);
+      }
+
+
+      /**
+       * <code>string version = 1 [json_name = "version"];</code>
+       * @return The version.
+       */
+      @java.lang.Override
+      public java.lang.String getVersion() {
+        return instance.getVersion();
+      }
+      /**
+       * <code>string version = 1 [json_name = "version"];</code>
+       * @return The bytes for version.
+       */
+      @java.lang.Override
+      public com.google.protobuf.ByteString
+          getVersionBytes() {
+        return instance.getVersionBytes();
+      }
+      /**
+       * <code>string version = 1 [json_name = "version"];</code>
+       * @param value The version to set.
+       * @return This builder for chaining.
+       */
+      public Builder setVersion(
+          java.lang.String value) {
+        copyOnWrite();
+        instance.setVersion(value);
+        return this;
+      }
+      /**
+       * <code>string version = 1 [json_name = "version"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearVersion() {
+        copyOnWrite();
+        instance.clearVersion();
+        return this;
+      }
+      /**
+       * <code>string version = 1 [json_name = "version"];</code>
+       * @param value The bytes for version to set.
+       * @return This builder for chaining.
+       */
+      public Builder setVersionBytes(
+          com.google.protobuf.ByteString value) {
+        copyOnWrite();
+        instance.setVersionBytes(value);
+        return this;
+      }
+
+      /**
+       * <code>.google.protobuf.Timestamp created_on = 2 [json_name = "createdOn"];</code>
+       */
+      @java.lang.Override
+      public boolean hasCreatedOn() {
+        return instance.hasCreatedOn();
+      }
+      /**
+       * <code>.google.protobuf.Timestamp created_on = 2 [json_name = "createdOn"];</code>
+       */
+      @java.lang.Override
+      public com.google.protobuf.Timestamp getCreatedOn() {
+        return instance.getCreatedOn();
+      }
+      /**
+       * <code>.google.protobuf.Timestamp created_on = 2 [json_name = "createdOn"];</code>
+       */
+      public Builder setCreatedOn(com.google.protobuf.Timestamp value) {
+        copyOnWrite();
+        instance.setCreatedOn(value);
+        return this;
+        }
+      /**
+       * <code>.google.protobuf.Timestamp created_on = 2 [json_name = "createdOn"];</code>
+       */
+      public Builder setCreatedOn(
+          com.google.protobuf.Timestamp.Builder builderForValue) {
+        copyOnWrite();
+        instance.setCreatedOn(builderForValue.build());
+        return this;
+      }
+      /**
+       * <code>.google.protobuf.Timestamp created_on = 2 [json_name = "createdOn"];</code>
+       */
+      public Builder mergeCreatedOn(com.google.protobuf.Timestamp value) {
+        copyOnWrite();
+        instance.mergeCreatedOn(value);
+        return this;
+      }
+      /**
+       * <code>.google.protobuf.Timestamp created_on = 2 [json_name = "createdOn"];</code>
+       */
+      public Builder clearCreatedOn() {  copyOnWrite();
+        instance.clearCreatedOn();
+        return this;
+      }
+
+      // @@protoc_insertion_point(builder_scope:viam.app.v1.MLModelVersion)
+    }
+    @java.lang.Override
+    @java.lang.SuppressWarnings({"unchecked", "fallthrough"})
+    protected final java.lang.Object dynamicMethod(
+        com.google.protobuf.GeneratedMessageLite.MethodToInvoke method,
+        java.lang.Object arg0, java.lang.Object arg1) {
+      switch (method) {
+        case NEW_MUTABLE_INSTANCE: {
+          return new viam.app.v1.AppOuterClass.MLModelVersion();
+        }
+        case NEW_BUILDER: {
+          return new Builder();
+        }
+        case BUILD_MESSAGE_INFO: {
+            java.lang.Object[] objects = new java.lang.Object[] {
+              "bitField0_",
+              "version_",
+              "createdOn_",
+            };
+            java.lang.String info =
+                "\u0000\u0002\u0000\u0001\u0001\u0002\u0002\u0000\u0000\u0000\u0001\u0208\u0002\u1009" +
+                "\u0000";
+            return newMessageInfo(DEFAULT_INSTANCE, info, objects);
+        }
+        // fall through
+        case GET_DEFAULT_INSTANCE: {
+          return DEFAULT_INSTANCE;
+        }
+        case GET_PARSER: {
+          com.google.protobuf.Parser<viam.app.v1.AppOuterClass.MLModelVersion> parser = PARSER;
+          if (parser == null) {
+            synchronized (viam.app.v1.AppOuterClass.MLModelVersion.class) {
+              parser = PARSER;
+              if (parser == null) {
+                parser =
+                    new DefaultInstanceBasedParser<viam.app.v1.AppOuterClass.MLModelVersion>(
+                        DEFAULT_INSTANCE);
+                PARSER = parser;
+              }
+            }
+          }
+          return parser;
+      }
+      case GET_MEMOIZED_IS_INITIALIZED: {
+        return (byte) 1;
+      }
+      case SET_MEMOIZED_IS_INITIALIZED: {
+        return null;
+      }
+      }
+      throw new UnsupportedOperationException();
+    }
+
+
+    // @@protoc_insertion_point(class_scope:viam.app.v1.MLModelVersion)
+    private static final viam.app.v1.AppOuterClass.MLModelVersion DEFAULT_INSTANCE;
+    static {
+      MLModelVersion defaultInstance = new MLModelVersion();
+      // New instances are implicitly immutable so no need to make
+      // immutable.
+      DEFAULT_INSTANCE = defaultInstance;
+      com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
+        MLModelVersion.class, defaultInstance);
+    }
+
+    public static viam.app.v1.AppOuterClass.MLModelVersion getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static volatile com.google.protobuf.Parser<MLModelVersion> PARSER;
+
+    public static com.google.protobuf.Parser<MLModelVersion> parser() {
+      return DEFAULT_INSTANCE.getParserForType();
+    }
+  }
+
   public interface MLModelMetadataOrBuilder extends
       // @@protoc_insertion_point(interface_extends:viam.app.v1.MLModelMetadata)
       com.google.protobuf.MessageLiteOrBuilder {
@@ -90052,40 +91540,48 @@ public interface MLModelMetadataOrBuilder extends
      * A list of package versions for a ML model
      * </pre>
      *
-     * <code>repeated string versions = 1 [json_name = "versions"];</code>
+     * <code>repeated string versions = 1 [json_name = "versions", deprecated = true];</code>
+     * @deprecated viam.app.v1.MLModelMetadata.versions is deprecated.
+     *     See app/v1/app.proto;l=1408
      * @return A list containing the versions.
      */
-    java.util.List<java.lang.String>
+    @java.lang.Deprecated java.util.List<java.lang.String>
         getVersionsList();
     /**
      * <pre>
      * A list of package versions for a ML model
      * </pre>
      *
-     * <code>repeated string versions = 1 [json_name = "versions"];</code>
+     * <code>repeated string versions = 1 [json_name = "versions", deprecated = true];</code>
+     * @deprecated viam.app.v1.MLModelMetadata.versions is deprecated.
+     *     See app/v1/app.proto;l=1408
      * @return The count of versions.
      */
-    int getVersionsCount();
+    @java.lang.Deprecated int getVersionsCount();
     /**
      * <pre>
      * A list of package versions for a ML model
      * </pre>
      *
-     * <code>repeated string versions = 1 [json_name = "versions"];</code>
+     * <code>repeated string versions = 1 [json_name = "versions", deprecated = true];</code>
+     * @deprecated viam.app.v1.MLModelMetadata.versions is deprecated.
+     *     See app/v1/app.proto;l=1408
      * @param index The index of the element to return.
      * @return The versions at the given index.
      */
-    java.lang.String getVersions(int index);
+    @java.lang.Deprecated java.lang.String getVersions(int index);
     /**
      * <pre>
      * A list of package versions for a ML model
      * </pre>
      *
-     * <code>repeated string versions = 1 [json_name = "versions"];</code>
+     * <code>repeated string versions = 1 [json_name = "versions", deprecated = true];</code>
+     * @deprecated viam.app.v1.MLModelMetadata.versions is deprecated.
+     *     See app/v1/app.proto;l=1408
      * @param index The index of the element to return.
      * @return The versions at the given index.
      */
-    com.google.protobuf.ByteString
+    @java.lang.Deprecated com.google.protobuf.ByteString
         getVersionsBytes(int index);
 
     /**
@@ -90109,6 +91605,20 @@ public interface MLModelMetadataOrBuilder extends
      * @return The modelFramework.
      */
     viam.app.mltraining.v1.MlTraining.ModelFramework getModelFramework();
+
+    /**
+     * <code>repeated .viam.app.v1.MLModelVersion detailed_versions = 4 [json_name = "detailedVersions"];</code>
+     */
+    java.util.List<viam.app.v1.AppOuterClass.MLModelVersion> 
+        getDetailedVersionsList();
+    /**
+     * <code>repeated .viam.app.v1.MLModelVersion detailed_versions = 4 [json_name = "detailedVersions"];</code>
+     */
+    viam.app.v1.AppOuterClass.MLModelVersion getDetailedVersions(int index);
+    /**
+     * <code>repeated .viam.app.v1.MLModelVersion detailed_versions = 4 [json_name = "detailedVersions"];</code>
+     */
+    int getDetailedVersionsCount();
   }
   /**
    * Protobuf type {@code viam.app.v1.MLModelMetadata}
@@ -90120,6 +91630,7 @@ public  static final class MLModelMetadata extends
       MLModelMetadataOrBuilder {
     private MLModelMetadata() {
       versions_ = com.google.protobuf.GeneratedMessageLite.emptyProtobufList();
+      detailedVersions_ = emptyProtobufList();
     }
     public static final int VERSIONS_FIELD_NUMBER = 1;
     private com.google.protobuf.Internal.ProtobufList<java.lang.String> versions_;
@@ -90128,11 +91639,13 @@ private MLModelMetadata() {
      * A list of package versions for a ML model
      * </pre>
      *
-     * <code>repeated string versions = 1 [json_name = "versions"];</code>
+     * <code>repeated string versions = 1 [json_name = "versions", deprecated = true];</code>
+     * @deprecated viam.app.v1.MLModelMetadata.versions is deprecated.
+     *     See app/v1/app.proto;l=1408
      * @return A list containing the versions.
      */
     @java.lang.Override
-    public java.util.List<java.lang.String> getVersionsList() {
+    @java.lang.Deprecated public java.util.List<java.lang.String> getVersionsList() {
       return versions_;
     }
     /**
@@ -90140,11 +91653,13 @@ public java.util.List<java.lang.String> getVersionsList() {
      * A list of package versions for a ML model
      * </pre>
      *
-     * <code>repeated string versions = 1 [json_name = "versions"];</code>
+     * <code>repeated string versions = 1 [json_name = "versions", deprecated = true];</code>
+     * @deprecated viam.app.v1.MLModelMetadata.versions is deprecated.
+     *     See app/v1/app.proto;l=1408
      * @return The count of versions.
      */
     @java.lang.Override
-    public int getVersionsCount() {
+    @java.lang.Deprecated public int getVersionsCount() {
       return versions_.size();
     }
     /**
@@ -90152,12 +91667,14 @@ public int getVersionsCount() {
      * A list of package versions for a ML model
      * </pre>
      *
-     * <code>repeated string versions = 1 [json_name = "versions"];</code>
+     * <code>repeated string versions = 1 [json_name = "versions", deprecated = true];</code>
+     * @deprecated viam.app.v1.MLModelMetadata.versions is deprecated.
+     *     See app/v1/app.proto;l=1408
      * @param index The index of the element to return.
      * @return The versions at the given index.
      */
     @java.lang.Override
-    public java.lang.String getVersions(int index) {
+    @java.lang.Deprecated public java.lang.String getVersions(int index) {
       return versions_.get(index);
     }
     /**
@@ -90165,12 +91682,14 @@ public java.lang.String getVersions(int index) {
      * A list of package versions for a ML model
      * </pre>
      *
-     * <code>repeated string versions = 1 [json_name = "versions"];</code>
+     * <code>repeated string versions = 1 [json_name = "versions", deprecated = true];</code>
+     * @deprecated viam.app.v1.MLModelMetadata.versions is deprecated.
+     *     See app/v1/app.proto;l=1408
      * @param index The index of the value to return.
      * @return The bytes of the versions at the given index.
      */
     @java.lang.Override
-    public com.google.protobuf.ByteString
+    @java.lang.Deprecated public com.google.protobuf.ByteString
         getVersionsBytes(int index) {
       return com.google.protobuf.ByteString.copyFromUtf8(
           versions_.get(index));
@@ -90187,7 +91706,9 @@ private void ensureVersionsIsMutable() {
      * A list of package versions for a ML model
      * </pre>
      *
-     * <code>repeated string versions = 1 [json_name = "versions"];</code>
+     * <code>repeated string versions = 1 [json_name = "versions", deprecated = true];</code>
+     * @deprecated viam.app.v1.MLModelMetadata.versions is deprecated.
+     *     See app/v1/app.proto;l=1408
      * @param index The index to set the value at.
      * @param value The versions to set.
      */
@@ -90202,7 +91723,9 @@ private void setVersions(
      * A list of package versions for a ML model
      * </pre>
      *
-     * <code>repeated string versions = 1 [json_name = "versions"];</code>
+     * <code>repeated string versions = 1 [json_name = "versions", deprecated = true];</code>
+     * @deprecated viam.app.v1.MLModelMetadata.versions is deprecated.
+     *     See app/v1/app.proto;l=1408
      * @param value The versions to add.
      */
     private void addVersions(
@@ -90216,7 +91739,9 @@ private void addVersions(
      * A list of package versions for a ML model
      * </pre>
      *
-     * <code>repeated string versions = 1 [json_name = "versions"];</code>
+     * <code>repeated string versions = 1 [json_name = "versions", deprecated = true];</code>
+     * @deprecated viam.app.v1.MLModelMetadata.versions is deprecated.
+     *     See app/v1/app.proto;l=1408
      * @param values The versions to add.
      */
     private void addAllVersions(
@@ -90230,7 +91755,9 @@ private void addAllVersions(
      * A list of package versions for a ML model
      * </pre>
      *
-     * <code>repeated string versions = 1 [json_name = "versions"];</code>
+     * <code>repeated string versions = 1 [json_name = "versions", deprecated = true];</code>
+     * @deprecated viam.app.v1.MLModelMetadata.versions is deprecated.
+     *     See app/v1/app.proto;l=1408
      */
     private void clearVersions() {
       versions_ = com.google.protobuf.GeneratedMessageLite.emptyProtobufList();
@@ -90240,7 +91767,9 @@ private void clearVersions() {
      * A list of package versions for a ML model
      * </pre>
      *
-     * <code>repeated string versions = 1 [json_name = "versions"];</code>
+     * <code>repeated string versions = 1 [json_name = "versions", deprecated = true];</code>
+     * @deprecated viam.app.v1.MLModelMetadata.versions is deprecated.
+     *     See app/v1/app.proto;l=1408
      * @param value The bytes of the versions to add.
      */
     private void addVersionsBytes(
@@ -90334,6 +91863,100 @@ private void clearModelFramework() {
       modelFramework_ = 0;
     }
 
+    public static final int DETAILED_VERSIONS_FIELD_NUMBER = 4;
+    private com.google.protobuf.Internal.ProtobufList<viam.app.v1.AppOuterClass.MLModelVersion> detailedVersions_;
+    /**
+     * <code>repeated .viam.app.v1.MLModelVersion detailed_versions = 4 [json_name = "detailedVersions"];</code>
+     */
+    @java.lang.Override
+    public java.util.List<viam.app.v1.AppOuterClass.MLModelVersion> getDetailedVersionsList() {
+      return detailedVersions_;
+    }
+    /**
+     * <code>repeated .viam.app.v1.MLModelVersion detailed_versions = 4 [json_name = "detailedVersions"];</code>
+     */
+    public java.util.List<? extends viam.app.v1.AppOuterClass.MLModelVersionOrBuilder> 
+        getDetailedVersionsOrBuilderList() {
+      return detailedVersions_;
+    }
+    /**
+     * <code>repeated .viam.app.v1.MLModelVersion detailed_versions = 4 [json_name = "detailedVersions"];</code>
+     */
+    @java.lang.Override
+    public int getDetailedVersionsCount() {
+      return detailedVersions_.size();
+    }
+    /**
+     * <code>repeated .viam.app.v1.MLModelVersion detailed_versions = 4 [json_name = "detailedVersions"];</code>
+     */
+    @java.lang.Override
+    public viam.app.v1.AppOuterClass.MLModelVersion getDetailedVersions(int index) {
+      return detailedVersions_.get(index);
+    }
+    /**
+     * <code>repeated .viam.app.v1.MLModelVersion detailed_versions = 4 [json_name = "detailedVersions"];</code>
+     */
+    public viam.app.v1.AppOuterClass.MLModelVersionOrBuilder getDetailedVersionsOrBuilder(
+        int index) {
+      return detailedVersions_.get(index);
+    }
+    private void ensureDetailedVersionsIsMutable() {
+      com.google.protobuf.Internal.ProtobufList<viam.app.v1.AppOuterClass.MLModelVersion> tmp = detailedVersions_;
+      if (!tmp.isModifiable()) {
+        detailedVersions_ =
+            com.google.protobuf.GeneratedMessageLite.mutableCopy(tmp);
+       }
+    }
+
+    /**
+     * <code>repeated .viam.app.v1.MLModelVersion detailed_versions = 4 [json_name = "detailedVersions"];</code>
+     */
+    private void setDetailedVersions(
+        int index, viam.app.v1.AppOuterClass.MLModelVersion value) {
+      value.getClass();
+  ensureDetailedVersionsIsMutable();
+      detailedVersions_.set(index, value);
+    }
+    /**
+     * <code>repeated .viam.app.v1.MLModelVersion detailed_versions = 4 [json_name = "detailedVersions"];</code>
+     */
+    private void addDetailedVersions(viam.app.v1.AppOuterClass.MLModelVersion value) {
+      value.getClass();
+  ensureDetailedVersionsIsMutable();
+      detailedVersions_.add(value);
+    }
+    /**
+     * <code>repeated .viam.app.v1.MLModelVersion detailed_versions = 4 [json_name = "detailedVersions"];</code>
+     */
+    private void addDetailedVersions(
+        int index, viam.app.v1.AppOuterClass.MLModelVersion value) {
+      value.getClass();
+  ensureDetailedVersionsIsMutable();
+      detailedVersions_.add(index, value);
+    }
+    /**
+     * <code>repeated .viam.app.v1.MLModelVersion detailed_versions = 4 [json_name = "detailedVersions"];</code>
+     */
+    private void addAllDetailedVersions(
+        java.lang.Iterable<? extends viam.app.v1.AppOuterClass.MLModelVersion> values) {
+      ensureDetailedVersionsIsMutable();
+      com.google.protobuf.AbstractMessageLite.addAll(
+          values, detailedVersions_);
+    }
+    /**
+     * <code>repeated .viam.app.v1.MLModelVersion detailed_versions = 4 [json_name = "detailedVersions"];</code>
+     */
+    private void clearDetailedVersions() {
+      detailedVersions_ = emptyProtobufList();
+    }
+    /**
+     * <code>repeated .viam.app.v1.MLModelVersion detailed_versions = 4 [json_name = "detailedVersions"];</code>
+     */
+    private void removeDetailedVersions(int index) {
+      ensureDetailedVersionsIsMutable();
+      detailedVersions_.remove(index);
+    }
+
     public static viam.app.v1.AppOuterClass.MLModelMetadata parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
@@ -90436,11 +92059,13 @@ private Builder() {
        * A list of package versions for a ML model
        * </pre>
        *
-       * <code>repeated string versions = 1 [json_name = "versions"];</code>
+       * <code>repeated string versions = 1 [json_name = "versions", deprecated = true];</code>
+       * @deprecated viam.app.v1.MLModelMetadata.versions is deprecated.
+       *     See app/v1/app.proto;l=1408
        * @return A list containing the versions.
        */
       @java.lang.Override
-      public java.util.List<java.lang.String>
+      @java.lang.Deprecated public java.util.List<java.lang.String>
           getVersionsList() {
         return java.util.Collections.unmodifiableList(
             instance.getVersionsList());
@@ -90450,11 +92075,13 @@ private Builder() {
        * A list of package versions for a ML model
        * </pre>
        *
-       * <code>repeated string versions = 1 [json_name = "versions"];</code>
+       * <code>repeated string versions = 1 [json_name = "versions", deprecated = true];</code>
+       * @deprecated viam.app.v1.MLModelMetadata.versions is deprecated.
+       *     See app/v1/app.proto;l=1408
        * @return The count of versions.
        */
       @java.lang.Override
-      public int getVersionsCount() {
+      @java.lang.Deprecated public int getVersionsCount() {
         return instance.getVersionsCount();
       }
       /**
@@ -90462,12 +92089,14 @@ public int getVersionsCount() {
        * A list of package versions for a ML model
        * </pre>
        *
-       * <code>repeated string versions = 1 [json_name = "versions"];</code>
+       * <code>repeated string versions = 1 [json_name = "versions", deprecated = true];</code>
+       * @deprecated viam.app.v1.MLModelMetadata.versions is deprecated.
+       *     See app/v1/app.proto;l=1408
        * @param index The index of the element to return.
        * @return The versions at the given index.
        */
       @java.lang.Override
-      public java.lang.String getVersions(int index) {
+      @java.lang.Deprecated public java.lang.String getVersions(int index) {
         return instance.getVersions(index);
       }
       /**
@@ -90475,12 +92104,14 @@ public java.lang.String getVersions(int index) {
        * A list of package versions for a ML model
        * </pre>
        *
-       * <code>repeated string versions = 1 [json_name = "versions"];</code>
+       * <code>repeated string versions = 1 [json_name = "versions", deprecated = true];</code>
+       * @deprecated viam.app.v1.MLModelMetadata.versions is deprecated.
+       *     See app/v1/app.proto;l=1408
        * @param index The index of the value to return.
        * @return The bytes of the versions at the given index.
        */
       @java.lang.Override
-      public com.google.protobuf.ByteString
+      @java.lang.Deprecated public com.google.protobuf.ByteString
           getVersionsBytes(int index) {
         return instance.getVersionsBytes(index);
       }
@@ -90489,12 +92120,14 @@ public java.lang.String getVersions(int index) {
        * A list of package versions for a ML model
        * </pre>
        *
-       * <code>repeated string versions = 1 [json_name = "versions"];</code>
+       * <code>repeated string versions = 1 [json_name = "versions", deprecated = true];</code>
+       * @deprecated viam.app.v1.MLModelMetadata.versions is deprecated.
+       *     See app/v1/app.proto;l=1408
        * @param index The index to set the value at.
        * @param value The versions to set.
        * @return This builder for chaining.
        */
-      public Builder setVersions(
+      @java.lang.Deprecated public Builder setVersions(
           int index, java.lang.String value) {
         copyOnWrite();
         instance.setVersions(index, value);
@@ -90505,11 +92138,13 @@ public Builder setVersions(
        * A list of package versions for a ML model
        * </pre>
        *
-       * <code>repeated string versions = 1 [json_name = "versions"];</code>
+       * <code>repeated string versions = 1 [json_name = "versions", deprecated = true];</code>
+       * @deprecated viam.app.v1.MLModelMetadata.versions is deprecated.
+       *     See app/v1/app.proto;l=1408
        * @param value The versions to add.
        * @return This builder for chaining.
        */
-      public Builder addVersions(
+      @java.lang.Deprecated public Builder addVersions(
           java.lang.String value) {
         copyOnWrite();
         instance.addVersions(value);
@@ -90520,11 +92155,13 @@ public Builder addVersions(
        * A list of package versions for a ML model
        * </pre>
        *
-       * <code>repeated string versions = 1 [json_name = "versions"];</code>
+       * <code>repeated string versions = 1 [json_name = "versions", deprecated = true];</code>
+       * @deprecated viam.app.v1.MLModelMetadata.versions is deprecated.
+       *     See app/v1/app.proto;l=1408
        * @param values The versions to add.
        * @return This builder for chaining.
        */
-      public Builder addAllVersions(
+      @java.lang.Deprecated public Builder addAllVersions(
           java.lang.Iterable<java.lang.String> values) {
         copyOnWrite();
         instance.addAllVersions(values);
@@ -90535,10 +92172,12 @@ public Builder addAllVersions(
        * A list of package versions for a ML model
        * </pre>
        *
-       * <code>repeated string versions = 1 [json_name = "versions"];</code>
+       * <code>repeated string versions = 1 [json_name = "versions", deprecated = true];</code>
+       * @deprecated viam.app.v1.MLModelMetadata.versions is deprecated.
+       *     See app/v1/app.proto;l=1408
        * @return This builder for chaining.
        */
-      public Builder clearVersions() {
+      @java.lang.Deprecated public Builder clearVersions() {
         copyOnWrite();
         instance.clearVersions();
         return this;
@@ -90548,11 +92187,13 @@ public Builder clearVersions() {
        * A list of package versions for a ML model
        * </pre>
        *
-       * <code>repeated string versions = 1 [json_name = "versions"];</code>
+       * <code>repeated string versions = 1 [json_name = "versions", deprecated = true];</code>
+       * @deprecated viam.app.v1.MLModelMetadata.versions is deprecated.
+       *     See app/v1/app.proto;l=1408
        * @param value The bytes of the versions to add.
        * @return This builder for chaining.
        */
-      public Builder addVersionsBytes(
+      @java.lang.Deprecated public Builder addVersionsBytes(
           com.google.protobuf.ByteString value) {
         copyOnWrite();
         instance.addVersionsBytes(value);
@@ -90651,6 +92292,108 @@ public Builder clearModelFramework() {
         return this;
       }
 
