diff --git a/src/viam/api/app/v1/app.grpc.pb.cc b/src/viam/api/app/v1/app.grpc.pb.cc
index cdfa09fd8..b2613dc96 100644
--- a/src/viam/api/app/v1/app.grpc.pb.cc
+++ b/src/viam/api/app/v1/app.grpc.pb.cc
@@ -83,6 +83,10 @@ static const char* AppService_method_names[] = {
   "/viam.app.v1.AppService/GetModule",
   "/viam.app.v1.AppService/ListModules",
   "/viam.app.v1.AppService/CreateKey",
+  "/viam.app.v1.AppService/DeleteKey",
+  "/viam.app.v1.AppService/ListKeys",
+  "/viam.app.v1.AppService/RotateKey",
+  "/viam.app.v1.AppService/CreateKeyFromExistingKeyAuthorizations",
 };
 
 std::unique_ptr< AppService::Stub> AppService::NewStub(const std::shared_ptr< ::grpc::ChannelInterface>& channel, const ::grpc::StubOptions& options) {
@@ -151,6 +155,10 @@ AppService::Stub::Stub(const std::shared_ptr< ::grpc::ChannelInterface>& channel
   , rpcmethod_GetModule_(AppService_method_names[56], options.suffix_for_stats(),::grpc::internal::RpcMethod::NORMAL_RPC, channel)
   , rpcmethod_ListModules_(AppService_method_names[57], options.suffix_for_stats(),::grpc::internal::RpcMethod::NORMAL_RPC, channel)
   , rpcmethod_CreateKey_(AppService_method_names[58], options.suffix_for_stats(),::grpc::internal::RpcMethod::NORMAL_RPC, channel)
+  , rpcmethod_DeleteKey_(AppService_method_names[59], options.suffix_for_stats(),::grpc::internal::RpcMethod::NORMAL_RPC, channel)
+  , rpcmethod_ListKeys_(AppService_method_names[60], options.suffix_for_stats(),::grpc::internal::RpcMethod::NORMAL_RPC, channel)
+  , rpcmethod_RotateKey_(AppService_method_names[61], options.suffix_for_stats(),::grpc::internal::RpcMethod::NORMAL_RPC, channel)
+  , rpcmethod_CreateKeyFromExistingKeyAuthorizations_(AppService_method_names[62], options.suffix_for_stats(),::grpc::internal::RpcMethod::NORMAL_RPC, channel)
   {}
 
 ::grpc::Status AppService::Stub::GetUserIDByEmail(::grpc::ClientContext* context, const ::viam::app::v1::GetUserIDByEmailRequest& request, ::viam::app::v1::GetUserIDByEmailResponse* response) {
@@ -1496,6 +1504,98 @@ ::grpc::ClientAsyncResponseReader< ::viam::app::v1::CreateKeyResponse>* AppServi
   return result;
 }
 
+::grpc::Status AppService::Stub::DeleteKey(::grpc::ClientContext* context, const ::viam::app::v1::DeleteKeyRequest& request, ::viam::app::v1::DeleteKeyResponse* response) {
+  return ::grpc::internal::BlockingUnaryCall< ::viam::app::v1::DeleteKeyRequest, ::viam::app::v1::DeleteKeyResponse, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(channel_.get(), rpcmethod_DeleteKey_, context, request, response);
+}
+
+void AppService::Stub::async::DeleteKey(::grpc::ClientContext* context, const ::viam::app::v1::DeleteKeyRequest* request, ::viam::app::v1::DeleteKeyResponse* response, std::function<void(::grpc::Status)> f) {
+  ::grpc::internal::CallbackUnaryCall< ::viam::app::v1::DeleteKeyRequest, ::viam::app::v1::DeleteKeyResponse, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(stub_->channel_.get(), stub_->rpcmethod_DeleteKey_, context, request, response, std::move(f));
+}
+
+void AppService::Stub::async::DeleteKey(::grpc::ClientContext* context, const ::viam::app::v1::DeleteKeyRequest* request, ::viam::app::v1::DeleteKeyResponse* response, ::grpc::ClientUnaryReactor* reactor) {
+  ::grpc::internal::ClientCallbackUnaryFactory::Create< ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(stub_->channel_.get(), stub_->rpcmethod_DeleteKey_, context, request, response, reactor);
+}
+
+::grpc::ClientAsyncResponseReader< ::viam::app::v1::DeleteKeyResponse>* AppService::Stub::PrepareAsyncDeleteKeyRaw(::grpc::ClientContext* context, const ::viam::app::v1::DeleteKeyRequest& request, ::grpc::CompletionQueue* cq) {
+  return ::grpc::internal::ClientAsyncResponseReaderHelper::Create< ::viam::app::v1::DeleteKeyResponse, ::viam::app::v1::DeleteKeyRequest, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(channel_.get(), cq, rpcmethod_DeleteKey_, context, request);
+}
+
+::grpc::ClientAsyncResponseReader< ::viam::app::v1::DeleteKeyResponse>* AppService::Stub::AsyncDeleteKeyRaw(::grpc::ClientContext* context, const ::viam::app::v1::DeleteKeyRequest& request, ::grpc::CompletionQueue* cq) {
+  auto* result =
+    this->PrepareAsyncDeleteKeyRaw(context, request, cq);
+  result->StartCall();
+  return result;
+}
+
+::grpc::Status AppService::Stub::ListKeys(::grpc::ClientContext* context, const ::viam::app::v1::ListKeysRequest& request, ::viam::app::v1::ListKeysResponse* response) {
+  return ::grpc::internal::BlockingUnaryCall< ::viam::app::v1::ListKeysRequest, ::viam::app::v1::ListKeysResponse, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(channel_.get(), rpcmethod_ListKeys_, context, request, response);
+}
+
+void AppService::Stub::async::ListKeys(::grpc::ClientContext* context, const ::viam::app::v1::ListKeysRequest* request, ::viam::app::v1::ListKeysResponse* response, std::function<void(::grpc::Status)> f) {
+  ::grpc::internal::CallbackUnaryCall< ::viam::app::v1::ListKeysRequest, ::viam::app::v1::ListKeysResponse, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(stub_->channel_.get(), stub_->rpcmethod_ListKeys_, context, request, response, std::move(f));
+}
+
+void AppService::Stub::async::ListKeys(::grpc::ClientContext* context, const ::viam::app::v1::ListKeysRequest* request, ::viam::app::v1::ListKeysResponse* response, ::grpc::ClientUnaryReactor* reactor) {
+  ::grpc::internal::ClientCallbackUnaryFactory::Create< ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(stub_->channel_.get(), stub_->rpcmethod_ListKeys_, context, request, response, reactor);
+}
+
+::grpc::ClientAsyncResponseReader< ::viam::app::v1::ListKeysResponse>* AppService::Stub::PrepareAsyncListKeysRaw(::grpc::ClientContext* context, const ::viam::app::v1::ListKeysRequest& request, ::grpc::CompletionQueue* cq) {
+  return ::grpc::internal::ClientAsyncResponseReaderHelper::Create< ::viam::app::v1::ListKeysResponse, ::viam::app::v1::ListKeysRequest, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(channel_.get(), cq, rpcmethod_ListKeys_, context, request);
+}
+
+::grpc::ClientAsyncResponseReader< ::viam::app::v1::ListKeysResponse>* AppService::Stub::AsyncListKeysRaw(::grpc::ClientContext* context, const ::viam::app::v1::ListKeysRequest& request, ::grpc::CompletionQueue* cq) {
+  auto* result =
+    this->PrepareAsyncListKeysRaw(context, request, cq);
+  result->StartCall();
+  return result;
+}
+
+::grpc::Status AppService::Stub::RotateKey(::grpc::ClientContext* context, const ::viam::app::v1::RotateKeyRequest& request, ::viam::app::v1::RotateKeyResponse* response) {
+  return ::grpc::internal::BlockingUnaryCall< ::viam::app::v1::RotateKeyRequest, ::viam::app::v1::RotateKeyResponse, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(channel_.get(), rpcmethod_RotateKey_, context, request, response);
+}
+
+void AppService::Stub::async::RotateKey(::grpc::ClientContext* context, const ::viam::app::v1::RotateKeyRequest* request, ::viam::app::v1::RotateKeyResponse* response, std::function<void(::grpc::Status)> f) {
+  ::grpc::internal::CallbackUnaryCall< ::viam::app::v1::RotateKeyRequest, ::viam::app::v1::RotateKeyResponse, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(stub_->channel_.get(), stub_->rpcmethod_RotateKey_, context, request, response, std::move(f));
+}
+
+void AppService::Stub::async::RotateKey(::grpc::ClientContext* context, const ::viam::app::v1::RotateKeyRequest* request, ::viam::app::v1::RotateKeyResponse* response, ::grpc::ClientUnaryReactor* reactor) {
+  ::grpc::internal::ClientCallbackUnaryFactory::Create< ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(stub_->channel_.get(), stub_->rpcmethod_RotateKey_, context, request, response, reactor);
+}
+
+::grpc::ClientAsyncResponseReader< ::viam::app::v1::RotateKeyResponse>* AppService::Stub::PrepareAsyncRotateKeyRaw(::grpc::ClientContext* context, const ::viam::app::v1::RotateKeyRequest& request, ::grpc::CompletionQueue* cq) {
+  return ::grpc::internal::ClientAsyncResponseReaderHelper::Create< ::viam::app::v1::RotateKeyResponse, ::viam::app::v1::RotateKeyRequest, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(channel_.get(), cq, rpcmethod_RotateKey_, context, request);
+}
+
+::grpc::ClientAsyncResponseReader< ::viam::app::v1::RotateKeyResponse>* AppService::Stub::AsyncRotateKeyRaw(::grpc::ClientContext* context, const ::viam::app::v1::RotateKeyRequest& request, ::grpc::CompletionQueue* cq) {
+  auto* result =
+    this->PrepareAsyncRotateKeyRaw(context, request, cq);
+  result->StartCall();
+  return result;
+}
+
+::grpc::Status AppService::Stub::CreateKeyFromExistingKeyAuthorizations(::grpc::ClientContext* context, const ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest& request, ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse* response) {
+  return ::grpc::internal::BlockingUnaryCall< ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest, ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(channel_.get(), rpcmethod_CreateKeyFromExistingKeyAuthorizations_, context, request, response);
+}
+
+void AppService::Stub::async::CreateKeyFromExistingKeyAuthorizations(::grpc::ClientContext* context, const ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest* request, ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse* response, std::function<void(::grpc::Status)> f) {
+  ::grpc::internal::CallbackUnaryCall< ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest, ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(stub_->channel_.get(), stub_->rpcmethod_CreateKeyFromExistingKeyAuthorizations_, context, request, response, std::move(f));
+}
+
+void AppService::Stub::async::CreateKeyFromExistingKeyAuthorizations(::grpc::ClientContext* context, const ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest* request, ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse* response, ::grpc::ClientUnaryReactor* reactor) {
+  ::grpc::internal::ClientCallbackUnaryFactory::Create< ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(stub_->channel_.get(), stub_->rpcmethod_CreateKeyFromExistingKeyAuthorizations_, context, request, response, reactor);
+}
+
+::grpc::ClientAsyncResponseReader< ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse>* AppService::Stub::PrepareAsyncCreateKeyFromExistingKeyAuthorizationsRaw(::grpc::ClientContext* context, const ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest& request, ::grpc::CompletionQueue* cq) {
+  return ::grpc::internal::ClientAsyncResponseReaderHelper::Create< ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse, ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(channel_.get(), cq, rpcmethod_CreateKeyFromExistingKeyAuthorizations_, context, request);
+}
+
+::grpc::ClientAsyncResponseReader< ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse>* AppService::Stub::AsyncCreateKeyFromExistingKeyAuthorizationsRaw(::grpc::ClientContext* context, const ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest& request, ::grpc::CompletionQueue* cq) {
+  auto* result =
+    this->PrepareAsyncCreateKeyFromExistingKeyAuthorizationsRaw(context, request, cq);
+  result->StartCall();
+  return result;
+}
+
 AppService::Service::Service() {
   AddMethod(new ::grpc::internal::RpcServiceMethod(
       AppService_method_names[0],
@@ -2087,6 +2187,46 @@ AppService::Service::Service() {
              ::viam::app::v1::CreateKeyResponse* resp) {
                return service->CreateKey(ctx, req, resp);
              }, this)));
+  AddMethod(new ::grpc::internal::RpcServiceMethod(
+      AppService_method_names[59],
+      ::grpc::internal::RpcMethod::NORMAL_RPC,
+      new ::grpc::internal::RpcMethodHandler< AppService::Service, ::viam::app::v1::DeleteKeyRequest, ::viam::app::v1::DeleteKeyResponse, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(
+          [](AppService::Service* service,
+             ::grpc::ServerContext* ctx,
+             const ::viam::app::v1::DeleteKeyRequest* req,
+             ::viam::app::v1::DeleteKeyResponse* resp) {
+               return service->DeleteKey(ctx, req, resp);
+             }, this)));
+  AddMethod(new ::grpc::internal::RpcServiceMethod(
+      AppService_method_names[60],
+      ::grpc::internal::RpcMethod::NORMAL_RPC,
+      new ::grpc::internal::RpcMethodHandler< AppService::Service, ::viam::app::v1::ListKeysRequest, ::viam::app::v1::ListKeysResponse, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(
+          [](AppService::Service* service,
+             ::grpc::ServerContext* ctx,
+             const ::viam::app::v1::ListKeysRequest* req,
+             ::viam::app::v1::ListKeysResponse* resp) {
+               return service->ListKeys(ctx, req, resp);
+             }, this)));
+  AddMethod(new ::grpc::internal::RpcServiceMethod(
+      AppService_method_names[61],
+      ::grpc::internal::RpcMethod::NORMAL_RPC,
+      new ::grpc::internal::RpcMethodHandler< AppService::Service, ::viam::app::v1::RotateKeyRequest, ::viam::app::v1::RotateKeyResponse, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(
+          [](AppService::Service* service,
+             ::grpc::ServerContext* ctx,
+             const ::viam::app::v1::RotateKeyRequest* req,
+             ::viam::app::v1::RotateKeyResponse* resp) {
+               return service->RotateKey(ctx, req, resp);
+             }, this)));
+  AddMethod(new ::grpc::internal::RpcServiceMethod(
+      AppService_method_names[62],
+      ::grpc::internal::RpcMethod::NORMAL_RPC,
+      new ::grpc::internal::RpcMethodHandler< AppService::Service, ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest, ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(
+          [](AppService::Service* service,
+             ::grpc::ServerContext* ctx,
+             const ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest* req,
+             ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse* resp) {
+               return service->CreateKeyFromExistingKeyAuthorizations(ctx, req, resp);
+             }, this)));
 }
 
 AppService::Service::~Service() {
@@ -2505,6 +2645,34 @@ ::grpc::Status AppService::Service::CreateKey(::grpc::ServerContext* context, co
   return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
 }
 
+::grpc::Status AppService::Service::DeleteKey(::grpc::ServerContext* context, const ::viam::app::v1::DeleteKeyRequest* request, ::viam::app::v1::DeleteKeyResponse* response) {
+  (void) context;
+  (void) request;
+  (void) response;
+  return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+}
+
+::grpc::Status AppService::Service::ListKeys(::grpc::ServerContext* context, const ::viam::app::v1::ListKeysRequest* request, ::viam::app::v1::ListKeysResponse* response) {
+  (void) context;
+  (void) request;
+  (void) response;
+  return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+}
+
+::grpc::Status AppService::Service::RotateKey(::grpc::ServerContext* context, const ::viam::app::v1::RotateKeyRequest* request, ::viam::app::v1::RotateKeyResponse* response) {
+  (void) context;
+  (void) request;
+  (void) response;
+  return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+}
+
+::grpc::Status AppService::Service::CreateKeyFromExistingKeyAuthorizations(::grpc::ServerContext* context, const ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest* request, ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse* response) {
+  (void) context;
+  (void) request;
+  (void) response;
+  return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+}
+
 
 }  // namespace viam
 }  // namespace app
diff --git a/src/viam/api/app/v1/app.grpc.pb.h b/src/viam/api/app/v1/app.grpc.pb.h
index 5ae4e1bb0..a1c674627 100644
--- a/src/viam/api/app/v1/app.grpc.pb.h
+++ b/src/viam/api/app/v1/app.grpc.pb.h
@@ -516,6 +516,34 @@ class AppService final {
     std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::app::v1::CreateKeyResponse>> PrepareAsyncCreateKey(::grpc::ClientContext* context, const ::viam::app::v1::CreateKeyRequest& request, ::grpc::CompletionQueue* cq) {
       return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::app::v1::CreateKeyResponse>>(PrepareAsyncCreateKeyRaw(context, request, cq));
     }
+    virtual ::grpc::Status DeleteKey(::grpc::ClientContext* context, const ::viam::app::v1::DeleteKeyRequest& request, ::viam::app::v1::DeleteKeyResponse* response) = 0;
+    std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::app::v1::DeleteKeyResponse>> AsyncDeleteKey(::grpc::ClientContext* context, const ::viam::app::v1::DeleteKeyRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::app::v1::DeleteKeyResponse>>(AsyncDeleteKeyRaw(context, request, cq));
+    }
+    std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::app::v1::DeleteKeyResponse>> PrepareAsyncDeleteKey(::grpc::ClientContext* context, const ::viam::app::v1::DeleteKeyRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::app::v1::DeleteKeyResponse>>(PrepareAsyncDeleteKeyRaw(context, request, cq));
+    }
+    virtual ::grpc::Status ListKeys(::grpc::ClientContext* context, const ::viam::app::v1::ListKeysRequest& request, ::viam::app::v1::ListKeysResponse* response) = 0;
+    std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::app::v1::ListKeysResponse>> AsyncListKeys(::grpc::ClientContext* context, const ::viam::app::v1::ListKeysRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::app::v1::ListKeysResponse>>(AsyncListKeysRaw(context, request, cq));
+    }
+    std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::app::v1::ListKeysResponse>> PrepareAsyncListKeys(::grpc::ClientContext* context, const ::viam::app::v1::ListKeysRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::app::v1::ListKeysResponse>>(PrepareAsyncListKeysRaw(context, request, cq));
+    }
+    virtual ::grpc::Status RotateKey(::grpc::ClientContext* context, const ::viam::app::v1::RotateKeyRequest& request, ::viam::app::v1::RotateKeyResponse* response) = 0;
+    std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::app::v1::RotateKeyResponse>> AsyncRotateKey(::grpc::ClientContext* context, const ::viam::app::v1::RotateKeyRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::app::v1::RotateKeyResponse>>(AsyncRotateKeyRaw(context, request, cq));
+    }
+    std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::app::v1::RotateKeyResponse>> PrepareAsyncRotateKey(::grpc::ClientContext* context, const ::viam::app::v1::RotateKeyRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::app::v1::RotateKeyResponse>>(PrepareAsyncRotateKeyRaw(context, request, cq));
+    }
+    virtual ::grpc::Status CreateKeyFromExistingKeyAuthorizations(::grpc::ClientContext* context, const ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest& request, ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse* response) = 0;
+    std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse>> AsyncCreateKeyFromExistingKeyAuthorizations(::grpc::ClientContext* context, const ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse>>(AsyncCreateKeyFromExistingKeyAuthorizationsRaw(context, request, cq));
+    }
+    std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse>> PrepareAsyncCreateKeyFromExistingKeyAuthorizations(::grpc::ClientContext* context, const ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse>>(PrepareAsyncCreateKeyFromExistingKeyAuthorizationsRaw(context, request, cq));
+    }
     class async_interface {
      public:
       virtual ~async_interface() {}
@@ -697,6 +725,14 @@ class AppService final {
       virtual void ListModules(::grpc::ClientContext* context, const ::viam::app::v1::ListModulesRequest* request, ::viam::app::v1::ListModulesResponse* response, ::grpc::ClientUnaryReactor* reactor) = 0;
       virtual void CreateKey(::grpc::ClientContext* context, const ::viam::app::v1::CreateKeyRequest* request, ::viam::app::v1::CreateKeyResponse* response, std::function<void(::grpc::Status)>) = 0;
       virtual void CreateKey(::grpc::ClientContext* context, const ::viam::app::v1::CreateKeyRequest* request, ::viam::app::v1::CreateKeyResponse* response, ::grpc::ClientUnaryReactor* reactor) = 0;
+      virtual void DeleteKey(::grpc::ClientContext* context, const ::viam::app::v1::DeleteKeyRequest* request, ::viam::app::v1::DeleteKeyResponse* response, std::function<void(::grpc::Status)>) = 0;
+      virtual void DeleteKey(::grpc::ClientContext* context, const ::viam::app::v1::DeleteKeyRequest* request, ::viam::app::v1::DeleteKeyResponse* response, ::grpc::ClientUnaryReactor* reactor) = 0;
+      virtual void ListKeys(::grpc::ClientContext* context, const ::viam::app::v1::ListKeysRequest* request, ::viam::app::v1::ListKeysResponse* response, std::function<void(::grpc::Status)>) = 0;
+      virtual void ListKeys(::grpc::ClientContext* context, const ::viam::app::v1::ListKeysRequest* request, ::viam::app::v1::ListKeysResponse* response, ::grpc::ClientUnaryReactor* reactor) = 0;
+      virtual void RotateKey(::grpc::ClientContext* context, const ::viam::app::v1::RotateKeyRequest* request, ::viam::app::v1::RotateKeyResponse* response, std::function<void(::grpc::Status)>) = 0;
+      virtual void RotateKey(::grpc::ClientContext* context, const ::viam::app::v1::RotateKeyRequest* request, ::viam::app::v1::RotateKeyResponse* response, ::grpc::ClientUnaryReactor* reactor) = 0;
+      virtual void CreateKeyFromExistingKeyAuthorizations(::grpc::ClientContext* context, const ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest* request, ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse* response, std::function<void(::grpc::Status)>) = 0;
+      virtual void CreateKeyFromExistingKeyAuthorizations(::grpc::ClientContext* context, const ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest* request, ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse* response, ::grpc::ClientUnaryReactor* reactor) = 0;
     };
     typedef class async_interface experimental_async_interface;
     virtual class async_interface* async() { return nullptr; }
@@ -822,6 +858,14 @@ class AppService final {
     virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::app::v1::ListModulesResponse>* PrepareAsyncListModulesRaw(::grpc::ClientContext* context, const ::viam::app::v1::ListModulesRequest& request, ::grpc::CompletionQueue* cq) = 0;
     virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::app::v1::CreateKeyResponse>* AsyncCreateKeyRaw(::grpc::ClientContext* context, const ::viam::app::v1::CreateKeyRequest& request, ::grpc::CompletionQueue* cq) = 0;
     virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::app::v1::CreateKeyResponse>* PrepareAsyncCreateKeyRaw(::grpc::ClientContext* context, const ::viam::app::v1::CreateKeyRequest& request, ::grpc::CompletionQueue* cq) = 0;
+    virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::app::v1::DeleteKeyResponse>* AsyncDeleteKeyRaw(::grpc::ClientContext* context, const ::viam::app::v1::DeleteKeyRequest& request, ::grpc::CompletionQueue* cq) = 0;
+    virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::app::v1::DeleteKeyResponse>* PrepareAsyncDeleteKeyRaw(::grpc::ClientContext* context, const ::viam::app::v1::DeleteKeyRequest& request, ::grpc::CompletionQueue* cq) = 0;
+    virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::app::v1::ListKeysResponse>* AsyncListKeysRaw(::grpc::ClientContext* context, const ::viam::app::v1::ListKeysRequest& request, ::grpc::CompletionQueue* cq) = 0;
+    virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::app::v1::ListKeysResponse>* PrepareAsyncListKeysRaw(::grpc::ClientContext* context, const ::viam::app::v1::ListKeysRequest& request, ::grpc::CompletionQueue* cq) = 0;
+    virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::app::v1::RotateKeyResponse>* AsyncRotateKeyRaw(::grpc::ClientContext* context, const ::viam::app::v1::RotateKeyRequest& request, ::grpc::CompletionQueue* cq) = 0;
+    virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::app::v1::RotateKeyResponse>* PrepareAsyncRotateKeyRaw(::grpc::ClientContext* context, const ::viam::app::v1::RotateKeyRequest& request, ::grpc::CompletionQueue* cq) = 0;
+    virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse>* AsyncCreateKeyFromExistingKeyAuthorizationsRaw(::grpc::ClientContext* context, const ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest& request, ::grpc::CompletionQueue* cq) = 0;
+    virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse>* PrepareAsyncCreateKeyFromExistingKeyAuthorizationsRaw(::grpc::ClientContext* context, const ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest& request, ::grpc::CompletionQueue* cq) = 0;
   };
   class Stub final : public StubInterface {
    public:
@@ -1243,6 +1287,34 @@ class AppService final {
     std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::app::v1::CreateKeyResponse>> PrepareAsyncCreateKey(::grpc::ClientContext* context, const ::viam::app::v1::CreateKeyRequest& request, ::grpc::CompletionQueue* cq) {
       return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::app::v1::CreateKeyResponse>>(PrepareAsyncCreateKeyRaw(context, request, cq));
     }
+    ::grpc::Status DeleteKey(::grpc::ClientContext* context, const ::viam::app::v1::DeleteKeyRequest& request, ::viam::app::v1::DeleteKeyResponse* response) override;
+    std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::app::v1::DeleteKeyResponse>> AsyncDeleteKey(::grpc::ClientContext* context, const ::viam::app::v1::DeleteKeyRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::app::v1::DeleteKeyResponse>>(AsyncDeleteKeyRaw(context, request, cq));
+    }
+    std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::app::v1::DeleteKeyResponse>> PrepareAsyncDeleteKey(::grpc::ClientContext* context, const ::viam::app::v1::DeleteKeyRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::app::v1::DeleteKeyResponse>>(PrepareAsyncDeleteKeyRaw(context, request, cq));
+    }
+    ::grpc::Status ListKeys(::grpc::ClientContext* context, const ::viam::app::v1::ListKeysRequest& request, ::viam::app::v1::ListKeysResponse* response) override;
+    std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::app::v1::ListKeysResponse>> AsyncListKeys(::grpc::ClientContext* context, const ::viam::app::v1::ListKeysRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::app::v1::ListKeysResponse>>(AsyncListKeysRaw(context, request, cq));
+    }
+    std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::app::v1::ListKeysResponse>> PrepareAsyncListKeys(::grpc::ClientContext* context, const ::viam::app::v1::ListKeysRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::app::v1::ListKeysResponse>>(PrepareAsyncListKeysRaw(context, request, cq));
+    }
+    ::grpc::Status RotateKey(::grpc::ClientContext* context, const ::viam::app::v1::RotateKeyRequest& request, ::viam::app::v1::RotateKeyResponse* response) override;
+    std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::app::v1::RotateKeyResponse>> AsyncRotateKey(::grpc::ClientContext* context, const ::viam::app::v1::RotateKeyRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::app::v1::RotateKeyResponse>>(AsyncRotateKeyRaw(context, request, cq));
+    }
+    std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::app::v1::RotateKeyResponse>> PrepareAsyncRotateKey(::grpc::ClientContext* context, const ::viam::app::v1::RotateKeyRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::app::v1::RotateKeyResponse>>(PrepareAsyncRotateKeyRaw(context, request, cq));
+    }
+    ::grpc::Status CreateKeyFromExistingKeyAuthorizations(::grpc::ClientContext* context, const ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest& request, ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse* response) override;
+    std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse>> AsyncCreateKeyFromExistingKeyAuthorizations(::grpc::ClientContext* context, const ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse>>(AsyncCreateKeyFromExistingKeyAuthorizationsRaw(context, request, cq));
+    }
+    std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse>> PrepareAsyncCreateKeyFromExistingKeyAuthorizations(::grpc::ClientContext* context, const ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse>>(PrepareAsyncCreateKeyFromExistingKeyAuthorizationsRaw(context, request, cq));
+    }
     class async final :
       public StubInterface::async_interface {
      public:
@@ -1362,6 +1434,14 @@ class AppService final {
       void ListModules(::grpc::ClientContext* context, const ::viam::app::v1::ListModulesRequest* request, ::viam::app::v1::ListModulesResponse* response, ::grpc::ClientUnaryReactor* reactor) override;
       void CreateKey(::grpc::ClientContext* context, const ::viam::app::v1::CreateKeyRequest* request, ::viam::app::v1::CreateKeyResponse* response, std::function<void(::grpc::Status)>) override;
       void CreateKey(::grpc::ClientContext* context, const ::viam::app::v1::CreateKeyRequest* request, ::viam::app::v1::CreateKeyResponse* response, ::grpc::ClientUnaryReactor* reactor) override;
+      void DeleteKey(::grpc::ClientContext* context, const ::viam::app::v1::DeleteKeyRequest* request, ::viam::app::v1::DeleteKeyResponse* response, std::function<void(::grpc::Status)>) override;
+      void DeleteKey(::grpc::ClientContext* context, const ::viam::app::v1::DeleteKeyRequest* request, ::viam::app::v1::DeleteKeyResponse* response, ::grpc::ClientUnaryReactor* reactor) override;
+      void ListKeys(::grpc::ClientContext* context, const ::viam::app::v1::ListKeysRequest* request, ::viam::app::v1::ListKeysResponse* response, std::function<void(::grpc::Status)>) override;
+      void ListKeys(::grpc::ClientContext* context, const ::viam::app::v1::ListKeysRequest* request, ::viam::app::v1::ListKeysResponse* response, ::grpc::ClientUnaryReactor* reactor) override;
+      void RotateKey(::grpc::ClientContext* context, const ::viam::app::v1::RotateKeyRequest* request, ::viam::app::v1::RotateKeyResponse* response, std::function<void(::grpc::Status)>) override;
+      void RotateKey(::grpc::ClientContext* context, const ::viam::app::v1::RotateKeyRequest* request, ::viam::app::v1::RotateKeyResponse* response, ::grpc::ClientUnaryReactor* reactor) override;
+      void CreateKeyFromExistingKeyAuthorizations(::grpc::ClientContext* context, const ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest* request, ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse* response, std::function<void(::grpc::Status)>) override;
+      void CreateKeyFromExistingKeyAuthorizations(::grpc::ClientContext* context, const ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest* request, ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse* response, ::grpc::ClientUnaryReactor* reactor) override;
      private:
       friend class Stub;
       explicit async(Stub* stub): stub_(stub) { }
@@ -1493,6 +1573,14 @@ class AppService final {
     ::grpc::ClientAsyncResponseReader< ::viam::app::v1::ListModulesResponse>* PrepareAsyncListModulesRaw(::grpc::ClientContext* context, const ::viam::app::v1::ListModulesRequest& request, ::grpc::CompletionQueue* cq) override;
     ::grpc::ClientAsyncResponseReader< ::viam::app::v1::CreateKeyResponse>* AsyncCreateKeyRaw(::grpc::ClientContext* context, const ::viam::app::v1::CreateKeyRequest& request, ::grpc::CompletionQueue* cq) override;
     ::grpc::ClientAsyncResponseReader< ::viam::app::v1::CreateKeyResponse>* PrepareAsyncCreateKeyRaw(::grpc::ClientContext* context, const ::viam::app::v1::CreateKeyRequest& request, ::grpc::CompletionQueue* cq) override;
+    ::grpc::ClientAsyncResponseReader< ::viam::app::v1::DeleteKeyResponse>* AsyncDeleteKeyRaw(::grpc::ClientContext* context, const ::viam::app::v1::DeleteKeyRequest& request, ::grpc::CompletionQueue* cq) override;
+    ::grpc::ClientAsyncResponseReader< ::viam::app::v1::DeleteKeyResponse>* PrepareAsyncDeleteKeyRaw(::grpc::ClientContext* context, const ::viam::app::v1::DeleteKeyRequest& request, ::grpc::CompletionQueue* cq) override;
+    ::grpc::ClientAsyncResponseReader< ::viam::app::v1::ListKeysResponse>* AsyncListKeysRaw(::grpc::ClientContext* context, const ::viam::app::v1::ListKeysRequest& request, ::grpc::CompletionQueue* cq) override;
+    ::grpc::ClientAsyncResponseReader< ::viam::app::v1::ListKeysResponse>* PrepareAsyncListKeysRaw(::grpc::ClientContext* context, const ::viam::app::v1::ListKeysRequest& request, ::grpc::CompletionQueue* cq) override;
+    ::grpc::ClientAsyncResponseReader< ::viam::app::v1::RotateKeyResponse>* AsyncRotateKeyRaw(::grpc::ClientContext* context, const ::viam::app::v1::RotateKeyRequest& request, ::grpc::CompletionQueue* cq) override;
+    ::grpc::ClientAsyncResponseReader< ::viam::app::v1::RotateKeyResponse>* PrepareAsyncRotateKeyRaw(::grpc::ClientContext* context, const ::viam::app::v1::RotateKeyRequest& request, ::grpc::CompletionQueue* cq) override;
+    ::grpc::ClientAsyncResponseReader< ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse>* AsyncCreateKeyFromExistingKeyAuthorizationsRaw(::grpc::ClientContext* context, const ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest& request, ::grpc::CompletionQueue* cq) override;
+    ::grpc::ClientAsyncResponseReader< ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse>* PrepareAsyncCreateKeyFromExistingKeyAuthorizationsRaw(::grpc::ClientContext* context, const ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest& request, ::grpc::CompletionQueue* cq) override;
     const ::grpc::internal::RpcMethod rpcmethod_GetUserIDByEmail_;
     const ::grpc::internal::RpcMethod rpcmethod_CreateOrganization_;
     const ::grpc::internal::RpcMethod rpcmethod_ListOrganizations_;
@@ -1552,6 +1640,10 @@ class AppService final {
     const ::grpc::internal::RpcMethod rpcmethod_GetModule_;
     const ::grpc::internal::RpcMethod rpcmethod_ListModules_;
     const ::grpc::internal::RpcMethod rpcmethod_CreateKey_;
+    const ::grpc::internal::RpcMethod rpcmethod_DeleteKey_;
+    const ::grpc::internal::RpcMethod rpcmethod_ListKeys_;
+    const ::grpc::internal::RpcMethod rpcmethod_RotateKey_;
+    const ::grpc::internal::RpcMethod rpcmethod_CreateKeyFromExistingKeyAuthorizations_;
   };
   static std::unique_ptr<Stub> NewStub(const std::shared_ptr< ::grpc::ChannelInterface>& channel, const ::grpc::StubOptions& options = ::grpc::StubOptions());
 