+      /**
+       * <code>repeated .viam.app.v1.MLModelVersion detailed_versions = 4 [json_name = "detailedVersions"];</code>
+       */
+      @java.lang.Override
+      public java.util.List<viam.app.v1.AppOuterClass.MLModelVersion> getDetailedVersionsList() {
+        return java.util.Collections.unmodifiableList(
+            instance.getDetailedVersionsList());
+      }
+      /**
+       * <code>repeated .viam.app.v1.MLModelVersion detailed_versions = 4 [json_name = "detailedVersions"];</code>
+       */
+      @java.lang.Override
+      public int getDetailedVersionsCount() {
+        return instance.getDetailedVersionsCount();
+      }/**
+       * <code>repeated .viam.app.v1.MLModelVersion detailed_versions = 4 [json_name = "detailedVersions"];</code>
+       */
+      @java.lang.Override
+      public viam.app.v1.AppOuterClass.MLModelVersion getDetailedVersions(int index) {
+        return instance.getDetailedVersions(index);
+      }
+      /**
+       * <code>repeated .viam.app.v1.MLModelVersion detailed_versions = 4 [json_name = "detailedVersions"];</code>
+       */
+      public Builder setDetailedVersions(
+          int index, viam.app.v1.AppOuterClass.MLModelVersion value) {
+        copyOnWrite();
+        instance.setDetailedVersions(index, value);
+        return this;
+      }
+      /**
+       * <code>repeated .viam.app.v1.MLModelVersion detailed_versions = 4 [json_name = "detailedVersions"];</code>
+       */
+      public Builder setDetailedVersions(
+          int index, viam.app.v1.AppOuterClass.MLModelVersion.Builder builderForValue) {
+        copyOnWrite();
+        instance.setDetailedVersions(index,
+            builderForValue.build());
+        return this;
+      }
+      /**
+       * <code>repeated .viam.app.v1.MLModelVersion detailed_versions = 4 [json_name = "detailedVersions"];</code>
+       */
+      public Builder addDetailedVersions(viam.app.v1.AppOuterClass.MLModelVersion value) {
+        copyOnWrite();
+        instance.addDetailedVersions(value);
+        return this;
+      }
+      /**
+       * <code>repeated .viam.app.v1.MLModelVersion detailed_versions = 4 [json_name = "detailedVersions"];</code>
+       */
+      public Builder addDetailedVersions(
+          int index, viam.app.v1.AppOuterClass.MLModelVersion value) {
+        copyOnWrite();
+        instance.addDetailedVersions(index, value);
+        return this;
+      }
+      /**
+       * <code>repeated .viam.app.v1.MLModelVersion detailed_versions = 4 [json_name = "detailedVersions"];</code>
+       */
+      public Builder addDetailedVersions(
+          viam.app.v1.AppOuterClass.MLModelVersion.Builder builderForValue) {
+        copyOnWrite();
+        instance.addDetailedVersions(builderForValue.build());
+        return this;
+      }
+      /**
+       * <code>repeated .viam.app.v1.MLModelVersion detailed_versions = 4 [json_name = "detailedVersions"];</code>
+       */
+      public Builder addDetailedVersions(
+          int index, viam.app.v1.AppOuterClass.MLModelVersion.Builder builderForValue) {
+        copyOnWrite();
+        instance.addDetailedVersions(index,
+            builderForValue.build());
+        return this;
+      }
+      /**
+       * <code>repeated .viam.app.v1.MLModelVersion detailed_versions = 4 [json_name = "detailedVersions"];</code>
+       */
+      public Builder addAllDetailedVersions(
+          java.lang.Iterable<? extends viam.app.v1.AppOuterClass.MLModelVersion> values) {
+        copyOnWrite();
+        instance.addAllDetailedVersions(values);
+        return this;
+      }
+      /**
+       * <code>repeated .viam.app.v1.MLModelVersion detailed_versions = 4 [json_name = "detailedVersions"];</code>
+       */
+      public Builder clearDetailedVersions() {
+        copyOnWrite();
+        instance.clearDetailedVersions();
+        return this;
+      }
+      /**
+       * <code>repeated .viam.app.v1.MLModelVersion detailed_versions = 4 [json_name = "detailedVersions"];</code>
+       */
+      public Builder removeDetailedVersions(int index) {
+        copyOnWrite();
+        instance.removeDetailedVersions(index);
+        return this;
+      }
+
       // @@protoc_insertion_point(builder_scope:viam.app.v1.MLModelMetadata)
     }
     @java.lang.Override
@@ -90670,10 +92413,12 @@ protected final java.lang.Object dynamicMethod(
               "versions_",
               "modelType_",
               "modelFramework_",
+              "detailedVersions_",
+              viam.app.v1.AppOuterClass.MLModelVersion.class,
             };
             java.lang.String info =
-                "\u0000\u0003\u0000\u0000\u0001\u0003\u0003\u0000\u0001\u0000\u0001\u021a\u0002\f" +
-                "\u0003\f";
+                "\u0000\u0004\u0000\u0000\u0001\u0004\u0004\u0000\u0002\u0000\u0001\u021a\u0002\f" +
+                "\u0003\f\u0004\u001b";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         // fall through
@@ -97596,6 +99341,64 @@ public interface ListRegistryItemsRequestOrBuilder extends
      * @return The includeMarkdownDocumentation.
      */
     boolean getIncludeMarkdownDocumentation();
+
+    /**
+     * <code>repeated .viam.app.v1.ModuleSourceType module_source_types = 10 [json_name = "moduleSourceTypes"];</code>
+     * @return A list containing the moduleSourceTypes.
+     */
+    java.util.List<viam.app.v1.AppOuterClass.ModuleSourceType> getModuleSourceTypesList();
+    /**
+     * <code>repeated .viam.app.v1.ModuleSourceType module_source_types = 10 [json_name = "moduleSourceTypes"];</code>
+     * @return The count of moduleSourceTypes.
+     */
+    int getModuleSourceTypesCount();
+    /**
+     * <code>repeated .viam.app.v1.ModuleSourceType module_source_types = 10 [json_name = "moduleSourceTypes"];</code>
+     * @param index The index of the element to return.
+     * @return The moduleSourceTypes at the given index.
+     */
+    viam.app.v1.AppOuterClass.ModuleSourceType getModuleSourceTypes(int index);
+    /**
+     * <code>repeated .viam.app.v1.ModuleSourceType module_source_types = 10 [json_name = "moduleSourceTypes"];</code>
+     * @return A list containing the enum numeric values on the wire for moduleSourceTypes.
+     */
+    java.util.List<java.lang.Integer>
+    getModuleSourceTypesValueList();
+    /**
+     * <code>repeated .viam.app.v1.ModuleSourceType module_source_types = 10 [json_name = "moduleSourceTypes"];</code>
+     * @param index The index of the value to return.
+     * @return The enum numeric value on the wire of moduleSourceTypes at the given index.
+     */
+    int getModuleSourceTypesValue(int index);
+
+    /**
+     * <code>repeated .viam.app.v1.ModuleLanguage module_languages = 11 [json_name = "moduleLanguages"];</code>
+     * @return A list containing the moduleLanguages.
+     */
+    java.util.List<viam.app.v1.AppOuterClass.ModuleLanguage> getModuleLanguagesList();
+    /**
+     * <code>repeated .viam.app.v1.ModuleLanguage module_languages = 11 [json_name = "moduleLanguages"];</code>
+     * @return The count of moduleLanguages.
+     */
+    int getModuleLanguagesCount();
+    /**
+     * <code>repeated .viam.app.v1.ModuleLanguage module_languages = 11 [json_name = "moduleLanguages"];</code>
+     * @param index The index of the element to return.
+     * @return The moduleLanguages at the given index.
+     */
+    viam.app.v1.AppOuterClass.ModuleLanguage getModuleLanguages(int index);
+    /**
+     * <code>repeated .viam.app.v1.ModuleLanguage module_languages = 11 [json_name = "moduleLanguages"];</code>
+     * @return A list containing the enum numeric values on the wire for moduleLanguages.
+     */
+    java.util.List<java.lang.Integer>
+    getModuleLanguagesValueList();
+    /**
+     * <code>repeated .viam.app.v1.ModuleLanguage module_languages = 11 [json_name = "moduleLanguages"];</code>
+     * @param index The index of the value to return.
+     * @return The enum numeric value on the wire of moduleLanguages at the given index.
+     */
+    int getModuleLanguagesValue(int index);
   }
   /**
    * Protobuf type {@code viam.app.v1.ListRegistryItemsRequest}
@@ -97614,6 +99417,8 @@ private ListRegistryItemsRequest() {
       searchTerm_ = "";
       pageToken_ = "";
       publicNamespaces_ = com.google.protobuf.GeneratedMessageLite.emptyProtobufList();
+      moduleSourceTypes_ = emptyIntList();
+      moduleLanguages_ = emptyIntList();
     }
     private int bitField0_;
     public static final int ORGANIZATION_ID_FIELD_NUMBER = 1;
@@ -98454,6 +100259,268 @@ private void clearIncludeMarkdownDocumentation() {
       includeMarkdownDocumentation_ = false;
     }
 
+    public static final int MODULE_SOURCE_TYPES_FIELD_NUMBER = 10;
+    private com.google.protobuf.Internal.IntList moduleSourceTypes_;
+    private static final com.google.protobuf.Internal.IntListAdapter.IntConverter<
+        viam.app.v1.AppOuterClass.ModuleSourceType> moduleSourceTypes_converter_ =
+            new com.google.protobuf.Internal.IntListAdapter.IntConverter<
+                viam.app.v1.AppOuterClass.ModuleSourceType>() {
+              @java.lang.Override
+              public viam.app.v1.AppOuterClass.ModuleSourceType convert(int from) {
+                viam.app.v1.AppOuterClass.ModuleSourceType result = viam.app.v1.AppOuterClass.ModuleSourceType.forNumber(from);
+                return result == null ? viam.app.v1.AppOuterClass.ModuleSourceType.UNRECOGNIZED : result;
+              }
+            };
+    /**
+     * <code>repeated .viam.app.v1.ModuleSourceType module_source_types = 10 [json_name = "moduleSourceTypes"];</code>
+     * @return A list containing the moduleSourceTypes.
+     */
+    @java.lang.Override
+    public java.util.List<viam.app.v1.AppOuterClass.ModuleSourceType> getModuleSourceTypesList() {
+      return new com.google.protobuf.Internal.IntListAdapter<
+          viam.app.v1.AppOuterClass.ModuleSourceType>(moduleSourceTypes_, moduleSourceTypes_converter_);
+    }
+    /**
+     * <code>repeated .viam.app.v1.ModuleSourceType module_source_types = 10 [json_name = "moduleSourceTypes"];</code>
+     * @return The count of moduleSourceTypes.
+     */
+    @java.lang.Override
+    public int getModuleSourceTypesCount() {
+      return moduleSourceTypes_.size();
+    }
+    /**
+     * <code>repeated .viam.app.v1.ModuleSourceType module_source_types = 10 [json_name = "moduleSourceTypes"];</code>
+     * @param index The index of the element to return.
+     * @return The moduleSourceTypes at the given index.
+     */
+    @java.lang.Override
+    public viam.app.v1.AppOuterClass.ModuleSourceType getModuleSourceTypes(int index) {
+      viam.app.v1.AppOuterClass.ModuleSourceType result = viam.app.v1.AppOuterClass.ModuleSourceType.forNumber(moduleSourceTypes_.getInt(index));
+      return result == null ? viam.app.v1.AppOuterClass.ModuleSourceType.UNRECOGNIZED : result;
+    }
+    /**
+     * <code>repeated .viam.app.v1.ModuleSourceType module_source_types = 10 [json_name = "moduleSourceTypes"];</code>
+     * @return A list containing the enum numeric values on the wire for moduleSourceTypes.
+     */
+    @java.lang.Override
+    public java.util.List<java.lang.Integer>
+    getModuleSourceTypesValueList() {
+      return moduleSourceTypes_;
+    }
+    /**
+     * <code>repeated .viam.app.v1.ModuleSourceType module_source_types = 10 [json_name = "moduleSourceTypes"];</code>
+     * @param index The index of the value to return.
+     * @return The enum numeric value on the wire of moduleSourceTypes at the given index.
+     */
+    @java.lang.Override
+    public int getModuleSourceTypesValue(int index) {
+      return moduleSourceTypes_.getInt(index);
+    }
+    private int moduleSourceTypesMemoizedSerializedSize;
+    private void ensureModuleSourceTypesIsMutable() {
+      com.google.protobuf.Internal.IntList tmp = moduleSourceTypes_;
+      if (!tmp.isModifiable()) {
+        moduleSourceTypes_ =
+            com.google.protobuf.GeneratedMessageLite.mutableCopy(tmp);
+      }
+    }
+    /**
+     * <code>repeated .viam.app.v1.ModuleSourceType module_source_types = 10 [json_name = "moduleSourceTypes"];</code>
+     * @param index The index to set the value at.
+     * @param value The moduleSourceTypes to set.
+     */
+    private void setModuleSourceTypes(
+        int index, viam.app.v1.AppOuterClass.ModuleSourceType value) {
+      value.getClass();
+  ensureModuleSourceTypesIsMutable();
+      moduleSourceTypes_.setInt(index, value.getNumber());
+    }
+    /**
+     * <code>repeated .viam.app.v1.ModuleSourceType module_source_types = 10 [json_name = "moduleSourceTypes"];</code>
+     * @param value The moduleSourceTypes to add.
+     */
+    private void addModuleSourceTypes(viam.app.v1.AppOuterClass.ModuleSourceType value) {
+      value.getClass();
+  ensureModuleSourceTypesIsMutable();
+      moduleSourceTypes_.addInt(value.getNumber());
+    }
+    /**
+     * <code>repeated .viam.app.v1.ModuleSourceType module_source_types = 10 [json_name = "moduleSourceTypes"];</code>
+     * @param values The moduleSourceTypes to add.
+     */
+    private void addAllModuleSourceTypes(
+        java.lang.Iterable<? extends viam.app.v1.AppOuterClass.ModuleSourceType> values) {
+      ensureModuleSourceTypesIsMutable();
+      for (viam.app.v1.AppOuterClass.ModuleSourceType value : values) {
+        moduleSourceTypes_.addInt(value.getNumber());
+      }
+    }
+    /**
+     * <code>repeated .viam.app.v1.ModuleSourceType module_source_types = 10 [json_name = "moduleSourceTypes"];</code>
+     */
+    private void clearModuleSourceTypes() {
+      moduleSourceTypes_ = emptyIntList();
+    }
+    /**
+     * <code>repeated .viam.app.v1.ModuleSourceType module_source_types = 10 [json_name = "moduleSourceTypes"];</code>
+     * @param value The enum numeric value on the wire for moduleSourceTypes to set.
+     */
+    private void setModuleSourceTypesValue(
+        int index, int value) {
+      ensureModuleSourceTypesIsMutable();
+      moduleSourceTypes_.setInt(index, value);
+    }
+    /**
+     * <code>repeated .viam.app.v1.ModuleSourceType module_source_types = 10 [json_name = "moduleSourceTypes"];</code>
+     * @param value The enum numeric value on the wire for moduleSourceTypes to add.
+     */
+    private void addModuleSourceTypesValue(int value) {
+      ensureModuleSourceTypesIsMutable();
+      moduleSourceTypes_.addInt(value);
+    }
+    /**
+     * <code>repeated .viam.app.v1.ModuleSourceType module_source_types = 10 [json_name = "moduleSourceTypes"];</code>
+     * @param values The enum numeric values on the wire for moduleSourceTypes to add.
+     */
+    private void addAllModuleSourceTypesValue(
+        java.lang.Iterable<java.lang.Integer> values) {
+      ensureModuleSourceTypesIsMutable();
+      for (int value : values) {
+        moduleSourceTypes_.addInt(value);
+      }
+    }
+
+    public static final int MODULE_LANGUAGES_FIELD_NUMBER = 11;
+    private com.google.protobuf.Internal.IntList moduleLanguages_;
+    private static final com.google.protobuf.Internal.IntListAdapter.IntConverter<
+        viam.app.v1.AppOuterClass.ModuleLanguage> moduleLanguages_converter_ =
+            new com.google.protobuf.Internal.IntListAdapter.IntConverter<
+                viam.app.v1.AppOuterClass.ModuleLanguage>() {
+              @java.lang.Override
+              public viam.app.v1.AppOuterClass.ModuleLanguage convert(int from) {
+                viam.app.v1.AppOuterClass.ModuleLanguage result = viam.app.v1.AppOuterClass.ModuleLanguage.forNumber(from);
+                return result == null ? viam.app.v1.AppOuterClass.ModuleLanguage.UNRECOGNIZED : result;
+              }
+            };
+    /**
+     * <code>repeated .viam.app.v1.ModuleLanguage module_languages = 11 [json_name = "moduleLanguages"];</code>
+     * @return A list containing the moduleLanguages.
+     */
+    @java.lang.Override
+    public java.util.List<viam.app.v1.AppOuterClass.ModuleLanguage> getModuleLanguagesList() {
+      return new com.google.protobuf.Internal.IntListAdapter<
+          viam.app.v1.AppOuterClass.ModuleLanguage>(moduleLanguages_, moduleLanguages_converter_);
+    }
+    /**
+     * <code>repeated .viam.app.v1.ModuleLanguage module_languages = 11 [json_name = "moduleLanguages"];</code>
+     * @return The count of moduleLanguages.
+     */
+    @java.lang.Override
+    public int getModuleLanguagesCount() {
+      return moduleLanguages_.size();
+    }
+    /**
+     * <code>repeated .viam.app.v1.ModuleLanguage module_languages = 11 [json_name = "moduleLanguages"];</code>
+     * @param index The index of the element to return.
+     * @return The moduleLanguages at the given index.
+     */
+    @java.lang.Override
+    public viam.app.v1.AppOuterClass.ModuleLanguage getModuleLanguages(int index) {
+      viam.app.v1.AppOuterClass.ModuleLanguage result = viam.app.v1.AppOuterClass.ModuleLanguage.forNumber(moduleLanguages_.getInt(index));
+      return result == null ? viam.app.v1.AppOuterClass.ModuleLanguage.UNRECOGNIZED : result;
+    }
+    /**
+     * <code>repeated .viam.app.v1.ModuleLanguage module_languages = 11 [json_name = "moduleLanguages"];</code>
+     * @return A list containing the enum numeric values on the wire for moduleLanguages.
+     */
+    @java.lang.Override
+    public java.util.List<java.lang.Integer>
+    getModuleLanguagesValueList() {
+      return moduleLanguages_;
+    }
+    /**
+     * <code>repeated .viam.app.v1.ModuleLanguage module_languages = 11 [json_name = "moduleLanguages"];</code>
+     * @param index The index of the value to return.
+     * @return The enum numeric value on the wire of moduleLanguages at the given index.
+     */
+    @java.lang.Override
+    public int getModuleLanguagesValue(int index) {
+      return moduleLanguages_.getInt(index);
+    }
+    private int moduleLanguagesMemoizedSerializedSize;
+    private void ensureModuleLanguagesIsMutable() {
+      com.google.protobuf.Internal.IntList tmp = moduleLanguages_;
+      if (!tmp.isModifiable()) {
+        moduleLanguages_ =
+            com.google.protobuf.GeneratedMessageLite.mutableCopy(tmp);
+      }
+    }
+    /**
+     * <code>repeated .viam.app.v1.ModuleLanguage module_languages = 11 [json_name = "moduleLanguages"];</code>
+     * @param index The index to set the value at.
+     * @param value The moduleLanguages to set.
+     */
+    private void setModuleLanguages(
+        int index, viam.app.v1.AppOuterClass.ModuleLanguage value) {
+      value.getClass();
+  ensureModuleLanguagesIsMutable();
+      moduleLanguages_.setInt(index, value.getNumber());
+    }
+    /**
+     * <code>repeated .viam.app.v1.ModuleLanguage module_languages = 11 [json_name = "moduleLanguages"];</code>
+     * @param value The moduleLanguages to add.
+     */
+    private void addModuleLanguages(viam.app.v1.AppOuterClass.ModuleLanguage value) {
+      value.getClass();
+  ensureModuleLanguagesIsMutable();
+      moduleLanguages_.addInt(value.getNumber());
+    }
+    /**
+     * <code>repeated .viam.app.v1.ModuleLanguage module_languages = 11 [json_name = "moduleLanguages"];</code>
+     * @param values The moduleLanguages to add.
+     */
+    private void addAllModuleLanguages(
+        java.lang.Iterable<? extends viam.app.v1.AppOuterClass.ModuleLanguage> values) {
+      ensureModuleLanguagesIsMutable();
+      for (viam.app.v1.AppOuterClass.ModuleLanguage value : values) {
+        moduleLanguages_.addInt(value.getNumber());
+      }
+    }
+    /**
+     * <code>repeated .viam.app.v1.ModuleLanguage module_languages = 11 [json_name = "moduleLanguages"];</code>
+     */
+    private void clearModuleLanguages() {
+      moduleLanguages_ = emptyIntList();
+    }
+    /**
+     * <code>repeated .viam.app.v1.ModuleLanguage module_languages = 11 [json_name = "moduleLanguages"];</code>
+     * @param value The enum numeric value on the wire for moduleLanguages to set.
+     */
+    private void setModuleLanguagesValue(
+        int index, int value) {
+      ensureModuleLanguagesIsMutable();
+      moduleLanguages_.setInt(index, value);
+    }
+    /**
+     * <code>repeated .viam.app.v1.ModuleLanguage module_languages = 11 [json_name = "moduleLanguages"];</code>
+     * @param value The enum numeric value on the wire for moduleLanguages to add.
+     */
+    private void addModuleLanguagesValue(int value) {
+      ensureModuleLanguagesIsMutable();
+      moduleLanguages_.addInt(value);
+    }
+    /**
+     * <code>repeated .viam.app.v1.ModuleLanguage module_languages = 11 [json_name = "moduleLanguages"];</code>
+     * @param values The enum numeric values on the wire for moduleLanguages to add.
+     */
+    private void addAllModuleLanguagesValue(
+        java.lang.Iterable<java.lang.Integer> values) {
+      ensureModuleLanguagesIsMutable();
+      for (int value : values) {
+        moduleLanguages_.addInt(value);
+      }
+    }
+
     public static viam.app.v1.AppOuterClass.ListRegistryItemsRequest parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
@@ -99359,6 +101426,244 @@ public Builder clearIncludeMarkdownDocumentation() {
         return this;
       }
 
+      /**
+       * <code>repeated .viam.app.v1.ModuleSourceType module_source_types = 10 [json_name = "moduleSourceTypes"];</code>
+       * @return A list containing the moduleSourceTypes.
+       */
+      @java.lang.Override
+      public java.util.List<viam.app.v1.AppOuterClass.ModuleSourceType> getModuleSourceTypesList() {
+        return instance.getModuleSourceTypesList();
+      }
+      /**
+       * <code>repeated .viam.app.v1.ModuleSourceType module_source_types = 10 [json_name = "moduleSourceTypes"];</code>
+       * @return The count of moduleSourceTypes.
+       */
+      @java.lang.Override
+      public int getModuleSourceTypesCount() {
+        return instance.getModuleSourceTypesCount();
+      }
+      /**
+       * <code>repeated .viam.app.v1.ModuleSourceType module_source_types = 10 [json_name = "moduleSourceTypes"];</code>
+       * @param index The index of the element to return.
+       * @return The moduleSourceTypes at the given index.
+       */
+      @java.lang.Override
+      public viam.app.v1.AppOuterClass.ModuleSourceType getModuleSourceTypes(int index) {
+        return instance.getModuleSourceTypes(index);
+      }
+      /**
+       * <code>repeated .viam.app.v1.ModuleSourceType module_source_types = 10 [json_name = "moduleSourceTypes"];</code>
+       * @param index The index to set the value at.
+       * @param value The moduleSourceTypes to set.
+       * @return This builder for chaining.
+       */
+      public Builder setModuleSourceTypes(
+          int index, viam.app.v1.AppOuterClass.ModuleSourceType value) {
+        copyOnWrite();
+        instance.setModuleSourceTypes(index, value);
+        return this;
+      }
+      /**
+       * <code>repeated .viam.app.v1.ModuleSourceType module_source_types = 10 [json_name = "moduleSourceTypes"];</code>
+       * @param value The moduleSourceTypes to add.
+       * @return This builder for chaining.
+       */
+      public Builder addModuleSourceTypes(viam.app.v1.AppOuterClass.ModuleSourceType value) {
+        copyOnWrite();
+        instance.addModuleSourceTypes(value);
+        return this;
+      }
+      /**
+       * <code>repeated .viam.app.v1.ModuleSourceType module_source_types = 10 [json_name = "moduleSourceTypes"];</code>
+       * @param values The moduleSourceTypes to add.
+       * @return This builder for chaining.
+       */
+      public Builder addAllModuleSourceTypes(
+          java.lang.Iterable<? extends viam.app.v1.AppOuterClass.ModuleSourceType> values) {
+        copyOnWrite();
+        instance.addAllModuleSourceTypes(values);  return this;
+      }
+      /**
+       * <code>repeated .viam.app.v1.ModuleSourceType module_source_types = 10 [json_name = "moduleSourceTypes"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearModuleSourceTypes() {
+        copyOnWrite();
+        instance.clearModuleSourceTypes();
+        return this;
+      }
+      /**
+       * <code>repeated .viam.app.v1.ModuleSourceType module_source_types = 10 [json_name = "moduleSourceTypes"];</code>
+       * @return A list containing the enum numeric values on the wire for moduleSourceTypes.
+       */
+      @java.lang.Override
+      public java.util.List<java.lang.Integer>
+      getModuleSourceTypesValueList() {
+        return java.util.Collections.unmodifiableList(
+            instance.getModuleSourceTypesValueList());
+      }
+      /**
+       * <code>repeated .viam.app.v1.ModuleSourceType module_source_types = 10 [json_name = "moduleSourceTypes"];</code>
+       * @param index The index of the value to return.
+       * @return The enum numeric value on the wire of moduleSourceTypes at the given index.
+       */
+      @java.lang.Override
+      public int getModuleSourceTypesValue(int index) {
+        return instance.getModuleSourceTypesValue(index);
+      }
+      /**
+       * <code>repeated .viam.app.v1.ModuleSourceType module_source_types = 10 [json_name = "moduleSourceTypes"];</code>
+       * @param index The index to set the value at.
+       * @param value The enum numeric value on the wire for moduleSourceTypes to set.
+       * @return This builder for chaining.
+       */
+      public Builder setModuleSourceTypesValue(
+          int index, int value) {
+        copyOnWrite();
+        instance.setModuleSourceTypesValue(index, value);
+        return this;
+      }
+      /**
+       * <code>repeated .viam.app.v1.ModuleSourceType module_source_types = 10 [json_name = "moduleSourceTypes"];</code>
+       * @param value The enum numeric value on the wire for moduleSourceTypes to add.
+       * @return This builder for chaining.
+       */
+      public Builder addModuleSourceTypesValue(int value) {
+        copyOnWrite();
+        instance.addModuleSourceTypesValue(value);
+        return this;
+      }
+      /**
+       * <code>repeated .viam.app.v1.ModuleSourceType module_source_types = 10 [json_name = "moduleSourceTypes"];</code>
+       * @param values The enum numeric values on the wire for moduleSourceTypes to add.
+       * @return This builder for chaining.
+       */
+      public Builder addAllModuleSourceTypesValue(
+          java.lang.Iterable<java.lang.Integer> values) {
+        copyOnWrite();
+        instance.addAllModuleSourceTypesValue(values);
+        return this;
+      }
+
+      /**
+       * <code>repeated .viam.app.v1.ModuleLanguage module_languages = 11 [json_name = "moduleLanguages"];</code>
+       * @return A list containing the moduleLanguages.
+       */
+      @java.lang.Override
+      public java.util.List<viam.app.v1.AppOuterClass.ModuleLanguage> getModuleLanguagesList() {
+        return instance.getModuleLanguagesList();
+      }
+      /**
+       * <code>repeated .viam.app.v1.ModuleLanguage module_languages = 11 [json_name = "moduleLanguages"];</code>
+       * @return The count of moduleLanguages.
+       */
+      @java.lang.Override
+      public int getModuleLanguagesCount() {
+        return instance.getModuleLanguagesCount();
+      }
+      /**
+       * <code>repeated .viam.app.v1.ModuleLanguage module_languages = 11 [json_name = "moduleLanguages"];</code>
+       * @param index The index of the element to return.
+       * @return The moduleLanguages at the given index.
+       */
+      @java.lang.Override
+      public viam.app.v1.AppOuterClass.ModuleLanguage getModuleLanguages(int index) {
+        return instance.getModuleLanguages(index);
+      }
+      /**
+       * <code>repeated .viam.app.v1.ModuleLanguage module_languages = 11 [json_name = "moduleLanguages"];</code>
+       * @param index The index to set the value at.
+       * @param value The moduleLanguages to set.
+       * @return This builder for chaining.
+       */
+      public Builder setModuleLanguages(
+          int index, viam.app.v1.AppOuterClass.ModuleLanguage value) {
+        copyOnWrite();
+        instance.setModuleLanguages(index, value);
+        return this;
+      }
+      /**
+       * <code>repeated .viam.app.v1.ModuleLanguage module_languages = 11 [json_name = "moduleLanguages"];</code>
+       * @param value The moduleLanguages to add.
+       * @return This builder for chaining.
+       */
+      public Builder addModuleLanguages(viam.app.v1.AppOuterClass.ModuleLanguage value) {
+        copyOnWrite();
+        instance.addModuleLanguages(value);
+        return this;
+      }
+      /**
+       * <code>repeated .viam.app.v1.ModuleLanguage module_languages = 11 [json_name = "moduleLanguages"];</code>
+       * @param values The moduleLanguages to add.
+       * @return This builder for chaining.
+       */
+      public Builder addAllModuleLanguages(
+          java.lang.Iterable<? extends viam.app.v1.AppOuterClass.ModuleLanguage> values) {
+        copyOnWrite();
+        instance.addAllModuleLanguages(values);  return this;
+      }
+      /**
+       * <code>repeated .viam.app.v1.ModuleLanguage module_languages = 11 [json_name = "moduleLanguages"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearModuleLanguages() {
+        copyOnWrite();
+        instance.clearModuleLanguages();
+        return this;
+      }
+      /**
+       * <code>repeated .viam.app.v1.ModuleLanguage module_languages = 11 [json_name = "moduleLanguages"];</code>
+       * @return A list containing the enum numeric values on the wire for moduleLanguages.
+       */
+      @java.lang.Override
+      public java.util.List<java.lang.Integer>
+      getModuleLanguagesValueList() {
+        return java.util.Collections.unmodifiableList(
+            instance.getModuleLanguagesValueList());
+      }
+      /**
+       * <code>repeated .viam.app.v1.ModuleLanguage module_languages = 11 [json_name = "moduleLanguages"];</code>
+       * @param index The index of the value to return.
+       * @return The enum numeric value on the wire of moduleLanguages at the given index.
+       */
+      @java.lang.Override
+      public int getModuleLanguagesValue(int index) {
+        return instance.getModuleLanguagesValue(index);
+      }
+      /**
+       * <code>repeated .viam.app.v1.ModuleLanguage module_languages = 11 [json_name = "moduleLanguages"];</code>
+       * @param index The index to set the value at.
+       * @param value The enum numeric value on the wire for moduleLanguages to set.
+       * @return This builder for chaining.
+       */
+      public Builder setModuleLanguagesValue(
+          int index, int value) {
+        copyOnWrite();
+        instance.setModuleLanguagesValue(index, value);
+        return this;
+      }
+      /**
+       * <code>repeated .viam.app.v1.ModuleLanguage module_languages = 11 [json_name = "moduleLanguages"];</code>
+       * @param value The enum numeric value on the wire for moduleLanguages to add.
+       * @return This builder for chaining.
+       */
+      public Builder addModuleLanguagesValue(int value) {
+        copyOnWrite();
+        instance.addModuleLanguagesValue(value);
+        return this;
+      }
+      /**
+       * <code>repeated .viam.app.v1.ModuleLanguage module_languages = 11 [json_name = "moduleLanguages"];</code>
+       * @param values The enum numeric values on the wire for moduleLanguages to add.
+       * @return This builder for chaining.
+       */
+      public Builder addAllModuleLanguagesValue(
+          java.lang.Iterable<java.lang.Integer> values) {
+        copyOnWrite();
+        instance.addAllModuleLanguagesValue(values);
+        return this;
+      }
+
       // @@protoc_insertion_point(builder_scope:viam.app.v1.ListRegistryItemsRequest)
     }
     @java.lang.Override
@@ -99385,10 +101690,13 @@ protected final java.lang.Object dynamicMethod(
               "pageToken_",
               "publicNamespaces_",
               "includeMarkdownDocumentation_",
+              "moduleSourceTypes_",
+              "moduleLanguages_",
             };
             java.lang.String info =
-                "\u0000\t\u0000\u0001\u0001\t\t\u0000\u0005\u0000\u0001\u1208\u0000\u0002,\u0003," +
-                "\u0004\u021a\u0005,\u0006\u1208\u0001\u0007\u1208\u0002\b\u021a\t\u1007\u0003";
+                "\u0000\u000b\u0000\u0001\u0001\u000b\u000b\u0000\u0007\u0000\u0001\u1208\u0000\u0002" +
+                ",\u0003,\u0004\u021a\u0005,\u0006\u1208\u0001\u0007\u1208\u0002\b\u021a\t\u1007\u0003" +
+                "\n,\u000b,";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         // fall through
@@ -106366,6 +108674,62 @@ public interface UpdateModuleMetadataOrBuilder extends
      * <code>repeated .viam.app.v1.App apps = 3 [json_name = "apps"];</code>
      */
     int getAppsCount();
+
+    /**
+     * <pre>
+     * Determines where the source code of module is managed, either externally or hosted by viam.
+     * </pre>
+     *
+     * <code>optional .viam.app.v1.ModuleSourceType source_type = 4 [json_name = "sourceType"];</code>
+     * @return Whether the sourceType field is set.
+     */
+    boolean hasSourceType();
+    /**
+     * <pre>
+     * Determines where the source code of module is managed, either externally or hosted by viam.
+     * </pre>
+     *
+     * <code>optional .viam.app.v1.ModuleSourceType source_type = 4 [json_name = "sourceType"];</code>
+     * @return The enum numeric value on the wire for sourceType.
+     */
+    int getSourceTypeValue();
+    /**
+     * <pre>
+     * Determines where the source code of module is managed, either externally or hosted by viam.
+     * </pre>
+     *
+     * <code>optional .viam.app.v1.ModuleSourceType source_type = 4 [json_name = "sourceType"];</code>
+     * @return The sourceType.
+     */
+    viam.app.v1.AppOuterClass.ModuleSourceType getSourceType();
+
+    /**
+     * <pre>
+     * The language the module is written in
+     * </pre>
+     *
+     * <code>optional .viam.app.v1.ModuleLanguage language = 5 [json_name = "language"];</code>
+     * @return Whether the language field is set.
+     */
+    boolean hasLanguage();
+    /**
+     * <pre>
+     * The language the module is written in
+     * </pre>
+     *
+     * <code>optional .viam.app.v1.ModuleLanguage language = 5 [json_name = "language"];</code>
+     * @return The enum numeric value on the wire for language.
+     */
+    int getLanguageValue();
+    /**
+     * <pre>
+     * The language the module is written in
+     * </pre>
+     *
+     * <code>optional .viam.app.v1.ModuleLanguage language = 5 [json_name = "language"];</code>
+     * @return The language.
+     */
+    viam.app.v1.AppOuterClass.ModuleLanguage getLanguage();
   }
   /**
    * Protobuf type {@code viam.app.v1.UpdateModuleMetadata}
@@ -106380,6 +108744,7 @@ private UpdateModuleMetadata() {
       entrypoint_ = "";
       apps_ = emptyProtobufList();
     }
+    private int bitField0_;
     public static final int MODELS_FIELD_NUMBER = 1;
     private com.google.protobuf.Internal.ProtobufList<viam.app.v1.AppOuterClass.Model> models_;
     /**
@@ -106723,6 +109088,154 @@ private void removeApps(int index) {
       apps_.remove(index);
     }
 
+    public static final int SOURCE_TYPE_FIELD_NUMBER = 4;
+    private int sourceType_;
+    /**
+     * <pre>
+     * Determines where the source code of module is managed, either externally or hosted by viam.
+     * </pre>
+     *
+     * <code>optional .viam.app.v1.ModuleSourceType source_type = 4 [json_name = "sourceType"];</code>
+     * @return Whether the sourceType field is set.
+     */
+    @java.lang.Override
+    public boolean hasSourceType() {
+      return ((bitField0_ & 0x00000001) != 0);
+    }
+    /**
+     * <pre>
+     * Determines where the source code of module is managed, either externally or hosted by viam.
+     * </pre>
+     *
+     * <code>optional .viam.app.v1.ModuleSourceType source_type = 4 [json_name = "sourceType"];</code>
+     * @return The enum numeric value on the wire for sourceType.
+     */
+    @java.lang.Override
+    public int getSourceTypeValue() {
+      return sourceType_;
+    }
+    /**
+     * <pre>
+     * Determines where the source code of module is managed, either externally or hosted by viam.
+     * </pre>
+     *
+     * <code>optional .viam.app.v1.ModuleSourceType source_type = 4 [json_name = "sourceType"];</code>
+     * @return The sourceType.
+     */
+    @java.lang.Override
+    public viam.app.v1.AppOuterClass.ModuleSourceType getSourceType() {
+      viam.app.v1.AppOuterClass.ModuleSourceType result = viam.app.v1.AppOuterClass.ModuleSourceType.forNumber(sourceType_);
+      return result == null ? viam.app.v1.AppOuterClass.ModuleSourceType.UNRECOGNIZED : result;
+    }
+    /**
+     * <pre>
+     * Determines where the source code of module is managed, either externally or hosted by viam.
+     * </pre>
+     *
+     * <code>optional .viam.app.v1.ModuleSourceType source_type = 4 [json_name = "sourceType"];</code>
+     * @param value The enum numeric value on the wire for sourceType to set.
+     */
+    private void setSourceTypeValue(int value) {
+      bitField0_ |= 0x00000001;  sourceType_ = value;
+    }
+    /**
+     * <pre>
+     * Determines where the source code of module is managed, either externally or hosted by viam.
+     * </pre>
+     *
+     * <code>optional .viam.app.v1.ModuleSourceType source_type = 4 [json_name = "sourceType"];</code>
+     * @param value The sourceType to set.
+     */
+    private void setSourceType(viam.app.v1.AppOuterClass.ModuleSourceType value) {
+      sourceType_ = value.getNumber();
+      bitField0_ |= 0x00000001;
+    }
+    /**
+     * <pre>
+     * Determines where the source code of module is managed, either externally or hosted by viam.
+     * </pre>
+     *
+     * <code>optional .viam.app.v1.ModuleSourceType source_type = 4 [json_name = "sourceType"];</code>
+     */
+    private void clearSourceType() {
+      bitField0_ = (bitField0_ & ~0x00000001);
+      sourceType_ = 0;
+    }
+
+    public static final int LANGUAGE_FIELD_NUMBER = 5;
+    private int language_;
+    /**
+     * <pre>
+     * The language the module is written in
+     * </pre>
+     *
+     * <code>optional .viam.app.v1.ModuleLanguage language = 5 [json_name = "language"];</code>
+     * @return Whether the language field is set.
+     */
+    @java.lang.Override
+    public boolean hasLanguage() {
+      return ((bitField0_ & 0x00000002) != 0);
+    }
+    /**
+     * <pre>
+     * The language the module is written in
+     * </pre>
+     *
+     * <code>optional .viam.app.v1.ModuleLanguage language = 5 [json_name = "language"];</code>
+     * @return The enum numeric value on the wire for language.
+     */
+    @java.lang.Override
+    public int getLanguageValue() {
+      return language_;
+    }
+    /**
+     * <pre>
+     * The language the module is written in
+     * </pre>
+     *
+     * <code>optional .viam.app.v1.ModuleLanguage language = 5 [json_name = "language"];</code>
+     * @return The language.
+     */
+    @java.lang.Override
+    public viam.app.v1.AppOuterClass.ModuleLanguage getLanguage() {
+      viam.app.v1.AppOuterClass.ModuleLanguage result = viam.app.v1.AppOuterClass.ModuleLanguage.forNumber(language_);
+      return result == null ? viam.app.v1.AppOuterClass.ModuleLanguage.UNRECOGNIZED : result;
+    }
+    /**
+     * <pre>
+     * The language the module is written in
+     * </pre>
+     *
+     * <code>optional .viam.app.v1.ModuleLanguage language = 5 [json_name = "language"];</code>
+     * @param value The enum numeric value on the wire for language to set.
+     */
+    private void setLanguageValue(int value) {
+      bitField0_ |= 0x00000002;  language_ = value;
+    }
+    /**
+     * <pre>
+     * The language the module is written in
+     * </pre>
+     *
+     * <code>optional .viam.app.v1.ModuleLanguage language = 5 [json_name = "language"];</code>
+     * @param value The language to set.
+     */
+    private void setLanguage(viam.app.v1.AppOuterClass.ModuleLanguage value) {
+      language_ = value.getNumber();
+      bitField0_ |= 0x00000002;
+    }
+    /**
+     * <pre>
+     * The language the module is written in
+     * </pre>
+     *
+     * <code>optional .viam.app.v1.ModuleLanguage language = 5 [json_name = "language"];</code>
+     */
+    private void clearLanguage() {
+      bitField0_ = (bitField0_ & ~0x00000002);
+      language_ = 0;
+    }
+
     public static viam.app.v1.AppOuterClass.UpdateModuleMetadata parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
@@ -107189,6 +109702,162 @@ public Builder removeApps(int index) {
         return this;
       }
 
+      /**
+       * <pre>
+       * Determines where the source code of module is managed, either externally or hosted by viam.
+       * </pre>
+       *
+       * <code>optional .viam.app.v1.ModuleSourceType source_type = 4 [json_name = "sourceType"];</code>
+       * @return Whether the sourceType field is set.
+       */
+      @java.lang.Override
+      public boolean hasSourceType() {
+        return instance.hasSourceType();
+      }
+      /**
+       * <pre>
+       * Determines where the source code of module is managed, either externally or hosted by viam.
+       * </pre>
+       *
+       * <code>optional .viam.app.v1.ModuleSourceType source_type = 4 [json_name = "sourceType"];</code>
+       * @return The enum numeric value on the wire for sourceType.
+       */
+      @java.lang.Override
+      public int getSourceTypeValue() {
+        return instance.getSourceTypeValue();
+      }
+      /**
+       * <pre>
+       * Determines where the source code of module is managed, either externally or hosted by viam.
+       * </pre>
+       *
+       * <code>optional .viam.app.v1.ModuleSourceType source_type = 4 [json_name = "sourceType"];</code>
+       * @param value The sourceType to set.
+       * @return This builder for chaining.
+       */
+      public Builder setSourceTypeValue(int value) {
+        copyOnWrite();
+        instance.setSourceTypeValue(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * Determines where the source code of module is managed, either externally or hosted by viam.
+       * </pre>
+       *
+       * <code>optional .viam.app.v1.ModuleSourceType source_type = 4 [json_name = "sourceType"];</code>
+       * @return The sourceType.
+       */
+      @java.lang.Override
+      public viam.app.v1.AppOuterClass.ModuleSourceType getSourceType() {
+        return instance.getSourceType();
+      }
+      /**
+       * <pre>
+       * Determines where the source code of module is managed, either externally or hosted by viam.
+       * </pre>
+       *
+       * <code>optional .viam.app.v1.ModuleSourceType source_type = 4 [json_name = "sourceType"];</code>
+       * @param value The enum numeric value on the wire for sourceType to set.
+       * @return This builder for chaining.
+       */
+      public Builder setSourceType(viam.app.v1.AppOuterClass.ModuleSourceType value) {
+        copyOnWrite();
+        instance.setSourceType(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * Determines where the source code of module is managed, either externally or hosted by viam.
+       * </pre>
+       *
+       * <code>optional .viam.app.v1.ModuleSourceType source_type = 4 [json_name = "sourceType"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearSourceType() {
+        copyOnWrite();
+        instance.clearSourceType();
+        return this;
+      }
+
+      /**
+       * <pre>
+       * The language the module is written in
+       * </pre>
+       *
+       * <code>optional .viam.app.v1.ModuleLanguage language = 5 [json_name = "language"];</code>
+       * @return Whether the language field is set.
+       */
+      @java.lang.Override
+      public boolean hasLanguage() {
+        return instance.hasLanguage();
+      }
+      /**
+       * <pre>
+       * The language the module is written in
+       * </pre>
+       *
+       * <code>optional .viam.app.v1.ModuleLanguage language = 5 [json_name = "language"];</code>
+       * @return The enum numeric value on the wire for language.
+       */
+      @java.lang.Override
+      public int getLanguageValue() {
+        return instance.getLanguageValue();
+      }
+      /**
+       * <pre>
+       * The language the module is written in
+       * </pre>
+       *
+       * <code>optional .viam.app.v1.ModuleLanguage language = 5 [json_name = "language"];</code>
+       * @param value The language to set.
+       * @return This builder for chaining.
+       */
+      public Builder setLanguageValue(int value) {
+        copyOnWrite();
+        instance.setLanguageValue(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * The language the module is written in
+       * </pre>
+       *
+       * <code>optional .viam.app.v1.ModuleLanguage language = 5 [json_name = "language"];</code>
+       * @return The language.
+       */
+      @java.lang.Override
+      public viam.app.v1.AppOuterClass.ModuleLanguage getLanguage() {
+        return instance.getLanguage();
+      }
+      /**
+       * <pre>
+       * The language the module is written in
+       * </pre>
+       *
+       * <code>optional .viam.app.v1.ModuleLanguage language = 5 [json_name = "language"];</code>
+       * @param value The enum numeric value on the wire for language to set.
+       * @return This builder for chaining.
+       */
+      public Builder setLanguage(viam.app.v1.AppOuterClass.ModuleLanguage value) {
+        copyOnWrite();
+        instance.setLanguage(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * The language the module is written in
+       * </pre>
+       *
+       * <code>optional .viam.app.v1.ModuleLanguage language = 5 [json_name = "language"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearLanguage() {
+        copyOnWrite();
+        instance.clearLanguage();
+        return this;
+      }
+
       // @@protoc_insertion_point(builder_scope:viam.app.v1.UpdateModuleMetadata)
     }
     @java.lang.Override
@@ -107205,15 +109874,18 @@ protected final java.lang.Object dynamicMethod(
         }
         case BUILD_MESSAGE_INFO: {
             java.lang.Object[] objects = new java.lang.Object[] {
+              "bitField0_",
               "models_",
               viam.app.v1.AppOuterClass.Model.class,
               "entrypoint_",
               "apps_",
               viam.app.v1.AppOuterClass.App.class,
+              "sourceType_",
+              "language_",
             };
             java.lang.String info =
-                "\u0000\u0003\u0000\u0000\u0001\u0003\u0003\u0000\u0002\u0000\u0001\u001b\u0002\u0208" +
-                "\u0003\u001b";
+                "\u0000\u0005\u0000\u0001\u0001\u0005\u0005\u0000\u0002\u0000\u0001\u001b\u0002\u0208" +
+                "\u0003\u001b\u0004\u100c\u0000\u0005\u100c\u0001";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         // fall through
@@ -127378,6 +130050,12 @@ public interface GetAppContentResponseOrBuilder extends
      * @return The appType.
      */
     viam.app.v1.AppOuterClass.AppType getAppType();
+
+    /**
+     * <code>bool public = 4 [json_name = "public"];</code>
+     * @return The public.
+     */
+    boolean getPublic();
   }
   /**
    * Protobuf type {@code viam.app.v1.GetAppContentResponse}
@@ -127527,6 +130205,32 @@ private void clearAppType() {
       appType_ = 0;
     }
 
+    public static final int PUBLIC_FIELD_NUMBER = 4;
+    private boolean public_;
+    /**
+     * <code>bool public = 4 [json_name = "public"];</code>
+     * @return The public.
+     */
+    @java.lang.Override
+    public boolean getPublic() {
+      return public_;
+    }
+    /**
+     * <code>bool public = 4 [json_name = "public"];</code>
+     * @param value The public to set.
+     */
+    private void setPublic(boolean value) {
+      
+      public_ = value;
+    }
+    /**
+     * <code>bool public = 4 [json_name = "public"];</code>
+     */
+    private void clearPublic() {
+
+      public_ = false;
+    }
+
     public static viam.app.v1.AppOuterClass.GetAppContentResponse parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
@@ -127768,6 +130472,34 @@ public Builder clearAppType() {
         return this;
       }
 
+      /**
+       * <code>bool public = 4 [json_name = "public"];</code>
+       * @return The public.
+       */
+      @java.lang.Override
+      public boolean getPublic() {
+        return instance.getPublic();
+      }
+      /**
+       * <code>bool public = 4 [json_name = "public"];</code>
+       * @param value The public to set.
+       * @return This builder for chaining.
+       */
+      public Builder setPublic(boolean value) {
+        copyOnWrite();
+        instance.setPublic(value);
+        return this;
+      }
+      /**
+       * <code>bool public = 4 [json_name = "public"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearPublic() {
+        copyOnWrite();
+        instance.clearPublic();
+        return this;
+      }
+
       // @@protoc_insertion_point(builder_scope:viam.app.v1.GetAppContentResponse)
     }
     @java.lang.Override
@@ -127787,10 +130519,11 @@ protected final java.lang.Object dynamicMethod(
               "blobPath_",
               "entrypoint_",
               "appType_",
+              "public_",
             };
             java.lang.String info =
-                "\u0000\u0003\u0000\u0000\u0001\u0003\u0003\u0000\u0000\u0000\u0001\u0208\u0002\u0208" +
-                "\u0003\f";
+                "\u0000\u0004\u0000\u0000\u0001\u0004\u0004\u0000\u0000\u0000\u0001\u0208\u0002\u0208" +
+                "\u0003\f\u0004\u0007";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         // fall through
@@ -133967,6 +136700,18 @@ public interface OAuthConfigOrBuilder extends
      * @return The enum numeric value on the wire of enabledGrants at the given index.
      */
     int getEnabledGrantsValue(int index);
+
+    /**
+     * <code>string invite_redirect_uri = 8 [json_name = "inviteRedirectUri"];</code>
+     * @return The inviteRedirectUri.
+     */
+    java.lang.String getInviteRedirectUri();
+    /**
+     * <code>string invite_redirect_uri = 8 [json_name = "inviteRedirectUri"];</code>
+     * @return The bytes for inviteRedirectUri.
+     */
+    com.google.protobuf.ByteString
+        getInviteRedirectUriBytes();
   }
   /**
    * Protobuf type {@code viam.app.v1.OAuthConfig}
@@ -133981,6 +136726,7 @@ private OAuthConfig() {
       redirectUris_ = com.google.protobuf.GeneratedMessageLite.emptyProtobufList();
       logoutUri_ = "";
       enabledGrants_ = emptyIntList();
+      inviteRedirectUri_ = "";
     }
     public static final int CLIENT_AUTHENTICATION_FIELD_NUMBER = 1;
     private int clientAuthentication_;
@@ -134472,6 +137218,53 @@ private void addAllEnabledGrantsValue(
       }
     }
 
+    public static final int INVITE_REDIRECT_URI_FIELD_NUMBER = 8;
+    private java.lang.String inviteRedirectUri_;
+    /**
+     * <code>string invite_redirect_uri = 8 [json_name = "inviteRedirectUri"];</code>
+     * @return The inviteRedirectUri.
+     */
+    @java.lang.Override
+    public java.lang.String getInviteRedirectUri() {
+      return inviteRedirectUri_;
+    }
+    /**
+     * <code>string invite_redirect_uri = 8 [json_name = "inviteRedirectUri"];</code>
+     * @return The bytes for inviteRedirectUri.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getInviteRedirectUriBytes() {
+      return com.google.protobuf.ByteString.copyFromUtf8(inviteRedirectUri_);
+    }
+    /**
+     * <code>string invite_redirect_uri = 8 [json_name = "inviteRedirectUri"];</code>
+     * @param value The inviteRedirectUri to set.
+     */
+    private void setInviteRedirectUri(
+        java.lang.String value) {
+      java.lang.Class<?> valueClass = value.getClass();
+  
+      inviteRedirectUri_ = value;
+    }
+    /**
+     * <code>string invite_redirect_uri = 8 [json_name = "inviteRedirectUri"];</code>
+     */
+    private void clearInviteRedirectUri() {
+
+      inviteRedirectUri_ = getDefaultInstance().getInviteRedirectUri();
+    }
+    /**
+     * <code>string invite_redirect_uri = 8 [json_name = "inviteRedirectUri"];</code>
+     * @param value The bytes for inviteRedirectUri to set.
+     */
+    private void setInviteRedirectUriBytes(
+        com.google.protobuf.ByteString value) {
+      checkByteStringIsUtf8(value);
+      inviteRedirectUri_ = value.toStringUtf8();
+
+    }
+
     public static viam.app.v1.AppOuterClass.OAuthConfig parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
@@ -135059,6 +137852,55 @@ public Builder addAllEnabledGrantsValue(
         return this;
       }
 
+      /**
+       * <code>string invite_redirect_uri = 8 [json_name = "inviteRedirectUri"];</code>
+       * @return The inviteRedirectUri.
+       */
+      @java.lang.Override
+      public java.lang.String getInviteRedirectUri() {
+        return instance.getInviteRedirectUri();
+      }
+      /**
+       * <code>string invite_redirect_uri = 8 [json_name = "inviteRedirectUri"];</code>
+       * @return The bytes for inviteRedirectUri.
+       */
+      @java.lang.Override
+      public com.google.protobuf.ByteString
+          getInviteRedirectUriBytes() {
+        return instance.getInviteRedirectUriBytes();
+      }
+      /**
+       * <code>string invite_redirect_uri = 8 [json_name = "inviteRedirectUri"];</code>
+       * @param value The inviteRedirectUri to set.
+       * @return This builder for chaining.
+       */
+      public Builder setInviteRedirectUri(
+          java.lang.String value) {
+        copyOnWrite();
+        instance.setInviteRedirectUri(value);
+        return this;
+      }
+      /**
+       * <code>string invite_redirect_uri = 8 [json_name = "inviteRedirectUri"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearInviteRedirectUri() {
+        copyOnWrite();
+        instance.clearInviteRedirectUri();
+        return this;
+      }
+      /**
+       * <code>string invite_redirect_uri = 8 [json_name = "inviteRedirectUri"];</code>
+       * @param value The bytes for inviteRedirectUri to set.
+       * @return This builder for chaining.
+       */
+      public Builder setInviteRedirectUriBytes(
+          com.google.protobuf.ByteString value) {
+        copyOnWrite();
+        instance.setInviteRedirectUriBytes(value);
+        return this;
+      }
+
       // @@protoc_insertion_point(builder_scope:viam.app.v1.OAuthConfig)
     }
     @java.lang.Override
@@ -135082,10 +137924,11 @@ protected final java.lang.Object dynamicMethod(
               "redirectUris_",
               "logoutUri_",
               "enabledGrants_",
+              "inviteRedirectUri_",
             };
             java.lang.String info =
-                "\u0000\u0007\u0000\u0000\u0001\u0007\u0007\u0000\u0003\u0000\u0001\f\u0002\f\u0003" +
-                "\f\u0004\u021a\u0005\u021a\u0006\u0208\u0007,";
+                "\u0000\b\u0000\u0000\u0001\b\b\u0000\u0003\u0000\u0001\f\u0002\f\u0003\f\u0004\u021a" +
+                "\u0005\u021a\u0006\u0208\u0007,\b\u0208";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         // fall through
diff --git a/core/sdk/src/main/gen/viam/app/v1/Billing.java b/core/sdk/src/main/gen/viam/app/v1/Billing.java
index cacd371ec..1e780156b 100644
--- a/core/sdk/src/main/gen/viam/app/v1/Billing.java
+++ b/core/sdk/src/main/gen/viam/app/v1/Billing.java
@@ -4628,7 +4628,7 @@ public interface GetCurrentMonthUsageResponseOrBuilder extends
      *
      * <code>double cloud_storage_usage_cost = 3 [json_name = "cloudStorageUsageCost", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.cloud_storage_usage_cost is deprecated.
-     *     See app/v1/billing.proto;l=125
+     *     See app/v1/billing.proto;l=131
      * @return The cloudStorageUsageCost.
      */
     @java.lang.Deprecated double getCloudStorageUsageCost();
@@ -4636,7 +4636,7 @@ public interface GetCurrentMonthUsageResponseOrBuilder extends
     /**
      * <code>double data_upload_usage_cost = 4 [json_name = "dataUploadUsageCost", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.data_upload_usage_cost is deprecated.
-     *     See app/v1/billing.proto;l=126
+     *     See app/v1/billing.proto;l=132
      * @return The dataUploadUsageCost.
      */
     @java.lang.Deprecated double getDataUploadUsageCost();
@@ -4644,7 +4644,7 @@ public interface GetCurrentMonthUsageResponseOrBuilder extends
     /**
      * <code>double data_egres_usage_cost = 5 [json_name = "dataEgresUsageCost", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.data_egres_usage_cost is deprecated.
-     *     See app/v1/billing.proto;l=127
+     *     See app/v1/billing.proto;l=133
      * @return The dataEgresUsageCost.
      */
     @java.lang.Deprecated double getDataEgresUsageCost();
@@ -4652,7 +4652,7 @@ public interface GetCurrentMonthUsageResponseOrBuilder extends
     /**
      * <code>double remote_control_usage_cost = 6 [json_name = "remoteControlUsageCost", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.remote_control_usage_cost is deprecated.
-     *     See app/v1/billing.proto;l=128
+     *     See app/v1/billing.proto;l=134
      * @return The remoteControlUsageCost.
      */
     @java.lang.Deprecated double getRemoteControlUsageCost();
@@ -4660,7 +4660,7 @@ public interface GetCurrentMonthUsageResponseOrBuilder extends
     /**
      * <code>double standard_compute_usage_cost = 7 [json_name = "standardComputeUsageCost", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.standard_compute_usage_cost is deprecated.
-     *     See app/v1/billing.proto;l=129
+     *     See app/v1/billing.proto;l=135
      * @return The standardComputeUsageCost.
      */
     @java.lang.Deprecated double getStandardComputeUsageCost();
@@ -4668,7 +4668,7 @@ public interface GetCurrentMonthUsageResponseOrBuilder extends
     /**
      * <code>double discount_amount = 8 [json_name = "discountAmount", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.discount_amount is deprecated.
-     *     See app/v1/billing.proto;l=130
+     *     See app/v1/billing.proto;l=136
      * @return The discountAmount.
      */
     @java.lang.Deprecated double getDiscountAmount();
@@ -4676,7 +4676,7 @@ public interface GetCurrentMonthUsageResponseOrBuilder extends
     /**
      * <code>double total_usage_with_discount = 9 [json_name = "totalUsageWithDiscount", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.total_usage_with_discount is deprecated.
-     *     See app/v1/billing.proto;l=131
+     *     See app/v1/billing.proto;l=137
      * @return The totalUsageWithDiscount.
      */
     @java.lang.Deprecated double getTotalUsageWithDiscount();
@@ -4684,7 +4684,7 @@ public interface GetCurrentMonthUsageResponseOrBuilder extends
     /**
      * <code>double total_usage_without_discount = 10 [json_name = "totalUsageWithoutDiscount", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.total_usage_without_discount is deprecated.
-     *     See app/v1/billing.proto;l=132
+     *     See app/v1/billing.proto;l=138
      * @return The totalUsageWithoutDiscount.
      */
     @java.lang.Deprecated double getTotalUsageWithoutDiscount();
@@ -4692,7 +4692,7 @@ public interface GetCurrentMonthUsageResponseOrBuilder extends
     /**
      * <code>double per_machine_usage_cost = 11 [json_name = "perMachineUsageCost", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.per_machine_usage_cost is deprecated.
-     *     See app/v1/billing.proto;l=133
+     *     See app/v1/billing.proto;l=139
      * @return The perMachineUsageCost.
      */
     @java.lang.Deprecated double getPerMachineUsageCost();
@@ -4700,7 +4700,7 @@ public interface GetCurrentMonthUsageResponseOrBuilder extends
     /**
      * <code>double binary_data_cloud_storage_usage_cost = 12 [json_name = "binaryDataCloudStorageUsageCost", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.binary_data_cloud_storage_usage_cost is deprecated.
-     *     See app/v1/billing.proto;l=134
+     *     See app/v1/billing.proto;l=140
      * @return The binaryDataCloudStorageUsageCost.
      */
     @java.lang.Deprecated double getBinaryDataCloudStorageUsageCost();
@@ -4708,7 +4708,7 @@ public interface GetCurrentMonthUsageResponseOrBuilder extends
     /**
      * <code>double other_cloud_storage_usage_cost = 13 [json_name = "otherCloudStorageUsageCost", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.other_cloud_storage_usage_cost is deprecated.
-     *     See app/v1/billing.proto;l=135
+     *     See app/v1/billing.proto;l=141
      * @return The otherCloudStorageUsageCost.
      */
     @java.lang.Deprecated double getOtherCloudStorageUsageCost();
@@ -4946,7 +4946,7 @@ private void clearSubtotal() {
      *
      * <code>double cloud_storage_usage_cost = 3 [json_name = "cloudStorageUsageCost", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.cloud_storage_usage_cost is deprecated.
-     *     See app/v1/billing.proto;l=125
+     *     See app/v1/billing.proto;l=131
      * @return The cloudStorageUsageCost.
      */
     @java.lang.Override
@@ -4960,7 +4960,7 @@ private void clearSubtotal() {
      *
      * <code>double cloud_storage_usage_cost = 3 [json_name = "cloudStorageUsageCost", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.cloud_storage_usage_cost is deprecated.
-     *     See app/v1/billing.proto;l=125
+     *     See app/v1/billing.proto;l=131
      * @param value The cloudStorageUsageCost to set.
      */
     private void setCloudStorageUsageCost(double value) {
@@ -4974,7 +4974,7 @@ private void setCloudStorageUsageCost(double value) {
      *
      * <code>double cloud_storage_usage_cost = 3 [json_name = "cloudStorageUsageCost", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.cloud_storage_usage_cost is deprecated.
-     *     See app/v1/billing.proto;l=125
+     *     See app/v1/billing.proto;l=131
      */
     private void clearCloudStorageUsageCost() {
 
@@ -4986,7 +4986,7 @@ private void clearCloudStorageUsageCost() {
     /**
      * <code>double data_upload_usage_cost = 4 [json_name = "dataUploadUsageCost", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.data_upload_usage_cost is deprecated.
-     *     See app/v1/billing.proto;l=126
+     *     See app/v1/billing.proto;l=132
      * @return The dataUploadUsageCost.
      */
     @java.lang.Override
@@ -4996,7 +4996,7 @@ private void clearCloudStorageUsageCost() {
     /**
      * <code>double data_upload_usage_cost = 4 [json_name = "dataUploadUsageCost", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.data_upload_usage_cost is deprecated.
-     *     See app/v1/billing.proto;l=126
+     *     See app/v1/billing.proto;l=132
      * @param value The dataUploadUsageCost to set.
      */
     private void setDataUploadUsageCost(double value) {
@@ -5006,7 +5006,7 @@ private void setDataUploadUsageCost(double value) {
     /**
      * <code>double data_upload_usage_cost = 4 [json_name = "dataUploadUsageCost", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.data_upload_usage_cost is deprecated.
-     *     See app/v1/billing.proto;l=126
+     *     See app/v1/billing.proto;l=132
      */
     private void clearDataUploadUsageCost() {
 