@@ -1680,6 +1772,10 @@ class AppService final {
     virtual ::grpc::Status GetModule(::grpc::ServerContext* context, const ::viam::app::v1::GetModuleRequest* request, ::viam::app::v1::GetModuleResponse* response);
     virtual ::grpc::Status ListModules(::grpc::ServerContext* context, const ::viam::app::v1::ListModulesRequest* request, ::viam::app::v1::ListModulesResponse* response);
     virtual ::grpc::Status CreateKey(::grpc::ServerContext* context, const ::viam::app::v1::CreateKeyRequest* request, ::viam::app::v1::CreateKeyResponse* response);
+    virtual ::grpc::Status DeleteKey(::grpc::ServerContext* context, const ::viam::app::v1::DeleteKeyRequest* request, ::viam::app::v1::DeleteKeyResponse* response);
+    virtual ::grpc::Status ListKeys(::grpc::ServerContext* context, const ::viam::app::v1::ListKeysRequest* request, ::viam::app::v1::ListKeysResponse* response);
+    virtual ::grpc::Status RotateKey(::grpc::ServerContext* context, const ::viam::app::v1::RotateKeyRequest* request, ::viam::app::v1::RotateKeyResponse* response);
+    virtual ::grpc::Status CreateKeyFromExistingKeyAuthorizations(::grpc::ServerContext* context, const ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest* request, ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse* response);
   };
   template <class BaseClass>
   class WithAsyncMethod_GetUserIDByEmail : public BaseClass {
@@ -2861,7 +2957,87 @@ class AppService final {
       ::grpc::Service::RequestAsyncUnary(58, context, request, response, new_call_cq, notification_cq, tag);
     }
   };
-  typedef WithAsyncMethod_GetUserIDByEmail<WithAsyncMethod_CreateOrganization<WithAsyncMethod_ListOrganizations<WithAsyncMethod_ListOrganizationsByUser<WithAsyncMethod_GetOrganization<WithAsyncMethod_GetOrganizationNamespaceAvailability<WithAsyncMethod_UpdateOrganization<WithAsyncMethod_DeleteOrganization<WithAsyncMethod_ListOrganizationMembers<WithAsyncMethod_CreateOrganizationInvite<WithAsyncMethod_UpdateOrganizationInviteAuthorizations<WithAsyncMethod_DeleteOrganizationMember<WithAsyncMethod_DeleteOrganizationInvite<WithAsyncMethod_ResendOrganizationInvite<WithAsyncMethod_CreateLocation<WithAsyncMethod_GetLocation<WithAsyncMethod_UpdateLocation<WithAsyncMethod_DeleteLocation<WithAsyncMethod_ListLocations<WithAsyncMethod_ShareLocation<WithAsyncMethod_UnshareLocation<WithAsyncMethod_LocationAuth<WithAsyncMethod_CreateLocationSecret<WithAsyncMethod_DeleteLocationSecret<WithAsyncMethod_GetRobot<WithAsyncMethod_GetRoverRentalRobots<WithAsyncMethod_GetRobotParts<WithAsyncMethod_GetRobotPart<WithAsyncMethod_GetRobotPartLogs<WithAsyncMethod_TailRobotPartLogs<WithAsyncMethod_GetRobotPartHistory<WithAsyncMethod_UpdateRobotPart<WithAsyncMethod_NewRobotPart<WithAsyncMethod_DeleteRobotPart<WithAsyncMethod_GetRobotAPIKeys<WithAsyncMethod_MarkPartAsMain<WithAsyncMethod_MarkPartForRestart<WithAsyncMethod_CreateRobotPartSecret<WithAsyncMethod_DeleteRobotPartSecret<WithAsyncMethod_ListRobots<WithAsyncMethod_NewRobot<WithAsyncMethod_UpdateRobot<WithAsyncMethod_DeleteRobot<WithAsyncMethod_ListFragments<WithAsyncMethod_GetFragment<WithAsyncMethod_CreateFragment<WithAsyncMethod_UpdateFragment<WithAsyncMethod_DeleteFragment<WithAsyncMethod_AddRole<WithAsyncMethod_RemoveRole<WithAsyncMethod_ChangeRole<WithAsyncMethod_ListAuthorizations<WithAsyncMethod_CheckPermissions<WithAsyncMethod_CreateModule<WithAsyncMethod_UpdateModule<WithAsyncMethod_UploadModuleFile<WithAsyncMethod_GetModule<WithAsyncMethod_ListModules<WithAsyncMethod_CreateKey<Service > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > AsyncService;
+  template <class BaseClass>
+  class WithAsyncMethod_DeleteKey : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithAsyncMethod_DeleteKey() {
+      ::grpc::Service::MarkMethodAsync(59);
+    }
+    ~WithAsyncMethod_DeleteKey() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status DeleteKey(::grpc::ServerContext* /*context*/, const ::viam::app::v1::DeleteKeyRequest* /*request*/, ::viam::app::v1::DeleteKeyResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    void RequestDeleteKey(::grpc::ServerContext* context, ::viam::app::v1::DeleteKeyRequest* request, ::grpc::ServerAsyncResponseWriter< ::viam::app::v1::DeleteKeyResponse>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
+      ::grpc::Service::RequestAsyncUnary(59, context, request, response, new_call_cq, notification_cq, tag);
+    }
+  };
+  template <class BaseClass>
+  class WithAsyncMethod_ListKeys : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithAsyncMethod_ListKeys() {
+      ::grpc::Service::MarkMethodAsync(60);
+    }
+    ~WithAsyncMethod_ListKeys() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status ListKeys(::grpc::ServerContext* /*context*/, const ::viam::app::v1::ListKeysRequest* /*request*/, ::viam::app::v1::ListKeysResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    void RequestListKeys(::grpc::ServerContext* context, ::viam::app::v1::ListKeysRequest* request, ::grpc::ServerAsyncResponseWriter< ::viam::app::v1::ListKeysResponse>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
+      ::grpc::Service::RequestAsyncUnary(60, context, request, response, new_call_cq, notification_cq, tag);
+    }
+  };
+  template <class BaseClass>
+  class WithAsyncMethod_RotateKey : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithAsyncMethod_RotateKey() {
+      ::grpc::Service::MarkMethodAsync(61);
+    }
+    ~WithAsyncMethod_RotateKey() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status RotateKey(::grpc::ServerContext* /*context*/, const ::viam::app::v1::RotateKeyRequest* /*request*/, ::viam::app::v1::RotateKeyResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    void RequestRotateKey(::grpc::ServerContext* context, ::viam::app::v1::RotateKeyRequest* request, ::grpc::ServerAsyncResponseWriter< ::viam::app::v1::RotateKeyResponse>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
+      ::grpc::Service::RequestAsyncUnary(61, context, request, response, new_call_cq, notification_cq, tag);
+    }
+  };
+  template <class BaseClass>
+  class WithAsyncMethod_CreateKeyFromExistingKeyAuthorizations : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithAsyncMethod_CreateKeyFromExistingKeyAuthorizations() {
+      ::grpc::Service::MarkMethodAsync(62);
+    }
+    ~WithAsyncMethod_CreateKeyFromExistingKeyAuthorizations() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status CreateKeyFromExistingKeyAuthorizations(::grpc::ServerContext* /*context*/, const ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest* /*request*/, ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    void RequestCreateKeyFromExistingKeyAuthorizations(::grpc::ServerContext* context, ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest* request, ::grpc::ServerAsyncResponseWriter< ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
+      ::grpc::Service::RequestAsyncUnary(62, context, request, response, new_call_cq, notification_cq, tag);
+    }
+  };
+  typedef WithAsyncMethod_GetUserIDByEmail<WithAsyncMethod_CreateOrganization<WithAsyncMethod_ListOrganizations<WithAsyncMethod_ListOrganizationsByUser<WithAsyncMethod_GetOrganization<WithAsyncMethod_GetOrganizationNamespaceAvailability<WithAsyncMethod_UpdateOrganization<WithAsyncMethod_DeleteOrganization<WithAsyncMethod_ListOrganizationMembers<WithAsyncMethod_CreateOrganizationInvite<WithAsyncMethod_UpdateOrganizationInviteAuthorizations<WithAsyncMethod_DeleteOrganizationMember<WithAsyncMethod_DeleteOrganizationInvite<WithAsyncMethod_ResendOrganizationInvite<WithAsyncMethod_CreateLocation<WithAsyncMethod_GetLocation<WithAsyncMethod_UpdateLocation<WithAsyncMethod_DeleteLocation<WithAsyncMethod_ListLocations<WithAsyncMethod_ShareLocation<WithAsyncMethod_UnshareLocation<WithAsyncMethod_LocationAuth<WithAsyncMethod_CreateLocationSecret<WithAsyncMethod_DeleteLocationSecret<WithAsyncMethod_GetRobot<WithAsyncMethod_GetRoverRentalRobots<WithAsyncMethod_GetRobotParts<WithAsyncMethod_GetRobotPart<WithAsyncMethod_GetRobotPartLogs<WithAsyncMethod_TailRobotPartLogs<WithAsyncMethod_GetRobotPartHistory<WithAsyncMethod_UpdateRobotPart<WithAsyncMethod_NewRobotPart<WithAsyncMethod_DeleteRobotPart<WithAsyncMethod_GetRobotAPIKeys<WithAsyncMethod_MarkPartAsMain<WithAsyncMethod_MarkPartForRestart<WithAsyncMethod_CreateRobotPartSecret<WithAsyncMethod_DeleteRobotPartSecret<WithAsyncMethod_ListRobots<WithAsyncMethod_NewRobot<WithAsyncMethod_UpdateRobot<WithAsyncMethod_DeleteRobot<WithAsyncMethod_ListFragments<WithAsyncMethod_GetFragment<WithAsyncMethod_CreateFragment<WithAsyncMethod_UpdateFragment<WithAsyncMethod_DeleteFragment<WithAsyncMethod_AddRole<WithAsyncMethod_RemoveRole<WithAsyncMethod_ChangeRole<WithAsyncMethod_ListAuthorizations<WithAsyncMethod_CheckPermissions<WithAsyncMethod_CreateModule<WithAsyncMethod_UpdateModule<WithAsyncMethod_UploadModuleFile<WithAsyncMethod_GetModule<WithAsyncMethod_ListModules<WithAsyncMethod_CreateKey<WithAsyncMethod_DeleteKey<WithAsyncMethod_ListKeys<WithAsyncMethod_RotateKey<WithAsyncMethod_CreateKeyFromExistingKeyAuthorizations<Service > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > AsyncService;
   template <class BaseClass>
   class WithCallbackMethod_GetUserIDByEmail : public BaseClass {
    private:
@@ -4445,7 +4621,115 @@ class AppService final {
     virtual ::grpc::ServerUnaryReactor* CreateKey(
       ::grpc::CallbackServerContext* /*context*/, const ::viam::app::v1::CreateKeyRequest* /*request*/, ::viam::app::v1::CreateKeyResponse* /*response*/)  { return nullptr; }
   };
-  typedef WithCallbackMethod_GetUserIDByEmail<WithCallbackMethod_CreateOrganization<WithCallbackMethod_ListOrganizations<WithCallbackMethod_ListOrganizationsByUser<WithCallbackMethod_GetOrganization<WithCallbackMethod_GetOrganizationNamespaceAvailability<WithCallbackMethod_UpdateOrganization<WithCallbackMethod_DeleteOrganization<WithCallbackMethod_ListOrganizationMembers<WithCallbackMethod_CreateOrganizationInvite<WithCallbackMethod_UpdateOrganizationInviteAuthorizations<WithCallbackMethod_DeleteOrganizationMember<WithCallbackMethod_DeleteOrganizationInvite<WithCallbackMethod_ResendOrganizationInvite<WithCallbackMethod_CreateLocation<WithCallbackMethod_GetLocation<WithCallbackMethod_UpdateLocation<WithCallbackMethod_DeleteLocation<WithCallbackMethod_ListLocations<WithCallbackMethod_ShareLocation<WithCallbackMethod_UnshareLocation<WithCallbackMethod_LocationAuth<WithCallbackMethod_CreateLocationSecret<WithCallbackMethod_DeleteLocationSecret<WithCallbackMethod_GetRobot<WithCallbackMethod_GetRoverRentalRobots<WithCallbackMethod_GetRobotParts<WithCallbackMethod_GetRobotPart<WithCallbackMethod_GetRobotPartLogs<WithCallbackMethod_TailRobotPartLogs<WithCallbackMethod_GetRobotPartHistory<WithCallbackMethod_UpdateRobotPart<WithCallbackMethod_NewRobotPart<WithCallbackMethod_DeleteRobotPart<WithCallbackMethod_GetRobotAPIKeys<WithCallbackMethod_MarkPartAsMain<WithCallbackMethod_MarkPartForRestart<WithCallbackMethod_CreateRobotPartSecret<WithCallbackMethod_DeleteRobotPartSecret<WithCallbackMethod_ListRobots<WithCallbackMethod_NewRobot<WithCallbackMethod_UpdateRobot<WithCallbackMethod_DeleteRobot<WithCallbackMethod_ListFragments<WithCallbackMethod_GetFragment<WithCallbackMethod_CreateFragment<WithCallbackMethod_UpdateFragment<WithCallbackMethod_DeleteFragment<WithCallbackMethod_AddRole<WithCallbackMethod_RemoveRole<WithCallbackMethod_ChangeRole<WithCallbackMethod_ListAuthorizations<WithCallbackMethod_CheckPermissions<WithCallbackMethod_CreateModule<WithCallbackMethod_UpdateModule<WithCallbackMethod_UploadModuleFile<WithCallbackMethod_GetModule<WithCallbackMethod_ListModules<WithCallbackMethod_CreateKey<Service > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > CallbackService;
+  template <class BaseClass>
+  class WithCallbackMethod_DeleteKey : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithCallbackMethod_DeleteKey() {
+      ::grpc::Service::MarkMethodCallback(59,
+          new ::grpc::internal::CallbackUnaryHandler< ::viam::app::v1::DeleteKeyRequest, ::viam::app::v1::DeleteKeyResponse>(
+            [this](
+                   ::grpc::CallbackServerContext* context, const ::viam::app::v1::DeleteKeyRequest* request, ::viam::app::v1::DeleteKeyResponse* response) { return this->DeleteKey(context, request, response); }));}
+    void SetMessageAllocatorFor_DeleteKey(
+        ::grpc::MessageAllocator< ::viam::app::v1::DeleteKeyRequest, ::viam::app::v1::DeleteKeyResponse>* allocator) {
+      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::GetHandler(59);
+      static_cast<::grpc::internal::CallbackUnaryHandler< ::viam::app::v1::DeleteKeyRequest, ::viam::app::v1::DeleteKeyResponse>*>(handler)
+              ->SetMessageAllocator(allocator);
+    }
+    ~WithCallbackMethod_DeleteKey() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status DeleteKey(::grpc::ServerContext* /*context*/, const ::viam::app::v1::DeleteKeyRequest* /*request*/, ::viam::app::v1::DeleteKeyResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    virtual ::grpc::ServerUnaryReactor* DeleteKey(
+      ::grpc::CallbackServerContext* /*context*/, const ::viam::app::v1::DeleteKeyRequest* /*request*/, ::viam::app::v1::DeleteKeyResponse* /*response*/)  { return nullptr; }
+  };
+  template <class BaseClass>
+  class WithCallbackMethod_ListKeys : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithCallbackMethod_ListKeys() {
+      ::grpc::Service::MarkMethodCallback(60,
+          new ::grpc::internal::CallbackUnaryHandler< ::viam::app::v1::ListKeysRequest, ::viam::app::v1::ListKeysResponse>(
+            [this](
+                   ::grpc::CallbackServerContext* context, const ::viam::app::v1::ListKeysRequest* request, ::viam::app::v1::ListKeysResponse* response) { return this->ListKeys(context, request, response); }));}
+    void SetMessageAllocatorFor_ListKeys(
+        ::grpc::MessageAllocator< ::viam::app::v1::ListKeysRequest, ::viam::app::v1::ListKeysResponse>* allocator) {
+      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::GetHandler(60);
+      static_cast<::grpc::internal::CallbackUnaryHandler< ::viam::app::v1::ListKeysRequest, ::viam::app::v1::ListKeysResponse>*>(handler)
+              ->SetMessageAllocator(allocator);
+    }
+    ~WithCallbackMethod_ListKeys() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status ListKeys(::grpc::ServerContext* /*context*/, const ::viam::app::v1::ListKeysRequest* /*request*/, ::viam::app::v1::ListKeysResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    virtual ::grpc::ServerUnaryReactor* ListKeys(
+      ::grpc::CallbackServerContext* /*context*/, const ::viam::app::v1::ListKeysRequest* /*request*/, ::viam::app::v1::ListKeysResponse* /*response*/)  { return nullptr; }
+  };
+  template <class BaseClass>
+  class WithCallbackMethod_RotateKey : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithCallbackMethod_RotateKey() {
+      ::grpc::Service::MarkMethodCallback(61,
+          new ::grpc::internal::CallbackUnaryHandler< ::viam::app::v1::RotateKeyRequest, ::viam::app::v1::RotateKeyResponse>(
+            [this](
+                   ::grpc::CallbackServerContext* context, const ::viam::app::v1::RotateKeyRequest* request, ::viam::app::v1::RotateKeyResponse* response) { return this->RotateKey(context, request, response); }));}
+    void SetMessageAllocatorFor_RotateKey(
+        ::grpc::MessageAllocator< ::viam::app::v1::RotateKeyRequest, ::viam::app::v1::RotateKeyResponse>* allocator) {
+      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::GetHandler(61);
+      static_cast<::grpc::internal::CallbackUnaryHandler< ::viam::app::v1::RotateKeyRequest, ::viam::app::v1::RotateKeyResponse>*>(handler)
+              ->SetMessageAllocator(allocator);
+    }
+    ~WithCallbackMethod_RotateKey() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status RotateKey(::grpc::ServerContext* /*context*/, const ::viam::app::v1::RotateKeyRequest* /*request*/, ::viam::app::v1::RotateKeyResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    virtual ::grpc::ServerUnaryReactor* RotateKey(
+      ::grpc::CallbackServerContext* /*context*/, const ::viam::app::v1::RotateKeyRequest* /*request*/, ::viam::app::v1::RotateKeyResponse* /*response*/)  { return nullptr; }
+  };
+  template <class BaseClass>
+  class WithCallbackMethod_CreateKeyFromExistingKeyAuthorizations : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithCallbackMethod_CreateKeyFromExistingKeyAuthorizations() {
+      ::grpc::Service::MarkMethodCallback(62,
+          new ::grpc::internal::CallbackUnaryHandler< ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest, ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse>(
+            [this](
+                   ::grpc::CallbackServerContext* context, const ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest* request, ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse* response) { return this->CreateKeyFromExistingKeyAuthorizations(context, request, response); }));}
+    void SetMessageAllocatorFor_CreateKeyFromExistingKeyAuthorizations(
+        ::grpc::MessageAllocator< ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest, ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse>* allocator) {
+      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::GetHandler(62);
+      static_cast<::grpc::internal::CallbackUnaryHandler< ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest, ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse>*>(handler)
+              ->SetMessageAllocator(allocator);
+    }
+    ~WithCallbackMethod_CreateKeyFromExistingKeyAuthorizations() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status CreateKeyFromExistingKeyAuthorizations(::grpc::ServerContext* /*context*/, const ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest* /*request*/, ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    virtual ::grpc::ServerUnaryReactor* CreateKeyFromExistingKeyAuthorizations(
+      ::grpc::CallbackServerContext* /*context*/, const ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest* /*request*/, ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse* /*response*/)  { return nullptr; }
+  };
+  typedef WithCallbackMethod_GetUserIDByEmail<WithCallbackMethod_CreateOrganization<WithCallbackMethod_ListOrganizations<WithCallbackMethod_ListOrganizationsByUser<WithCallbackMethod_GetOrganization<WithCallbackMethod_GetOrganizationNamespaceAvailability<WithCallbackMethod_UpdateOrganization<WithCallbackMethod_DeleteOrganization<WithCallbackMethod_ListOrganizationMembers<WithCallbackMethod_CreateOrganizationInvite<WithCallbackMethod_UpdateOrganizationInviteAuthorizations<WithCallbackMethod_DeleteOrganizationMember<WithCallbackMethod_DeleteOrganizationInvite<WithCallbackMethod_ResendOrganizationInvite<WithCallbackMethod_CreateLocation<WithCallbackMethod_GetLocation<WithCallbackMethod_UpdateLocation<WithCallbackMethod_DeleteLocation<WithCallbackMethod_ListLocations<WithCallbackMethod_ShareLocation<WithCallbackMethod_UnshareLocation<WithCallbackMethod_LocationAuth<WithCallbackMethod_CreateLocationSecret<WithCallbackMethod_DeleteLocationSecret<WithCallbackMethod_GetRobot<WithCallbackMethod_GetRoverRentalRobots<WithCallbackMethod_GetRobotParts<WithCallbackMethod_GetRobotPart<WithCallbackMethod_GetRobotPartLogs<WithCallbackMethod_TailRobotPartLogs<WithCallbackMethod_GetRobotPartHistory<WithCallbackMethod_UpdateRobotPart<WithCallbackMethod_NewRobotPart<WithCallbackMethod_DeleteRobotPart<WithCallbackMethod_GetRobotAPIKeys<WithCallbackMethod_MarkPartAsMain<WithCallbackMethod_MarkPartForRestart<WithCallbackMethod_CreateRobotPartSecret<WithCallbackMethod_DeleteRobotPartSecret<WithCallbackMethod_ListRobots<WithCallbackMethod_NewRobot<WithCallbackMethod_UpdateRobot<WithCallbackMethod_DeleteRobot<WithCallbackMethod_ListFragments<WithCallbackMethod_GetFragment<WithCallbackMethod_CreateFragment<WithCallbackMethod_UpdateFragment<WithCallbackMethod_DeleteFragment<WithCallbackMethod_AddRole<WithCallbackMethod_RemoveRole<WithCallbackMethod_ChangeRole<WithCallbackMethod_ListAuthorizations<WithCallbackMethod_CheckPermissions<WithCallbackMethod_CreateModule<WithCallbackMethod_UpdateModule<WithCallbackMethod_UploadModuleFile<WithCallbackMethod_GetModule<WithCallbackMethod_ListModules<WithCallbackMethod_CreateKey<WithCallbackMethod_DeleteKey<WithCallbackMethod_ListKeys<WithCallbackMethod_RotateKey<WithCallbackMethod_CreateKeyFromExistingKeyAuthorizations<Service > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > CallbackService;
   typedef CallbackService ExperimentalCallbackService;
   template <class BaseClass>
   class WithGenericMethod_GetUserIDByEmail : public BaseClass {
@@ -5451,6 +5735,74 @@ class AppService final {
     }
   };
   template <class BaseClass>
+  class WithGenericMethod_DeleteKey : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithGenericMethod_DeleteKey() {
+      ::grpc::Service::MarkMethodGeneric(59);
+    }
+    ~WithGenericMethod_DeleteKey() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status DeleteKey(::grpc::ServerContext* /*context*/, const ::viam::app::v1::DeleteKeyRequest* /*request*/, ::viam::app::v1::DeleteKeyResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+  };
+  template <class BaseClass>
+  class WithGenericMethod_ListKeys : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithGenericMethod_ListKeys() {
+      ::grpc::Service::MarkMethodGeneric(60);
+    }
+    ~WithGenericMethod_ListKeys() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status ListKeys(::grpc::ServerContext* /*context*/, const ::viam::app::v1::ListKeysRequest* /*request*/, ::viam::app::v1::ListKeysResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+  };
+  template <class BaseClass>
+  class WithGenericMethod_RotateKey : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithGenericMethod_RotateKey() {
+      ::grpc::Service::MarkMethodGeneric(61);
+    }
+    ~WithGenericMethod_RotateKey() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status RotateKey(::grpc::ServerContext* /*context*/, const ::viam::app::v1::RotateKeyRequest* /*request*/, ::viam::app::v1::RotateKeyResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+  };
+  template <class BaseClass>
+  class WithGenericMethod_CreateKeyFromExistingKeyAuthorizations : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithGenericMethod_CreateKeyFromExistingKeyAuthorizations() {
+      ::grpc::Service::MarkMethodGeneric(62);
+    }
+    ~WithGenericMethod_CreateKeyFromExistingKeyAuthorizations() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status CreateKeyFromExistingKeyAuthorizations(::grpc::ServerContext* /*context*/, const ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest* /*request*/, ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+  };
+  template <class BaseClass>
   class WithRawMethod_GetUserIDByEmail : public BaseClass {
    private:
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
@@ -6631,6 +6983,86 @@ class AppService final {
     }
   };
   template <class BaseClass>
+  class WithRawMethod_DeleteKey : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithRawMethod_DeleteKey() {
+      ::grpc::Service::MarkMethodRaw(59);
+    }
+    ~WithRawMethod_DeleteKey() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status DeleteKey(::grpc::ServerContext* /*context*/, const ::viam::app::v1::DeleteKeyRequest* /*request*/, ::viam::app::v1::DeleteKeyResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    void RequestDeleteKey(::grpc::ServerContext* context, ::grpc::ByteBuffer* request, ::grpc::ServerAsyncResponseWriter< ::grpc::ByteBuffer>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
+      ::grpc::Service::RequestAsyncUnary(59, context, request, response, new_call_cq, notification_cq, tag);
+    }
+  };
+  template <class BaseClass>
+  class WithRawMethod_ListKeys : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithRawMethod_ListKeys() {
+      ::grpc::Service::MarkMethodRaw(60);
+    }
+    ~WithRawMethod_ListKeys() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status ListKeys(::grpc::ServerContext* /*context*/, const ::viam::app::v1::ListKeysRequest* /*request*/, ::viam::app::v1::ListKeysResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    void RequestListKeys(::grpc::ServerContext* context, ::grpc::ByteBuffer* request, ::grpc::ServerAsyncResponseWriter< ::grpc::ByteBuffer>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
+      ::grpc::Service::RequestAsyncUnary(60, context, request, response, new_call_cq, notification_cq, tag);
+    }
+  };
+  template <class BaseClass>
+  class WithRawMethod_RotateKey : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithRawMethod_RotateKey() {
+      ::grpc::Service::MarkMethodRaw(61);
+    }
+    ~WithRawMethod_RotateKey() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status RotateKey(::grpc::ServerContext* /*context*/, const ::viam::app::v1::RotateKeyRequest* /*request*/, ::viam::app::v1::RotateKeyResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    void RequestRotateKey(::grpc::ServerContext* context, ::grpc::ByteBuffer* request, ::grpc::ServerAsyncResponseWriter< ::grpc::ByteBuffer>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
+      ::grpc::Service::RequestAsyncUnary(61, context, request, response, new_call_cq, notification_cq, tag);
+    }
+  };
+  template <class BaseClass>
+  class WithRawMethod_CreateKeyFromExistingKeyAuthorizations : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithRawMethod_CreateKeyFromExistingKeyAuthorizations() {
+      ::grpc::Service::MarkMethodRaw(62);
+    }
+    ~WithRawMethod_CreateKeyFromExistingKeyAuthorizations() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status CreateKeyFromExistingKeyAuthorizations(::grpc::ServerContext* /*context*/, const ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest* /*request*/, ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    void RequestCreateKeyFromExistingKeyAuthorizations(::grpc::ServerContext* context, ::grpc::ByteBuffer* request, ::grpc::ServerAsyncResponseWriter< ::grpc::ByteBuffer>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
+      ::grpc::Service::RequestAsyncUnary(62, context, request, response, new_call_cq, notification_cq, tag);
+    }
+  };
+  template <class BaseClass>
   class WithRawCallbackMethod_GetUserIDByEmail : public BaseClass {
    private:
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
@@ -7929,6 +8361,94 @@ class AppService final {
       ::grpc::CallbackServerContext* /*context*/, const ::grpc::ByteBuffer* /*request*/, ::grpc::ByteBuffer* /*response*/)  { return nullptr; }
   };
   template <class BaseClass>
+  class WithRawCallbackMethod_DeleteKey : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithRawCallbackMethod_DeleteKey() {
+      ::grpc::Service::MarkMethodRawCallback(59,
+          new ::grpc::internal::CallbackUnaryHandler< ::grpc::ByteBuffer, ::grpc::ByteBuffer>(
+            [this](
+                   ::grpc::CallbackServerContext* context, const ::grpc::ByteBuffer* request, ::grpc::ByteBuffer* response) { return this->DeleteKey(context, request, response); }));
+    }
+    ~WithRawCallbackMethod_DeleteKey() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status DeleteKey(::grpc::ServerContext* /*context*/, const ::viam::app::v1::DeleteKeyRequest* /*request*/, ::viam::app::v1::DeleteKeyResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    virtual ::grpc::ServerUnaryReactor* DeleteKey(
+      ::grpc::CallbackServerContext* /*context*/, const ::grpc::ByteBuffer* /*request*/, ::grpc::ByteBuffer* /*response*/)  { return nullptr; }
+  };
+  template <class BaseClass>
+  class WithRawCallbackMethod_ListKeys : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithRawCallbackMethod_ListKeys() {
+      ::grpc::Service::MarkMethodRawCallback(60,
+          new ::grpc::internal::CallbackUnaryHandler< ::grpc::ByteBuffer, ::grpc::ByteBuffer>(
+            [this](
+                   ::grpc::CallbackServerContext* context, const ::grpc::ByteBuffer* request, ::grpc::ByteBuffer* response) { return this->ListKeys(context, request, response); }));
+    }
+    ~WithRawCallbackMethod_ListKeys() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status ListKeys(::grpc::ServerContext* /*context*/, const ::viam::app::v1::ListKeysRequest* /*request*/, ::viam::app::v1::ListKeysResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    virtual ::grpc::ServerUnaryReactor* ListKeys(
+      ::grpc::CallbackServerContext* /*context*/, const ::grpc::ByteBuffer* /*request*/, ::grpc::ByteBuffer* /*response*/)  { return nullptr; }
+  };
+  template <class BaseClass>
+  class WithRawCallbackMethod_RotateKey : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithRawCallbackMethod_RotateKey() {
+      ::grpc::Service::MarkMethodRawCallback(61,
+          new ::grpc::internal::CallbackUnaryHandler< ::grpc::ByteBuffer, ::grpc::ByteBuffer>(
+            [this](
+                   ::grpc::CallbackServerContext* context, const ::grpc::ByteBuffer* request, ::grpc::ByteBuffer* response) { return this->RotateKey(context, request, response); }));
+    }
+    ~WithRawCallbackMethod_RotateKey() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status RotateKey(::grpc::ServerContext* /*context*/, const ::viam::app::v1::RotateKeyRequest* /*request*/, ::viam::app::v1::RotateKeyResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    virtual ::grpc::ServerUnaryReactor* RotateKey(
+      ::grpc::CallbackServerContext* /*context*/, const ::grpc::ByteBuffer* /*request*/, ::grpc::ByteBuffer* /*response*/)  { return nullptr; }
+  };
+  template <class BaseClass>
+  class WithRawCallbackMethod_CreateKeyFromExistingKeyAuthorizations : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithRawCallbackMethod_CreateKeyFromExistingKeyAuthorizations() {
+      ::grpc::Service::MarkMethodRawCallback(62,
+          new ::grpc::internal::CallbackUnaryHandler< ::grpc::ByteBuffer, ::grpc::ByteBuffer>(
+            [this](
+                   ::grpc::CallbackServerContext* context, const ::grpc::ByteBuffer* request, ::grpc::ByteBuffer* response) { return this->CreateKeyFromExistingKeyAuthorizations(context, request, response); }));
+    }
+    ~WithRawCallbackMethod_CreateKeyFromExistingKeyAuthorizations() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status CreateKeyFromExistingKeyAuthorizations(::grpc::ServerContext* /*context*/, const ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest* /*request*/, ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    virtual ::grpc::ServerUnaryReactor* CreateKeyFromExistingKeyAuthorizations(
+      ::grpc::CallbackServerContext* /*context*/, const ::grpc::ByteBuffer* /*request*/, ::grpc::ByteBuffer* /*response*/)  { return nullptr; }
+  };
+  template <class BaseClass>
   class WithStreamedUnaryMethod_GetUserIDByEmail : public BaseClass {
    private:
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
@@ -9467,7 +9987,115 @@ class AppService final {
     // replace default version of method with streamed unary
     virtual ::grpc::Status StreamedCreateKey(::grpc::ServerContext* context, ::grpc::ServerUnaryStreamer< ::viam::app::v1::CreateKeyRequest,::viam::app::v1::CreateKeyResponse>* server_unary_streamer) = 0;
   };
-  typedef WithStreamedUnaryMethod_GetUserIDByEmail<WithStreamedUnaryMethod_CreateOrganization<WithStreamedUnaryMethod_ListOrganizations<WithStreamedUnaryMethod_ListOrganizationsByUser<WithStreamedUnaryMethod_GetOrganization<WithStreamedUnaryMethod_GetOrganizationNamespaceAvailability<WithStreamedUnaryMethod_UpdateOrganization<WithStreamedUnaryMethod_DeleteOrganization<WithStreamedUnaryMethod_ListOrganizationMembers<WithStreamedUnaryMethod_CreateOrganizationInvite<WithStreamedUnaryMethod_UpdateOrganizationInviteAuthorizations<WithStreamedUnaryMethod_DeleteOrganizationMember<WithStreamedUnaryMethod_DeleteOrganizationInvite<WithStreamedUnaryMethod_ResendOrganizationInvite<WithStreamedUnaryMethod_CreateLocation<WithStreamedUnaryMethod_GetLocation<WithStreamedUnaryMethod_UpdateLocation<WithStreamedUnaryMethod_DeleteLocation<WithStreamedUnaryMethod_ListLocations<WithStreamedUnaryMethod_ShareLocation<WithStreamedUnaryMethod_UnshareLocation<WithStreamedUnaryMethod_LocationAuth<WithStreamedUnaryMethod_CreateLocationSecret<WithStreamedUnaryMethod_DeleteLocationSecret<WithStreamedUnaryMethod_GetRobot<WithStreamedUnaryMethod_GetRoverRentalRobots<WithStreamedUnaryMethod_GetRobotParts<WithStreamedUnaryMethod_GetRobotPart<WithStreamedUnaryMethod_GetRobotPartLogs<WithStreamedUnaryMethod_GetRobotPartHistory<WithStreamedUnaryMethod_UpdateRobotPart<WithStreamedUnaryMethod_NewRobotPart<WithStreamedUnaryMethod_DeleteRobotPart<WithStreamedUnaryMethod_GetRobotAPIKeys<WithStreamedUnaryMethod_MarkPartAsMain<WithStreamedUnaryMethod_MarkPartForRestart<WithStreamedUnaryMethod_CreateRobotPartSecret<WithStreamedUnaryMethod_DeleteRobotPartSecret<WithStreamedUnaryMethod_ListRobots<WithStreamedUnaryMethod_NewRobot<WithStreamedUnaryMethod_UpdateRobot<WithStreamedUnaryMethod_DeleteRobot<WithStreamedUnaryMethod_ListFragments<WithStreamedUnaryMethod_GetFragment<WithStreamedUnaryMethod_CreateFragment<WithStreamedUnaryMethod_UpdateFragment<WithStreamedUnaryMethod_DeleteFragment<WithStreamedUnaryMethod_AddRole<WithStreamedUnaryMethod_RemoveRole<WithStreamedUnaryMethod_ChangeRole<WithStreamedUnaryMethod_ListAuthorizations<WithStreamedUnaryMethod_CheckPermissions<WithStreamedUnaryMethod_CreateModule<WithStreamedUnaryMethod_UpdateModule<WithStreamedUnaryMethod_GetModule<WithStreamedUnaryMethod_ListModules<WithStreamedUnaryMethod_CreateKey<Service > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > StreamedUnaryService;
+  template <class BaseClass>
+  class WithStreamedUnaryMethod_DeleteKey : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithStreamedUnaryMethod_DeleteKey() {
+      ::grpc::Service::MarkMethodStreamed(59,
+        new ::grpc::internal::StreamedUnaryHandler<
+          ::viam::app::v1::DeleteKeyRequest, ::viam::app::v1::DeleteKeyResponse>(
+            [this](::grpc::ServerContext* context,
+                   ::grpc::ServerUnaryStreamer<
+                     ::viam::app::v1::DeleteKeyRequest, ::viam::app::v1::DeleteKeyResponse>* streamer) {
+                       return this->StreamedDeleteKey(context,
+                         streamer);
+                  }));
+    }
+    ~WithStreamedUnaryMethod_DeleteKey() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable regular version of this method
+    ::grpc::Status DeleteKey(::grpc::ServerContext* /*context*/, const ::viam::app::v1::DeleteKeyRequest* /*request*/, ::viam::app::v1::DeleteKeyResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    // replace default version of method with streamed unary
+    virtual ::grpc::Status StreamedDeleteKey(::grpc::ServerContext* context, ::grpc::ServerUnaryStreamer< ::viam::app::v1::DeleteKeyRequest,::viam::app::v1::DeleteKeyResponse>* server_unary_streamer) = 0;
+  };
+  template <class BaseClass>
+  class WithStreamedUnaryMethod_ListKeys : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithStreamedUnaryMethod_ListKeys() {
+      ::grpc::Service::MarkMethodStreamed(60,
+        new ::grpc::internal::StreamedUnaryHandler<
+          ::viam::app::v1::ListKeysRequest, ::viam::app::v1::ListKeysResponse>(
+            [this](::grpc::ServerContext* context,
+                   ::grpc::ServerUnaryStreamer<
+                     ::viam::app::v1::ListKeysRequest, ::viam::app::v1::ListKeysResponse>* streamer) {
+                       return this->StreamedListKeys(context,
+                         streamer);
+                  }));
+    }
+    ~WithStreamedUnaryMethod_ListKeys() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable regular version of this method
+    ::grpc::Status ListKeys(::grpc::ServerContext* /*context*/, const ::viam::app::v1::ListKeysRequest* /*request*/, ::viam::app::v1::ListKeysResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    // replace default version of method with streamed unary
+    virtual ::grpc::Status StreamedListKeys(::grpc::ServerContext* context, ::grpc::ServerUnaryStreamer< ::viam::app::v1::ListKeysRequest,::viam::app::v1::ListKeysResponse>* server_unary_streamer) = 0;
+  };
+  template <class BaseClass>
+  class WithStreamedUnaryMethod_RotateKey : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithStreamedUnaryMethod_RotateKey() {
+      ::grpc::Service::MarkMethodStreamed(61,
+        new ::grpc::internal::StreamedUnaryHandler<
+          ::viam::app::v1::RotateKeyRequest, ::viam::app::v1::RotateKeyResponse>(
+            [this](::grpc::ServerContext* context,
+                   ::grpc::ServerUnaryStreamer<
+                     ::viam::app::v1::RotateKeyRequest, ::viam::app::v1::RotateKeyResponse>* streamer) {
+                       return this->StreamedRotateKey(context,
+                         streamer);
+                  }));
+    }
+    ~WithStreamedUnaryMethod_RotateKey() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable regular version of this method
+    ::grpc::Status RotateKey(::grpc::ServerContext* /*context*/, const ::viam::app::v1::RotateKeyRequest* /*request*/, ::viam::app::v1::RotateKeyResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    // replace default version of method with streamed unary
+    virtual ::grpc::Status StreamedRotateKey(::grpc::ServerContext* context, ::grpc::ServerUnaryStreamer< ::viam::app::v1::RotateKeyRequest,::viam::app::v1::RotateKeyResponse>* server_unary_streamer) = 0;
+  };
+  template <class BaseClass>
+  class WithStreamedUnaryMethod_CreateKeyFromExistingKeyAuthorizations : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithStreamedUnaryMethod_CreateKeyFromExistingKeyAuthorizations() {
+      ::grpc::Service::MarkMethodStreamed(62,
+        new ::grpc::internal::StreamedUnaryHandler<
+          ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest, ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse>(
+            [this](::grpc::ServerContext* context,
+                   ::grpc::ServerUnaryStreamer<
+                     ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest, ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse>* streamer) {
+                       return this->StreamedCreateKeyFromExistingKeyAuthorizations(context,
+                         streamer);
+                  }));
+    }
+    ~WithStreamedUnaryMethod_CreateKeyFromExistingKeyAuthorizations() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable regular version of this method
+    ::grpc::Status CreateKeyFromExistingKeyAuthorizations(::grpc::ServerContext* /*context*/, const ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest* /*request*/, ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    // replace default version of method with streamed unary
+    virtual ::grpc::Status StreamedCreateKeyFromExistingKeyAuthorizations(::grpc::ServerContext* context, ::grpc::ServerUnaryStreamer< ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest,::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse>* server_unary_streamer) = 0;
+  };
+  typedef WithStreamedUnaryMethod_GetUserIDByEmail<WithStreamedUnaryMethod_CreateOrganization<WithStreamedUnaryMethod_ListOrganizations<WithStreamedUnaryMethod_ListOrganizationsByUser<WithStreamedUnaryMethod_GetOrganization<WithStreamedUnaryMethod_GetOrganizationNamespaceAvailability<WithStreamedUnaryMethod_UpdateOrganization<WithStreamedUnaryMethod_DeleteOrganization<WithStreamedUnaryMethod_ListOrganizationMembers<WithStreamedUnaryMethod_CreateOrganizationInvite<WithStreamedUnaryMethod_UpdateOrganizationInviteAuthorizations<WithStreamedUnaryMethod_DeleteOrganizationMember<WithStreamedUnaryMethod_DeleteOrganizationInvite<WithStreamedUnaryMethod_ResendOrganizationInvite<WithStreamedUnaryMethod_CreateLocation<WithStreamedUnaryMethod_GetLocation<WithStreamedUnaryMethod_UpdateLocation<WithStreamedUnaryMethod_DeleteLocation<WithStreamedUnaryMethod_ListLocations<WithStreamedUnaryMethod_ShareLocation<WithStreamedUnaryMethod_UnshareLocation<WithStreamedUnaryMethod_LocationAuth<WithStreamedUnaryMethod_CreateLocationSecret<WithStreamedUnaryMethod_DeleteLocationSecret<WithStreamedUnaryMethod_GetRobot<WithStreamedUnaryMethod_GetRoverRentalRobots<WithStreamedUnaryMethod_GetRobotParts<WithStreamedUnaryMethod_GetRobotPart<WithStreamedUnaryMethod_GetRobotPartLogs<WithStreamedUnaryMethod_GetRobotPartHistory<WithStreamedUnaryMethod_UpdateRobotPart<WithStreamedUnaryMethod_NewRobotPart<WithStreamedUnaryMethod_DeleteRobotPart<WithStreamedUnaryMethod_GetRobotAPIKeys<WithStreamedUnaryMethod_MarkPartAsMain<WithStreamedUnaryMethod_MarkPartForRestart<WithStreamedUnaryMethod_CreateRobotPartSecret<WithStreamedUnaryMethod_DeleteRobotPartSecret<WithStreamedUnaryMethod_ListRobots<WithStreamedUnaryMethod_NewRobot<WithStreamedUnaryMethod_UpdateRobot<WithStreamedUnaryMethod_DeleteRobot<WithStreamedUnaryMethod_ListFragments<WithStreamedUnaryMethod_GetFragment<WithStreamedUnaryMethod_CreateFragment<WithStreamedUnaryMethod_UpdateFragment<WithStreamedUnaryMethod_DeleteFragment<WithStreamedUnaryMethod_AddRole<WithStreamedUnaryMethod_RemoveRole<WithStreamedUnaryMethod_ChangeRole<WithStreamedUnaryMethod_ListAuthorizations<WithStreamedUnaryMethod_CheckPermissions<WithStreamedUnaryMethod_CreateModule<WithStreamedUnaryMethod_UpdateModule<WithStreamedUnaryMethod_GetModule<WithStreamedUnaryMethod_ListModules<WithStreamedUnaryMethod_CreateKey<WithStreamedUnaryMethod_DeleteKey<WithStreamedUnaryMethod_ListKeys<WithStreamedUnaryMethod_RotateKey<WithStreamedUnaryMethod_CreateKeyFromExistingKeyAuthorizations<Service > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > StreamedUnaryService;
   template <class BaseClass>
   class WithSplitStreamingMethod_TailRobotPartLogs : public BaseClass {
    private:
@@ -9496,7 +10124,7 @@ class AppService final {
     virtual ::grpc::Status StreamedTailRobotPartLogs(::grpc::ServerContext* context, ::grpc::ServerSplitStreamer< ::viam::app::v1::TailRobotPartLogsRequest,::viam::app::v1::TailRobotPartLogsResponse>* server_split_streamer) = 0;
   };
   typedef WithSplitStreamingMethod_TailRobotPartLogs<Service > SplitStreamedService;
-  typedef WithStreamedUnaryMethod_GetUserIDByEmail<WithStreamedUnaryMethod_CreateOrganization<WithStreamedUnaryMethod_ListOrganizations<WithStreamedUnaryMethod_ListOrganizationsByUser<WithStreamedUnaryMethod_GetOrganization<WithStreamedUnaryMethod_GetOrganizationNamespaceAvailability<WithStreamedUnaryMethod_UpdateOrganization<WithStreamedUnaryMethod_DeleteOrganization<WithStreamedUnaryMethod_ListOrganizationMembers<WithStreamedUnaryMethod_CreateOrganizationInvite<WithStreamedUnaryMethod_UpdateOrganizationInviteAuthorizations<WithStreamedUnaryMethod_DeleteOrganizationMember<WithStreamedUnaryMethod_DeleteOrganizationInvite<WithStreamedUnaryMethod_ResendOrganizationInvite<WithStreamedUnaryMethod_CreateLocation<WithStreamedUnaryMethod_GetLocation<WithStreamedUnaryMethod_UpdateLocation<WithStreamedUnaryMethod_DeleteLocation<WithStreamedUnaryMethod_ListLocations<WithStreamedUnaryMethod_ShareLocation<WithStreamedUnaryMethod_UnshareLocation<WithStreamedUnaryMethod_LocationAuth<WithStreamedUnaryMethod_CreateLocationSecret<WithStreamedUnaryMethod_DeleteLocationSecret<WithStreamedUnaryMethod_GetRobot<WithStreamedUnaryMethod_GetRoverRentalRobots<WithStreamedUnaryMethod_GetRobotParts<WithStreamedUnaryMethod_GetRobotPart<WithStreamedUnaryMethod_GetRobotPartLogs<WithSplitStreamingMethod_TailRobotPartLogs<WithStreamedUnaryMethod_GetRobotPartHistory<WithStreamedUnaryMethod_UpdateRobotPart<WithStreamedUnaryMethod_NewRobotPart<WithStreamedUnaryMethod_DeleteRobotPart<WithStreamedUnaryMethod_GetRobotAPIKeys<WithStreamedUnaryMethod_MarkPartAsMain<WithStreamedUnaryMethod_MarkPartForRestart<WithStreamedUnaryMethod_CreateRobotPartSecret<WithStreamedUnaryMethod_DeleteRobotPartSecret<WithStreamedUnaryMethod_ListRobots<WithStreamedUnaryMethod_NewRobot<WithStreamedUnaryMethod_UpdateRobot<WithStreamedUnaryMethod_DeleteRobot<WithStreamedUnaryMethod_ListFragments<WithStreamedUnaryMethod_GetFragment<WithStreamedUnaryMethod_CreateFragment<WithStreamedUnaryMethod_UpdateFragment<WithStreamedUnaryMethod_DeleteFragment<WithStreamedUnaryMethod_AddRole<WithStreamedUnaryMethod_RemoveRole<WithStreamedUnaryMethod_ChangeRole<WithStreamedUnaryMethod_ListAuthorizations<WithStreamedUnaryMethod_CheckPermissions<WithStreamedUnaryMethod_CreateModule<WithStreamedUnaryMethod_UpdateModule<WithStreamedUnaryMethod_GetModule<WithStreamedUnaryMethod_ListModules<WithStreamedUnaryMethod_CreateKey<Service > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > StreamedService;
+  typedef WithStreamedUnaryMethod_GetUserIDByEmail<WithStreamedUnaryMethod_CreateOrganization<WithStreamedUnaryMethod_ListOrganizations<WithStreamedUnaryMethod_ListOrganizationsByUser<WithStreamedUnaryMethod_GetOrganization<WithStreamedUnaryMethod_GetOrganizationNamespaceAvailability<WithStreamedUnaryMethod_UpdateOrganization<WithStreamedUnaryMethod_DeleteOrganization<WithStreamedUnaryMethod_ListOrganizationMembers<WithStreamedUnaryMethod_CreateOrganizationInvite<WithStreamedUnaryMethod_UpdateOrganizationInviteAuthorizations<WithStreamedUnaryMethod_DeleteOrganizationMember<WithStreamedUnaryMethod_DeleteOrganizationInvite<WithStreamedUnaryMethod_ResendOrganizationInvite<WithStreamedUnaryMethod_CreateLocation<WithStreamedUnaryMethod_GetLocation<WithStreamedUnaryMethod_UpdateLocation<WithStreamedUnaryMethod_DeleteLocation<WithStreamedUnaryMethod_ListLocations<WithStreamedUnaryMethod_ShareLocation<WithStreamedUnaryMethod_UnshareLocation<WithStreamedUnaryMethod_LocationAuth<WithStreamedUnaryMethod_CreateLocationSecret<WithStreamedUnaryMethod_DeleteLocationSecret<WithStreamedUnaryMethod_GetRobot<WithStreamedUnaryMethod_GetRoverRentalRobots<WithStreamedUnaryMethod_GetRobotParts<WithStreamedUnaryMethod_GetRobotPart<WithStreamedUnaryMethod_GetRobotPartLogs<WithSplitStreamingMethod_TailRobotPartLogs<WithStreamedUnaryMethod_GetRobotPartHistory<WithStreamedUnaryMethod_UpdateRobotPart<WithStreamedUnaryMethod_NewRobotPart<WithStreamedUnaryMethod_DeleteRobotPart<WithStreamedUnaryMethod_GetRobotAPIKeys<WithStreamedUnaryMethod_MarkPartAsMain<WithStreamedUnaryMethod_MarkPartForRestart<WithStreamedUnaryMethod_CreateRobotPartSecret<WithStreamedUnaryMethod_DeleteRobotPartSecret<WithStreamedUnaryMethod_ListRobots<WithStreamedUnaryMethod_NewRobot<WithStreamedUnaryMethod_UpdateRobot<WithStreamedUnaryMethod_DeleteRobot<WithStreamedUnaryMethod_ListFragments<WithStreamedUnaryMethod_GetFragment<WithStreamedUnaryMethod_CreateFragment<WithStreamedUnaryMethod_UpdateFragment<WithStreamedUnaryMethod_DeleteFragment<WithStreamedUnaryMethod_AddRole<WithStreamedUnaryMethod_RemoveRole<WithStreamedUnaryMethod_ChangeRole<WithStreamedUnaryMethod_ListAuthorizations<WithStreamedUnaryMethod_CheckPermissions<WithStreamedUnaryMethod_CreateModule<WithStreamedUnaryMethod_UpdateModule<WithStreamedUnaryMethod_GetModule<WithStreamedUnaryMethod_ListModules<WithStreamedUnaryMethod_CreateKey<WithStreamedUnaryMethod_DeleteKey<WithStreamedUnaryMethod_ListKeys<WithStreamedUnaryMethod_RotateKey<WithStreamedUnaryMethod_CreateKeyFromExistingKeyAuthorizations<Service > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > StreamedService;
 };
 // Users
 
diff --git a/src/viam/api/app/v1/app.pb.cc b/src/viam/api/app/v1/app.pb.cc
index 4b28b40cf..d51827fed 100644
--- a/src/viam/api/app/v1/app.pb.cc
+++ b/src/viam/api/app/v1/app.pb.cc
@@ -1847,10 +1847,136 @@ struct CreateKeyResponseDefaultTypeInternal {
   };
 };
 PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORITY1 CreateKeyResponseDefaultTypeInternal _CreateKeyResponse_default_instance_;
+PROTOBUF_CONSTEXPR DeleteKeyRequest::DeleteKeyRequest(
+    ::_pbi::ConstantInitialized)
+  : id_(&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{}){}
+struct DeleteKeyRequestDefaultTypeInternal {
+  PROTOBUF_CONSTEXPR DeleteKeyRequestDefaultTypeInternal()
+      : _instance(::_pbi::ConstantInitialized{}) {}
+  ~DeleteKeyRequestDefaultTypeInternal() {}
+  union {
+    DeleteKeyRequest _instance;
+  };
+};
+PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORITY1 DeleteKeyRequestDefaultTypeInternal _DeleteKeyRequest_default_instance_;
+PROTOBUF_CONSTEXPR DeleteKeyResponse::DeleteKeyResponse(
+    ::_pbi::ConstantInitialized){}
+struct DeleteKeyResponseDefaultTypeInternal {
+  PROTOBUF_CONSTEXPR DeleteKeyResponseDefaultTypeInternal()
+      : _instance(::_pbi::ConstantInitialized{}) {}
+  ~DeleteKeyResponseDefaultTypeInternal() {}
+  union {
+    DeleteKeyResponse _instance;
+  };
+};
+PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORITY1 DeleteKeyResponseDefaultTypeInternal _DeleteKeyResponse_default_instance_;
+PROTOBUF_CONSTEXPR AuthorizationDetails::AuthorizationDetails(
+    ::_pbi::ConstantInitialized)
+  : authorization_type_(&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{})
+  , authorization_id_(&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{})
+  , resource_type_(&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{})
+  , resource_id_(&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{})
+  , org_id_(&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{}){}
+struct AuthorizationDetailsDefaultTypeInternal {
+  PROTOBUF_CONSTEXPR AuthorizationDetailsDefaultTypeInternal()
+      : _instance(::_pbi::ConstantInitialized{}) {}
+  ~AuthorizationDetailsDefaultTypeInternal() {}
+  union {
+    AuthorizationDetails _instance;
+  };
+};
+PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORITY1 AuthorizationDetailsDefaultTypeInternal _AuthorizationDetails_default_instance_;
+PROTOBUF_CONSTEXPR APIKeyWithAuthorizations::APIKeyWithAuthorizations(
+    ::_pbi::ConstantInitialized)
+  : authorizations_()
+  , api_key_(nullptr){}
+struct APIKeyWithAuthorizationsDefaultTypeInternal {
+  PROTOBUF_CONSTEXPR APIKeyWithAuthorizationsDefaultTypeInternal()
+      : _instance(::_pbi::ConstantInitialized{}) {}
+  ~APIKeyWithAuthorizationsDefaultTypeInternal() {}
+  union {
+    APIKeyWithAuthorizations _instance;
+  };
+};
+PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORITY1 APIKeyWithAuthorizationsDefaultTypeInternal _APIKeyWithAuthorizations_default_instance_;
+PROTOBUF_CONSTEXPR ListKeysRequest::ListKeysRequest(
+    ::_pbi::ConstantInitialized)
+  : org_id_(&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{}){}
+struct ListKeysRequestDefaultTypeInternal {
+  PROTOBUF_CONSTEXPR ListKeysRequestDefaultTypeInternal()
+      : _instance(::_pbi::ConstantInitialized{}) {}
+  ~ListKeysRequestDefaultTypeInternal() {}
+  union {
+    ListKeysRequest _instance;
+  };
+};
+PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORITY1 ListKeysRequestDefaultTypeInternal _ListKeysRequest_default_instance_;
+PROTOBUF_CONSTEXPR ListKeysResponse::ListKeysResponse(
+    ::_pbi::ConstantInitialized)
+  : api_keys_(){}
+struct ListKeysResponseDefaultTypeInternal {
+  PROTOBUF_CONSTEXPR ListKeysResponseDefaultTypeInternal()
+      : _instance(::_pbi::ConstantInitialized{}) {}
+  ~ListKeysResponseDefaultTypeInternal() {}
+  union {
+    ListKeysResponse _instance;
+  };
+};
+PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORITY1 ListKeysResponseDefaultTypeInternal _ListKeysResponse_default_instance_;
+PROTOBUF_CONSTEXPR RotateKeyRequest::RotateKeyRequest(
+    ::_pbi::ConstantInitialized)
+  : id_(&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{}){}
+struct RotateKeyRequestDefaultTypeInternal {
+  PROTOBUF_CONSTEXPR RotateKeyRequestDefaultTypeInternal()
+      : _instance(::_pbi::ConstantInitialized{}) {}
+  ~RotateKeyRequestDefaultTypeInternal() {}
+  union {
+    RotateKeyRequest _instance;
+  };
+};
+PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORITY1 RotateKeyRequestDefaultTypeInternal _RotateKeyRequest_default_instance_;
+PROTOBUF_CONSTEXPR RotateKeyResponse::RotateKeyResponse(
+    ::_pbi::ConstantInitialized)
+  : id_(&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{})
+  , key_(&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{}){}
+struct RotateKeyResponseDefaultTypeInternal {
+  PROTOBUF_CONSTEXPR RotateKeyResponseDefaultTypeInternal()
+      : _instance(::_pbi::ConstantInitialized{}) {}
+  ~RotateKeyResponseDefaultTypeInternal() {}
+  union {
+    RotateKeyResponse _instance;
+  };
+};
+PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORITY1 RotateKeyResponseDefaultTypeInternal _RotateKeyResponse_default_instance_;
+PROTOBUF_CONSTEXPR CreateKeyFromExistingKeyAuthorizationsRequest::CreateKeyFromExistingKeyAuthorizationsRequest(
+    ::_pbi::ConstantInitialized)
+  : id_(&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{}){}
+struct CreateKeyFromExistingKeyAuthorizationsRequestDefaultTypeInternal {
+  PROTOBUF_CONSTEXPR CreateKeyFromExistingKeyAuthorizationsRequestDefaultTypeInternal()
+      : _instance(::_pbi::ConstantInitialized{}) {}
+  ~CreateKeyFromExistingKeyAuthorizationsRequestDefaultTypeInternal() {}
+  union {
+    CreateKeyFromExistingKeyAuthorizationsRequest _instance;
+  };
+};
+PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORITY1 CreateKeyFromExistingKeyAuthorizationsRequestDefaultTypeInternal _CreateKeyFromExistingKeyAuthorizationsRequest_default_instance_;
+PROTOBUF_CONSTEXPR CreateKeyFromExistingKeyAuthorizationsResponse::CreateKeyFromExistingKeyAuthorizationsResponse(
+    ::_pbi::ConstantInitialized)
+  : id_(&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{})
+  , key_(&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{}){}
+struct CreateKeyFromExistingKeyAuthorizationsResponseDefaultTypeInternal {
+  PROTOBUF_CONSTEXPR CreateKeyFromExistingKeyAuthorizationsResponseDefaultTypeInternal()
+      : _instance(::_pbi::ConstantInitialized{}) {}
+  ~CreateKeyFromExistingKeyAuthorizationsResponseDefaultTypeInternal() {}
+  union {
+    CreateKeyFromExistingKeyAuthorizationsResponse _instance;
+  };
+};
+PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORITY1 CreateKeyFromExistingKeyAuthorizationsResponseDefaultTypeInternal _CreateKeyFromExistingKeyAuthorizationsResponse_default_instance_;
 }  // namespace v1
 }  // namespace app
 }  // namespace viam
-static ::_pb::Metadata file_level_metadata_app_2fv1_2fapp_2eproto[141];
+static ::_pb::Metadata file_level_metadata_app_2fv1_2fapp_2eproto[151];
 static const ::_pb::EnumDescriptor* file_level_enum_descriptors_app_2fv1_2fapp_2eproto[2];
 static constexpr ::_pb::ServiceDescriptor const** file_level_service_descriptors_app_2fv1_2fapp_2eproto = nullptr;
 
@@ -3007,6 +3133,82 @@ const uint32_t TableStruct_app_2fv1_2fapp_2eproto::offsets[] PROTOBUF_SECTION_VA
   ~0u,  // no _inlined_string_donated_
   PROTOBUF_FIELD_OFFSET(::viam::app::v1::CreateKeyResponse, key_),
   PROTOBUF_FIELD_OFFSET(::viam::app::v1::CreateKeyResponse, id_),
+  ~0u,  // no _has_bits_
+  PROTOBUF_FIELD_OFFSET(::viam::app::v1::DeleteKeyRequest, _internal_metadata_),
+  ~0u,  // no _extensions_
+  ~0u,  // no _oneof_case_
+  ~0u,  // no _weak_field_map_
+  ~0u,  // no _inlined_string_donated_
+  PROTOBUF_FIELD_OFFSET(::viam::app::v1::DeleteKeyRequest, id_),
+  ~0u,  // no _has_bits_
+  PROTOBUF_FIELD_OFFSET(::viam::app::v1::DeleteKeyResponse, _internal_metadata_),
+  ~0u,  // no _extensions_
+  ~0u,  // no _oneof_case_
+  ~0u,  // no _weak_field_map_
+  ~0u,  // no _inlined_string_donated_
+  ~0u,  // no _has_bits_
+  PROTOBUF_FIELD_OFFSET(::viam::app::v1::AuthorizationDetails, _internal_metadata_),
+  ~0u,  // no _extensions_
+  ~0u,  // no _oneof_case_
+  ~0u,  // no _weak_field_map_
+  ~0u,  // no _inlined_string_donated_
+  PROTOBUF_FIELD_OFFSET(::viam::app::v1::AuthorizationDetails, authorization_type_),
+  PROTOBUF_FIELD_OFFSET(::viam::app::v1::AuthorizationDetails, authorization_id_),
+  PROTOBUF_FIELD_OFFSET(::viam::app::v1::AuthorizationDetails, resource_type_),
+  PROTOBUF_FIELD_OFFSET(::viam::app::v1::AuthorizationDetails, resource_id_),
+  PROTOBUF_FIELD_OFFSET(::viam::app::v1::AuthorizationDetails, org_id_),
+  ~0u,  // no _has_bits_
+  PROTOBUF_FIELD_OFFSET(::viam::app::v1::APIKeyWithAuthorizations, _internal_metadata_),
+  ~0u,  // no _extensions_
+  ~0u,  // no _oneof_case_
+  ~0u,  // no _weak_field_map_
+  ~0u,  // no _inlined_string_donated_
+  PROTOBUF_FIELD_OFFSET(::viam::app::v1::APIKeyWithAuthorizations, api_key_),
+  PROTOBUF_FIELD_OFFSET(::viam::app::v1::APIKeyWithAuthorizations, authorizations_),
+  ~0u,  // no _has_bits_
+  PROTOBUF_FIELD_OFFSET(::viam::app::v1::ListKeysRequest, _internal_metadata_),
+  ~0u,  // no _extensions_
+  ~0u,  // no _oneof_case_
+  ~0u,  // no _weak_field_map_
+  ~0u,  // no _inlined_string_donated_
+  PROTOBUF_FIELD_OFFSET(::viam::app::v1::ListKeysRequest, org_id_),
+  ~0u,  // no _has_bits_
+  PROTOBUF_FIELD_OFFSET(::viam::app::v1::ListKeysResponse, _internal_metadata_),
+  ~0u,  // no _extensions_
+  ~0u,  // no _oneof_case_
+  ~0u,  // no _weak_field_map_
+  ~0u,  // no _inlined_string_donated_
+  PROTOBUF_FIELD_OFFSET(::viam::app::v1::ListKeysResponse, api_keys_),
+  ~0u,  // no _has_bits_
+  PROTOBUF_FIELD_OFFSET(::viam::app::v1::RotateKeyRequest, _internal_metadata_),
+  ~0u,  // no _extensions_
+  ~0u,  // no _oneof_case_
+  ~0u,  // no _weak_field_map_
+  ~0u,  // no _inlined_string_donated_
+  PROTOBUF_FIELD_OFFSET(::viam::app::v1::RotateKeyRequest, id_),
+  ~0u,  // no _has_bits_
+  PROTOBUF_FIELD_OFFSET(::viam::app::v1::RotateKeyResponse, _internal_metadata_),
+  ~0u,  // no _extensions_
+  ~0u,  // no _oneof_case_
+  ~0u,  // no _weak_field_map_
+  ~0u,  // no _inlined_string_donated_
+  PROTOBUF_FIELD_OFFSET(::viam::app::v1::RotateKeyResponse, id_),
+  PROTOBUF_FIELD_OFFSET(::viam::app::v1::RotateKeyResponse, key_),
+  ~0u,  // no _has_bits_
+  PROTOBUF_FIELD_OFFSET(::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest, _internal_metadata_),
+  ~0u,  // no _extensions_
+  ~0u,  // no _oneof_case_
+  ~0u,  // no _weak_field_map_
+  ~0u,  // no _inlined_string_donated_
+  PROTOBUF_FIELD_OFFSET(::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest, id_),
+  ~0u,  // no _has_bits_
+  PROTOBUF_FIELD_OFFSET(::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse, _internal_metadata_),
+  ~0u,  // no _extensions_
+  ~0u,  // no _oneof_case_
+  ~0u,  // no _weak_field_map_
+  ~0u,  // no _inlined_string_donated_
+  PROTOBUF_FIELD_OFFSET(::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse, id_),
+  PROTOBUF_FIELD_OFFSET(::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse, key_),
 };
 static const ::_pbi::MigrationSchema schemas[] PROTOBUF_SECTION_VARIABLE(protodesc_cold) = {
   { 0, -1, -1, sizeof(::viam::app::v1::Robot)},
@@ -3150,6 +3352,16 @@ static const ::_pbi::MigrationSchema schemas[] PROTOBUF_SECTION_VARIABLE(protode
   { 1129, -1, -1, sizeof(::viam::app::v1::ListOrganizationsByUserResponse)},
   { 1136, -1, -1, sizeof(::viam::app::v1::CreateKeyRequest)},
   { 1144, -1, -1, sizeof(::viam::app::v1::CreateKeyResponse)},
+  { 1152, -1, -1, sizeof(::viam::app::v1::DeleteKeyRequest)},
+  { 1159, -1, -1, sizeof(::viam::app::v1::DeleteKeyResponse)},
+  { 1165, -1, -1, sizeof(::viam::app::v1::AuthorizationDetails)},
+  { 1176, -1, -1, sizeof(::viam::app::v1::APIKeyWithAuthorizations)},
+  { 1184, -1, -1, sizeof(::viam::app::v1::ListKeysRequest)},
+  { 1191, -1, -1, sizeof(::viam::app::v1::ListKeysResponse)},
+  { 1198, -1, -1, sizeof(::viam::app::v1::RotateKeyRequest)},
+  { 1205, -1, -1, sizeof(::viam::app::v1::RotateKeyResponse)},
+  { 1213, -1, -1, sizeof(::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest)},
+  { 1220, -1, -1, sizeof(::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse)},
 };
 
 static const ::_pb::Message* const file_default_instances[] = {
@@ -3294,6 +3506,16 @@ static const ::_pb::Message* const file_default_instances[] = {
   &::viam::app::v1::_ListOrganizationsByUserResponse_default_instance_._instance,
   &::viam::app::v1::_CreateKeyRequest_default_instance_._instance,
   &::viam::app::v1::_CreateKeyResponse_default_instance_._instance,
+  &::viam::app::v1::_DeleteKeyRequest_default_instance_._instance,
+  &::viam::app::v1::_DeleteKeyResponse_default_instance_._instance,
+  &::viam::app::v1::_AuthorizationDetails_default_instance_._instance,
+  &::viam::app::v1::_APIKeyWithAuthorizations_default_instance_._instance,
+  &::viam::app::v1::_ListKeysRequest_default_instance_._instance,
+  &::viam::app::v1::_ListKeysResponse_default_instance_._instance,
+  &::viam::app::v1::_RotateKeyRequest_default_instance_._instance,
+  &::viam::app::v1::_RotateKeyResponse_default_instance_._instance,
+  &::viam::app::v1::_CreateKeyFromExistingKeyAuthorizationsRequest_default_instance_._instance,
+  &::viam::app::v1::_CreateKeyFromExistingKeyAuthorizationsResponse_default_instance_._instance,
 };
 
 const char descriptor_table_protodef_app_2fv1_2fapp_2eproto[] PROTOBUF_SECTION_VARIABLE(protodesc_cold) =
@@ -3677,153 +3899,183 @@ const char descriptor_table_protodef_app_2fv1_2fapp_2eproto[] PROTOBUF_SECTION_V
   "KeyRequest\022B\n\016authorizations\030\001 \003(\0132\032.via"
   "m.app.v1.AuthorizationR\016authorizations\022\022"
   "\n\004name\030\002 \001(\tR\004name\"5\n\021CreateKeyResponse\022"
-  "\020\n\003key\030\001 \001(\tR\003key\022\016\n\002id\030\002 \001(\tR\002id*W\n\nVis"
-  "ibility\022\032\n\026VISIBILITY_UNSPECIFIED\020\000\022\026\n\022V"
-  "ISIBILITY_PRIVATE\020\001\022\025\n\021VISIBILITY_PUBLIC"
-  "\020\0022\325,\n\nAppService\022_\n\020GetUserIDByEmail\022$."
-  "viam.app.v1.GetUserIDByEmailRequest\032%.vi"
-  "am.app.v1.GetUserIDByEmailResponse\022e\n\022Cr"
-  "eateOrganization\022&.viam.app.v1.CreateOrg"
-  "anizationRequest\032\'.viam.app.v1.CreateOrg"
-  "anizationResponse\022b\n\021ListOrganizations\022%"
-  ".viam.app.v1.ListOrganizationsRequest\032&."
-  "viam.app.v1.ListOrganizationsResponse\022t\n"
-  "\027ListOrganizationsByUser\022+.viam.app.v1.L"
-  "istOrganizationsByUserRequest\032,.viam.app"
-  ".v1.ListOrganizationsByUserResponse\022\\\n\017G"
-  "etOrganization\022#.viam.app.v1.GetOrganiza"
-  "tionRequest\032$.viam.app.v1.GetOrganizatio"
-  "nResponse\022\233\001\n$GetOrganizationNamespaceAv"
-  "ailability\0228.viam.app.v1.GetOrganization"
-  "NamespaceAvailabilityRequest\0329.viam.app."
-  "v1.GetOrganizationNamespaceAvailabilityR"
-  "esponse\022e\n\022UpdateOrganization\022&.viam.app"
-  ".v1.UpdateOrganizationRequest\032\'.viam.app"
-  ".v1.UpdateOrganizationResponse\022e\n\022Delete"
-  "Organization\022&.viam.app.v1.DeleteOrganiz"
-  "ationRequest\032\'.viam.app.v1.DeleteOrganiz"
-  "ationResponse\022t\n\027ListOrganizationMembers"
-  "\022+.viam.app.v1.ListOrganizationMembersRe"
-  "quest\032,.viam.app.v1.ListOrganizationMemb"
-  "ersResponse\022w\n\030CreateOrganizationInvite\022"
-  ",.viam.app.v1.CreateOrganizationInviteRe"
-  "quest\032-.viam.app.v1.CreateOrganizationIn"
-  "viteResponse\022\241\001\n&UpdateOrganizationInvit"
-  "eAuthorizations\022:.viam.app.v1.UpdateOrga"
-  "nizationInviteAuthorizationsRequest\032;.vi"
-  "am.app.v1.UpdateOrganizationInviteAuthor"
-  "izationsResponse\022w\n\030DeleteOrganizationMe"
-  "mber\022,.viam.app.v1.DeleteOrganizationMem"
-  "berRequest\032-.viam.app.v1.DeleteOrganizat"
-  "ionMemberResponse\022w\n\030DeleteOrganizationI"
-  "nvite\022,.viam.app.v1.DeleteOrganizationIn"
-  "viteRequest\032-.viam.app.v1.DeleteOrganiza"
-  "tionInviteResponse\022w\n\030ResendOrganization"
-  "Invite\022,.viam.app.v1.ResendOrganizationI"
-  "nviteRequest\032-.viam.app.v1.ResendOrganiz"
-  "ationInviteResponse\022Y\n\016CreateLocation\022\"."
-  "viam.app.v1.CreateLocationRequest\032#.viam"
-  ".app.v1.CreateLocationResponse\022P\n\013GetLoc"
-  "ation\022\037.viam.app.v1.GetLocationRequest\032 "
-  ".viam.app.v1.GetLocationResponse\022Y\n\016Upda"
-  "teLocation\022\".viam.app.v1.UpdateLocationR"
-  "equest\032#.viam.app.v1.UpdateLocationRespo"
-  "nse\022Y\n\016DeleteLocation\022\".viam.app.v1.Dele"
-  "teLocationRequest\032#.viam.app.v1.DeleteLo"
-  "cationResponse\022V\n\rListLocations\022!.viam.a"
-  "pp.v1.ListLocationsRequest\032\".viam.app.v1"
-  ".ListLocationsResponse\022V\n\rShareLocation\022"
-  "!.viam.app.v1.ShareLocationRequest\032\".via"
-  "m.app.v1.ShareLocationResponse\022\\\n\017Unshar"
-  "eLocation\022#.viam.app.v1.UnshareLocationR"
-  "equest\032$.viam.app.v1.UnshareLocationResp"
-  "onse\022S\n\014LocationAuth\022 .viam.app.v1.Locat"
-  "ionAuthRequest\032!.viam.app.v1.LocationAut"
-  "hResponse\022k\n\024CreateLocationSecret\022(.viam"
-  ".app.v1.CreateLocationSecretRequest\032).vi"
-  "am.app.v1.CreateLocationSecretResponse\022k"
-  "\n\024DeleteLocationSecret\022(.viam.app.v1.Del"
-  "eteLocationSecretRequest\032).viam.app.v1.D"
-  "eleteLocationSecretResponse\022G\n\010GetRobot\022"
-  "\034.viam.app.v1.GetRobotRequest\032\035.viam.app"
-  ".v1.GetRobotResponse\022k\n\024GetRoverRentalRo"
-  "bots\022(.viam.app.v1.GetRoverRentalRobotsR"
-  "equest\032).viam.app.v1.GetRoverRentalRobot"
-  "sResponse\022V\n\rGetRobotParts\022!.viam.app.v1"
-  ".GetRobotPartsRequest\032\".viam.app.v1.GetR"
-  "obotPartsResponse\022S\n\014GetRobotPart\022 .viam"
-  ".app.v1.GetRobotPartRequest\032!.viam.app.v"
-  "1.GetRobotPartResponse\022_\n\020GetRobotPartLo"
-  "gs\022$.viam.app.v1.GetRobotPartLogsRequest"
-  "\032%.viam.app.v1.GetRobotPartLogsResponse\022"
-  "d\n\021TailRobotPartLogs\022%.viam.app.v1.TailR"
-  "obotPartLogsRequest\032&.viam.app.v1.TailRo"
-  "botPartLogsResponse0\001\022h\n\023GetRobotPartHis"
-  "tory\022\'.viam.app.v1.GetRobotPartHistoryRe"
-  "quest\032(.viam.app.v1.GetRobotPartHistoryR"
-  "esponse\022\\\n\017UpdateRobotPart\022#.viam.app.v1"
-  ".UpdateRobotPartRequest\032$.viam.app.v1.Up"
-  "dateRobotPartResponse\022S\n\014NewRobotPart\022 ."
-  "viam.app.v1.NewRobotPartRequest\032!.viam.a"
-  "pp.v1.NewRobotPartResponse\022\\\n\017DeleteRobo"
-  "tPart\022#.viam.app.v1.DeleteRobotPartReque"
-  "st\032$.viam.app.v1.DeleteRobotPartResponse"
-  "\022\\\n\017GetRobotAPIKeys\022#.viam.app.v1.GetRob"
-  "otAPIKeysRequest\032$.viam.app.v1.GetRobotA"
-  "PIKeysResponse\022Y\n\016MarkPartAsMain\022\".viam."
-  "app.v1.MarkPartAsMainRequest\032#.viam.app."
-  "v1.MarkPartAsMainResponse\022e\n\022MarkPartFor"
-  "Restart\022&.viam.app.v1.MarkPartForRestart"
-  "Request\032\'.viam.app.v1.MarkPartForRestart"
-  "Response\022n\n\025CreateRobotPartSecret\022).viam"
-  ".app.v1.CreateRobotPartSecretRequest\032*.v"
-  "iam.app.v1.CreateRobotPartSecretResponse"
-  "\022n\n\025DeleteRobotPartSecret\022).viam.app.v1."
-  "DeleteRobotPartSecretRequest\032*.viam.app."
-  "v1.DeleteRobotPartSecretResponse\022M\n\nList"
-  "Robots\022\036.viam.app.v1.ListRobotsRequest\032\037"
-  ".viam.app.v1.ListRobotsResponse\022G\n\010NewRo"
-  "bot\022\034.viam.app.v1.NewRobotRequest\032\035.viam"
-  ".app.v1.NewRobotResponse\022P\n\013UpdateRobot\022"
-  "\037.viam.app.v1.UpdateRobotRequest\032 .viam."
-  "app.v1.UpdateRobotResponse\022P\n\013DeleteRobo"
-  "t\022\037.viam.app.v1.DeleteRobotRequest\032 .via"
-  "m.app.v1.DeleteRobotResponse\022V\n\rListFrag"
-  "ments\022!.viam.app.v1.ListFragmentsRequest"
-  "\032\".viam.app.v1.ListFragmentsResponse\022P\n\013"
-  "GetFragment\022\037.viam.app.v1.GetFragmentReq"
-  "uest\032 .viam.app.v1.GetFragmentResponse\022Y"
-  "\n\016CreateFragment\022\".viam.app.v1.CreateFra"
-  "gmentRequest\032#.viam.app.v1.CreateFragmen"
-  "tResponse\022Y\n\016UpdateFragment\022\".viam.app.v"
-  "1.UpdateFragmentRequest\032#.viam.app.v1.Up"
-  "dateFragmentResponse\022Y\n\016DeleteFragment\022\""
-  ".viam.app.v1.DeleteFragmentRequest\032#.via"
-  "m.app.v1.DeleteFragmentResponse\022D\n\007AddRo"
-  "le\022\033.viam.app.v1.AddRoleRequest\032\034.viam.a"
-  "pp.v1.AddRoleResponse\022M\n\nRemoveRole\022\036.vi"
-  "am.app.v1.RemoveRoleRequest\032\037.viam.app.v"
-  "1.RemoveRoleResponse\022M\n\nChangeRole\022\036.via"
-  "m.app.v1.ChangeRoleRequest\032\037.viam.app.v1"
-  ".ChangeRoleResponse\022e\n\022ListAuthorization"
-  "s\022&.viam.app.v1.ListAuthorizationsReques"
-  "t\032\'.viam.app.v1.ListAuthorizationsRespon"
-  "se\022_\n\020CheckPermissions\022$.viam.app.v1.Che"
-  "ckPermissionsRequest\032%.viam.app.v1.Check"
-  "PermissionsResponse\022S\n\014CreateModule\022 .vi"
-  "am.app.v1.CreateModuleRequest\032!.viam.app"
-  ".v1.CreateModuleResponse\022S\n\014UpdateModule"
-  "\022 .viam.app.v1.UpdateModuleRequest\032!.via"
-  "m.app.v1.UpdateModuleResponse\022a\n\020UploadM"
-  "oduleFile\022$.viam.app.v1.UploadModuleFile"
-  "Request\032%.viam.app.v1.UploadModuleFileRe"
-  "sponse(\001\022J\n\tGetModule\022\035.viam.app.v1.GetM"
-  "oduleRequest\032\036.viam.app.v1.GetModuleResp"
-  "onse\022P\n\013ListModules\022\037.viam.app.v1.ListMo"
-  "dulesRequest\032 .viam.app.v1.ListModulesRe"
-  "sponse\022J\n\tCreateKey\022\035.viam.app.v1.Create"
-  "KeyRequest\032\036.viam.app.v1.CreateKeyRespon"
-  "seB\030Z\026go.viam.com/api/app/v1b\006proto3"
+  "\020\n\003key\030\001 \001(\tR\003key\022\016\n\002id\030\002 \001(\tR\002id\"\"\n\020Del"
+  "eteKeyRequest\022\016\n\002id\030\001 \001(\tR\002id\"\023\n\021DeleteK"
+  "eyResponse\"\315\001\n\024AuthorizationDetails\022-\n\022a"
+  "uthorization_type\030\001 \001(\tR\021authorizationTy"
+  "pe\022)\n\020authorization_id\030\002 \001(\tR\017authorizat"
+  "ionId\022#\n\rresource_type\030\003 \001(\tR\014resourceTy"
+  "pe\022\037\n\013resource_id\030\004 \001(\tR\nresourceId\022\025\n\006o"
+  "rg_id\030\005 \001(\tR\005orgId\"\223\001\n\030APIKeyWithAuthori"
+  "zations\022,\n\007api_key\030\001 \001(\0132\023.viam.app.v1.A"
+  "PIKeyR\006apiKey\022I\n\016authorizations\030\002 \003(\0132!."
+  "viam.app.v1.AuthorizationDetailsR\016author"
+  "izations\"(\n\017ListKeysRequest\022\025\n\006org_id\030\001 "
+  "\001(\tR\005orgId\"T\n\020ListKeysResponse\022@\n\010api_ke"
+  "ys\030\001 \003(\0132%.viam.app.v1.APIKeyWithAuthori"
+  "zationsR\007apiKeys\"\"\n\020RotateKeyRequest\022\016\n\002"
+  "id\030\001 \001(\tR\002id\"5\n\021RotateKeyResponse\022\016\n\002id\030"
+  "\001 \001(\tR\002id\022\020\n\003key\030\002 \001(\tR\003key\"\?\n-CreateKey"
+  "FromExistingKeyAuthorizationsRequest\022\016\n\002"
+  "id\030\001 \001(\tR\002id\"R\n.CreateKeyFromExistingKey"
+  "AuthorizationsResponse\022\016\n\002id\030\001 \001(\tR\002id\022\020"
+  "\n\003key\030\002 \001(\tR\003key*W\n\nVisibility\022\032\n\026VISIBI"
+  "LITY_UNSPECIFIED\020\000\022\026\n\022VISIBILITY_PRIVATE"
+  "\020\001\022\025\n\021VISIBILITY_PUBLIC\020\0022\332/\n\nAppService"
+  "\022_\n\020GetUserIDByEmail\022$.viam.app.v1.GetUs"
+  "erIDByEmailRequest\032%.viam.app.v1.GetUser"
+  "IDByEmailResponse\022e\n\022CreateOrganization\022"
+  "&.viam.app.v1.CreateOrganizationRequest\032"
+  "\'.viam.app.v1.CreateOrganizationResponse"
+  "\022b\n\021ListOrganizations\022%.viam.app.v1.List"
+  "OrganizationsRequest\032&.viam.app.v1.ListO"
+  "rganizationsResponse\022t\n\027ListOrganization"
+  "sByUser\022+.viam.app.v1.ListOrganizationsB"
+  "yUserRequest\032,.viam.app.v1.ListOrganizat"
+  "ionsByUserResponse\022\\\n\017GetOrganization\022#."
+  "viam.app.v1.GetOrganizationRequest\032$.via"
+  "m.app.v1.GetOrganizationResponse\022\233\001\n$Get"
+  "OrganizationNamespaceAvailability\0228.viam"
+  ".app.v1.GetOrganizationNamespaceAvailabi"
+  "lityRequest\0329.viam.app.v1.GetOrganizatio"
+  "nNamespaceAvailabilityResponse\022e\n\022Update"
+  "Organization\022&.viam.app.v1.UpdateOrganiz"
+  "ationRequest\032\'.viam.app.v1.UpdateOrganiz"
+  "ationResponse\022e\n\022DeleteOrganization\022&.vi"
+  "am.app.v1.DeleteOrganizationRequest\032\'.vi"
+  "am.app.v1.DeleteOrganizationResponse\022t\n\027"
+  "ListOrganizationMembers\022+.viam.app.v1.Li"
+  "stOrganizationMembersRequest\032,.viam.app."
+  "v1.ListOrganizationMembersResponse\022w\n\030Cr"
+  "eateOrganizationInvite\022,.viam.app.v1.Cre"
+  "ateOrganizationInviteRequest\032-.viam.app."
+  "v1.CreateOrganizationInviteResponse\022\241\001\n&"
+  "UpdateOrganizationInviteAuthorizations\022:"
+  ".viam.app.v1.UpdateOrganizationInviteAut"
+  "horizationsRequest\032;.viam.app.v1.UpdateO"
+  "rganizationInviteAuthorizationsResponse\022"
+  "w\n\030DeleteOrganizationMember\022,.viam.app.v"
+  "1.DeleteOrganizationMemberRequest\032-.viam"
+  ".app.v1.DeleteOrganizationMemberResponse"
+  "\022w\n\030DeleteOrganizationInvite\022,.viam.app."
+  "v1.DeleteOrganizationInviteRequest\032-.via"
+  "m.app.v1.DeleteOrganizationInviteRespons"
+  "e\022w\n\030ResendOrganizationInvite\022,.viam.app"
+  ".v1.ResendOrganizationInviteRequest\032-.vi"
+  "am.app.v1.ResendOrganizationInviteRespon"
+  "se\022Y\n\016CreateLocation\022\".viam.app.v1.Creat"
+  "eLocationRequest\032#.viam.app.v1.CreateLoc"
+  "ationResponse\022P\n\013GetLocation\022\037.viam.app."
+  "v1.GetLocationRequest\032 .viam.app.v1.GetL"
+  "ocationResponse\022Y\n\016UpdateLocation\022\".viam"
+  ".app.v1.UpdateLocationRequest\032#.viam.app"
+  ".v1.UpdateLocationResponse\022Y\n\016DeleteLoca"
+  "tion\022\".viam.app.v1.DeleteLocationRequest"
+  "\032#.viam.app.v1.DeleteLocationResponse\022V\n"
+  "\rListLocations\022!.viam.app.v1.ListLocatio"
+  "nsRequest\032\".viam.app.v1.ListLocationsRes"
+  "ponse\022V\n\rShareLocation\022!.viam.app.v1.Sha"
+  "reLocationRequest\032\".viam.app.v1.ShareLoc"
+  "ationResponse\022\\\n\017UnshareLocation\022#.viam."
+  "app.v1.UnshareLocationRequest\032$.viam.app"
+  ".v1.UnshareLocationResponse\022S\n\014LocationA"
+  "uth\022 .viam.app.v1.LocationAuthRequest\032!."
+  "viam.app.v1.LocationAuthResponse\022k\n\024Crea"
+  "teLocationSecret\022(.viam.app.v1.CreateLoc"
+  "ationSecretRequest\032).viam.app.v1.CreateL"
+  "ocationSecretResponse\022k\n\024DeleteLocationS"
+  "ecret\022(.viam.app.v1.DeleteLocationSecret"
+  "Request\032).viam.app.v1.DeleteLocationSecr"
+  "etResponse\022G\n\010GetRobot\022\034.viam.app.v1.Get"
+  "RobotRequest\032\035.viam.app.v1.GetRobotRespo"
+  "nse\022k\n\024GetRoverRentalRobots\022(.viam.app.v"
+  "1.GetRoverRentalRobotsRequest\032).viam.app"
+  ".v1.GetRoverRentalRobotsResponse\022V\n\rGetR"
+  "obotParts\022!.viam.app.v1.GetRobotPartsReq"
+  "uest\032\".viam.app.v1.GetRobotPartsResponse"
+  "\022S\n\014GetRobotPart\022 .viam.app.v1.GetRobotP"
+  "artRequest\032!.viam.app.v1.GetRobotPartRes"
+  "ponse\022_\n\020GetRobotPartLogs\022$.viam.app.v1."
+  "GetRobotPartLogsRequest\032%.viam.app.v1.Ge"
+  "tRobotPartLogsResponse\022d\n\021TailRobotPartL"
+  "ogs\022%.viam.app.v1.TailRobotPartLogsReque"
+  "st\032&.viam.app.v1.TailRobotPartLogsRespon"
+  "se0\001\022h\n\023GetRobotPartHistory\022\'.viam.app.v"
+  "1.GetRobotPartHistoryRequest\032(.viam.app."
+  "v1.GetRobotPartHistoryResponse\022\\\n\017Update"
+  "RobotPart\022#.viam.app.v1.UpdateRobotPartR"
+  "equest\032$.viam.app.v1.UpdateRobotPartResp"
+  "onse\022S\n\014NewRobotPart\022 .viam.app.v1.NewRo"
+  "botPartRequest\032!.viam.app.v1.NewRobotPar"
+  "tResponse\022\\\n\017DeleteRobotPart\022#.viam.app."
+  "v1.DeleteRobotPartRequest\032$.viam.app.v1."
+  "DeleteRobotPartResponse\022\\\n\017GetRobotAPIKe"
+  "ys\022#.viam.app.v1.GetRobotAPIKeysRequest\032"
+  "$.viam.app.v1.GetRobotAPIKeysResponse\022Y\n"
+  "\016MarkPartAsMain\022\".viam.app.v1.MarkPartAs"
+  "MainRequest\032#.viam.app.v1.MarkPartAsMain"
+  "Response\022e\n\022MarkPartForRestart\022&.viam.ap"
+  "p.v1.MarkPartForRestartRequest\032\'.viam.ap"
+  "p.v1.MarkPartForRestartResponse\022n\n\025Creat"
+  "eRobotPartSecret\022).viam.app.v1.CreateRob"
+  "otPartSecretRequest\032*.viam.app.v1.Create"
+  "RobotPartSecretResponse\022n\n\025DeleteRobotPa"
+  "rtSecret\022).viam.app.v1.DeleteRobotPartSe"
+  "cretRequest\032*.viam.app.v1.DeleteRobotPar"
+  "tSecretResponse\022M\n\nListRobots\022\036.viam.app"
+  ".v1.ListRobotsRequest\032\037.viam.app.v1.List"
+  "RobotsResponse\022G\n\010NewRobot\022\034.viam.app.v1"
+  ".NewRobotRequest\032\035.viam.app.v1.NewRobotR"
+  "esponse\022P\n\013UpdateRobot\022\037.viam.app.v1.Upd"
+  "ateRobotRequest\032 .viam.app.v1.UpdateRobo"
+  "tResponse\022P\n\013DeleteRobot\022\037.viam.app.v1.D"
+  "eleteRobotRequest\032 .viam.app.v1.DeleteRo"
+  "botResponse\022V\n\rListFragments\022!.viam.app."
+  "v1.ListFragmentsRequest\032\".viam.app.v1.Li"
+  "stFragmentsResponse\022P\n\013GetFragment\022\037.via"
+  "m.app.v1.GetFragmentRequest\032 .viam.app.v"
+  "1.GetFragmentResponse\022Y\n\016CreateFragment\022"
+  "\".viam.app.v1.CreateFragmentRequest\032#.vi"
+  "am.app.v1.CreateFragmentResponse\022Y\n\016Upda"
+  "teFragment\022\".viam.app.v1.UpdateFragmentR"
+  "equest\032#.viam.app.v1.UpdateFragmentRespo"
+  "nse\022Y\n\016DeleteFragment\022\".viam.app.v1.Dele"
+  "teFragmentRequest\032#.viam.app.v1.DeleteFr"
+  "agmentResponse\022D\n\007AddRole\022\033.viam.app.v1."
+  "AddRoleRequest\032\034.viam.app.v1.AddRoleResp"
+  "onse\022M\n\nRemoveRole\022\036.viam.app.v1.RemoveR"
+  "oleRequest\032\037.viam.app.v1.RemoveRoleRespo"
+  "nse\022M\n\nChangeRole\022\036.viam.app.v1.ChangeRo"
+  "leRequest\032\037.viam.app.v1.ChangeRoleRespon"
+  "se\022e\n\022ListAuthorizations\022&.viam.app.v1.L"
+  "istAuthorizationsRequest\032\'.viam.app.v1.L"
+  "istAuthorizationsResponse\022_\n\020CheckPermis"
+  "sions\022$.viam.app.v1.CheckPermissionsRequ"
+  "est\032%.viam.app.v1.CheckPermissionsRespon"
+  "se\022S\n\014CreateModule\022 .viam.app.v1.CreateM"
+  "oduleRequest\032!.viam.app.v1.CreateModuleR"
+  "esponse\022S\n\014UpdateModule\022 .viam.app.v1.Up"
+  "dateModuleRequest\032!.viam.app.v1.UpdateMo"
+  "duleResponse\022a\n\020UploadModuleFile\022$.viam."
+  "app.v1.UploadModuleFileRequest\032%.viam.ap"
+  "p.v1.UploadModuleFileResponse(\001\022J\n\tGetMo"
+  "dule\022\035.viam.app.v1.GetModuleRequest\032\036.vi"
+  "am.app.v1.GetModuleResponse\022P\n\013ListModul"
+  "es\022\037.viam.app.v1.ListModulesRequest\032 .vi"
+  "am.app.v1.ListModulesResponse\022J\n\tCreateK"
+  "ey\022\035.viam.app.v1.CreateKeyRequest\032\036.viam"
+  ".app.v1.CreateKeyResponse\022J\n\tDeleteKey\022\035"
+  ".viam.app.v1.DeleteKeyRequest\032\036.viam.app"
+  ".v1.DeleteKeyResponse\022G\n\010ListKeys\022\034.viam"
+  ".app.v1.ListKeysRequest\032\035.viam.app.v1.Li"
+  "stKeysResponse\022J\n\tRotateKey\022\035.viam.app.v"
+  "1.RotateKeyRequest\032\036.viam.app.v1.RotateK"
+  "eyResponse\022\241\001\n&CreateKeyFromExistingKeyA"
+  "uthorizations\022:.viam.app.v1.CreateKeyFro"
+  "mExistingKeyAuthorizationsRequest\032;.viam"
+  ".app.v1.CreateKeyFromExistingKeyAuthoriz"
+  "ationsResponseB\030Z\026go.viam.com/api/app/v1"
+  "b\006proto3"
   ;
 static const ::_pbi::DescriptorTable* const descriptor_table_app_2fv1_2fapp_2eproto_deps[3] = {
   &::descriptor_table_google_2fprotobuf_2fstruct_2eproto,
@@ -3832,9 +4084,9 @@ static const ::_pbi::DescriptorTable* const descriptor_table_app_2fv1_2fapp_2epr
 };
 static ::_pbi::once_flag descriptor_table_app_2fv1_2fapp_2eproto_once;
 const ::_pbi::DescriptorTable descriptor_table_app_2fv1_2fapp_2eproto = {
-    false, false, 21076, descriptor_table_protodef_app_2fv1_2fapp_2eproto,
+    false, false, 22248, descriptor_table_protodef_app_2fv1_2fapp_2eproto,
     "app/v1/app.proto",
-    &descriptor_table_app_2fv1_2fapp_2eproto_once, descriptor_table_app_2fv1_2fapp_2eproto_deps, 3, 141,
+    &descriptor_table_app_2fv1_2fapp_2eproto_once, descriptor_table_app_2fv1_2fapp_2eproto_deps, 3, 151,
     schemas, file_default_instances, TableStruct_app_2fv1_2fapp_2eproto::offsets,
     file_level_metadata_app_2fv1_2fapp_2eproto, file_level_enum_descriptors_app_2fv1_2fapp_2eproto,
     file_level_service_descriptors_app_2fv1_2fapp_2eproto,
@@ -34570,359 +34822,2449 @@ const char* CreateKeyRequest::_InternalParse(const char* ptr, ::_pbi::ParseConte
 #undef CHK_
 }
 