@@ -5018,7 +5018,7 @@ private void clearDataUploadUsageCost() {
     /**
      * <code>double data_egres_usage_cost = 5 [json_name = "dataEgresUsageCost", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.data_egres_usage_cost is deprecated.
-     *     See app/v1/billing.proto;l=127
+     *     See app/v1/billing.proto;l=133
      * @return The dataEgresUsageCost.
      */
     @java.lang.Override
@@ -5028,7 +5028,7 @@ private void clearDataUploadUsageCost() {
     /**
      * <code>double data_egres_usage_cost = 5 [json_name = "dataEgresUsageCost", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.data_egres_usage_cost is deprecated.
-     *     See app/v1/billing.proto;l=127
+     *     See app/v1/billing.proto;l=133
      * @param value The dataEgresUsageCost to set.
      */
     private void setDataEgresUsageCost(double value) {
@@ -5038,7 +5038,7 @@ private void setDataEgresUsageCost(double value) {
     /**
      * <code>double data_egres_usage_cost = 5 [json_name = "dataEgresUsageCost", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.data_egres_usage_cost is deprecated.
-     *     See app/v1/billing.proto;l=127
+     *     See app/v1/billing.proto;l=133
      */
     private void clearDataEgresUsageCost() {
 
@@ -5050,7 +5050,7 @@ private void clearDataEgresUsageCost() {
     /**
      * <code>double remote_control_usage_cost = 6 [json_name = "remoteControlUsageCost", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.remote_control_usage_cost is deprecated.
-     *     See app/v1/billing.proto;l=128
+     *     See app/v1/billing.proto;l=134
      * @return The remoteControlUsageCost.
      */
     @java.lang.Override
@@ -5060,7 +5060,7 @@ private void clearDataEgresUsageCost() {
     /**
      * <code>double remote_control_usage_cost = 6 [json_name = "remoteControlUsageCost", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.remote_control_usage_cost is deprecated.
-     *     See app/v1/billing.proto;l=128
+     *     See app/v1/billing.proto;l=134
      * @param value The remoteControlUsageCost to set.
      */
     private void setRemoteControlUsageCost(double value) {
@@ -5070,7 +5070,7 @@ private void setRemoteControlUsageCost(double value) {
     /**
      * <code>double remote_control_usage_cost = 6 [json_name = "remoteControlUsageCost", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.remote_control_usage_cost is deprecated.
-     *     See app/v1/billing.proto;l=128
+     *     See app/v1/billing.proto;l=134
      */
     private void clearRemoteControlUsageCost() {
 
@@ -5082,7 +5082,7 @@ private void clearRemoteControlUsageCost() {
     /**
      * <code>double standard_compute_usage_cost = 7 [json_name = "standardComputeUsageCost", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.standard_compute_usage_cost is deprecated.
-     *     See app/v1/billing.proto;l=129
+     *     See app/v1/billing.proto;l=135
      * @return The standardComputeUsageCost.
      */
     @java.lang.Override
@@ -5092,7 +5092,7 @@ private void clearRemoteControlUsageCost() {
     /**
      * <code>double standard_compute_usage_cost = 7 [json_name = "standardComputeUsageCost", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.standard_compute_usage_cost is deprecated.
-     *     See app/v1/billing.proto;l=129
+     *     See app/v1/billing.proto;l=135
      * @param value The standardComputeUsageCost to set.
      */
     private void setStandardComputeUsageCost(double value) {
@@ -5102,7 +5102,7 @@ private void setStandardComputeUsageCost(double value) {
     /**
      * <code>double standard_compute_usage_cost = 7 [json_name = "standardComputeUsageCost", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.standard_compute_usage_cost is deprecated.
-     *     See app/v1/billing.proto;l=129
+     *     See app/v1/billing.proto;l=135
      */
     private void clearStandardComputeUsageCost() {
 
@@ -5114,7 +5114,7 @@ private void clearStandardComputeUsageCost() {
     /**
      * <code>double discount_amount = 8 [json_name = "discountAmount", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.discount_amount is deprecated.
-     *     See app/v1/billing.proto;l=130
+     *     See app/v1/billing.proto;l=136
      * @return The discountAmount.
      */
     @java.lang.Override
@@ -5124,7 +5124,7 @@ private void clearStandardComputeUsageCost() {
     /**
      * <code>double discount_amount = 8 [json_name = "discountAmount", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.discount_amount is deprecated.
-     *     See app/v1/billing.proto;l=130
+     *     See app/v1/billing.proto;l=136
      * @param value The discountAmount to set.
      */
     private void setDiscountAmount(double value) {
@@ -5134,7 +5134,7 @@ private void setDiscountAmount(double value) {
     /**
      * <code>double discount_amount = 8 [json_name = "discountAmount", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.discount_amount is deprecated.
-     *     See app/v1/billing.proto;l=130
+     *     See app/v1/billing.proto;l=136
      */
     private void clearDiscountAmount() {
 
@@ -5146,7 +5146,7 @@ private void clearDiscountAmount() {
     /**
      * <code>double total_usage_with_discount = 9 [json_name = "totalUsageWithDiscount", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.total_usage_with_discount is deprecated.
-     *     See app/v1/billing.proto;l=131
+     *     See app/v1/billing.proto;l=137
      * @return The totalUsageWithDiscount.
      */
     @java.lang.Override
@@ -5156,7 +5156,7 @@ private void clearDiscountAmount() {
     /**
      * <code>double total_usage_with_discount = 9 [json_name = "totalUsageWithDiscount", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.total_usage_with_discount is deprecated.
-     *     See app/v1/billing.proto;l=131
+     *     See app/v1/billing.proto;l=137
      * @param value The totalUsageWithDiscount to set.
      */
     private void setTotalUsageWithDiscount(double value) {
@@ -5166,7 +5166,7 @@ private void setTotalUsageWithDiscount(double value) {
     /**
      * <code>double total_usage_with_discount = 9 [json_name = "totalUsageWithDiscount", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.total_usage_with_discount is deprecated.
-     *     See app/v1/billing.proto;l=131
+     *     See app/v1/billing.proto;l=137
      */
     private void clearTotalUsageWithDiscount() {
 
@@ -5178,7 +5178,7 @@ private void clearTotalUsageWithDiscount() {
     /**
      * <code>double total_usage_without_discount = 10 [json_name = "totalUsageWithoutDiscount", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.total_usage_without_discount is deprecated.
-     *     See app/v1/billing.proto;l=132
+     *     See app/v1/billing.proto;l=138
      * @return The totalUsageWithoutDiscount.
      */
     @java.lang.Override
@@ -5188,7 +5188,7 @@ private void clearTotalUsageWithDiscount() {
     /**
      * <code>double total_usage_without_discount = 10 [json_name = "totalUsageWithoutDiscount", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.total_usage_without_discount is deprecated.
-     *     See app/v1/billing.proto;l=132
+     *     See app/v1/billing.proto;l=138
      * @param value The totalUsageWithoutDiscount to set.
      */
     private void setTotalUsageWithoutDiscount(double value) {
@@ -5198,7 +5198,7 @@ private void setTotalUsageWithoutDiscount(double value) {
     /**
      * <code>double total_usage_without_discount = 10 [json_name = "totalUsageWithoutDiscount", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.total_usage_without_discount is deprecated.
-     *     See app/v1/billing.proto;l=132
+     *     See app/v1/billing.proto;l=138
      */
     private void clearTotalUsageWithoutDiscount() {
 
@@ -5210,7 +5210,7 @@ private void clearTotalUsageWithoutDiscount() {
     /**
      * <code>double per_machine_usage_cost = 11 [json_name = "perMachineUsageCost", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.per_machine_usage_cost is deprecated.
-     *     See app/v1/billing.proto;l=133
+     *     See app/v1/billing.proto;l=139
      * @return The perMachineUsageCost.
      */
     @java.lang.Override
@@ -5220,7 +5220,7 @@ private void clearTotalUsageWithoutDiscount() {
     /**
      * <code>double per_machine_usage_cost = 11 [json_name = "perMachineUsageCost", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.per_machine_usage_cost is deprecated.
-     *     See app/v1/billing.proto;l=133
+     *     See app/v1/billing.proto;l=139
      * @param value The perMachineUsageCost to set.
      */
     private void setPerMachineUsageCost(double value) {
@@ -5230,7 +5230,7 @@ private void setPerMachineUsageCost(double value) {
     /**
      * <code>double per_machine_usage_cost = 11 [json_name = "perMachineUsageCost", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.per_machine_usage_cost is deprecated.
-     *     See app/v1/billing.proto;l=133
+     *     See app/v1/billing.proto;l=139
      */
     private void clearPerMachineUsageCost() {
 
@@ -5242,7 +5242,7 @@ private void clearPerMachineUsageCost() {
     /**
      * <code>double binary_data_cloud_storage_usage_cost = 12 [json_name = "binaryDataCloudStorageUsageCost", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.binary_data_cloud_storage_usage_cost is deprecated.
-     *     See app/v1/billing.proto;l=134
+     *     See app/v1/billing.proto;l=140
      * @return The binaryDataCloudStorageUsageCost.
      */
     @java.lang.Override
@@ -5252,7 +5252,7 @@ private void clearPerMachineUsageCost() {
     /**
      * <code>double binary_data_cloud_storage_usage_cost = 12 [json_name = "binaryDataCloudStorageUsageCost", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.binary_data_cloud_storage_usage_cost is deprecated.
-     *     See app/v1/billing.proto;l=134
+     *     See app/v1/billing.proto;l=140
      * @param value The binaryDataCloudStorageUsageCost to set.
      */
     private void setBinaryDataCloudStorageUsageCost(double value) {
@@ -5262,7 +5262,7 @@ private void setBinaryDataCloudStorageUsageCost(double value) {
     /**
      * <code>double binary_data_cloud_storage_usage_cost = 12 [json_name = "binaryDataCloudStorageUsageCost", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.binary_data_cloud_storage_usage_cost is deprecated.
-     *     See app/v1/billing.proto;l=134
+     *     See app/v1/billing.proto;l=140
      */
     private void clearBinaryDataCloudStorageUsageCost() {
 
@@ -5274,7 +5274,7 @@ private void clearBinaryDataCloudStorageUsageCost() {
     /**
      * <code>double other_cloud_storage_usage_cost = 13 [json_name = "otherCloudStorageUsageCost", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.other_cloud_storage_usage_cost is deprecated.
-     *     See app/v1/billing.proto;l=135
+     *     See app/v1/billing.proto;l=141
      * @return The otherCloudStorageUsageCost.
      */
     @java.lang.Override
@@ -5284,7 +5284,7 @@ private void clearBinaryDataCloudStorageUsageCost() {
     /**
      * <code>double other_cloud_storage_usage_cost = 13 [json_name = "otherCloudStorageUsageCost", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.other_cloud_storage_usage_cost is deprecated.
-     *     See app/v1/billing.proto;l=135
+     *     See app/v1/billing.proto;l=141
      * @param value The otherCloudStorageUsageCost to set.
      */
     private void setOtherCloudStorageUsageCost(double value) {
@@ -5294,7 +5294,7 @@ private void setOtherCloudStorageUsageCost(double value) {
     /**
      * <code>double other_cloud_storage_usage_cost = 13 [json_name = "otherCloudStorageUsageCost", deprecated = true];</code>
      * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.other_cloud_storage_usage_cost is deprecated.
-     *     See app/v1/billing.proto;l=135
+     *     See app/v1/billing.proto;l=141
      */
     private void clearOtherCloudStorageUsageCost() {
 
@@ -5629,7 +5629,7 @@ public Builder clearSubtotal() {
        *
        * <code>double cloud_storage_usage_cost = 3 [json_name = "cloudStorageUsageCost", deprecated = true];</code>
        * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.cloud_storage_usage_cost is deprecated.
-       *     See app/v1/billing.proto;l=125
+       *     See app/v1/billing.proto;l=131
        * @return The cloudStorageUsageCost.
        */
       @java.lang.Override
@@ -5643,7 +5643,7 @@ public Builder clearSubtotal() {
        *
        * <code>double cloud_storage_usage_cost = 3 [json_name = "cloudStorageUsageCost", deprecated = true];</code>
        * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.cloud_storage_usage_cost is deprecated.
-       *     See app/v1/billing.proto;l=125
+       *     See app/v1/billing.proto;l=131
        * @param value The cloudStorageUsageCost to set.
        * @return This builder for chaining.
        */
@@ -5659,7 +5659,7 @@ public Builder clearSubtotal() {
        *
        * <code>double cloud_storage_usage_cost = 3 [json_name = "cloudStorageUsageCost", deprecated = true];</code>
        * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.cloud_storage_usage_cost is deprecated.
-       *     See app/v1/billing.proto;l=125
+       *     See app/v1/billing.proto;l=131
        * @return This builder for chaining.
        */
       @java.lang.Deprecated public Builder clearCloudStorageUsageCost() {
@@ -5671,7 +5671,7 @@ public Builder clearSubtotal() {
       /**
        * <code>double data_upload_usage_cost = 4 [json_name = "dataUploadUsageCost", deprecated = true];</code>
        * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.data_upload_usage_cost is deprecated.
-       *     See app/v1/billing.proto;l=126
+       *     See app/v1/billing.proto;l=132
        * @return The dataUploadUsageCost.
        */
       @java.lang.Override
@@ -5681,7 +5681,7 @@ public Builder clearSubtotal() {
       /**
        * <code>double data_upload_usage_cost = 4 [json_name = "dataUploadUsageCost", deprecated = true];</code>
        * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.data_upload_usage_cost is deprecated.
-       *     See app/v1/billing.proto;l=126
+       *     See app/v1/billing.proto;l=132
        * @param value The dataUploadUsageCost to set.
        * @return This builder for chaining.
        */
@@ -5693,7 +5693,7 @@ public Builder clearSubtotal() {
       /**
        * <code>double data_upload_usage_cost = 4 [json_name = "dataUploadUsageCost", deprecated = true];</code>
        * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.data_upload_usage_cost is deprecated.
-       *     See app/v1/billing.proto;l=126
+       *     See app/v1/billing.proto;l=132
        * @return This builder for chaining.
        */
       @java.lang.Deprecated public Builder clearDataUploadUsageCost() {
@@ -5705,7 +5705,7 @@ public Builder clearSubtotal() {
       /**
        * <code>double data_egres_usage_cost = 5 [json_name = "dataEgresUsageCost", deprecated = true];</code>
        * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.data_egres_usage_cost is deprecated.
-       *     See app/v1/billing.proto;l=127
+       *     See app/v1/billing.proto;l=133
        * @return The dataEgresUsageCost.
        */
       @java.lang.Override
@@ -5715,7 +5715,7 @@ public Builder clearSubtotal() {
       /**
        * <code>double data_egres_usage_cost = 5 [json_name = "dataEgresUsageCost", deprecated = true];</code>
        * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.data_egres_usage_cost is deprecated.
-       *     See app/v1/billing.proto;l=127
+       *     See app/v1/billing.proto;l=133
        * @param value The dataEgresUsageCost to set.
        * @return This builder for chaining.
        */
@@ -5727,7 +5727,7 @@ public Builder clearSubtotal() {
       /**
        * <code>double data_egres_usage_cost = 5 [json_name = "dataEgresUsageCost", deprecated = true];</code>
        * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.data_egres_usage_cost is deprecated.
-       *     See app/v1/billing.proto;l=127
+       *     See app/v1/billing.proto;l=133
        * @return This builder for chaining.
        */
       @java.lang.Deprecated public Builder clearDataEgresUsageCost() {
@@ -5739,7 +5739,7 @@ public Builder clearSubtotal() {
       /**
        * <code>double remote_control_usage_cost = 6 [json_name = "remoteControlUsageCost", deprecated = true];</code>
        * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.remote_control_usage_cost is deprecated.
-       *     See app/v1/billing.proto;l=128
+       *     See app/v1/billing.proto;l=134
        * @return The remoteControlUsageCost.
        */
       @java.lang.Override
@@ -5749,7 +5749,7 @@ public Builder clearSubtotal() {
       /**
        * <code>double remote_control_usage_cost = 6 [json_name = "remoteControlUsageCost", deprecated = true];</code>
        * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.remote_control_usage_cost is deprecated.
-       *     See app/v1/billing.proto;l=128
+       *     See app/v1/billing.proto;l=134
        * @param value The remoteControlUsageCost to set.
        * @return This builder for chaining.
        */
@@ -5761,7 +5761,7 @@ public Builder clearSubtotal() {
       /**
        * <code>double remote_control_usage_cost = 6 [json_name = "remoteControlUsageCost", deprecated = true];</code>
        * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.remote_control_usage_cost is deprecated.
-       *     See app/v1/billing.proto;l=128
+       *     See app/v1/billing.proto;l=134
        * @return This builder for chaining.
        */
       @java.lang.Deprecated public Builder clearRemoteControlUsageCost() {
@@ -5773,7 +5773,7 @@ public Builder clearSubtotal() {
       /**
        * <code>double standard_compute_usage_cost = 7 [json_name = "standardComputeUsageCost", deprecated = true];</code>
        * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.standard_compute_usage_cost is deprecated.
-       *     See app/v1/billing.proto;l=129
+       *     See app/v1/billing.proto;l=135
        * @return The standardComputeUsageCost.
        */
       @java.lang.Override
@@ -5783,7 +5783,7 @@ public Builder clearSubtotal() {
       /**
        * <code>double standard_compute_usage_cost = 7 [json_name = "standardComputeUsageCost", deprecated = true];</code>
        * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.standard_compute_usage_cost is deprecated.
-       *     See app/v1/billing.proto;l=129
+       *     See app/v1/billing.proto;l=135
        * @param value The standardComputeUsageCost to set.
        * @return This builder for chaining.
        */
@@ -5795,7 +5795,7 @@ public Builder clearSubtotal() {
       /**
        * <code>double standard_compute_usage_cost = 7 [json_name = "standardComputeUsageCost", deprecated = true];</code>
        * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.standard_compute_usage_cost is deprecated.
-       *     See app/v1/billing.proto;l=129
+       *     See app/v1/billing.proto;l=135
        * @return This builder for chaining.
        */
       @java.lang.Deprecated public Builder clearStandardComputeUsageCost() {
@@ -5807,7 +5807,7 @@ public Builder clearSubtotal() {
       /**
        * <code>double discount_amount = 8 [json_name = "discountAmount", deprecated = true];</code>
        * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.discount_amount is deprecated.
-       *     See app/v1/billing.proto;l=130
+       *     See app/v1/billing.proto;l=136
        * @return The discountAmount.
        */
       @java.lang.Override
@@ -5817,7 +5817,7 @@ public Builder clearSubtotal() {
       /**
        * <code>double discount_amount = 8 [json_name = "discountAmount", deprecated = true];</code>
        * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.discount_amount is deprecated.
-       *     See app/v1/billing.proto;l=130
+       *     See app/v1/billing.proto;l=136
        * @param value The discountAmount to set.
        * @return This builder for chaining.
        */
@@ -5829,7 +5829,7 @@ public Builder clearSubtotal() {
       /**
        * <code>double discount_amount = 8 [json_name = "discountAmount", deprecated = true];</code>
        * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.discount_amount is deprecated.
-       *     See app/v1/billing.proto;l=130
+       *     See app/v1/billing.proto;l=136
        * @return This builder for chaining.
        */
       @java.lang.Deprecated public Builder clearDiscountAmount() {
@@ -5841,7 +5841,7 @@ public Builder clearSubtotal() {
       /**
        * <code>double total_usage_with_discount = 9 [json_name = "totalUsageWithDiscount", deprecated = true];</code>
        * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.total_usage_with_discount is deprecated.
-       *     See app/v1/billing.proto;l=131
+       *     See app/v1/billing.proto;l=137
        * @return The totalUsageWithDiscount.
        */
       @java.lang.Override
@@ -5851,7 +5851,7 @@ public Builder clearSubtotal() {
       /**
        * <code>double total_usage_with_discount = 9 [json_name = "totalUsageWithDiscount", deprecated = true];</code>
        * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.total_usage_with_discount is deprecated.
-       *     See app/v1/billing.proto;l=131
+       *     See app/v1/billing.proto;l=137
        * @param value The totalUsageWithDiscount to set.
        * @return This builder for chaining.
        */
@@ -5863,7 +5863,7 @@ public Builder clearSubtotal() {
       /**
        * <code>double total_usage_with_discount = 9 [json_name = "totalUsageWithDiscount", deprecated = true];</code>
        * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.total_usage_with_discount is deprecated.
-       *     See app/v1/billing.proto;l=131
+       *     See app/v1/billing.proto;l=137
        * @return This builder for chaining.
        */
       @java.lang.Deprecated public Builder clearTotalUsageWithDiscount() {
@@ -5875,7 +5875,7 @@ public Builder clearSubtotal() {
       /**
        * <code>double total_usage_without_discount = 10 [json_name = "totalUsageWithoutDiscount", deprecated = true];</code>
        * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.total_usage_without_discount is deprecated.
-       *     See app/v1/billing.proto;l=132
+       *     See app/v1/billing.proto;l=138
        * @return The totalUsageWithoutDiscount.
        */
       @java.lang.Override
@@ -5885,7 +5885,7 @@ public Builder clearSubtotal() {
       /**
        * <code>double total_usage_without_discount = 10 [json_name = "totalUsageWithoutDiscount", deprecated = true];</code>
        * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.total_usage_without_discount is deprecated.
-       *     See app/v1/billing.proto;l=132
+       *     See app/v1/billing.proto;l=138
        * @param value The totalUsageWithoutDiscount to set.
        * @return This builder for chaining.
        */
@@ -5897,7 +5897,7 @@ public Builder clearSubtotal() {
       /**
        * <code>double total_usage_without_discount = 10 [json_name = "totalUsageWithoutDiscount", deprecated = true];</code>
        * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.total_usage_without_discount is deprecated.
-       *     See app/v1/billing.proto;l=132
+       *     See app/v1/billing.proto;l=138
        * @return This builder for chaining.
        */
       @java.lang.Deprecated public Builder clearTotalUsageWithoutDiscount() {
@@ -5909,7 +5909,7 @@ public Builder clearSubtotal() {
       /**
        * <code>double per_machine_usage_cost = 11 [json_name = "perMachineUsageCost", deprecated = true];</code>
        * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.per_machine_usage_cost is deprecated.
-       *     See app/v1/billing.proto;l=133
+       *     See app/v1/billing.proto;l=139
        * @return The perMachineUsageCost.
        */
       @java.lang.Override
@@ -5919,7 +5919,7 @@ public Builder clearSubtotal() {
       /**
        * <code>double per_machine_usage_cost = 11 [json_name = "perMachineUsageCost", deprecated = true];</code>
        * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.per_machine_usage_cost is deprecated.
-       *     See app/v1/billing.proto;l=133
+       *     See app/v1/billing.proto;l=139
        * @param value The perMachineUsageCost to set.
        * @return This builder for chaining.
        */
@@ -5931,7 +5931,7 @@ public Builder clearSubtotal() {
       /**
        * <code>double per_machine_usage_cost = 11 [json_name = "perMachineUsageCost", deprecated = true];</code>
        * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.per_machine_usage_cost is deprecated.
-       *     See app/v1/billing.proto;l=133
+       *     See app/v1/billing.proto;l=139
        * @return This builder for chaining.
        */
       @java.lang.Deprecated public Builder clearPerMachineUsageCost() {
@@ -5943,7 +5943,7 @@ public Builder clearSubtotal() {
       /**
        * <code>double binary_data_cloud_storage_usage_cost = 12 [json_name = "binaryDataCloudStorageUsageCost", deprecated = true];</code>
        * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.binary_data_cloud_storage_usage_cost is deprecated.
-       *     See app/v1/billing.proto;l=134
+       *     See app/v1/billing.proto;l=140
        * @return The binaryDataCloudStorageUsageCost.
        */
       @java.lang.Override
@@ -5953,7 +5953,7 @@ public Builder clearSubtotal() {
       /**
        * <code>double binary_data_cloud_storage_usage_cost = 12 [json_name = "binaryDataCloudStorageUsageCost", deprecated = true];</code>
        * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.binary_data_cloud_storage_usage_cost is deprecated.
-       *     See app/v1/billing.proto;l=134
+       *     See app/v1/billing.proto;l=140
        * @param value The binaryDataCloudStorageUsageCost to set.
        * @return This builder for chaining.
        */
@@ -5965,7 +5965,7 @@ public Builder clearSubtotal() {
       /**
        * <code>double binary_data_cloud_storage_usage_cost = 12 [json_name = "binaryDataCloudStorageUsageCost", deprecated = true];</code>
        * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.binary_data_cloud_storage_usage_cost is deprecated.
-       *     See app/v1/billing.proto;l=134
+       *     See app/v1/billing.proto;l=140
        * @return This builder for chaining.
        */
       @java.lang.Deprecated public Builder clearBinaryDataCloudStorageUsageCost() {
@@ -5977,7 +5977,7 @@ public Builder clearSubtotal() {
       /**
        * <code>double other_cloud_storage_usage_cost = 13 [json_name = "otherCloudStorageUsageCost", deprecated = true];</code>
        * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.other_cloud_storage_usage_cost is deprecated.
-       *     See app/v1/billing.proto;l=135
+       *     See app/v1/billing.proto;l=141
        * @return The otherCloudStorageUsageCost.
        */
       @java.lang.Override
@@ -5987,7 +5987,7 @@ public Builder clearSubtotal() {
       /**
        * <code>double other_cloud_storage_usage_cost = 13 [json_name = "otherCloudStorageUsageCost", deprecated = true];</code>
        * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.other_cloud_storage_usage_cost is deprecated.
-       *     See app/v1/billing.proto;l=135
+       *     See app/v1/billing.proto;l=141
        * @param value The otherCloudStorageUsageCost to set.
        * @return This builder for chaining.
        */
@@ -5999,7 +5999,7 @@ public Builder clearSubtotal() {
       /**
        * <code>double other_cloud_storage_usage_cost = 13 [json_name = "otherCloudStorageUsageCost", deprecated = true];</code>
        * @deprecated viam.app.v1.GetCurrentMonthUsageResponse.other_cloud_storage_usage_cost is deprecated.
-       *     See app/v1/billing.proto;l=135
+       *     See app/v1/billing.proto;l=141
        * @return This builder for chaining.
        */
       @java.lang.Deprecated public Builder clearOtherCloudStorageUsageCost() {
@@ -10585,204 +10585,2419 @@ public static com.google.protobuf.Parser<UpdateOrganizationBillingTierResponse>
     }
   }
 
-  public interface CreateInvoiceAndChargeImmediatelyRequestOrBuilder extends
-      // @@protoc_insertion_point(interface_extends:viam.app.v1.CreateInvoiceAndChargeImmediatelyRequest)
+  public interface GetLocationBillingOrganizationRequestOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:viam.app.v1.GetLocationBillingOrganizationRequest)
       com.google.protobuf.MessageLiteOrBuilder {
 
     /**
-     * <code>string org_id_to_charge = 1 [json_name = "orgIdToCharge"];</code>
-     * @return The orgIdToCharge.
-     */
-    java.lang.String getOrgIdToCharge();
-    /**
-     * <code>string org_id_to_charge = 1 [json_name = "orgIdToCharge"];</code>
-     * @return The bytes for orgIdToCharge.
-     */
-    com.google.protobuf.ByteString
-        getOrgIdToChargeBytes();
-
-    /**
-     * <code>double amount = 2 [json_name = "amount"];</code>
-     * @return The amount.
-     */
-    double getAmount();
-
-    /**
-     * <code>optional string description = 3 [json_name = "description"];</code>
-     * @return Whether the description field is set.
-     */
-    boolean hasDescription();
-    /**
-     * <code>optional string description = 3 [json_name = "description"];</code>
-     * @return The description.
-     */
-    java.lang.String getDescription();
-    /**
-     * <code>optional string description = 3 [json_name = "description"];</code>
-     * @return The bytes for description.
-     */
-    com.google.protobuf.ByteString
-        getDescriptionBytes();
-
-    /**
-     * <code>optional string org_id_for_branding = 4 [json_name = "orgIdForBranding"];</code>
-     * @return Whether the orgIdForBranding field is set.
-     */
-    boolean hasOrgIdForBranding();
-    /**
-     * <code>optional string org_id_for_branding = 4 [json_name = "orgIdForBranding"];</code>
-     * @return The orgIdForBranding.
+     * <code>string location_id = 1 [json_name = "locationId"];</code>
+     * @return The locationId.
      */
-    java.lang.String getOrgIdForBranding();
+    java.lang.String getLocationId();
     /**
-     * <code>optional string org_id_for_branding = 4 [json_name = "orgIdForBranding"];</code>
-     * @return The bytes for orgIdForBranding.
+     * <code>string location_id = 1 [json_name = "locationId"];</code>
+     * @return The bytes for locationId.
      */
     com.google.protobuf.ByteString
-        getOrgIdForBrandingBytes();
-
-    /**
-     * <code>bool disable_email = 5 [json_name = "disableEmail"];</code>
-     * @return The disableEmail.
-     */
-    boolean getDisableEmail();
+        getLocationIdBytes();
   }
   /**
-   * Protobuf type {@code viam.app.v1.CreateInvoiceAndChargeImmediatelyRequest}
+   * Protobuf type {@code viam.app.v1.GetLocationBillingOrganizationRequest}
    */
-  public  static final class CreateInvoiceAndChargeImmediatelyRequest extends
+  public  static final class GetLocationBillingOrganizationRequest extends
       com.google.protobuf.GeneratedMessageLite<
-          CreateInvoiceAndChargeImmediatelyRequest, CreateInvoiceAndChargeImmediatelyRequest.Builder> implements
-      // @@protoc_insertion_point(message_implements:viam.app.v1.CreateInvoiceAndChargeImmediatelyRequest)
-      CreateInvoiceAndChargeImmediatelyRequestOrBuilder {
-    private CreateInvoiceAndChargeImmediatelyRequest() {
-      orgIdToCharge_ = "";
-      description_ = "";
-      orgIdForBranding_ = "";
+          GetLocationBillingOrganizationRequest, GetLocationBillingOrganizationRequest.Builder> implements
+      // @@protoc_insertion_point(message_implements:viam.app.v1.GetLocationBillingOrganizationRequest)
+      GetLocationBillingOrganizationRequestOrBuilder {
+    private GetLocationBillingOrganizationRequest() {
+      locationId_ = "";
     }
-    private int bitField0_;
-    public static final int ORG_ID_TO_CHARGE_FIELD_NUMBER = 1;
-    private java.lang.String orgIdToCharge_;
+    public static final int LOCATION_ID_FIELD_NUMBER = 1;
+    private java.lang.String locationId_;
     /**
-     * <code>string org_id_to_charge = 1 [json_name = "orgIdToCharge"];</code>
-     * @return The orgIdToCharge.
+     * <code>string location_id = 1 [json_name = "locationId"];</code>
+     * @return The locationId.
      */
     @java.lang.Override
-    public java.lang.String getOrgIdToCharge() {
-      return orgIdToCharge_;
+    public java.lang.String getLocationId() {
+      return locationId_;
     }
     /**
-     * <code>string org_id_to_charge = 1 [json_name = "orgIdToCharge"];</code>
-     * @return The bytes for orgIdToCharge.
+     * <code>string location_id = 1 [json_name = "locationId"];</code>
+     * @return The bytes for locationId.
      */
     @java.lang.Override
     public com.google.protobuf.ByteString
-        getOrgIdToChargeBytes() {
-      return com.google.protobuf.ByteString.copyFromUtf8(orgIdToCharge_);
+        getLocationIdBytes() {
+      return com.google.protobuf.ByteString.copyFromUtf8(locationId_);
     }
     /**
-     * <code>string org_id_to_charge = 1 [json_name = "orgIdToCharge"];</code>
-     * @param value The orgIdToCharge to set.
+     * <code>string location_id = 1 [json_name = "locationId"];</code>
+     * @param value The locationId to set.
      */
-    private void setOrgIdToCharge(
+    private void setLocationId(
         java.lang.String value) {
       java.lang.Class<?> valueClass = value.getClass();
   
-      orgIdToCharge_ = value;
+      locationId_ = value;
     }
     /**
-     * <code>string org_id_to_charge = 1 [json_name = "orgIdToCharge"];</code>
+     * <code>string location_id = 1 [json_name = "locationId"];</code>
      */
-    private void clearOrgIdToCharge() {
+    private void clearLocationId() {
 
-      orgIdToCharge_ = getDefaultInstance().getOrgIdToCharge();
+      locationId_ = getDefaultInstance().getLocationId();
     }
     /**
-     * <code>string org_id_to_charge = 1 [json_name = "orgIdToCharge"];</code>
-     * @param value The bytes for orgIdToCharge to set.
+     * <code>string location_id = 1 [json_name = "locationId"];</code>
+     * @param value The bytes for locationId to set.
      */
-    private void setOrgIdToChargeBytes(
+    private void setLocationIdBytes(
         com.google.protobuf.ByteString value) {
       checkByteStringIsUtf8(value);
-      orgIdToCharge_ = value.toStringUtf8();
+      locationId_ = value.toStringUtf8();
 
     }
 
-    public static final int AMOUNT_FIELD_NUMBER = 2;
-    private double amount_;
-    /**
-     * <code>double amount = 2 [json_name = "amount"];</code>
-     * @return The amount.
-     */
-    @java.lang.Override
-    public double getAmount() {
-      return amount_;
+    public static viam.app.v1.Billing.GetLocationBillingOrganizationRequest parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
     }
-    /**
-     * <code>double amount = 2 [json_name = "amount"];</code>
-     * @param value The amount to set.
-     */
-    private void setAmount(double value) {
-      
-      amount_ = value;
+    public static viam.app.v1.Billing.GetLocationBillingOrganizationRequest parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    /**
-     * <code>double amount = 2 [json_name = "amount"];</code>
-     */
-    private void clearAmount() {
-
-      amount_ = 0D;
+    public static viam.app.v1.Billing.GetLocationBillingOrganizationRequest parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
     }
-
-    public static final int DESCRIPTION_FIELD_NUMBER = 3;
-    private java.lang.String description_;
-    /**
-     * <code>optional string description = 3 [json_name = "description"];</code>
-     * @return Whether the description field is set.
-     */
-    @java.lang.Override
-    public boolean hasDescription() {
-      return ((bitField0_ & 0x00000001) != 0);
+    public static viam.app.v1.Billing.GetLocationBillingOrganizationRequest parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    /**
-     * <code>optional string description = 3 [json_name = "description"];</code>
-     * @return The description.
-     */
-    @java.lang.Override
-    public java.lang.String getDescription() {
-      return description_;
+    public static viam.app.v1.Billing.GetLocationBillingOrganizationRequest parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
     }
-    /**
-     * <code>optional string description = 3 [json_name = "description"];</code>
-     * @return The bytes for description.
-     */
-    @java.lang.Override
-    public com.google.protobuf.ByteString
-        getDescriptionBytes() {
-      return com.google.protobuf.ByteString.copyFromUtf8(description_);
+    public static viam.app.v1.Billing.GetLocationBillingOrganizationRequest parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    /**
-     * <code>optional string description = 3 [json_name = "description"];</code>
-     * @param value The description to set.
-     */
-    private void setDescription(
-        java.lang.String value) {
-      java.lang.Class<?> valueClass = value.getClass();
-  bitField0_ |= 0x00000001;
-      description_ = value;
+    public static viam.app.v1.Billing.GetLocationBillingOrganizationRequest parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
     }
-    /**
-     * <code>optional string description = 3 [json_name = "description"];</code>
-     */
-    private void clearDescription() {
-      bitField0_ = (bitField0_ & ~0x00000001);
-      description_ = getDefaultInstance().getDescription();
+    public static viam.app.v1.Billing.GetLocationBillingOrganizationRequest parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
     }
-    /**
-     * <code>optional string description = 3 [json_name = "description"];</code>
-     * @param value The bytes for description to set.
-     */
-    private void setDescriptionBytes(
+
+    public static viam.app.v1.Billing.GetLocationBillingOrganizationRequest parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input);
+    }
+
+    public static viam.app.v1.Billing.GetLocationBillingOrganizationRequest parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+    public static viam.app.v1.Billing.GetLocationBillingOrganizationRequest parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static viam.app.v1.Billing.GetLocationBillingOrganizationRequest parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static Builder newBuilder() {
+      return (Builder) DEFAULT_INSTANCE.createBuilder();
+    }
+    public static Builder newBuilder(viam.app.v1.Billing.GetLocationBillingOrganizationRequest prototype) {
+      return DEFAULT_INSTANCE.createBuilder(prototype);
+    }
+
+    /**
+     * Protobuf type {@code viam.app.v1.GetLocationBillingOrganizationRequest}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageLite.Builder<
+          viam.app.v1.Billing.GetLocationBillingOrganizationRequest, Builder> implements
+        // @@protoc_insertion_point(builder_implements:viam.app.v1.GetLocationBillingOrganizationRequest)
+        viam.app.v1.Billing.GetLocationBillingOrganizationRequestOrBuilder {
+      // Construct using viam.app.v1.Billing.GetLocationBillingOrganizationRequest.newBuilder()
+      private Builder() {
+        super(DEFAULT_INSTANCE);
+      }
+
+
+      /**
+       * <code>string location_id = 1 [json_name = "locationId"];</code>
+       * @return The locationId.
+       */
+      @java.lang.Override
+      public java.lang.String getLocationId() {
+        return instance.getLocationId();
+      }
+      /**
+       * <code>string location_id = 1 [json_name = "locationId"];</code>
+       * @return The bytes for locationId.
+       */
+      @java.lang.Override
+      public com.google.protobuf.ByteString
+          getLocationIdBytes() {
+        return instance.getLocationIdBytes();
+      }
+      /**
+       * <code>string location_id = 1 [json_name = "locationId"];</code>
+       * @param value The locationId to set.
+       * @return This builder for chaining.
+       */
+      public Builder setLocationId(
+          java.lang.String value) {
+        copyOnWrite();
+        instance.setLocationId(value);
+        return this;
+      }
+      /**
+       * <code>string location_id = 1 [json_name = "locationId"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearLocationId() {
+        copyOnWrite();
+        instance.clearLocationId();
+        return this;
+      }
+      /**
+       * <code>string location_id = 1 [json_name = "locationId"];</code>
+       * @param value The bytes for locationId to set.
+       * @return This builder for chaining.
+       */
+      public Builder setLocationIdBytes(
+          com.google.protobuf.ByteString value) {
+        copyOnWrite();
+        instance.setLocationIdBytes(value);
+        return this;
+      }
+
+      // @@protoc_insertion_point(builder_scope:viam.app.v1.GetLocationBillingOrganizationRequest)
+    }
+    @java.lang.Override
+    @java.lang.SuppressWarnings({"unchecked", "fallthrough"})
+    protected final java.lang.Object dynamicMethod(
+        com.google.protobuf.GeneratedMessageLite.MethodToInvoke method,
+        java.lang.Object arg0, java.lang.Object arg1) {
+      switch (method) {
+        case NEW_MUTABLE_INSTANCE: {
+          return new viam.app.v1.Billing.GetLocationBillingOrganizationRequest();
+        }
+        case NEW_BUILDER: {
+          return new Builder();
+        }
+        case BUILD_MESSAGE_INFO: {
+            java.lang.Object[] objects = new java.lang.Object[] {
+              "locationId_",
+            };
+            java.lang.String info =
+                "\u0000\u0001\u0000\u0000\u0001\u0001\u0001\u0000\u0000\u0000\u0001\u0208";
+            return newMessageInfo(DEFAULT_INSTANCE, info, objects);
+        }
+        // fall through
+        case GET_DEFAULT_INSTANCE: {
+          return DEFAULT_INSTANCE;
+        }
+        case GET_PARSER: {
+          com.google.protobuf.Parser<viam.app.v1.Billing.GetLocationBillingOrganizationRequest> parser = PARSER;
+          if (parser == null) {
+            synchronized (viam.app.v1.Billing.GetLocationBillingOrganizationRequest.class) {
+              parser = PARSER;
+              if (parser == null) {
+                parser =
+                    new DefaultInstanceBasedParser<viam.app.v1.Billing.GetLocationBillingOrganizationRequest>(
+                        DEFAULT_INSTANCE);
+                PARSER = parser;
+              }
+            }
+          }
+          return parser;
+      }
+      case GET_MEMOIZED_IS_INITIALIZED: {
+        return (byte) 1;
+      }
+      case SET_MEMOIZED_IS_INITIALIZED: {
+        return null;
+      }
+      }
+      throw new UnsupportedOperationException();
+    }
+
+
+    // @@protoc_insertion_point(class_scope:viam.app.v1.GetLocationBillingOrganizationRequest)
+    private static final viam.app.v1.Billing.GetLocationBillingOrganizationRequest DEFAULT_INSTANCE;
+    static {
+      GetLocationBillingOrganizationRequest defaultInstance = new GetLocationBillingOrganizationRequest();
+      // New instances are implicitly immutable so no need to make
+      // immutable.
+      DEFAULT_INSTANCE = defaultInstance;
+      com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
+        GetLocationBillingOrganizationRequest.class, defaultInstance);
+    }
+
+    public static viam.app.v1.Billing.GetLocationBillingOrganizationRequest getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static volatile com.google.protobuf.Parser<GetLocationBillingOrganizationRequest> PARSER;
+
+    public static com.google.protobuf.Parser<GetLocationBillingOrganizationRequest> parser() {
+      return DEFAULT_INSTANCE.getParserForType();
+    }
+  }
+
+  public interface GetLocationBillingOrganizationResponseOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:viam.app.v1.GetLocationBillingOrganizationResponse)
+      com.google.protobuf.MessageLiteOrBuilder {
+
+    /**
+     * <code>string billing_organization_id = 1 [json_name = "billingOrganizationId"];</code>
+     * @return The billingOrganizationId.
+     */
+    java.lang.String getBillingOrganizationId();
+    /**
+     * <code>string billing_organization_id = 1 [json_name = "billingOrganizationId"];</code>
+     * @return The bytes for billingOrganizationId.
+     */
+    com.google.protobuf.ByteString
+        getBillingOrganizationIdBytes();
+  }
+  /**
+   * Protobuf type {@code viam.app.v1.GetLocationBillingOrganizationResponse}
+   */
+  public  static final class GetLocationBillingOrganizationResponse extends
+      com.google.protobuf.GeneratedMessageLite<
+          GetLocationBillingOrganizationResponse, GetLocationBillingOrganizationResponse.Builder> implements
+      // @@protoc_insertion_point(message_implements:viam.app.v1.GetLocationBillingOrganizationResponse)
+      GetLocationBillingOrganizationResponseOrBuilder {
+    private GetLocationBillingOrganizationResponse() {
+      billingOrganizationId_ = "";
+    }
+    public static final int BILLING_ORGANIZATION_ID_FIELD_NUMBER = 1;
+    private java.lang.String billingOrganizationId_;
+    /**
+     * <code>string billing_organization_id = 1 [json_name = "billingOrganizationId"];</code>
+     * @return The billingOrganizationId.
+     */
+    @java.lang.Override
+    public java.lang.String getBillingOrganizationId() {
+      return billingOrganizationId_;
+    }
+    /**
+     * <code>string billing_organization_id = 1 [json_name = "billingOrganizationId"];</code>
+     * @return The bytes for billingOrganizationId.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getBillingOrganizationIdBytes() {
+      return com.google.protobuf.ByteString.copyFromUtf8(billingOrganizationId_);
+    }
+    /**
+     * <code>string billing_organization_id = 1 [json_name = "billingOrganizationId"];</code>
+     * @param value The billingOrganizationId to set.
+     */
+    private void setBillingOrganizationId(
+        java.lang.String value) {
+      java.lang.Class<?> valueClass = value.getClass();
+  
+      billingOrganizationId_ = value;
+    }
+    /**
+     * <code>string billing_organization_id = 1 [json_name = "billingOrganizationId"];</code>
+     */
+    private void clearBillingOrganizationId() {
+
+      billingOrganizationId_ = getDefaultInstance().getBillingOrganizationId();
+    }
+    /**
+     * <code>string billing_organization_id = 1 [json_name = "billingOrganizationId"];</code>
+     * @param value The bytes for billingOrganizationId to set.
+     */
+    private void setBillingOrganizationIdBytes(
+        com.google.protobuf.ByteString value) {
+      checkByteStringIsUtf8(value);
+      billingOrganizationId_ = value.toStringUtf8();
+
+    }
+
+    public static viam.app.v1.Billing.GetLocationBillingOrganizationResponse parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static viam.app.v1.Billing.GetLocationBillingOrganizationResponse parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static viam.app.v1.Billing.GetLocationBillingOrganizationResponse parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static viam.app.v1.Billing.GetLocationBillingOrganizationResponse parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static viam.app.v1.Billing.GetLocationBillingOrganizationResponse parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static viam.app.v1.Billing.GetLocationBillingOrganizationResponse parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static viam.app.v1.Billing.GetLocationBillingOrganizationResponse parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static viam.app.v1.Billing.GetLocationBillingOrganizationResponse parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static viam.app.v1.Billing.GetLocationBillingOrganizationResponse parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input);
+    }
+
+    public static viam.app.v1.Billing.GetLocationBillingOrganizationResponse parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+    public static viam.app.v1.Billing.GetLocationBillingOrganizationResponse parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static viam.app.v1.Billing.GetLocationBillingOrganizationResponse parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static Builder newBuilder() {
+      return (Builder) DEFAULT_INSTANCE.createBuilder();
+    }
+    public static Builder newBuilder(viam.app.v1.Billing.GetLocationBillingOrganizationResponse prototype) {
+      return DEFAULT_INSTANCE.createBuilder(prototype);
+    }
+
+    /**
+     * Protobuf type {@code viam.app.v1.GetLocationBillingOrganizationResponse}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageLite.Builder<
+          viam.app.v1.Billing.GetLocationBillingOrganizationResponse, Builder> implements
+        // @@protoc_insertion_point(builder_implements:viam.app.v1.GetLocationBillingOrganizationResponse)
+        viam.app.v1.Billing.GetLocationBillingOrganizationResponseOrBuilder {
+      // Construct using viam.app.v1.Billing.GetLocationBillingOrganizationResponse.newBuilder()
+      private Builder() {
+        super(DEFAULT_INSTANCE);
+      }
+
+
+      /**
+       * <code>string billing_organization_id = 1 [json_name = "billingOrganizationId"];</code>
+       * @return The billingOrganizationId.
+       */
+      @java.lang.Override
+      public java.lang.String getBillingOrganizationId() {
+        return instance.getBillingOrganizationId();
+      }
+      /**
+       * <code>string billing_organization_id = 1 [json_name = "billingOrganizationId"];</code>
+       * @return The bytes for billingOrganizationId.
+       */
+      @java.lang.Override
+      public com.google.protobuf.ByteString
+          getBillingOrganizationIdBytes() {
+        return instance.getBillingOrganizationIdBytes();
+      }
+      /**
+       * <code>string billing_organization_id = 1 [json_name = "billingOrganizationId"];</code>
+       * @param value The billingOrganizationId to set.
+       * @return This builder for chaining.
+       */
+      public Builder setBillingOrganizationId(
+          java.lang.String value) {
+        copyOnWrite();
+        instance.setBillingOrganizationId(value);
+        return this;
+      }
+      /**
+       * <code>string billing_organization_id = 1 [json_name = "billingOrganizationId"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearBillingOrganizationId() {
+        copyOnWrite();
+        instance.clearBillingOrganizationId();
+        return this;
+      }
+      /**
+       * <code>string billing_organization_id = 1 [json_name = "billingOrganizationId"];</code>
+       * @param value The bytes for billingOrganizationId to set.
+       * @return This builder for chaining.
+       */
+      public Builder setBillingOrganizationIdBytes(
+          com.google.protobuf.ByteString value) {
+        copyOnWrite();
+        instance.setBillingOrganizationIdBytes(value);
+        return this;
+      }
+
+      // @@protoc_insertion_point(builder_scope:viam.app.v1.GetLocationBillingOrganizationResponse)
+    }
+    @java.lang.Override
+    @java.lang.SuppressWarnings({"unchecked", "fallthrough"})
+    protected final java.lang.Object dynamicMethod(
+        com.google.protobuf.GeneratedMessageLite.MethodToInvoke method,
+        java.lang.Object arg0, java.lang.Object arg1) {
+      switch (method) {
+        case NEW_MUTABLE_INSTANCE: {
+          return new viam.app.v1.Billing.GetLocationBillingOrganizationResponse();
+        }
+        case NEW_BUILDER: {
+          return new Builder();
+        }
+        case BUILD_MESSAGE_INFO: {
+            java.lang.Object[] objects = new java.lang.Object[] {
+              "billingOrganizationId_",
+            };
+            java.lang.String info =
+                "\u0000\u0001\u0000\u0000\u0001\u0001\u0001\u0000\u0000\u0000\u0001\u0208";
+            return newMessageInfo(DEFAULT_INSTANCE, info, objects);
+        }
+        // fall through
+        case GET_DEFAULT_INSTANCE: {
+          return DEFAULT_INSTANCE;
+        }
+        case GET_PARSER: {
+          com.google.protobuf.Parser<viam.app.v1.Billing.GetLocationBillingOrganizationResponse> parser = PARSER;
+          if (parser == null) {
+            synchronized (viam.app.v1.Billing.GetLocationBillingOrganizationResponse.class) {
+              parser = PARSER;
+              if (parser == null) {
+                parser =
+                    new DefaultInstanceBasedParser<viam.app.v1.Billing.GetLocationBillingOrganizationResponse>(
+                        DEFAULT_INSTANCE);
+                PARSER = parser;
+              }
+            }
+          }
+          return parser;
+      }
+      case GET_MEMOIZED_IS_INITIALIZED: {
+        return (byte) 1;
+      }
+      case SET_MEMOIZED_IS_INITIALIZED: {
+        return null;
+      }
+      }
+      throw new UnsupportedOperationException();
+    }
+
+
+    // @@protoc_insertion_point(class_scope:viam.app.v1.GetLocationBillingOrganizationResponse)
+    private static final viam.app.v1.Billing.GetLocationBillingOrganizationResponse DEFAULT_INSTANCE;
+    static {
+      GetLocationBillingOrganizationResponse defaultInstance = new GetLocationBillingOrganizationResponse();
+      // New instances are implicitly immutable so no need to make
+      // immutable.
+      DEFAULT_INSTANCE = defaultInstance;
+      com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
+        GetLocationBillingOrganizationResponse.class, defaultInstance);
+    }
+
+    public static viam.app.v1.Billing.GetLocationBillingOrganizationResponse getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static volatile com.google.protobuf.Parser<GetLocationBillingOrganizationResponse> PARSER;
+
+    public static com.google.protobuf.Parser<GetLocationBillingOrganizationResponse> parser() {
+      return DEFAULT_INSTANCE.getParserForType();
+    }
+  }
+
+  public interface UpdateLocationBillingOrganizationRequestOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:viam.app.v1.UpdateLocationBillingOrganizationRequest)
+      com.google.protobuf.MessageLiteOrBuilder {
+
+    /**
+     * <code>string location_id = 1 [json_name = "locationId"];</code>
+     * @return The locationId.
+     */
+    java.lang.String getLocationId();
+    /**
+     * <code>string location_id = 1 [json_name = "locationId"];</code>
+     * @return The bytes for locationId.
+     */
+    com.google.protobuf.ByteString
+        getLocationIdBytes();
+
+    /**
+     * <code>string billing_organization_id = 2 [json_name = "billingOrganizationId"];</code>
+     * @return The billingOrganizationId.
+     */
+    java.lang.String getBillingOrganizationId();
+    /**
+     * <code>string billing_organization_id = 2 [json_name = "billingOrganizationId"];</code>
+     * @return The bytes for billingOrganizationId.
+     */
+    com.google.protobuf.ByteString
+        getBillingOrganizationIdBytes();
+  }
+  /**
+   * Protobuf type {@code viam.app.v1.UpdateLocationBillingOrganizationRequest}
+   */
+  public  static final class UpdateLocationBillingOrganizationRequest extends
+      com.google.protobuf.GeneratedMessageLite<
+          UpdateLocationBillingOrganizationRequest, UpdateLocationBillingOrganizationRequest.Builder> implements
+      // @@protoc_insertion_point(message_implements:viam.app.v1.UpdateLocationBillingOrganizationRequest)
+      UpdateLocationBillingOrganizationRequestOrBuilder {
+    private UpdateLocationBillingOrganizationRequest() {
+      locationId_ = "";
+      billingOrganizationId_ = "";
+    }
+    public static final int LOCATION_ID_FIELD_NUMBER = 1;
+    private java.lang.String locationId_;
+    /**
+     * <code>string location_id = 1 [json_name = "locationId"];</code>
+     * @return The locationId.
+     */
+    @java.lang.Override
+    public java.lang.String getLocationId() {
+      return locationId_;
+    }
+    /**
+     * <code>string location_id = 1 [json_name = "locationId"];</code>
+     * @return The bytes for locationId.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getLocationIdBytes() {
+      return com.google.protobuf.ByteString.copyFromUtf8(locationId_);
+    }
+    /**
+     * <code>string location_id = 1 [json_name = "locationId"];</code>
+     * @param value The locationId to set.
+     */
+    private void setLocationId(
+        java.lang.String value) {
+      java.lang.Class<?> valueClass = value.getClass();
+  
+      locationId_ = value;
+    }
+    /**
+     * <code>string location_id = 1 [json_name = "locationId"];</code>
+     */
+    private void clearLocationId() {
+
+      locationId_ = getDefaultInstance().getLocationId();
+    }
+    /**
+     * <code>string location_id = 1 [json_name = "locationId"];</code>
+     * @param value The bytes for locationId to set.
+     */
+    private void setLocationIdBytes(
+        com.google.protobuf.ByteString value) {
+      checkByteStringIsUtf8(value);
+      locationId_ = value.toStringUtf8();
+
+    }
+
+    public static final int BILLING_ORGANIZATION_ID_FIELD_NUMBER = 2;
+    private java.lang.String billingOrganizationId_;
+    /**
+     * <code>string billing_organization_id = 2 [json_name = "billingOrganizationId"];</code>
+     * @return The billingOrganizationId.
+     */
+    @java.lang.Override
+    public java.lang.String getBillingOrganizationId() {
+      return billingOrganizationId_;
+    }
+    /**
+     * <code>string billing_organization_id = 2 [json_name = "billingOrganizationId"];</code>
+     * @return The bytes for billingOrganizationId.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getBillingOrganizationIdBytes() {
+      return com.google.protobuf.ByteString.copyFromUtf8(billingOrganizationId_);
+    }
+    /**
+     * <code>string billing_organization_id = 2 [json_name = "billingOrganizationId"];</code>
+     * @param value The billingOrganizationId to set.
+     */
+    private void setBillingOrganizationId(
+        java.lang.String value) {
+      java.lang.Class<?> valueClass = value.getClass();
+  
+      billingOrganizationId_ = value;
+    }
+    /**
+     * <code>string billing_organization_id = 2 [json_name = "billingOrganizationId"];</code>
+     */
+    private void clearBillingOrganizationId() {
+
+      billingOrganizationId_ = getDefaultInstance().getBillingOrganizationId();
+    }
+    /**
+     * <code>string billing_organization_id = 2 [json_name = "billingOrganizationId"];</code>
+     * @param value The bytes for billingOrganizationId to set.
+     */
+    private void setBillingOrganizationIdBytes(
+        com.google.protobuf.ByteString value) {
+      checkByteStringIsUtf8(value);
+      billingOrganizationId_ = value.toStringUtf8();
+
+    }
+
+    public static viam.app.v1.Billing.UpdateLocationBillingOrganizationRequest parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static viam.app.v1.Billing.UpdateLocationBillingOrganizationRequest parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static viam.app.v1.Billing.UpdateLocationBillingOrganizationRequest parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static viam.app.v1.Billing.UpdateLocationBillingOrganizationRequest parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static viam.app.v1.Billing.UpdateLocationBillingOrganizationRequest parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static viam.app.v1.Billing.UpdateLocationBillingOrganizationRequest parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static viam.app.v1.Billing.UpdateLocationBillingOrganizationRequest parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static viam.app.v1.Billing.UpdateLocationBillingOrganizationRequest parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static viam.app.v1.Billing.UpdateLocationBillingOrganizationRequest parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input);
+    }
+
+    public static viam.app.v1.Billing.UpdateLocationBillingOrganizationRequest parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+    public static viam.app.v1.Billing.UpdateLocationBillingOrganizationRequest parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static viam.app.v1.Billing.UpdateLocationBillingOrganizationRequest parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static Builder newBuilder() {
+      return (Builder) DEFAULT_INSTANCE.createBuilder();
+    }
+    public static Builder newBuilder(viam.app.v1.Billing.UpdateLocationBillingOrganizationRequest prototype) {
+      return DEFAULT_INSTANCE.createBuilder(prototype);
+    }
+
+    /**
+     * Protobuf type {@code viam.app.v1.UpdateLocationBillingOrganizationRequest}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageLite.Builder<
+          viam.app.v1.Billing.UpdateLocationBillingOrganizationRequest, Builder> implements
+        // @@protoc_insertion_point(builder_implements:viam.app.v1.UpdateLocationBillingOrganizationRequest)
+        viam.app.v1.Billing.UpdateLocationBillingOrganizationRequestOrBuilder {
+      // Construct using viam.app.v1.Billing.UpdateLocationBillingOrganizationRequest.newBuilder()
+      private Builder() {
+        super(DEFAULT_INSTANCE);
+      }
+
+
+      /**
+       * <code>string location_id = 1 [json_name = "locationId"];</code>
+       * @return The locationId.
+       */
+      @java.lang.Override
+      public java.lang.String getLocationId() {
+        return instance.getLocationId();
+      }
+      /**
+       * <code>string location_id = 1 [json_name = "locationId"];</code>
+       * @return The bytes for locationId.
+       */
+      @java.lang.Override
+      public com.google.protobuf.ByteString
+          getLocationIdBytes() {
+        return instance.getLocationIdBytes();
+      }
+      /**
+       * <code>string location_id = 1 [json_name = "locationId"];</code>
+       * @param value The locationId to set.
+       * @return This builder for chaining.
+       */
+      public Builder setLocationId(
+          java.lang.String value) {
+        copyOnWrite();
+        instance.setLocationId(value);
+        return this;
+      }
+      /**
+       * <code>string location_id = 1 [json_name = "locationId"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearLocationId() {
+        copyOnWrite();
+        instance.clearLocationId();
+        return this;
+      }
+      /**
+       * <code>string location_id = 1 [json_name = "locationId"];</code>
+       * @param value The bytes for locationId to set.
+       * @return This builder for chaining.
+       */
+      public Builder setLocationIdBytes(
+          com.google.protobuf.ByteString value) {
+        copyOnWrite();
+        instance.setLocationIdBytes(value);
+        return this;
+      }
+
+      /**
+       * <code>string billing_organization_id = 2 [json_name = "billingOrganizationId"];</code>
+       * @return The billingOrganizationId.
+       */
+      @java.lang.Override
+      public java.lang.String getBillingOrganizationId() {
+        return instance.getBillingOrganizationId();
+      }
+      /**
+       * <code>string billing_organization_id = 2 [json_name = "billingOrganizationId"];</code>
+       * @return The bytes for billingOrganizationId.
+       */
+      @java.lang.Override
+      public com.google.protobuf.ByteString
+          getBillingOrganizationIdBytes() {
+        return instance.getBillingOrganizationIdBytes();
+      }
+      /**
+       * <code>string billing_organization_id = 2 [json_name = "billingOrganizationId"];</code>
+       * @param value The billingOrganizationId to set.
+       * @return This builder for chaining.
+       */
+      public Builder setBillingOrganizationId(
+          java.lang.String value) {
+        copyOnWrite();
+        instance.setBillingOrganizationId(value);
+        return this;
+      }
+      /**
+       * <code>string billing_organization_id = 2 [json_name = "billingOrganizationId"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearBillingOrganizationId() {
+        copyOnWrite();
+        instance.clearBillingOrganizationId();
+        return this;
+      }
+      /**
+       * <code>string billing_organization_id = 2 [json_name = "billingOrganizationId"];</code>
+       * @param value The bytes for billingOrganizationId to set.
+       * @return This builder for chaining.
+       */
+      public Builder setBillingOrganizationIdBytes(
+          com.google.protobuf.ByteString value) {
+        copyOnWrite();
+        instance.setBillingOrganizationIdBytes(value);
+        return this;
+      }
+
+      // @@protoc_insertion_point(builder_scope:viam.app.v1.UpdateLocationBillingOrganizationRequest)
+    }
+    @java.lang.Override
+    @java.lang.SuppressWarnings({"unchecked", "fallthrough"})
+    protected final java.lang.Object dynamicMethod(
+        com.google.protobuf.GeneratedMessageLite.MethodToInvoke method,
+        java.lang.Object arg0, java.lang.Object arg1) {
+      switch (method) {
+        case NEW_MUTABLE_INSTANCE: {
+          return new viam.app.v1.Billing.UpdateLocationBillingOrganizationRequest();
+        }
+        case NEW_BUILDER: {
+          return new Builder();
+        }
+        case BUILD_MESSAGE_INFO: {
+            java.lang.Object[] objects = new java.lang.Object[] {
+              "locationId_",
+              "billingOrganizationId_",
+            };
+            java.lang.String info =
+                "\u0000\u0002\u0000\u0000\u0001\u0002\u0002\u0000\u0000\u0000\u0001\u0208\u0002\u0208" +
+                "";
+            return newMessageInfo(DEFAULT_INSTANCE, info, objects);
+        }
+        // fall through
+        case GET_DEFAULT_INSTANCE: {
+          return DEFAULT_INSTANCE;
+        }
+        case GET_PARSER: {
+          com.google.protobuf.Parser<viam.app.v1.Billing.UpdateLocationBillingOrganizationRequest> parser = PARSER;
+          if (parser == null) {
+            synchronized (viam.app.v1.Billing.UpdateLocationBillingOrganizationRequest.class) {
+              parser = PARSER;
+              if (parser == null) {
+                parser =
+                    new DefaultInstanceBasedParser<viam.app.v1.Billing.UpdateLocationBillingOrganizationRequest>(
+                        DEFAULT_INSTANCE);
+                PARSER = parser;
+              }
+            }
+          }
+          return parser;
+      }
+      case GET_MEMOIZED_IS_INITIALIZED: {
+        return (byte) 1;
+      }
+      case SET_MEMOIZED_IS_INITIALIZED: {
+        return null;
+      }
+      }
+      throw new UnsupportedOperationException();
+    }
+
+
+    // @@protoc_insertion_point(class_scope:viam.app.v1.UpdateLocationBillingOrganizationRequest)
+    private static final viam.app.v1.Billing.UpdateLocationBillingOrganizationRequest DEFAULT_INSTANCE;
+    static {
+      UpdateLocationBillingOrganizationRequest defaultInstance = new UpdateLocationBillingOrganizationRequest();
+      // New instances are implicitly immutable so no need to make
+      // immutable.
+      DEFAULT_INSTANCE = defaultInstance;
+      com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
+        UpdateLocationBillingOrganizationRequest.class, defaultInstance);
+    }
+
+    public static viam.app.v1.Billing.UpdateLocationBillingOrganizationRequest getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static volatile com.google.protobuf.Parser<UpdateLocationBillingOrganizationRequest> PARSER;
+
+    public static com.google.protobuf.Parser<UpdateLocationBillingOrganizationRequest> parser() {
+      return DEFAULT_INSTANCE.getParserForType();
+    }
+  }
+
+  public interface UpdateLocationBillingOrganizationResponseOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:viam.app.v1.UpdateLocationBillingOrganizationResponse)
+      com.google.protobuf.MessageLiteOrBuilder {
+  }
+  /**
+   * Protobuf type {@code viam.app.v1.UpdateLocationBillingOrganizationResponse}
+   */
+  public  static final class UpdateLocationBillingOrganizationResponse extends
+      com.google.protobuf.GeneratedMessageLite<
+          UpdateLocationBillingOrganizationResponse, UpdateLocationBillingOrganizationResponse.Builder> implements
+      // @@protoc_insertion_point(message_implements:viam.app.v1.UpdateLocationBillingOrganizationResponse)
+      UpdateLocationBillingOrganizationResponseOrBuilder {
+    private UpdateLocationBillingOrganizationResponse() {
+    }
+    public static viam.app.v1.Billing.UpdateLocationBillingOrganizationResponse parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static viam.app.v1.Billing.UpdateLocationBillingOrganizationResponse parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static viam.app.v1.Billing.UpdateLocationBillingOrganizationResponse parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static viam.app.v1.Billing.UpdateLocationBillingOrganizationResponse parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static viam.app.v1.Billing.UpdateLocationBillingOrganizationResponse parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static viam.app.v1.Billing.UpdateLocationBillingOrganizationResponse parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static viam.app.v1.Billing.UpdateLocationBillingOrganizationResponse parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static viam.app.v1.Billing.UpdateLocationBillingOrganizationResponse parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static viam.app.v1.Billing.UpdateLocationBillingOrganizationResponse parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input);
+    }
+
+    public static viam.app.v1.Billing.UpdateLocationBillingOrganizationResponse parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+    public static viam.app.v1.Billing.UpdateLocationBillingOrganizationResponse parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static viam.app.v1.Billing.UpdateLocationBillingOrganizationResponse parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static Builder newBuilder() {
+      return (Builder) DEFAULT_INSTANCE.createBuilder();
+    }
+    public static Builder newBuilder(viam.app.v1.Billing.UpdateLocationBillingOrganizationResponse prototype) {
+      return DEFAULT_INSTANCE.createBuilder(prototype);
+    }
+
+    /**
+     * Protobuf type {@code viam.app.v1.UpdateLocationBillingOrganizationResponse}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageLite.Builder<
+          viam.app.v1.Billing.UpdateLocationBillingOrganizationResponse, Builder> implements
+        // @@protoc_insertion_point(builder_implements:viam.app.v1.UpdateLocationBillingOrganizationResponse)
+        viam.app.v1.Billing.UpdateLocationBillingOrganizationResponseOrBuilder {
+      // Construct using viam.app.v1.Billing.UpdateLocationBillingOrganizationResponse.newBuilder()
+      private Builder() {
+        super(DEFAULT_INSTANCE);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:viam.app.v1.UpdateLocationBillingOrganizationResponse)
+    }
+    @java.lang.Override
+    @java.lang.SuppressWarnings({"unchecked", "fallthrough"})
+    protected final java.lang.Object dynamicMethod(
+        com.google.protobuf.GeneratedMessageLite.MethodToInvoke method,
+        java.lang.Object arg0, java.lang.Object arg1) {
+      switch (method) {
+        case NEW_MUTABLE_INSTANCE: {
+          return new viam.app.v1.Billing.UpdateLocationBillingOrganizationResponse();
+        }
+        case NEW_BUILDER: {
+          return new Builder();
+        }
+        case BUILD_MESSAGE_INFO: {
+            java.lang.Object[] objects = null;java.lang.String info =
+                "\u0000\u0000";
+            return newMessageInfo(DEFAULT_INSTANCE, info, objects);
+        }
+        // fall through
+        case GET_DEFAULT_INSTANCE: {
+          return DEFAULT_INSTANCE;
+        }
+        case GET_PARSER: {
+          com.google.protobuf.Parser<viam.app.v1.Billing.UpdateLocationBillingOrganizationResponse> parser = PARSER;
+          if (parser == null) {
+            synchronized (viam.app.v1.Billing.UpdateLocationBillingOrganizationResponse.class) {
+              parser = PARSER;
+              if (parser == null) {
+                parser =
+                    new DefaultInstanceBasedParser<viam.app.v1.Billing.UpdateLocationBillingOrganizationResponse>(
+                        DEFAULT_INSTANCE);
+                PARSER = parser;
+              }
+            }
+          }
+          return parser;
+      }
+      case GET_MEMOIZED_IS_INITIALIZED: {
+        return (byte) 1;
+      }
+      case SET_MEMOIZED_IS_INITIALIZED: {
+        return null;
+      }
+      }
+      throw new UnsupportedOperationException();
+    }
+
+
+    // @@protoc_insertion_point(class_scope:viam.app.v1.UpdateLocationBillingOrganizationResponse)
+    private static final viam.app.v1.Billing.UpdateLocationBillingOrganizationResponse DEFAULT_INSTANCE;
+    static {
+      UpdateLocationBillingOrganizationResponse defaultInstance = new UpdateLocationBillingOrganizationResponse();
+      // New instances are implicitly immutable so no need to make
+      // immutable.
+      DEFAULT_INSTANCE = defaultInstance;
+      com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
+        UpdateLocationBillingOrganizationResponse.class, defaultInstance);
+    }
+
+    public static viam.app.v1.Billing.UpdateLocationBillingOrganizationResponse getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static volatile com.google.protobuf.Parser<UpdateLocationBillingOrganizationResponse> PARSER;