-uint8_t* CreateKeyRequest::_InternalSerialize(
+uint8_t* CreateKeyRequest::_InternalSerialize(
+    uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
+  // @@protoc_insertion_point(serialize_to_array_start:viam.app.v1.CreateKeyRequest)
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  // repeated .viam.app.v1.Authorization authorizations = 1 [json_name = "authorizations"];
+  for (unsigned i = 0,
+      n = static_cast<unsigned>(this->_internal_authorizations_size()); i < n; i++) {
+    const auto& repfield = this->_internal_authorizations(i);
+    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::
+        InternalWriteMessage(1, repfield, repfield.GetCachedSize(), target, stream);
+  }
+
+  // string name = 2 [json_name = "name"];
+  if (!this->_internal_name().empty()) {
+    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
+      this->_internal_name().data(), static_cast<int>(this->_internal_name().length()),
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
+      "viam.app.v1.CreateKeyRequest.name");
+    target = stream->WriteStringMaybeAliased(
+        2, this->_internal_name(), target);
+  }
+
+  if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
+    target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray(
+        _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
+  }
+  // @@protoc_insertion_point(serialize_to_array_end:viam.app.v1.CreateKeyRequest)
+  return target;
+}
+
+size_t CreateKeyRequest::ByteSizeLong() const {
+// @@protoc_insertion_point(message_byte_size_start:viam.app.v1.CreateKeyRequest)
+  size_t total_size = 0;
+
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  // repeated .viam.app.v1.Authorization authorizations = 1 [json_name = "authorizations"];
+  total_size += 1UL * this->_internal_authorizations_size();
+  for (const auto& msg : this->authorizations_) {
+    total_size +=
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(msg);
+  }
+
+  // string name = 2 [json_name = "name"];
+  if (!this->_internal_name().empty()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
+        this->_internal_name());
+  }
+
+  return MaybeComputeUnknownFieldsSize(total_size, &_cached_size_);
+}
+
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData CreateKeyRequest::_class_data_ = {
+    ::PROTOBUF_NAMESPACE_ID::Message::CopyWithSizeCheck,
+    CreateKeyRequest::MergeImpl
+};
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*CreateKeyRequest::GetClassData() const { return &_class_data_; }
+
+void CreateKeyRequest::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
+                      const ::PROTOBUF_NAMESPACE_ID::Message& from) {
+  static_cast<CreateKeyRequest *>(to)->MergeFrom(
+      static_cast<const CreateKeyRequest &>(from));
+}
+
+
+void CreateKeyRequest::MergeFrom(const CreateKeyRequest& from) {
+// @@protoc_insertion_point(class_specific_merge_from_start:viam.app.v1.CreateKeyRequest)
+  GOOGLE_DCHECK_NE(&from, this);
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  authorizations_.MergeFrom(from.authorizations_);
+  if (!from._internal_name().empty()) {
+    _internal_set_name(from._internal_name());
+  }
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+}
+
+void CreateKeyRequest::CopyFrom(const CreateKeyRequest& from) {
+// @@protoc_insertion_point(class_specific_copy_from_start:viam.app.v1.CreateKeyRequest)
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool CreateKeyRequest::IsInitialized() const {
+  return true;
+}
+
+void CreateKeyRequest::InternalSwap(CreateKeyRequest* other) {
+  using std::swap;
+  auto* lhs_arena = GetArenaForAllocation();
+  auto* rhs_arena = other->GetArenaForAllocation();
+  _internal_metadata_.InternalSwap(&other->_internal_metadata_);
+  authorizations_.InternalSwap(&other->authorizations_);
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
+      &name_, lhs_arena,
+      &other->name_, rhs_arena
+  );
+}
+
+::PROTOBUF_NAMESPACE_ID::Metadata CreateKeyRequest::GetMetadata() const {
+  return ::_pbi::AssignDescriptors(
+      &descriptor_table_app_2fv1_2fapp_2eproto_getter, &descriptor_table_app_2fv1_2fapp_2eproto_once,
+      file_level_metadata_app_2fv1_2fapp_2eproto[139]);
+}
+
+// ===================================================================
+
+class CreateKeyResponse::_Internal {
+ public:
+};
+
+CreateKeyResponse::CreateKeyResponse(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                         bool is_message_owned)
+  : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned) {
+  SharedCtor();
+  // @@protoc_insertion_point(arena_constructor:viam.app.v1.CreateKeyResponse)
+}
+CreateKeyResponse::CreateKeyResponse(const CreateKeyResponse& from)
+  : ::PROTOBUF_NAMESPACE_ID::Message() {
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+  key_.InitDefault();
+  #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+    key_.Set("", GetArenaForAllocation());
+  #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (!from._internal_key().empty()) {
+    key_.Set(from._internal_key(), 
+      GetArenaForAllocation());
+  }
+  id_.InitDefault();
+  #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+    id_.Set("", GetArenaForAllocation());
+  #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (!from._internal_id().empty()) {
+    id_.Set(from._internal_id(), 
+      GetArenaForAllocation());
+  }
+  // @@protoc_insertion_point(copy_constructor:viam.app.v1.CreateKeyResponse)
+}
+
+inline void CreateKeyResponse::SharedCtor() {
+key_.InitDefault();
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  key_.Set("", GetArenaForAllocation());
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+id_.InitDefault();
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  id_.Set("", GetArenaForAllocation());
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+}
+
+CreateKeyResponse::~CreateKeyResponse() {
+  // @@protoc_insertion_point(destructor:viam.app.v1.CreateKeyResponse)
+  if (auto *arena = _internal_metadata_.DeleteReturnArena<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>()) {
+  (void)arena;
+    return;
+  }
+  SharedDtor();
+}
+
+inline void CreateKeyResponse::SharedDtor() {
+  GOOGLE_DCHECK(GetArenaForAllocation() == nullptr);
+  key_.Destroy();
+  id_.Destroy();
+}
+
+void CreateKeyResponse::SetCachedSize(int size) const {
+  _cached_size_.Set(size);
+}
+
+void CreateKeyResponse::Clear() {
+// @@protoc_insertion_point(message_clear_start:viam.app.v1.CreateKeyResponse)
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  key_.ClearToEmpty();
+  id_.ClearToEmpty();
+  _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
+}
+
+const char* CreateKeyResponse::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
+#define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
+  while (!ctx->Done(&ptr)) {
+    uint32_t tag;
+    ptr = ::_pbi::ReadTag(ptr, &tag);
+    switch (tag >> 3) {
+      // string key = 1 [json_name = "key"];
+      case 1:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 10)) {
+          auto str = _internal_mutable_key();
+          ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx);
+          CHK_(ptr);
+          CHK_(::_pbi::VerifyUTF8(str, "viam.app.v1.CreateKeyResponse.key"));
+        } else
+          goto handle_unusual;
+        continue;
+      // string id = 2 [json_name = "id"];
+      case 2:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 18)) {
+          auto str = _internal_mutable_id();
+          ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx);
+          CHK_(ptr);
+          CHK_(::_pbi::VerifyUTF8(str, "viam.app.v1.CreateKeyResponse.id"));
+        } else
+          goto handle_unusual;
+        continue;
+      default:
+        goto handle_unusual;
+    }  // switch
+  handle_unusual:
+    if ((tag == 0) || ((tag & 7) == 4)) {
+      CHK_(ptr);
+      ctx->SetLastTag(tag);
+      goto message_done;
+    }
+    ptr = UnknownFieldParse(
+        tag,
+        _internal_metadata_.mutable_unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(),
+        ptr, ctx);
+    CHK_(ptr != nullptr);
+  }  // while
+message_done:
+  return ptr;
+failure:
+  ptr = nullptr;
+  goto message_done;
+#undef CHK_
+}
+
+uint8_t* CreateKeyResponse::_InternalSerialize(
+    uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
+  // @@protoc_insertion_point(serialize_to_array_start:viam.app.v1.CreateKeyResponse)
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  // string key = 1 [json_name = "key"];
+  if (!this->_internal_key().empty()) {
+    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
+      this->_internal_key().data(), static_cast<int>(this->_internal_key().length()),
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
+      "viam.app.v1.CreateKeyResponse.key");
+    target = stream->WriteStringMaybeAliased(
+        1, this->_internal_key(), target);
+  }
+
+  // string id = 2 [json_name = "id"];
+  if (!this->_internal_id().empty()) {
+    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
+      this->_internal_id().data(), static_cast<int>(this->_internal_id().length()),
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
+      "viam.app.v1.CreateKeyResponse.id");
+    target = stream->WriteStringMaybeAliased(
+        2, this->_internal_id(), target);
+  }
+
+  if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
+    target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray(
+        _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
+  }
+  // @@protoc_insertion_point(serialize_to_array_end:viam.app.v1.CreateKeyResponse)
+  return target;
+}
+
+size_t CreateKeyResponse::ByteSizeLong() const {
+// @@protoc_insertion_point(message_byte_size_start:viam.app.v1.CreateKeyResponse)
+  size_t total_size = 0;
+
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  // string key = 1 [json_name = "key"];
+  if (!this->_internal_key().empty()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
+        this->_internal_key());
+  }
+
+  // string id = 2 [json_name = "id"];
+  if (!this->_internal_id().empty()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
+        this->_internal_id());
+  }
+
+  return MaybeComputeUnknownFieldsSize(total_size, &_cached_size_);
+}
+
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData CreateKeyResponse::_class_data_ = {
+    ::PROTOBUF_NAMESPACE_ID::Message::CopyWithSizeCheck,
+    CreateKeyResponse::MergeImpl
+};
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*CreateKeyResponse::GetClassData() const { return &_class_data_; }
+
+void CreateKeyResponse::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
+                      const ::PROTOBUF_NAMESPACE_ID::Message& from) {
+  static_cast<CreateKeyResponse *>(to)->MergeFrom(
+      static_cast<const CreateKeyResponse &>(from));
+}
+
+
+void CreateKeyResponse::MergeFrom(const CreateKeyResponse& from) {
+// @@protoc_insertion_point(class_specific_merge_from_start:viam.app.v1.CreateKeyResponse)
+  GOOGLE_DCHECK_NE(&from, this);
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  if (!from._internal_key().empty()) {
+    _internal_set_key(from._internal_key());
+  }
+  if (!from._internal_id().empty()) {
+    _internal_set_id(from._internal_id());
+  }
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+}
+
+void CreateKeyResponse::CopyFrom(const CreateKeyResponse& from) {
+// @@protoc_insertion_point(class_specific_copy_from_start:viam.app.v1.CreateKeyResponse)
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool CreateKeyResponse::IsInitialized() const {
+  return true;
+}
+
+void CreateKeyResponse::InternalSwap(CreateKeyResponse* other) {
+  using std::swap;
+  auto* lhs_arena = GetArenaForAllocation();
+  auto* rhs_arena = other->GetArenaForAllocation();
+  _internal_metadata_.InternalSwap(&other->_internal_metadata_);
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
+      &key_, lhs_arena,
+      &other->key_, rhs_arena
+  );
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
+      &id_, lhs_arena,
+      &other->id_, rhs_arena
+  );
+}
+
+::PROTOBUF_NAMESPACE_ID::Metadata CreateKeyResponse::GetMetadata() const {
+  return ::_pbi::AssignDescriptors(
+      &descriptor_table_app_2fv1_2fapp_2eproto_getter, &descriptor_table_app_2fv1_2fapp_2eproto_once,
+      file_level_metadata_app_2fv1_2fapp_2eproto[140]);
+}
+
+// ===================================================================
+
+class DeleteKeyRequest::_Internal {
+ public:
+};
+
+DeleteKeyRequest::DeleteKeyRequest(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                         bool is_message_owned)
+  : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned) {
+  SharedCtor();
+  // @@protoc_insertion_point(arena_constructor:viam.app.v1.DeleteKeyRequest)
+}
+DeleteKeyRequest::DeleteKeyRequest(const DeleteKeyRequest& from)
+  : ::PROTOBUF_NAMESPACE_ID::Message() {
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+  id_.InitDefault();
+  #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+    id_.Set("", GetArenaForAllocation());
+  #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (!from._internal_id().empty()) {
+    id_.Set(from._internal_id(), 
+      GetArenaForAllocation());
+  }
+  // @@protoc_insertion_point(copy_constructor:viam.app.v1.DeleteKeyRequest)
+}
+
+inline void DeleteKeyRequest::SharedCtor() {
+id_.InitDefault();
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  id_.Set("", GetArenaForAllocation());
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+}
+
+DeleteKeyRequest::~DeleteKeyRequest() {
+  // @@protoc_insertion_point(destructor:viam.app.v1.DeleteKeyRequest)
+  if (auto *arena = _internal_metadata_.DeleteReturnArena<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>()) {
+  (void)arena;
+    return;
+  }
+  SharedDtor();
+}
+
+inline void DeleteKeyRequest::SharedDtor() {
+  GOOGLE_DCHECK(GetArenaForAllocation() == nullptr);
+  id_.Destroy();
+}
+
+void DeleteKeyRequest::SetCachedSize(int size) const {
+  _cached_size_.Set(size);
+}
+
+void DeleteKeyRequest::Clear() {
+// @@protoc_insertion_point(message_clear_start:viam.app.v1.DeleteKeyRequest)
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  id_.ClearToEmpty();
+  _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
+}
+
+const char* DeleteKeyRequest::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
+#define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
+  while (!ctx->Done(&ptr)) {
+    uint32_t tag;
+    ptr = ::_pbi::ReadTag(ptr, &tag);
+    switch (tag >> 3) {
+      // string id = 1 [json_name = "id"];
+      case 1:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 10)) {
+          auto str = _internal_mutable_id();
+          ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx);
+          CHK_(ptr);
+          CHK_(::_pbi::VerifyUTF8(str, "viam.app.v1.DeleteKeyRequest.id"));
+        } else
+          goto handle_unusual;
+        continue;
+      default:
+        goto handle_unusual;
+    }  // switch
+  handle_unusual:
+    if ((tag == 0) || ((tag & 7) == 4)) {
+      CHK_(ptr);
+      ctx->SetLastTag(tag);
+      goto message_done;
+    }
+    ptr = UnknownFieldParse(
+        tag,
+        _internal_metadata_.mutable_unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(),
+        ptr, ctx);
+    CHK_(ptr != nullptr);
+  }  // while
+message_done:
+  return ptr;
+failure:
+  ptr = nullptr;
+  goto message_done;
+#undef CHK_
+}
+
+uint8_t* DeleteKeyRequest::_InternalSerialize(
+    uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
+  // @@protoc_insertion_point(serialize_to_array_start:viam.app.v1.DeleteKeyRequest)
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  // string id = 1 [json_name = "id"];
+  if (!this->_internal_id().empty()) {
+    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
+      this->_internal_id().data(), static_cast<int>(this->_internal_id().length()),
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
+      "viam.app.v1.DeleteKeyRequest.id");
+    target = stream->WriteStringMaybeAliased(
+        1, this->_internal_id(), target);
+  }
+
+  if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
+    target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray(
+        _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
+  }
+  // @@protoc_insertion_point(serialize_to_array_end:viam.app.v1.DeleteKeyRequest)
+  return target;
+}
+
+size_t DeleteKeyRequest::ByteSizeLong() const {
+// @@protoc_insertion_point(message_byte_size_start:viam.app.v1.DeleteKeyRequest)
+  size_t total_size = 0;
+
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  // string id = 1 [json_name = "id"];
+  if (!this->_internal_id().empty()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
+        this->_internal_id());
+  }
+
+  return MaybeComputeUnknownFieldsSize(total_size, &_cached_size_);
+}
+
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData DeleteKeyRequest::_class_data_ = {
+    ::PROTOBUF_NAMESPACE_ID::Message::CopyWithSizeCheck,
+    DeleteKeyRequest::MergeImpl
+};
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*DeleteKeyRequest::GetClassData() const { return &_class_data_; }
+
+void DeleteKeyRequest::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
+                      const ::PROTOBUF_NAMESPACE_ID::Message& from) {
+  static_cast<DeleteKeyRequest *>(to)->MergeFrom(
+      static_cast<const DeleteKeyRequest &>(from));
+}
+
+
+void DeleteKeyRequest::MergeFrom(const DeleteKeyRequest& from) {
+// @@protoc_insertion_point(class_specific_merge_from_start:viam.app.v1.DeleteKeyRequest)
+  GOOGLE_DCHECK_NE(&from, this);
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  if (!from._internal_id().empty()) {
+    _internal_set_id(from._internal_id());
+  }
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+}
+
+void DeleteKeyRequest::CopyFrom(const DeleteKeyRequest& from) {
+// @@protoc_insertion_point(class_specific_copy_from_start:viam.app.v1.DeleteKeyRequest)
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool DeleteKeyRequest::IsInitialized() const {
+  return true;
+}
+
+void DeleteKeyRequest::InternalSwap(DeleteKeyRequest* other) {
+  using std::swap;
+  auto* lhs_arena = GetArenaForAllocation();
+  auto* rhs_arena = other->GetArenaForAllocation();
+  _internal_metadata_.InternalSwap(&other->_internal_metadata_);
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
+      &id_, lhs_arena,
+      &other->id_, rhs_arena
+  );
+}
+
+::PROTOBUF_NAMESPACE_ID::Metadata DeleteKeyRequest::GetMetadata() const {
+  return ::_pbi::AssignDescriptors(
+      &descriptor_table_app_2fv1_2fapp_2eproto_getter, &descriptor_table_app_2fv1_2fapp_2eproto_once,
+      file_level_metadata_app_2fv1_2fapp_2eproto[141]);
+}
+
+// ===================================================================
+
+class DeleteKeyResponse::_Internal {
+ public:
+};
+
+DeleteKeyResponse::DeleteKeyResponse(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                         bool is_message_owned)
+  : ::PROTOBUF_NAMESPACE_ID::internal::ZeroFieldsBase(arena, is_message_owned) {
+  // @@protoc_insertion_point(arena_constructor:viam.app.v1.DeleteKeyResponse)
+}
+DeleteKeyResponse::DeleteKeyResponse(const DeleteKeyResponse& from)
+  : ::PROTOBUF_NAMESPACE_ID::internal::ZeroFieldsBase() {
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+  // @@protoc_insertion_point(copy_constructor:viam.app.v1.DeleteKeyResponse)
+}
+
+
+
+
+
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData DeleteKeyResponse::_class_data_ = {
+    ::PROTOBUF_NAMESPACE_ID::internal::ZeroFieldsBase::CopyImpl,
+    ::PROTOBUF_NAMESPACE_ID::internal::ZeroFieldsBase::MergeImpl,
+};
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*DeleteKeyResponse::GetClassData() const { return &_class_data_; }
+
+
+
+
+
+
+
+::PROTOBUF_NAMESPACE_ID::Metadata DeleteKeyResponse::GetMetadata() const {
+  return ::_pbi::AssignDescriptors(
+      &descriptor_table_app_2fv1_2fapp_2eproto_getter, &descriptor_table_app_2fv1_2fapp_2eproto_once,
+      file_level_metadata_app_2fv1_2fapp_2eproto[142]);
+}
+
+// ===================================================================
+
+class AuthorizationDetails::_Internal {
+ public:
+};
+
+AuthorizationDetails::AuthorizationDetails(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                         bool is_message_owned)
+  : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned) {
+  SharedCtor();
+  // @@protoc_insertion_point(arena_constructor:viam.app.v1.AuthorizationDetails)
+}
+AuthorizationDetails::AuthorizationDetails(const AuthorizationDetails& from)
+  : ::PROTOBUF_NAMESPACE_ID::Message() {
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+  authorization_type_.InitDefault();
+  #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+    authorization_type_.Set("", GetArenaForAllocation());
+  #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (!from._internal_authorization_type().empty()) {
+    authorization_type_.Set(from._internal_authorization_type(), 
+      GetArenaForAllocation());
+  }
+  authorization_id_.InitDefault();
+  #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+    authorization_id_.Set("", GetArenaForAllocation());
+  #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (!from._internal_authorization_id().empty()) {
+    authorization_id_.Set(from._internal_authorization_id(), 
+      GetArenaForAllocation());
+  }
+  resource_type_.InitDefault();
+  #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+    resource_type_.Set("", GetArenaForAllocation());
+  #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (!from._internal_resource_type().empty()) {
+    resource_type_.Set(from._internal_resource_type(), 
+      GetArenaForAllocation());
+  }
+  resource_id_.InitDefault();
+  #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+    resource_id_.Set("", GetArenaForAllocation());
+  #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (!from._internal_resource_id().empty()) {
+    resource_id_.Set(from._internal_resource_id(), 
+      GetArenaForAllocation());
+  }
+  org_id_.InitDefault();
+  #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+    org_id_.Set("", GetArenaForAllocation());
+  #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (!from._internal_org_id().empty()) {
+    org_id_.Set(from._internal_org_id(), 
+      GetArenaForAllocation());
+  }
+  // @@protoc_insertion_point(copy_constructor:viam.app.v1.AuthorizationDetails)
+}
+
+inline void AuthorizationDetails::SharedCtor() {
+authorization_type_.InitDefault();
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  authorization_type_.Set("", GetArenaForAllocation());
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+authorization_id_.InitDefault();
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  authorization_id_.Set("", GetArenaForAllocation());
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+resource_type_.InitDefault();
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  resource_type_.Set("", GetArenaForAllocation());
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+resource_id_.InitDefault();
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  resource_id_.Set("", GetArenaForAllocation());
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+org_id_.InitDefault();
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  org_id_.Set("", GetArenaForAllocation());
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+}
+
+AuthorizationDetails::~AuthorizationDetails() {
+  // @@protoc_insertion_point(destructor:viam.app.v1.AuthorizationDetails)
+  if (auto *arena = _internal_metadata_.DeleteReturnArena<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>()) {
+  (void)arena;
+    return;
+  }
+  SharedDtor();
+}
+
+inline void AuthorizationDetails::SharedDtor() {
+  GOOGLE_DCHECK(GetArenaForAllocation() == nullptr);
+  authorization_type_.Destroy();
+  authorization_id_.Destroy();
+  resource_type_.Destroy();
+  resource_id_.Destroy();
+  org_id_.Destroy();
+}
+
+void AuthorizationDetails::SetCachedSize(int size) const {
+  _cached_size_.Set(size);
+}
+
+void AuthorizationDetails::Clear() {
+// @@protoc_insertion_point(message_clear_start:viam.app.v1.AuthorizationDetails)
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  authorization_type_.ClearToEmpty();
+  authorization_id_.ClearToEmpty();
+  resource_type_.ClearToEmpty();
+  resource_id_.ClearToEmpty();
+  org_id_.ClearToEmpty();
+  _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
+}
+
+const char* AuthorizationDetails::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
+#define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
+  while (!ctx->Done(&ptr)) {
+    uint32_t tag;
+    ptr = ::_pbi::ReadTag(ptr, &tag);
+    switch (tag >> 3) {
+      // string authorization_type = 1 [json_name = "authorizationType"];
+      case 1:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 10)) {
+          auto str = _internal_mutable_authorization_type();
+          ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx);
+          CHK_(ptr);
+          CHK_(::_pbi::VerifyUTF8(str, "viam.app.v1.AuthorizationDetails.authorization_type"));
+        } else
+          goto handle_unusual;
+        continue;
+      // string authorization_id = 2 [json_name = "authorizationId"];
+      case 2:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 18)) {
+          auto str = _internal_mutable_authorization_id();
+          ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx);
+          CHK_(ptr);
+          CHK_(::_pbi::VerifyUTF8(str, "viam.app.v1.AuthorizationDetails.authorization_id"));
+        } else
+          goto handle_unusual;
+        continue;
+      // string resource_type = 3 [json_name = "resourceType"];
+      case 3:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 26)) {
+          auto str = _internal_mutable_resource_type();
+          ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx);
+          CHK_(ptr);
+          CHK_(::_pbi::VerifyUTF8(str, "viam.app.v1.AuthorizationDetails.resource_type"));
+        } else
+          goto handle_unusual;
+        continue;
+      // string resource_id = 4 [json_name = "resourceId"];
+      case 4:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 34)) {
+          auto str = _internal_mutable_resource_id();
+          ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx);
+          CHK_(ptr);
+          CHK_(::_pbi::VerifyUTF8(str, "viam.app.v1.AuthorizationDetails.resource_id"));
+        } else
+          goto handle_unusual;
+        continue;
+      // string org_id = 5 [json_name = "orgId"];
+      case 5:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 42)) {
+          auto str = _internal_mutable_org_id();
+          ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx);
+          CHK_(ptr);
+          CHK_(::_pbi::VerifyUTF8(str, "viam.app.v1.AuthorizationDetails.org_id"));
+        } else
+          goto handle_unusual;
+        continue;
+      default:
+        goto handle_unusual;
+    }  // switch
+  handle_unusual:
+    if ((tag == 0) || ((tag & 7) == 4)) {
+      CHK_(ptr);
+      ctx->SetLastTag(tag);
+      goto message_done;
+    }
+    ptr = UnknownFieldParse(
+        tag,
+        _internal_metadata_.mutable_unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(),
+        ptr, ctx);
+    CHK_(ptr != nullptr);
+  }  // while
+message_done:
+  return ptr;
+failure:
+  ptr = nullptr;
+  goto message_done;
+#undef CHK_
+}
+
+uint8_t* AuthorizationDetails::_InternalSerialize(
+    uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
+  // @@protoc_insertion_point(serialize_to_array_start:viam.app.v1.AuthorizationDetails)
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  // string authorization_type = 1 [json_name = "authorizationType"];
+  if (!this->_internal_authorization_type().empty()) {
+    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
+      this->_internal_authorization_type().data(), static_cast<int>(this->_internal_authorization_type().length()),
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
+      "viam.app.v1.AuthorizationDetails.authorization_type");
+    target = stream->WriteStringMaybeAliased(
+        1, this->_internal_authorization_type(), target);
+  }
+
+  // string authorization_id = 2 [json_name = "authorizationId"];
+  if (!this->_internal_authorization_id().empty()) {
+    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
+      this->_internal_authorization_id().data(), static_cast<int>(this->_internal_authorization_id().length()),
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
+      "viam.app.v1.AuthorizationDetails.authorization_id");
+    target = stream->WriteStringMaybeAliased(
+        2, this->_internal_authorization_id(), target);
+  }
+
+  // string resource_type = 3 [json_name = "resourceType"];
+  if (!this->_internal_resource_type().empty()) {
+    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
+      this->_internal_resource_type().data(), static_cast<int>(this->_internal_resource_type().length()),
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
+      "viam.app.v1.AuthorizationDetails.resource_type");
+    target = stream->WriteStringMaybeAliased(
+        3, this->_internal_resource_type(), target);
+  }
+
+  // string resource_id = 4 [json_name = "resourceId"];
+  if (!this->_internal_resource_id().empty()) {
+    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
+      this->_internal_resource_id().data(), static_cast<int>(this->_internal_resource_id().length()),
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
+      "viam.app.v1.AuthorizationDetails.resource_id");
+    target = stream->WriteStringMaybeAliased(
+        4, this->_internal_resource_id(), target);
+  }
+
+  // string org_id = 5 [json_name = "orgId"];
+  if (!this->_internal_org_id().empty()) {
+    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
+      this->_internal_org_id().data(), static_cast<int>(this->_internal_org_id().length()),
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
+      "viam.app.v1.AuthorizationDetails.org_id");
+    target = stream->WriteStringMaybeAliased(
+        5, this->_internal_org_id(), target);
+  }
+
+  if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
+    target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray(
+        _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
+  }
+  // @@protoc_insertion_point(serialize_to_array_end:viam.app.v1.AuthorizationDetails)
+  return target;
+}
+
+size_t AuthorizationDetails::ByteSizeLong() const {
+// @@protoc_insertion_point(message_byte_size_start:viam.app.v1.AuthorizationDetails)
+  size_t total_size = 0;
+
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  // string authorization_type = 1 [json_name = "authorizationType"];
+  if (!this->_internal_authorization_type().empty()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
+        this->_internal_authorization_type());
+  }
+
+  // string authorization_id = 2 [json_name = "authorizationId"];
+  if (!this->_internal_authorization_id().empty()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
+        this->_internal_authorization_id());
+  }
+
+  // string resource_type = 3 [json_name = "resourceType"];
+  if (!this->_internal_resource_type().empty()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
+        this->_internal_resource_type());
+  }
+
+  // string resource_id = 4 [json_name = "resourceId"];
+  if (!this->_internal_resource_id().empty()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
+        this->_internal_resource_id());
+  }
+
+  // string org_id = 5 [json_name = "orgId"];
+  if (!this->_internal_org_id().empty()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
+        this->_internal_org_id());
+  }
+
+  return MaybeComputeUnknownFieldsSize(total_size, &_cached_size_);
+}
+
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData AuthorizationDetails::_class_data_ = {
+    ::PROTOBUF_NAMESPACE_ID::Message::CopyWithSizeCheck,
+    AuthorizationDetails::MergeImpl
+};
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*AuthorizationDetails::GetClassData() const { return &_class_data_; }
+
+void AuthorizationDetails::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
+                      const ::PROTOBUF_NAMESPACE_ID::Message& from) {
+  static_cast<AuthorizationDetails *>(to)->MergeFrom(
+      static_cast<const AuthorizationDetails &>(from));
+}
+
+
+void AuthorizationDetails::MergeFrom(const AuthorizationDetails& from) {
+// @@protoc_insertion_point(class_specific_merge_from_start:viam.app.v1.AuthorizationDetails)
+  GOOGLE_DCHECK_NE(&from, this);
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  if (!from._internal_authorization_type().empty()) {
+    _internal_set_authorization_type(from._internal_authorization_type());
+  }
+  if (!from._internal_authorization_id().empty()) {
+    _internal_set_authorization_id(from._internal_authorization_id());
+  }
+  if (!from._internal_resource_type().empty()) {
+    _internal_set_resource_type(from._internal_resource_type());
+  }
+  if (!from._internal_resource_id().empty()) {
+    _internal_set_resource_id(from._internal_resource_id());
+  }
+  if (!from._internal_org_id().empty()) {
+    _internal_set_org_id(from._internal_org_id());
+  }
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+}
+
+void AuthorizationDetails::CopyFrom(const AuthorizationDetails& from) {
+// @@protoc_insertion_point(class_specific_copy_from_start:viam.app.v1.AuthorizationDetails)
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool AuthorizationDetails::IsInitialized() const {
+  return true;
+}
+
+void AuthorizationDetails::InternalSwap(AuthorizationDetails* other) {
+  using std::swap;
+  auto* lhs_arena = GetArenaForAllocation();
+  auto* rhs_arena = other->GetArenaForAllocation();
+  _internal_metadata_.InternalSwap(&other->_internal_metadata_);
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
+      &authorization_type_, lhs_arena,
+      &other->authorization_type_, rhs_arena
+  );
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
+      &authorization_id_, lhs_arena,
+      &other->authorization_id_, rhs_arena
+  );
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
+      &resource_type_, lhs_arena,
+      &other->resource_type_, rhs_arena
+  );
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
+      &resource_id_, lhs_arena,
+      &other->resource_id_, rhs_arena
+  );
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
+      &org_id_, lhs_arena,
+      &other->org_id_, rhs_arena
+  );
+}
+
+::PROTOBUF_NAMESPACE_ID::Metadata AuthorizationDetails::GetMetadata() const {
+  return ::_pbi::AssignDescriptors(
+      &descriptor_table_app_2fv1_2fapp_2eproto_getter, &descriptor_table_app_2fv1_2fapp_2eproto_once,
+      file_level_metadata_app_2fv1_2fapp_2eproto[143]);
+}
+
+// ===================================================================
+
+class APIKeyWithAuthorizations::_Internal {
+ public:
+  static const ::viam::app::v1::APIKey& api_key(const APIKeyWithAuthorizations* msg);
+};
+
+const ::viam::app::v1::APIKey&
+APIKeyWithAuthorizations::_Internal::api_key(const APIKeyWithAuthorizations* msg) {
+  return *msg->api_key_;
+}
+APIKeyWithAuthorizations::APIKeyWithAuthorizations(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                         bool is_message_owned)
+  : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned),
+  authorizations_(arena) {
+  SharedCtor();
+  // @@protoc_insertion_point(arena_constructor:viam.app.v1.APIKeyWithAuthorizations)
+}
+APIKeyWithAuthorizations::APIKeyWithAuthorizations(const APIKeyWithAuthorizations& from)
+  : ::PROTOBUF_NAMESPACE_ID::Message(),
+      authorizations_(from.authorizations_) {
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+  if (from._internal_has_api_key()) {
+    api_key_ = new ::viam::app::v1::APIKey(*from.api_key_);
+  } else {
+    api_key_ = nullptr;
+  }
+  // @@protoc_insertion_point(copy_constructor:viam.app.v1.APIKeyWithAuthorizations)
+}
+
+inline void APIKeyWithAuthorizations::SharedCtor() {
+api_key_ = nullptr;
+}
+
+APIKeyWithAuthorizations::~APIKeyWithAuthorizations() {
+  // @@protoc_insertion_point(destructor:viam.app.v1.APIKeyWithAuthorizations)
+  if (auto *arena = _internal_metadata_.DeleteReturnArena<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>()) {
+  (void)arena;
+    return;
+  }
+  SharedDtor();
+}
+
+inline void APIKeyWithAuthorizations::SharedDtor() {
+  GOOGLE_DCHECK(GetArenaForAllocation() == nullptr);
+  if (this != internal_default_instance()) delete api_key_;
+}
+
+void APIKeyWithAuthorizations::SetCachedSize(int size) const {
+  _cached_size_.Set(size);
+}
+
+void APIKeyWithAuthorizations::Clear() {
+// @@protoc_insertion_point(message_clear_start:viam.app.v1.APIKeyWithAuthorizations)
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  authorizations_.Clear();
+  if (GetArenaForAllocation() == nullptr && api_key_ != nullptr) {
+    delete api_key_;
+  }
+  api_key_ = nullptr;
+  _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
+}
+
+const char* APIKeyWithAuthorizations::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
+#define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
+  while (!ctx->Done(&ptr)) {
+    uint32_t tag;
+    ptr = ::_pbi::ReadTag(ptr, &tag);
+    switch (tag >> 3) {
+      // .viam.app.v1.APIKey api_key = 1 [json_name = "apiKey"];
+      case 1:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 10)) {
+          ptr = ctx->ParseMessage(_internal_mutable_api_key(), ptr);
+          CHK_(ptr);
+        } else
+          goto handle_unusual;
+        continue;
+      // repeated .viam.app.v1.AuthorizationDetails authorizations = 2 [json_name = "authorizations"];
+      case 2:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 18)) {
+          ptr -= 1;
+          do {
+            ptr += 1;
+            ptr = ctx->ParseMessage(_internal_add_authorizations(), ptr);
+            CHK_(ptr);
+            if (!ctx->DataAvailable(ptr)) break;
+          } while (::PROTOBUF_NAMESPACE_ID::internal::ExpectTag<18>(ptr));
+        } else
+          goto handle_unusual;
+        continue;
+      default:
+        goto handle_unusual;
+    }  // switch
+  handle_unusual:
+    if ((tag == 0) || ((tag & 7) == 4)) {
+      CHK_(ptr);
+      ctx->SetLastTag(tag);
+      goto message_done;
+    }
+    ptr = UnknownFieldParse(
+        tag,
+        _internal_metadata_.mutable_unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(),
+        ptr, ctx);
+    CHK_(ptr != nullptr);
+  }  // while
+message_done:
+  return ptr;
+failure:
+  ptr = nullptr;
+  goto message_done;
+#undef CHK_
+}
+
+uint8_t* APIKeyWithAuthorizations::_InternalSerialize(
+    uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
+  // @@protoc_insertion_point(serialize_to_array_start:viam.app.v1.APIKeyWithAuthorizations)
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  // .viam.app.v1.APIKey api_key = 1 [json_name = "apiKey"];
+  if (this->_internal_has_api_key()) {
+    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::
+      InternalWriteMessage(1, _Internal::api_key(this),
+        _Internal::api_key(this).GetCachedSize(), target, stream);
+  }
+
+  // repeated .viam.app.v1.AuthorizationDetails authorizations = 2 [json_name = "authorizations"];
+  for (unsigned i = 0,
+      n = static_cast<unsigned>(this->_internal_authorizations_size()); i < n; i++) {
+    const auto& repfield = this->_internal_authorizations(i);
+    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::
+        InternalWriteMessage(2, repfield, repfield.GetCachedSize(), target, stream);
+  }
+
+  if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
+    target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray(
+        _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
+  }
+  // @@protoc_insertion_point(serialize_to_array_end:viam.app.v1.APIKeyWithAuthorizations)
+  return target;
+}
+
+size_t APIKeyWithAuthorizations::ByteSizeLong() const {
+// @@protoc_insertion_point(message_byte_size_start:viam.app.v1.APIKeyWithAuthorizations)
+  size_t total_size = 0;
+
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  // repeated .viam.app.v1.AuthorizationDetails authorizations = 2 [json_name = "authorizations"];
+  total_size += 1UL * this->_internal_authorizations_size();
+  for (const auto& msg : this->authorizations_) {
+    total_size +=
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(msg);
+  }
+
+  // .viam.app.v1.APIKey api_key = 1 [json_name = "apiKey"];
+  if (this->_internal_has_api_key()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(
+        *api_key_);
+  }
+
+  return MaybeComputeUnknownFieldsSize(total_size, &_cached_size_);
+}
+
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData APIKeyWithAuthorizations::_class_data_ = {
+    ::PROTOBUF_NAMESPACE_ID::Message::CopyWithSizeCheck,
+    APIKeyWithAuthorizations::MergeImpl
+};
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*APIKeyWithAuthorizations::GetClassData() const { return &_class_data_; }
+
+void APIKeyWithAuthorizations::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
+                      const ::PROTOBUF_NAMESPACE_ID::Message& from) {
+  static_cast<APIKeyWithAuthorizations *>(to)->MergeFrom(
+      static_cast<const APIKeyWithAuthorizations &>(from));
+}
+
+
+void APIKeyWithAuthorizations::MergeFrom(const APIKeyWithAuthorizations& from) {
+// @@protoc_insertion_point(class_specific_merge_from_start:viam.app.v1.APIKeyWithAuthorizations)
+  GOOGLE_DCHECK_NE(&from, this);
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  authorizations_.MergeFrom(from.authorizations_);
+  if (from._internal_has_api_key()) {
+    _internal_mutable_api_key()->::viam::app::v1::APIKey::MergeFrom(from._internal_api_key());
+  }
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+}
+
+void APIKeyWithAuthorizations::CopyFrom(const APIKeyWithAuthorizations& from) {
+// @@protoc_insertion_point(class_specific_copy_from_start:viam.app.v1.APIKeyWithAuthorizations)
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool APIKeyWithAuthorizations::IsInitialized() const {
+  return true;
+}
+
+void APIKeyWithAuthorizations::InternalSwap(APIKeyWithAuthorizations* other) {
+  using std::swap;
+  _internal_metadata_.InternalSwap(&other->_internal_metadata_);
+  authorizations_.InternalSwap(&other->authorizations_);
+  swap(api_key_, other->api_key_);
+}
+
+::PROTOBUF_NAMESPACE_ID::Metadata APIKeyWithAuthorizations::GetMetadata() const {
+  return ::_pbi::AssignDescriptors(
+      &descriptor_table_app_2fv1_2fapp_2eproto_getter, &descriptor_table_app_2fv1_2fapp_2eproto_once,
+      file_level_metadata_app_2fv1_2fapp_2eproto[144]);
+}
+
+// ===================================================================
+
+class ListKeysRequest::_Internal {
+ public:
+};
+
+ListKeysRequest::ListKeysRequest(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                         bool is_message_owned)
+  : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned) {
+  SharedCtor();
+  // @@protoc_insertion_point(arena_constructor:viam.app.v1.ListKeysRequest)
+}
+ListKeysRequest::ListKeysRequest(const ListKeysRequest& from)
+  : ::PROTOBUF_NAMESPACE_ID::Message() {
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+  org_id_.InitDefault();
+  #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+    org_id_.Set("", GetArenaForAllocation());
+  #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (!from._internal_org_id().empty()) {
+    org_id_.Set(from._internal_org_id(), 
+      GetArenaForAllocation());
+  }
+  // @@protoc_insertion_point(copy_constructor:viam.app.v1.ListKeysRequest)
+}
+
+inline void ListKeysRequest::SharedCtor() {
+org_id_.InitDefault();
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  org_id_.Set("", GetArenaForAllocation());
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+}
+
+ListKeysRequest::~ListKeysRequest() {
+  // @@protoc_insertion_point(destructor:viam.app.v1.ListKeysRequest)
+  if (auto *arena = _internal_metadata_.DeleteReturnArena<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>()) {
+  (void)arena;
+    return;
+  }
+  SharedDtor();
+}
+
+inline void ListKeysRequest::SharedDtor() {
+  GOOGLE_DCHECK(GetArenaForAllocation() == nullptr);
+  org_id_.Destroy();
+}
+
+void ListKeysRequest::SetCachedSize(int size) const {
+  _cached_size_.Set(size);
+}
+
+void ListKeysRequest::Clear() {
+// @@protoc_insertion_point(message_clear_start:viam.app.v1.ListKeysRequest)
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  org_id_.ClearToEmpty();
+  _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
+}
+
+const char* ListKeysRequest::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
+#define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
+  while (!ctx->Done(&ptr)) {
+    uint32_t tag;
+    ptr = ::_pbi::ReadTag(ptr, &tag);
+    switch (tag >> 3) {
+      // string org_id = 1 [json_name = "orgId"];
+      case 1:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 10)) {
+          auto str = _internal_mutable_org_id();
+          ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx);
+          CHK_(ptr);
+          CHK_(::_pbi::VerifyUTF8(str, "viam.app.v1.ListKeysRequest.org_id"));
+        } else
+          goto handle_unusual;
+        continue;
+      default:
+        goto handle_unusual;
+    }  // switch
+  handle_unusual:
+    if ((tag == 0) || ((tag & 7) == 4)) {
+      CHK_(ptr);
+      ctx->SetLastTag(tag);
+      goto message_done;
+    }
+    ptr = UnknownFieldParse(
+        tag,
+        _internal_metadata_.mutable_unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(),
+        ptr, ctx);
+    CHK_(ptr != nullptr);
+  }  // while
+message_done:
+  return ptr;
+failure:
+  ptr = nullptr;
+  goto message_done;
+#undef CHK_
+}
+
+uint8_t* ListKeysRequest::_InternalSerialize(
+    uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
+  // @@protoc_insertion_point(serialize_to_array_start:viam.app.v1.ListKeysRequest)
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  // string org_id = 1 [json_name = "orgId"];
+  if (!this->_internal_org_id().empty()) {
+    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
+      this->_internal_org_id().data(), static_cast<int>(this->_internal_org_id().length()),
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
+      "viam.app.v1.ListKeysRequest.org_id");
+    target = stream->WriteStringMaybeAliased(
+        1, this->_internal_org_id(), target);
+  }
+
+  if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
+    target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray(
+        _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
+  }
+  // @@protoc_insertion_point(serialize_to_array_end:viam.app.v1.ListKeysRequest)
+  return target;
+}
+
+size_t ListKeysRequest::ByteSizeLong() const {
+// @@protoc_insertion_point(message_byte_size_start:viam.app.v1.ListKeysRequest)
+  size_t total_size = 0;
+
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  // string org_id = 1 [json_name = "orgId"];
+  if (!this->_internal_org_id().empty()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
+        this->_internal_org_id());
+  }
+
+  return MaybeComputeUnknownFieldsSize(total_size, &_cached_size_);
+}
+
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData ListKeysRequest::_class_data_ = {
+    ::PROTOBUF_NAMESPACE_ID::Message::CopyWithSizeCheck,
+    ListKeysRequest::MergeImpl
+};
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*ListKeysRequest::GetClassData() const { return &_class_data_; }
+
+void ListKeysRequest::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
+                      const ::PROTOBUF_NAMESPACE_ID::Message& from) {
+  static_cast<ListKeysRequest *>(to)->MergeFrom(
+      static_cast<const ListKeysRequest &>(from));
+}
+
+
+void ListKeysRequest::MergeFrom(const ListKeysRequest& from) {
+// @@protoc_insertion_point(class_specific_merge_from_start:viam.app.v1.ListKeysRequest)
+  GOOGLE_DCHECK_NE(&from, this);
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  if (!from._internal_org_id().empty()) {
+    _internal_set_org_id(from._internal_org_id());
+  }
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+}
+
+void ListKeysRequest::CopyFrom(const ListKeysRequest& from) {
+// @@protoc_insertion_point(class_specific_copy_from_start:viam.app.v1.ListKeysRequest)
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool ListKeysRequest::IsInitialized() const {
+  return true;
+}
+
+void ListKeysRequest::InternalSwap(ListKeysRequest* other) {
+  using std::swap;
+  auto* lhs_arena = GetArenaForAllocation();
+  auto* rhs_arena = other->GetArenaForAllocation();
+  _internal_metadata_.InternalSwap(&other->_internal_metadata_);
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
+      &org_id_, lhs_arena,
+      &other->org_id_, rhs_arena
+  );
+}
+
+::PROTOBUF_NAMESPACE_ID::Metadata ListKeysRequest::GetMetadata() const {
+  return ::_pbi::AssignDescriptors(
+      &descriptor_table_app_2fv1_2fapp_2eproto_getter, &descriptor_table_app_2fv1_2fapp_2eproto_once,
+      file_level_metadata_app_2fv1_2fapp_2eproto[145]);
+}
+
+// ===================================================================
+
+class ListKeysResponse::_Internal {
+ public:
+};
+
+ListKeysResponse::ListKeysResponse(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                         bool is_message_owned)
+  : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned),
+  api_keys_(arena) {
+  SharedCtor();
+  // @@protoc_insertion_point(arena_constructor:viam.app.v1.ListKeysResponse)
+}
+ListKeysResponse::ListKeysResponse(const ListKeysResponse& from)
+  : ::PROTOBUF_NAMESPACE_ID::Message(),
+      api_keys_(from.api_keys_) {
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+  // @@protoc_insertion_point(copy_constructor:viam.app.v1.ListKeysResponse)
+}
+
+inline void ListKeysResponse::SharedCtor() {
+}
+
+ListKeysResponse::~ListKeysResponse() {
+  // @@protoc_insertion_point(destructor:viam.app.v1.ListKeysResponse)
+  if (auto *arena = _internal_metadata_.DeleteReturnArena<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>()) {
+  (void)arena;
+    return;
+  }
+  SharedDtor();
+}
+
+inline void ListKeysResponse::SharedDtor() {
+  GOOGLE_DCHECK(GetArenaForAllocation() == nullptr);
+}
+
+void ListKeysResponse::SetCachedSize(int size) const {
+  _cached_size_.Set(size);
+}
+
+void ListKeysResponse::Clear() {
+// @@protoc_insertion_point(message_clear_start:viam.app.v1.ListKeysResponse)
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  api_keys_.Clear();
+  _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
+}
+
+const char* ListKeysResponse::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
+#define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
+  while (!ctx->Done(&ptr)) {
+    uint32_t tag;
+    ptr = ::_pbi::ReadTag(ptr, &tag);
+    switch (tag >> 3) {
+      // repeated .viam.app.v1.APIKeyWithAuthorizations api_keys = 1 [json_name = "apiKeys"];
+      case 1:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 10)) {
+          ptr -= 1;
+          do {
+            ptr += 1;
+            ptr = ctx->ParseMessage(_internal_add_api_keys(), ptr);
+            CHK_(ptr);
+            if (!ctx->DataAvailable(ptr)) break;
+          } while (::PROTOBUF_NAMESPACE_ID::internal::ExpectTag<10>(ptr));
+        } else
+          goto handle_unusual;
+        continue;
+      default:
+        goto handle_unusual;
+    }  // switch
+  handle_unusual:
+    if ((tag == 0) || ((tag & 7) == 4)) {
+      CHK_(ptr);
+      ctx->SetLastTag(tag);
+      goto message_done;
+    }
+    ptr = UnknownFieldParse(
+        tag,
+        _internal_metadata_.mutable_unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(),
+        ptr, ctx);
+    CHK_(ptr != nullptr);
+  }  // while
+message_done:
+  return ptr;
+failure:
+  ptr = nullptr;
+  goto message_done;
+#undef CHK_
+}
+
+uint8_t* ListKeysResponse::_InternalSerialize(
+    uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
+  // @@protoc_insertion_point(serialize_to_array_start:viam.app.v1.ListKeysResponse)
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  // repeated .viam.app.v1.APIKeyWithAuthorizations api_keys = 1 [json_name = "apiKeys"];
+  for (unsigned i = 0,
+      n = static_cast<unsigned>(this->_internal_api_keys_size()); i < n; i++) {
+    const auto& repfield = this->_internal_api_keys(i);
+    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::
+        InternalWriteMessage(1, repfield, repfield.GetCachedSize(), target, stream);
+  }
+
+  if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
+    target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray(
+        _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
+  }
+  // @@protoc_insertion_point(serialize_to_array_end:viam.app.v1.ListKeysResponse)
+  return target;
+}
+
+size_t ListKeysResponse::ByteSizeLong() const {
+// @@protoc_insertion_point(message_byte_size_start:viam.app.v1.ListKeysResponse)
+  size_t total_size = 0;
+
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  // repeated .viam.app.v1.APIKeyWithAuthorizations api_keys = 1 [json_name = "apiKeys"];
+  total_size += 1UL * this->_internal_api_keys_size();
+  for (const auto& msg : this->api_keys_) {
+    total_size +=
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(msg);
+  }
+
+  return MaybeComputeUnknownFieldsSize(total_size, &_cached_size_);
+}
+
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData ListKeysResponse::_class_data_ = {
+    ::PROTOBUF_NAMESPACE_ID::Message::CopyWithSizeCheck,
+    ListKeysResponse::MergeImpl
+};
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*ListKeysResponse::GetClassData() const { return &_class_data_; }
+
+void ListKeysResponse::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
+                      const ::PROTOBUF_NAMESPACE_ID::Message& from) {
+  static_cast<ListKeysResponse *>(to)->MergeFrom(
+      static_cast<const ListKeysResponse &>(from));
+}
+
+
+void ListKeysResponse::MergeFrom(const ListKeysResponse& from) {
+// @@protoc_insertion_point(class_specific_merge_from_start:viam.app.v1.ListKeysResponse)
+  GOOGLE_DCHECK_NE(&from, this);
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  api_keys_.MergeFrom(from.api_keys_);
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+}
+
+void ListKeysResponse::CopyFrom(const ListKeysResponse& from) {
+// @@protoc_insertion_point(class_specific_copy_from_start:viam.app.v1.ListKeysResponse)
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool ListKeysResponse::IsInitialized() const {
+  return true;
+}
+
+void ListKeysResponse::InternalSwap(ListKeysResponse* other) {
+  using std::swap;
+  _internal_metadata_.InternalSwap(&other->_internal_metadata_);
+  api_keys_.InternalSwap(&other->api_keys_);
+}
+
+::PROTOBUF_NAMESPACE_ID::Metadata ListKeysResponse::GetMetadata() const {
+  return ::_pbi::AssignDescriptors(
+      &descriptor_table_app_2fv1_2fapp_2eproto_getter, &descriptor_table_app_2fv1_2fapp_2eproto_once,
+      file_level_metadata_app_2fv1_2fapp_2eproto[146]);
+}
+
+// ===================================================================
+
+class RotateKeyRequest::_Internal {
+ public:
+};
+
+RotateKeyRequest::RotateKeyRequest(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                         bool is_message_owned)
+  : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned) {
+  SharedCtor();
+  // @@protoc_insertion_point(arena_constructor:viam.app.v1.RotateKeyRequest)
+}
+RotateKeyRequest::RotateKeyRequest(const RotateKeyRequest& from)
+  : ::PROTOBUF_NAMESPACE_ID::Message() {
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+  id_.InitDefault();
+  #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+    id_.Set("", GetArenaForAllocation());
+  #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (!from._internal_id().empty()) {
+    id_.Set(from._internal_id(), 
+      GetArenaForAllocation());
+  }
+  // @@protoc_insertion_point(copy_constructor:viam.app.v1.RotateKeyRequest)
+}
+
+inline void RotateKeyRequest::SharedCtor() {
+id_.InitDefault();
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  id_.Set("", GetArenaForAllocation());
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+}
+
+RotateKeyRequest::~RotateKeyRequest() {
+  // @@protoc_insertion_point(destructor:viam.app.v1.RotateKeyRequest)
+  if (auto *arena = _internal_metadata_.DeleteReturnArena<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>()) {
+  (void)arena;
+    return;
+  }
+  SharedDtor();
+}
+
+inline void RotateKeyRequest::SharedDtor() {
+  GOOGLE_DCHECK(GetArenaForAllocation() == nullptr);
+  id_.Destroy();
+}
+
+void RotateKeyRequest::SetCachedSize(int size) const {
+  _cached_size_.Set(size);
+}
+
+void RotateKeyRequest::Clear() {
+// @@protoc_insertion_point(message_clear_start:viam.app.v1.RotateKeyRequest)
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  id_.ClearToEmpty();
+  _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
+}
+
+const char* RotateKeyRequest::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
+#define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
+  while (!ctx->Done(&ptr)) {
+    uint32_t tag;
+    ptr = ::_pbi::ReadTag(ptr, &tag);
+    switch (tag >> 3) {
+      // string id = 1 [json_name = "id"];
+      case 1:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 10)) {
+          auto str = _internal_mutable_id();
+          ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx);
+          CHK_(ptr);
+          CHK_(::_pbi::VerifyUTF8(str, "viam.app.v1.RotateKeyRequest.id"));
+        } else
+          goto handle_unusual;
+        continue;
+      default:
+        goto handle_unusual;
+    }  // switch
+  handle_unusual:
+    if ((tag == 0) || ((tag & 7) == 4)) {
+      CHK_(ptr);
+      ctx->SetLastTag(tag);
+      goto message_done;
+    }
+    ptr = UnknownFieldParse(
+        tag,
+        _internal_metadata_.mutable_unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(),
+        ptr, ctx);
+    CHK_(ptr != nullptr);
+  }  // while
+message_done:
+  return ptr;
+failure:
+  ptr = nullptr;
+  goto message_done;
+#undef CHK_
+}
+
+uint8_t* RotateKeyRequest::_InternalSerialize(
+    uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
+  // @@protoc_insertion_point(serialize_to_array_start:viam.app.v1.RotateKeyRequest)
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  // string id = 1 [json_name = "id"];
+  if (!this->_internal_id().empty()) {
+    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
+      this->_internal_id().data(), static_cast<int>(this->_internal_id().length()),
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
+      "viam.app.v1.RotateKeyRequest.id");
+    target = stream->WriteStringMaybeAliased(
+        1, this->_internal_id(), target);
+  }
+
+  if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
+    target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray(
+        _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
+  }
+  // @@protoc_insertion_point(serialize_to_array_end:viam.app.v1.RotateKeyRequest)
+  return target;
+}
+
+size_t RotateKeyRequest::ByteSizeLong() const {
+// @@protoc_insertion_point(message_byte_size_start:viam.app.v1.RotateKeyRequest)
+  size_t total_size = 0;
+
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  // string id = 1 [json_name = "id"];
+  if (!this->_internal_id().empty()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
+        this->_internal_id());
+  }
+
+  return MaybeComputeUnknownFieldsSize(total_size, &_cached_size_);
+}
+
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData RotateKeyRequest::_class_data_ = {
+    ::PROTOBUF_NAMESPACE_ID::Message::CopyWithSizeCheck,
+    RotateKeyRequest::MergeImpl
+};
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*RotateKeyRequest::GetClassData() const { return &_class_data_; }
+
+void RotateKeyRequest::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
+                      const ::PROTOBUF_NAMESPACE_ID::Message& from) {
+  static_cast<RotateKeyRequest *>(to)->MergeFrom(
+      static_cast<const RotateKeyRequest &>(from));
+}
+
+
+void RotateKeyRequest::MergeFrom(const RotateKeyRequest& from) {
+// @@protoc_insertion_point(class_specific_merge_from_start:viam.app.v1.RotateKeyRequest)
+  GOOGLE_DCHECK_NE(&from, this);
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  if (!from._internal_id().empty()) {
+    _internal_set_id(from._internal_id());
+  }
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+}
+
+void RotateKeyRequest::CopyFrom(const RotateKeyRequest& from) {
+// @@protoc_insertion_point(class_specific_copy_from_start:viam.app.v1.RotateKeyRequest)
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool RotateKeyRequest::IsInitialized() const {
+  return true;
+}
+
+void RotateKeyRequest::InternalSwap(RotateKeyRequest* other) {
+  using std::swap;
+  auto* lhs_arena = GetArenaForAllocation();
+  auto* rhs_arena = other->GetArenaForAllocation();
+  _internal_metadata_.InternalSwap(&other->_internal_metadata_);
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
+      &id_, lhs_arena,
+      &other->id_, rhs_arena
+  );
+}
+
+::PROTOBUF_NAMESPACE_ID::Metadata RotateKeyRequest::GetMetadata() const {
+  return ::_pbi::AssignDescriptors(
+      &descriptor_table_app_2fv1_2fapp_2eproto_getter, &descriptor_table_app_2fv1_2fapp_2eproto_once,
+      file_level_metadata_app_2fv1_2fapp_2eproto[147]);
+}
+
+// ===================================================================
+
+class RotateKeyResponse::_Internal {
+ public:
+};
+
+RotateKeyResponse::RotateKeyResponse(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                         bool is_message_owned)
+  : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned) {
+  SharedCtor();
+  // @@protoc_insertion_point(arena_constructor:viam.app.v1.RotateKeyResponse)
+}
+RotateKeyResponse::RotateKeyResponse(const RotateKeyResponse& from)
+  : ::PROTOBUF_NAMESPACE_ID::Message() {
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+  id_.InitDefault();
+  #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+    id_.Set("", GetArenaForAllocation());
+  #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (!from._internal_id().empty()) {
+    id_.Set(from._internal_id(), 
+      GetArenaForAllocation());
+  }
+  key_.InitDefault();
+  #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+    key_.Set("", GetArenaForAllocation());
+  #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (!from._internal_key().empty()) {
+    key_.Set(from._internal_key(), 
+      GetArenaForAllocation());
+  }
+  // @@protoc_insertion_point(copy_constructor:viam.app.v1.RotateKeyResponse)
+}
+
+inline void RotateKeyResponse::SharedCtor() {
+id_.InitDefault();
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  id_.Set("", GetArenaForAllocation());
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+key_.InitDefault();
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  key_.Set("", GetArenaForAllocation());
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+}
+
+RotateKeyResponse::~RotateKeyResponse() {
+  // @@protoc_insertion_point(destructor:viam.app.v1.RotateKeyResponse)
+  if (auto *arena = _internal_metadata_.DeleteReturnArena<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>()) {
+  (void)arena;
+    return;
+  }
+  SharedDtor();
+}
+
+inline void RotateKeyResponse::SharedDtor() {
+  GOOGLE_DCHECK(GetArenaForAllocation() == nullptr);
+  id_.Destroy();
+  key_.Destroy();
+}
+
+void RotateKeyResponse::SetCachedSize(int size) const {
+  _cached_size_.Set(size);
+}
+
+void RotateKeyResponse::Clear() {
+// @@protoc_insertion_point(message_clear_start:viam.app.v1.RotateKeyResponse)
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  id_.ClearToEmpty();
+  key_.ClearToEmpty();
+  _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
+}
+
+const char* RotateKeyResponse::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
+#define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
+  while (!ctx->Done(&ptr)) {
+    uint32_t tag;
+    ptr = ::_pbi::ReadTag(ptr, &tag);
+    switch (tag >> 3) {
+      // string id = 1 [json_name = "id"];
+      case 1:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 10)) {
+          auto str = _internal_mutable_id();
+          ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx);
+          CHK_(ptr);
+          CHK_(::_pbi::VerifyUTF8(str, "viam.app.v1.RotateKeyResponse.id"));
+        } else
+          goto handle_unusual;
+        continue;
+      // string key = 2 [json_name = "key"];
+      case 2:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 18)) {
+          auto str = _internal_mutable_key();
+          ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx);
+          CHK_(ptr);
+          CHK_(::_pbi::VerifyUTF8(str, "viam.app.v1.RotateKeyResponse.key"));
+        } else
+          goto handle_unusual;
+        continue;
+      default:
+        goto handle_unusual;
+    }  // switch
+  handle_unusual:
+    if ((tag == 0) || ((tag & 7) == 4)) {
+      CHK_(ptr);
+      ctx->SetLastTag(tag);
+      goto message_done;
+    }
+    ptr = UnknownFieldParse(
+        tag,
+        _internal_metadata_.mutable_unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(),
+        ptr, ctx);
+    CHK_(ptr != nullptr);
+  }  // while
+message_done:
+  return ptr;
+failure:
+  ptr = nullptr;
+  goto message_done;
+#undef CHK_
+}
+
+uint8_t* RotateKeyResponse::_InternalSerialize(
+    uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
+  // @@protoc_insertion_point(serialize_to_array_start:viam.app.v1.RotateKeyResponse)
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  // string id = 1 [json_name = "id"];
+  if (!this->_internal_id().empty()) {
+    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
+      this->_internal_id().data(), static_cast<int>(this->_internal_id().length()),
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
+      "viam.app.v1.RotateKeyResponse.id");
+    target = stream->WriteStringMaybeAliased(
+        1, this->_internal_id(), target);
+  }
+
+  // string key = 2 [json_name = "key"];
+  if (!this->_internal_key().empty()) {
+    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
+      this->_internal_key().data(), static_cast<int>(this->_internal_key().length()),
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
+      "viam.app.v1.RotateKeyResponse.key");
+    target = stream->WriteStringMaybeAliased(
+        2, this->_internal_key(), target);
+  }
+
+  if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
+    target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray(
+        _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
+  }
+  // @@protoc_insertion_point(serialize_to_array_end:viam.app.v1.RotateKeyResponse)
+  return target;
+}
+
+size_t RotateKeyResponse::ByteSizeLong() const {
+// @@protoc_insertion_point(message_byte_size_start:viam.app.v1.RotateKeyResponse)
+  size_t total_size = 0;
+
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  // string id = 1 [json_name = "id"];
+  if (!this->_internal_id().empty()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
+        this->_internal_id());
+  }
+
+  // string key = 2 [json_name = "key"];
+  if (!this->_internal_key().empty()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
+        this->_internal_key());
+  }
+
+  return MaybeComputeUnknownFieldsSize(total_size, &_cached_size_);
+}
+
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData RotateKeyResponse::_class_data_ = {
+    ::PROTOBUF_NAMESPACE_ID::Message::CopyWithSizeCheck,
+    RotateKeyResponse::MergeImpl
+};
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*RotateKeyResponse::GetClassData() const { return &_class_data_; }
+
+void RotateKeyResponse::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
+                      const ::PROTOBUF_NAMESPACE_ID::Message& from) {
+  static_cast<RotateKeyResponse *>(to)->MergeFrom(
+      static_cast<const RotateKeyResponse &>(from));
+}
+
+
+void RotateKeyResponse::MergeFrom(const RotateKeyResponse& from) {
+// @@protoc_insertion_point(class_specific_merge_from_start:viam.app.v1.RotateKeyResponse)
+  GOOGLE_DCHECK_NE(&from, this);
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  if (!from._internal_id().empty()) {
+    _internal_set_id(from._internal_id());
+  }
+  if (!from._internal_key().empty()) {
+    _internal_set_key(from._internal_key());
+  }
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+}
+
+void RotateKeyResponse::CopyFrom(const RotateKeyResponse& from) {
+// @@protoc_insertion_point(class_specific_copy_from_start:viam.app.v1.RotateKeyResponse)
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool RotateKeyResponse::IsInitialized() const {
+  return true;
+}
+
+void RotateKeyResponse::InternalSwap(RotateKeyResponse* other) {
+  using std::swap;
+  auto* lhs_arena = GetArenaForAllocation();
+  auto* rhs_arena = other->GetArenaForAllocation();
+  _internal_metadata_.InternalSwap(&other->_internal_metadata_);
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
+      &id_, lhs_arena,
+      &other->id_, rhs_arena
+  );
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
+      &key_, lhs_arena,
+      &other->key_, rhs_arena
+  );
+}
+
+::PROTOBUF_NAMESPACE_ID::Metadata RotateKeyResponse::GetMetadata() const {
+  return ::_pbi::AssignDescriptors(
+      &descriptor_table_app_2fv1_2fapp_2eproto_getter, &descriptor_table_app_2fv1_2fapp_2eproto_once,
+      file_level_metadata_app_2fv1_2fapp_2eproto[148]);
+}
+
+// ===================================================================
+
+class CreateKeyFromExistingKeyAuthorizationsRequest::_Internal {
+ public:
+};
+
+CreateKeyFromExistingKeyAuthorizationsRequest::CreateKeyFromExistingKeyAuthorizationsRequest(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                         bool is_message_owned)
+  : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned) {
+  SharedCtor();
+  // @@protoc_insertion_point(arena_constructor:viam.app.v1.CreateKeyFromExistingKeyAuthorizationsRequest)
+}
+CreateKeyFromExistingKeyAuthorizationsRequest::CreateKeyFromExistingKeyAuthorizationsRequest(const CreateKeyFromExistingKeyAuthorizationsRequest& from)
+  : ::PROTOBUF_NAMESPACE_ID::Message() {
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+  id_.InitDefault();
+  #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+    id_.Set("", GetArenaForAllocation());
+  #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (!from._internal_id().empty()) {
+    id_.Set(from._internal_id(), 
+      GetArenaForAllocation());
+  }
+  // @@protoc_insertion_point(copy_constructor:viam.app.v1.CreateKeyFromExistingKeyAuthorizationsRequest)
+}
+
+inline void CreateKeyFromExistingKeyAuthorizationsRequest::SharedCtor() {
+id_.InitDefault();
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  id_.Set("", GetArenaForAllocation());
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+}
+
+CreateKeyFromExistingKeyAuthorizationsRequest::~CreateKeyFromExistingKeyAuthorizationsRequest() {
+  // @@protoc_insertion_point(destructor:viam.app.v1.CreateKeyFromExistingKeyAuthorizationsRequest)
+  if (auto *arena = _internal_metadata_.DeleteReturnArena<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>()) {
+  (void)arena;
+    return;
+  }
+  SharedDtor();
+}
+
+inline void CreateKeyFromExistingKeyAuthorizationsRequest::SharedDtor() {
+  GOOGLE_DCHECK(GetArenaForAllocation() == nullptr);
+  id_.Destroy();
+}
+
+void CreateKeyFromExistingKeyAuthorizationsRequest::SetCachedSize(int size) const {
+  _cached_size_.Set(size);
+}
+
+void CreateKeyFromExistingKeyAuthorizationsRequest::Clear() {
+// @@protoc_insertion_point(message_clear_start:viam.app.v1.CreateKeyFromExistingKeyAuthorizationsRequest)
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  id_.ClearToEmpty();
+  _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
+}
+
+const char* CreateKeyFromExistingKeyAuthorizationsRequest::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
+#define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
+  while (!ctx->Done(&ptr)) {
+    uint32_t tag;
+    ptr = ::_pbi::ReadTag(ptr, &tag);
+    switch (tag >> 3) {
+      // string id = 1 [json_name = "id"];
+      case 1:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 10)) {
+          auto str = _internal_mutable_id();
+          ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx);
+          CHK_(ptr);
+          CHK_(::_pbi::VerifyUTF8(str, "viam.app.v1.CreateKeyFromExistingKeyAuthorizationsRequest.id"));
+        } else
+          goto handle_unusual;
+        continue;
+      default:
+        goto handle_unusual;
+    }  // switch
+  handle_unusual:
+    if ((tag == 0) || ((tag & 7) == 4)) {
+      CHK_(ptr);
+      ctx->SetLastTag(tag);
+      goto message_done;
+    }
+    ptr = UnknownFieldParse(
+        tag,
+        _internal_metadata_.mutable_unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(),
+        ptr, ctx);
+    CHK_(ptr != nullptr);
+  }  // while
+message_done:
+  return ptr;
+failure:
+  ptr = nullptr;
+  goto message_done;
+#undef CHK_
+}
+
+uint8_t* CreateKeyFromExistingKeyAuthorizationsRequest::_InternalSerialize(
+    uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
+  // @@protoc_insertion_point(serialize_to_array_start:viam.app.v1.CreateKeyFromExistingKeyAuthorizationsRequest)
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  // string id = 1 [json_name = "id"];
+  if (!this->_internal_id().empty()) {
+    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
+      this->_internal_id().data(), static_cast<int>(this->_internal_id().length()),
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
+      "viam.app.v1.CreateKeyFromExistingKeyAuthorizationsRequest.id");
+    target = stream->WriteStringMaybeAliased(
+        1, this->_internal_id(), target);
+  }
+
+  if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
+    target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray(
+        _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
+  }
+  // @@protoc_insertion_point(serialize_to_array_end:viam.app.v1.CreateKeyFromExistingKeyAuthorizationsRequest)
+  return target;
+}
+
+size_t CreateKeyFromExistingKeyAuthorizationsRequest::ByteSizeLong() const {
+// @@protoc_insertion_point(message_byte_size_start:viam.app.v1.CreateKeyFromExistingKeyAuthorizationsRequest)
+  size_t total_size = 0;
+
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  // string id = 1 [json_name = "id"];
+  if (!this->_internal_id().empty()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
+        this->_internal_id());
+  }
+
+  return MaybeComputeUnknownFieldsSize(total_size, &_cached_size_);
+}
+
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData CreateKeyFromExistingKeyAuthorizationsRequest::_class_data_ = {
+    ::PROTOBUF_NAMESPACE_ID::Message::CopyWithSizeCheck,
+    CreateKeyFromExistingKeyAuthorizationsRequest::MergeImpl
+};
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*CreateKeyFromExistingKeyAuthorizationsRequest::GetClassData() const { return &_class_data_; }
+
+void CreateKeyFromExistingKeyAuthorizationsRequest::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
+                      const ::PROTOBUF_NAMESPACE_ID::Message& from) {
+  static_cast<CreateKeyFromExistingKeyAuthorizationsRequest *>(to)->MergeFrom(
+      static_cast<const CreateKeyFromExistingKeyAuthorizationsRequest &>(from));
+}
+
+
+void CreateKeyFromExistingKeyAuthorizationsRequest::MergeFrom(const CreateKeyFromExistingKeyAuthorizationsRequest& from) {
+// @@protoc_insertion_point(class_specific_merge_from_start:viam.app.v1.CreateKeyFromExistingKeyAuthorizationsRequest)
+  GOOGLE_DCHECK_NE(&from, this);
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  if (!from._internal_id().empty()) {
+    _internal_set_id(from._internal_id());
+  }
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+}
+
+void CreateKeyFromExistingKeyAuthorizationsRequest::CopyFrom(const CreateKeyFromExistingKeyAuthorizationsRequest& from) {
+// @@protoc_insertion_point(class_specific_copy_from_start:viam.app.v1.CreateKeyFromExistingKeyAuthorizationsRequest)
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool CreateKeyFromExistingKeyAuthorizationsRequest::IsInitialized() const {
+  return true;
+}
+
+void CreateKeyFromExistingKeyAuthorizationsRequest::InternalSwap(CreateKeyFromExistingKeyAuthorizationsRequest* other) {
+  using std::swap;
+  auto* lhs_arena = GetArenaForAllocation();
+  auto* rhs_arena = other->GetArenaForAllocation();
+  _internal_metadata_.InternalSwap(&other->_internal_metadata_);
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
+      &id_, lhs_arena,
+      &other->id_, rhs_arena
+  );
+}
+
+::PROTOBUF_NAMESPACE_ID::Metadata CreateKeyFromExistingKeyAuthorizationsRequest::GetMetadata() const {
+  return ::_pbi::AssignDescriptors(
+      &descriptor_table_app_2fv1_2fapp_2eproto_getter, &descriptor_table_app_2fv1_2fapp_2eproto_once,
+      file_level_metadata_app_2fv1_2fapp_2eproto[149]);
+}
+
+// ===================================================================
+
+class CreateKeyFromExistingKeyAuthorizationsResponse::_Internal {
+ public:
+};
+
+CreateKeyFromExistingKeyAuthorizationsResponse::CreateKeyFromExistingKeyAuthorizationsResponse(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                         bool is_message_owned)
+  : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned) {
+  SharedCtor();
+  // @@protoc_insertion_point(arena_constructor:viam.app.v1.CreateKeyFromExistingKeyAuthorizationsResponse)
+}
+CreateKeyFromExistingKeyAuthorizationsResponse::CreateKeyFromExistingKeyAuthorizationsResponse(const CreateKeyFromExistingKeyAuthorizationsResponse& from)
+  : ::PROTOBUF_NAMESPACE_ID::Message() {
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+  id_.InitDefault();
+  #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+    id_.Set("", GetArenaForAllocation());
+  #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (!from._internal_id().empty()) {
+    id_.Set(from._internal_id(), 
+      GetArenaForAllocation());
+  }
+  key_.InitDefault();
+  #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+    key_.Set("", GetArenaForAllocation());
+  #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (!from._internal_key().empty()) {
+    key_.Set(from._internal_key(), 
+      GetArenaForAllocation());
+  }
+  // @@protoc_insertion_point(copy_constructor:viam.app.v1.CreateKeyFromExistingKeyAuthorizationsResponse)
+}
+
+inline void CreateKeyFromExistingKeyAuthorizationsResponse::SharedCtor() {
+id_.InitDefault();
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  id_.Set("", GetArenaForAllocation());
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+key_.InitDefault();
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  key_.Set("", GetArenaForAllocation());
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+}
+
+CreateKeyFromExistingKeyAuthorizationsResponse::~CreateKeyFromExistingKeyAuthorizationsResponse() {
+  // @@protoc_insertion_point(destructor:viam.app.v1.CreateKeyFromExistingKeyAuthorizationsResponse)
+  if (auto *arena = _internal_metadata_.DeleteReturnArena<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>()) {
+  (void)arena;
+    return;
+  }
+  SharedDtor();
+}
+
+inline void CreateKeyFromExistingKeyAuthorizationsResponse::SharedDtor() {
+  GOOGLE_DCHECK(GetArenaForAllocation() == nullptr);
+  id_.Destroy();
+  key_.Destroy();
+}
+
+void CreateKeyFromExistingKeyAuthorizationsResponse::SetCachedSize(int size) const {
+  _cached_size_.Set(size);
+}
+
+void CreateKeyFromExistingKeyAuthorizationsResponse::Clear() {
+// @@protoc_insertion_point(message_clear_start:viam.app.v1.CreateKeyFromExistingKeyAuthorizationsResponse)
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  id_.ClearToEmpty();
+  key_.ClearToEmpty();
+  _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
+}
+
+const char* CreateKeyFromExistingKeyAuthorizationsResponse::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
+#define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
+  while (!ctx->Done(&ptr)) {
+    uint32_t tag;
+    ptr = ::_pbi::ReadTag(ptr, &tag);
+    switch (tag >> 3) {
+      // string id = 1 [json_name = "id"];
+      case 1:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 10)) {
+          auto str = _internal_mutable_id();
+          ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx);
+          CHK_(ptr);
+          CHK_(::_pbi::VerifyUTF8(str, "viam.app.v1.CreateKeyFromExistingKeyAuthorizationsResponse.id"));
+        } else
+          goto handle_unusual;
+        continue;
+      // string key = 2 [json_name = "key"];
+      case 2:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 18)) {
+          auto str = _internal_mutable_key();
+          ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx);
+          CHK_(ptr);
+          CHK_(::_pbi::VerifyUTF8(str, "viam.app.v1.CreateKeyFromExistingKeyAuthorizationsResponse.key"));
+        } else
+          goto handle_unusual;
+        continue;
+      default:
+        goto handle_unusual;
+    }  // switch
+  handle_unusual:
+    if ((tag == 0) || ((tag & 7) == 4)) {
+      CHK_(ptr);
+      ctx->SetLastTag(tag);
+      goto message_done;
+    }
+    ptr = UnknownFieldParse(
+        tag,
+        _internal_metadata_.mutable_unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(),
+        ptr, ctx);
+    CHK_(ptr != nullptr);
+  }  // while
+message_done:
+  return ptr;
+failure:
+  ptr = nullptr;
+  goto message_done;
+#undef CHK_
+}
+
+uint8_t* CreateKeyFromExistingKeyAuthorizationsResponse::_InternalSerialize(
     uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
-  // @@protoc_insertion_point(serialize_to_array_start:viam.app.v1.CreateKeyRequest)
+  // @@protoc_insertion_point(serialize_to_array_start:viam.app.v1.CreateKeyFromExistingKeyAuthorizationsResponse)
   uint32_t cached_has_bits = 0;
   (void) cached_has_bits;
 
-  // repeated .viam.app.v1.Authorization authorizations = 1 [json_name = "authorizations"];
-  for (unsigned i = 0,
-      n = static_cast<unsigned>(this->_internal_authorizations_size()); i < n; i++) {
-    const auto& repfield = this->_internal_authorizations(i);
-    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::
-        InternalWriteMessage(1, repfield, repfield.GetCachedSize(), target, stream);
-  }
-
-  // string name = 2 [json_name = "name"];
-  if (!this->_internal_name().empty()) {
+  // string id = 1 [json_name = "id"];
+  if (!this->_internal_id().empty()) {
     ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
-      this->_internal_name().data(), static_cast<int>(this->_internal_name().length()),
+      this->_internal_id().data(), static_cast<int>(this->_internal_id().length()),
       ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
-      "viam.app.v1.CreateKeyRequest.name");
+      "viam.app.v1.CreateKeyFromExistingKeyAuthorizationsResponse.id");
     target = stream->WriteStringMaybeAliased(
-        2, this->_internal_name(), target);
-  }
-
-  if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
-    target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray(
-        _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
-  }
-  // @@protoc_insertion_point(serialize_to_array_end:viam.app.v1.CreateKeyRequest)
-  return target;
-}
-
-size_t CreateKeyRequest::ByteSizeLong() const {
-// @@protoc_insertion_point(message_byte_size_start:viam.app.v1.CreateKeyRequest)
-  size_t total_size = 0;
-
-  uint32_t cached_has_bits = 0;
-  // Prevent compiler warnings about cached_has_bits being unused
-  (void) cached_has_bits;
-
-  // repeated .viam.app.v1.Authorization authorizations = 1 [json_name = "authorizations"];
-  total_size += 1UL * this->_internal_authorizations_size();
-  for (const auto& msg : this->authorizations_) {
-    total_size +=
-      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(msg);
-  }
-
-  // string name = 2 [json_name = "name"];
-  if (!this->_internal_name().empty()) {
-    total_size += 1 +
-      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
-        this->_internal_name());
-  }
-
-  return MaybeComputeUnknownFieldsSize(total_size, &_cached_size_);
-}
-
-const ::PROTOBUF_NAMESPACE_ID::Message::ClassData CreateKeyRequest::_class_data_ = {
-    ::PROTOBUF_NAMESPACE_ID::Message::CopyWithSizeCheck,
-    CreateKeyRequest::MergeImpl
-};
-const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*CreateKeyRequest::GetClassData() const { return &_class_data_; }
-
-void CreateKeyRequest::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
-                      const ::PROTOBUF_NAMESPACE_ID::Message& from) {
-  static_cast<CreateKeyRequest *>(to)->MergeFrom(
-      static_cast<const CreateKeyRequest &>(from));
-}
-
-
-void CreateKeyRequest::MergeFrom(const CreateKeyRequest& from) {
-// @@protoc_insertion_point(class_specific_merge_from_start:viam.app.v1.CreateKeyRequest)
-  GOOGLE_DCHECK_NE(&from, this);
-  uint32_t cached_has_bits = 0;
-  (void) cached_has_bits;
-
-  authorizations_.MergeFrom(from.authorizations_);
-  if (!from._internal_name().empty()) {
-    _internal_set_name(from._internal_name());
-  }
-  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
-}
-
-void CreateKeyRequest::CopyFrom(const CreateKeyRequest& from) {
-// @@protoc_insertion_point(class_specific_copy_from_start:viam.app.v1.CreateKeyRequest)
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-bool CreateKeyRequest::IsInitialized() const {
-  return true;
-}
-
-void CreateKeyRequest::InternalSwap(CreateKeyRequest* other) {
-  using std::swap;
-  auto* lhs_arena = GetArenaForAllocation();
-  auto* rhs_arena = other->GetArenaForAllocation();
-  _internal_metadata_.InternalSwap(&other->_internal_metadata_);
-  authorizations_.InternalSwap(&other->authorizations_);
-  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
-      &name_, lhs_arena,
-      &other->name_, rhs_arena
-  );
-}
-
-::PROTOBUF_NAMESPACE_ID::Metadata CreateKeyRequest::GetMetadata() const {
-  return ::_pbi::AssignDescriptors(
-      &descriptor_table_app_2fv1_2fapp_2eproto_getter, &descriptor_table_app_2fv1_2fapp_2eproto_once,
-      file_level_metadata_app_2fv1_2fapp_2eproto[139]);
-}
-
-// ===================================================================
-
-class CreateKeyResponse::_Internal {
- public:
-};
-
-CreateKeyResponse::CreateKeyResponse(::PROTOBUF_NAMESPACE_ID::Arena* arena,
-                         bool is_message_owned)
-  : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned) {
-  SharedCtor();
-  // @@protoc_insertion_point(arena_constructor:viam.app.v1.CreateKeyResponse)
-}
-CreateKeyResponse::CreateKeyResponse(const CreateKeyResponse& from)
-  : ::PROTOBUF_NAMESPACE_ID::Message() {
-  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
-  key_.InitDefault();
-  #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
-    key_.Set("", GetArenaForAllocation());
-  #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  if (!from._internal_key().empty()) {
-    key_.Set(from._internal_key(), 
-      GetArenaForAllocation());
-  }
-  id_.InitDefault();
-  #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
-    id_.Set("", GetArenaForAllocation());
-  #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  if (!from._internal_id().empty()) {
-    id_.Set(from._internal_id(), 
-      GetArenaForAllocation());
-  }
-  // @@protoc_insertion_point(copy_constructor:viam.app.v1.CreateKeyResponse)
-}
-
-inline void CreateKeyResponse::SharedCtor() {
-key_.InitDefault();
-#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  key_.Set("", GetArenaForAllocation());
-#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-id_.InitDefault();
-#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  id_.Set("", GetArenaForAllocation());
-#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-}
-
-CreateKeyResponse::~CreateKeyResponse() {
-  // @@protoc_insertion_point(destructor:viam.app.v1.CreateKeyResponse)
-  if (auto *arena = _internal_metadata_.DeleteReturnArena<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>()) {
-  (void)arena;
-    return;
+        1, this->_internal_id(), target);
   }
-  SharedDtor();
-}
-
-inline void CreateKeyResponse::SharedDtor() {
-  GOOGLE_DCHECK(GetArenaForAllocation() == nullptr);
-  key_.Destroy();
-  id_.Destroy();
-}
-
-void CreateKeyResponse::SetCachedSize(int size) const {
-  _cached_size_.Set(size);
-}
-
-void CreateKeyResponse::Clear() {
-// @@protoc_insertion_point(message_clear_start:viam.app.v1.CreateKeyResponse)
-  uint32_t cached_has_bits = 0;
-  // Prevent compiler warnings about cached_has_bits being unused
-  (void) cached_has_bits;
-
-  key_.ClearToEmpty();
-  id_.ClearToEmpty();
-  _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
-}
-
-const char* CreateKeyResponse::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
-#define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
-  while (!ctx->Done(&ptr)) {
-    uint32_t tag;
-    ptr = ::_pbi::ReadTag(ptr, &tag);
-    switch (tag >> 3) {
-      // string key = 1 [json_name = "key"];
-      case 1:
-        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 10)) {
-          auto str = _internal_mutable_key();
-          ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx);
-          CHK_(ptr);
-          CHK_(::_pbi::VerifyUTF8(str, "viam.app.v1.CreateKeyResponse.key"));
-        } else
-          goto handle_unusual;
-        continue;
-      // string id = 2 [json_name = "id"];
-      case 2:
-        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 18)) {
-          auto str = _internal_mutable_id();
-          ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx);
-          CHK_(ptr);
-          CHK_(::_pbi::VerifyUTF8(str, "viam.app.v1.CreateKeyResponse.id"));
-        } else
-          goto handle_unusual;
-        continue;
-      default:
-        goto handle_unusual;
-    }  // switch
-  handle_unusual:
-    if ((tag == 0) || ((tag & 7) == 4)) {
-      CHK_(ptr);
-      ctx->SetLastTag(tag);
-      goto message_done;
-    }
-    ptr = UnknownFieldParse(
-        tag,
-        _internal_metadata_.mutable_unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(),
-        ptr, ctx);
-    CHK_(ptr != nullptr);
-  }  // while
-message_done:
-  return ptr;
-failure:
-  ptr = nullptr;
-  goto message_done;
-#undef CHK_
-}
-
-uint8_t* CreateKeyResponse::_InternalSerialize(
-    uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
-  // @@protoc_insertion_point(serialize_to_array_start:viam.app.v1.CreateKeyResponse)
-  uint32_t cached_has_bits = 0;
-  (void) cached_has_bits;
 
-  // string key = 1 [json_name = "key"];
+  // string key = 2 [json_name = "key"];
   if (!this->_internal_key().empty()) {
     ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
       this->_internal_key().data(), static_cast<int>(this->_internal_key().length()),
       ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
-      "viam.app.v1.CreateKeyResponse.key");
-    target = stream->WriteStringMaybeAliased(
-        1, this->_internal_key(), target);
-  }
-
-  // string id = 2 [json_name = "id"];
-  if (!this->_internal_id().empty()) {
-    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
-      this->_internal_id().data(), static_cast<int>(this->_internal_id().length()),
-      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
-      "viam.app.v1.CreateKeyResponse.id");
+      "viam.app.v1.CreateKeyFromExistingKeyAuthorizationsResponse.key");
     target = stream->WriteStringMaybeAliased(
-        2, this->_internal_id(), target);
+        2, this->_internal_key(), target);
   }
 
   if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
     target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray(
         _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
   }
-  // @@protoc_insertion_point(serialize_to_array_end:viam.app.v1.CreateKeyResponse)
+  // @@protoc_insertion_point(serialize_to_array_end:viam.app.v1.CreateKeyFromExistingKeyAuthorizationsResponse)
   return target;
 }
 
-size_t CreateKeyResponse::ByteSizeLong() const {
-// @@protoc_insertion_point(message_byte_size_start:viam.app.v1.CreateKeyResponse)
+size_t CreateKeyFromExistingKeyAuthorizationsResponse::ByteSizeLong() const {
+// @@protoc_insertion_point(message_byte_size_start:viam.app.v1.CreateKeyFromExistingKeyAuthorizationsResponse)
   size_t total_size = 0;
 
   uint32_t cached_has_bits = 0;
   // Prevent compiler warnings about cached_has_bits being unused
   (void) cached_has_bits;
 
-  // string key = 1 [json_name = "key"];
-  if (!this->_internal_key().empty()) {
+  // string id = 1 [json_name = "id"];
+  if (!this->_internal_id().empty()) {
     total_size += 1 +
       ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
-        this->_internal_key());
+        this->_internal_id());
   }
 
-  // string id = 2 [json_name = "id"];
-  if (!this->_internal_id().empty()) {
+  // string key = 2 [json_name = "key"];
+  if (!this->_internal_key().empty()) {
     total_size += 1 +
       ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
-        this->_internal_id());
+        this->_internal_key());
   }
 
   return MaybeComputeUnknownFieldsSize(total_size, &_cached_size_);
 }
 
-const ::PROTOBUF_NAMESPACE_ID::Message::ClassData CreateKeyResponse::_class_data_ = {
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData CreateKeyFromExistingKeyAuthorizationsResponse::_class_data_ = {
     ::PROTOBUF_NAMESPACE_ID::Message::CopyWithSizeCheck,
-    CreateKeyResponse::MergeImpl
+    CreateKeyFromExistingKeyAuthorizationsResponse::MergeImpl
 };
-const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*CreateKeyResponse::GetClassData() const { return &_class_data_; }
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*CreateKeyFromExistingKeyAuthorizationsResponse::GetClassData() const { return &_class_data_; }
 
-void CreateKeyResponse::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
+void CreateKeyFromExistingKeyAuthorizationsResponse::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
                       const ::PROTOBUF_NAMESPACE_ID::Message& from) {
-  static_cast<CreateKeyResponse *>(to)->MergeFrom(
-      static_cast<const CreateKeyResponse &>(from));
+  static_cast<CreateKeyFromExistingKeyAuthorizationsResponse *>(to)->MergeFrom(
+      static_cast<const CreateKeyFromExistingKeyAuthorizationsResponse &>(from));
 }
 
 
-void CreateKeyResponse::MergeFrom(const CreateKeyResponse& from) {
-// @@protoc_insertion_point(class_specific_merge_from_start:viam.app.v1.CreateKeyResponse)
+void CreateKeyFromExistingKeyAuthorizationsResponse::MergeFrom(const CreateKeyFromExistingKeyAuthorizationsResponse& from) {
+// @@protoc_insertion_point(class_specific_merge_from_start:viam.app.v1.CreateKeyFromExistingKeyAuthorizationsResponse)
   GOOGLE_DCHECK_NE(&from, this);
   uint32_t cached_has_bits = 0;
   (void) cached_has_bits;
 
-  if (!from._internal_key().empty()) {
-    _internal_set_key(from._internal_key());
-  }
   if (!from._internal_id().empty()) {
     _internal_set_id(from._internal_id());
   }
+  if (!from._internal_key().empty()) {
+    _internal_set_key(from._internal_key());
+  }
   _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
 }
 
-void CreateKeyResponse::CopyFrom(const CreateKeyResponse& from) {
-// @@protoc_insertion_point(class_specific_copy_from_start:viam.app.v1.CreateKeyResponse)
+void CreateKeyFromExistingKeyAuthorizationsResponse::CopyFrom(const CreateKeyFromExistingKeyAuthorizationsResponse& from) {
+// @@protoc_insertion_point(class_specific_copy_from_start:viam.app.v1.CreateKeyFromExistingKeyAuthorizationsResponse)
   if (&from == this) return;
   Clear();
   MergeFrom(from);
 }
 
-bool CreateKeyResponse::IsInitialized() const {
+bool CreateKeyFromExistingKeyAuthorizationsResponse::IsInitialized() const {
   return true;
 }
 
-void CreateKeyResponse::InternalSwap(CreateKeyResponse* other) {
+void CreateKeyFromExistingKeyAuthorizationsResponse::InternalSwap(CreateKeyFromExistingKeyAuthorizationsResponse* other) {
   using std::swap;
   auto* lhs_arena = GetArenaForAllocation();
   auto* rhs_arena = other->GetArenaForAllocation();
   _internal_metadata_.InternalSwap(&other->_internal_metadata_);
-  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
-      &key_, lhs_arena,
-      &other->key_, rhs_arena
-  );
   ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
       &id_, lhs_arena,
       &other->id_, rhs_arena
   );
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
+      &key_, lhs_arena,
+      &other->key_, rhs_arena
+  );
 }
 
-::PROTOBUF_NAMESPACE_ID::Metadata CreateKeyResponse::GetMetadata() const {
+::PROTOBUF_NAMESPACE_ID::Metadata CreateKeyFromExistingKeyAuthorizationsResponse::GetMetadata() const {
   return ::_pbi::AssignDescriptors(
       &descriptor_table_app_2fv1_2fapp_2eproto_getter, &descriptor_table_app_2fv1_2fapp_2eproto_once,
-      file_level_metadata_app_2fv1_2fapp_2eproto[140]);
+      file_level_metadata_app_2fv1_2fapp_2eproto[150]);
 }
 
 // @@protoc_insertion_point(namespace_scope)
@@ -35494,6 +37836,46 @@ template<> PROTOBUF_NOINLINE ::viam::app::v1::CreateKeyResponse*
 Arena::CreateMaybeMessage< ::viam::app::v1::CreateKeyResponse >(Arena* arena) {
   return Arena::CreateMessageInternal< ::viam::app::v1::CreateKeyResponse >(arena);
 }
+template<> PROTOBUF_NOINLINE ::viam::app::v1::DeleteKeyRequest*
+Arena::CreateMaybeMessage< ::viam::app::v1::DeleteKeyRequest >(Arena* arena) {
+  return Arena::CreateMessageInternal< ::viam::app::v1::DeleteKeyRequest >(arena);
+}
+template<> PROTOBUF_NOINLINE ::viam::app::v1::DeleteKeyResponse*
+Arena::CreateMaybeMessage< ::viam::app::v1::DeleteKeyResponse >(Arena* arena) {
+  return Arena::CreateMessageInternal< ::viam::app::v1::DeleteKeyResponse >(arena);
+}
+template<> PROTOBUF_NOINLINE ::viam::app::v1::AuthorizationDetails*
+Arena::CreateMaybeMessage< ::viam::app::v1::AuthorizationDetails >(Arena* arena) {
+  return Arena::CreateMessageInternal< ::viam::app::v1::AuthorizationDetails >(arena);
+}
+template<> PROTOBUF_NOINLINE ::viam::app::v1::APIKeyWithAuthorizations*
+Arena::CreateMaybeMessage< ::viam::app::v1::APIKeyWithAuthorizations >(Arena* arena) {
+  return Arena::CreateMessageInternal< ::viam::app::v1::APIKeyWithAuthorizations >(arena);
+}
+template<> PROTOBUF_NOINLINE ::viam::app::v1::ListKeysRequest*
+Arena::CreateMaybeMessage< ::viam::app::v1::ListKeysRequest >(Arena* arena) {
+  return Arena::CreateMessageInternal< ::viam::app::v1::ListKeysRequest >(arena);
+}
+template<> PROTOBUF_NOINLINE ::viam::app::v1::ListKeysResponse*
+Arena::CreateMaybeMessage< ::viam::app::v1::ListKeysResponse >(Arena* arena) {
+  return Arena::CreateMessageInternal< ::viam::app::v1::ListKeysResponse >(arena);
+}
+template<> PROTOBUF_NOINLINE ::viam::app::v1::RotateKeyRequest*
+Arena::CreateMaybeMessage< ::viam::app::v1::RotateKeyRequest >(Arena* arena) {
+  return Arena::CreateMessageInternal< ::viam::app::v1::RotateKeyRequest >(arena);
+}
+template<> PROTOBUF_NOINLINE ::viam::app::v1::RotateKeyResponse*
+Arena::CreateMaybeMessage< ::viam::app::v1::RotateKeyResponse >(Arena* arena) {
+  return Arena::CreateMessageInternal< ::viam::app::v1::RotateKeyResponse >(arena);
+}
+template<> PROTOBUF_NOINLINE ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest*
+Arena::CreateMaybeMessage< ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest >(Arena* arena) {
+  return Arena::CreateMessageInternal< ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest >(arena);
+}
+template<> PROTOBUF_NOINLINE ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse*
+Arena::CreateMaybeMessage< ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse >(Arena* arena) {
+  return Arena::CreateMessageInternal< ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse >(arena);
+}
 PROTOBUF_NAMESPACE_CLOSE
 