+
+    public static com.google.protobuf.Parser<UpdateLocationBillingOrganizationResponse> parser() {
+      return DEFAULT_INSTANCE.getParserForType();
+    }
+  }
+
+  public interface ChargeOrganizationRequestOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:viam.app.v1.ChargeOrganizationRequest)
+      com.google.protobuf.MessageLiteOrBuilder {
+
+    /**
+     * <code>string org_id_to_charge = 1 [json_name = "orgIdToCharge"];</code>
+     * @return The orgIdToCharge.
+     */
+    java.lang.String getOrgIdToCharge();
+    /**
+     * <code>string org_id_to_charge = 1 [json_name = "orgIdToCharge"];</code>
+     * @return The bytes for orgIdToCharge.
+     */
+    com.google.protobuf.ByteString
+        getOrgIdToChargeBytes();
+
+    /**
+     * <code>optional string description = 2 [json_name = "description"];</code>
+     * @return Whether the description field is set.
+     */
+    boolean hasDescription();
+    /**
+     * <code>optional string description = 2 [json_name = "description"];</code>
+     * @return The description.
+     */
+    java.lang.String getDescription();
+    /**
+     * <code>optional string description = 2 [json_name = "description"];</code>
+     * @return The bytes for description.
+     */
+    com.google.protobuf.ByteString
+        getDescriptionBytes();
+
+    /**
+     * <code>double subtotal = 3 [json_name = "subtotal"];</code>
+     * @return The subtotal.
+     */
+    double getSubtotal();
+
+    /**
+     * <code>double tax = 4 [json_name = "tax"];</code>
+     * @return The tax.
+     */
+    double getTax();
+
+    /**
+     * <code>optional string org_id_for_branding = 5 [json_name = "orgIdForBranding"];</code>
+     * @return Whether the orgIdForBranding field is set.
+     */
+    boolean hasOrgIdForBranding();
+    /**
+     * <code>optional string org_id_for_branding = 5 [json_name = "orgIdForBranding"];</code>
+     * @return The orgIdForBranding.
+     */
+    java.lang.String getOrgIdForBranding();
+    /**
+     * <code>optional string org_id_for_branding = 5 [json_name = "orgIdForBranding"];</code>
+     * @return The bytes for orgIdForBranding.
+     */
+    com.google.protobuf.ByteString
+        getOrgIdForBrandingBytes();
+
+    /**
+     * <code>bool disable_confirmation_email = 6 [json_name = "disableConfirmationEmail"];</code>
+     * @return The disableConfirmationEmail.
+     */
+    boolean getDisableConfirmationEmail();
+  }
+  /**
+   * Protobuf type {@code viam.app.v1.ChargeOrganizationRequest}
+   */
+  public  static final class ChargeOrganizationRequest extends
+      com.google.protobuf.GeneratedMessageLite<
+          ChargeOrganizationRequest, ChargeOrganizationRequest.Builder> implements
+      // @@protoc_insertion_point(message_implements:viam.app.v1.ChargeOrganizationRequest)
+      ChargeOrganizationRequestOrBuilder {
+    private ChargeOrganizationRequest() {
+      orgIdToCharge_ = "";
+      description_ = "";
+      orgIdForBranding_ = "";
+    }
+    private int bitField0_;
+    public static final int ORG_ID_TO_CHARGE_FIELD_NUMBER = 1;
+    private java.lang.String orgIdToCharge_;
+    /**
+     * <code>string org_id_to_charge = 1 [json_name = "orgIdToCharge"];</code>
+     * @return The orgIdToCharge.
+     */
+    @java.lang.Override
+    public java.lang.String getOrgIdToCharge() {
+      return orgIdToCharge_;
+    }
+    /**
+     * <code>string org_id_to_charge = 1 [json_name = "orgIdToCharge"];</code>
+     * @return The bytes for orgIdToCharge.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getOrgIdToChargeBytes() {
+      return com.google.protobuf.ByteString.copyFromUtf8(orgIdToCharge_);
+    }
+    /**
+     * <code>string org_id_to_charge = 1 [json_name = "orgIdToCharge"];</code>
+     * @param value The orgIdToCharge to set.
+     */
+    private void setOrgIdToCharge(
+        java.lang.String value) {
+      java.lang.Class<?> valueClass = value.getClass();
+  
+      orgIdToCharge_ = value;
+    }
+    /**
+     * <code>string org_id_to_charge = 1 [json_name = "orgIdToCharge"];</code>
+     */
+    private void clearOrgIdToCharge() {
+
+      orgIdToCharge_ = getDefaultInstance().getOrgIdToCharge();
+    }
+    /**
+     * <code>string org_id_to_charge = 1 [json_name = "orgIdToCharge"];</code>
+     * @param value The bytes for orgIdToCharge to set.
+     */
+    private void setOrgIdToChargeBytes(
+        com.google.protobuf.ByteString value) {
+      checkByteStringIsUtf8(value);
+      orgIdToCharge_ = value.toStringUtf8();
+
+    }
+
+    public static final int DESCRIPTION_FIELD_NUMBER = 2;
+    private java.lang.String description_;
+    /**
+     * <code>optional string description = 2 [json_name = "description"];</code>
+     * @return Whether the description field is set.
+     */
+    @java.lang.Override
+    public boolean hasDescription() {
+      return ((bitField0_ & 0x00000001) != 0);
+    }
+    /**
+     * <code>optional string description = 2 [json_name = "description"];</code>
+     * @return The description.
+     */
+    @java.lang.Override
+    public java.lang.String getDescription() {
+      return description_;
+    }
+    /**
+     * <code>optional string description = 2 [json_name = "description"];</code>
+     * @return The bytes for description.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getDescriptionBytes() {
+      return com.google.protobuf.ByteString.copyFromUtf8(description_);
+    }
+    /**
+     * <code>optional string description = 2 [json_name = "description"];</code>
+     * @param value The description to set.
+     */
+    private void setDescription(
+        java.lang.String value) {
+      java.lang.Class<?> valueClass = value.getClass();
+  bitField0_ |= 0x00000001;
+      description_ = value;
+    }
+    /**
+     * <code>optional string description = 2 [json_name = "description"];</code>
+     */
+    private void clearDescription() {
+      bitField0_ = (bitField0_ & ~0x00000001);
+      description_ = getDefaultInstance().getDescription();
+    }
+    /**
+     * <code>optional string description = 2 [json_name = "description"];</code>
+     * @param value The bytes for description to set.
+     */
+    private void setDescriptionBytes(
+        com.google.protobuf.ByteString value) {
+      checkByteStringIsUtf8(value);
+      description_ = value.toStringUtf8();
+      bitField0_ |= 0x00000001;
+    }
+
+    public static final int SUBTOTAL_FIELD_NUMBER = 3;
+    private double subtotal_;
+    /**
+     * <code>double subtotal = 3 [json_name = "subtotal"];</code>
+     * @return The subtotal.
+     */
+    @java.lang.Override
+    public double getSubtotal() {
+      return subtotal_;
+    }
+    /**
+     * <code>double subtotal = 3 [json_name = "subtotal"];</code>
+     * @param value The subtotal to set.
+     */
+    private void setSubtotal(double value) {
+      
+      subtotal_ = value;
+    }
+    /**
+     * <code>double subtotal = 3 [json_name = "subtotal"];</code>
+     */
+    private void clearSubtotal() {
+
+      subtotal_ = 0D;
+    }
+
+    public static final int TAX_FIELD_NUMBER = 4;
+    private double tax_;
+    /**
+     * <code>double tax = 4 [json_name = "tax"];</code>
+     * @return The tax.
+     */
+    @java.lang.Override
+    public double getTax() {
+      return tax_;
+    }
+    /**
+     * <code>double tax = 4 [json_name = "tax"];</code>
+     * @param value The tax to set.
+     */
+    private void setTax(double value) {
+      
+      tax_ = value;
+    }
+    /**
+     * <code>double tax = 4 [json_name = "tax"];</code>
+     */
+    private void clearTax() {
+
+      tax_ = 0D;
+    }
+
+    public static final int ORG_ID_FOR_BRANDING_FIELD_NUMBER = 5;
+    private java.lang.String orgIdForBranding_;
+    /**
+     * <code>optional string org_id_for_branding = 5 [json_name = "orgIdForBranding"];</code>
+     * @return Whether the orgIdForBranding field is set.
+     */
+    @java.lang.Override
+    public boolean hasOrgIdForBranding() {
+      return ((bitField0_ & 0x00000002) != 0);
+    }
+    /**
+     * <code>optional string org_id_for_branding = 5 [json_name = "orgIdForBranding"];</code>
+     * @return The orgIdForBranding.
+     */
+    @java.lang.Override
+    public java.lang.String getOrgIdForBranding() {
+      return orgIdForBranding_;
+    }
+    /**
+     * <code>optional string org_id_for_branding = 5 [json_name = "orgIdForBranding"];</code>
+     * @return The bytes for orgIdForBranding.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getOrgIdForBrandingBytes() {
+      return com.google.protobuf.ByteString.copyFromUtf8(orgIdForBranding_);
+    }
+    /**
+     * <code>optional string org_id_for_branding = 5 [json_name = "orgIdForBranding"];</code>
+     * @param value The orgIdForBranding to set.
+     */
+    private void setOrgIdForBranding(
+        java.lang.String value) {
+      java.lang.Class<?> valueClass = value.getClass();
+  bitField0_ |= 0x00000002;
+      orgIdForBranding_ = value;
+    }
+    /**
+     * <code>optional string org_id_for_branding = 5 [json_name = "orgIdForBranding"];</code>
+     */
+    private void clearOrgIdForBranding() {
+      bitField0_ = (bitField0_ & ~0x00000002);
+      orgIdForBranding_ = getDefaultInstance().getOrgIdForBranding();
+    }
+    /**
+     * <code>optional string org_id_for_branding = 5 [json_name = "orgIdForBranding"];</code>
+     * @param value The bytes for orgIdForBranding to set.
+     */
+    private void setOrgIdForBrandingBytes(
+        com.google.protobuf.ByteString value) {
+      checkByteStringIsUtf8(value);
+      orgIdForBranding_ = value.toStringUtf8();
+      bitField0_ |= 0x00000002;
+    }
+
+    public static final int DISABLE_CONFIRMATION_EMAIL_FIELD_NUMBER = 6;
+    private boolean disableConfirmationEmail_;
+    /**
+     * <code>bool disable_confirmation_email = 6 [json_name = "disableConfirmationEmail"];</code>
+     * @return The disableConfirmationEmail.
+     */
+    @java.lang.Override
+    public boolean getDisableConfirmationEmail() {
+      return disableConfirmationEmail_;
+    }
+    /**
+     * <code>bool disable_confirmation_email = 6 [json_name = "disableConfirmationEmail"];</code>
+     * @param value The disableConfirmationEmail to set.
+     */
+    private void setDisableConfirmationEmail(boolean value) {
+      
+      disableConfirmationEmail_ = value;
+    }
+    /**
+     * <code>bool disable_confirmation_email = 6 [json_name = "disableConfirmationEmail"];</code>
+     */
+    private void clearDisableConfirmationEmail() {
+
+      disableConfirmationEmail_ = false;
+    }
+
+    public static viam.app.v1.Billing.ChargeOrganizationRequest parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static viam.app.v1.Billing.ChargeOrganizationRequest parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static viam.app.v1.Billing.ChargeOrganizationRequest parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static viam.app.v1.Billing.ChargeOrganizationRequest parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static viam.app.v1.Billing.ChargeOrganizationRequest parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static viam.app.v1.Billing.ChargeOrganizationRequest parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static viam.app.v1.Billing.ChargeOrganizationRequest parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static viam.app.v1.Billing.ChargeOrganizationRequest parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static viam.app.v1.Billing.ChargeOrganizationRequest parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input);
+    }
+
+    public static viam.app.v1.Billing.ChargeOrganizationRequest parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+    public static viam.app.v1.Billing.ChargeOrganizationRequest parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static viam.app.v1.Billing.ChargeOrganizationRequest parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static Builder newBuilder() {
+      return (Builder) DEFAULT_INSTANCE.createBuilder();
+    }
+    public static Builder newBuilder(viam.app.v1.Billing.ChargeOrganizationRequest prototype) {
+      return DEFAULT_INSTANCE.createBuilder(prototype);
+    }
+
+    /**
+     * Protobuf type {@code viam.app.v1.ChargeOrganizationRequest}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageLite.Builder<
+          viam.app.v1.Billing.ChargeOrganizationRequest, Builder> implements
+        // @@protoc_insertion_point(builder_implements:viam.app.v1.ChargeOrganizationRequest)
+        viam.app.v1.Billing.ChargeOrganizationRequestOrBuilder {
+      // Construct using viam.app.v1.Billing.ChargeOrganizationRequest.newBuilder()
+      private Builder() {
+        super(DEFAULT_INSTANCE);
+      }
+
+
+      /**
+       * <code>string org_id_to_charge = 1 [json_name = "orgIdToCharge"];</code>
+       * @return The orgIdToCharge.
+       */
+      @java.lang.Override
+      public java.lang.String getOrgIdToCharge() {
+        return instance.getOrgIdToCharge();
+      }
+      /**
+       * <code>string org_id_to_charge = 1 [json_name = "orgIdToCharge"];</code>
+       * @return The bytes for orgIdToCharge.
+       */
+      @java.lang.Override
+      public com.google.protobuf.ByteString
+          getOrgIdToChargeBytes() {
+        return instance.getOrgIdToChargeBytes();
+      }
+      /**
+       * <code>string org_id_to_charge = 1 [json_name = "orgIdToCharge"];</code>
+       * @param value The orgIdToCharge to set.
+       * @return This builder for chaining.
+       */
+      public Builder setOrgIdToCharge(
+          java.lang.String value) {
+        copyOnWrite();
+        instance.setOrgIdToCharge(value);
+        return this;
+      }
+      /**
+       * <code>string org_id_to_charge = 1 [json_name = "orgIdToCharge"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearOrgIdToCharge() {
+        copyOnWrite();
+        instance.clearOrgIdToCharge();
+        return this;
+      }
+      /**
+       * <code>string org_id_to_charge = 1 [json_name = "orgIdToCharge"];</code>
+       * @param value The bytes for orgIdToCharge to set.
+       * @return This builder for chaining.
+       */
+      public Builder setOrgIdToChargeBytes(
+          com.google.protobuf.ByteString value) {
+        copyOnWrite();
+        instance.setOrgIdToChargeBytes(value);
+        return this;
+      }
+
+      /**
+       * <code>optional string description = 2 [json_name = "description"];</code>
+       * @return Whether the description field is set.
+       */
+      @java.lang.Override
+      public boolean hasDescription() {
+        return instance.hasDescription();
+      }
+      /**
+       * <code>optional string description = 2 [json_name = "description"];</code>
+       * @return The description.
+       */
+      @java.lang.Override
+      public java.lang.String getDescription() {
+        return instance.getDescription();
+      }
+      /**
+       * <code>optional string description = 2 [json_name = "description"];</code>
+       * @return The bytes for description.
+       */
+      @java.lang.Override
+      public com.google.protobuf.ByteString
+          getDescriptionBytes() {
+        return instance.getDescriptionBytes();
+      }
+      /**
+       * <code>optional string description = 2 [json_name = "description"];</code>
+       * @param value The description to set.
+       * @return This builder for chaining.
+       */
+      public Builder setDescription(
+          java.lang.String value) {
+        copyOnWrite();
+        instance.setDescription(value);
+        return this;
+      }
+      /**
+       * <code>optional string description = 2 [json_name = "description"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearDescription() {
+        copyOnWrite();
+        instance.clearDescription();
+        return this;
+      }
+      /**
+       * <code>optional string description = 2 [json_name = "description"];</code>
+       * @param value The bytes for description to set.
+       * @return This builder for chaining.
+       */
+      public Builder setDescriptionBytes(
+          com.google.protobuf.ByteString value) {
+        copyOnWrite();
+        instance.setDescriptionBytes(value);
+        return this;
+      }
+
+      /**
+       * <code>double subtotal = 3 [json_name = "subtotal"];</code>
+       * @return The subtotal.
+       */
+      @java.lang.Override
+      public double getSubtotal() {
+        return instance.getSubtotal();
+      }
+      /**
+       * <code>double subtotal = 3 [json_name = "subtotal"];</code>
+       * @param value The subtotal to set.
+       * @return This builder for chaining.
+       */
+      public Builder setSubtotal(double value) {
+        copyOnWrite();
+        instance.setSubtotal(value);
+        return this;
+      }
+      /**
+       * <code>double subtotal = 3 [json_name = "subtotal"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearSubtotal() {
+        copyOnWrite();
+        instance.clearSubtotal();
+        return this;
+      }
+
+      /**
+       * <code>double tax = 4 [json_name = "tax"];</code>
+       * @return The tax.
+       */
+      @java.lang.Override
+      public double getTax() {
+        return instance.getTax();
+      }
+      /**
+       * <code>double tax = 4 [json_name = "tax"];</code>
+       * @param value The tax to set.
+       * @return This builder for chaining.
+       */
+      public Builder setTax(double value) {
+        copyOnWrite();
+        instance.setTax(value);
+        return this;
+      }
+      /**
+       * <code>double tax = 4 [json_name = "tax"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearTax() {
+        copyOnWrite();
+        instance.clearTax();
+        return this;
+      }
+
+      /**
+       * <code>optional string org_id_for_branding = 5 [json_name = "orgIdForBranding"];</code>
+       * @return Whether the orgIdForBranding field is set.
+       */
+      @java.lang.Override
+      public boolean hasOrgIdForBranding() {
+        return instance.hasOrgIdForBranding();
+      }
+      /**
+       * <code>optional string org_id_for_branding = 5 [json_name = "orgIdForBranding"];</code>
+       * @return The orgIdForBranding.
+       */
+      @java.lang.Override
+      public java.lang.String getOrgIdForBranding() {
+        return instance.getOrgIdForBranding();
+      }
+      /**
+       * <code>optional string org_id_for_branding = 5 [json_name = "orgIdForBranding"];</code>
+       * @return The bytes for orgIdForBranding.
+       */
+      @java.lang.Override
+      public com.google.protobuf.ByteString
+          getOrgIdForBrandingBytes() {
+        return instance.getOrgIdForBrandingBytes();
+      }
+      /**
+       * <code>optional string org_id_for_branding = 5 [json_name = "orgIdForBranding"];</code>
+       * @param value The orgIdForBranding to set.
+       * @return This builder for chaining.
+       */
+      public Builder setOrgIdForBranding(
+          java.lang.String value) {
+        copyOnWrite();
+        instance.setOrgIdForBranding(value);
+        return this;
+      }
+      /**
+       * <code>optional string org_id_for_branding = 5 [json_name = "orgIdForBranding"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearOrgIdForBranding() {
+        copyOnWrite();
+        instance.clearOrgIdForBranding();
+        return this;
+      }
+      /**
+       * <code>optional string org_id_for_branding = 5 [json_name = "orgIdForBranding"];</code>
+       * @param value The bytes for orgIdForBranding to set.
+       * @return This builder for chaining.
+       */
+      public Builder setOrgIdForBrandingBytes(
+          com.google.protobuf.ByteString value) {
+        copyOnWrite();
+        instance.setOrgIdForBrandingBytes(value);
+        return this;
+      }
+
+      /**
+       * <code>bool disable_confirmation_email = 6 [json_name = "disableConfirmationEmail"];</code>
+       * @return The disableConfirmationEmail.
+       */
+      @java.lang.Override
+      public boolean getDisableConfirmationEmail() {
+        return instance.getDisableConfirmationEmail();
+      }
+      /**
+       * <code>bool disable_confirmation_email = 6 [json_name = "disableConfirmationEmail"];</code>
+       * @param value The disableConfirmationEmail to set.
+       * @return This builder for chaining.
+       */
+      public Builder setDisableConfirmationEmail(boolean value) {
+        copyOnWrite();
+        instance.setDisableConfirmationEmail(value);
+        return this;
+      }
+      /**
+       * <code>bool disable_confirmation_email = 6 [json_name = "disableConfirmationEmail"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearDisableConfirmationEmail() {
+        copyOnWrite();
+        instance.clearDisableConfirmationEmail();
+        return this;
+      }
+
+      // @@protoc_insertion_point(builder_scope:viam.app.v1.ChargeOrganizationRequest)
+    }
+    @java.lang.Override
+    @java.lang.SuppressWarnings({"unchecked", "fallthrough"})
+    protected final java.lang.Object dynamicMethod(
+        com.google.protobuf.GeneratedMessageLite.MethodToInvoke method,
+        java.lang.Object arg0, java.lang.Object arg1) {
+      switch (method) {
+        case NEW_MUTABLE_INSTANCE: {
+          return new viam.app.v1.Billing.ChargeOrganizationRequest();
+        }
+        case NEW_BUILDER: {
+          return new Builder();
+        }
+        case BUILD_MESSAGE_INFO: {
+            java.lang.Object[] objects = new java.lang.Object[] {
+              "bitField0_",
+              "orgIdToCharge_",
+              "description_",
+              "subtotal_",
+              "tax_",
+              "orgIdForBranding_",
+              "disableConfirmationEmail_",
+            };
+            java.lang.String info =
+                "\u0000\u0006\u0000\u0001\u0001\u0006\u0006\u0000\u0000\u0000\u0001\u0208\u0002\u1208" +
+                "\u0000\u0003\u0000\u0004\u0000\u0005\u1208\u0001\u0006\u0007";
+            return newMessageInfo(DEFAULT_INSTANCE, info, objects);
+        }
+        // fall through
+        case GET_DEFAULT_INSTANCE: {
+          return DEFAULT_INSTANCE;
+        }
+        case GET_PARSER: {
+          com.google.protobuf.Parser<viam.app.v1.Billing.ChargeOrganizationRequest> parser = PARSER;
+          if (parser == null) {
+            synchronized (viam.app.v1.Billing.ChargeOrganizationRequest.class) {
+              parser = PARSER;
+              if (parser == null) {
+                parser =
+                    new DefaultInstanceBasedParser<viam.app.v1.Billing.ChargeOrganizationRequest>(
+                        DEFAULT_INSTANCE);
+                PARSER = parser;
+              }
+            }
+          }
+          return parser;
+      }
+      case GET_MEMOIZED_IS_INITIALIZED: {
+        return (byte) 1;
+      }
+      case SET_MEMOIZED_IS_INITIALIZED: {
+        return null;
+      }
+      }
+      throw new UnsupportedOperationException();
+    }
+
+
+    // @@protoc_insertion_point(class_scope:viam.app.v1.ChargeOrganizationRequest)
+    private static final viam.app.v1.Billing.ChargeOrganizationRequest DEFAULT_INSTANCE;
+    static {
+      ChargeOrganizationRequest defaultInstance = new ChargeOrganizationRequest();
+      // New instances are implicitly immutable so no need to make
+      // immutable.
+      DEFAULT_INSTANCE = defaultInstance;
+      com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
+        ChargeOrganizationRequest.class, defaultInstance);
+    }
+
+    public static viam.app.v1.Billing.ChargeOrganizationRequest getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static volatile com.google.protobuf.Parser<ChargeOrganizationRequest> PARSER;
+
+    public static com.google.protobuf.Parser<ChargeOrganizationRequest> parser() {
+      return DEFAULT_INSTANCE.getParserForType();
+    }
+  }
+
+  public interface ChargeOrganizationResponseOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:viam.app.v1.ChargeOrganizationResponse)
+      com.google.protobuf.MessageLiteOrBuilder {
+
+    /**
+     * <code>string invoice_id = 1 [json_name = "invoiceId"];</code>
+     * @return The invoiceId.
+     */
+    java.lang.String getInvoiceId();
+    /**
+     * <code>string invoice_id = 1 [json_name = "invoiceId"];</code>
+     * @return The bytes for invoiceId.
+     */
+    com.google.protobuf.ByteString
+        getInvoiceIdBytes();
+  }
+  /**
+   * Protobuf type {@code viam.app.v1.ChargeOrganizationResponse}
+   */
+  public  static final class ChargeOrganizationResponse extends
+      com.google.protobuf.GeneratedMessageLite<
+          ChargeOrganizationResponse, ChargeOrganizationResponse.Builder> implements
+      // @@protoc_insertion_point(message_implements:viam.app.v1.ChargeOrganizationResponse)
+      ChargeOrganizationResponseOrBuilder {
+    private ChargeOrganizationResponse() {
+      invoiceId_ = "";
+    }
+    public static final int INVOICE_ID_FIELD_NUMBER = 1;
+    private java.lang.String invoiceId_;
+    /**
+     * <code>string invoice_id = 1 [json_name = "invoiceId"];</code>
+     * @return The invoiceId.
+     */
+    @java.lang.Override
+    public java.lang.String getInvoiceId() {
+      return invoiceId_;
+    }
+    /**
+     * <code>string invoice_id = 1 [json_name = "invoiceId"];</code>
+     * @return The bytes for invoiceId.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getInvoiceIdBytes() {
+      return com.google.protobuf.ByteString.copyFromUtf8(invoiceId_);
+    }
+    /**
+     * <code>string invoice_id = 1 [json_name = "invoiceId"];</code>
+     * @param value The invoiceId to set.
+     */
+    private void setInvoiceId(
+        java.lang.String value) {
+      java.lang.Class<?> valueClass = value.getClass();
+  
+      invoiceId_ = value;
+    }
+    /**
+     * <code>string invoice_id = 1 [json_name = "invoiceId"];</code>
+     */
+    private void clearInvoiceId() {
+
+      invoiceId_ = getDefaultInstance().getInvoiceId();
+    }
+    /**
+     * <code>string invoice_id = 1 [json_name = "invoiceId"];</code>
+     * @param value The bytes for invoiceId to set.
+     */
+    private void setInvoiceIdBytes(
+        com.google.protobuf.ByteString value) {
+      checkByteStringIsUtf8(value);
+      invoiceId_ = value.toStringUtf8();
+
+    }
+
+    public static viam.app.v1.Billing.ChargeOrganizationResponse parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static viam.app.v1.Billing.ChargeOrganizationResponse parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static viam.app.v1.Billing.ChargeOrganizationResponse parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static viam.app.v1.Billing.ChargeOrganizationResponse parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static viam.app.v1.Billing.ChargeOrganizationResponse parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static viam.app.v1.Billing.ChargeOrganizationResponse parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static viam.app.v1.Billing.ChargeOrganizationResponse parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static viam.app.v1.Billing.ChargeOrganizationResponse parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static viam.app.v1.Billing.ChargeOrganizationResponse parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input);
+    }
+
+    public static viam.app.v1.Billing.ChargeOrganizationResponse parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+    public static viam.app.v1.Billing.ChargeOrganizationResponse parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static viam.app.v1.Billing.ChargeOrganizationResponse parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static Builder newBuilder() {
+      return (Builder) DEFAULT_INSTANCE.createBuilder();
+    }
+    public static Builder newBuilder(viam.app.v1.Billing.ChargeOrganizationResponse prototype) {
+      return DEFAULT_INSTANCE.createBuilder(prototype);
+    }
+
+    /**
+     * Protobuf type {@code viam.app.v1.ChargeOrganizationResponse}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageLite.Builder<
+          viam.app.v1.Billing.ChargeOrganizationResponse, Builder> implements
+        // @@protoc_insertion_point(builder_implements:viam.app.v1.ChargeOrganizationResponse)
+        viam.app.v1.Billing.ChargeOrganizationResponseOrBuilder {
+      // Construct using viam.app.v1.Billing.ChargeOrganizationResponse.newBuilder()
+      private Builder() {
+        super(DEFAULT_INSTANCE);
+      }
+
+
+      /**
+       * <code>string invoice_id = 1 [json_name = "invoiceId"];</code>
+       * @return The invoiceId.
+       */
+      @java.lang.Override
+      public java.lang.String getInvoiceId() {
+        return instance.getInvoiceId();
+      }
+      /**
+       * <code>string invoice_id = 1 [json_name = "invoiceId"];</code>
+       * @return The bytes for invoiceId.
+       */
+      @java.lang.Override
+      public com.google.protobuf.ByteString
+          getInvoiceIdBytes() {
+        return instance.getInvoiceIdBytes();
+      }
+      /**
+       * <code>string invoice_id = 1 [json_name = "invoiceId"];</code>
+       * @param value The invoiceId to set.
+       * @return This builder for chaining.
+       */
+      public Builder setInvoiceId(
+          java.lang.String value) {
+        copyOnWrite();
+        instance.setInvoiceId(value);
+        return this;
+      }
+      /**
+       * <code>string invoice_id = 1 [json_name = "invoiceId"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearInvoiceId() {
+        copyOnWrite();
+        instance.clearInvoiceId();
+        return this;
+      }
+      /**
+       * <code>string invoice_id = 1 [json_name = "invoiceId"];</code>
+       * @param value The bytes for invoiceId to set.
+       * @return This builder for chaining.
+       */
+      public Builder setInvoiceIdBytes(
+          com.google.protobuf.ByteString value) {
+        copyOnWrite();
+        instance.setInvoiceIdBytes(value);
+        return this;
+      }
+
+      // @@protoc_insertion_point(builder_scope:viam.app.v1.ChargeOrganizationResponse)
+    }
+    @java.lang.Override
+    @java.lang.SuppressWarnings({"unchecked", "fallthrough"})
+    protected final java.lang.Object dynamicMethod(
+        com.google.protobuf.GeneratedMessageLite.MethodToInvoke method,
+        java.lang.Object arg0, java.lang.Object arg1) {
+      switch (method) {
+        case NEW_MUTABLE_INSTANCE: {
+          return new viam.app.v1.Billing.ChargeOrganizationResponse();
+        }
+        case NEW_BUILDER: {
+          return new Builder();
+        }
+        case BUILD_MESSAGE_INFO: {
+            java.lang.Object[] objects = new java.lang.Object[] {
+              "invoiceId_",
+            };
+            java.lang.String info =
+                "\u0000\u0001\u0000\u0000\u0001\u0001\u0001\u0000\u0000\u0000\u0001\u0208";
+            return newMessageInfo(DEFAULT_INSTANCE, info, objects);
+        }
+        // fall through
+        case GET_DEFAULT_INSTANCE: {
+          return DEFAULT_INSTANCE;
+        }
+        case GET_PARSER: {
+          com.google.protobuf.Parser<viam.app.v1.Billing.ChargeOrganizationResponse> parser = PARSER;
+          if (parser == null) {
+            synchronized (viam.app.v1.Billing.ChargeOrganizationResponse.class) {
+              parser = PARSER;
+              if (parser == null) {
+                parser =
+                    new DefaultInstanceBasedParser<viam.app.v1.Billing.ChargeOrganizationResponse>(
+                        DEFAULT_INSTANCE);
+                PARSER = parser;
+              }
+            }
+          }
+          return parser;
+      }
+      case GET_MEMOIZED_IS_INITIALIZED: {
+        return (byte) 1;
+      }
+      case SET_MEMOIZED_IS_INITIALIZED: {
+        return null;
+      }
+      }
+      throw new UnsupportedOperationException();
+    }
+
+
+    // @@protoc_insertion_point(class_scope:viam.app.v1.ChargeOrganizationResponse)
+    private static final viam.app.v1.Billing.ChargeOrganizationResponse DEFAULT_INSTANCE;
+    static {
+      ChargeOrganizationResponse defaultInstance = new ChargeOrganizationResponse();
+      // New instances are implicitly immutable so no need to make
+      // immutable.
+      DEFAULT_INSTANCE = defaultInstance;
+      com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
+        ChargeOrganizationResponse.class, defaultInstance);
+    }
+
+    public static viam.app.v1.Billing.ChargeOrganizationResponse getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static volatile com.google.protobuf.Parser<ChargeOrganizationResponse> PARSER;
+
+    public static com.google.protobuf.Parser<ChargeOrganizationResponse> parser() {
+      return DEFAULT_INSTANCE.getParserForType();
+    }
+  }
+
+  public interface CreateInvoiceAndChargeImmediatelyRequestOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:viam.app.v1.CreateInvoiceAndChargeImmediatelyRequest)
+      com.google.protobuf.MessageLiteOrBuilder {
+
+    /**
+     * <code>string org_id_to_charge = 1 [json_name = "orgIdToCharge"];</code>
+     * @return The orgIdToCharge.
+     */
+    java.lang.String getOrgIdToCharge();
+    /**
+     * <code>string org_id_to_charge = 1 [json_name = "orgIdToCharge"];</code>
+     * @return The bytes for orgIdToCharge.
+     */
+    com.google.protobuf.ByteString
+        getOrgIdToChargeBytes();
+
+    /**
+     * <code>double amount = 2 [json_name = "amount"];</code>
+     * @return The amount.
+     */
+    double getAmount();
+
+    /**
+     * <code>optional string description = 3 [json_name = "description"];</code>
+     * @return Whether the description field is set.
+     */
+    boolean hasDescription();
+    /**
+     * <code>optional string description = 3 [json_name = "description"];</code>
+     * @return The description.
+     */
+    java.lang.String getDescription();
+    /**
+     * <code>optional string description = 3 [json_name = "description"];</code>
+     * @return The bytes for description.
+     */
+    com.google.protobuf.ByteString
+        getDescriptionBytes();
+
+    /**
+     * <code>optional string org_id_for_branding = 4 [json_name = "orgIdForBranding"];</code>
+     * @return Whether the orgIdForBranding field is set.
+     */
+    boolean hasOrgIdForBranding();
+    /**
+     * <code>optional string org_id_for_branding = 4 [json_name = "orgIdForBranding"];</code>
+     * @return The orgIdForBranding.
+     */
+    java.lang.String getOrgIdForBranding();
+    /**
+     * <code>optional string org_id_for_branding = 4 [json_name = "orgIdForBranding"];</code>
+     * @return The bytes for orgIdForBranding.
+     */
+    com.google.protobuf.ByteString
+        getOrgIdForBrandingBytes();
+
+    /**
+     * <code>bool disable_email = 5 [json_name = "disableEmail"];</code>
+     * @return The disableEmail.
+     */
+    boolean getDisableEmail();
+  }
+  /**
+   * <pre>
+   * Deprecated: Use ChargeOrganizationRequest instead
+   * </pre>
+   *
+   * Protobuf type {@code viam.app.v1.CreateInvoiceAndChargeImmediatelyRequest}
+   */
+  public  static final class CreateInvoiceAndChargeImmediatelyRequest extends
+      com.google.protobuf.GeneratedMessageLite<
+          CreateInvoiceAndChargeImmediatelyRequest, CreateInvoiceAndChargeImmediatelyRequest.Builder> implements
+      // @@protoc_insertion_point(message_implements:viam.app.v1.CreateInvoiceAndChargeImmediatelyRequest)
+      CreateInvoiceAndChargeImmediatelyRequestOrBuilder {
+    private CreateInvoiceAndChargeImmediatelyRequest() {
+      orgIdToCharge_ = "";
+      description_ = "";
+      orgIdForBranding_ = "";
+    }
+    private int bitField0_;
+    public static final int ORG_ID_TO_CHARGE_FIELD_NUMBER = 1;
+    private java.lang.String orgIdToCharge_;
+    /**
+     * <code>string org_id_to_charge = 1 [json_name = "orgIdToCharge"];</code>
+     * @return The orgIdToCharge.
+     */
+    @java.lang.Override
+    public java.lang.String getOrgIdToCharge() {
+      return orgIdToCharge_;
+    }
+    /**
+     * <code>string org_id_to_charge = 1 [json_name = "orgIdToCharge"];</code>
+     * @return The bytes for orgIdToCharge.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getOrgIdToChargeBytes() {
+      return com.google.protobuf.ByteString.copyFromUtf8(orgIdToCharge_);
+    }
+    /**
+     * <code>string org_id_to_charge = 1 [json_name = "orgIdToCharge"];</code>
+     * @param value The orgIdToCharge to set.
+     */
+    private void setOrgIdToCharge(
+        java.lang.String value) {
+      java.lang.Class<?> valueClass = value.getClass();
+  
+      orgIdToCharge_ = value;
+    }
+    /**
+     * <code>string org_id_to_charge = 1 [json_name = "orgIdToCharge"];</code>
+     */
+    private void clearOrgIdToCharge() {
+
+      orgIdToCharge_ = getDefaultInstance().getOrgIdToCharge();
+    }
+    /**
+     * <code>string org_id_to_charge = 1 [json_name = "orgIdToCharge"];</code>
+     * @param value The bytes for orgIdToCharge to set.
+     */
+    private void setOrgIdToChargeBytes(
+        com.google.protobuf.ByteString value) {
+      checkByteStringIsUtf8(value);
+      orgIdToCharge_ = value.toStringUtf8();
+
+    }
+
+    public static final int AMOUNT_FIELD_NUMBER = 2;
+    private double amount_;
+    /**
+     * <code>double amount = 2 [json_name = "amount"];</code>
+     * @return The amount.
+     */
+    @java.lang.Override
+    public double getAmount() {
+      return amount_;
+    }
+    /**
+     * <code>double amount = 2 [json_name = "amount"];</code>
+     * @param value The amount to set.
+     */
+    private void setAmount(double value) {
+      
+      amount_ = value;
+    }
+    /**
+     * <code>double amount = 2 [json_name = "amount"];</code>
+     */
+    private void clearAmount() {
+
+      amount_ = 0D;
+    }
+
+    public static final int DESCRIPTION_FIELD_NUMBER = 3;
+    private java.lang.String description_;
+    /**
+     * <code>optional string description = 3 [json_name = "description"];</code>
+     * @return Whether the description field is set.
+     */
+    @java.lang.Override
+    public boolean hasDescription() {
+      return ((bitField0_ & 0x00000001) != 0);
+    }
+    /**
+     * <code>optional string description = 3 [json_name = "description"];</code>
+     * @return The description.
+     */
+    @java.lang.Override
+    public java.lang.String getDescription() {
+      return description_;
+    }
+    /**
+     * <code>optional string description = 3 [json_name = "description"];</code>
+     * @return The bytes for description.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getDescriptionBytes() {
+      return com.google.protobuf.ByteString.copyFromUtf8(description_);
+    }
+    /**
+     * <code>optional string description = 3 [json_name = "description"];</code>
+     * @param value The description to set.
+     */
+    private void setDescription(
+        java.lang.String value) {
+      java.lang.Class<?> valueClass = value.getClass();
+  bitField0_ |= 0x00000001;
+      description_ = value;
+    }
+    /**
+     * <code>optional string description = 3 [json_name = "description"];</code>
+     */
+    private void clearDescription() {
+      bitField0_ = (bitField0_ & ~0x00000001);
+      description_ = getDefaultInstance().getDescription();
+    }
+    /**
+     * <code>optional string description = 3 [json_name = "description"];</code>
+     * @param value The bytes for description to set.
+     */
+    private void setDescriptionBytes(
         com.google.protobuf.ByteString value) {
       checkByteStringIsUtf8(value);
       description_ = value.toStringUtf8();
@@ -10954,6 +13169,10 @@ public static Builder newBuilder(viam.app.v1.Billing.CreateInvoiceAndChargeImmed
     }
 
     /**
+     * <pre>
+     * Deprecated: Use ChargeOrganizationRequest instead
+     * </pre>
+     *
      * Protobuf type {@code viam.app.v1.CreateInvoiceAndChargeImmediatelyRequest}
      */
     public static final class Builder extends
@@ -11283,6 +13502,10 @@ public interface CreateInvoiceAndChargeImmediatelyResponseOrBuilder extends
         getInvoiceIdBytes();
   }
   /**
+   * <pre>
+   * Deprecated: Use ChargeOrganizationResponse instead
+   * </pre>
+   *
    * Protobuf type {@code viam.app.v1.CreateInvoiceAndChargeImmediatelyResponse}
    */
   public  static final class CreateInvoiceAndChargeImmediatelyResponse extends
@@ -11424,6 +13647,10 @@ public static Builder newBuilder(viam.app.v1.Billing.CreateInvoiceAndChargeImmed
     }
 
     /**
+     * <pre>
+     * Deprecated: Use ChargeOrganizationResponse instead
+     * </pre>
+     *
      * Protobuf type {@code viam.app.v1.CreateInvoiceAndChargeImmediatelyResponse}
      */
     public static final class Builder extends
diff --git a/core/sdk/src/main/gen/viam/app/v1/BillingServiceGrpc.java b/core/sdk/src/main/gen/viam/app/v1/BillingServiceGrpc.java
index 4d0446025..34ac72405 100644
--- a/core/sdk/src/main/gen/viam/app/v1/BillingServiceGrpc.java
+++ b/core/sdk/src/main/gen/viam/app/v1/BillingServiceGrpc.java
@@ -225,6 +225,96 @@ viam.app.v1.Billing.UpdateOrganizationBillingTierResponse> getUpdateOrganization
     return getUpdateOrganizationBillingTierMethod;
   }
 
+  private static volatile io.grpc.MethodDescriptor<viam.app.v1.Billing.GetLocationBillingOrganizationRequest,
+      viam.app.v1.Billing.GetLocationBillingOrganizationResponse> getGetLocationBillingOrganizationMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "GetLocationBillingOrganization",
+      requestType = viam.app.v1.Billing.GetLocationBillingOrganizationRequest.class,
+      responseType = viam.app.v1.Billing.GetLocationBillingOrganizationResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<viam.app.v1.Billing.GetLocationBillingOrganizationRequest,
+      viam.app.v1.Billing.GetLocationBillingOrganizationResponse> getGetLocationBillingOrganizationMethod() {
+    io.grpc.MethodDescriptor<viam.app.v1.Billing.GetLocationBillingOrganizationRequest, viam.app.v1.Billing.GetLocationBillingOrganizationResponse> getGetLocationBillingOrganizationMethod;
+    if ((getGetLocationBillingOrganizationMethod = BillingServiceGrpc.getGetLocationBillingOrganizationMethod) == null) {
+      synchronized (BillingServiceGrpc.class) {
+        if ((getGetLocationBillingOrganizationMethod = BillingServiceGrpc.getGetLocationBillingOrganizationMethod) == null) {
+          BillingServiceGrpc.getGetLocationBillingOrganizationMethod = getGetLocationBillingOrganizationMethod =
+              io.grpc.MethodDescriptor.<viam.app.v1.Billing.GetLocationBillingOrganizationRequest, viam.app.v1.Billing.GetLocationBillingOrganizationResponse>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetLocationBillingOrganization"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  viam.app.v1.Billing.GetLocationBillingOrganizationRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  viam.app.v1.Billing.GetLocationBillingOrganizationResponse.getDefaultInstance()))
+              .build();
+        }
+      }
+    }
+    return getGetLocationBillingOrganizationMethod;
+  }
+
+  private static volatile io.grpc.MethodDescriptor<viam.app.v1.Billing.UpdateLocationBillingOrganizationRequest,
+      viam.app.v1.Billing.UpdateLocationBillingOrganizationResponse> getUpdateLocationBillingOrganizationMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "UpdateLocationBillingOrganization",
+      requestType = viam.app.v1.Billing.UpdateLocationBillingOrganizationRequest.class,
+      responseType = viam.app.v1.Billing.UpdateLocationBillingOrganizationResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<viam.app.v1.Billing.UpdateLocationBillingOrganizationRequest,
+      viam.app.v1.Billing.UpdateLocationBillingOrganizationResponse> getUpdateLocationBillingOrganizationMethod() {
+    io.grpc.MethodDescriptor<viam.app.v1.Billing.UpdateLocationBillingOrganizationRequest, viam.app.v1.Billing.UpdateLocationBillingOrganizationResponse> getUpdateLocationBillingOrganizationMethod;
+    if ((getUpdateLocationBillingOrganizationMethod = BillingServiceGrpc.getUpdateLocationBillingOrganizationMethod) == null) {
+      synchronized (BillingServiceGrpc.class) {
+        if ((getUpdateLocationBillingOrganizationMethod = BillingServiceGrpc.getUpdateLocationBillingOrganizationMethod) == null) {
+          BillingServiceGrpc.getUpdateLocationBillingOrganizationMethod = getUpdateLocationBillingOrganizationMethod =
+              io.grpc.MethodDescriptor.<viam.app.v1.Billing.UpdateLocationBillingOrganizationRequest, viam.app.v1.Billing.UpdateLocationBillingOrganizationResponse>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "UpdateLocationBillingOrganization"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  viam.app.v1.Billing.UpdateLocationBillingOrganizationRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  viam.app.v1.Billing.UpdateLocationBillingOrganizationResponse.getDefaultInstance()))
+              .build();
+        }
+      }
+    }
+    return getUpdateLocationBillingOrganizationMethod;
+  }
+
+  private static volatile io.grpc.MethodDescriptor<viam.app.v1.Billing.ChargeOrganizationRequest,
+      viam.app.v1.Billing.ChargeOrganizationResponse> getChargeOrganizationMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "ChargeOrganization",
+      requestType = viam.app.v1.Billing.ChargeOrganizationRequest.class,
+      responseType = viam.app.v1.Billing.ChargeOrganizationResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<viam.app.v1.Billing.ChargeOrganizationRequest,
+      viam.app.v1.Billing.ChargeOrganizationResponse> getChargeOrganizationMethod() {
+    io.grpc.MethodDescriptor<viam.app.v1.Billing.ChargeOrganizationRequest, viam.app.v1.Billing.ChargeOrganizationResponse> getChargeOrganizationMethod;
+    if ((getChargeOrganizationMethod = BillingServiceGrpc.getChargeOrganizationMethod) == null) {
+      synchronized (BillingServiceGrpc.class) {
+        if ((getChargeOrganizationMethod = BillingServiceGrpc.getChargeOrganizationMethod) == null) {
+          BillingServiceGrpc.getChargeOrganizationMethod = getChargeOrganizationMethod =
+              io.grpc.MethodDescriptor.<viam.app.v1.Billing.ChargeOrganizationRequest, viam.app.v1.Billing.ChargeOrganizationResponse>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "ChargeOrganization"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  viam.app.v1.Billing.ChargeOrganizationRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  viam.app.v1.Billing.ChargeOrganizationResponse.getDefaultInstance()))
+              .build();
+        }
+      }
+    }
+    return getChargeOrganizationMethod;
+  }
+
   private static volatile io.grpc.MethodDescriptor<viam.app.v1.Billing.CreateInvoiceAndChargeImmediatelyRequest,
       viam.app.v1.Billing.CreateInvoiceAndChargeImmediatelyResponse> getCreateInvoiceAndChargeImmediatelyMethod;
 
@@ -375,7 +465,37 @@ default void updateOrganizationBillingTier(viam.app.v1.Billing.UpdateOrganizatio
 
     /**
      * <pre>
-     * Directly create a flat fee invoice for an organization and charge on the spot
+     * Get the billing organization for a location
+     * </pre>
+     */
+    default void getLocationBillingOrganization(viam.app.v1.Billing.GetLocationBillingOrganizationRequest request,
+        io.grpc.stub.StreamObserver<viam.app.v1.Billing.GetLocationBillingOrganizationResponse> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetLocationBillingOrganizationMethod(), responseObserver);
+    }
+
+    /**
+     * <pre>
+     * Update the billing organization for a location
+     * </pre>
+     */
+    default void updateLocationBillingOrganization(viam.app.v1.Billing.UpdateLocationBillingOrganizationRequest request,
+        io.grpc.stub.StreamObserver<viam.app.v1.Billing.UpdateLocationBillingOrganizationResponse> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getUpdateLocationBillingOrganizationMethod(), responseObserver);
+    }
+
+    /**
+     * <pre>
+     * Charge an organization on the spot
+     * </pre>
+     */
+    default void chargeOrganization(viam.app.v1.Billing.ChargeOrganizationRequest request,
+        io.grpc.stub.StreamObserver<viam.app.v1.Billing.ChargeOrganizationResponse> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getChargeOrganizationMethod(), responseObserver);
+    }
+
+    /**
+     * <pre>
+     * Deprecated: Use ChargeOrganization instead
      * </pre>
      */
     default void createInvoiceAndChargeImmediately(viam.app.v1.Billing.CreateInvoiceAndChargeImmediatelyRequest request,
@@ -490,7 +610,40 @@ public void updateOrganizationBillingTier(viam.app.v1.Billing.UpdateOrganization
 
     /**
      * <pre>
-     * Directly create a flat fee invoice for an organization and charge on the spot
+     * Get the billing organization for a location
+     * </pre>
+     */
+    public void getLocationBillingOrganization(viam.app.v1.Billing.GetLocationBillingOrganizationRequest request,
+        io.grpc.stub.StreamObserver<viam.app.v1.Billing.GetLocationBillingOrganizationResponse> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getGetLocationBillingOrganizationMethod(), getCallOptions()), request, responseObserver);
+    }
+
+    /**
+     * <pre>
+     * Update the billing organization for a location
+     * </pre>
+     */
+    public void updateLocationBillingOrganization(viam.app.v1.Billing.UpdateLocationBillingOrganizationRequest request,
+        io.grpc.stub.StreamObserver<viam.app.v1.Billing.UpdateLocationBillingOrganizationResponse> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getUpdateLocationBillingOrganizationMethod(), getCallOptions()), request, responseObserver);
+    }
+
+    /**
+     * <pre>
+     * Charge an organization on the spot
+     * </pre>
+     */
+    public void chargeOrganization(viam.app.v1.Billing.ChargeOrganizationRequest request,
+        io.grpc.stub.StreamObserver<viam.app.v1.Billing.ChargeOrganizationResponse> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getChargeOrganizationMethod(), getCallOptions()), request, responseObserver);
+    }
+
+    /**
+     * <pre>
+     * Deprecated: Use ChargeOrganization instead
      * </pre>
      */
     public void createInvoiceAndChargeImmediately(viam.app.v1.Billing.CreateInvoiceAndChargeImmediatelyRequest request,
@@ -589,7 +742,37 @@ public viam.app.v1.Billing.UpdateOrganizationBillingTierResponse updateOrganizat
 