 // @@protoc_insertion_point(global_scope)
diff --git a/src/viam/api/app/v1/app.pb.h b/src/viam/api/app/v1/app.pb.h
index 10ef4b492..08d08ab3f 100644
--- a/src/viam/api/app/v1/app.pb.h
+++ b/src/viam/api/app/v1/app.pb.h
@@ -55,6 +55,9 @@ namespace v1 {
 class APIKey;
 struct APIKeyDefaultTypeInternal;
 extern APIKeyDefaultTypeInternal _APIKey_default_instance_;
+class APIKeyWithAuthorizations;
+struct APIKeyWithAuthorizationsDefaultTypeInternal;
+extern APIKeyWithAuthorizationsDefaultTypeInternal _APIKeyWithAuthorizations_default_instance_;
 class AddRoleRequest;
 struct AddRoleRequestDefaultTypeInternal;
 extern AddRoleRequestDefaultTypeInternal _AddRoleRequest_default_instance_;
@@ -64,6 +67,9 @@ extern AddRoleResponseDefaultTypeInternal _AddRoleResponse_default_instance_;
 class Authorization;
 struct AuthorizationDefaultTypeInternal;
 extern AuthorizationDefaultTypeInternal _Authorization_default_instance_;
+class AuthorizationDetails;
+struct AuthorizationDetailsDefaultTypeInternal;
+extern AuthorizationDetailsDefaultTypeInternal _AuthorizationDetails_default_instance_;
 class AuthorizedPermissions;
 struct AuthorizedPermissionsDefaultTypeInternal;
 extern AuthorizedPermissionsDefaultTypeInternal _AuthorizedPermissions_default_instance_;
@@ -85,6 +91,12 @@ extern CreateFragmentRequestDefaultTypeInternal _CreateFragmentRequest_default_i
 class CreateFragmentResponse;
 struct CreateFragmentResponseDefaultTypeInternal;
 extern CreateFragmentResponseDefaultTypeInternal _CreateFragmentResponse_default_instance_;
+class CreateKeyFromExistingKeyAuthorizationsRequest;
+struct CreateKeyFromExistingKeyAuthorizationsRequestDefaultTypeInternal;
+extern CreateKeyFromExistingKeyAuthorizationsRequestDefaultTypeInternal _CreateKeyFromExistingKeyAuthorizationsRequest_default_instance_;
+class CreateKeyFromExistingKeyAuthorizationsResponse;
+struct CreateKeyFromExistingKeyAuthorizationsResponseDefaultTypeInternal;
+extern CreateKeyFromExistingKeyAuthorizationsResponseDefaultTypeInternal _CreateKeyFromExistingKeyAuthorizationsResponse_default_instance_;
 class CreateKeyRequest;
 struct CreateKeyRequestDefaultTypeInternal;
 extern CreateKeyRequestDefaultTypeInternal _CreateKeyRequest_default_instance_;
@@ -133,6 +145,12 @@ extern DeleteFragmentRequestDefaultTypeInternal _DeleteFragmentRequest_default_i
 class DeleteFragmentResponse;
 struct DeleteFragmentResponseDefaultTypeInternal;
 extern DeleteFragmentResponseDefaultTypeInternal _DeleteFragmentResponse_default_instance_;
+class DeleteKeyRequest;
+struct DeleteKeyRequestDefaultTypeInternal;
+extern DeleteKeyRequestDefaultTypeInternal _DeleteKeyRequest_default_instance_;
+class DeleteKeyResponse;
+struct DeleteKeyResponseDefaultTypeInternal;
+extern DeleteKeyResponseDefaultTypeInternal _DeleteKeyResponse_default_instance_;
 class DeleteLocationRequest;
 struct DeleteLocationRequestDefaultTypeInternal;
 extern DeleteLocationRequestDefaultTypeInternal _DeleteLocationRequest_default_instance_;
@@ -274,6 +292,12 @@ extern ListFragmentsRequestDefaultTypeInternal _ListFragmentsRequest_default_ins
 class ListFragmentsResponse;
 struct ListFragmentsResponseDefaultTypeInternal;
 extern ListFragmentsResponseDefaultTypeInternal _ListFragmentsResponse_default_instance_;
+class ListKeysRequest;
+struct ListKeysRequestDefaultTypeInternal;
+extern ListKeysRequestDefaultTypeInternal _ListKeysRequest_default_instance_;
+class ListKeysResponse;
+struct ListKeysResponseDefaultTypeInternal;
+extern ListKeysResponseDefaultTypeInternal _ListKeysResponse_default_instance_;
 class ListLocationsRequest;
 struct ListLocationsRequestDefaultTypeInternal;
 extern ListLocationsRequestDefaultTypeInternal _ListLocationsRequest_default_instance_;
@@ -394,6 +418,12 @@ extern RobotPartDefaultTypeInternal _RobotPart_default_instance_;
 class RobotPartHistoryEntry;
 struct RobotPartHistoryEntryDefaultTypeInternal;
 extern RobotPartHistoryEntryDefaultTypeInternal _RobotPartHistoryEntry_default_instance_;
+class RotateKeyRequest;
+struct RotateKeyRequestDefaultTypeInternal;
+extern RotateKeyRequestDefaultTypeInternal _RotateKeyRequest_default_instance_;
+class RotateKeyResponse;
+struct RotateKeyResponseDefaultTypeInternal;
+extern RotateKeyResponseDefaultTypeInternal _RotateKeyResponse_default_instance_;
 class RoverRentalRobot;
 struct RoverRentalRobotDefaultTypeInternal;
 extern RoverRentalRobotDefaultTypeInternal _RoverRentalRobot_default_instance_;
@@ -480,9 +510,11 @@ extern VersionHistoryDefaultTypeInternal _VersionHistory_default_instance_;
 }  // namespace viam
 PROTOBUF_NAMESPACE_OPEN
 template<> ::viam::app::v1::APIKey* Arena::CreateMaybeMessage<::viam::app::v1::APIKey>(Arena*);
+template<> ::viam::app::v1::APIKeyWithAuthorizations* Arena::CreateMaybeMessage<::viam::app::v1::APIKeyWithAuthorizations>(Arena*);
 template<> ::viam::app::v1::AddRoleRequest* Arena::CreateMaybeMessage<::viam::app::v1::AddRoleRequest>(Arena*);
 template<> ::viam::app::v1::AddRoleResponse* Arena::CreateMaybeMessage<::viam::app::v1::AddRoleResponse>(Arena*);
 template<> ::viam::app::v1::Authorization* Arena::CreateMaybeMessage<::viam::app::v1::Authorization>(Arena*);
+template<> ::viam::app::v1::AuthorizationDetails* Arena::CreateMaybeMessage<::viam::app::v1::AuthorizationDetails>(Arena*);
 template<> ::viam::app::v1::AuthorizedPermissions* Arena::CreateMaybeMessage<::viam::app::v1::AuthorizedPermissions>(Arena*);
 template<> ::viam::app::v1::ChangeRoleRequest* Arena::CreateMaybeMessage<::viam::app::v1::ChangeRoleRequest>(Arena*);
 template<> ::viam::app::v1::ChangeRoleResponse* Arena::CreateMaybeMessage<::viam::app::v1::ChangeRoleResponse>(Arena*);
@@ -490,6 +522,8 @@ template<> ::viam::app::v1::CheckPermissionsRequest* Arena::CreateMaybeMessage<:
 template<> ::viam::app::v1::CheckPermissionsResponse* Arena::CreateMaybeMessage<::viam::app::v1::CheckPermissionsResponse>(Arena*);
 template<> ::viam::app::v1::CreateFragmentRequest* Arena::CreateMaybeMessage<::viam::app::v1::CreateFragmentRequest>(Arena*);
 template<> ::viam::app::v1::CreateFragmentResponse* Arena::CreateMaybeMessage<::viam::app::v1::CreateFragmentResponse>(Arena*);
+template<> ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest* Arena::CreateMaybeMessage<::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsRequest>(Arena*);
+template<> ::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse* Arena::CreateMaybeMessage<::viam::app::v1::CreateKeyFromExistingKeyAuthorizationsResponse>(Arena*);
 template<> ::viam::app::v1::CreateKeyRequest* Arena::CreateMaybeMessage<::viam::app::v1::CreateKeyRequest>(Arena*);
 template<> ::viam::app::v1::CreateKeyResponse* Arena::CreateMaybeMessage<::viam::app::v1::CreateKeyResponse>(Arena*);
 template<> ::viam::app::v1::CreateLocationRequest* Arena::CreateMaybeMessage<::viam::app::v1::CreateLocationRequest>(Arena*);
@@ -506,6 +540,8 @@ template<> ::viam::app::v1::CreateRobotPartSecretRequest* Arena::CreateMaybeMess
 template<> ::viam::app::v1::CreateRobotPartSecretResponse* Arena::CreateMaybeMessage<::viam::app::v1::CreateRobotPartSecretResponse>(Arena*);
 template<> ::viam::app::v1::DeleteFragmentRequest* Arena::CreateMaybeMessage<::viam::app::v1::DeleteFragmentRequest>(Arena*);
 template<> ::viam::app::v1::DeleteFragmentResponse* Arena::CreateMaybeMessage<::viam::app::v1::DeleteFragmentResponse>(Arena*);
+template<> ::viam::app::v1::DeleteKeyRequest* Arena::CreateMaybeMessage<::viam::app::v1::DeleteKeyRequest>(Arena*);
+template<> ::viam::app::v1::DeleteKeyResponse* Arena::CreateMaybeMessage<::viam::app::v1::DeleteKeyResponse>(Arena*);
 template<> ::viam::app::v1::DeleteLocationRequest* Arena::CreateMaybeMessage<::viam::app::v1::DeleteLocationRequest>(Arena*);
 template<> ::viam::app::v1::DeleteLocationResponse* Arena::CreateMaybeMessage<::viam::app::v1::DeleteLocationResponse>(Arena*);
 template<> ::viam::app::v1::DeleteLocationSecretRequest* Arena::CreateMaybeMessage<::viam::app::v1::DeleteLocationSecretRequest>(Arena*);
@@ -553,6 +589,8 @@ template<> ::viam::app::v1::ListAuthorizationsRequest* Arena::CreateMaybeMessage
 template<> ::viam::app::v1::ListAuthorizationsResponse* Arena::CreateMaybeMessage<::viam::app::v1::ListAuthorizationsResponse>(Arena*);
 template<> ::viam::app::v1::ListFragmentsRequest* Arena::CreateMaybeMessage<::viam::app::v1::ListFragmentsRequest>(Arena*);
 template<> ::viam::app::v1::ListFragmentsResponse* Arena::CreateMaybeMessage<::viam::app::v1::ListFragmentsResponse>(Arena*);
+template<> ::viam::app::v1::ListKeysRequest* Arena::CreateMaybeMessage<::viam::app::v1::ListKeysRequest>(Arena*);
+template<> ::viam::app::v1::ListKeysResponse* Arena::CreateMaybeMessage<::viam::app::v1::ListKeysResponse>(Arena*);
 template<> ::viam::app::v1::ListLocationsRequest* Arena::CreateMaybeMessage<::viam::app::v1::ListLocationsRequest>(Arena*);
 template<> ::viam::app::v1::ListLocationsResponse* Arena::CreateMaybeMessage<::viam::app::v1::ListLocationsResponse>(Arena*);
 template<> ::viam::app::v1::ListModulesRequest* Arena::CreateMaybeMessage<::viam::app::v1::ListModulesRequest>(Arena*);
@@ -593,6 +631,8 @@ template<> ::viam::app::v1::ResendOrganizationInviteResponse* Arena::CreateMaybe
 template<> ::viam::app::v1::Robot* Arena::CreateMaybeMessage<::viam::app::v1::Robot>(Arena*);
 template<> ::viam::app::v1::RobotPart* Arena::CreateMaybeMessage<::viam::app::v1::RobotPart>(Arena*);
 template<> ::viam::app::v1::RobotPartHistoryEntry* Arena::CreateMaybeMessage<::viam::app::v1::RobotPartHistoryEntry>(Arena*);
+template<> ::viam::app::v1::RotateKeyRequest* Arena::CreateMaybeMessage<::viam::app::v1::RotateKeyRequest>(Arena*);
+template<> ::viam::app::v1::RotateKeyResponse* Arena::CreateMaybeMessage<::viam::app::v1::RotateKeyResponse>(Arena*);
 template<> ::viam::app::v1::RoverRentalRobot* Arena::CreateMaybeMessage<::viam::app::v1::RoverRentalRobot>(Arena*);
 template<> ::viam::app::v1::ShareLocationRequest* Arena::CreateMaybeMessage<::viam::app::v1::ShareLocationRequest>(Arena*);
 template<> ::viam::app::v1::ShareLocationResponse* Arena::CreateMaybeMessage<::viam::app::v1::ShareLocationResponse>(Arena*);
@@ -23742,6 +23782,1578 @@ class CreateKeyResponse final :
   mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
   friend struct ::TableStruct_app_2fv1_2fapp_2eproto;
 };
+// -------------------------------------------------------------------
+
+class DeleteKeyRequest final :
+    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.app.v1.DeleteKeyRequest) */ {
+ public:
+  inline DeleteKeyRequest() : DeleteKeyRequest(nullptr) {}
+  ~DeleteKeyRequest() override;
+  explicit PROTOBUF_CONSTEXPR DeleteKeyRequest(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
+
+  DeleteKeyRequest(const DeleteKeyRequest& from);
+  DeleteKeyRequest(DeleteKeyRequest&& from) noexcept
+    : DeleteKeyRequest() {
+    *this = ::std::move(from);
+  }
+
+  inline DeleteKeyRequest& operator=(const DeleteKeyRequest& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  inline DeleteKeyRequest& operator=(DeleteKeyRequest&& from) noexcept {
+    if (this == &from) return *this;
+    if (GetOwningArena() == from.GetOwningArena()
+  #ifdef PROTOBUF_FORCE_COPY_IN_MOVE
+        && GetOwningArena() != nullptr
+  #endif  // !PROTOBUF_FORCE_COPY_IN_MOVE
+    ) {
+      InternalSwap(&from);
+    } else {
+      CopyFrom(from);
+    }
+    return *this;
+  }
+
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* descriptor() {
+    return GetDescriptor();
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* GetDescriptor() {
+    return default_instance().GetMetadata().descriptor;
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
+    return default_instance().GetMetadata().reflection;
+  }
+  static const DeleteKeyRequest& default_instance() {
+    return *internal_default_instance();
+  }
+  static inline const DeleteKeyRequest* internal_default_instance() {
+    return reinterpret_cast<const DeleteKeyRequest*>(
+               &_DeleteKeyRequest_default_instance_);
+  }
+  static constexpr int kIndexInFileMessages =
+    141;
+
+  friend void swap(DeleteKeyRequest& a, DeleteKeyRequest& b) {
+    a.Swap(&b);
+  }
+  inline void Swap(DeleteKeyRequest* other) {
+    if (other == this) return;
+  #ifdef PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() != nullptr &&
+        GetOwningArena() == other->GetOwningArena()) {
+   #else  // PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() == other->GetOwningArena()) {
+  #endif  // !PROTOBUF_FORCE_COPY_IN_SWAP
+      InternalSwap(other);
+    } else {
+      ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
+    }
+  }
+  void UnsafeArenaSwap(DeleteKeyRequest* other) {
+    if (other == this) return;
+    GOOGLE_DCHECK(GetOwningArena() == other->GetOwningArena());
+    InternalSwap(other);
+  }
+
+  // implements Message ----------------------------------------------
+
+  DeleteKeyRequest* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
+    return CreateMaybeMessage<DeleteKeyRequest>(arena);
+  }
+  using ::PROTOBUF_NAMESPACE_ID::Message::CopyFrom;
+  void CopyFrom(const DeleteKeyRequest& from);
+  using ::PROTOBUF_NAMESPACE_ID::Message::MergeFrom;
+  void MergeFrom(const DeleteKeyRequest& from);
+  private:
+  static void MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to, const ::PROTOBUF_NAMESPACE_ID::Message& from);
+  public:
+  PROTOBUF_ATTRIBUTE_REINITIALIZES void Clear() final;
+  bool IsInitialized() const final;
+
+  size_t ByteSizeLong() const final;
+  const char* _InternalParse(const char* ptr, ::PROTOBUF_NAMESPACE_ID::internal::ParseContext* ctx) final;
+  uint8_t* _InternalSerialize(
+      uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const final;
+  int GetCachedSize() const final { return _cached_size_.Get(); }
+
+  private:
+  void SharedCtor();
+  void SharedDtor();
+  void SetCachedSize(int size) const final;
+  void InternalSwap(DeleteKeyRequest* other);
+
+  private:
+  friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
+  static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
+    return "viam.app.v1.DeleteKeyRequest";
+  }
+  protected:
+  explicit DeleteKeyRequest(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                       bool is_message_owned = false);
+  public:
+
+  static const ClassData _class_data_;
+  const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*GetClassData() const final;
+
+  ::PROTOBUF_NAMESPACE_ID::Metadata GetMetadata() const final;
+
+  // nested types ----------------------------------------------------
+
+  // accessors -------------------------------------------------------
+
+  enum : int {
+    kIdFieldNumber = 1,
+  };
+  // string id = 1 [json_name = "id"];
+  void clear_id();
+  const std::string& id() const;
+  template <typename ArgT0 = const std::string&, typename... ArgT>
+  void set_id(ArgT0&& arg0, ArgT... args);
+  std::string* mutable_id();
+  PROTOBUF_NODISCARD std::string* release_id();
+  void set_allocated_id(std::string* id);
+  private:
+  const std::string& _internal_id() const;
+  inline PROTOBUF_ALWAYS_INLINE void _internal_set_id(const std::string& value);
+  std::string* _internal_mutable_id();
+  public:
+
+  // @@protoc_insertion_point(class_scope:viam.app.v1.DeleteKeyRequest)
+ private:
+  class _Internal;
+
+  template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
+  typedef void InternalArenaConstructable_;
+  typedef void DestructorSkippable_;
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr id_;
+  mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
+  friend struct ::TableStruct_app_2fv1_2fapp_2eproto;
+};
+// -------------------------------------------------------------------
+
+class DeleteKeyResponse final :
+    public ::PROTOBUF_NAMESPACE_ID::internal::ZeroFieldsBase /* @@protoc_insertion_point(class_definition:viam.app.v1.DeleteKeyResponse) */ {
+ public:
+  inline DeleteKeyResponse() : DeleteKeyResponse(nullptr) {}
+  explicit PROTOBUF_CONSTEXPR DeleteKeyResponse(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
+
+  DeleteKeyResponse(const DeleteKeyResponse& from);
+  DeleteKeyResponse(DeleteKeyResponse&& from) noexcept
+    : DeleteKeyResponse() {
+    *this = ::std::move(from);
+  }
+
+  inline DeleteKeyResponse& operator=(const DeleteKeyResponse& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  inline DeleteKeyResponse& operator=(DeleteKeyResponse&& from) noexcept {
+    if (this == &from) return *this;
+    if (GetOwningArena() == from.GetOwningArena()
+  #ifdef PROTOBUF_FORCE_COPY_IN_MOVE
+        && GetOwningArena() != nullptr
+  #endif  // !PROTOBUF_FORCE_COPY_IN_MOVE
+    ) {
+      InternalSwap(&from);
+    } else {
+      CopyFrom(from);
+    }
+    return *this;
+  }
+
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* descriptor() {
+    return GetDescriptor();
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* GetDescriptor() {
+    return default_instance().GetMetadata().descriptor;
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
+    return default_instance().GetMetadata().reflection;
+  }
+  static const DeleteKeyResponse& default_instance() {
+    return *internal_default_instance();
+  }
+  static inline const DeleteKeyResponse* internal_default_instance() {
+    return reinterpret_cast<const DeleteKeyResponse*>(
+               &_DeleteKeyResponse_default_instance_);
+  }
+  static constexpr int kIndexInFileMessages =
+    142;
+
+  friend void swap(DeleteKeyResponse& a, DeleteKeyResponse& b) {
+    a.Swap(&b);
+  }
+  inline void Swap(DeleteKeyResponse* other) {
+    if (other == this) return;
+  #ifdef PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() != nullptr &&
+        GetOwningArena() == other->GetOwningArena()) {
+   #else  // PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() == other->GetOwningArena()) {
+  #endif  // !PROTOBUF_FORCE_COPY_IN_SWAP
+      InternalSwap(other);
+    } else {
+      ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
+    }
+  }
+  void UnsafeArenaSwap(DeleteKeyResponse* other) {
+    if (other == this) return;
+    GOOGLE_DCHECK(GetOwningArena() == other->GetOwningArena());
+    InternalSwap(other);
+  }
+
+  // implements Message ----------------------------------------------
+
+  DeleteKeyResponse* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
+    return CreateMaybeMessage<DeleteKeyResponse>(arena);
+  }
+  using ::PROTOBUF_NAMESPACE_ID::internal::ZeroFieldsBase::CopyFrom;
+  inline void CopyFrom(const DeleteKeyResponse& from) {
+    ::PROTOBUF_NAMESPACE_ID::internal::ZeroFieldsBase::CopyImpl(this, from);
+  }
+  using ::PROTOBUF_NAMESPACE_ID::internal::ZeroFieldsBase::MergeFrom;
+  void MergeFrom(const DeleteKeyResponse& from) {
+    ::PROTOBUF_NAMESPACE_ID::internal::ZeroFieldsBase::MergeImpl(this, from);
+  }
+  public:
+
+  private:
+  friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
+  static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
+    return "viam.app.v1.DeleteKeyResponse";
+  }
+  protected:
+  explicit DeleteKeyResponse(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                       bool is_message_owned = false);
+  public:
+
+  static const ClassData _class_data_;
+  const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*GetClassData() const final;
+
+  ::PROTOBUF_NAMESPACE_ID::Metadata GetMetadata() const final;
+
+  // nested types ----------------------------------------------------
+
+  // accessors -------------------------------------------------------
+
+  // @@protoc_insertion_point(class_scope:viam.app.v1.DeleteKeyResponse)
+ private:
+  class _Internal;
+
+  template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
+  typedef void InternalArenaConstructable_;
+  typedef void DestructorSkippable_;
+  friend struct ::TableStruct_app_2fv1_2fapp_2eproto;
+};
+// -------------------------------------------------------------------
+
+class AuthorizationDetails final :
+    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.app.v1.AuthorizationDetails) */ {
+ public:
+  inline AuthorizationDetails() : AuthorizationDetails(nullptr) {}
+  ~AuthorizationDetails() override;
+  explicit PROTOBUF_CONSTEXPR AuthorizationDetails(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
+
+  AuthorizationDetails(const AuthorizationDetails& from);
+  AuthorizationDetails(AuthorizationDetails&& from) noexcept
+    : AuthorizationDetails() {
+    *this = ::std::move(from);
+  }
+
+  inline AuthorizationDetails& operator=(const AuthorizationDetails& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  inline AuthorizationDetails& operator=(AuthorizationDetails&& from) noexcept {
+    if (this == &from) return *this;
+    if (GetOwningArena() == from.GetOwningArena()
+  #ifdef PROTOBUF_FORCE_COPY_IN_MOVE
+        && GetOwningArena() != nullptr
+  #endif  // !PROTOBUF_FORCE_COPY_IN_MOVE
+    ) {
+      InternalSwap(&from);
+    } else {
+      CopyFrom(from);
+    }
+    return *this;
+  }
+
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* descriptor() {
+    return GetDescriptor();
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* GetDescriptor() {
+    return default_instance().GetMetadata().descriptor;
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
+    return default_instance().GetMetadata().reflection;
+  }
+  static const AuthorizationDetails& default_instance() {
+    return *internal_default_instance();
+  }
+  static inline const AuthorizationDetails* internal_default_instance() {
+    return reinterpret_cast<const AuthorizationDetails*>(
+               &_AuthorizationDetails_default_instance_);
+  }
+  static constexpr int kIndexInFileMessages =
+    143;
+
+  friend void swap(AuthorizationDetails& a, AuthorizationDetails& b) {
+    a.Swap(&b);
+  }
+  inline void Swap(AuthorizationDetails* other) {
+    if (other == this) return;
+  #ifdef PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() != nullptr &&
+        GetOwningArena() == other->GetOwningArena()) {
+   #else  // PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() == other->GetOwningArena()) {
+  #endif  // !PROTOBUF_FORCE_COPY_IN_SWAP
+      InternalSwap(other);
+    } else {
+      ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
+    }
+  }
+  void UnsafeArenaSwap(AuthorizationDetails* other) {
+    if (other == this) return;
+    GOOGLE_DCHECK(GetOwningArena() == other->GetOwningArena());
+    InternalSwap(other);
+  }
+
+  // implements Message ----------------------------------------------
+
+  AuthorizationDetails* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
+    return CreateMaybeMessage<AuthorizationDetails>(arena);
+  }
+  using ::PROTOBUF_NAMESPACE_ID::Message::CopyFrom;
+  void CopyFrom(const AuthorizationDetails& from);
+  using ::PROTOBUF_NAMESPACE_ID::Message::MergeFrom;
+  void MergeFrom(const AuthorizationDetails& from);
+  private:
+  static void MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to, const ::PROTOBUF_NAMESPACE_ID::Message& from);
+  public:
+  PROTOBUF_ATTRIBUTE_REINITIALIZES void Clear() final;
+  bool IsInitialized() const final;
+
+  size_t ByteSizeLong() const final;
+  const char* _InternalParse(const char* ptr, ::PROTOBUF_NAMESPACE_ID::internal::ParseContext* ctx) final;
+  uint8_t* _InternalSerialize(
+      uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const final;
+  int GetCachedSize() const final { return _cached_size_.Get(); }
+
+  private:
+  void SharedCtor();
+  void SharedDtor();
+  void SetCachedSize(int size) const final;
+  void InternalSwap(AuthorizationDetails* other);
+
+  private:
+  friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
+  static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
+    return "viam.app.v1.AuthorizationDetails";
+  }
+  protected:
+  explicit AuthorizationDetails(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                       bool is_message_owned = false);
+  public:
+
+  static const ClassData _class_data_;
+  const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*GetClassData() const final;
+
+  ::PROTOBUF_NAMESPACE_ID::Metadata GetMetadata() const final;
+
+  // nested types ----------------------------------------------------
+
+  // accessors -------------------------------------------------------
+
+  enum : int {
+    kAuthorizationTypeFieldNumber = 1,
+    kAuthorizationIdFieldNumber = 2,
+    kResourceTypeFieldNumber = 3,
+    kResourceIdFieldNumber = 4,
+    kOrgIdFieldNumber = 5,
+  };
+  // string authorization_type = 1 [json_name = "authorizationType"];
+  void clear_authorization_type();
+  const std::string& authorization_type() const;
+  template <typename ArgT0 = const std::string&, typename... ArgT>
+  void set_authorization_type(ArgT0&& arg0, ArgT... args);
+  std::string* mutable_authorization_type();
+  PROTOBUF_NODISCARD std::string* release_authorization_type();
+  void set_allocated_authorization_type(std::string* authorization_type);
+  private:
+  const std::string& _internal_authorization_type() const;
+  inline PROTOBUF_ALWAYS_INLINE void _internal_set_authorization_type(const std::string& value);
+  std::string* _internal_mutable_authorization_type();
+  public:
+
+  // string authorization_id = 2 [json_name = "authorizationId"];
+  void clear_authorization_id();
+  const std::string& authorization_id() const;
+  template <typename ArgT0 = const std::string&, typename... ArgT>
+  void set_authorization_id(ArgT0&& arg0, ArgT... args);
+  std::string* mutable_authorization_id();
+  PROTOBUF_NODISCARD std::string* release_authorization_id();
+  void set_allocated_authorization_id(std::string* authorization_id);
+  private:
+  const std::string& _internal_authorization_id() const;
+  inline PROTOBUF_ALWAYS_INLINE void _internal_set_authorization_id(const std::string& value);
+  std::string* _internal_mutable_authorization_id();
+  public:
+
+  // string resource_type = 3 [json_name = "resourceType"];
+  void clear_resource_type();
+  const std::string& resource_type() const;
+  template <typename ArgT0 = const std::string&, typename... ArgT>
+  void set_resource_type(ArgT0&& arg0, ArgT... args);
+  std::string* mutable_resource_type();
+  PROTOBUF_NODISCARD std::string* release_resource_type();
+  void set_allocated_resource_type(std::string* resource_type);
+  private:
+  const std::string& _internal_resource_type() const;
+  inline PROTOBUF_ALWAYS_INLINE void _internal_set_resource_type(const std::string& value);
+  std::string* _internal_mutable_resource_type();
+  public:
+
+  // string resource_id = 4 [json_name = "resourceId"];
+  void clear_resource_id();
+  const std::string& resource_id() const;
+  template <typename ArgT0 = const std::string&, typename... ArgT>
+  void set_resource_id(ArgT0&& arg0, ArgT... args);
+  std::string* mutable_resource_id();
+  PROTOBUF_NODISCARD std::string* release_resource_id();
+  void set_allocated_resource_id(std::string* resource_id);
+  private:
+  const std::string& _internal_resource_id() const;
+  inline PROTOBUF_ALWAYS_INLINE void _internal_set_resource_id(const std::string& value);
+  std::string* _internal_mutable_resource_id();
+  public:
+
+  // string org_id = 5 [json_name = "orgId"];
+  void clear_org_id();
+  const std::string& org_id() const;
+  template <typename ArgT0 = const std::string&, typename... ArgT>
+  void set_org_id(ArgT0&& arg0, ArgT... args);
+  std::string* mutable_org_id();
+  PROTOBUF_NODISCARD std::string* release_org_id();
+  void set_allocated_org_id(std::string* org_id);
+  private:
+  const std::string& _internal_org_id() const;
+  inline PROTOBUF_ALWAYS_INLINE void _internal_set_org_id(const std::string& value);
+  std::string* _internal_mutable_org_id();
+  public:
+
+  // @@protoc_insertion_point(class_scope:viam.app.v1.AuthorizationDetails)
+ private:
+  class _Internal;
+
+  template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
+  typedef void InternalArenaConstructable_;
+  typedef void DestructorSkippable_;
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr authorization_type_;
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr authorization_id_;
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr resource_type_;
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr resource_id_;
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr org_id_;
+  mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
+  friend struct ::TableStruct_app_2fv1_2fapp_2eproto;
+};
+// -------------------------------------------------------------------
+
+class APIKeyWithAuthorizations final :
+    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.app.v1.APIKeyWithAuthorizations) */ {
+ public:
+  inline APIKeyWithAuthorizations() : APIKeyWithAuthorizations(nullptr) {}
+  ~APIKeyWithAuthorizations() override;
+  explicit PROTOBUF_CONSTEXPR APIKeyWithAuthorizations(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
+
+  APIKeyWithAuthorizations(const APIKeyWithAuthorizations& from);
+  APIKeyWithAuthorizations(APIKeyWithAuthorizations&& from) noexcept
+    : APIKeyWithAuthorizations() {
+    *this = ::std::move(from);
+  }
+
+  inline APIKeyWithAuthorizations& operator=(const APIKeyWithAuthorizations& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  inline APIKeyWithAuthorizations& operator=(APIKeyWithAuthorizations&& from) noexcept {
+    if (this == &from) return *this;
+    if (GetOwningArena() == from.GetOwningArena()
+  #ifdef PROTOBUF_FORCE_COPY_IN_MOVE
+        && GetOwningArena() != nullptr
+  #endif  // !PROTOBUF_FORCE_COPY_IN_MOVE
+    ) {
+      InternalSwap(&from);
+    } else {
+      CopyFrom(from);
+    }
+    return *this;
+  }
+
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* descriptor() {
+    return GetDescriptor();
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* GetDescriptor() {
+    return default_instance().GetMetadata().descriptor;
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
+    return default_instance().GetMetadata().reflection;
+  }
+  static const APIKeyWithAuthorizations& default_instance() {
+    return *internal_default_instance();
+  }
+  static inline const APIKeyWithAuthorizations* internal_default_instance() {
+    return reinterpret_cast<const APIKeyWithAuthorizations*>(
+               &_APIKeyWithAuthorizations_default_instance_);
+  }
+  static constexpr int kIndexInFileMessages =
+    144;
+
+  friend void swap(APIKeyWithAuthorizations& a, APIKeyWithAuthorizations& b) {
+    a.Swap(&b);
+  }
+  inline void Swap(APIKeyWithAuthorizations* other) {
+    if (other == this) return;
+  #ifdef PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() != nullptr &&
+        GetOwningArena() == other->GetOwningArena()) {
+   #else  // PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() == other->GetOwningArena()) {
+  #endif  // !PROTOBUF_FORCE_COPY_IN_SWAP
+      InternalSwap(other);
+    } else {
+      ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
+    }
+  }
+  void UnsafeArenaSwap(APIKeyWithAuthorizations* other) {
+    if (other == this) return;
+    GOOGLE_DCHECK(GetOwningArena() == other->GetOwningArena());
+    InternalSwap(other);
+  }
+
+  // implements Message ----------------------------------------------
+
+  APIKeyWithAuthorizations* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
+    return CreateMaybeMessage<APIKeyWithAuthorizations>(arena);
+  }
+  using ::PROTOBUF_NAMESPACE_ID::Message::CopyFrom;
+  void CopyFrom(const APIKeyWithAuthorizations& from);
+  using ::PROTOBUF_NAMESPACE_ID::Message::MergeFrom;
+  void MergeFrom(const APIKeyWithAuthorizations& from);
+  private:
+  static void MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to, const ::PROTOBUF_NAMESPACE_ID::Message& from);
+  public:
+  PROTOBUF_ATTRIBUTE_REINITIALIZES void Clear() final;
+  bool IsInitialized() const final;
+
+  size_t ByteSizeLong() const final;
+  const char* _InternalParse(const char* ptr, ::PROTOBUF_NAMESPACE_ID::internal::ParseContext* ctx) final;
+  uint8_t* _InternalSerialize(
+      uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const final;
+  int GetCachedSize() const final { return _cached_size_.Get(); }
+
+  private:
+  void SharedCtor();
+  void SharedDtor();
+  void SetCachedSize(int size) const final;
+  void InternalSwap(APIKeyWithAuthorizations* other);
+
+  private:
+  friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
+  static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
+    return "viam.app.v1.APIKeyWithAuthorizations";
+  }
+  protected:
+  explicit APIKeyWithAuthorizations(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                       bool is_message_owned = false);
+  public:
+
+  static const ClassData _class_data_;
+  const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*GetClassData() const final;
+
+  ::PROTOBUF_NAMESPACE_ID::Metadata GetMetadata() const final;
+
+  // nested types ----------------------------------------------------
+
+  // accessors -------------------------------------------------------
+
+  enum : int {
+    kAuthorizationsFieldNumber = 2,
+    kApiKeyFieldNumber = 1,
+  };
+  // repeated .viam.app.v1.AuthorizationDetails authorizations = 2 [json_name = "authorizations"];
+  int authorizations_size() const;
+  private:
+  int _internal_authorizations_size() const;
+  public:
+  void clear_authorizations();
+  ::viam::app::v1::AuthorizationDetails* mutable_authorizations(int index);
+  ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::app::v1::AuthorizationDetails >*
+      mutable_authorizations();
+  private:
+  const ::viam::app::v1::AuthorizationDetails& _internal_authorizations(int index) const;
+  ::viam::app::v1::AuthorizationDetails* _internal_add_authorizations();
+  public:
+  const ::viam::app::v1::AuthorizationDetails& authorizations(int index) const;
+  ::viam::app::v1::AuthorizationDetails* add_authorizations();
+  const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::app::v1::AuthorizationDetails >&
+      authorizations() const;
+
+  // .viam.app.v1.APIKey api_key = 1 [json_name = "apiKey"];
+  bool has_api_key() const;
+  private:
+  bool _internal_has_api_key() const;
+  public:
+  void clear_api_key();
+  const ::viam::app::v1::APIKey& api_key() const;
+  PROTOBUF_NODISCARD ::viam::app::v1::APIKey* release_api_key();
+  ::viam::app::v1::APIKey* mutable_api_key();
+  void set_allocated_api_key(::viam::app::v1::APIKey* api_key);
+  private:
+  const ::viam::app::v1::APIKey& _internal_api_key() const;
+  ::viam::app::v1::APIKey* _internal_mutable_api_key();
+  public:
+  void unsafe_arena_set_allocated_api_key(
+      ::viam::app::v1::APIKey* api_key);
+  ::viam::app::v1::APIKey* unsafe_arena_release_api_key();
+
+  // @@protoc_insertion_point(class_scope:viam.app.v1.APIKeyWithAuthorizations)
+ private:
+  class _Internal;
+
+  template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
+  typedef void InternalArenaConstructable_;
+  typedef void DestructorSkippable_;
+  ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::app::v1::AuthorizationDetails > authorizations_;
+  ::viam::app::v1::APIKey* api_key_;
+  mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
+  friend struct ::TableStruct_app_2fv1_2fapp_2eproto;
+};
+// -------------------------------------------------------------------
+
+class ListKeysRequest final :
+    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.app.v1.ListKeysRequest) */ {
+ public:
+  inline ListKeysRequest() : ListKeysRequest(nullptr) {}
+  ~ListKeysRequest() override;
+  explicit PROTOBUF_CONSTEXPR ListKeysRequest(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
+
+  ListKeysRequest(const ListKeysRequest& from);
+  ListKeysRequest(ListKeysRequest&& from) noexcept
+    : ListKeysRequest() {
+    *this = ::std::move(from);
+  }
+
+  inline ListKeysRequest& operator=(const ListKeysRequest& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  inline ListKeysRequest& operator=(ListKeysRequest&& from) noexcept {
+    if (this == &from) return *this;
+    if (GetOwningArena() == from.GetOwningArena()
+  #ifdef PROTOBUF_FORCE_COPY_IN_MOVE
+        && GetOwningArena() != nullptr
+  #endif  // !PROTOBUF_FORCE_COPY_IN_MOVE
+    ) {
+      InternalSwap(&from);
+    } else {
+      CopyFrom(from);
+    }
+    return *this;
+  }
+
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* descriptor() {
+    return GetDescriptor();
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* GetDescriptor() {
+    return default_instance().GetMetadata().descriptor;
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
+    return default_instance().GetMetadata().reflection;
+  }
+  static const ListKeysRequest& default_instance() {
+    return *internal_default_instance();
+  }
+  static inline const ListKeysRequest* internal_default_instance() {
+    return reinterpret_cast<const ListKeysRequest*>(
+               &_ListKeysRequest_default_instance_);
+  }
+  static constexpr int kIndexInFileMessages =
+    145;
+
+  friend void swap(ListKeysRequest& a, ListKeysRequest& b) {
+    a.Swap(&b);
+  }
+  inline void Swap(ListKeysRequest* other) {
+    if (other == this) return;
+  #ifdef PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() != nullptr &&
+        GetOwningArena() == other->GetOwningArena()) {
+   #else  // PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() == other->GetOwningArena()) {
+  #endif  // !PROTOBUF_FORCE_COPY_IN_SWAP
+      InternalSwap(other);
+    } else {
+      ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
+    }
+  }
+  void UnsafeArenaSwap(ListKeysRequest* other) {
+    if (other == this) return;
+    GOOGLE_DCHECK(GetOwningArena() == other->GetOwningArena());
+    InternalSwap(other);
+  }
+
+  // implements Message ----------------------------------------------
+
+  ListKeysRequest* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
+    return CreateMaybeMessage<ListKeysRequest>(arena);
+  }
+  using ::PROTOBUF_NAMESPACE_ID::Message::CopyFrom;
+  void CopyFrom(const ListKeysRequest& from);
+  using ::PROTOBUF_NAMESPACE_ID::Message::MergeFrom;
+  void MergeFrom(const ListKeysRequest& from);
+  private:
+  static void MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to, const ::PROTOBUF_NAMESPACE_ID::Message& from);
+  public:
+  PROTOBUF_ATTRIBUTE_REINITIALIZES void Clear() final;
+  bool IsInitialized() const final;
+
+  size_t ByteSizeLong() const final;
+  const char* _InternalParse(const char* ptr, ::PROTOBUF_NAMESPACE_ID::internal::ParseContext* ctx) final;
+  uint8_t* _InternalSerialize(
+      uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const final;
+  int GetCachedSize() const final { return _cached_size_.Get(); }
+
+  private:
+  void SharedCtor();
+  void SharedDtor();
+  void SetCachedSize(int size) const final;
+  void InternalSwap(ListKeysRequest* other);
+
+  private:
+  friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
+  static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
+    return "viam.app.v1.ListKeysRequest";
+  }
+  protected:
+  explicit ListKeysRequest(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                       bool is_message_owned = false);
+  public:
+
+  static const ClassData _class_data_;
+  const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*GetClassData() const final;
+
+  ::PROTOBUF_NAMESPACE_ID::Metadata GetMetadata() const final;
+
+  // nested types ----------------------------------------------------
+
+  // accessors -------------------------------------------------------
+
+  enum : int {
+    kOrgIdFieldNumber = 1,
+  };
+  // string org_id = 1 [json_name = "orgId"];
+  void clear_org_id();
+  const std::string& org_id() const;
+  template <typename ArgT0 = const std::string&, typename... ArgT>
+  void set_org_id(ArgT0&& arg0, ArgT... args);
+  std::string* mutable_org_id();
+  PROTOBUF_NODISCARD std::string* release_org_id();
+  void set_allocated_org_id(std::string* org_id);
+  private:
+  const std::string& _internal_org_id() const;
+  inline PROTOBUF_ALWAYS_INLINE void _internal_set_org_id(const std::string& value);
+  std::string* _internal_mutable_org_id();
+  public:
+
+  // @@protoc_insertion_point(class_scope:viam.app.v1.ListKeysRequest)
+ private:
+  class _Internal;
+
+  template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
+  typedef void InternalArenaConstructable_;
+  typedef void DestructorSkippable_;
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr org_id_;
+  mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
+  friend struct ::TableStruct_app_2fv1_2fapp_2eproto;
+};
+// -------------------------------------------------------------------
+
+class ListKeysResponse final :
+    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.app.v1.ListKeysResponse) */ {
+ public:
+  inline ListKeysResponse() : ListKeysResponse(nullptr) {}
+  ~ListKeysResponse() override;
+  explicit PROTOBUF_CONSTEXPR ListKeysResponse(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
+
+  ListKeysResponse(const ListKeysResponse& from);
+  ListKeysResponse(ListKeysResponse&& from) noexcept
+    : ListKeysResponse() {
+    *this = ::std::move(from);
+  }
+
+  inline ListKeysResponse& operator=(const ListKeysResponse& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  inline ListKeysResponse& operator=(ListKeysResponse&& from) noexcept {
+    if (this == &from) return *this;
+    if (GetOwningArena() == from.GetOwningArena()
+  #ifdef PROTOBUF_FORCE_COPY_IN_MOVE
+        && GetOwningArena() != nullptr
+  #endif  // !PROTOBUF_FORCE_COPY_IN_MOVE
+    ) {
+      InternalSwap(&from);
+    } else {
+      CopyFrom(from);
+    }
+    return *this;
+  }
+
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* descriptor() {
+    return GetDescriptor();
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* GetDescriptor() {
+    return default_instance().GetMetadata().descriptor;
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
+    return default_instance().GetMetadata().reflection;
+  }
+  static const ListKeysResponse& default_instance() {
+    return *internal_default_instance();
+  }
+  static inline const ListKeysResponse* internal_default_instance() {
+    return reinterpret_cast<const ListKeysResponse*>(
+               &_ListKeysResponse_default_instance_);
+  }
+  static constexpr int kIndexInFileMessages =
+    146;
+
+  friend void swap(ListKeysResponse& a, ListKeysResponse& b) {
+    a.Swap(&b);
+  }
+  inline void Swap(ListKeysResponse* other) {
+    if (other == this) return;
+  #ifdef PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() != nullptr &&
+        GetOwningArena() == other->GetOwningArena()) {
+   #else  // PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() == other->GetOwningArena()) {
+  #endif  // !PROTOBUF_FORCE_COPY_IN_SWAP
+      InternalSwap(other);
+    } else {
+      ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
+    }
+  }
+  void UnsafeArenaSwap(ListKeysResponse* other) {
+    if (other == this) return;
+    GOOGLE_DCHECK(GetOwningArena() == other->GetOwningArena());
+    InternalSwap(other);
+  }
+
+  // implements Message ----------------------------------------------
+
+  ListKeysResponse* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
+    return CreateMaybeMessage<ListKeysResponse>(arena);
+  }
+  using ::PROTOBUF_NAMESPACE_ID::Message::CopyFrom;
+  void CopyFrom(const ListKeysResponse& from);
+  using ::PROTOBUF_NAMESPACE_ID::Message::MergeFrom;
+  void MergeFrom(const ListKeysResponse& from);
+  private:
+  static void MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to, const ::PROTOBUF_NAMESPACE_ID::Message& from);
+  public:
+  PROTOBUF_ATTRIBUTE_REINITIALIZES void Clear() final;
+  bool IsInitialized() const final;
+
+  size_t ByteSizeLong() const final;
+  const char* _InternalParse(const char* ptr, ::PROTOBUF_NAMESPACE_ID::internal::ParseContext* ctx) final;
+  uint8_t* _InternalSerialize(
+      uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const final;
+  int GetCachedSize() const final { return _cached_size_.Get(); }
+
+  private:
+  void SharedCtor();
+  void SharedDtor();
+  void SetCachedSize(int size) const final;
+  void InternalSwap(ListKeysResponse* other);
+
+  private:
+  friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
+  static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
+    return "viam.app.v1.ListKeysResponse";
+  }
+  protected:
+  explicit ListKeysResponse(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                       bool is_message_owned = false);
+  public:
+
+  static const ClassData _class_data_;
+  const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*GetClassData() const final;
+
+  ::PROTOBUF_NAMESPACE_ID::Metadata GetMetadata() const final;
+
+  // nested types ----------------------------------------------------
+
+  // accessors -------------------------------------------------------
+
+  enum : int {
+    kApiKeysFieldNumber = 1,
+  };
+  // repeated .viam.app.v1.APIKeyWithAuthorizations api_keys = 1 [json_name = "apiKeys"];
+  int api_keys_size() const;
+  private:
+  int _internal_api_keys_size() const;
+  public:
+  void clear_api_keys();
+  ::viam::app::v1::APIKeyWithAuthorizations* mutable_api_keys(int index);
+  ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::app::v1::APIKeyWithAuthorizations >*
+      mutable_api_keys();
+  private:
+  const ::viam::app::v1::APIKeyWithAuthorizations& _internal_api_keys(int index) const;
+  ::viam::app::v1::APIKeyWithAuthorizations* _internal_add_api_keys();
+  public:
+  const ::viam::app::v1::APIKeyWithAuthorizations& api_keys(int index) const;
+  ::viam::app::v1::APIKeyWithAuthorizations* add_api_keys();
+  const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::app::v1::APIKeyWithAuthorizations >&
+      api_keys() const;
+
+  // @@protoc_insertion_point(class_scope:viam.app.v1.ListKeysResponse)
+ private:
+  class _Internal;
+
+  template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
+  typedef void InternalArenaConstructable_;
+  typedef void DestructorSkippable_;
+  ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::app::v1::APIKeyWithAuthorizations > api_keys_;
+  mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
+  friend struct ::TableStruct_app_2fv1_2fapp_2eproto;
+};
+// -------------------------------------------------------------------
+
+class RotateKeyRequest final :
+    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.app.v1.RotateKeyRequest) */ {
+ public:
+  inline RotateKeyRequest() : RotateKeyRequest(nullptr) {}
+  ~RotateKeyRequest() override;
+  explicit PROTOBUF_CONSTEXPR RotateKeyRequest(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
+
+  RotateKeyRequest(const RotateKeyRequest& from);
+  RotateKeyRequest(RotateKeyRequest&& from) noexcept
+    : RotateKeyRequest() {
+    *this = ::std::move(from);
+  }
+
+  inline RotateKeyRequest& operator=(const RotateKeyRequest& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  inline RotateKeyRequest& operator=(RotateKeyRequest&& from) noexcept {
+    if (this == &from) return *this;
+    if (GetOwningArena() == from.GetOwningArena()
+  #ifdef PROTOBUF_FORCE_COPY_IN_MOVE
+        && GetOwningArena() != nullptr
+  #endif  // !PROTOBUF_FORCE_COPY_IN_MOVE
+    ) {
+      InternalSwap(&from);
+    } else {
+      CopyFrom(from);
+    }
+    return *this;
+  }
+
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* descriptor() {
+    return GetDescriptor();
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* GetDescriptor() {
+    return default_instance().GetMetadata().descriptor;
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
+    return default_instance().GetMetadata().reflection;
+  }
+  static const RotateKeyRequest& default_instance() {
+    return *internal_default_instance();
+  }
+  static inline const RotateKeyRequest* internal_default_instance() {
+    return reinterpret_cast<const RotateKeyRequest*>(
+               &_RotateKeyRequest_default_instance_);
+  }
+  static constexpr int kIndexInFileMessages =
+    147;
+
+  friend void swap(RotateKeyRequest& a, RotateKeyRequest& b) {
+    a.Swap(&b);
+  }
+  inline void Swap(RotateKeyRequest* other) {
+    if (other == this) return;
+  #ifdef PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() != nullptr &&
+        GetOwningArena() == other->GetOwningArena()) {
+   #else  // PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() == other->GetOwningArena()) {
+  #endif  // !PROTOBUF_FORCE_COPY_IN_SWAP
+      InternalSwap(other);
+    } else {
+      ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
+    }
+  }
+  void UnsafeArenaSwap(RotateKeyRequest* other) {
+    if (other == this) return;
+    GOOGLE_DCHECK(GetOwningArena() == other->GetOwningArena());
+    InternalSwap(other);
+  }
+
+  // implements Message ----------------------------------------------
+
+  RotateKeyRequest* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
+    return CreateMaybeMessage<RotateKeyRequest>(arena);
+  }
+  using ::PROTOBUF_NAMESPACE_ID::Message::CopyFrom;
+  void CopyFrom(const RotateKeyRequest& from);
+  using ::PROTOBUF_NAMESPACE_ID::Message::MergeFrom;
+  void MergeFrom(const RotateKeyRequest& from);
+  private:
+  static void MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to, const ::PROTOBUF_NAMESPACE_ID::Message& from);
+  public:
+  PROTOBUF_ATTRIBUTE_REINITIALIZES void Clear() final;
+  bool IsInitialized() const final;
+
+  size_t ByteSizeLong() const final;
+  const char* _InternalParse(const char* ptr, ::PROTOBUF_NAMESPACE_ID::internal::ParseContext* ctx) final;
+  uint8_t* _InternalSerialize(
+      uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const final;
+  int GetCachedSize() const final { return _cached_size_.Get(); }
+
+  private:
+  void SharedCtor();
+  void SharedDtor();
+  void SetCachedSize(int size) const final;
+  void InternalSwap(RotateKeyRequest* other);
+
+  private:
+  friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
+  static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
+    return "viam.app.v1.RotateKeyRequest";
+  }
+  protected:
+  explicit RotateKeyRequest(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                       bool is_message_owned = false);
+  public:
+
+  static const ClassData _class_data_;
+  const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*GetClassData() const final;
+
+  ::PROTOBUF_NAMESPACE_ID::Metadata GetMetadata() const final;
+
+  // nested types ----------------------------------------------------
+
+  // accessors -------------------------------------------------------
+
+  enum : int {
+    kIdFieldNumber = 1,
+  };
+  // string id = 1 [json_name = "id"];
+  void clear_id();
+  const std::string& id() const;
+  template <typename ArgT0 = const std::string&, typename... ArgT>
+  void set_id(ArgT0&& arg0, ArgT... args);
+  std::string* mutable_id();
+  PROTOBUF_NODISCARD std::string* release_id();
+  void set_allocated_id(std::string* id);
+  private:
+  const std::string& _internal_id() const;
+  inline PROTOBUF_ALWAYS_INLINE void _internal_set_id(const std::string& value);
+  std::string* _internal_mutable_id();
+  public:
+
+  // @@protoc_insertion_point(class_scope:viam.app.v1.RotateKeyRequest)
+ private:
+  class _Internal;
+
+  template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
+  typedef void InternalArenaConstructable_;
+  typedef void DestructorSkippable_;
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr id_;
+  mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
+  friend struct ::TableStruct_app_2fv1_2fapp_2eproto;
+};
+// -------------------------------------------------------------------
+
+class RotateKeyResponse final :
+    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.app.v1.RotateKeyResponse) */ {
+ public:
+  inline RotateKeyResponse() : RotateKeyResponse(nullptr) {}
+  ~RotateKeyResponse() override;
+  explicit PROTOBUF_CONSTEXPR RotateKeyResponse(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
+
+  RotateKeyResponse(const RotateKeyResponse& from);
+  RotateKeyResponse(RotateKeyResponse&& from) noexcept
+    : RotateKeyResponse() {
+    *this = ::std::move(from);
+  }
+
+  inline RotateKeyResponse& operator=(const RotateKeyResponse& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  inline RotateKeyResponse& operator=(RotateKeyResponse&& from) noexcept {
+    if (this == &from) return *this;
+    if (GetOwningArena() == from.GetOwningArena()
+  #ifdef PROTOBUF_FORCE_COPY_IN_MOVE
+        && GetOwningArena() != nullptr
+  #endif  // !PROTOBUF_FORCE_COPY_IN_MOVE
+    ) {
+      InternalSwap(&from);
+    } else {
+      CopyFrom(from);
+    }
+    return *this;
+  }
+
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* descriptor() {
+    return GetDescriptor();
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* GetDescriptor() {
+    return default_instance().GetMetadata().descriptor;
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
+    return default_instance().GetMetadata().reflection;
+  }
+  static const RotateKeyResponse& default_instance() {
+    return *internal_default_instance();
+  }
+  static inline const RotateKeyResponse* internal_default_instance() {
+    return reinterpret_cast<const RotateKeyResponse*>(
+               &_RotateKeyResponse_default_instance_);
+  }
+  static constexpr int kIndexInFileMessages =
+    148;
+
+  friend void swap(RotateKeyResponse& a, RotateKeyResponse& b) {
+    a.Swap(&b);
+  }
+  inline void Swap(RotateKeyResponse* other) {
+    if (other == this) return;
+  #ifdef PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() != nullptr &&
+        GetOwningArena() == other->GetOwningArena()) {
+   #else  // PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() == other->GetOwningArena()) {
+  #endif  // !PROTOBUF_FORCE_COPY_IN_SWAP
+      InternalSwap(other);
+    } else {
+      ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
+    }
+  }
+  void UnsafeArenaSwap(RotateKeyResponse* other) {
+    if (other == this) return;
+    GOOGLE_DCHECK(GetOwningArena() == other->GetOwningArena());
+    InternalSwap(other);
+  }
+
+  // implements Message ----------------------------------------------
+
+  RotateKeyResponse* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
+    return CreateMaybeMessage<RotateKeyResponse>(arena);
+  }
+  using ::PROTOBUF_NAMESPACE_ID::Message::CopyFrom;
+  void CopyFrom(const RotateKeyResponse& from);
+  using ::PROTOBUF_NAMESPACE_ID::Message::MergeFrom;
+  void MergeFrom(const RotateKeyResponse& from);
+  private:
+  static void MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to, const ::PROTOBUF_NAMESPACE_ID::Message& from);
+  public:
+  PROTOBUF_ATTRIBUTE_REINITIALIZES void Clear() final;
+  bool IsInitialized() const final;
+
+  size_t ByteSizeLong() const final;
+  const char* _InternalParse(const char* ptr, ::PROTOBUF_NAMESPACE_ID::internal::ParseContext* ctx) final;
+  uint8_t* _InternalSerialize(
+      uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const final;
+  int GetCachedSize() const final { return _cached_size_.Get(); }
+
+  private:
+  void SharedCtor();
+  void SharedDtor();
+  void SetCachedSize(int size) const final;
+  void InternalSwap(RotateKeyResponse* other);
+
+  private:
+  friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
+  static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
+    return "viam.app.v1.RotateKeyResponse";
+  }
+  protected:
+  explicit RotateKeyResponse(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                       bool is_message_owned = false);
+  public:
+
+  static const ClassData _class_data_;
+  const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*GetClassData() const final;
+
+  ::PROTOBUF_NAMESPACE_ID::Metadata GetMetadata() const final;
+
+  // nested types ----------------------------------------------------
+
+  // accessors -------------------------------------------------------
+
+  enum : int {
+    kIdFieldNumber = 1,
+    kKeyFieldNumber = 2,
+  };
+  // string id = 1 [json_name = "id"];
+  void clear_id();
+  const std::string& id() const;
+  template <typename ArgT0 = const std::string&, typename... ArgT>
+  void set_id(ArgT0&& arg0, ArgT... args);
+  std::string* mutable_id();
+  PROTOBUF_NODISCARD std::string* release_id();
+  void set_allocated_id(std::string* id);
+  private:
+  const std::string& _internal_id() const;
+  inline PROTOBUF_ALWAYS_INLINE void _internal_set_id(const std::string& value);
+  std::string* _internal_mutable_id();
+  public:
+
+  // string key = 2 [json_name = "key"];
+  void clear_key();
+  const std::string& key() const;
+  template <typename ArgT0 = const std::string&, typename... ArgT>
+  void set_key(ArgT0&& arg0, ArgT... args);
+  std::string* mutable_key();
+  PROTOBUF_NODISCARD std::string* release_key();
+  void set_allocated_key(std::string* key);
+  private:
+  const std::string& _internal_key() const;
+  inline PROTOBUF_ALWAYS_INLINE void _internal_set_key(const std::string& value);
+  std::string* _internal_mutable_key();
+  public:
+
+  // @@protoc_insertion_point(class_scope:viam.app.v1.RotateKeyResponse)
+ private:
+  class _Internal;
+
+  template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
+  typedef void InternalArenaConstructable_;
+  typedef void DestructorSkippable_;
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr id_;
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr key_;
+  mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
+  friend struct ::TableStruct_app_2fv1_2fapp_2eproto;
+};
+// -------------------------------------------------------------------
+
+class CreateKeyFromExistingKeyAuthorizationsRequest final :
+    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.app.v1.CreateKeyFromExistingKeyAuthorizationsRequest) */ {
+ public:
+  inline CreateKeyFromExistingKeyAuthorizationsRequest() : CreateKeyFromExistingKeyAuthorizationsRequest(nullptr) {}
+  ~CreateKeyFromExistingKeyAuthorizationsRequest() override;
+  explicit PROTOBUF_CONSTEXPR CreateKeyFromExistingKeyAuthorizationsRequest(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
+
+  CreateKeyFromExistingKeyAuthorizationsRequest(const CreateKeyFromExistingKeyAuthorizationsRequest& from);
+  CreateKeyFromExistingKeyAuthorizationsRequest(CreateKeyFromExistingKeyAuthorizationsRequest&& from) noexcept
+    : CreateKeyFromExistingKeyAuthorizationsRequest() {
+    *this = ::std::move(from);
+  }
+
+  inline CreateKeyFromExistingKeyAuthorizationsRequest& operator=(const CreateKeyFromExistingKeyAuthorizationsRequest& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  inline CreateKeyFromExistingKeyAuthorizationsRequest& operator=(CreateKeyFromExistingKeyAuthorizationsRequest&& from) noexcept {
+    if (this == &from) return *this;
+    if (GetOwningArena() == from.GetOwningArena()
+  #ifdef PROTOBUF_FORCE_COPY_IN_MOVE
+        && GetOwningArena() != nullptr
+  #endif  // !PROTOBUF_FORCE_COPY_IN_MOVE
+    ) {
+      InternalSwap(&from);
+    } else {
+      CopyFrom(from);
+    }
+    return *this;
+  }
+
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* descriptor() {
+    return GetDescriptor();
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* GetDescriptor() {
+    return default_instance().GetMetadata().descriptor;
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
+    return default_instance().GetMetadata().reflection;
+  }
+  static const CreateKeyFromExistingKeyAuthorizationsRequest& default_instance() {
+    return *internal_default_instance();
+  }
+  static inline const CreateKeyFromExistingKeyAuthorizationsRequest* internal_default_instance() {
+    return reinterpret_cast<const CreateKeyFromExistingKeyAuthorizationsRequest*>(
+               &_CreateKeyFromExistingKeyAuthorizationsRequest_default_instance_);
+  }
+  static constexpr int kIndexInFileMessages =
+    149;
+
+  friend void swap(CreateKeyFromExistingKeyAuthorizationsRequest& a, CreateKeyFromExistingKeyAuthorizationsRequest& b) {
+    a.Swap(&b);
+  }
+  inline void Swap(CreateKeyFromExistingKeyAuthorizationsRequest* other) {
+    if (other == this) return;
+  #ifdef PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() != nullptr &&
+        GetOwningArena() == other->GetOwningArena()) {
+   #else  // PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() == other->GetOwningArena()) {
+  #endif  // !PROTOBUF_FORCE_COPY_IN_SWAP
+      InternalSwap(other);
+    } else {
+      ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
+    }
+  }
+  void UnsafeArenaSwap(CreateKeyFromExistingKeyAuthorizationsRequest* other) {
+    if (other == this) return;
+    GOOGLE_DCHECK(GetOwningArena() == other->GetOwningArena());
+    InternalSwap(other);
+  }
+
+  // implements Message ----------------------------------------------
+
+  CreateKeyFromExistingKeyAuthorizationsRequest* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
+    return CreateMaybeMessage<CreateKeyFromExistingKeyAuthorizationsRequest>(arena);
+  }
+  using ::PROTOBUF_NAMESPACE_ID::Message::CopyFrom;
+  void CopyFrom(const CreateKeyFromExistingKeyAuthorizationsRequest& from);
+  using ::PROTOBUF_NAMESPACE_ID::Message::MergeFrom;
+  void MergeFrom(const CreateKeyFromExistingKeyAuthorizationsRequest& from);
+  private:
+  static void MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to, const ::PROTOBUF_NAMESPACE_ID::Message& from);
+  public:
+  PROTOBUF_ATTRIBUTE_REINITIALIZES void Clear() final;
+  bool IsInitialized() const final;
+
+  size_t ByteSizeLong() const final;
+  const char* _InternalParse(const char* ptr, ::PROTOBUF_NAMESPACE_ID::internal::ParseContext* ctx) final;
+  uint8_t* _InternalSerialize(
+      uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const final;
+  int GetCachedSize() const final { return _cached_size_.Get(); }
+
+  private:
+  void SharedCtor();
+  void SharedDtor();
+  void SetCachedSize(int size) const final;
+  void InternalSwap(CreateKeyFromExistingKeyAuthorizationsRequest* other);
+
+  private:
+  friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
+  static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
+    return "viam.app.v1.CreateKeyFromExistingKeyAuthorizationsRequest";
+  }
+  protected:
+  explicit CreateKeyFromExistingKeyAuthorizationsRequest(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                       bool is_message_owned = false);
+  public:
+
+  static const ClassData _class_data_;
+  const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*GetClassData() const final;
+
+  ::PROTOBUF_NAMESPACE_ID::Metadata GetMetadata() const final;
+
+  // nested types ----------------------------------------------------
+
+  // accessors -------------------------------------------------------
+
+  enum : int {
+    kIdFieldNumber = 1,
+  };
+  // string id = 1 [json_name = "id"];
+  void clear_id();
+  const std::string& id() const;
+  template <typename ArgT0 = const std::string&, typename... ArgT>
+  void set_id(ArgT0&& arg0, ArgT... args);
+  std::string* mutable_id();
+  PROTOBUF_NODISCARD std::string* release_id();
+  void set_allocated_id(std::string* id);
+  private:
+  const std::string& _internal_id() const;
+  inline PROTOBUF_ALWAYS_INLINE void _internal_set_id(const std::string& value);
+  std::string* _internal_mutable_id();
+  public:
+
+  // @@protoc_insertion_point(class_scope:viam.app.v1.CreateKeyFromExistingKeyAuthorizationsRequest)
+ private:
+  class _Internal;
+
+  template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
+  typedef void InternalArenaConstructable_;
+  typedef void DestructorSkippable_;
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr id_;
+  mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
+  friend struct ::TableStruct_app_2fv1_2fapp_2eproto;
+};
+// -------------------------------------------------------------------
+
+class CreateKeyFromExistingKeyAuthorizationsResponse final :
+    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.app.v1.CreateKeyFromExistingKeyAuthorizationsResponse) */ {
+ public:
+  inline CreateKeyFromExistingKeyAuthorizationsResponse() : CreateKeyFromExistingKeyAuthorizationsResponse(nullptr) {}
+  ~CreateKeyFromExistingKeyAuthorizationsResponse() override;
+  explicit PROTOBUF_CONSTEXPR CreateKeyFromExistingKeyAuthorizationsResponse(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
+
+  CreateKeyFromExistingKeyAuthorizationsResponse(const CreateKeyFromExistingKeyAuthorizationsResponse& from);
+  CreateKeyFromExistingKeyAuthorizationsResponse(CreateKeyFromExistingKeyAuthorizationsResponse&& from) noexcept
+    : CreateKeyFromExistingKeyAuthorizationsResponse() {
+    *this = ::std::move(from);
+  }
+
+  inline CreateKeyFromExistingKeyAuthorizationsResponse& operator=(const CreateKeyFromExistingKeyAuthorizationsResponse& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  inline CreateKeyFromExistingKeyAuthorizationsResponse& operator=(CreateKeyFromExistingKeyAuthorizationsResponse&& from) noexcept {
+    if (this == &from) return *this;
+    if (GetOwningArena() == from.GetOwningArena()
+  #ifdef PROTOBUF_FORCE_COPY_IN_MOVE
+        && GetOwningArena() != nullptr
+  #endif  // !PROTOBUF_FORCE_COPY_IN_MOVE
+    ) {
+      InternalSwap(&from);
+    } else {
+      CopyFrom(from);
+    }
+    return *this;
+  }
+
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* descriptor() {
+    return GetDescriptor();
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* GetDescriptor() {
+    return default_instance().GetMetadata().descriptor;
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
+    return default_instance().GetMetadata().reflection;
+  }
+  static const CreateKeyFromExistingKeyAuthorizationsResponse& default_instance() {
+    return *internal_default_instance();
+  }
+  static inline const CreateKeyFromExistingKeyAuthorizationsResponse* internal_default_instance() {
+    return reinterpret_cast<const CreateKeyFromExistingKeyAuthorizationsResponse*>(
+               &_CreateKeyFromExistingKeyAuthorizationsResponse_default_instance_);
+  }
+  static constexpr int kIndexInFileMessages =
+    150;
+
+  friend void swap(CreateKeyFromExistingKeyAuthorizationsResponse& a, CreateKeyFromExistingKeyAuthorizationsResponse& b) {
+    a.Swap(&b);
+  }
+  inline void Swap(CreateKeyFromExistingKeyAuthorizationsResponse* other) {
+    if (other == this) return;
+  #ifdef PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() != nullptr &&
+        GetOwningArena() == other->GetOwningArena()) {
+   #else  // PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() == other->GetOwningArena()) {
+  #endif  // !PROTOBUF_FORCE_COPY_IN_SWAP
+      InternalSwap(other);
+    } else {
+      ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
+    }
+  }
+  void UnsafeArenaSwap(CreateKeyFromExistingKeyAuthorizationsResponse* other) {
+    if (other == this) return;
+    GOOGLE_DCHECK(GetOwningArena() == other->GetOwningArena());
+    InternalSwap(other);
+  }
+
+  // implements Message ----------------------------------------------
+
+  CreateKeyFromExistingKeyAuthorizationsResponse* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
+    return CreateMaybeMessage<CreateKeyFromExistingKeyAuthorizationsResponse>(arena);
+  }
+  using ::PROTOBUF_NAMESPACE_ID::Message::CopyFrom;
+  void CopyFrom(const CreateKeyFromExistingKeyAuthorizationsResponse& from);
+  using ::PROTOBUF_NAMESPACE_ID::Message::MergeFrom;
+  void MergeFrom(const CreateKeyFromExistingKeyAuthorizationsResponse& from);
+  private:
+  static void MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to, const ::PROTOBUF_NAMESPACE_ID::Message& from);
+  public:
+  PROTOBUF_ATTRIBUTE_REINITIALIZES void Clear() final;
+  bool IsInitialized() const final;
+
+  size_t ByteSizeLong() const final;
+  const char* _InternalParse(const char* ptr, ::PROTOBUF_NAMESPACE_ID::internal::ParseContext* ctx) final;
+  uint8_t* _InternalSerialize(
+      uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const final;
+  int GetCachedSize() const final { return _cached_size_.Get(); }
+
+  private:
+  void SharedCtor();
+  void SharedDtor();
+  void SetCachedSize(int size) const final;
+  void InternalSwap(CreateKeyFromExistingKeyAuthorizationsResponse* other);
+
+  private:
+  friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
+  static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
+    return "viam.app.v1.CreateKeyFromExistingKeyAuthorizationsResponse";
+  }
+  protected:
+  explicit CreateKeyFromExistingKeyAuthorizationsResponse(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                       bool is_message_owned = false);
+  public:
+
+  static const ClassData _class_data_;
+  const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*GetClassData() const final;
+
+  ::PROTOBUF_NAMESPACE_ID::Metadata GetMetadata() const final;
+
+  // nested types ----------------------------------------------------
+
+  // accessors -------------------------------------------------------
+
+  enum : int {
+    kIdFieldNumber = 1,
+    kKeyFieldNumber = 2,
+  };
+  // string id = 1 [json_name = "id"];
+  void clear_id();
+  const std::string& id() const;
+  template <typename ArgT0 = const std::string&, typename... ArgT>
+  void set_id(ArgT0&& arg0, ArgT... args);
+  std::string* mutable_id();
+  PROTOBUF_NODISCARD std::string* release_id();
+  void set_allocated_id(std::string* id);
+  private:
+  const std::string& _internal_id() const;
+  inline PROTOBUF_ALWAYS_INLINE void _internal_set_id(const std::string& value);
+  std::string* _internal_mutable_id();
+  public:
+
+  // string key = 2 [json_name = "key"];
+  void clear_key();
+  const std::string& key() const;
+  template <typename ArgT0 = const std::string&, typename... ArgT>
+  void set_key(ArgT0&& arg0, ArgT... args);
+  std::string* mutable_key();
+  PROTOBUF_NODISCARD std::string* release_key();
+  void set_allocated_key(std::string* key);
+  private:
+  const std::string& _internal_key() const;
+  inline PROTOBUF_ALWAYS_INLINE void _internal_set_key(const std::string& value);
+  std::string* _internal_mutable_key();
+  public:
+
+  // @@protoc_insertion_point(class_scope:viam.app.v1.CreateKeyFromExistingKeyAuthorizationsResponse)
+ private:
+  class _Internal;
+
+  template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
+  typedef void InternalArenaConstructable_;
+  typedef void DestructorSkippable_;
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr id_;
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr key_;
+  mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
+  friend struct ::TableStruct_app_2fv1_2fapp_2eproto;
+};
 // ===================================================================
 
 
@@ -37278,76 +38890,596 @@ inline std::string* Model::mutable_model() {
   // @@protoc_insertion_point(field_mutable:viam.app.v1.Model.model)
   return _s;
 }
-inline const std::string& Model::_internal_model() const {
-  return model_.Get();
+inline const std::string& Model::_internal_model() const {
+  return model_.Get();
+}
+inline void Model::_internal_set_model(const std::string& value) {
+  
+  model_.Set(value, GetArenaForAllocation());
+}
+inline std::string* Model::_internal_mutable_model() {
+  
+  return model_.Mutable(GetArenaForAllocation());
+}
+inline std::string* Model::release_model() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.Model.model)
+  return model_.Release();
+}
+inline void Model::set_allocated_model(std::string* model) {
+  if (model != nullptr) {
+    
+  } else {
+    
+  }
+  model_.SetAllocated(model, GetArenaForAllocation());
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (model_.IsDefault()) {
+    model_.Set("", GetArenaForAllocation());
+  }
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.Model.model)
+}
+
+// -------------------------------------------------------------------
+
+// ModuleFileInfo
+
+// string module_id = 1 [json_name = "moduleId"];
+inline void ModuleFileInfo::clear_module_id() {
+  module_id_.ClearToEmpty();
+}
+inline const std::string& ModuleFileInfo::module_id() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.ModuleFileInfo.module_id)
+  return _internal_module_id();
+}
+template <typename ArgT0, typename... ArgT>
+inline PROTOBUF_ALWAYS_INLINE
+void ModuleFileInfo::set_module_id(ArgT0&& arg0, ArgT... args) {
+ 
+ module_id_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.app.v1.ModuleFileInfo.module_id)
+}
+inline std::string* ModuleFileInfo::mutable_module_id() {
+  std::string* _s = _internal_mutable_module_id();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.ModuleFileInfo.module_id)
+  return _s;
+}
+inline const std::string& ModuleFileInfo::_internal_module_id() const {
+  return module_id_.Get();
+}
+inline void ModuleFileInfo::_internal_set_module_id(const std::string& value) {
+  
+  module_id_.Set(value, GetArenaForAllocation());
+}
+inline std::string* ModuleFileInfo::_internal_mutable_module_id() {
+  
+  return module_id_.Mutable(GetArenaForAllocation());
+}
+inline std::string* ModuleFileInfo::release_module_id() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.ModuleFileInfo.module_id)
+  return module_id_.Release();
+}
+inline void ModuleFileInfo::set_allocated_module_id(std::string* module_id) {
+  if (module_id != nullptr) {
+    
+  } else {
+    
+  }
+  module_id_.SetAllocated(module_id, GetArenaForAllocation());
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (module_id_.IsDefault()) {
+    module_id_.Set("", GetArenaForAllocation());
+  }
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.ModuleFileInfo.module_id)
+}
+
+// string version = 2 [json_name = "version"];
+inline void ModuleFileInfo::clear_version() {
+  version_.ClearToEmpty();
+}
+inline const std::string& ModuleFileInfo::version() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.ModuleFileInfo.version)
+  return _internal_version();
+}
+template <typename ArgT0, typename... ArgT>
+inline PROTOBUF_ALWAYS_INLINE
+void ModuleFileInfo::set_version(ArgT0&& arg0, ArgT... args) {
+ 
+ version_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.app.v1.ModuleFileInfo.version)
+}
+inline std::string* ModuleFileInfo::mutable_version() {
+  std::string* _s = _internal_mutable_version();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.ModuleFileInfo.version)
+  return _s;
+}
+inline const std::string& ModuleFileInfo::_internal_version() const {
+  return version_.Get();
+}
+inline void ModuleFileInfo::_internal_set_version(const std::string& value) {
+  
+  version_.Set(value, GetArenaForAllocation());
+}
+inline std::string* ModuleFileInfo::_internal_mutable_version() {
+  
+  return version_.Mutable(GetArenaForAllocation());
+}
+inline std::string* ModuleFileInfo::release_version() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.ModuleFileInfo.version)
+  return version_.Release();
+}
+inline void ModuleFileInfo::set_allocated_version(std::string* version) {
+  if (version != nullptr) {
+    
+  } else {
+    
+  }
+  version_.SetAllocated(version, GetArenaForAllocation());
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (version_.IsDefault()) {
+    version_.Set("", GetArenaForAllocation());
+  }
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.ModuleFileInfo.version)
+}
+
+// string platform = 3 [json_name = "platform"];
+inline void ModuleFileInfo::clear_platform() {
+  platform_.ClearToEmpty();
+}
+inline const std::string& ModuleFileInfo::platform() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.ModuleFileInfo.platform)
+  return _internal_platform();
+}
+template <typename ArgT0, typename... ArgT>
+inline PROTOBUF_ALWAYS_INLINE
+void ModuleFileInfo::set_platform(ArgT0&& arg0, ArgT... args) {
+ 
+ platform_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.app.v1.ModuleFileInfo.platform)
+}
+inline std::string* ModuleFileInfo::mutable_platform() {
+  std::string* _s = _internal_mutable_platform();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.ModuleFileInfo.platform)
+  return _s;
+}
+inline const std::string& ModuleFileInfo::_internal_platform() const {
+  return platform_.Get();
+}
+inline void ModuleFileInfo::_internal_set_platform(const std::string& value) {
+  
+  platform_.Set(value, GetArenaForAllocation());
+}
+inline std::string* ModuleFileInfo::_internal_mutable_platform() {
+  
+  return platform_.Mutable(GetArenaForAllocation());
+}
+inline std::string* ModuleFileInfo::release_platform() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.ModuleFileInfo.platform)
+  return platform_.Release();
+}
+inline void ModuleFileInfo::set_allocated_platform(std::string* platform) {
+  if (platform != nullptr) {
+    
+  } else {
+    
+  }
+  platform_.SetAllocated(platform, GetArenaForAllocation());
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (platform_.IsDefault()) {
+    platform_.Set("", GetArenaForAllocation());
+  }
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.ModuleFileInfo.platform)
+}
+
+// -------------------------------------------------------------------
+
+// UploadModuleFileRequest
+
+// .viam.app.v1.ModuleFileInfo module_file_info = 1 [json_name = "moduleFileInfo"];
+inline bool UploadModuleFileRequest::_internal_has_module_file_info() const {
+  return module_file_case() == kModuleFileInfo;
+}
+inline bool UploadModuleFileRequest::has_module_file_info() const {
+  return _internal_has_module_file_info();
+}
+inline void UploadModuleFileRequest::set_has_module_file_info() {
+  _oneof_case_[0] = kModuleFileInfo;
+}
+inline void UploadModuleFileRequest::clear_module_file_info() {
+  if (_internal_has_module_file_info()) {
+    if (GetArenaForAllocation() == nullptr) {
+      delete module_file_.module_file_info_;
+    }
+    clear_has_module_file();
+  }
+}
+inline ::viam::app::v1::ModuleFileInfo* UploadModuleFileRequest::release_module_file_info() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.UploadModuleFileRequest.module_file_info)
+  if (_internal_has_module_file_info()) {
+    clear_has_module_file();
+    ::viam::app::v1::ModuleFileInfo* temp = module_file_.module_file_info_;
+    if (GetArenaForAllocation() != nullptr) {
+      temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+    }
+    module_file_.module_file_info_ = nullptr;
+    return temp;
+  } else {
+    return nullptr;
+  }
+}
+inline const ::viam::app::v1::ModuleFileInfo& UploadModuleFileRequest::_internal_module_file_info() const {
+  return _internal_has_module_file_info()
+      ? *module_file_.module_file_info_
+      : reinterpret_cast< ::viam::app::v1::ModuleFileInfo&>(::viam::app::v1::_ModuleFileInfo_default_instance_);
+}
+inline const ::viam::app::v1::ModuleFileInfo& UploadModuleFileRequest::module_file_info() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.UploadModuleFileRequest.module_file_info)
+  return _internal_module_file_info();
+}
+inline ::viam::app::v1::ModuleFileInfo* UploadModuleFileRequest::unsafe_arena_release_module_file_info() {
+  // @@protoc_insertion_point(field_unsafe_arena_release:viam.app.v1.UploadModuleFileRequest.module_file_info)
+  if (_internal_has_module_file_info()) {
+    clear_has_module_file();
+    ::viam::app::v1::ModuleFileInfo* temp = module_file_.module_file_info_;
+    module_file_.module_file_info_ = nullptr;
+    return temp;
+  } else {
+    return nullptr;
+  }
+}
+inline void UploadModuleFileRequest::unsafe_arena_set_allocated_module_file_info(::viam::app::v1::ModuleFileInfo* module_file_info) {
+  clear_module_file();
+  if (module_file_info) {
+    set_has_module_file_info();
+    module_file_.module_file_info_ = module_file_info;
+  }
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.app.v1.UploadModuleFileRequest.module_file_info)
+}
+inline ::viam::app::v1::ModuleFileInfo* UploadModuleFileRequest::_internal_mutable_module_file_info() {
+  if (!_internal_has_module_file_info()) {
+    clear_module_file();
+    set_has_module_file_info();
+    module_file_.module_file_info_ = CreateMaybeMessage< ::viam::app::v1::ModuleFileInfo >(GetArenaForAllocation());
+  }
+  return module_file_.module_file_info_;
+}
+inline ::viam::app::v1::ModuleFileInfo* UploadModuleFileRequest::mutable_module_file_info() {
+  ::viam::app::v1::ModuleFileInfo* _msg = _internal_mutable_module_file_info();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.UploadModuleFileRequest.module_file_info)
+  return _msg;
+}
+
+// bytes file = 2 [json_name = "file"];
+inline bool UploadModuleFileRequest::_internal_has_file() const {
+  return module_file_case() == kFile;
+}
+inline bool UploadModuleFileRequest::has_file() const {
+  return _internal_has_file();
+}
+inline void UploadModuleFileRequest::set_has_file() {
+  _oneof_case_[0] = kFile;
+}
+inline void UploadModuleFileRequest::clear_file() {
+  if (_internal_has_file()) {
+    module_file_.file_.Destroy();
+    clear_has_module_file();
+  }
+}
+inline const std::string& UploadModuleFileRequest::file() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.UploadModuleFileRequest.file)
+  return _internal_file();
+}
+template <typename ArgT0, typename... ArgT>
+inline void UploadModuleFileRequest::set_file(ArgT0&& arg0, ArgT... args) {
+  if (!_internal_has_file()) {
+    clear_module_file();
+    set_has_file();
+    module_file_.file_.InitDefault();
+  }
+  module_file_.file_.SetBytes( static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.app.v1.UploadModuleFileRequest.file)
+}
+inline std::string* UploadModuleFileRequest::mutable_file() {
+  std::string* _s = _internal_mutable_file();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.UploadModuleFileRequest.file)
+  return _s;
+}
+inline const std::string& UploadModuleFileRequest::_internal_file() const {
+  if (_internal_has_file()) {
+    return module_file_.file_.Get();
+  }
+  return ::PROTOBUF_NAMESPACE_ID::internal::GetEmptyStringAlreadyInited();
+}
+inline void UploadModuleFileRequest::_internal_set_file(const std::string& value) {
+  if (!_internal_has_file()) {
+    clear_module_file();
+    set_has_file();
+    module_file_.file_.InitDefault();
+  }
+  module_file_.file_.Set(value, GetArenaForAllocation());
+}
+inline std::string* UploadModuleFileRequest::_internal_mutable_file() {
+  if (!_internal_has_file()) {
+    clear_module_file();
+    set_has_file();
+    module_file_.file_.InitDefault();
+  }
+  return module_file_.file_.Mutable(      GetArenaForAllocation());
+}
+inline std::string* UploadModuleFileRequest::release_file() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.UploadModuleFileRequest.file)
+  if (_internal_has_file()) {
+    clear_has_module_file();
+    return module_file_.file_.Release();
+  } else {
+    return nullptr;
+  }
+}
+inline void UploadModuleFileRequest::set_allocated_file(std::string* file) {
+  if (has_module_file()) {
+    clear_module_file();
+  }
+  if (file != nullptr) {
+    set_has_file();
+    module_file_.file_.InitAllocated(file, GetArenaForAllocation());
+  }
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.UploadModuleFileRequest.file)
+}
+
+inline bool UploadModuleFileRequest::has_module_file() const {
+  return module_file_case() != MODULE_FILE_NOT_SET;
+}
+inline void UploadModuleFileRequest::clear_has_module_file() {
+  _oneof_case_[0] = MODULE_FILE_NOT_SET;
+}
+inline UploadModuleFileRequest::ModuleFileCase UploadModuleFileRequest::module_file_case() const {
+  return UploadModuleFileRequest::ModuleFileCase(_oneof_case_[0]);
+}
+// -------------------------------------------------------------------
+
+// UploadModuleFileResponse
+
+// string url = 1 [json_name = "url"];
+inline void UploadModuleFileResponse::clear_url() {
+  url_.ClearToEmpty();
+}
+inline const std::string& UploadModuleFileResponse::url() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.UploadModuleFileResponse.url)
+  return _internal_url();
+}
+template <typename ArgT0, typename... ArgT>
+inline PROTOBUF_ALWAYS_INLINE
+void UploadModuleFileResponse::set_url(ArgT0&& arg0, ArgT... args) {
+ 
+ url_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.app.v1.UploadModuleFileResponse.url)
+}
+inline std::string* UploadModuleFileResponse::mutable_url() {
+  std::string* _s = _internal_mutable_url();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.UploadModuleFileResponse.url)
+  return _s;
+}
+inline const std::string& UploadModuleFileResponse::_internal_url() const {
+  return url_.Get();
+}
+inline void UploadModuleFileResponse::_internal_set_url(const std::string& value) {
+  
+  url_.Set(value, GetArenaForAllocation());
+}
+inline std::string* UploadModuleFileResponse::_internal_mutable_url() {
+  
+  return url_.Mutable(GetArenaForAllocation());
+}
+inline std::string* UploadModuleFileResponse::release_url() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.UploadModuleFileResponse.url)
+  return url_.Release();
+}
+inline void UploadModuleFileResponse::set_allocated_url(std::string* url) {
+  if (url != nullptr) {
+    
+  } else {
+    
+  }
+  url_.SetAllocated(url, GetArenaForAllocation());
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (url_.IsDefault()) {
+    url_.Set("", GetArenaForAllocation());
+  }
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.UploadModuleFileResponse.url)
+}
+
+// -------------------------------------------------------------------
+
+// GetModuleRequest
+
+// string module_id = 1 [json_name = "moduleId"];
+inline void GetModuleRequest::clear_module_id() {
+  module_id_.ClearToEmpty();
+}
+inline const std::string& GetModuleRequest::module_id() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.GetModuleRequest.module_id)
+  return _internal_module_id();
+}
+template <typename ArgT0, typename... ArgT>
+inline PROTOBUF_ALWAYS_INLINE
+void GetModuleRequest::set_module_id(ArgT0&& arg0, ArgT... args) {
+ 
+ module_id_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.app.v1.GetModuleRequest.module_id)
+}
+inline std::string* GetModuleRequest::mutable_module_id() {
+  std::string* _s = _internal_mutable_module_id();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.GetModuleRequest.module_id)
+  return _s;
+}
+inline const std::string& GetModuleRequest::_internal_module_id() const {
+  return module_id_.Get();
+}
+inline void GetModuleRequest::_internal_set_module_id(const std::string& value) {
+  
+  module_id_.Set(value, GetArenaForAllocation());
+}
+inline std::string* GetModuleRequest::_internal_mutable_module_id() {
+  
+  return module_id_.Mutable(GetArenaForAllocation());
+}
+inline std::string* GetModuleRequest::release_module_id() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.GetModuleRequest.module_id)
+  return module_id_.Release();
+}
+inline void GetModuleRequest::set_allocated_module_id(std::string* module_id) {
+  if (module_id != nullptr) {
+    
+  } else {
+    
+  }
+  module_id_.SetAllocated(module_id, GetArenaForAllocation());
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (module_id_.IsDefault()) {
+    module_id_.Set("", GetArenaForAllocation());
+  }
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.GetModuleRequest.module_id)
+}
+
+// -------------------------------------------------------------------
+
+// GetModuleResponse
+
+// .viam.app.v1.Module module = 1 [json_name = "module"];
+inline bool GetModuleResponse::_internal_has_module() const {
+  return this != internal_default_instance() && module_ != nullptr;
+}
+inline bool GetModuleResponse::has_module() const {
+  return _internal_has_module();
+}
+inline void GetModuleResponse::clear_module() {
+  if (GetArenaForAllocation() == nullptr && module_ != nullptr) {
+    delete module_;
+  }
+  module_ = nullptr;
+}
+inline const ::viam::app::v1::Module& GetModuleResponse::_internal_module() const {
+  const ::viam::app::v1::Module* p = module_;
+  return p != nullptr ? *p : reinterpret_cast<const ::viam::app::v1::Module&>(
+      ::viam::app::v1::_Module_default_instance_);
+}
+inline const ::viam::app::v1::Module& GetModuleResponse::module() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.GetModuleResponse.module)
+  return _internal_module();
+}
+inline void GetModuleResponse::unsafe_arena_set_allocated_module(
+    ::viam::app::v1::Module* module) {
+  if (GetArenaForAllocation() == nullptr) {
+    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(module_);
+  }
+  module_ = module;
+  if (module) {
+    
+  } else {
+    
+  }
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.app.v1.GetModuleResponse.module)
+}
+inline ::viam::app::v1::Module* GetModuleResponse::release_module() {
+  
+  ::viam::app::v1::Module* temp = module_;
+  module_ = nullptr;
+#ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
+  auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
+  temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  if (GetArenaForAllocation() == nullptr) { delete old; }
+#else  // PROTOBUF_FORCE_COPY_IN_RELEASE
+  if (GetArenaForAllocation() != nullptr) {
+    temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  }
+#endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
+  return temp;
 }
-inline void Model::_internal_set_model(const std::string& value) {
+inline ::viam::app::v1::Module* GetModuleResponse::unsafe_arena_release_module() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.GetModuleResponse.module)
   
-  model_.Set(value, GetArenaForAllocation());
+  ::viam::app::v1::Module* temp = module_;
+  module_ = nullptr;
+  return temp;
 }
-inline std::string* Model::_internal_mutable_model() {
+inline ::viam::app::v1::Module* GetModuleResponse::_internal_mutable_module() {
   
-  return model_.Mutable(GetArenaForAllocation());
+  if (module_ == nullptr) {
+    auto* p = CreateMaybeMessage<::viam::app::v1::Module>(GetArenaForAllocation());
+    module_ = p;
+  }
+  return module_;
 }
-inline std::string* Model::release_model() {
-  // @@protoc_insertion_point(field_release:viam.app.v1.Model.model)
-  return model_.Release();
+inline ::viam::app::v1::Module* GetModuleResponse::mutable_module() {
+  ::viam::app::v1::Module* _msg = _internal_mutable_module();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.GetModuleResponse.module)
+  return _msg;
 }
-inline void Model::set_allocated_model(std::string* model) {
-  if (model != nullptr) {
+inline void GetModuleResponse::set_allocated_module(::viam::app::v1::Module* module) {
+  ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
+  if (message_arena == nullptr) {
+    delete module_;
+  }
+  if (module) {
+    ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
+        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(module);
+    if (message_arena != submessage_arena) {
+      module = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
+          message_arena, module, submessage_arena);
+    }
     
   } else {
     
   }
-  model_.SetAllocated(model, GetArenaForAllocation());
-#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  if (model_.IsDefault()) {
-    model_.Set("", GetArenaForAllocation());
-  }
-#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.Model.model)
+  module_ = module;
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.GetModuleResponse.module)
 }
 
 // -------------------------------------------------------------------
 
-// ModuleFileInfo
+// Module
 
 // string module_id = 1 [json_name = "moduleId"];
-inline void ModuleFileInfo::clear_module_id() {
+inline void Module::clear_module_id() {
   module_id_.ClearToEmpty();
 }
-inline const std::string& ModuleFileInfo::module_id() const {
-  // @@protoc_insertion_point(field_get:viam.app.v1.ModuleFileInfo.module_id)
+inline const std::string& Module::module_id() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.Module.module_id)
   return _internal_module_id();
 }
 template <typename ArgT0, typename... ArgT>
 inline PROTOBUF_ALWAYS_INLINE
-void ModuleFileInfo::set_module_id(ArgT0&& arg0, ArgT... args) {
+void Module::set_module_id(ArgT0&& arg0, ArgT... args) {
  
  module_id_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
-  // @@protoc_insertion_point(field_set:viam.app.v1.ModuleFileInfo.module_id)
+  // @@protoc_insertion_point(field_set:viam.app.v1.Module.module_id)
 }
-inline std::string* ModuleFileInfo::mutable_module_id() {
+inline std::string* Module::mutable_module_id() {
   std::string* _s = _internal_mutable_module_id();
-  // @@protoc_insertion_point(field_mutable:viam.app.v1.ModuleFileInfo.module_id)
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.Module.module_id)
   return _s;
 }
-inline const std::string& ModuleFileInfo::_internal_module_id() const {
+inline const std::string& Module::_internal_module_id() const {
   return module_id_.Get();
 }
-inline void ModuleFileInfo::_internal_set_module_id(const std::string& value) {
+inline void Module::_internal_set_module_id(const std::string& value) {
   
   module_id_.Set(value, GetArenaForAllocation());
 }
-inline std::string* ModuleFileInfo::_internal_mutable_module_id() {
+inline std::string* Module::_internal_mutable_module_id() {
   
   return module_id_.Mutable(GetArenaForAllocation());
 }
-inline std::string* ModuleFileInfo::release_module_id() {
-  // @@protoc_insertion_point(field_release:viam.app.v1.ModuleFileInfo.module_id)
+inline std::string* Module::release_module_id() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.Module.module_id)
   return module_id_.Release();
 }
-inline void ModuleFileInfo::set_allocated_module_id(std::string* module_id) {
+inline void Module::set_allocated_module_id(std::string* module_id) {
   if (module_id != nullptr) {
     
   } else {
@@ -37359,1610 +39491,1694 @@ inline void ModuleFileInfo::set_allocated_module_id(std::string* module_id) {
     module_id_.Set("", GetArenaForAllocation());
   }
 #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.ModuleFileInfo.module_id)
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.Module.module_id)
 }
 
-// string version = 2 [json_name = "version"];
-inline void ModuleFileInfo::clear_version() {
-  version_.ClearToEmpty();
+// string name = 2 [json_name = "name"];
+inline void Module::clear_name() {
+  name_.ClearToEmpty();
 }
-inline const std::string& ModuleFileInfo::version() const {
-  // @@protoc_insertion_point(field_get:viam.app.v1.ModuleFileInfo.version)
-  return _internal_version();
+inline const std::string& Module::name() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.Module.name)
+  return _internal_name();
 }
 template <typename ArgT0, typename... ArgT>
 inline PROTOBUF_ALWAYS_INLINE
-void ModuleFileInfo::set_version(ArgT0&& arg0, ArgT... args) {
+void Module::set_name(ArgT0&& arg0, ArgT... args) {
  
- version_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
-  // @@protoc_insertion_point(field_set:viam.app.v1.ModuleFileInfo.version)
+ name_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.app.v1.Module.name)
 }
-inline std::string* ModuleFileInfo::mutable_version() {
-  std::string* _s = _internal_mutable_version();
-  // @@protoc_insertion_point(field_mutable:viam.app.v1.ModuleFileInfo.version)
+inline std::string* Module::mutable_name() {
+  std::string* _s = _internal_mutable_name();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.Module.name)
   return _s;
 }
-inline const std::string& ModuleFileInfo::_internal_version() const {
-  return version_.Get();
+inline const std::string& Module::_internal_name() const {
+  return name_.Get();
 }
-inline void ModuleFileInfo::_internal_set_version(const std::string& value) {
+inline void Module::_internal_set_name(const std::string& value) {
   
-  version_.Set(value, GetArenaForAllocation());
+  name_.Set(value, GetArenaForAllocation());
 }
-inline std::string* ModuleFileInfo::_internal_mutable_version() {
+inline std::string* Module::_internal_mutable_name() {
   
-  return version_.Mutable(GetArenaForAllocation());
+  return name_.Mutable(GetArenaForAllocation());
 }
-inline std::string* ModuleFileInfo::release_version() {
-  // @@protoc_insertion_point(field_release:viam.app.v1.ModuleFileInfo.version)
-  return version_.Release();
+inline std::string* Module::release_name() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.Module.name)
+  return name_.Release();
 }
-inline void ModuleFileInfo::set_allocated_version(std::string* version) {
-  if (version != nullptr) {
+inline void Module::set_allocated_name(std::string* name) {
+  if (name != nullptr) {
     
   } else {
     
   }
-  version_.SetAllocated(version, GetArenaForAllocation());
+  name_.SetAllocated(name, GetArenaForAllocation());
 #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  if (version_.IsDefault()) {
-    version_.Set("", GetArenaForAllocation());
+  if (name_.IsDefault()) {
+    name_.Set("", GetArenaForAllocation());
   }
 #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.ModuleFileInfo.version)
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.Module.name)
 }
 
-// string platform = 3 [json_name = "platform"];
-inline void ModuleFileInfo::clear_platform() {
-  platform_.ClearToEmpty();
+// .viam.app.v1.Visibility visibility = 3 [json_name = "visibility"];
+inline void Module::clear_visibility() {
+  visibility_ = 0;
 }
-inline const std::string& ModuleFileInfo::platform() const {
-  // @@protoc_insertion_point(field_get:viam.app.v1.ModuleFileInfo.platform)
-  return _internal_platform();
+inline ::viam::app::v1::Visibility Module::_internal_visibility() const {
+  return static_cast< ::viam::app::v1::Visibility >(visibility_);
+}
+inline ::viam::app::v1::Visibility Module::visibility() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.Module.visibility)
+  return _internal_visibility();
+}
+inline void Module::_internal_set_visibility(::viam::app::v1::Visibility value) {
+  
+  visibility_ = value;
+}
+inline void Module::set_visibility(::viam::app::v1::Visibility value) {
+  _internal_set_visibility(value);
+  // @@protoc_insertion_point(field_set:viam.app.v1.Module.visibility)
+}
+
+// repeated .viam.app.v1.VersionHistory versions = 4 [json_name = "versions"];
+inline int Module::_internal_versions_size() const {
+  return versions_.size();
+}
+inline int Module::versions_size() const {
+  return _internal_versions_size();
+}
+inline void Module::clear_versions() {
+  versions_.Clear();
+}
+inline ::viam::app::v1::VersionHistory* Module::mutable_versions(int index) {
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.Module.versions)
+  return versions_.Mutable(index);
+}
+inline ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::app::v1::VersionHistory >*
+Module::mutable_versions() {
+  // @@protoc_insertion_point(field_mutable_list:viam.app.v1.Module.versions)
+  return &versions_;
+}
+inline const ::viam::app::v1::VersionHistory& Module::_internal_versions(int index) const {
+  return versions_.Get(index);
+}
+inline const ::viam::app::v1::VersionHistory& Module::versions(int index) const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.Module.versions)
+  return _internal_versions(index);
+}
+inline ::viam::app::v1::VersionHistory* Module::_internal_add_versions() {
+  return versions_.Add();
+}
+inline ::viam::app::v1::VersionHistory* Module::add_versions() {
+  ::viam::app::v1::VersionHistory* _add = _internal_add_versions();
+  // @@protoc_insertion_point(field_add:viam.app.v1.Module.versions)
+  return _add;
+}
+inline const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::app::v1::VersionHistory >&
+Module::versions() const {
+  // @@protoc_insertion_point(field_list:viam.app.v1.Module.versions)
+  return versions_;
+}
+
+// string url = 5 [json_name = "url"];
+inline void Module::clear_url() {
+  url_.ClearToEmpty();
+}
+inline const std::string& Module::url() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.Module.url)
+  return _internal_url();
 }
 template <typename ArgT0, typename... ArgT>
 inline PROTOBUF_ALWAYS_INLINE
-void ModuleFileInfo::set_platform(ArgT0&& arg0, ArgT... args) {
+void Module::set_url(ArgT0&& arg0, ArgT... args) {
  
- platform_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
-  // @@protoc_insertion_point(field_set:viam.app.v1.ModuleFileInfo.platform)
+ url_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.app.v1.Module.url)
 }
-inline std::string* ModuleFileInfo::mutable_platform() {
-  std::string* _s = _internal_mutable_platform();
-  // @@protoc_insertion_point(field_mutable:viam.app.v1.ModuleFileInfo.platform)
+inline std::string* Module::mutable_url() {
+  std::string* _s = _internal_mutable_url();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.Module.url)
   return _s;
 }
-inline const std::string& ModuleFileInfo::_internal_platform() const {
-  return platform_.Get();
+inline const std::string& Module::_internal_url() const {
+  return url_.Get();
 }
-inline void ModuleFileInfo::_internal_set_platform(const std::string& value) {
+inline void Module::_internal_set_url(const std::string& value) {
   
-  platform_.Set(value, GetArenaForAllocation());
+  url_.Set(value, GetArenaForAllocation());
 }
-inline std::string* ModuleFileInfo::_internal_mutable_platform() {
+inline std::string* Module::_internal_mutable_url() {
   
-  return platform_.Mutable(GetArenaForAllocation());
+  return url_.Mutable(GetArenaForAllocation());
 }
-inline std::string* ModuleFileInfo::release_platform() {
-  // @@protoc_insertion_point(field_release:viam.app.v1.ModuleFileInfo.platform)
-  return platform_.Release();
+inline std::string* Module::release_url() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.Module.url)
+  return url_.Release();
 }
-inline void ModuleFileInfo::set_allocated_platform(std::string* platform) {
-  if (platform != nullptr) {
+inline void Module::set_allocated_url(std::string* url) {
+  if (url != nullptr) {
     
   } else {
     
   }
-  platform_.SetAllocated(platform, GetArenaForAllocation());
+  url_.SetAllocated(url, GetArenaForAllocation());
 #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  if (platform_.IsDefault()) {
-    platform_.Set("", GetArenaForAllocation());
+  if (url_.IsDefault()) {
+    url_.Set("", GetArenaForAllocation());
   }
 #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.ModuleFileInfo.platform)
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.Module.url)
 }
 
-// -------------------------------------------------------------------
-
-// UploadModuleFileRequest
-
-// .viam.app.v1.ModuleFileInfo module_file_info = 1 [json_name = "moduleFileInfo"];
-inline bool UploadModuleFileRequest::_internal_has_module_file_info() const {
-  return module_file_case() == kModuleFileInfo;
+// string description = 6 [json_name = "description"];
+inline void Module::clear_description() {
+  description_.ClearToEmpty();
 }
-inline bool UploadModuleFileRequest::has_module_file_info() const {
-  return _internal_has_module_file_info();
+inline const std::string& Module::description() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.Module.description)
+  return _internal_description();
 }
-inline void UploadModuleFileRequest::set_has_module_file_info() {
-  _oneof_case_[0] = kModuleFileInfo;
+template <typename ArgT0, typename... ArgT>
+inline PROTOBUF_ALWAYS_INLINE
+void Module::set_description(ArgT0&& arg0, ArgT... args) {
+ 
+ description_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.app.v1.Module.description)
 }
-inline void UploadModuleFileRequest::clear_module_file_info() {
-  if (_internal_has_module_file_info()) {
-    if (GetArenaForAllocation() == nullptr) {
-      delete module_file_.module_file_info_;
-    }
-    clear_has_module_file();
-  }
+inline std::string* Module::mutable_description() {
+  std::string* _s = _internal_mutable_description();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.Module.description)
+  return _s;
 }
-inline ::viam::app::v1::ModuleFileInfo* UploadModuleFileRequest::release_module_file_info() {
-  // @@protoc_insertion_point(field_release:viam.app.v1.UploadModuleFileRequest.module_file_info)
-  if (_internal_has_module_file_info()) {
-    clear_has_module_file();
-    ::viam::app::v1::ModuleFileInfo* temp = module_file_.module_file_info_;
-    if (GetArenaForAllocation() != nullptr) {
-      temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
-    }
-    module_file_.module_file_info_ = nullptr;
-    return temp;
-  } else {
-    return nullptr;
-  }
+inline const std::string& Module::_internal_description() const {
+  return description_.Get();
 }
-inline const ::viam::app::v1::ModuleFileInfo& UploadModuleFileRequest::_internal_module_file_info() const {
-  return _internal_has_module_file_info()
-      ? *module_file_.module_file_info_
-      : reinterpret_cast< ::viam::app::v1::ModuleFileInfo&>(::viam::app::v1::_ModuleFileInfo_default_instance_);
+inline void Module::_internal_set_description(const std::string& value) {
+  
+  description_.Set(value, GetArenaForAllocation());
 }
-inline const ::viam::app::v1::ModuleFileInfo& UploadModuleFileRequest::module_file_info() const {
-  // @@protoc_insertion_point(field_get:viam.app.v1.UploadModuleFileRequest.module_file_info)
-  return _internal_module_file_info();
+inline std::string* Module::_internal_mutable_description() {
+  
+  return description_.Mutable(GetArenaForAllocation());
 }
-inline ::viam::app::v1::ModuleFileInfo* UploadModuleFileRequest::unsafe_arena_release_module_file_info() {
-  // @@protoc_insertion_point(field_unsafe_arena_release:viam.app.v1.UploadModuleFileRequest.module_file_info)
-  if (_internal_has_module_file_info()) {
-    clear_has_module_file();
-    ::viam::app::v1::ModuleFileInfo* temp = module_file_.module_file_info_;
-    module_file_.module_file_info_ = nullptr;
-    return temp;
+inline std::string* Module::release_description() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.Module.description)
+  return description_.Release();
+}
+inline void Module::set_allocated_description(std::string* description) {
+  if (description != nullptr) {
+    
   } else {
-    return nullptr;
+    
   }
-}
-inline void UploadModuleFileRequest::unsafe_arena_set_allocated_module_file_info(::viam::app::v1::ModuleFileInfo* module_file_info) {
-  clear_module_file();
-  if (module_file_info) {
-    set_has_module_file_info();
-    module_file_.module_file_info_ = module_file_info;
+  description_.SetAllocated(description, GetArenaForAllocation());
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (description_.IsDefault()) {
+    description_.Set("", GetArenaForAllocation());
   }
-  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.app.v1.UploadModuleFileRequest.module_file_info)
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.Module.description)
 }
-inline ::viam::app::v1::ModuleFileInfo* UploadModuleFileRequest::_internal_mutable_module_file_info() {
-  if (!_internal_has_module_file_info()) {
-    clear_module_file();
-    set_has_module_file_info();
-    module_file_.module_file_info_ = CreateMaybeMessage< ::viam::app::v1::ModuleFileInfo >(GetArenaForAllocation());
-  }
-  return module_file_.module_file_info_;
+
+// repeated .viam.app.v1.Model models = 7 [json_name = "models"];
+inline int Module::_internal_models_size() const {
+  return models_.size();
 }
-inline ::viam::app::v1::ModuleFileInfo* UploadModuleFileRequest::mutable_module_file_info() {
-  ::viam::app::v1::ModuleFileInfo* _msg = _internal_mutable_module_file_info();
-  // @@protoc_insertion_point(field_mutable:viam.app.v1.UploadModuleFileRequest.module_file_info)
-  return _msg;
+inline int Module::models_size() const {
+  return _internal_models_size();
 }
-
-// bytes file = 2 [json_name = "file"];
-inline bool UploadModuleFileRequest::_internal_has_file() const {
-  return module_file_case() == kFile;
+inline void Module::clear_models() {
+  models_.Clear();
 }
-inline bool UploadModuleFileRequest::has_file() const {
-  return _internal_has_file();
+inline ::viam::app::v1::Model* Module::mutable_models(int index) {
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.Module.models)
+  return models_.Mutable(index);
 }
-inline void UploadModuleFileRequest::set_has_file() {
-  _oneof_case_[0] = kFile;
+inline ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::app::v1::Model >*
+Module::mutable_models() {
+  // @@protoc_insertion_point(field_mutable_list:viam.app.v1.Module.models)
+  return &models_;
 }
-inline void UploadModuleFileRequest::clear_file() {
-  if (_internal_has_file()) {
-    module_file_.file_.Destroy();
-    clear_has_module_file();
-  }
+inline const ::viam::app::v1::Model& Module::_internal_models(int index) const {
+  return models_.Get(index);
 }
-inline const std::string& UploadModuleFileRequest::file() const {
-  // @@protoc_insertion_point(field_get:viam.app.v1.UploadModuleFileRequest.file)
-  return _internal_file();
+inline const ::viam::app::v1::Model& Module::models(int index) const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.Module.models)
+  return _internal_models(index);
 }
-template <typename ArgT0, typename... ArgT>
-inline void UploadModuleFileRequest::set_file(ArgT0&& arg0, ArgT... args) {
-  if (!_internal_has_file()) {
-    clear_module_file();
-    set_has_file();
-    module_file_.file_.InitDefault();
-  }
-  module_file_.file_.SetBytes( static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
-  // @@protoc_insertion_point(field_set:viam.app.v1.UploadModuleFileRequest.file)
+inline ::viam::app::v1::Model* Module::_internal_add_models() {
+  return models_.Add();
 }
-inline std::string* UploadModuleFileRequest::mutable_file() {
-  std::string* _s = _internal_mutable_file();
-  // @@protoc_insertion_point(field_mutable:viam.app.v1.UploadModuleFileRequest.file)
-  return _s;
+inline ::viam::app::v1::Model* Module::add_models() {
+  ::viam::app::v1::Model* _add = _internal_add_models();
+  // @@protoc_insertion_point(field_add:viam.app.v1.Module.models)
+  return _add;
 }
-inline const std::string& UploadModuleFileRequest::_internal_file() const {
-  if (_internal_has_file()) {
-    return module_file_.file_.Get();
-  }
-  return ::PROTOBUF_NAMESPACE_ID::internal::GetEmptyStringAlreadyInited();
+inline const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::app::v1::Model >&
+Module::models() const {
+  // @@protoc_insertion_point(field_list:viam.app.v1.Module.models)
+  return models_;
 }
-inline void UploadModuleFileRequest::_internal_set_file(const std::string& value) {
-  if (!_internal_has_file()) {
-    clear_module_file();
-    set_has_file();
-    module_file_.file_.InitDefault();
-  }
-  module_file_.file_.Set(value, GetArenaForAllocation());
+
+// int64 total_robot_usage = 8 [json_name = "totalRobotUsage"];
+inline void Module::clear_total_robot_usage() {
+  total_robot_usage_ = int64_t{0};
 }
-inline std::string* UploadModuleFileRequest::_internal_mutable_file() {
-  if (!_internal_has_file()) {
-    clear_module_file();
-    set_has_file();
-    module_file_.file_.InitDefault();
-  }
-  return module_file_.file_.Mutable(      GetArenaForAllocation());
+inline int64_t Module::_internal_total_robot_usage() const {
+  return total_robot_usage_;
 }
-inline std::string* UploadModuleFileRequest::release_file() {
-  // @@protoc_insertion_point(field_release:viam.app.v1.UploadModuleFileRequest.file)
-  if (_internal_has_file()) {
-    clear_has_module_file();
-    return module_file_.file_.Release();
-  } else {
-    return nullptr;
-  }
+inline int64_t Module::total_robot_usage() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.Module.total_robot_usage)
+  return _internal_total_robot_usage();
 }
-inline void UploadModuleFileRequest::set_allocated_file(std::string* file) {
-  if (has_module_file()) {
-    clear_module_file();
-  }
-  if (file != nullptr) {
-    set_has_file();
-    module_file_.file_.InitAllocated(file, GetArenaForAllocation());
-  }
-  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.UploadModuleFileRequest.file)
+inline void Module::_internal_set_total_robot_usage(int64_t value) {
+  
+  total_robot_usage_ = value;
+}
+inline void Module::set_total_robot_usage(int64_t value) {
+  _internal_set_total_robot_usage(value);
+  // @@protoc_insertion_point(field_set:viam.app.v1.Module.total_robot_usage)
 }
 
-inline bool UploadModuleFileRequest::has_module_file() const {
-  return module_file_case() != MODULE_FILE_NOT_SET;
+// int64 total_organization_usage = 9 [json_name = "totalOrganizationUsage"];
+inline void Module::clear_total_organization_usage() {
+  total_organization_usage_ = int64_t{0};
 }
-inline void UploadModuleFileRequest::clear_has_module_file() {
-  _oneof_case_[0] = MODULE_FILE_NOT_SET;
+inline int64_t Module::_internal_total_organization_usage() const {
+  return total_organization_usage_;
 }
-inline UploadModuleFileRequest::ModuleFileCase UploadModuleFileRequest::module_file_case() const {
-  return UploadModuleFileRequest::ModuleFileCase(_oneof_case_[0]);
+inline int64_t Module::total_organization_usage() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.Module.total_organization_usage)
+  return _internal_total_organization_usage();
+}
+inline void Module::_internal_set_total_organization_usage(int64_t value) {
+  
+  total_organization_usage_ = value;
+}
+inline void Module::set_total_organization_usage(int64_t value) {
+  _internal_set_total_organization_usage(value);
+  // @@protoc_insertion_point(field_set:viam.app.v1.Module.total_organization_usage)
 }
-// -------------------------------------------------------------------
-
-// UploadModuleFileResponse
 
-// string url = 1 [json_name = "url"];
-inline void UploadModuleFileResponse::clear_url() {
-  url_.ClearToEmpty();
+// string organization_id = 10 [json_name = "organizationId"];
+inline void Module::clear_organization_id() {
+  organization_id_.ClearToEmpty();
 }
-inline const std::string& UploadModuleFileResponse::url() const {
-  // @@protoc_insertion_point(field_get:viam.app.v1.UploadModuleFileResponse.url)
-  return _internal_url();
+inline const std::string& Module::organization_id() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.Module.organization_id)
+  return _internal_organization_id();
 }
 template <typename ArgT0, typename... ArgT>
 inline PROTOBUF_ALWAYS_INLINE
-void UploadModuleFileResponse::set_url(ArgT0&& arg0, ArgT... args) {
+void Module::set_organization_id(ArgT0&& arg0, ArgT... args) {
  
- url_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
-  // @@protoc_insertion_point(field_set:viam.app.v1.UploadModuleFileResponse.url)
+ organization_id_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.app.v1.Module.organization_id)
 }
-inline std::string* UploadModuleFileResponse::mutable_url() {
-  std::string* _s = _internal_mutable_url();
-  // @@protoc_insertion_point(field_mutable:viam.app.v1.UploadModuleFileResponse.url)
+inline std::string* Module::mutable_organization_id() {
+  std::string* _s = _internal_mutable_organization_id();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.Module.organization_id)
   return _s;
 }
-inline const std::string& UploadModuleFileResponse::_internal_url() const {
-  return url_.Get();
+inline const std::string& Module::_internal_organization_id() const {
+  return organization_id_.Get();
 }
-inline void UploadModuleFileResponse::_internal_set_url(const std::string& value) {
+inline void Module::_internal_set_organization_id(const std::string& value) {
   
-  url_.Set(value, GetArenaForAllocation());
+  organization_id_.Set(value, GetArenaForAllocation());
 }
-inline std::string* UploadModuleFileResponse::_internal_mutable_url() {
+inline std::string* Module::_internal_mutable_organization_id() {
   
-  return url_.Mutable(GetArenaForAllocation());
+  return organization_id_.Mutable(GetArenaForAllocation());
 }
-inline std::string* UploadModuleFileResponse::release_url() {
-  // @@protoc_insertion_point(field_release:viam.app.v1.UploadModuleFileResponse.url)
-  return url_.Release();
+inline std::string* Module::release_organization_id() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.Module.organization_id)
+  return organization_id_.Release();
 }
-inline void UploadModuleFileResponse::set_allocated_url(std::string* url) {
-  if (url != nullptr) {
+inline void Module::set_allocated_organization_id(std::string* organization_id) {
+  if (organization_id != nullptr) {
     
   } else {
     
   }
-  url_.SetAllocated(url, GetArenaForAllocation());
+  organization_id_.SetAllocated(organization_id, GetArenaForAllocation());
 #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  if (url_.IsDefault()) {
-    url_.Set("", GetArenaForAllocation());
+  if (organization_id_.IsDefault()) {
+    organization_id_.Set("", GetArenaForAllocation());
   }
 #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.UploadModuleFileResponse.url)
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.Module.organization_id)
 }
 
-// -------------------------------------------------------------------
-
-// GetModuleRequest
-
-// string module_id = 1 [json_name = "moduleId"];
-inline void GetModuleRequest::clear_module_id() {
-  module_id_.ClearToEmpty();
+// string entrypoint = 11 [json_name = "entrypoint"];
+inline void Module::clear_entrypoint() {
+  entrypoint_.ClearToEmpty();
 }
-inline const std::string& GetModuleRequest::module_id() const {
-  // @@protoc_insertion_point(field_get:viam.app.v1.GetModuleRequest.module_id)
-  return _internal_module_id();
+inline const std::string& Module::entrypoint() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.Module.entrypoint)
+  return _internal_entrypoint();
 }
 template <typename ArgT0, typename... ArgT>
 inline PROTOBUF_ALWAYS_INLINE
-void GetModuleRequest::set_module_id(ArgT0&& arg0, ArgT... args) {
+void Module::set_entrypoint(ArgT0&& arg0, ArgT... args) {
  
- module_id_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
-  // @@protoc_insertion_point(field_set:viam.app.v1.GetModuleRequest.module_id)
+ entrypoint_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.app.v1.Module.entrypoint)
 }
-inline std::string* GetModuleRequest::mutable_module_id() {
-  std::string* _s = _internal_mutable_module_id();
-  // @@protoc_insertion_point(field_mutable:viam.app.v1.GetModuleRequest.module_id)
+inline std::string* Module::mutable_entrypoint() {
+  std::string* _s = _internal_mutable_entrypoint();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.Module.entrypoint)
   return _s;
 }
-inline const std::string& GetModuleRequest::_internal_module_id() const {
-  return module_id_.Get();
+inline const std::string& Module::_internal_entrypoint() const {
+  return entrypoint_.Get();
 }
-inline void GetModuleRequest::_internal_set_module_id(const std::string& value) {
+inline void Module::_internal_set_entrypoint(const std::string& value) {
   
-  module_id_.Set(value, GetArenaForAllocation());
+  entrypoint_.Set(value, GetArenaForAllocation());
 }
-inline std::string* GetModuleRequest::_internal_mutable_module_id() {
+inline std::string* Module::_internal_mutable_entrypoint() {
   
-  return module_id_.Mutable(GetArenaForAllocation());
+  return entrypoint_.Mutable(GetArenaForAllocation());
 }
-inline std::string* GetModuleRequest::release_module_id() {
-  // @@protoc_insertion_point(field_release:viam.app.v1.GetModuleRequest.module_id)
-  return module_id_.Release();
+inline std::string* Module::release_entrypoint() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.Module.entrypoint)
+  return entrypoint_.Release();
 }
-inline void GetModuleRequest::set_allocated_module_id(std::string* module_id) {
-  if (module_id != nullptr) {
+inline void Module::set_allocated_entrypoint(std::string* entrypoint) {
+  if (entrypoint != nullptr) {
     
   } else {
     
   }
-  module_id_.SetAllocated(module_id, GetArenaForAllocation());
+  entrypoint_.SetAllocated(entrypoint, GetArenaForAllocation());
 #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  if (module_id_.IsDefault()) {
-    module_id_.Set("", GetArenaForAllocation());
+  if (entrypoint_.IsDefault()) {
+    entrypoint_.Set("", GetArenaForAllocation());
   }
 #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.GetModuleRequest.module_id)
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.Module.entrypoint)
 }
 
-// -------------------------------------------------------------------
-
-// GetModuleResponse
-
-// .viam.app.v1.Module module = 1 [json_name = "module"];
-inline bool GetModuleResponse::_internal_has_module() const {
-  return this != internal_default_instance() && module_ != nullptr;
-}
-inline bool GetModuleResponse::has_module() const {
-  return _internal_has_module();
-}
-inline void GetModuleResponse::clear_module() {
-  if (GetArenaForAllocation() == nullptr && module_ != nullptr) {
-    delete module_;
-  }
-  module_ = nullptr;
+// string public_namespace = 12 [json_name = "publicNamespace"];
+inline void Module::clear_public_namespace() {
+  public_namespace_.ClearToEmpty();
 }
-inline const ::viam::app::v1::Module& GetModuleResponse::_internal_module() const {
-  const ::viam::app::v1::Module* p = module_;
-  return p != nullptr ? *p : reinterpret_cast<const ::viam::app::v1::Module&>(
-      ::viam::app::v1::_Module_default_instance_);
+inline const std::string& Module::public_namespace() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.Module.public_namespace)
+  return _internal_public_namespace();
 }
-inline const ::viam::app::v1::Module& GetModuleResponse::module() const {
-  // @@protoc_insertion_point(field_get:viam.app.v1.GetModuleResponse.module)
-  return _internal_module();
+template <typename ArgT0, typename... ArgT>
+inline PROTOBUF_ALWAYS_INLINE
+void Module::set_public_namespace(ArgT0&& arg0, ArgT... args) {
+ 
+ public_namespace_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.app.v1.Module.public_namespace)
 }
-inline void GetModuleResponse::unsafe_arena_set_allocated_module(
-    ::viam::app::v1::Module* module) {
-  if (GetArenaForAllocation() == nullptr) {
-    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(module_);
-  }
-  module_ = module;
-  if (module) {
-    
-  } else {
-    
-  }
-  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.app.v1.GetModuleResponse.module)
+inline std::string* Module::mutable_public_namespace() {
+  std::string* _s = _internal_mutable_public_namespace();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.Module.public_namespace)
+  return _s;
 }
-inline ::viam::app::v1::Module* GetModuleResponse::release_module() {
-  
-  ::viam::app::v1::Module* temp = module_;
-  module_ = nullptr;
-#ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
-  auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
-  temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
-  if (GetArenaForAllocation() == nullptr) { delete old; }
-#else  // PROTOBUF_FORCE_COPY_IN_RELEASE
-  if (GetArenaForAllocation() != nullptr) {
-    temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
-  }
-#endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
-  return temp;
+inline const std::string& Module::_internal_public_namespace() const {
+  return public_namespace_.Get();
 }
-inline ::viam::app::v1::Module* GetModuleResponse::unsafe_arena_release_module() {
-  // @@protoc_insertion_point(field_release:viam.app.v1.GetModuleResponse.module)
+inline void Module::_internal_set_public_namespace(const std::string& value) {
   
-  ::viam::app::v1::Module* temp = module_;
-  module_ = nullptr;
-  return temp;
+  public_namespace_.Set(value, GetArenaForAllocation());
 }
-inline ::viam::app::v1::Module* GetModuleResponse::_internal_mutable_module() {
+inline std::string* Module::_internal_mutable_public_namespace() {
   
-  if (module_ == nullptr) {
-    auto* p = CreateMaybeMessage<::viam::app::v1::Module>(GetArenaForAllocation());
-    module_ = p;
-  }
-  return module_;
+  return public_namespace_.Mutable(GetArenaForAllocation());
 }
-inline ::viam::app::v1::Module* GetModuleResponse::mutable_module() {
-  ::viam::app::v1::Module* _msg = _internal_mutable_module();
-  // @@protoc_insertion_point(field_mutable:viam.app.v1.GetModuleResponse.module)
-  return _msg;
+inline std::string* Module::release_public_namespace() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.Module.public_namespace)
+  return public_namespace_.Release();
 }
-inline void GetModuleResponse::set_allocated_module(::viam::app::v1::Module* module) {
-  ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
-  if (message_arena == nullptr) {
-    delete module_;
-  }
-  if (module) {
-    ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
-        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(module);
-    if (message_arena != submessage_arena) {
-      module = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
-          message_arena, module, submessage_arena);
-    }
+inline void Module::set_allocated_public_namespace(std::string* public_namespace) {
+  if (public_namespace != nullptr) {
     
   } else {
     
   }
-  module_ = module;
-  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.GetModuleResponse.module)
+  public_namespace_.SetAllocated(public_namespace, GetArenaForAllocation());
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (public_namespace_.IsDefault()) {
+    public_namespace_.Set("", GetArenaForAllocation());
+  }
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.Module.public_namespace)
 }
 
 // -------------------------------------------------------------------
 
-// Module
+// VersionHistory
 
-// string module_id = 1 [json_name = "moduleId"];
-inline void Module::clear_module_id() {
-  module_id_.ClearToEmpty();
+// string version = 1 [json_name = "version"];
+inline void VersionHistory::clear_version() {
+  version_.ClearToEmpty();
 }
-inline const std::string& Module::module_id() const {
-  // @@protoc_insertion_point(field_get:viam.app.v1.Module.module_id)
-  return _internal_module_id();
+inline const std::string& VersionHistory::version() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.VersionHistory.version)
+  return _internal_version();
 }
 template <typename ArgT0, typename... ArgT>
 inline PROTOBUF_ALWAYS_INLINE
-void Module::set_module_id(ArgT0&& arg0, ArgT... args) {
+void VersionHistory::set_version(ArgT0&& arg0, ArgT... args) {
  
- module_id_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
-  // @@protoc_insertion_point(field_set:viam.app.v1.Module.module_id)
+ version_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.app.v1.VersionHistory.version)
 }
-inline std::string* Module::mutable_module_id() {
-  std::string* _s = _internal_mutable_module_id();
-  // @@protoc_insertion_point(field_mutable:viam.app.v1.Module.module_id)
+inline std::string* VersionHistory::mutable_version() {
+  std::string* _s = _internal_mutable_version();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.VersionHistory.version)
   return _s;
 }
-inline const std::string& Module::_internal_module_id() const {
-  return module_id_.Get();
+inline const std::string& VersionHistory::_internal_version() const {
+  return version_.Get();
 }
-inline void Module::_internal_set_module_id(const std::string& value) {
+inline void VersionHistory::_internal_set_version(const std::string& value) {
   
-  module_id_.Set(value, GetArenaForAllocation());
+  version_.Set(value, GetArenaForAllocation());
 }
-inline std::string* Module::_internal_mutable_module_id() {
+inline std::string* VersionHistory::_internal_mutable_version() {
   
-  return module_id_.Mutable(GetArenaForAllocation());
+  return version_.Mutable(GetArenaForAllocation());
 }
-inline std::string* Module::release_module_id() {
-  // @@protoc_insertion_point(field_release:viam.app.v1.Module.module_id)
-  return module_id_.Release();
+inline std::string* VersionHistory::release_version() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.VersionHistory.version)
+  return version_.Release();
 }
-inline void Module::set_allocated_module_id(std::string* module_id) {
-  if (module_id != nullptr) {
+inline void VersionHistory::set_allocated_version(std::string* version) {
+  if (version != nullptr) {
     
   } else {
     
   }
-  module_id_.SetAllocated(module_id, GetArenaForAllocation());
+  version_.SetAllocated(version, GetArenaForAllocation());
 #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  if (module_id_.IsDefault()) {
-    module_id_.Set("", GetArenaForAllocation());
+  if (version_.IsDefault()) {
+    version_.Set("", GetArenaForAllocation());
   }
 #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.Module.module_id)
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.VersionHistory.version)
 }
 