     /**
      * <pre>
-     * Directly create a flat fee invoice for an organization and charge on the spot
+     * Get the billing organization for a location
+     * </pre>
+     */
+    public viam.app.v1.Billing.GetLocationBillingOrganizationResponse getLocationBillingOrganization(viam.app.v1.Billing.GetLocationBillingOrganizationRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getGetLocationBillingOrganizationMethod(), getCallOptions(), request);
+    }
+
+    /**
+     * <pre>
+     * Update the billing organization for a location
+     * </pre>
+     */
+    public viam.app.v1.Billing.UpdateLocationBillingOrganizationResponse updateLocationBillingOrganization(viam.app.v1.Billing.UpdateLocationBillingOrganizationRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getUpdateLocationBillingOrganizationMethod(), getCallOptions(), request);
+    }
+
+    /**
+     * <pre>
+     * Charge an organization on the spot
+     * </pre>
+     */
+    public viam.app.v1.Billing.ChargeOrganizationResponse chargeOrganization(viam.app.v1.Billing.ChargeOrganizationRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getChargeOrganizationMethod(), getCallOptions(), request);
+    }
+
+    /**
+     * <pre>
+     * Deprecated: Use ChargeOrganization instead
      * </pre>
      */
     public viam.app.v1.Billing.CreateInvoiceAndChargeImmediatelyResponse createInvoiceAndChargeImmediately(viam.app.v1.Billing.CreateInvoiceAndChargeImmediatelyRequest request) {
@@ -682,7 +865,40 @@ public com.google.common.util.concurrent.ListenableFuture<viam.app.v1.Billing.Up
 
     /**
      * <pre>
-     * Directly create a flat fee invoice for an organization and charge on the spot
+     * Get the billing organization for a location
+     * </pre>
+     */
+    public com.google.common.util.concurrent.ListenableFuture<viam.app.v1.Billing.GetLocationBillingOrganizationResponse> getLocationBillingOrganization(
+        viam.app.v1.Billing.GetLocationBillingOrganizationRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getGetLocationBillingOrganizationMethod(), getCallOptions()), request);
+    }
+
+    /**
+     * <pre>
+     * Update the billing organization for a location
+     * </pre>
+     */
+    public com.google.common.util.concurrent.ListenableFuture<viam.app.v1.Billing.UpdateLocationBillingOrganizationResponse> updateLocationBillingOrganization(
+        viam.app.v1.Billing.UpdateLocationBillingOrganizationRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getUpdateLocationBillingOrganizationMethod(), getCallOptions()), request);
+    }
+
+    /**
+     * <pre>
+     * Charge an organization on the spot
+     * </pre>
+     */
+    public com.google.common.util.concurrent.ListenableFuture<viam.app.v1.Billing.ChargeOrganizationResponse> chargeOrganization(
+        viam.app.v1.Billing.ChargeOrganizationRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getChargeOrganizationMethod(), getCallOptions()), request);
+    }
+
+    /**
+     * <pre>
+     * Deprecated: Use ChargeOrganization instead
      * </pre>
      */
     public com.google.common.util.concurrent.ListenableFuture<viam.app.v1.Billing.CreateInvoiceAndChargeImmediatelyResponse> createInvoiceAndChargeImmediately(
@@ -699,7 +915,10 @@ public com.google.common.util.concurrent.ListenableFuture<viam.app.v1.Billing.Cr
   private static final int METHODID_SEND_PAYMENT_REQUIRED_EMAIL = 4;
   private static final int METHODID_GET_AVAILABLE_BILLING_TIERS = 5;
   private static final int METHODID_UPDATE_ORGANIZATION_BILLING_TIER = 6;
-  private static final int METHODID_CREATE_INVOICE_AND_CHARGE_IMMEDIATELY = 7;
+  private static final int METHODID_GET_LOCATION_BILLING_ORGANIZATION = 7;
+  private static final int METHODID_UPDATE_LOCATION_BILLING_ORGANIZATION = 8;
+  private static final int METHODID_CHARGE_ORGANIZATION = 9;
+  private static final int METHODID_CREATE_INVOICE_AND_CHARGE_IMMEDIATELY = 10;
 
   private static final class MethodHandlers<Req, Resp> implements
       io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@@ -746,6 +965,18 @@ public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserv
           serviceImpl.updateOrganizationBillingTier((viam.app.v1.Billing.UpdateOrganizationBillingTierRequest) request,
               (io.grpc.stub.StreamObserver<viam.app.v1.Billing.UpdateOrganizationBillingTierResponse>) responseObserver);
           break;
+        case METHODID_GET_LOCATION_BILLING_ORGANIZATION:
+          serviceImpl.getLocationBillingOrganization((viam.app.v1.Billing.GetLocationBillingOrganizationRequest) request,
+              (io.grpc.stub.StreamObserver<viam.app.v1.Billing.GetLocationBillingOrganizationResponse>) responseObserver);
+          break;
+        case METHODID_UPDATE_LOCATION_BILLING_ORGANIZATION:
+          serviceImpl.updateLocationBillingOrganization((viam.app.v1.Billing.UpdateLocationBillingOrganizationRequest) request,
+              (io.grpc.stub.StreamObserver<viam.app.v1.Billing.UpdateLocationBillingOrganizationResponse>) responseObserver);
+          break;
+        case METHODID_CHARGE_ORGANIZATION:
+          serviceImpl.chargeOrganization((viam.app.v1.Billing.ChargeOrganizationRequest) request,
+              (io.grpc.stub.StreamObserver<viam.app.v1.Billing.ChargeOrganizationResponse>) responseObserver);
+          break;
         case METHODID_CREATE_INVOICE_AND_CHARGE_IMMEDIATELY:
           serviceImpl.createInvoiceAndChargeImmediately((viam.app.v1.Billing.CreateInvoiceAndChargeImmediatelyRequest) request,
               (io.grpc.stub.StreamObserver<viam.app.v1.Billing.CreateInvoiceAndChargeImmediatelyResponse>) responseObserver);
@@ -817,6 +1048,27 @@ public static final io.grpc.ServerServiceDefinition bindService(AsyncService ser
               viam.app.v1.Billing.UpdateOrganizationBillingTierRequest,
               viam.app.v1.Billing.UpdateOrganizationBillingTierResponse>(
                 service, METHODID_UPDATE_ORGANIZATION_BILLING_TIER)))
+        .addMethod(
+          getGetLocationBillingOrganizationMethod(),
+          io.grpc.stub.ServerCalls.asyncUnaryCall(
+            new MethodHandlers<
+              viam.app.v1.Billing.GetLocationBillingOrganizationRequest,
+              viam.app.v1.Billing.GetLocationBillingOrganizationResponse>(
+                service, METHODID_GET_LOCATION_BILLING_ORGANIZATION)))
+        .addMethod(
+          getUpdateLocationBillingOrganizationMethod(),
+          io.grpc.stub.ServerCalls.asyncUnaryCall(
+            new MethodHandlers<
+              viam.app.v1.Billing.UpdateLocationBillingOrganizationRequest,
+              viam.app.v1.Billing.UpdateLocationBillingOrganizationResponse>(
+                service, METHODID_UPDATE_LOCATION_BILLING_ORGANIZATION)))
+        .addMethod(
+          getChargeOrganizationMethod(),
+          io.grpc.stub.ServerCalls.asyncUnaryCall(
+            new MethodHandlers<
+              viam.app.v1.Billing.ChargeOrganizationRequest,
+              viam.app.v1.Billing.ChargeOrganizationResponse>(
+                service, METHODID_CHARGE_ORGANIZATION)))
         .addMethod(
           getCreateInvoiceAndChargeImmediatelyMethod(),
           io.grpc.stub.ServerCalls.asyncUnaryCall(
@@ -843,6 +1095,9 @@ public static io.grpc.ServiceDescriptor getServiceDescriptor() {
               .addMethod(getSendPaymentRequiredEmailMethod())
               .addMethod(getGetAvailableBillingTiersMethod())
               .addMethod(getUpdateOrganizationBillingTierMethod())
+              .addMethod(getGetLocationBillingOrganizationMethod())
+              .addMethod(getUpdateLocationBillingOrganizationMethod())
+              .addMethod(getChargeOrganizationMethod())
               .addMethod(getCreateInvoiceAndChargeImmediatelyMethod())
               .build();
         }
diff --git a/core/sdk/src/main/gen/viam/app/v1/EndUser.java b/core/sdk/src/main/gen/viam/app/v1/EndUser.java
index c44cc48aa..c978f119a 100644
--- a/core/sdk/src/main/gen/viam/app/v1/EndUser.java
+++ b/core/sdk/src/main/gen/viam/app/v1/EndUser.java
@@ -205,6 +205,16 @@ public interface IsLegalAcceptedResponseOrBuilder extends
      * @return The acceptedLegal.
      */
     boolean getAcceptedLegal();
+
+    /**
+     * <pre>
+     * Whether the user has ever accepted any version of the legal terms.
+     * </pre>
+     *
+     * <code>bool ever_accepted_legal = 2 [json_name = "everAcceptedLegal"];</code>
+     * @return The everAcceptedLegal.
+     */
+    boolean getEverAcceptedLegal();
   }
   /**
    * Protobuf type {@code viam.app.v1.IsLegalAcceptedResponse}
@@ -254,6 +264,44 @@ private void clearAcceptedLegal() {
       acceptedLegal_ = false;
     }
 
+    public static final int EVER_ACCEPTED_LEGAL_FIELD_NUMBER = 2;
+    private boolean everAcceptedLegal_;
+    /**
+     * <pre>
+     * Whether the user has ever accepted any version of the legal terms.
+     * </pre>
+     *
+     * <code>bool ever_accepted_legal = 2 [json_name = "everAcceptedLegal"];</code>
+     * @return The everAcceptedLegal.
+     */
+    @java.lang.Override
+    public boolean getEverAcceptedLegal() {
+      return everAcceptedLegal_;
+    }
+    /**
+     * <pre>
+     * Whether the user has ever accepted any version of the legal terms.
+     * </pre>
+     *
+     * <code>bool ever_accepted_legal = 2 [json_name = "everAcceptedLegal"];</code>
+     * @param value The everAcceptedLegal to set.
+     */
+    private void setEverAcceptedLegal(boolean value) {
+      
+      everAcceptedLegal_ = value;
+    }
+    /**
+     * <pre>
+     * Whether the user has ever accepted any version of the legal terms.
+     * </pre>
+     *
+     * <code>bool ever_accepted_legal = 2 [json_name = "everAcceptedLegal"];</code>
+     */
+    private void clearEverAcceptedLegal() {
+
+      everAcceptedLegal_ = false;
+    }
+
     public static viam.app.v1.EndUser.IsLegalAcceptedResponse parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
@@ -391,6 +439,46 @@ public Builder clearAcceptedLegal() {
         return this;
       }
 
+      /**
+       * <pre>
+       * Whether the user has ever accepted any version of the legal terms.
+       * </pre>
+       *
+       * <code>bool ever_accepted_legal = 2 [json_name = "everAcceptedLegal"];</code>
+       * @return The everAcceptedLegal.
+       */
+      @java.lang.Override
+      public boolean getEverAcceptedLegal() {
+        return instance.getEverAcceptedLegal();
+      }
+      /**
+       * <pre>
+       * Whether the user has ever accepted any version of the legal terms.
+       * </pre>
+       *
+       * <code>bool ever_accepted_legal = 2 [json_name = "everAcceptedLegal"];</code>
+       * @param value The everAcceptedLegal to set.
+       * @return This builder for chaining.
+       */
+      public Builder setEverAcceptedLegal(boolean value) {
+        copyOnWrite();
+        instance.setEverAcceptedLegal(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * Whether the user has ever accepted any version of the legal terms.
+       * </pre>
+       *
+       * <code>bool ever_accepted_legal = 2 [json_name = "everAcceptedLegal"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearEverAcceptedLegal() {
+        copyOnWrite();
+        instance.clearEverAcceptedLegal();
+        return this;
+      }
+
       // @@protoc_insertion_point(builder_scope:viam.app.v1.IsLegalAcceptedResponse)
     }
     @java.lang.Override
@@ -408,9 +496,11 @@ protected final java.lang.Object dynamicMethod(
         case BUILD_MESSAGE_INFO: {
             java.lang.Object[] objects = new java.lang.Object[] {
               "acceptedLegal_",
+              "everAcceptedLegal_",
             };
             java.lang.String info =
-                "\u0000\u0001\u0000\u0000\u0001\u0001\u0001\u0000\u0000\u0000\u0001\u0007";
+                "\u0000\u0002\u0000\u0000\u0001\u0002\u0002\u0000\u0000\u0000\u0001\u0007\u0002\u0007" +
+                "";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         // fall through
diff --git a/core/sdk/src/main/gen/viam/provisioning/v1/Provisioning.java b/core/sdk/src/main/gen/viam/provisioning/v1/Provisioning.java
index b98c10ff3..87cd8bd2d 100644
--- a/core/sdk/src/main/gen/viam/provisioning/v1/Provisioning.java
+++ b/core/sdk/src/main/gen/viam/provisioning/v1/Provisioning.java
@@ -4463,6 +4463,17 @@ public interface CloudConfigOrBuilder extends
      */
     com.google.protobuf.ByteString
         getAppAddressBytes();
+
+    /**
+     * <code>.viam.provisioning.v1.APIKey api_key = 4 [json_name = "apiKey"];</code>
+     * @return Whether the apiKey field is set.
+     */
+    boolean hasApiKey();
+    /**
+     * <code>.viam.provisioning.v1.APIKey api_key = 4 [json_name = "apiKey"];</code>
+     * @return The apiKey.
+     */
+    viam.provisioning.v1.Provisioning.APIKey getApiKey();
   }
   /**
    * <pre>
@@ -4481,6 +4492,7 @@ private CloudConfig() {
       secret_ = "";
       appAddress_ = "";
     }
+    private int bitField0_;
     public static final int ID_FIELD_NUMBER = 1;
     private java.lang.String id_;
     /**
@@ -4662,6 +4674,52 @@ private void setAppAddressBytes(
 
     }
 
+    public static final int API_KEY_FIELD_NUMBER = 4;
+    private viam.provisioning.v1.Provisioning.APIKey apiKey_;
+    /**
+     * <code>.viam.provisioning.v1.APIKey api_key = 4 [json_name = "apiKey"];</code>
+     */
+    @java.lang.Override
+    public boolean hasApiKey() {
+      return ((bitField0_ & 0x00000001) != 0);
+    }
+    /**
+     * <code>.viam.provisioning.v1.APIKey api_key = 4 [json_name = "apiKey"];</code>
+     */
+    @java.lang.Override
+    public viam.provisioning.v1.Provisioning.APIKey getApiKey() {
+      return apiKey_ == null ? viam.provisioning.v1.Provisioning.APIKey.getDefaultInstance() : apiKey_;
+    }
+    /**
+     * <code>.viam.provisioning.v1.APIKey api_key = 4 [json_name = "apiKey"];</code>
+     */
+    private void setApiKey(viam.provisioning.v1.Provisioning.APIKey value) {
+      value.getClass();
+  apiKey_ = value;
+      bitField0_ |= 0x00000001;
+      }
+    /**
+     * <code>.viam.provisioning.v1.APIKey api_key = 4 [json_name = "apiKey"];</code>
+     */
+    @java.lang.SuppressWarnings({"ReferenceEquality"})
+    private void mergeApiKey(viam.provisioning.v1.Provisioning.APIKey value) {
+      value.getClass();
+  if (apiKey_ != null &&
+          apiKey_ != viam.provisioning.v1.Provisioning.APIKey.getDefaultInstance()) {
+        apiKey_ =
+          viam.provisioning.v1.Provisioning.APIKey.newBuilder(apiKey_).mergeFrom(value).buildPartial();
+      } else {
+        apiKey_ = value;
+      }
+      bitField0_ |= 0x00000001;
+    }
+    /**
+     * <code>.viam.provisioning.v1.APIKey api_key = 4 [json_name = "apiKey"];</code>
+     */
+    private void clearApiKey() {  apiKey_ = null;
+      bitField0_ = (bitField0_ & ~0x00000001);
+    }
+
     public static viam.provisioning.v1.Provisioning.CloudConfig parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
@@ -4950,6 +5008,53 @@ public Builder setAppAddressBytes(
         return this;
       }
 
+      /**
+       * <code>.viam.provisioning.v1.APIKey api_key = 4 [json_name = "apiKey"];</code>
+       */
+      @java.lang.Override
+      public boolean hasApiKey() {
+        return instance.hasApiKey();
+      }
+      /**
+       * <code>.viam.provisioning.v1.APIKey api_key = 4 [json_name = "apiKey"];</code>
+       */
+      @java.lang.Override
+      public viam.provisioning.v1.Provisioning.APIKey getApiKey() {
+        return instance.getApiKey();
+      }
+      /**
+       * <code>.viam.provisioning.v1.APIKey api_key = 4 [json_name = "apiKey"];</code>
+       */
+      public Builder setApiKey(viam.provisioning.v1.Provisioning.APIKey value) {
+        copyOnWrite();
+        instance.setApiKey(value);
+        return this;
+        }
+      /**
+       * <code>.viam.provisioning.v1.APIKey api_key = 4 [json_name = "apiKey"];</code>
+       */
+      public Builder setApiKey(
+          viam.provisioning.v1.Provisioning.APIKey.Builder builderForValue) {
+        copyOnWrite();
+        instance.setApiKey(builderForValue.build());
+        return this;
+      }
+      /**
+       * <code>.viam.provisioning.v1.APIKey api_key = 4 [json_name = "apiKey"];</code>
+       */
+      public Builder mergeApiKey(viam.provisioning.v1.Provisioning.APIKey value) {
+        copyOnWrite();
+        instance.mergeApiKey(value);
+        return this;
+      }
+      /**
+       * <code>.viam.provisioning.v1.APIKey api_key = 4 [json_name = "apiKey"];</code>
+       */
+      public Builder clearApiKey() {  copyOnWrite();
+        instance.clearApiKey();
+        return this;
+      }
+
       // @@protoc_insertion_point(builder_scope:viam.provisioning.v1.CloudConfig)
     }
     @java.lang.Override
@@ -4966,13 +5071,15 @@ protected final java.lang.Object dynamicMethod(
         }
         case BUILD_MESSAGE_INFO: {
             java.lang.Object[] objects = new java.lang.Object[] {
+              "bitField0_",
               "id_",
               "secret_",
               "appAddress_",
+              "apiKey_",
             };
             java.lang.String info =
-                "\u0000\u0003\u0000\u0000\u0001\u0003\u0003\u0000\u0000\u0000\u0001\u0208\u0002\u0208" +
-                "\u0003\u0208";
+                "\u0000\u0004\u0000\u0001\u0001\u0004\u0004\u0000\u0000\u0000\u0001\u0208\u0002\u0208" +
+                "\u0003\u0208\u0004\u1009\u0000";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         // fall through
@@ -5027,6 +5134,411 @@ public static com.google.protobuf.Parser<CloudConfig> parser() {
     }
   }
 
+  public interface APIKeyOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:viam.provisioning.v1.APIKey)
+      com.google.protobuf.MessageLiteOrBuilder {
+
+    /**
+     * <code>string id = 1 [json_name = "id"];</code>
+     * @return The id.
+     */
+    java.lang.String getId();
+    /**
+     * <code>string id = 1 [json_name = "id"];</code>
+     * @return The bytes for id.
+     */
+    com.google.protobuf.ByteString
+        getIdBytes();
+
+    /**
+     * <code>string key = 2 [json_name = "key"];</code>
+     * @return The key.
+     */
+    java.lang.String getKey();
+    /**
+     * <code>string key = 2 [json_name = "key"];</code>
+     * @return The bytes for key.
+     */
+    com.google.protobuf.ByteString
+        getKeyBytes();
+  }
+  /**
+   * Protobuf type {@code viam.provisioning.v1.APIKey}
+   */
+  public  static final class APIKey extends
+      com.google.protobuf.GeneratedMessageLite<
+          APIKey, APIKey.Builder> implements
+      // @@protoc_insertion_point(message_implements:viam.provisioning.v1.APIKey)
+      APIKeyOrBuilder {
+    private APIKey() {
+      id_ = "";
+      key_ = "";
+    }
+    public static final int ID_FIELD_NUMBER = 1;
+    private java.lang.String id_;
+    /**
+     * <code>string id = 1 [json_name = "id"];</code>
+     * @return The id.
+     */
+    @java.lang.Override
+    public java.lang.String getId() {
+      return id_;
+    }
+    /**
+     * <code>string id = 1 [json_name = "id"];</code>
+     * @return The bytes for id.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getIdBytes() {
+      return com.google.protobuf.ByteString.copyFromUtf8(id_);
+    }
+    /**
+     * <code>string id = 1 [json_name = "id"];</code>
+     * @param value The id to set.
+     */
+    private void setId(
+        java.lang.String value) {
+      java.lang.Class<?> valueClass = value.getClass();
+  
+      id_ = value;
+    }
+    /**
+     * <code>string id = 1 [json_name = "id"];</code>
+     */
+    private void clearId() {
+
+      id_ = getDefaultInstance().getId();
+    }
+    /**
+     * <code>string id = 1 [json_name = "id"];</code>
+     * @param value The bytes for id to set.
+     */
+    private void setIdBytes(
+        com.google.protobuf.ByteString value) {
+      checkByteStringIsUtf8(value);
+      id_ = value.toStringUtf8();
+
+    }
+
+    public static final int KEY_FIELD_NUMBER = 2;
+    private java.lang.String key_;
+    /**
+     * <code>string key = 2 [json_name = "key"];</code>
+     * @return The key.
+     */
+    @java.lang.Override
+    public java.lang.String getKey() {
+      return key_;
+    }
+    /**
+     * <code>string key = 2 [json_name = "key"];</code>
+     * @return The bytes for key.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getKeyBytes() {
+      return com.google.protobuf.ByteString.copyFromUtf8(key_);
+    }
+    /**
+     * <code>string key = 2 [json_name = "key"];</code>
+     * @param value The key to set.
+     */
+    private void setKey(
+        java.lang.String value) {
+      java.lang.Class<?> valueClass = value.getClass();
+  
+      key_ = value;
+    }
+    /**
+     * <code>string key = 2 [json_name = "key"];</code>
+     */
+    private void clearKey() {
+
+      key_ = getDefaultInstance().getKey();
+    }
+    /**
+     * <code>string key = 2 [json_name = "key"];</code>
+     * @param value The bytes for key to set.
+     */
+    private void setKeyBytes(
+        com.google.protobuf.ByteString value) {
+      checkByteStringIsUtf8(value);
+      key_ = value.toStringUtf8();
+
+    }
+
+    public static viam.provisioning.v1.Provisioning.APIKey parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static viam.provisioning.v1.Provisioning.APIKey parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static viam.provisioning.v1.Provisioning.APIKey parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static viam.provisioning.v1.Provisioning.APIKey parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static viam.provisioning.v1.Provisioning.APIKey parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static viam.provisioning.v1.Provisioning.APIKey parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static viam.provisioning.v1.Provisioning.APIKey parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static viam.provisioning.v1.Provisioning.APIKey parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static viam.provisioning.v1.Provisioning.APIKey parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input);
+    }
+
+    public static viam.provisioning.v1.Provisioning.APIKey parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+    public static viam.provisioning.v1.Provisioning.APIKey parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static viam.provisioning.v1.Provisioning.APIKey parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static Builder newBuilder() {
+      return (Builder) DEFAULT_INSTANCE.createBuilder();
+    }
+    public static Builder newBuilder(viam.provisioning.v1.Provisioning.APIKey prototype) {
+      return DEFAULT_INSTANCE.createBuilder(prototype);
+    }
+
+    /**
+     * Protobuf type {@code viam.provisioning.v1.APIKey}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageLite.Builder<
+          viam.provisioning.v1.Provisioning.APIKey, Builder> implements
+        // @@protoc_insertion_point(builder_implements:viam.provisioning.v1.APIKey)
+        viam.provisioning.v1.Provisioning.APIKeyOrBuilder {
+      // Construct using viam.provisioning.v1.Provisioning.APIKey.newBuilder()
+      private Builder() {
+        super(DEFAULT_INSTANCE);
+      }
+
+
+      /**
+       * <code>string id = 1 [json_name = "id"];</code>
+       * @return The id.
+       */
+      @java.lang.Override
+      public java.lang.String getId() {
+        return instance.getId();
+      }
+      /**
+       * <code>string id = 1 [json_name = "id"];</code>
+       * @return The bytes for id.
+       */
+      @java.lang.Override
+      public com.google.protobuf.ByteString
+          getIdBytes() {
+        return instance.getIdBytes();
+      }
+      /**
+       * <code>string id = 1 [json_name = "id"];</code>
+       * @param value The id to set.
+       * @return This builder for chaining.
+       */
+      public Builder setId(
+          java.lang.String value) {
+        copyOnWrite();
+        instance.setId(value);
+        return this;
+      }
+      /**
+       * <code>string id = 1 [json_name = "id"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearId() {
+        copyOnWrite();
+        instance.clearId();
+        return this;
+      }
+      /**
+       * <code>string id = 1 [json_name = "id"];</code>
+       * @param value The bytes for id to set.
+       * @return This builder for chaining.
+       */
+      public Builder setIdBytes(
+          com.google.protobuf.ByteString value) {
+        copyOnWrite();
+        instance.setIdBytes(value);
+        return this;
+      }
+
+      /**
+       * <code>string key = 2 [json_name = "key"];</code>
+       * @return The key.
+       */
+      @java.lang.Override
+      public java.lang.String getKey() {
+        return instance.getKey();
+      }
+      /**
+       * <code>string key = 2 [json_name = "key"];</code>
+       * @return The bytes for key.
+       */
+      @java.lang.Override
+      public com.google.protobuf.ByteString
+          getKeyBytes() {
+        return instance.getKeyBytes();
+      }
+      /**
+       * <code>string key = 2 [json_name = "key"];</code>
+       * @param value The key to set.
+       * @return This builder for chaining.
+       */
+      public Builder setKey(
+          java.lang.String value) {
+        copyOnWrite();
+        instance.setKey(value);
+        return this;
+      }
+      /**
+       * <code>string key = 2 [json_name = "key"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearKey() {
+        copyOnWrite();
+        instance.clearKey();
+        return this;
+      }
+      /**
+       * <code>string key = 2 [json_name = "key"];</code>
+       * @param value The bytes for key to set.
+       * @return This builder for chaining.
+       */
+      public Builder setKeyBytes(
+          com.google.protobuf.ByteString value) {
+        copyOnWrite();
+        instance.setKeyBytes(value);
+        return this;
+      }
+
+      // @@protoc_insertion_point(builder_scope:viam.provisioning.v1.APIKey)
+    }
+    @java.lang.Override
+    @java.lang.SuppressWarnings({"unchecked", "fallthrough"})
+    protected final java.lang.Object dynamicMethod(
+        com.google.protobuf.GeneratedMessageLite.MethodToInvoke method,
+        java.lang.Object arg0, java.lang.Object arg1) {
+      switch (method) {
+        case NEW_MUTABLE_INSTANCE: {
+          return new viam.provisioning.v1.Provisioning.APIKey();
+        }
+        case NEW_BUILDER: {
+          return new Builder();
+        }
+        case BUILD_MESSAGE_INFO: {
+            java.lang.Object[] objects = new java.lang.Object[] {
+              "id_",
+              "key_",
+            };
+            java.lang.String info =
+                "\u0000\u0002\u0000\u0000\u0001\u0002\u0002\u0000\u0000\u0000\u0001\u0208\u0002\u0208" +
+                "";
+            return newMessageInfo(DEFAULT_INSTANCE, info, objects);
+        }
+        // fall through
+        case GET_DEFAULT_INSTANCE: {
+          return DEFAULT_INSTANCE;
+        }
+        case GET_PARSER: {
+          com.google.protobuf.Parser<viam.provisioning.v1.Provisioning.APIKey> parser = PARSER;
+          if (parser == null) {
+            synchronized (viam.provisioning.v1.Provisioning.APIKey.class) {
+              parser = PARSER;
+              if (parser == null) {
+                parser =
+                    new DefaultInstanceBasedParser<viam.provisioning.v1.Provisioning.APIKey>(
+                        DEFAULT_INSTANCE);
+                PARSER = parser;
+              }
+            }
+          }
+          return parser;
+      }
+      case GET_MEMOIZED_IS_INITIALIZED: {
+        return (byte) 1;
+      }
+      case SET_MEMOIZED_IS_INITIALIZED: {
+        return null;
+      }
+      }
+      throw new UnsupportedOperationException();
+    }
+
+
+    // @@protoc_insertion_point(class_scope:viam.provisioning.v1.APIKey)
+    private static final viam.provisioning.v1.Provisioning.APIKey DEFAULT_INSTANCE;
+    static {
+      APIKey defaultInstance = new APIKey();
+      // New instances are implicitly immutable so no need to make
+      // immutable.
+      DEFAULT_INSTANCE = defaultInstance;
+      com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
+        APIKey.class, defaultInstance);
+    }
+
+    public static viam.provisioning.v1.Provisioning.APIKey getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static volatile com.google.protobuf.Parser<APIKey> PARSER;
+
+    public static com.google.protobuf.Parser<APIKey> parser() {
+      return DEFAULT_INSTANCE.getParserForType();
+    }
+  }
+
 
   static {
   }
diff --git a/core/sdk/src/main/resources/protofds/viam.api b/core/sdk/src/main/resources/protofds/viam.api
index c22ea02de..b17dcd0dd 100644
Binary files a/core/sdk/src/main/resources/protofds/viam.api and b/core/sdk/src/main/resources/protofds/viam.api differ