-// string name = 2 [json_name = "name"];
-inline void Module::clear_name() {
-  name_.ClearToEmpty();
+// repeated .viam.app.v1.Uploads files = 2 [json_name = "files"];
+inline int VersionHistory::_internal_files_size() const {
+  return files_.size();
 }
-inline const std::string& Module::name() const {
-  // @@protoc_insertion_point(field_get:viam.app.v1.Module.name)
-  return _internal_name();
+inline int VersionHistory::files_size() const {
+  return _internal_files_size();
+}
+inline void VersionHistory::clear_files() {
+  files_.Clear();
+}
+inline ::viam::app::v1::Uploads* VersionHistory::mutable_files(int index) {
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.VersionHistory.files)
+  return files_.Mutable(index);
+}
+inline ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::app::v1::Uploads >*
+VersionHistory::mutable_files() {
+  // @@protoc_insertion_point(field_mutable_list:viam.app.v1.VersionHistory.files)
+  return &files_;
+}
+inline const ::viam::app::v1::Uploads& VersionHistory::_internal_files(int index) const {
+  return files_.Get(index);
+}
+inline const ::viam::app::v1::Uploads& VersionHistory::files(int index) const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.VersionHistory.files)
+  return _internal_files(index);
+}
+inline ::viam::app::v1::Uploads* VersionHistory::_internal_add_files() {
+  return files_.Add();
+}
+inline ::viam::app::v1::Uploads* VersionHistory::add_files() {
+  ::viam::app::v1::Uploads* _add = _internal_add_files();
+  // @@protoc_insertion_point(field_add:viam.app.v1.VersionHistory.files)
+  return _add;
+}
+inline const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::app::v1::Uploads >&
+VersionHistory::files() const {
+  // @@protoc_insertion_point(field_list:viam.app.v1.VersionHistory.files)
+  return files_;
+}
+
+// repeated .viam.app.v1.Model models = 3 [json_name = "models"];
+inline int VersionHistory::_internal_models_size() const {
+  return models_.size();
+}
+inline int VersionHistory::models_size() const {
+  return _internal_models_size();
+}
+inline void VersionHistory::clear_models() {
+  models_.Clear();
+}
+inline ::viam::app::v1::Model* VersionHistory::mutable_models(int index) {
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.VersionHistory.models)
+  return models_.Mutable(index);
+}
+inline ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::app::v1::Model >*
+VersionHistory::mutable_models() {
+  // @@protoc_insertion_point(field_mutable_list:viam.app.v1.VersionHistory.models)
+  return &models_;
+}
+inline const ::viam::app::v1::Model& VersionHistory::_internal_models(int index) const {
+  return models_.Get(index);
+}
+inline const ::viam::app::v1::Model& VersionHistory::models(int index) const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.VersionHistory.models)
+  return _internal_models(index);
+}
+inline ::viam::app::v1::Model* VersionHistory::_internal_add_models() {
+  return models_.Add();
+}
+inline ::viam::app::v1::Model* VersionHistory::add_models() {
+  ::viam::app::v1::Model* _add = _internal_add_models();
+  // @@protoc_insertion_point(field_add:viam.app.v1.VersionHistory.models)
+  return _add;
+}
+inline const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::app::v1::Model >&
+VersionHistory::models() const {
+  // @@protoc_insertion_point(field_list:viam.app.v1.VersionHistory.models)
+  return models_;
+}
+
+// string entrypoint = 4 [json_name = "entrypoint"];
+inline void VersionHistory::clear_entrypoint() {
+  entrypoint_.ClearToEmpty();
+}
+inline const std::string& VersionHistory::entrypoint() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.VersionHistory.entrypoint)
+  return _internal_entrypoint();
 }
 template <typename ArgT0, typename... ArgT>
 inline PROTOBUF_ALWAYS_INLINE
-void Module::set_name(ArgT0&& arg0, ArgT... args) {
+void VersionHistory::set_entrypoint(ArgT0&& arg0, ArgT... args) {
  
- name_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
-  // @@protoc_insertion_point(field_set:viam.app.v1.Module.name)
+ entrypoint_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.app.v1.VersionHistory.entrypoint)
 }
-inline std::string* Module::mutable_name() {
-  std::string* _s = _internal_mutable_name();
-  // @@protoc_insertion_point(field_mutable:viam.app.v1.Module.name)
+inline std::string* VersionHistory::mutable_entrypoint() {
+  std::string* _s = _internal_mutable_entrypoint();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.VersionHistory.entrypoint)
   return _s;
 }
-inline const std::string& Module::_internal_name() const {
-  return name_.Get();
+inline const std::string& VersionHistory::_internal_entrypoint() const {
+  return entrypoint_.Get();
 }
-inline void Module::_internal_set_name(const std::string& value) {
+inline void VersionHistory::_internal_set_entrypoint(const std::string& value) {
   
-  name_.Set(value, GetArenaForAllocation());
+  entrypoint_.Set(value, GetArenaForAllocation());
 }
-inline std::string* Module::_internal_mutable_name() {
+inline std::string* VersionHistory::_internal_mutable_entrypoint() {
   
-  return name_.Mutable(GetArenaForAllocation());
+  return entrypoint_.Mutable(GetArenaForAllocation());
 }
-inline std::string* Module::release_name() {
-  // @@protoc_insertion_point(field_release:viam.app.v1.Module.name)
-  return name_.Release();
+inline std::string* VersionHistory::release_entrypoint() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.VersionHistory.entrypoint)
+  return entrypoint_.Release();
 }
-inline void Module::set_allocated_name(std::string* name) {
-  if (name != nullptr) {
+inline void VersionHistory::set_allocated_entrypoint(std::string* entrypoint) {
+  if (entrypoint != nullptr) {
     
   } else {
     
   }
-  name_.SetAllocated(name, GetArenaForAllocation());
+  entrypoint_.SetAllocated(entrypoint, GetArenaForAllocation());
 #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  if (name_.IsDefault()) {
-    name_.Set("", GetArenaForAllocation());
+  if (entrypoint_.IsDefault()) {
+    entrypoint_.Set("", GetArenaForAllocation());
   }
 #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.Module.name)
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.VersionHistory.entrypoint)
 }
 
-// .viam.app.v1.Visibility visibility = 3 [json_name = "visibility"];
-inline void Module::clear_visibility() {
-  visibility_ = 0;
-}
-inline ::viam::app::v1::Visibility Module::_internal_visibility() const {
-  return static_cast< ::viam::app::v1::Visibility >(visibility_);
-}
-inline ::viam::app::v1::Visibility Module::visibility() const {
-  // @@protoc_insertion_point(field_get:viam.app.v1.Module.visibility)
-  return _internal_visibility();
-}
-inline void Module::_internal_set_visibility(::viam::app::v1::Visibility value) {
-  
-  visibility_ = value;
-}
-inline void Module::set_visibility(::viam::app::v1::Visibility value) {
-  _internal_set_visibility(value);
-  // @@protoc_insertion_point(field_set:viam.app.v1.Module.visibility)
-}
+// -------------------------------------------------------------------
 
-// repeated .viam.app.v1.VersionHistory versions = 4 [json_name = "versions"];
-inline int Module::_internal_versions_size() const {
-  return versions_.size();
-}
-inline int Module::versions_size() const {
-  return _internal_versions_size();
+// Uploads
+
+// string platform = 1 [json_name = "platform"];
+inline void Uploads::clear_platform() {
+  platform_.ClearToEmpty();
 }
-inline void Module::clear_versions() {
-  versions_.Clear();
+inline const std::string& Uploads::platform() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.Uploads.platform)
+  return _internal_platform();
 }
-inline ::viam::app::v1::VersionHistory* Module::mutable_versions(int index) {
-  // @@protoc_insertion_point(field_mutable:viam.app.v1.Module.versions)
-  return versions_.Mutable(index);
+template <typename ArgT0, typename... ArgT>
+inline PROTOBUF_ALWAYS_INLINE
+void Uploads::set_platform(ArgT0&& arg0, ArgT... args) {
+ 
+ platform_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.app.v1.Uploads.platform)
 }
-inline ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::app::v1::VersionHistory >*
-Module::mutable_versions() {
-  // @@protoc_insertion_point(field_mutable_list:viam.app.v1.Module.versions)
-  return &versions_;
+inline std::string* Uploads::mutable_platform() {
+  std::string* _s = _internal_mutable_platform();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.Uploads.platform)
+  return _s;
 }
-inline const ::viam::app::v1::VersionHistory& Module::_internal_versions(int index) const {
-  return versions_.Get(index);
+inline const std::string& Uploads::_internal_platform() const {
+  return platform_.Get();
 }
-inline const ::viam::app::v1::VersionHistory& Module::versions(int index) const {
-  // @@protoc_insertion_point(field_get:viam.app.v1.Module.versions)
-  return _internal_versions(index);
+inline void Uploads::_internal_set_platform(const std::string& value) {
+  
+  platform_.Set(value, GetArenaForAllocation());
 }
-inline ::viam::app::v1::VersionHistory* Module::_internal_add_versions() {
-  return versions_.Add();
+inline std::string* Uploads::_internal_mutable_platform() {
+  
+  return platform_.Mutable(GetArenaForAllocation());
 }
-inline ::viam::app::v1::VersionHistory* Module::add_versions() {
-  ::viam::app::v1::VersionHistory* _add = _internal_add_versions();
-  // @@protoc_insertion_point(field_add:viam.app.v1.Module.versions)
-  return _add;
+inline std::string* Uploads::release_platform() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.Uploads.platform)
+  return platform_.Release();
 }
-inline const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::app::v1::VersionHistory >&
-Module::versions() const {
-  // @@protoc_insertion_point(field_list:viam.app.v1.Module.versions)
-  return versions_;
+inline void Uploads::set_allocated_platform(std::string* platform) {
+  if (platform != nullptr) {
+    
+  } else {
+    
+  }
+  platform_.SetAllocated(platform, GetArenaForAllocation());
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (platform_.IsDefault()) {
+    platform_.Set("", GetArenaForAllocation());
+  }
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.Uploads.platform)
 }
 
-// string url = 5 [json_name = "url"];
-inline void Module::clear_url() {
-  url_.ClearToEmpty();
+// .google.protobuf.Timestamp uploaded_at = 2 [json_name = "uploadedAt"];
+inline bool Uploads::_internal_has_uploaded_at() const {
+  return this != internal_default_instance() && uploaded_at_ != nullptr;
 }
-inline const std::string& Module::url() const {
-  // @@protoc_insertion_point(field_get:viam.app.v1.Module.url)
-  return _internal_url();
+inline bool Uploads::has_uploaded_at() const {
+  return _internal_has_uploaded_at();
+}
+inline const ::PROTOBUF_NAMESPACE_ID::Timestamp& Uploads::_internal_uploaded_at() const {
+  const ::PROTOBUF_NAMESPACE_ID::Timestamp* p = uploaded_at_;
+  return p != nullptr ? *p : reinterpret_cast<const ::PROTOBUF_NAMESPACE_ID::Timestamp&>(
+      ::PROTOBUF_NAMESPACE_ID::_Timestamp_default_instance_);
 }
-template <typename ArgT0, typename... ArgT>
-inline PROTOBUF_ALWAYS_INLINE
-void Module::set_url(ArgT0&& arg0, ArgT... args) {
- 
- url_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
-  // @@protoc_insertion_point(field_set:viam.app.v1.Module.url)
+inline const ::PROTOBUF_NAMESPACE_ID::Timestamp& Uploads::uploaded_at() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.Uploads.uploaded_at)
+  return _internal_uploaded_at();
 }
-inline std::string* Module::mutable_url() {
-  std::string* _s = _internal_mutable_url();
-  // @@protoc_insertion_point(field_mutable:viam.app.v1.Module.url)
-  return _s;
+inline void Uploads::unsafe_arena_set_allocated_uploaded_at(
+    ::PROTOBUF_NAMESPACE_ID::Timestamp* uploaded_at) {
+  if (GetArenaForAllocation() == nullptr) {
+    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(uploaded_at_);
+  }
+  uploaded_at_ = uploaded_at;
+  if (uploaded_at) {
+    
+  } else {
+    
+  }
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.app.v1.Uploads.uploaded_at)
 }
-inline const std::string& Module::_internal_url() const {
-  return url_.Get();
+inline ::PROTOBUF_NAMESPACE_ID::Timestamp* Uploads::release_uploaded_at() {
+  
+  ::PROTOBUF_NAMESPACE_ID::Timestamp* temp = uploaded_at_;
+  uploaded_at_ = nullptr;
+#ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
+  auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
+  temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  if (GetArenaForAllocation() == nullptr) { delete old; }
+#else  // PROTOBUF_FORCE_COPY_IN_RELEASE
+  if (GetArenaForAllocation() != nullptr) {
+    temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  }
+#endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
+  return temp;
 }
-inline void Module::_internal_set_url(const std::string& value) {
+inline ::PROTOBUF_NAMESPACE_ID::Timestamp* Uploads::unsafe_arena_release_uploaded_at() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.Uploads.uploaded_at)
   
-  url_.Set(value, GetArenaForAllocation());
+  ::PROTOBUF_NAMESPACE_ID::Timestamp* temp = uploaded_at_;
+  uploaded_at_ = nullptr;
+  return temp;
 }
-inline std::string* Module::_internal_mutable_url() {
+inline ::PROTOBUF_NAMESPACE_ID::Timestamp* Uploads::_internal_mutable_uploaded_at() {
   
-  return url_.Mutable(GetArenaForAllocation());
+  if (uploaded_at_ == nullptr) {
+    auto* p = CreateMaybeMessage<::PROTOBUF_NAMESPACE_ID::Timestamp>(GetArenaForAllocation());
+    uploaded_at_ = p;
+  }
+  return uploaded_at_;
 }
-inline std::string* Module::release_url() {
-  // @@protoc_insertion_point(field_release:viam.app.v1.Module.url)
-  return url_.Release();
+inline ::PROTOBUF_NAMESPACE_ID::Timestamp* Uploads::mutable_uploaded_at() {
+  ::PROTOBUF_NAMESPACE_ID::Timestamp* _msg = _internal_mutable_uploaded_at();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.Uploads.uploaded_at)
+  return _msg;
 }
-inline void Module::set_allocated_url(std::string* url) {
-  if (url != nullptr) {
+inline void Uploads::set_allocated_uploaded_at(::PROTOBUF_NAMESPACE_ID::Timestamp* uploaded_at) {
+  ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
+  if (message_arena == nullptr) {
+    delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(uploaded_at_);
+  }
+  if (uploaded_at) {
+    ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
+        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(
+                reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(uploaded_at));
+    if (message_arena != submessage_arena) {
+      uploaded_at = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
+          message_arena, uploaded_at, submessage_arena);
+    }
     
   } else {
     
   }
-  url_.SetAllocated(url, GetArenaForAllocation());
-#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  if (url_.IsDefault()) {
-    url_.Set("", GetArenaForAllocation());
-  }
-#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.Module.url)
+  uploaded_at_ = uploaded_at;
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.Uploads.uploaded_at)
 }
 
-// string description = 6 [json_name = "description"];
-inline void Module::clear_description() {
-  description_.ClearToEmpty();
+// -------------------------------------------------------------------
+
+// ListModulesRequest
+
+// optional string organization_id = 1 [json_name = "organizationId"];
+inline bool ListModulesRequest::_internal_has_organization_id() const {
+  bool value = (_has_bits_[0] & 0x00000001u) != 0;
+  return value;
 }
-inline const std::string& Module::description() const {
-  // @@protoc_insertion_point(field_get:viam.app.v1.Module.description)
-  return _internal_description();
+inline bool ListModulesRequest::has_organization_id() const {
+  return _internal_has_organization_id();
+}
+inline void ListModulesRequest::clear_organization_id() {
+  organization_id_.ClearToEmpty();
+  _has_bits_[0] &= ~0x00000001u;
+}
+inline const std::string& ListModulesRequest::organization_id() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.ListModulesRequest.organization_id)
+  return _internal_organization_id();
 }
 template <typename ArgT0, typename... ArgT>
 inline PROTOBUF_ALWAYS_INLINE
-void Module::set_description(ArgT0&& arg0, ArgT... args) {
- 
- description_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
-  // @@protoc_insertion_point(field_set:viam.app.v1.Module.description)
+void ListModulesRequest::set_organization_id(ArgT0&& arg0, ArgT... args) {
+ _has_bits_[0] |= 0x00000001u;
+ organization_id_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.app.v1.ListModulesRequest.organization_id)
 }
-inline std::string* Module::mutable_description() {
-  std::string* _s = _internal_mutable_description();
-  // @@protoc_insertion_point(field_mutable:viam.app.v1.Module.description)
+inline std::string* ListModulesRequest::mutable_organization_id() {
+  std::string* _s = _internal_mutable_organization_id();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.ListModulesRequest.organization_id)
   return _s;
 }
-inline const std::string& Module::_internal_description() const {
-  return description_.Get();
+inline const std::string& ListModulesRequest::_internal_organization_id() const {
+  return organization_id_.Get();
 }
-inline void Module::_internal_set_description(const std::string& value) {
-  
-  description_.Set(value, GetArenaForAllocation());
+inline void ListModulesRequest::_internal_set_organization_id(const std::string& value) {
+  _has_bits_[0] |= 0x00000001u;
+  organization_id_.Set(value, GetArenaForAllocation());
 }
-inline std::string* Module::_internal_mutable_description() {
-  
-  return description_.Mutable(GetArenaForAllocation());
+inline std::string* ListModulesRequest::_internal_mutable_organization_id() {
+  _has_bits_[0] |= 0x00000001u;
+  return organization_id_.Mutable(GetArenaForAllocation());
 }
-inline std::string* Module::release_description() {
-  // @@protoc_insertion_point(field_release:viam.app.v1.Module.description)
-  return description_.Release();
+inline std::string* ListModulesRequest::release_organization_id() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.ListModulesRequest.organization_id)
+  if (!_internal_has_organization_id()) {
+    return nullptr;
+  }
+  _has_bits_[0] &= ~0x00000001u;
+  auto* p = organization_id_.Release();
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (organization_id_.IsDefault()) {
+    organization_id_.Set("", GetArenaForAllocation());
+  }
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  return p;
 }
-inline void Module::set_allocated_description(std::string* description) {
-  if (description != nullptr) {
-    
+inline void ListModulesRequest::set_allocated_organization_id(std::string* organization_id) {
+  if (organization_id != nullptr) {
+    _has_bits_[0] |= 0x00000001u;
   } else {
-    
+    _has_bits_[0] &= ~0x00000001u;
   }
-  description_.SetAllocated(description, GetArenaForAllocation());
+  organization_id_.SetAllocated(organization_id, GetArenaForAllocation());
 #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  if (description_.IsDefault()) {
-    description_.Set("", GetArenaForAllocation());
+  if (organization_id_.IsDefault()) {
+    organization_id_.Set("", GetArenaForAllocation());
   }
 #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.Module.description)
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.ListModulesRequest.organization_id)
 }
 
-// repeated .viam.app.v1.Model models = 7 [json_name = "models"];
-inline int Module::_internal_models_size() const {
-  return models_.size();
+// -------------------------------------------------------------------
+
+// ListModulesResponse
+
+// repeated .viam.app.v1.Module modules = 1 [json_name = "modules"];
+inline int ListModulesResponse::_internal_modules_size() const {
+  return modules_.size();
 }
-inline int Module::models_size() const {
-  return _internal_models_size();
+inline int ListModulesResponse::modules_size() const {
+  return _internal_modules_size();
 }
-inline void Module::clear_models() {
-  models_.Clear();
+inline void ListModulesResponse::clear_modules() {
+  modules_.Clear();
 }
-inline ::viam::app::v1::Model* Module::mutable_models(int index) {
-  // @@protoc_insertion_point(field_mutable:viam.app.v1.Module.models)
-  return models_.Mutable(index);
+inline ::viam::app::v1::Module* ListModulesResponse::mutable_modules(int index) {
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.ListModulesResponse.modules)
+  return modules_.Mutable(index);
 }
-inline ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::app::v1::Model >*
-Module::mutable_models() {
-  // @@protoc_insertion_point(field_mutable_list:viam.app.v1.Module.models)
-  return &models_;
+inline ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::app::v1::Module >*
+ListModulesResponse::mutable_modules() {
+  // @@protoc_insertion_point(field_mutable_list:viam.app.v1.ListModulesResponse.modules)
+  return &modules_;
 }
-inline const ::viam::app::v1::Model& Module::_internal_models(int index) const {
-  return models_.Get(index);
+inline const ::viam::app::v1::Module& ListModulesResponse::_internal_modules(int index) const {
+  return modules_.Get(index);
 }
-inline const ::viam::app::v1::Model& Module::models(int index) const {
-  // @@protoc_insertion_point(field_get:viam.app.v1.Module.models)
-  return _internal_models(index);
+inline const ::viam::app::v1::Module& ListModulesResponse::modules(int index) const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.ListModulesResponse.modules)
+  return _internal_modules(index);
 }
-inline ::viam::app::v1::Model* Module::_internal_add_models() {
-  return models_.Add();
+inline ::viam::app::v1::Module* ListModulesResponse::_internal_add_modules() {
+  return modules_.Add();
 }
-inline ::viam::app::v1::Model* Module::add_models() {
-  ::viam::app::v1::Model* _add = _internal_add_models();
-  // @@protoc_insertion_point(field_add:viam.app.v1.Module.models)
+inline ::viam::app::v1::Module* ListModulesResponse::add_modules() {
+  ::viam::app::v1::Module* _add = _internal_add_modules();
+  // @@protoc_insertion_point(field_add:viam.app.v1.ListModulesResponse.modules)
   return _add;
 }
-inline const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::app::v1::Model >&
-Module::models() const {
-  // @@protoc_insertion_point(field_list:viam.app.v1.Module.models)
-  return models_;
+inline const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::app::v1::Module >&
+ListModulesResponse::modules() const {
+  // @@protoc_insertion_point(field_list:viam.app.v1.ListModulesResponse.modules)
+  return modules_;
 }
 
-// int64 total_robot_usage = 8 [json_name = "totalRobotUsage"];
-inline void Module::clear_total_robot_usage() {
-  total_robot_usage_ = int64_t{0};
-}
-inline int64_t Module::_internal_total_robot_usage() const {
-  return total_robot_usage_;
-}
-inline int64_t Module::total_robot_usage() const {
-  // @@protoc_insertion_point(field_get:viam.app.v1.Module.total_robot_usage)
-  return _internal_total_robot_usage();
+// -------------------------------------------------------------------
+
+// GetUserIDByEmailRequest
+
+// string email = 1 [json_name = "email"];
+inline void GetUserIDByEmailRequest::clear_email() {
+  email_.ClearToEmpty();
 }
-inline void Module::_internal_set_total_robot_usage(int64_t value) {
-  
-  total_robot_usage_ = value;
+inline const std::string& GetUserIDByEmailRequest::email() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.GetUserIDByEmailRequest.email)
+  return _internal_email();
 }
-inline void Module::set_total_robot_usage(int64_t value) {
-  _internal_set_total_robot_usage(value);
-  // @@protoc_insertion_point(field_set:viam.app.v1.Module.total_robot_usage)
+template <typename ArgT0, typename... ArgT>
+inline PROTOBUF_ALWAYS_INLINE
+void GetUserIDByEmailRequest::set_email(ArgT0&& arg0, ArgT... args) {
+ 
+ email_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.app.v1.GetUserIDByEmailRequest.email)
 }
-
-// int64 total_organization_usage = 9 [json_name = "totalOrganizationUsage"];
-inline void Module::clear_total_organization_usage() {
-  total_organization_usage_ = int64_t{0};
+inline std::string* GetUserIDByEmailRequest::mutable_email() {
+  std::string* _s = _internal_mutable_email();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.GetUserIDByEmailRequest.email)
+  return _s;
 }
-inline int64_t Module::_internal_total_organization_usage() const {
-  return total_organization_usage_;
+inline const std::string& GetUserIDByEmailRequest::_internal_email() const {
+  return email_.Get();
 }
-inline int64_t Module::total_organization_usage() const {
-  // @@protoc_insertion_point(field_get:viam.app.v1.Module.total_organization_usage)
-  return _internal_total_organization_usage();
+inline void GetUserIDByEmailRequest::_internal_set_email(const std::string& value) {
+  
+  email_.Set(value, GetArenaForAllocation());
 }
-inline void Module::_internal_set_total_organization_usage(int64_t value) {
+inline std::string* GetUserIDByEmailRequest::_internal_mutable_email() {
   
-  total_organization_usage_ = value;
+  return email_.Mutable(GetArenaForAllocation());
 }
-inline void Module::set_total_organization_usage(int64_t value) {
-  _internal_set_total_organization_usage(value);
-  // @@protoc_insertion_point(field_set:viam.app.v1.Module.total_organization_usage)
+inline std::string* GetUserIDByEmailRequest::release_email() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.GetUserIDByEmailRequest.email)
+  return email_.Release();
+}
+inline void GetUserIDByEmailRequest::set_allocated_email(std::string* email) {
+  if (email != nullptr) {
+    
+  } else {
+    
+  }
+  email_.SetAllocated(email, GetArenaForAllocation());
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (email_.IsDefault()) {
+    email_.Set("", GetArenaForAllocation());
+  }
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.GetUserIDByEmailRequest.email)
 }
 
-// string organization_id = 10 [json_name = "organizationId"];
-inline void Module::clear_organization_id() {
-  organization_id_.ClearToEmpty();
+// -------------------------------------------------------------------
+
+// GetUserIDByEmailResponse
+
+// string user_id = 1 [json_name = "userId"];
+inline void GetUserIDByEmailResponse::clear_user_id() {
+  user_id_.ClearToEmpty();
 }
-inline const std::string& Module::organization_id() const {
-  // @@protoc_insertion_point(field_get:viam.app.v1.Module.organization_id)
-  return _internal_organization_id();
+inline const std::string& GetUserIDByEmailResponse::user_id() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.GetUserIDByEmailResponse.user_id)
+  return _internal_user_id();
 }
 template <typename ArgT0, typename... ArgT>
 inline PROTOBUF_ALWAYS_INLINE
-void Module::set_organization_id(ArgT0&& arg0, ArgT... args) {
+void GetUserIDByEmailResponse::set_user_id(ArgT0&& arg0, ArgT... args) {
  
- organization_id_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
-  // @@protoc_insertion_point(field_set:viam.app.v1.Module.organization_id)
+ user_id_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.app.v1.GetUserIDByEmailResponse.user_id)
 }
-inline std::string* Module::mutable_organization_id() {
-  std::string* _s = _internal_mutable_organization_id();
-  // @@protoc_insertion_point(field_mutable:viam.app.v1.Module.organization_id)
+inline std::string* GetUserIDByEmailResponse::mutable_user_id() {
+  std::string* _s = _internal_mutable_user_id();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.GetUserIDByEmailResponse.user_id)
   return _s;
 }
-inline const std::string& Module::_internal_organization_id() const {
-  return organization_id_.Get();
+inline const std::string& GetUserIDByEmailResponse::_internal_user_id() const {
+  return user_id_.Get();
 }
-inline void Module::_internal_set_organization_id(const std::string& value) {
+inline void GetUserIDByEmailResponse::_internal_set_user_id(const std::string& value) {
   
-  organization_id_.Set(value, GetArenaForAllocation());
+  user_id_.Set(value, GetArenaForAllocation());
 }
-inline std::string* Module::_internal_mutable_organization_id() {
+inline std::string* GetUserIDByEmailResponse::_internal_mutable_user_id() {
   
-  return organization_id_.Mutable(GetArenaForAllocation());
+  return user_id_.Mutable(GetArenaForAllocation());
 }
-inline std::string* Module::release_organization_id() {
-  // @@protoc_insertion_point(field_release:viam.app.v1.Module.organization_id)
-  return organization_id_.Release();
+inline std::string* GetUserIDByEmailResponse::release_user_id() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.GetUserIDByEmailResponse.user_id)
+  return user_id_.Release();
 }
-inline void Module::set_allocated_organization_id(std::string* organization_id) {
-  if (organization_id != nullptr) {
+inline void GetUserIDByEmailResponse::set_allocated_user_id(std::string* user_id) {
+  if (user_id != nullptr) {
     
   } else {
     
   }
-  organization_id_.SetAllocated(organization_id, GetArenaForAllocation());
+  user_id_.SetAllocated(user_id, GetArenaForAllocation());
 #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  if (organization_id_.IsDefault()) {
-    organization_id_.Set("", GetArenaForAllocation());
+  if (user_id_.IsDefault()) {
+    user_id_.Set("", GetArenaForAllocation());
   }
 #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.Module.organization_id)
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.GetUserIDByEmailResponse.user_id)
 }
 
-// string entrypoint = 11 [json_name = "entrypoint"];
-inline void Module::clear_entrypoint() {
-  entrypoint_.ClearToEmpty();
+// -------------------------------------------------------------------
+
+// ListOrganizationsByUserRequest
+
+// string user_id = 1 [json_name = "userId"];
+inline void ListOrganizationsByUserRequest::clear_user_id() {
+  user_id_.ClearToEmpty();
 }
-inline const std::string& Module::entrypoint() const {
-  // @@protoc_insertion_point(field_get:viam.app.v1.Module.entrypoint)
-  return _internal_entrypoint();
+inline const std::string& ListOrganizationsByUserRequest::user_id() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.ListOrganizationsByUserRequest.user_id)
+  return _internal_user_id();
 }
 template <typename ArgT0, typename... ArgT>
 inline PROTOBUF_ALWAYS_INLINE
-void Module::set_entrypoint(ArgT0&& arg0, ArgT... args) {
+void ListOrganizationsByUserRequest::set_user_id(ArgT0&& arg0, ArgT... args) {
  
- entrypoint_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
-  // @@protoc_insertion_point(field_set:viam.app.v1.Module.entrypoint)
+ user_id_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.app.v1.ListOrganizationsByUserRequest.user_id)
 }
-inline std::string* Module::mutable_entrypoint() {
-  std::string* _s = _internal_mutable_entrypoint();
-  // @@protoc_insertion_point(field_mutable:viam.app.v1.Module.entrypoint)
+inline std::string* ListOrganizationsByUserRequest::mutable_user_id() {
+  std::string* _s = _internal_mutable_user_id();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.ListOrganizationsByUserRequest.user_id)
   return _s;
 }
-inline const std::string& Module::_internal_entrypoint() const {
-  return entrypoint_.Get();
+inline const std::string& ListOrganizationsByUserRequest::_internal_user_id() const {
+  return user_id_.Get();
 }
-inline void Module::_internal_set_entrypoint(const std::string& value) {
+inline void ListOrganizationsByUserRequest::_internal_set_user_id(const std::string& value) {
   
-  entrypoint_.Set(value, GetArenaForAllocation());
+  user_id_.Set(value, GetArenaForAllocation());
 }
-inline std::string* Module::_internal_mutable_entrypoint() {
+inline std::string* ListOrganizationsByUserRequest::_internal_mutable_user_id() {
   
-  return entrypoint_.Mutable(GetArenaForAllocation());
+  return user_id_.Mutable(GetArenaForAllocation());
 }
-inline std::string* Module::release_entrypoint() {
-  // @@protoc_insertion_point(field_release:viam.app.v1.Module.entrypoint)
-  return entrypoint_.Release();
+inline std::string* ListOrganizationsByUserRequest::release_user_id() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.ListOrganizationsByUserRequest.user_id)
+  return user_id_.Release();
 }
-inline void Module::set_allocated_entrypoint(std::string* entrypoint) {
-  if (entrypoint != nullptr) {
+inline void ListOrganizationsByUserRequest::set_allocated_user_id(std::string* user_id) {
+  if (user_id != nullptr) {
     
   } else {
     
   }
-  entrypoint_.SetAllocated(entrypoint, GetArenaForAllocation());
+  user_id_.SetAllocated(user_id, GetArenaForAllocation());
 #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  if (entrypoint_.IsDefault()) {
-    entrypoint_.Set("", GetArenaForAllocation());
+  if (user_id_.IsDefault()) {
+    user_id_.Set("", GetArenaForAllocation());
   }
 #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.Module.entrypoint)
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.ListOrganizationsByUserRequest.user_id)
 }
 
-// string public_namespace = 12 [json_name = "publicNamespace"];
-inline void Module::clear_public_namespace() {
-  public_namespace_.ClearToEmpty();
+// -------------------------------------------------------------------
+
+// OrgDetails
+
+// string org_id = 1 [json_name = "orgId"];
+inline void OrgDetails::clear_org_id() {
+  org_id_.ClearToEmpty();
 }
-inline const std::string& Module::public_namespace() const {
-  // @@protoc_insertion_point(field_get:viam.app.v1.Module.public_namespace)
-  return _internal_public_namespace();
+inline const std::string& OrgDetails::org_id() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.OrgDetails.org_id)
+  return _internal_org_id();
 }
 template <typename ArgT0, typename... ArgT>
 inline PROTOBUF_ALWAYS_INLINE
-void Module::set_public_namespace(ArgT0&& arg0, ArgT... args) {
+void OrgDetails::set_org_id(ArgT0&& arg0, ArgT... args) {
  
- public_namespace_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
-  // @@protoc_insertion_point(field_set:viam.app.v1.Module.public_namespace)
+ org_id_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.app.v1.OrgDetails.org_id)
 }
-inline std::string* Module::mutable_public_namespace() {
-  std::string* _s = _internal_mutable_public_namespace();
-  // @@protoc_insertion_point(field_mutable:viam.app.v1.Module.public_namespace)
+inline std::string* OrgDetails::mutable_org_id() {
+  std::string* _s = _internal_mutable_org_id();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.OrgDetails.org_id)
   return _s;
 }
-inline const std::string& Module::_internal_public_namespace() const {
-  return public_namespace_.Get();
+inline const std::string& OrgDetails::_internal_org_id() const {
+  return org_id_.Get();
 }
-inline void Module::_internal_set_public_namespace(const std::string& value) {
+inline void OrgDetails::_internal_set_org_id(const std::string& value) {
   
-  public_namespace_.Set(value, GetArenaForAllocation());
+  org_id_.Set(value, GetArenaForAllocation());
 }
-inline std::string* Module::_internal_mutable_public_namespace() {
+inline std::string* OrgDetails::_internal_mutable_org_id() {
   
-  return public_namespace_.Mutable(GetArenaForAllocation());
+  return org_id_.Mutable(GetArenaForAllocation());
 }
-inline std::string* Module::release_public_namespace() {
-  // @@protoc_insertion_point(field_release:viam.app.v1.Module.public_namespace)
-  return public_namespace_.Release();
+inline std::string* OrgDetails::release_org_id() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.OrgDetails.org_id)
+  return org_id_.Release();
 }
-inline void Module::set_allocated_public_namespace(std::string* public_namespace) {
-  if (public_namespace != nullptr) {
+inline void OrgDetails::set_allocated_org_id(std::string* org_id) {
+  if (org_id != nullptr) {
     
   } else {
     
   }
-  public_namespace_.SetAllocated(public_namespace, GetArenaForAllocation());
+  org_id_.SetAllocated(org_id, GetArenaForAllocation());
 #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  if (public_namespace_.IsDefault()) {
-    public_namespace_.Set("", GetArenaForAllocation());
+  if (org_id_.IsDefault()) {
+    org_id_.Set("", GetArenaForAllocation());
   }
 #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.Module.public_namespace)
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.OrgDetails.org_id)
 }
 
-// -------------------------------------------------------------------
-
-// VersionHistory
-
-// string version = 1 [json_name = "version"];
-inline void VersionHistory::clear_version() {
-  version_.ClearToEmpty();
+// string org_name = 2 [json_name = "orgName"];
+inline void OrgDetails::clear_org_name() {
+  org_name_.ClearToEmpty();
 }
-inline const std::string& VersionHistory::version() const {
-  // @@protoc_insertion_point(field_get:viam.app.v1.VersionHistory.version)
-  return _internal_version();
+inline const std::string& OrgDetails::org_name() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.OrgDetails.org_name)
+  return _internal_org_name();
 }
 template <typename ArgT0, typename... ArgT>
 inline PROTOBUF_ALWAYS_INLINE
-void VersionHistory::set_version(ArgT0&& arg0, ArgT... args) {
+void OrgDetails::set_org_name(ArgT0&& arg0, ArgT... args) {
  
- version_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
-  // @@protoc_insertion_point(field_set:viam.app.v1.VersionHistory.version)
+ org_name_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.app.v1.OrgDetails.org_name)
 }
-inline std::string* VersionHistory::mutable_version() {
-  std::string* _s = _internal_mutable_version();
-  // @@protoc_insertion_point(field_mutable:viam.app.v1.VersionHistory.version)
+inline std::string* OrgDetails::mutable_org_name() {
+  std::string* _s = _internal_mutable_org_name();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.OrgDetails.org_name)
   return _s;
 }
-inline const std::string& VersionHistory::_internal_version() const {
-  return version_.Get();
+inline const std::string& OrgDetails::_internal_org_name() const {
+  return org_name_.Get();
 }
-inline void VersionHistory::_internal_set_version(const std::string& value) {
+inline void OrgDetails::_internal_set_org_name(const std::string& value) {
   
-  version_.Set(value, GetArenaForAllocation());
+  org_name_.Set(value, GetArenaForAllocation());
 }
-inline std::string* VersionHistory::_internal_mutable_version() {
+inline std::string* OrgDetails::_internal_mutable_org_name() {
   
-  return version_.Mutable(GetArenaForAllocation());
+  return org_name_.Mutable(GetArenaForAllocation());
 }
-inline std::string* VersionHistory::release_version() {
-  // @@protoc_insertion_point(field_release:viam.app.v1.VersionHistory.version)
-  return version_.Release();
+inline std::string* OrgDetails::release_org_name() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.OrgDetails.org_name)
+  return org_name_.Release();
 }
-inline void VersionHistory::set_allocated_version(std::string* version) {
-  if (version != nullptr) {
+inline void OrgDetails::set_allocated_org_name(std::string* org_name) {
+  if (org_name != nullptr) {
     
   } else {
     
   }
-  version_.SetAllocated(version, GetArenaForAllocation());
+  org_name_.SetAllocated(org_name, GetArenaForAllocation());
 #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  if (version_.IsDefault()) {
-    version_.Set("", GetArenaForAllocation());
+  if (org_name_.IsDefault()) {
+    org_name_.Set("", GetArenaForAllocation());
   }
 #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.VersionHistory.version)
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.OrgDetails.org_name)
 }
 
-// repeated .viam.app.v1.Uploads files = 2 [json_name = "files"];
-inline int VersionHistory::_internal_files_size() const {
-  return files_.size();
+// -------------------------------------------------------------------
+
+// ListOrganizationsByUserResponse
+
+// repeated .viam.app.v1.OrgDetails orgs = 1 [json_name = "orgs"];
+inline int ListOrganizationsByUserResponse::_internal_orgs_size() const {
+  return orgs_.size();
 }
-inline int VersionHistory::files_size() const {
-  return _internal_files_size();
+inline int ListOrganizationsByUserResponse::orgs_size() const {
+  return _internal_orgs_size();
 }
-inline void VersionHistory::clear_files() {
-  files_.Clear();
+inline void ListOrganizationsByUserResponse::clear_orgs() {
+  orgs_.Clear();
 }
-inline ::viam::app::v1::Uploads* VersionHistory::mutable_files(int index) {
-  // @@protoc_insertion_point(field_mutable:viam.app.v1.VersionHistory.files)
-  return files_.Mutable(index);
+inline ::viam::app::v1::OrgDetails* ListOrganizationsByUserResponse::mutable_orgs(int index) {
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.ListOrganizationsByUserResponse.orgs)
+  return orgs_.Mutable(index);
 }
-inline ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::app::v1::Uploads >*
-VersionHistory::mutable_files() {
-  // @@protoc_insertion_point(field_mutable_list:viam.app.v1.VersionHistory.files)
-  return &files_;
+inline ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::app::v1::OrgDetails >*
+ListOrganizationsByUserResponse::mutable_orgs() {
+  // @@protoc_insertion_point(field_mutable_list:viam.app.v1.ListOrganizationsByUserResponse.orgs)
+  return &orgs_;
 }
-inline const ::viam::app::v1::Uploads& VersionHistory::_internal_files(int index) const {
-  return files_.Get(index);
+inline const ::viam::app::v1::OrgDetails& ListOrganizationsByUserResponse::_internal_orgs(int index) const {
+  return orgs_.Get(index);
 }
-inline const ::viam::app::v1::Uploads& VersionHistory::files(int index) const {
-  // @@protoc_insertion_point(field_get:viam.app.v1.VersionHistory.files)
-  return _internal_files(index);
+inline const ::viam::app::v1::OrgDetails& ListOrganizationsByUserResponse::orgs(int index) const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.ListOrganizationsByUserResponse.orgs)
+  return _internal_orgs(index);
 }
-inline ::viam::app::v1::Uploads* VersionHistory::_internal_add_files() {
-  return files_.Add();
+inline ::viam::app::v1::OrgDetails* ListOrganizationsByUserResponse::_internal_add_orgs() {
+  return orgs_.Add();
 }
-inline ::viam::app::v1::Uploads* VersionHistory::add_files() {
-  ::viam::app::v1::Uploads* _add = _internal_add_files();
-  // @@protoc_insertion_point(field_add:viam.app.v1.VersionHistory.files)
+inline ::viam::app::v1::OrgDetails* ListOrganizationsByUserResponse::add_orgs() {
+  ::viam::app::v1::OrgDetails* _add = _internal_add_orgs();
+  // @@protoc_insertion_point(field_add:viam.app.v1.ListOrganizationsByUserResponse.orgs)
   return _add;
 }
-inline const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::app::v1::Uploads >&
-VersionHistory::files() const {
-  // @@protoc_insertion_point(field_list:viam.app.v1.VersionHistory.files)
-  return files_;
+inline const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::app::v1::OrgDetails >&
+ListOrganizationsByUserResponse::orgs() const {
+  // @@protoc_insertion_point(field_list:viam.app.v1.ListOrganizationsByUserResponse.orgs)
+  return orgs_;
 }
 
-// repeated .viam.app.v1.Model models = 3 [json_name = "models"];
-inline int VersionHistory::_internal_models_size() const {
-  return models_.size();
+// -------------------------------------------------------------------
+
+// CreateKeyRequest
+
+// repeated .viam.app.v1.Authorization authorizations = 1 [json_name = "authorizations"];
+inline int CreateKeyRequest::_internal_authorizations_size() const {
+  return authorizations_.size();
 }
-inline int VersionHistory::models_size() const {
-  return _internal_models_size();
+inline int CreateKeyRequest::authorizations_size() const {
+  return _internal_authorizations_size();
 }
-inline void VersionHistory::clear_models() {
-  models_.Clear();
+inline void CreateKeyRequest::clear_authorizations() {
+  authorizations_.Clear();
 }
-inline ::viam::app::v1::Model* VersionHistory::mutable_models(int index) {
-  // @@protoc_insertion_point(field_mutable:viam.app.v1.VersionHistory.models)
-  return models_.Mutable(index);
+inline ::viam::app::v1::Authorization* CreateKeyRequest::mutable_authorizations(int index) {
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.CreateKeyRequest.authorizations)
+  return authorizations_.Mutable(index);
 }
-inline ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::app::v1::Model >*
-VersionHistory::mutable_models() {
-  // @@protoc_insertion_point(field_mutable_list:viam.app.v1.VersionHistory.models)
-  return &models_;
+inline ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::app::v1::Authorization >*
+CreateKeyRequest::mutable_authorizations() {
+  // @@protoc_insertion_point(field_mutable_list:viam.app.v1.CreateKeyRequest.authorizations)
+  return &authorizations_;
 }
-inline const ::viam::app::v1::Model& VersionHistory::_internal_models(int index) const {
-  return models_.Get(index);
+inline const ::viam::app::v1::Authorization& CreateKeyRequest::_internal_authorizations(int index) const {
+  return authorizations_.Get(index);
 }
-inline const ::viam::app::v1::Model& VersionHistory::models(int index) const {
-  // @@protoc_insertion_point(field_get:viam.app.v1.VersionHistory.models)
-  return _internal_models(index);
+inline const ::viam::app::v1::Authorization& CreateKeyRequest::authorizations(int index) const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.CreateKeyRequest.authorizations)
+  return _internal_authorizations(index);
 }
-inline ::viam::app::v1::Model* VersionHistory::_internal_add_models() {
-  return models_.Add();
+inline ::viam::app::v1::Authorization* CreateKeyRequest::_internal_add_authorizations() {
+  return authorizations_.Add();
 }
-inline ::viam::app::v1::Model* VersionHistory::add_models() {
-  ::viam::app::v1::Model* _add = _internal_add_models();
-  // @@protoc_insertion_point(field_add:viam.app.v1.VersionHistory.models)
+inline ::viam::app::v1::Authorization* CreateKeyRequest::add_authorizations() {
+  ::viam::app::v1::Authorization* _add = _internal_add_authorizations();
+  // @@protoc_insertion_point(field_add:viam.app.v1.CreateKeyRequest.authorizations)
   return _add;
 }
-inline const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::app::v1::Model >&
-VersionHistory::models() const {
-  // @@protoc_insertion_point(field_list:viam.app.v1.VersionHistory.models)
-  return models_;
+inline const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::app::v1::Authorization >&
+CreateKeyRequest::authorizations() const {
+  // @@protoc_insertion_point(field_list:viam.app.v1.CreateKeyRequest.authorizations)
+  return authorizations_;
 }
 
-// string entrypoint = 4 [json_name = "entrypoint"];
-inline void VersionHistory::clear_entrypoint() {
-  entrypoint_.ClearToEmpty();
+// string name = 2 [json_name = "name"];
+inline void CreateKeyRequest::clear_name() {
+  name_.ClearToEmpty();
 }
-inline const std::string& VersionHistory::entrypoint() const {
-  // @@protoc_insertion_point(field_get:viam.app.v1.VersionHistory.entrypoint)
-  return _internal_entrypoint();
+inline const std::string& CreateKeyRequest::name() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.CreateKeyRequest.name)
+  return _internal_name();
 }
 template <typename ArgT0, typename... ArgT>
 inline PROTOBUF_ALWAYS_INLINE
-void VersionHistory::set_entrypoint(ArgT0&& arg0, ArgT... args) {
+void CreateKeyRequest::set_name(ArgT0&& arg0, ArgT... args) {
  
- entrypoint_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
-  // @@protoc_insertion_point(field_set:viam.app.v1.VersionHistory.entrypoint)
+ name_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.app.v1.CreateKeyRequest.name)
 }
-inline std::string* VersionHistory::mutable_entrypoint() {
-  std::string* _s = _internal_mutable_entrypoint();
-  // @@protoc_insertion_point(field_mutable:viam.app.v1.VersionHistory.entrypoint)
+inline std::string* CreateKeyRequest::mutable_name() {
+  std::string* _s = _internal_mutable_name();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.CreateKeyRequest.name)
   return _s;
 }
-inline const std::string& VersionHistory::_internal_entrypoint() const {
-  return entrypoint_.Get();
+inline const std::string& CreateKeyRequest::_internal_name() const {
+  return name_.Get();
 }
-inline void VersionHistory::_internal_set_entrypoint(const std::string& value) {
+inline void CreateKeyRequest::_internal_set_name(const std::string& value) {
   
-  entrypoint_.Set(value, GetArenaForAllocation());
+  name_.Set(value, GetArenaForAllocation());
 }
-inline std::string* VersionHistory::_internal_mutable_entrypoint() {
+inline std::string* CreateKeyRequest::_internal_mutable_name() {
   
-  return entrypoint_.Mutable(GetArenaForAllocation());
+  return name_.Mutable(GetArenaForAllocation());
 }
-inline std::string* VersionHistory::release_entrypoint() {
-  // @@protoc_insertion_point(field_release:viam.app.v1.VersionHistory.entrypoint)
-  return entrypoint_.Release();
+inline std::string* CreateKeyRequest::release_name() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.CreateKeyRequest.name)
+  return name_.Release();
 }
-inline void VersionHistory::set_allocated_entrypoint(std::string* entrypoint) {
-  if (entrypoint != nullptr) {
+inline void CreateKeyRequest::set_allocated_name(std::string* name) {
+  if (name != nullptr) {
     
   } else {
     
   }
-  entrypoint_.SetAllocated(entrypoint, GetArenaForAllocation());
+  name_.SetAllocated(name, GetArenaForAllocation());
 #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  if (entrypoint_.IsDefault()) {
-    entrypoint_.Set("", GetArenaForAllocation());
+  if (name_.IsDefault()) {
+    name_.Set("", GetArenaForAllocation());
   }
 #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.VersionHistory.entrypoint)
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.CreateKeyRequest.name)
 }
 
 // -------------------------------------------------------------------
 
-// Uploads
+// CreateKeyResponse
 
-// string platform = 1 [json_name = "platform"];
-inline void Uploads::clear_platform() {
-  platform_.ClearToEmpty();
+// string key = 1 [json_name = "key"];
+inline void CreateKeyResponse::clear_key() {
+  key_.ClearToEmpty();
 }
-inline const std::string& Uploads::platform() const {
-  // @@protoc_insertion_point(field_get:viam.app.v1.Uploads.platform)
-  return _internal_platform();
+inline const std::string& CreateKeyResponse::key() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.CreateKeyResponse.key)
+  return _internal_key();
 }
 template <typename ArgT0, typename... ArgT>
 inline PROTOBUF_ALWAYS_INLINE
-void Uploads::set_platform(ArgT0&& arg0, ArgT... args) {
+void CreateKeyResponse::set_key(ArgT0&& arg0, ArgT... args) {
  
- platform_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
-  // @@protoc_insertion_point(field_set:viam.app.v1.Uploads.platform)
+ key_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.app.v1.CreateKeyResponse.key)
 }
-inline std::string* Uploads::mutable_platform() {
-  std::string* _s = _internal_mutable_platform();
-  // @@protoc_insertion_point(field_mutable:viam.app.v1.Uploads.platform)
+inline std::string* CreateKeyResponse::mutable_key() {
+  std::string* _s = _internal_mutable_key();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.CreateKeyResponse.key)
   return _s;
 }
-inline const std::string& Uploads::_internal_platform() const {
-  return platform_.Get();
+inline const std::string& CreateKeyResponse::_internal_key() const {
+  return key_.Get();
 }
-inline void Uploads::_internal_set_platform(const std::string& value) {
+inline void CreateKeyResponse::_internal_set_key(const std::string& value) {
   
-  platform_.Set(value, GetArenaForAllocation());
+  key_.Set(value, GetArenaForAllocation());
 }
-inline std::string* Uploads::_internal_mutable_platform() {
+inline std::string* CreateKeyResponse::_internal_mutable_key() {
   
-  return platform_.Mutable(GetArenaForAllocation());
+  return key_.Mutable(GetArenaForAllocation());
 }
-inline std::string* Uploads::release_platform() {
-  // @@protoc_insertion_point(field_release:viam.app.v1.Uploads.platform)
-  return platform_.Release();
+inline std::string* CreateKeyResponse::release_key() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.CreateKeyResponse.key)
+  return key_.Release();
 }
-inline void Uploads::set_allocated_platform(std::string* platform) {
-  if (platform != nullptr) {
+inline void CreateKeyResponse::set_allocated_key(std::string* key) {
+  if (key != nullptr) {
     
   } else {
     
   }
-  platform_.SetAllocated(platform, GetArenaForAllocation());
+  key_.SetAllocated(key, GetArenaForAllocation());
 #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  if (platform_.IsDefault()) {
-    platform_.Set("", GetArenaForAllocation());
+  if (key_.IsDefault()) {
+    key_.Set("", GetArenaForAllocation());
   }
 #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.Uploads.platform)
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.CreateKeyResponse.key)
 }
 
-// .google.protobuf.Timestamp uploaded_at = 2 [json_name = "uploadedAt"];
-inline bool Uploads::_internal_has_uploaded_at() const {
-  return this != internal_default_instance() && uploaded_at_ != nullptr;
-}
-inline bool Uploads::has_uploaded_at() const {
-  return _internal_has_uploaded_at();
+// string id = 2 [json_name = "id"];
+inline void CreateKeyResponse::clear_id() {
+  id_.ClearToEmpty();
 }
-inline const ::PROTOBUF_NAMESPACE_ID::Timestamp& Uploads::_internal_uploaded_at() const {
-  const ::PROTOBUF_NAMESPACE_ID::Timestamp* p = uploaded_at_;
-  return p != nullptr ? *p : reinterpret_cast<const ::PROTOBUF_NAMESPACE_ID::Timestamp&>(
-      ::PROTOBUF_NAMESPACE_ID::_Timestamp_default_instance_);
+inline const std::string& CreateKeyResponse::id() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.CreateKeyResponse.id)
+  return _internal_id();
 }
-inline const ::PROTOBUF_NAMESPACE_ID::Timestamp& Uploads::uploaded_at() const {
-  // @@protoc_insertion_point(field_get:viam.app.v1.Uploads.uploaded_at)
-  return _internal_uploaded_at();
+template <typename ArgT0, typename... ArgT>
+inline PROTOBUF_ALWAYS_INLINE
+void CreateKeyResponse::set_id(ArgT0&& arg0, ArgT... args) {
+ 
+ id_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.app.v1.CreateKeyResponse.id)
 }
-inline void Uploads::unsafe_arena_set_allocated_uploaded_at(
-    ::PROTOBUF_NAMESPACE_ID::Timestamp* uploaded_at) {
-  if (GetArenaForAllocation() == nullptr) {
-    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(uploaded_at_);
-  }
-  uploaded_at_ = uploaded_at;
-  if (uploaded_at) {
-    
-  } else {
-    
-  }
-  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.app.v1.Uploads.uploaded_at)
+inline std::string* CreateKeyResponse::mutable_id() {
+  std::string* _s = _internal_mutable_id();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.CreateKeyResponse.id)
+  return _s;
 }
-inline ::PROTOBUF_NAMESPACE_ID::Timestamp* Uploads::release_uploaded_at() {
-  
-  ::PROTOBUF_NAMESPACE_ID::Timestamp* temp = uploaded_at_;
-  uploaded_at_ = nullptr;
-#ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
-  auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
-  temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
-  if (GetArenaForAllocation() == nullptr) { delete old; }
-#else  // PROTOBUF_FORCE_COPY_IN_RELEASE
-  if (GetArenaForAllocation() != nullptr) {
-    temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
-  }
-#endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
-  return temp;
+inline const std::string& CreateKeyResponse::_internal_id() const {
+  return id_.Get();
 }
-inline ::PROTOBUF_NAMESPACE_ID::Timestamp* Uploads::unsafe_arena_release_uploaded_at() {
-  // @@protoc_insertion_point(field_release:viam.app.v1.Uploads.uploaded_at)
+inline void CreateKeyResponse::_internal_set_id(const std::string& value) {
   
-  ::PROTOBUF_NAMESPACE_ID::Timestamp* temp = uploaded_at_;
-  uploaded_at_ = nullptr;
-  return temp;
+  id_.Set(value, GetArenaForAllocation());
 }
-inline ::PROTOBUF_NAMESPACE_ID::Timestamp* Uploads::_internal_mutable_uploaded_at() {
+inline std::string* CreateKeyResponse::_internal_mutable_id() {
   
-  if (uploaded_at_ == nullptr) {
-    auto* p = CreateMaybeMessage<::PROTOBUF_NAMESPACE_ID::Timestamp>(GetArenaForAllocation());
-    uploaded_at_ = p;
-  }
-  return uploaded_at_;
+  return id_.Mutable(GetArenaForAllocation());
 }
-inline ::PROTOBUF_NAMESPACE_ID::Timestamp* Uploads::mutable_uploaded_at() {
-  ::PROTOBUF_NAMESPACE_ID::Timestamp* _msg = _internal_mutable_uploaded_at();
-  // @@protoc_insertion_point(field_mutable:viam.app.v1.Uploads.uploaded_at)
-  return _msg;
+inline std::string* CreateKeyResponse::release_id() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.CreateKeyResponse.id)
+  return id_.Release();
 }
-inline void Uploads::set_allocated_uploaded_at(::PROTOBUF_NAMESPACE_ID::Timestamp* uploaded_at) {
-  ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
-  if (message_arena == nullptr) {
-    delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(uploaded_at_);
-  }
-  if (uploaded_at) {
-    ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
-        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(
-                reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(uploaded_at));
-    if (message_arena != submessage_arena) {
-      uploaded_at = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
-          message_arena, uploaded_at, submessage_arena);
-    }
+inline void CreateKeyResponse::set_allocated_id(std::string* id) {
+  if (id != nullptr) {
     
   } else {
     
   }
-  uploaded_at_ = uploaded_at;
-  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.Uploads.uploaded_at)
+  id_.SetAllocated(id, GetArenaForAllocation());
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (id_.IsDefault()) {
+    id_.Set("", GetArenaForAllocation());
+  }
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.CreateKeyResponse.id)
 }
 
 // -------------------------------------------------------------------
 
-// ListModulesRequest
+// DeleteKeyRequest
 
-// optional string organization_id = 1 [json_name = "organizationId"];
-inline bool ListModulesRequest::_internal_has_organization_id() const {
-  bool value = (_has_bits_[0] & 0x00000001u) != 0;
-  return value;
-}
-inline bool ListModulesRequest::has_organization_id() const {
-  return _internal_has_organization_id();
-}
-inline void ListModulesRequest::clear_organization_id() {
-  organization_id_.ClearToEmpty();
-  _has_bits_[0] &= ~0x00000001u;
+// string id = 1 [json_name = "id"];
+inline void DeleteKeyRequest::clear_id() {
+  id_.ClearToEmpty();
 }
-inline const std::string& ListModulesRequest::organization_id() const {
-  // @@protoc_insertion_point(field_get:viam.app.v1.ListModulesRequest.organization_id)
-  return _internal_organization_id();
+inline const std::string& DeleteKeyRequest::id() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.DeleteKeyRequest.id)
+  return _internal_id();
 }
 template <typename ArgT0, typename... ArgT>
 inline PROTOBUF_ALWAYS_INLINE
-void ListModulesRequest::set_organization_id(ArgT0&& arg0, ArgT... args) {
- _has_bits_[0] |= 0x00000001u;
- organization_id_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
-  // @@protoc_insertion_point(field_set:viam.app.v1.ListModulesRequest.organization_id)
+void DeleteKeyRequest::set_id(ArgT0&& arg0, ArgT... args) {
+ 
+ id_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.app.v1.DeleteKeyRequest.id)
 }
-inline std::string* ListModulesRequest::mutable_organization_id() {
-  std::string* _s = _internal_mutable_organization_id();
-  // @@protoc_insertion_point(field_mutable:viam.app.v1.ListModulesRequest.organization_id)
+inline std::string* DeleteKeyRequest::mutable_id() {
+  std::string* _s = _internal_mutable_id();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.DeleteKeyRequest.id)
   return _s;
 }
-inline const std::string& ListModulesRequest::_internal_organization_id() const {
-  return organization_id_.Get();
+inline const std::string& DeleteKeyRequest::_internal_id() const {
+  return id_.Get();
 }
-inline void ListModulesRequest::_internal_set_organization_id(const std::string& value) {
-  _has_bits_[0] |= 0x00000001u;
-  organization_id_.Set(value, GetArenaForAllocation());
+inline void DeleteKeyRequest::_internal_set_id(const std::string& value) {
+  
+  id_.Set(value, GetArenaForAllocation());
 }
-inline std::string* ListModulesRequest::_internal_mutable_organization_id() {
-  _has_bits_[0] |= 0x00000001u;
-  return organization_id_.Mutable(GetArenaForAllocation());
+inline std::string* DeleteKeyRequest::_internal_mutable_id() {
+  
+  return id_.Mutable(GetArenaForAllocation());
 }
-inline std::string* ListModulesRequest::release_organization_id() {
-  // @@protoc_insertion_point(field_release:viam.app.v1.ListModulesRequest.organization_id)
-  if (!_internal_has_organization_id()) {
-    return nullptr;
-  }
-  _has_bits_[0] &= ~0x00000001u;
-  auto* p = organization_id_.Release();
-#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  if (organization_id_.IsDefault()) {
-    organization_id_.Set("", GetArenaForAllocation());
-  }
-#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  return p;
+inline std::string* DeleteKeyRequest::release_id() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.DeleteKeyRequest.id)
+  return id_.Release();
 }
-inline void ListModulesRequest::set_allocated_organization_id(std::string* organization_id) {
-  if (organization_id != nullptr) {
-    _has_bits_[0] |= 0x00000001u;
+inline void DeleteKeyRequest::set_allocated_id(std::string* id) {
+  if (id != nullptr) {
+    
   } else {
-    _has_bits_[0] &= ~0x00000001u;
+    
   }
-  organization_id_.SetAllocated(organization_id, GetArenaForAllocation());
+  id_.SetAllocated(id, GetArenaForAllocation());
 #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  if (organization_id_.IsDefault()) {
-    organization_id_.Set("", GetArenaForAllocation());
+  if (id_.IsDefault()) {
+    id_.Set("", GetArenaForAllocation());
   }
 #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.ListModulesRequest.organization_id)
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.DeleteKeyRequest.id)
 }
 
 // -------------------------------------------------------------------
 
-// ListModulesResponse
+// DeleteKeyResponse
 
-// repeated .viam.app.v1.Module modules = 1 [json_name = "modules"];
-inline int ListModulesResponse::_internal_modules_size() const {
-  return modules_.size();
-}
-inline int ListModulesResponse::modules_size() const {
-  return _internal_modules_size();
+// -------------------------------------------------------------------
+
+// AuthorizationDetails
+
+// string authorization_type = 1 [json_name = "authorizationType"];
+inline void AuthorizationDetails::clear_authorization_type() {
+  authorization_type_.ClearToEmpty();
 }
-inline void ListModulesResponse::clear_modules() {
-  modules_.Clear();
+inline const std::string& AuthorizationDetails::authorization_type() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.AuthorizationDetails.authorization_type)
+  return _internal_authorization_type();
 }
-inline ::viam::app::v1::Module* ListModulesResponse::mutable_modules(int index) {
-  // @@protoc_insertion_point(field_mutable:viam.app.v1.ListModulesResponse.modules)
-  return modules_.Mutable(index);
+template <typename ArgT0, typename... ArgT>
+inline PROTOBUF_ALWAYS_INLINE
+void AuthorizationDetails::set_authorization_type(ArgT0&& arg0, ArgT... args) {
+ 
+ authorization_type_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.app.v1.AuthorizationDetails.authorization_type)
 }
-inline ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::app::v1::Module >*
-ListModulesResponse::mutable_modules() {
-  // @@protoc_insertion_point(field_mutable_list:viam.app.v1.ListModulesResponse.modules)
-  return &modules_;
+inline std::string* AuthorizationDetails::mutable_authorization_type() {
+  std::string* _s = _internal_mutable_authorization_type();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.AuthorizationDetails.authorization_type)
+  return _s;
 }
-inline const ::viam::app::v1::Module& ListModulesResponse::_internal_modules(int index) const {
-  return modules_.Get(index);
+inline const std::string& AuthorizationDetails::_internal_authorization_type() const {
+  return authorization_type_.Get();
 }
-inline const ::viam::app::v1::Module& ListModulesResponse::modules(int index) const {
-  // @@protoc_insertion_point(field_get:viam.app.v1.ListModulesResponse.modules)
-  return _internal_modules(index);
+inline void AuthorizationDetails::_internal_set_authorization_type(const std::string& value) {
+  
+  authorization_type_.Set(value, GetArenaForAllocation());
 }
-inline ::viam::app::v1::Module* ListModulesResponse::_internal_add_modules() {
-  return modules_.Add();
+inline std::string* AuthorizationDetails::_internal_mutable_authorization_type() {
+  
+  return authorization_type_.Mutable(GetArenaForAllocation());
 }
-inline ::viam::app::v1::Module* ListModulesResponse::add_modules() {
-  ::viam::app::v1::Module* _add = _internal_add_modules();
-  // @@protoc_insertion_point(field_add:viam.app.v1.ListModulesResponse.modules)
-  return _add;
+inline std::string* AuthorizationDetails::release_authorization_type() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.AuthorizationDetails.authorization_type)
+  return authorization_type_.Release();
 }
-inline const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::app::v1::Module >&
-ListModulesResponse::modules() const {
-  // @@protoc_insertion_point(field_list:viam.app.v1.ListModulesResponse.modules)
-  return modules_;
+inline void AuthorizationDetails::set_allocated_authorization_type(std::string* authorization_type) {
+  if (authorization_type != nullptr) {
+    
+  } else {
+    
+  }
+  authorization_type_.SetAllocated(authorization_type, GetArenaForAllocation());
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (authorization_type_.IsDefault()) {
+    authorization_type_.Set("", GetArenaForAllocation());
+  }
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.AuthorizationDetails.authorization_type)
 }
 
-// -------------------------------------------------------------------
-
-// GetUserIDByEmailRequest
-
-// string email = 1 [json_name = "email"];
-inline void GetUserIDByEmailRequest::clear_email() {
-  email_.ClearToEmpty();
+// string authorization_id = 2 [json_name = "authorizationId"];
+inline void AuthorizationDetails::clear_authorization_id() {
+  authorization_id_.ClearToEmpty();
 }
-inline const std::string& GetUserIDByEmailRequest::email() const {
-  // @@protoc_insertion_point(field_get:viam.app.v1.GetUserIDByEmailRequest.email)
-  return _internal_email();
+inline const std::string& AuthorizationDetails::authorization_id() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.AuthorizationDetails.authorization_id)
+  return _internal_authorization_id();
 }
 template <typename ArgT0, typename... ArgT>
 inline PROTOBUF_ALWAYS_INLINE
-void GetUserIDByEmailRequest::set_email(ArgT0&& arg0, ArgT... args) {
+void AuthorizationDetails::set_authorization_id(ArgT0&& arg0, ArgT... args) {
  
- email_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
-  // @@protoc_insertion_point(field_set:viam.app.v1.GetUserIDByEmailRequest.email)
+ authorization_id_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.app.v1.AuthorizationDetails.authorization_id)
 }
-inline std::string* GetUserIDByEmailRequest::mutable_email() {
-  std::string* _s = _internal_mutable_email();
-  // @@protoc_insertion_point(field_mutable:viam.app.v1.GetUserIDByEmailRequest.email)
+inline std::string* AuthorizationDetails::mutable_authorization_id() {
+  std::string* _s = _internal_mutable_authorization_id();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.AuthorizationDetails.authorization_id)
   return _s;
 }
-inline const std::string& GetUserIDByEmailRequest::_internal_email() const {
-  return email_.Get();
+inline const std::string& AuthorizationDetails::_internal_authorization_id() const {
+  return authorization_id_.Get();
 }
-inline void GetUserIDByEmailRequest::_internal_set_email(const std::string& value) {
+inline void AuthorizationDetails::_internal_set_authorization_id(const std::string& value) {
   
-  email_.Set(value, GetArenaForAllocation());
+  authorization_id_.Set(value, GetArenaForAllocation());
 }
-inline std::string* GetUserIDByEmailRequest::_internal_mutable_email() {
+inline std::string* AuthorizationDetails::_internal_mutable_authorization_id() {
   
-  return email_.Mutable(GetArenaForAllocation());
+  return authorization_id_.Mutable(GetArenaForAllocation());
 }
-inline std::string* GetUserIDByEmailRequest::release_email() {
-  // @@protoc_insertion_point(field_release:viam.app.v1.GetUserIDByEmailRequest.email)
-  return email_.Release();
+inline std::string* AuthorizationDetails::release_authorization_id() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.AuthorizationDetails.authorization_id)
+  return authorization_id_.Release();
 }
-inline void GetUserIDByEmailRequest::set_allocated_email(std::string* email) {
-  if (email != nullptr) {
+inline void AuthorizationDetails::set_allocated_authorization_id(std::string* authorization_id) {
+  if (authorization_id != nullptr) {
     
   } else {
     
   }
-  email_.SetAllocated(email, GetArenaForAllocation());
+  authorization_id_.SetAllocated(authorization_id, GetArenaForAllocation());
 #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  if (email_.IsDefault()) {
-    email_.Set("", GetArenaForAllocation());
+  if (authorization_id_.IsDefault()) {
+    authorization_id_.Set("", GetArenaForAllocation());
   }
 #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.GetUserIDByEmailRequest.email)
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.AuthorizationDetails.authorization_id)
 }
 
-// -------------------------------------------------------------------
-
-// GetUserIDByEmailResponse
-
-// string user_id = 1 [json_name = "userId"];
-inline void GetUserIDByEmailResponse::clear_user_id() {
-  user_id_.ClearToEmpty();
+// string resource_type = 3 [json_name = "resourceType"];
+inline void AuthorizationDetails::clear_resource_type() {
+  resource_type_.ClearToEmpty();
 }
-inline const std::string& GetUserIDByEmailResponse::user_id() const {
-  // @@protoc_insertion_point(field_get:viam.app.v1.GetUserIDByEmailResponse.user_id)
-  return _internal_user_id();
+inline const std::string& AuthorizationDetails::resource_type() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.AuthorizationDetails.resource_type)
+  return _internal_resource_type();
 }
 template <typename ArgT0, typename... ArgT>
 inline PROTOBUF_ALWAYS_INLINE
-void GetUserIDByEmailResponse::set_user_id(ArgT0&& arg0, ArgT... args) {
+void AuthorizationDetails::set_resource_type(ArgT0&& arg0, ArgT... args) {
  
- user_id_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
-  // @@protoc_insertion_point(field_set:viam.app.v1.GetUserIDByEmailResponse.user_id)
+ resource_type_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.app.v1.AuthorizationDetails.resource_type)
 }
-inline std::string* GetUserIDByEmailResponse::mutable_user_id() {
-  std::string* _s = _internal_mutable_user_id();
-  // @@protoc_insertion_point(field_mutable:viam.app.v1.GetUserIDByEmailResponse.user_id)
+inline std::string* AuthorizationDetails::mutable_resource_type() {
+  std::string* _s = _internal_mutable_resource_type();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.AuthorizationDetails.resource_type)
   return _s;
 }
-inline const std::string& GetUserIDByEmailResponse::_internal_user_id() const {
-  return user_id_.Get();
+inline const std::string& AuthorizationDetails::_internal_resource_type() const {
+  return resource_type_.Get();
 }
-inline void GetUserIDByEmailResponse::_internal_set_user_id(const std::string& value) {
+inline void AuthorizationDetails::_internal_set_resource_type(const std::string& value) {
   
-  user_id_.Set(value, GetArenaForAllocation());
+  resource_type_.Set(value, GetArenaForAllocation());
 }
-inline std::string* GetUserIDByEmailResponse::_internal_mutable_user_id() {
+inline std::string* AuthorizationDetails::_internal_mutable_resource_type() {
   
-  return user_id_.Mutable(GetArenaForAllocation());
+  return resource_type_.Mutable(GetArenaForAllocation());
 }
-inline std::string* GetUserIDByEmailResponse::release_user_id() {
-  // @@protoc_insertion_point(field_release:viam.app.v1.GetUserIDByEmailResponse.user_id)
-  return user_id_.Release();
+inline std::string* AuthorizationDetails::release_resource_type() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.AuthorizationDetails.resource_type)
+  return resource_type_.Release();
 }
-inline void GetUserIDByEmailResponse::set_allocated_user_id(std::string* user_id) {
-  if (user_id != nullptr) {
+inline void AuthorizationDetails::set_allocated_resource_type(std::string* resource_type) {
+  if (resource_type != nullptr) {
     
   } else {
     
   }
-  user_id_.SetAllocated(user_id, GetArenaForAllocation());
+  resource_type_.SetAllocated(resource_type, GetArenaForAllocation());
 #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  if (user_id_.IsDefault()) {
-    user_id_.Set("", GetArenaForAllocation());
+  if (resource_type_.IsDefault()) {
+    resource_type_.Set("", GetArenaForAllocation());
   }
 #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.GetUserIDByEmailResponse.user_id)
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.AuthorizationDetails.resource_type)
 }
 
-// -------------------------------------------------------------------
-
-// ListOrganizationsByUserRequest
-
-// string user_id = 1 [json_name = "userId"];
-inline void ListOrganizationsByUserRequest::clear_user_id() {
-  user_id_.ClearToEmpty();
+// string resource_id = 4 [json_name = "resourceId"];
+inline void AuthorizationDetails::clear_resource_id() {
+  resource_id_.ClearToEmpty();
 }
-inline const std::string& ListOrganizationsByUserRequest::user_id() const {
-  // @@protoc_insertion_point(field_get:viam.app.v1.ListOrganizationsByUserRequest.user_id)
-  return _internal_user_id();
+inline const std::string& AuthorizationDetails::resource_id() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.AuthorizationDetails.resource_id)
+  return _internal_resource_id();
 }
 template <typename ArgT0, typename... ArgT>
 inline PROTOBUF_ALWAYS_INLINE
-void ListOrganizationsByUserRequest::set_user_id(ArgT0&& arg0, ArgT... args) {
+void AuthorizationDetails::set_resource_id(ArgT0&& arg0, ArgT... args) {
  
- user_id_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
-  // @@protoc_insertion_point(field_set:viam.app.v1.ListOrganizationsByUserRequest.user_id)
+ resource_id_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.app.v1.AuthorizationDetails.resource_id)
 }
-inline std::string* ListOrganizationsByUserRequest::mutable_user_id() {
-  std::string* _s = _internal_mutable_user_id();
-  // @@protoc_insertion_point(field_mutable:viam.app.v1.ListOrganizationsByUserRequest.user_id)
+inline std::string* AuthorizationDetails::mutable_resource_id() {
+  std::string* _s = _internal_mutable_resource_id();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.AuthorizationDetails.resource_id)
   return _s;
 }
-inline const std::string& ListOrganizationsByUserRequest::_internal_user_id() const {
-  return user_id_.Get();
+inline const std::string& AuthorizationDetails::_internal_resource_id() const {
+  return resource_id_.Get();
 }
-inline void ListOrganizationsByUserRequest::_internal_set_user_id(const std::string& value) {
+inline void AuthorizationDetails::_internal_set_resource_id(const std::string& value) {
   
-  user_id_.Set(value, GetArenaForAllocation());
+  resource_id_.Set(value, GetArenaForAllocation());
 }
-inline std::string* ListOrganizationsByUserRequest::_internal_mutable_user_id() {
+inline std::string* AuthorizationDetails::_internal_mutable_resource_id() {
   
-  return user_id_.Mutable(GetArenaForAllocation());
+  return resource_id_.Mutable(GetArenaForAllocation());
 }
-inline std::string* ListOrganizationsByUserRequest::release_user_id() {
-  // @@protoc_insertion_point(field_release:viam.app.v1.ListOrganizationsByUserRequest.user_id)
-  return user_id_.Release();
+inline std::string* AuthorizationDetails::release_resource_id() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.AuthorizationDetails.resource_id)
+  return resource_id_.Release();
 }
-inline void ListOrganizationsByUserRequest::set_allocated_user_id(std::string* user_id) {
-  if (user_id != nullptr) {
+inline void AuthorizationDetails::set_allocated_resource_id(std::string* resource_id) {
+  if (resource_id != nullptr) {
     
   } else {
     
   }
-  user_id_.SetAllocated(user_id, GetArenaForAllocation());
+  resource_id_.SetAllocated(resource_id, GetArenaForAllocation());
 #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  if (user_id_.IsDefault()) {
-    user_id_.Set("", GetArenaForAllocation());
+  if (resource_id_.IsDefault()) {
+    resource_id_.Set("", GetArenaForAllocation());
   }
 #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.ListOrganizationsByUserRequest.user_id)
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.AuthorizationDetails.resource_id)
 }
 
-// -------------------------------------------------------------------
-
-// OrgDetails
-
-// string org_id = 1 [json_name = "orgId"];
-inline void OrgDetails::clear_org_id() {
+// string org_id = 5 [json_name = "orgId"];
+inline void AuthorizationDetails::clear_org_id() {
   org_id_.ClearToEmpty();
 }
-inline const std::string& OrgDetails::org_id() const {
-  // @@protoc_insertion_point(field_get:viam.app.v1.OrgDetails.org_id)
+inline const std::string& AuthorizationDetails::org_id() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.AuthorizationDetails.org_id)
   return _internal_org_id();
 }
 template <typename ArgT0, typename... ArgT>
 inline PROTOBUF_ALWAYS_INLINE
-void OrgDetails::set_org_id(ArgT0&& arg0, ArgT... args) {
+void AuthorizationDetails::set_org_id(ArgT0&& arg0, ArgT... args) {
  
  org_id_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
-  // @@protoc_insertion_point(field_set:viam.app.v1.OrgDetails.org_id)
+  // @@protoc_insertion_point(field_set:viam.app.v1.AuthorizationDetails.org_id)
 }
-inline std::string* OrgDetails::mutable_org_id() {
+inline std::string* AuthorizationDetails::mutable_org_id() {
   std::string* _s = _internal_mutable_org_id();
-  // @@protoc_insertion_point(field_mutable:viam.app.v1.OrgDetails.org_id)
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.AuthorizationDetails.org_id)
   return _s;
 }
-inline const std::string& OrgDetails::_internal_org_id() const {
+inline const std::string& AuthorizationDetails::_internal_org_id() const {
   return org_id_.Get();
 }
-inline void OrgDetails::_internal_set_org_id(const std::string& value) {
+inline void AuthorizationDetails::_internal_set_org_id(const std::string& value) {
   
   org_id_.Set(value, GetArenaForAllocation());
 }
-inline std::string* OrgDetails::_internal_mutable_org_id() {
+inline std::string* AuthorizationDetails::_internal_mutable_org_id() {
   
   return org_id_.Mutable(GetArenaForAllocation());
 }
-inline std::string* OrgDetails::release_org_id() {
-  // @@protoc_insertion_point(field_release:viam.app.v1.OrgDetails.org_id)
+inline std::string* AuthorizationDetails::release_org_id() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.AuthorizationDetails.org_id)
   return org_id_.Release();
 }
-inline void OrgDetails::set_allocated_org_id(std::string* org_id) {
+inline void AuthorizationDetails::set_allocated_org_id(std::string* org_id) {
   if (org_id != nullptr) {
     
   } else {
@@ -38974,237 +41190,385 @@ inline void OrgDetails::set_allocated_org_id(std::string* org_id) {
     org_id_.Set("", GetArenaForAllocation());
   }
 #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.OrgDetails.org_id)
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.AuthorizationDetails.org_id)
 }
 
-// string org_name = 2 [json_name = "orgName"];
-inline void OrgDetails::clear_org_name() {
-  org_name_.ClearToEmpty();
+// -------------------------------------------------------------------
+
+// APIKeyWithAuthorizations
+
+// .viam.app.v1.APIKey api_key = 1 [json_name = "apiKey"];
+inline bool APIKeyWithAuthorizations::_internal_has_api_key() const {
+  return this != internal_default_instance() && api_key_ != nullptr;
 }
-inline const std::string& OrgDetails::org_name() const {
-  // @@protoc_insertion_point(field_get:viam.app.v1.OrgDetails.org_name)
-  return _internal_org_name();
+inline bool APIKeyWithAuthorizations::has_api_key() const {
+  return _internal_has_api_key();
+}
+inline void APIKeyWithAuthorizations::clear_api_key() {
+  if (GetArenaForAllocation() == nullptr && api_key_ != nullptr) {
+    delete api_key_;
+  }
+  api_key_ = nullptr;
+}
+inline const ::viam::app::v1::APIKey& APIKeyWithAuthorizations::_internal_api_key() const {
+  const ::viam::app::v1::APIKey* p = api_key_;
+  return p != nullptr ? *p : reinterpret_cast<const ::viam::app::v1::APIKey&>(
+      ::viam::app::v1::_APIKey_default_instance_);
+}
+inline const ::viam::app::v1::APIKey& APIKeyWithAuthorizations::api_key() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.APIKeyWithAuthorizations.api_key)
+  return _internal_api_key();
+}
+inline void APIKeyWithAuthorizations::unsafe_arena_set_allocated_api_key(
+    ::viam::app::v1::APIKey* api_key) {
+  if (GetArenaForAllocation() == nullptr) {
+    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(api_key_);
+  }
+  api_key_ = api_key;
+  if (api_key) {
+    
+  } else {
+    
+  }
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.app.v1.APIKeyWithAuthorizations.api_key)
+}
+inline ::viam::app::v1::APIKey* APIKeyWithAuthorizations::release_api_key() {
+  
+  ::viam::app::v1::APIKey* temp = api_key_;
+  api_key_ = nullptr;
+#ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
+  auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
+  temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  if (GetArenaForAllocation() == nullptr) { delete old; }
+#else  // PROTOBUF_FORCE_COPY_IN_RELEASE
+  if (GetArenaForAllocation() != nullptr) {
+    temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  }
+#endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
+  return temp;
+}
+inline ::viam::app::v1::APIKey* APIKeyWithAuthorizations::unsafe_arena_release_api_key() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.APIKeyWithAuthorizations.api_key)
+  
+  ::viam::app::v1::APIKey* temp = api_key_;
+  api_key_ = nullptr;
+  return temp;
+}
+inline ::viam::app::v1::APIKey* APIKeyWithAuthorizations::_internal_mutable_api_key() {
+  
+  if (api_key_ == nullptr) {
+    auto* p = CreateMaybeMessage<::viam::app::v1::APIKey>(GetArenaForAllocation());
+    api_key_ = p;
+  }
+  return api_key_;
+}
+inline ::viam::app::v1::APIKey* APIKeyWithAuthorizations::mutable_api_key() {
+  ::viam::app::v1::APIKey* _msg = _internal_mutable_api_key();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.APIKeyWithAuthorizations.api_key)
+  return _msg;
+}
+inline void APIKeyWithAuthorizations::set_allocated_api_key(::viam::app::v1::APIKey* api_key) {
+  ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
+  if (message_arena == nullptr) {
+    delete api_key_;
+  }
+  if (api_key) {
+    ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
+        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(api_key);
+    if (message_arena != submessage_arena) {
+      api_key = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
+          message_arena, api_key, submessage_arena);
+    }
+    
+  } else {
+    
+  }
+  api_key_ = api_key;
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.APIKeyWithAuthorizations.api_key)
+}
+
+// repeated .viam.app.v1.AuthorizationDetails authorizations = 2 [json_name = "authorizations"];
+inline int APIKeyWithAuthorizations::_internal_authorizations_size() const {
+  return authorizations_.size();
+}
+inline int APIKeyWithAuthorizations::authorizations_size() const {
+  return _internal_authorizations_size();
+}
+inline void APIKeyWithAuthorizations::clear_authorizations() {
+  authorizations_.Clear();
+}
+inline ::viam::app::v1::AuthorizationDetails* APIKeyWithAuthorizations::mutable_authorizations(int index) {
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.APIKeyWithAuthorizations.authorizations)
+  return authorizations_.Mutable(index);
+}
+inline ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::app::v1::AuthorizationDetails >*
+APIKeyWithAuthorizations::mutable_authorizations() {
+  // @@protoc_insertion_point(field_mutable_list:viam.app.v1.APIKeyWithAuthorizations.authorizations)
+  return &authorizations_;
+}
+inline const ::viam::app::v1::AuthorizationDetails& APIKeyWithAuthorizations::_internal_authorizations(int index) const {
+  return authorizations_.Get(index);
+}
+inline const ::viam::app::v1::AuthorizationDetails& APIKeyWithAuthorizations::authorizations(int index) const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.APIKeyWithAuthorizations.authorizations)
+  return _internal_authorizations(index);
+}
+inline ::viam::app::v1::AuthorizationDetails* APIKeyWithAuthorizations::_internal_add_authorizations() {
+  return authorizations_.Add();
+}
+inline ::viam::app::v1::AuthorizationDetails* APIKeyWithAuthorizations::add_authorizations() {
+  ::viam::app::v1::AuthorizationDetails* _add = _internal_add_authorizations();
+  // @@protoc_insertion_point(field_add:viam.app.v1.APIKeyWithAuthorizations.authorizations)
+  return _add;
+}
+inline const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::app::v1::AuthorizationDetails >&
+APIKeyWithAuthorizations::authorizations() const {
+  // @@protoc_insertion_point(field_list:viam.app.v1.APIKeyWithAuthorizations.authorizations)
+  return authorizations_;
+}
+
+// -------------------------------------------------------------------
+
+// ListKeysRequest
+
+// string org_id = 1 [json_name = "orgId"];
+inline void ListKeysRequest::clear_org_id() {
+  org_id_.ClearToEmpty();
+}
+inline const std::string& ListKeysRequest::org_id() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.ListKeysRequest.org_id)
+  return _internal_org_id();
 }
 template <typename ArgT0, typename... ArgT>
 inline PROTOBUF_ALWAYS_INLINE
-void OrgDetails::set_org_name(ArgT0&& arg0, ArgT... args) {
+void ListKeysRequest::set_org_id(ArgT0&& arg0, ArgT... args) {
  
- org_name_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
-  // @@protoc_insertion_point(field_set:viam.app.v1.OrgDetails.org_name)
+ org_id_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.app.v1.ListKeysRequest.org_id)
 }
-inline std::string* OrgDetails::mutable_org_name() {
-  std::string* _s = _internal_mutable_org_name();
-  // @@protoc_insertion_point(field_mutable:viam.app.v1.OrgDetails.org_name)
+inline std::string* ListKeysRequest::mutable_org_id() {
+  std::string* _s = _internal_mutable_org_id();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.ListKeysRequest.org_id)
   return _s;
 }
-inline const std::string& OrgDetails::_internal_org_name() const {
-  return org_name_.Get();
+inline const std::string& ListKeysRequest::_internal_org_id() const {
+  return org_id_.Get();
 }
-inline void OrgDetails::_internal_set_org_name(const std::string& value) {
+inline void ListKeysRequest::_internal_set_org_id(const std::string& value) {
   
-  org_name_.Set(value, GetArenaForAllocation());
+  org_id_.Set(value, GetArenaForAllocation());
 }
-inline std::string* OrgDetails::_internal_mutable_org_name() {
+inline std::string* ListKeysRequest::_internal_mutable_org_id() {
   
-  return org_name_.Mutable(GetArenaForAllocation());
+  return org_id_.Mutable(GetArenaForAllocation());
 }
-inline std::string* OrgDetails::release_org_name() {
-  // @@protoc_insertion_point(field_release:viam.app.v1.OrgDetails.org_name)
-  return org_name_.Release();
+inline std::string* ListKeysRequest::release_org_id() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.ListKeysRequest.org_id)
+  return org_id_.Release();
 }
-inline void OrgDetails::set_allocated_org_name(std::string* org_name) {
-  if (org_name != nullptr) {
+inline void ListKeysRequest::set_allocated_org_id(std::string* org_id) {
+  if (org_id != nullptr) {
     
   } else {
     
   }
-  org_name_.SetAllocated(org_name, GetArenaForAllocation());
+  org_id_.SetAllocated(org_id, GetArenaForAllocation());
 #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  if (org_name_.IsDefault()) {
-    org_name_.Set("", GetArenaForAllocation());
+  if (org_id_.IsDefault()) {
+    org_id_.Set("", GetArenaForAllocation());
   }
 #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.OrgDetails.org_name)
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.ListKeysRequest.org_id)
 }
 
 // -------------------------------------------------------------------
 
-// ListOrganizationsByUserResponse
+// ListKeysResponse
 
-// repeated .viam.app.v1.OrgDetails orgs = 1 [json_name = "orgs"];
-inline int ListOrganizationsByUserResponse::_internal_orgs_size() const {
-  return orgs_.size();
+// repeated .viam.app.v1.APIKeyWithAuthorizations api_keys = 1 [json_name = "apiKeys"];
+inline int ListKeysResponse::_internal_api_keys_size() const {
+  return api_keys_.size();
 }
-inline int ListOrganizationsByUserResponse::orgs_size() const {
-  return _internal_orgs_size();
+inline int ListKeysResponse::api_keys_size() const {
+  return _internal_api_keys_size();
 }
-inline void ListOrganizationsByUserResponse::clear_orgs() {
-  orgs_.Clear();
+inline void ListKeysResponse::clear_api_keys() {
+  api_keys_.Clear();
 }
-inline ::viam::app::v1::OrgDetails* ListOrganizationsByUserResponse::mutable_orgs(int index) {
-  // @@protoc_insertion_point(field_mutable:viam.app.v1.ListOrganizationsByUserResponse.orgs)
-  return orgs_.Mutable(index);
+inline ::viam::app::v1::APIKeyWithAuthorizations* ListKeysResponse::mutable_api_keys(int index) {
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.ListKeysResponse.api_keys)
+  return api_keys_.Mutable(index);
 }
-inline ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::app::v1::OrgDetails >*
-ListOrganizationsByUserResponse::mutable_orgs() {
-  // @@protoc_insertion_point(field_mutable_list:viam.app.v1.ListOrganizationsByUserResponse.orgs)
-  return &orgs_;
+inline ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::app::v1::APIKeyWithAuthorizations >*
+ListKeysResponse::mutable_api_keys() {
+  // @@protoc_insertion_point(field_mutable_list:viam.app.v1.ListKeysResponse.api_keys)
+  return &api_keys_;
 }
-inline const ::viam::app::v1::OrgDetails& ListOrganizationsByUserResponse::_internal_orgs(int index) const {
-  return orgs_.Get(index);
+inline const ::viam::app::v1::APIKeyWithAuthorizations& ListKeysResponse::_internal_api_keys(int index) const {
+  return api_keys_.Get(index);
 }
-inline const ::viam::app::v1::OrgDetails& ListOrganizationsByUserResponse::orgs(int index) const {
-  // @@protoc_insertion_point(field_get:viam.app.v1.ListOrganizationsByUserResponse.orgs)
-  return _internal_orgs(index);
+inline const ::viam::app::v1::APIKeyWithAuthorizations& ListKeysResponse::api_keys(int index) const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.ListKeysResponse.api_keys)
+  return _internal_api_keys(index);
 }
-inline ::viam::app::v1::OrgDetails* ListOrganizationsByUserResponse::_internal_add_orgs() {
-  return orgs_.Add();
+inline ::viam::app::v1::APIKeyWithAuthorizations* ListKeysResponse::_internal_add_api_keys() {
+  return api_keys_.Add();
 }
-inline ::viam::app::v1::OrgDetails* ListOrganizationsByUserResponse::add_orgs() {
-  ::viam::app::v1::OrgDetails* _add = _internal_add_orgs();
-  // @@protoc_insertion_point(field_add:viam.app.v1.ListOrganizationsByUserResponse.orgs)
+inline ::viam::app::v1::APIKeyWithAuthorizations* ListKeysResponse::add_api_keys() {
+  ::viam::app::v1::APIKeyWithAuthorizations* _add = _internal_add_api_keys();
+  // @@protoc_insertion_point(field_add:viam.app.v1.ListKeysResponse.api_keys)
   return _add;
 }
-inline const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::app::v1::OrgDetails >&
-ListOrganizationsByUserResponse::orgs() const {
-  // @@protoc_insertion_point(field_list:viam.app.v1.ListOrganizationsByUserResponse.orgs)
-  return orgs_;
+inline const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::app::v1::APIKeyWithAuthorizations >&
+ListKeysResponse::api_keys() const {
+  // @@protoc_insertion_point(field_list:viam.app.v1.ListKeysResponse.api_keys)
+  return api_keys_;
 }
 
 // -------------------------------------------------------------------
 
-// CreateKeyRequest
+// RotateKeyRequest
 
-// repeated .viam.app.v1.Authorization authorizations = 1 [json_name = "authorizations"];
-inline int CreateKeyRequest::_internal_authorizations_size() const {
-  return authorizations_.size();
-}
-inline int CreateKeyRequest::authorizations_size() const {
-  return _internal_authorizations_size();
+// string id = 1 [json_name = "id"];
+inline void RotateKeyRequest::clear_id() {
+  id_.ClearToEmpty();
 }
-inline void CreateKeyRequest::clear_authorizations() {
-  authorizations_.Clear();
+inline const std::string& RotateKeyRequest::id() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.RotateKeyRequest.id)
+  return _internal_id();
 }
-inline ::viam::app::v1::Authorization* CreateKeyRequest::mutable_authorizations(int index) {
-  // @@protoc_insertion_point(field_mutable:viam.app.v1.CreateKeyRequest.authorizations)
-  return authorizations_.Mutable(index);
+template <typename ArgT0, typename... ArgT>
+inline PROTOBUF_ALWAYS_INLINE
+void RotateKeyRequest::set_id(ArgT0&& arg0, ArgT... args) {
+ 
+ id_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.app.v1.RotateKeyRequest.id)
 }
-inline ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::app::v1::Authorization >*
-CreateKeyRequest::mutable_authorizations() {
-  // @@protoc_insertion_point(field_mutable_list:viam.app.v1.CreateKeyRequest.authorizations)
-  return &authorizations_;
+inline std::string* RotateKeyRequest::mutable_id() {
+  std::string* _s = _internal_mutable_id();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.RotateKeyRequest.id)
+  return _s;
 }
-inline const ::viam::app::v1::Authorization& CreateKeyRequest::_internal_authorizations(int index) const {
-  return authorizations_.Get(index);
+inline const std::string& RotateKeyRequest::_internal_id() const {
+  return id_.Get();
 }
-inline const ::viam::app::v1::Authorization& CreateKeyRequest::authorizations(int index) const {
-  // @@protoc_insertion_point(field_get:viam.app.v1.CreateKeyRequest.authorizations)
-  return _internal_authorizations(index);
+inline void RotateKeyRequest::_internal_set_id(const std::string& value) {
+  
+  id_.Set(value, GetArenaForAllocation());
 }
-inline ::viam::app::v1::Authorization* CreateKeyRequest::_internal_add_authorizations() {
-  return authorizations_.Add();
+inline std::string* RotateKeyRequest::_internal_mutable_id() {
+  
+  return id_.Mutable(GetArenaForAllocation());
 }
-inline ::viam::app::v1::Authorization* CreateKeyRequest::add_authorizations() {
-  ::viam::app::v1::Authorization* _add = _internal_add_authorizations();
-  // @@protoc_insertion_point(field_add:viam.app.v1.CreateKeyRequest.authorizations)
-  return _add;
+inline std::string* RotateKeyRequest::release_id() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.RotateKeyRequest.id)
+  return id_.Release();
 }
-inline const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::app::v1::Authorization >&
-CreateKeyRequest::authorizations() const {
-  // @@protoc_insertion_point(field_list:viam.app.v1.CreateKeyRequest.authorizations)
-  return authorizations_;
+inline void RotateKeyRequest::set_allocated_id(std::string* id) {
+  if (id != nullptr) {
+    
+  } else {
+    
+  }
+  id_.SetAllocated(id, GetArenaForAllocation());
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (id_.IsDefault()) {
+    id_.Set("", GetArenaForAllocation());
+  }
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.RotateKeyRequest.id)
 }
 
-// string name = 2 [json_name = "name"];
-inline void CreateKeyRequest::clear_name() {
-  name_.ClearToEmpty();
+// -------------------------------------------------------------------
+
+// RotateKeyResponse
+
+// string id = 1 [json_name = "id"];
+inline void RotateKeyResponse::clear_id() {
+  id_.ClearToEmpty();
 }
-inline const std::string& CreateKeyRequest::name() const {
-  // @@protoc_insertion_point(field_get:viam.app.v1.CreateKeyRequest.name)
-  return _internal_name();
+inline const std::string& RotateKeyResponse::id() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.RotateKeyResponse.id)
+  return _internal_id();
 }
 template <typename ArgT0, typename... ArgT>
 inline PROTOBUF_ALWAYS_INLINE
-void CreateKeyRequest::set_name(ArgT0&& arg0, ArgT... args) {
+void RotateKeyResponse::set_id(ArgT0&& arg0, ArgT... args) {
  
- name_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
-  // @@protoc_insertion_point(field_set:viam.app.v1.CreateKeyRequest.name)
+ id_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.app.v1.RotateKeyResponse.id)
 }
-inline std::string* CreateKeyRequest::mutable_name() {
-  std::string* _s = _internal_mutable_name();
-  // @@protoc_insertion_point(field_mutable:viam.app.v1.CreateKeyRequest.name)
+inline std::string* RotateKeyResponse::mutable_id() {
+  std::string* _s = _internal_mutable_id();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.RotateKeyResponse.id)
   return _s;
 }
-inline const std::string& CreateKeyRequest::_internal_name() const {
-  return name_.Get();
+inline const std::string& RotateKeyResponse::_internal_id() const {
+  return id_.Get();
 }
-inline void CreateKeyRequest::_internal_set_name(const std::string& value) {
+inline void RotateKeyResponse::_internal_set_id(const std::string& value) {
   
-  name_.Set(value, GetArenaForAllocation());
+  id_.Set(value, GetArenaForAllocation());
 }
-inline std::string* CreateKeyRequest::_internal_mutable_name() {
+inline std::string* RotateKeyResponse::_internal_mutable_id() {
   
-  return name_.Mutable(GetArenaForAllocation());
+  return id_.Mutable(GetArenaForAllocation());
 }
-inline std::string* CreateKeyRequest::release_name() {
-  // @@protoc_insertion_point(field_release:viam.app.v1.CreateKeyRequest.name)
-  return name_.Release();
+inline std::string* RotateKeyResponse::release_id() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.RotateKeyResponse.id)
+  return id_.Release();
 }
-inline void CreateKeyRequest::set_allocated_name(std::string* name) {
-  if (name != nullptr) {
+inline void RotateKeyResponse::set_allocated_id(std::string* id) {
+  if (id != nullptr) {
     
   } else {
     
   }
-  name_.SetAllocated(name, GetArenaForAllocation());
+  id_.SetAllocated(id, GetArenaForAllocation());
 #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  if (name_.IsDefault()) {
-    name_.Set("", GetArenaForAllocation());
+  if (id_.IsDefault()) {
+    id_.Set("", GetArenaForAllocation());
   }
 #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.CreateKeyRequest.name)
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.RotateKeyResponse.id)
 }
 
-// -------------------------------------------------------------------
-
-// CreateKeyResponse
-
-// string key = 1 [json_name = "key"];
-inline void CreateKeyResponse::clear_key() {
+// string key = 2 [json_name = "key"];
+inline void RotateKeyResponse::clear_key() {
   key_.ClearToEmpty();
 }
-inline const std::string& CreateKeyResponse::key() const {
-  // @@protoc_insertion_point(field_get:viam.app.v1.CreateKeyResponse.key)
+inline const std::string& RotateKeyResponse::key() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.RotateKeyResponse.key)
   return _internal_key();
 }
 template <typename ArgT0, typename... ArgT>
 inline PROTOBUF_ALWAYS_INLINE
-void CreateKeyResponse::set_key(ArgT0&& arg0, ArgT... args) {
+void RotateKeyResponse::set_key(ArgT0&& arg0, ArgT... args) {
  
  key_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
-  // @@protoc_insertion_point(field_set:viam.app.v1.CreateKeyResponse.key)
+  // @@protoc_insertion_point(field_set:viam.app.v1.RotateKeyResponse.key)
 }
-inline std::string* CreateKeyResponse::mutable_key() {
+inline std::string* RotateKeyResponse::mutable_key() {
   std::string* _s = _internal_mutable_key();
-  // @@protoc_insertion_point(field_mutable:viam.app.v1.CreateKeyResponse.key)
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.RotateKeyResponse.key)
   return _s;
 }
-inline const std::string& CreateKeyResponse::_internal_key() const {
+inline const std::string& RotateKeyResponse::_internal_key() const {
   return key_.Get();
 }
-inline void CreateKeyResponse::_internal_set_key(const std::string& value) {
+inline void RotateKeyResponse::_internal_set_key(const std::string& value) {
   
   key_.Set(value, GetArenaForAllocation());
 }
-inline std::string* CreateKeyResponse::_internal_mutable_key() {
+inline std::string* RotateKeyResponse::_internal_mutable_key() {
   
   return key_.Mutable(GetArenaForAllocation());
 }
-inline std::string* CreateKeyResponse::release_key() {
-  // @@protoc_insertion_point(field_release:viam.app.v1.CreateKeyResponse.key)
+inline std::string* RotateKeyResponse::release_key() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.RotateKeyResponse.key)
   return key_.Release();
 }
-inline void CreateKeyResponse::set_allocated_key(std::string* key) {
+inline void RotateKeyResponse::set_allocated_key(std::string* key) {
   if (key != nullptr) {
     
   } else {
@@ -39216,45 +41580,49 @@ inline void CreateKeyResponse::set_allocated_key(std::string* key) {
     key_.Set("", GetArenaForAllocation());
   }
 #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.CreateKeyResponse.key)
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.RotateKeyResponse.key)
 }
 
-// string id = 2 [json_name = "id"];
-inline void CreateKeyResponse::clear_id() {
+// -------------------------------------------------------------------
+
+// CreateKeyFromExistingKeyAuthorizationsRequest
+
+// string id = 1 [json_name = "id"];
+inline void CreateKeyFromExistingKeyAuthorizationsRequest::clear_id() {
   id_.ClearToEmpty();
 }
-inline const std::string& CreateKeyResponse::id() const {
-  // @@protoc_insertion_point(field_get:viam.app.v1.CreateKeyResponse.id)
+inline const std::string& CreateKeyFromExistingKeyAuthorizationsRequest::id() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.CreateKeyFromExistingKeyAuthorizationsRequest.id)
   return _internal_id();
 }
 template <typename ArgT0, typename... ArgT>
 inline PROTOBUF_ALWAYS_INLINE
-void CreateKeyResponse::set_id(ArgT0&& arg0, ArgT... args) {
+void CreateKeyFromExistingKeyAuthorizationsRequest::set_id(ArgT0&& arg0, ArgT... args) {
  
  id_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
-  // @@protoc_insertion_point(field_set:viam.app.v1.CreateKeyResponse.id)
+  // @@protoc_insertion_point(field_set:viam.app.v1.CreateKeyFromExistingKeyAuthorizationsRequest.id)
 }
-inline std::string* CreateKeyResponse::mutable_id() {
+inline std::string* CreateKeyFromExistingKeyAuthorizationsRequest::mutable_id() {
   std::string* _s = _internal_mutable_id();
-  // @@protoc_insertion_point(field_mutable:viam.app.v1.CreateKeyResponse.id)
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.CreateKeyFromExistingKeyAuthorizationsRequest.id)
   return _s;
 }
-inline const std::string& CreateKeyResponse::_internal_id() const {
+inline const std::string& CreateKeyFromExistingKeyAuthorizationsRequest::_internal_id() const {
   return id_.Get();
 }
-inline void CreateKeyResponse::_internal_set_id(const std::string& value) {
+inline void CreateKeyFromExistingKeyAuthorizationsRequest::_internal_set_id(const std::string& value) {
   
   id_.Set(value, GetArenaForAllocation());
 }
-inline std::string* CreateKeyResponse::_internal_mutable_id() {
+inline std::string* CreateKeyFromExistingKeyAuthorizationsRequest::_internal_mutable_id() {
   
   return id_.Mutable(GetArenaForAllocation());
 }
-inline std::string* CreateKeyResponse::release_id() {
-  // @@protoc_insertion_point(field_release:viam.app.v1.CreateKeyResponse.id)
+inline std::string* CreateKeyFromExistingKeyAuthorizationsRequest::release_id() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.CreateKeyFromExistingKeyAuthorizationsRequest.id)
   return id_.Release();
 }
-inline void CreateKeyResponse::set_allocated_id(std::string* id) {
+inline void CreateKeyFromExistingKeyAuthorizationsRequest::set_allocated_id(std::string* id) {
   if (id != nullptr) {
     
   } else {
@@ -39266,7 +41634,111 @@ inline void CreateKeyResponse::set_allocated_id(std::string* id) {
     id_.Set("", GetArenaForAllocation());
   }
 #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.CreateKeyResponse.id)
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.CreateKeyFromExistingKeyAuthorizationsRequest.id)
+}
+
+// -------------------------------------------------------------------
+
+// CreateKeyFromExistingKeyAuthorizationsResponse
+
+// string id = 1 [json_name = "id"];
+inline void CreateKeyFromExistingKeyAuthorizationsResponse::clear_id() {
+  id_.ClearToEmpty();
+}
+inline const std::string& CreateKeyFromExistingKeyAuthorizationsResponse::id() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.CreateKeyFromExistingKeyAuthorizationsResponse.id)
+  return _internal_id();
+}
+template <typename ArgT0, typename... ArgT>
+inline PROTOBUF_ALWAYS_INLINE
+void CreateKeyFromExistingKeyAuthorizationsResponse::set_id(ArgT0&& arg0, ArgT... args) {
+ 
+ id_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.app.v1.CreateKeyFromExistingKeyAuthorizationsResponse.id)
+}
+inline std::string* CreateKeyFromExistingKeyAuthorizationsResponse::mutable_id() {
+  std::string* _s = _internal_mutable_id();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.CreateKeyFromExistingKeyAuthorizationsResponse.id)
+  return _s;
+}
+inline const std::string& CreateKeyFromExistingKeyAuthorizationsResponse::_internal_id() const {
+  return id_.Get();
+}
+inline void CreateKeyFromExistingKeyAuthorizationsResponse::_internal_set_id(const std::string& value) {
+  
+  id_.Set(value, GetArenaForAllocation());
+}
+inline std::string* CreateKeyFromExistingKeyAuthorizationsResponse::_internal_mutable_id() {
+  
+  return id_.Mutable(GetArenaForAllocation());
+}
+inline std::string* CreateKeyFromExistingKeyAuthorizationsResponse::release_id() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.CreateKeyFromExistingKeyAuthorizationsResponse.id)
+  return id_.Release();
+}
+inline void CreateKeyFromExistingKeyAuthorizationsResponse::set_allocated_id(std::string* id) {
+  if (id != nullptr) {
+    
+  } else {
+    
+  }
+  id_.SetAllocated(id, GetArenaForAllocation());
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (id_.IsDefault()) {
+    id_.Set("", GetArenaForAllocation());
+  }
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.CreateKeyFromExistingKeyAuthorizationsResponse.id)
+}
+
+// string key = 2 [json_name = "key"];
+inline void CreateKeyFromExistingKeyAuthorizationsResponse::clear_key() {
+  key_.ClearToEmpty();
+}
+inline const std::string& CreateKeyFromExistingKeyAuthorizationsResponse::key() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.CreateKeyFromExistingKeyAuthorizationsResponse.key)
+  return _internal_key();
+}
+template <typename ArgT0, typename... ArgT>
+inline PROTOBUF_ALWAYS_INLINE
+void CreateKeyFromExistingKeyAuthorizationsResponse::set_key(ArgT0&& arg0, ArgT... args) {
+ 
+ key_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.app.v1.CreateKeyFromExistingKeyAuthorizationsResponse.key)
+}
+inline std::string* CreateKeyFromExistingKeyAuthorizationsResponse::mutable_key() {
+  std::string* _s = _internal_mutable_key();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.CreateKeyFromExistingKeyAuthorizationsResponse.key)
+  return _s;
+}
+inline const std::string& CreateKeyFromExistingKeyAuthorizationsResponse::_internal_key() const {
+  return key_.Get();
+}
+inline void CreateKeyFromExistingKeyAuthorizationsResponse::_internal_set_key(const std::string& value) {
+  
+  key_.Set(value, GetArenaForAllocation());
+}
+inline std::string* CreateKeyFromExistingKeyAuthorizationsResponse::_internal_mutable_key() {
+  
+  return key_.Mutable(GetArenaForAllocation());
+}
+inline std::string* CreateKeyFromExistingKeyAuthorizationsResponse::release_key() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.CreateKeyFromExistingKeyAuthorizationsResponse.key)
+  return key_.Release();
+}
+inline void CreateKeyFromExistingKeyAuthorizationsResponse::set_allocated_key(std::string* key) {
+  if (key != nullptr) {
+    
+  } else {
+    
+  }
+  key_.SetAllocated(key, GetArenaForAllocation());
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (key_.IsDefault()) {
+    key_.Set("", GetArenaForAllocation());
+  }
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.CreateKeyFromExistingKeyAuthorizationsResponse.key)
 }
 
 #ifdef __GNUC__
@@ -39552,6 +42024,26 @@ inline void CreateKeyResponse::set_allocated_id(std::string* id) {
 
 // -------------------------------------------------------------------
 
+// -------------------------------------------------------------------
+
+// -------------------------------------------------------------------
+
+// -------------------------------------------------------------------
+
+// -------------------------------------------------------------------
+
+// -------------------------------------------------------------------
+
+// -------------------------------------------------------------------
+
+// -------------------------------------------------------------------
+
+// -------------------------------------------------------------------
+
+// -------------------------------------------------------------------
+
+// -------------------------------------------------------------------
+
 
 // @@protoc_insertion_point(namespace_scope)
 
diff --git a/src/viam/api/app/v1/end_user.grpc.pb.cc b/src/viam/api/app/v1/end_user.grpc.pb.cc
new file mode 100644
index 000000000..6bbe45b36
--- /dev/null
+++ b/src/viam/api/app/v1/end_user.grpc.pb.cc
@@ -0,0 +1,132 @@
+// Generated by the gRPC C++ plugin.
+// If you make any local change, they will be lost.
+// source: app/v1/end_user.proto
+
+#include "app/v1/end_user.pb.h"
+#include "app/v1/end_user.grpc.pb.h"
+
+#include <functional>
+#include <grpcpp/support/async_stream.h>
+#include <grpcpp/support/async_unary_call.h>
+#include <grpcpp/impl/channel_interface.h>
+#include <grpcpp/impl/client_unary_call.h>
+#include <grpcpp/support/client_callback.h>
+#include <grpcpp/support/message_allocator.h>
+#include <grpcpp/support/method_handler.h>
+#include <grpcpp/impl/rpc_service_method.h>
+#include <grpcpp/support/server_callback.h>
+#include <grpcpp/impl/codegen/server_callback_handlers.h>
+#include <grpcpp/server_context.h>
+#include <grpcpp/impl/service_type.h>
+#include <grpcpp/support/sync_stream.h>
+namespace viam {
+namespace app {
+namespace v1 {
+
+static const char* EndUserService_method_names[] = {
+  "/viam.app.v1.EndUserService/IsLegalAccepted",
+  "/viam.app.v1.EndUserService/AcceptLegal",
+};
+
+std::unique_ptr< EndUserService::Stub> EndUserService::NewStub(const std::shared_ptr< ::grpc::ChannelInterface>& channel, const ::grpc::StubOptions& options) {
+  (void)options;
+  std::unique_ptr< EndUserService::Stub> stub(new EndUserService::Stub(channel, options));
+  return stub;
+}
+
+EndUserService::Stub::Stub(const std::shared_ptr< ::grpc::ChannelInterface>& channel, const ::grpc::StubOptions& options)
+  : channel_(channel), rpcmethod_IsLegalAccepted_(EndUserService_method_names[0], options.suffix_for_stats(),::grpc::internal::RpcMethod::NORMAL_RPC, channel)
+  , rpcmethod_AcceptLegal_(EndUserService_method_names[1], options.suffix_for_stats(),::grpc::internal::RpcMethod::NORMAL_RPC, channel)
+  {}
+
+::grpc::Status EndUserService::Stub::IsLegalAccepted(::grpc::ClientContext* context, const ::viam::app::v1::IsLegalAcceptedRequest& request, ::viam::app::v1::IsLegalAcceptedResponse* response) {
+  return ::grpc::internal::BlockingUnaryCall< ::viam::app::v1::IsLegalAcceptedRequest, ::viam::app::v1::IsLegalAcceptedResponse, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(channel_.get(), rpcmethod_IsLegalAccepted_, context, request, response);
+}
+
+void EndUserService::Stub::async::IsLegalAccepted(::grpc::ClientContext* context, const ::viam::app::v1::IsLegalAcceptedRequest* request, ::viam::app::v1::IsLegalAcceptedResponse* response, std::function<void(::grpc::Status)> f) {
+  ::grpc::internal::CallbackUnaryCall< ::viam::app::v1::IsLegalAcceptedRequest, ::viam::app::v1::IsLegalAcceptedResponse, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(stub_->channel_.get(), stub_->rpcmethod_IsLegalAccepted_, context, request, response, std::move(f));
+}
+
+void EndUserService::Stub::async::IsLegalAccepted(::grpc::ClientContext* context, const ::viam::app::v1::IsLegalAcceptedRequest* request, ::viam::app::v1::IsLegalAcceptedResponse* response, ::grpc::ClientUnaryReactor* reactor) {
+  ::grpc::internal::ClientCallbackUnaryFactory::Create< ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(stub_->channel_.get(), stub_->rpcmethod_IsLegalAccepted_, context, request, response, reactor);
+}
+
+::grpc::ClientAsyncResponseReader< ::viam::app::v1::IsLegalAcceptedResponse>* EndUserService::Stub::PrepareAsyncIsLegalAcceptedRaw(::grpc::ClientContext* context, const ::viam::app::v1::IsLegalAcceptedRequest& request, ::grpc::CompletionQueue* cq) {
+  return ::grpc::internal::ClientAsyncResponseReaderHelper::Create< ::viam::app::v1::IsLegalAcceptedResponse, ::viam::app::v1::IsLegalAcceptedRequest, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(channel_.get(), cq, rpcmethod_IsLegalAccepted_, context, request);
+}
+
+::grpc::ClientAsyncResponseReader< ::viam::app::v1::IsLegalAcceptedResponse>* EndUserService::Stub::AsyncIsLegalAcceptedRaw(::grpc::ClientContext* context, const ::viam::app::v1::IsLegalAcceptedRequest& request, ::grpc::CompletionQueue* cq) {
+  auto* result =
+    this->PrepareAsyncIsLegalAcceptedRaw(context, request, cq);
+  result->StartCall();
+  return result;
+}
+
+::grpc::Status EndUserService::Stub::AcceptLegal(::grpc::ClientContext* context, const ::viam::app::v1::AcceptLegalRequest& request, ::viam::app::v1::AcceptLegalResponse* response) {
+  return ::grpc::internal::BlockingUnaryCall< ::viam::app::v1::AcceptLegalRequest, ::viam::app::v1::AcceptLegalResponse, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(channel_.get(), rpcmethod_AcceptLegal_, context, request, response);
+}
+
+void EndUserService::Stub::async::AcceptLegal(::grpc::ClientContext* context, const ::viam::app::v1::AcceptLegalRequest* request, ::viam::app::v1::AcceptLegalResponse* response, std::function<void(::grpc::Status)> f) {
+  ::grpc::internal::CallbackUnaryCall< ::viam::app::v1::AcceptLegalRequest, ::viam::app::v1::AcceptLegalResponse, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(stub_->channel_.get(), stub_->rpcmethod_AcceptLegal_, context, request, response, std::move(f));
+}
+
+void EndUserService::Stub::async::AcceptLegal(::grpc::ClientContext* context, const ::viam::app::v1::AcceptLegalRequest* request, ::viam::app::v1::AcceptLegalResponse* response, ::grpc::ClientUnaryReactor* reactor) {
+  ::grpc::internal::ClientCallbackUnaryFactory::Create< ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(stub_->channel_.get(), stub_->rpcmethod_AcceptLegal_, context, request, response, reactor);
+}
+
+::grpc::ClientAsyncResponseReader< ::viam::app::v1::AcceptLegalResponse>* EndUserService::Stub::PrepareAsyncAcceptLegalRaw(::grpc::ClientContext* context, const ::viam::app::v1::AcceptLegalRequest& request, ::grpc::CompletionQueue* cq) {
+  return ::grpc::internal::ClientAsyncResponseReaderHelper::Create< ::viam::app::v1::AcceptLegalResponse, ::viam::app::v1::AcceptLegalRequest, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(channel_.get(), cq, rpcmethod_AcceptLegal_, context, request);
+}
+
+::grpc::ClientAsyncResponseReader< ::viam::app::v1::AcceptLegalResponse>* EndUserService::Stub::AsyncAcceptLegalRaw(::grpc::ClientContext* context, const ::viam::app::v1::AcceptLegalRequest& request, ::grpc::CompletionQueue* cq) {
+  auto* result =
+    this->PrepareAsyncAcceptLegalRaw(context, request, cq);
+  result->StartCall();
+  return result;
+}
+
+EndUserService::Service::Service() {
+  AddMethod(new ::grpc::internal::RpcServiceMethod(
+      EndUserService_method_names[0],
+      ::grpc::internal::RpcMethod::NORMAL_RPC,
+      new ::grpc::internal::RpcMethodHandler< EndUserService::Service, ::viam::app::v1::IsLegalAcceptedRequest, ::viam::app::v1::IsLegalAcceptedResponse, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(
+          [](EndUserService::Service* service,
+             ::grpc::ServerContext* ctx,
+             const ::viam::app::v1::IsLegalAcceptedRequest* req,
+             ::viam::app::v1::IsLegalAcceptedResponse* resp) {
+               return service->IsLegalAccepted(ctx, req, resp);
+             }, this)));
+  AddMethod(new ::grpc::internal::RpcServiceMethod(
+      EndUserService_method_names[1],
+      ::grpc::internal::RpcMethod::NORMAL_RPC,
+      new ::grpc::internal::RpcMethodHandler< EndUserService::Service, ::viam::app::v1::AcceptLegalRequest, ::viam::app::v1::AcceptLegalResponse, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(
+          [](EndUserService::Service* service,
+             ::grpc::ServerContext* ctx,
+             const ::viam::app::v1::AcceptLegalRequest* req,
+             ::viam::app::v1::AcceptLegalResponse* resp) {
+               return service->AcceptLegal(ctx, req, resp);
+             }, this)));
+}
+
+EndUserService::Service::~Service() {
+}
+
+::grpc::Status EndUserService::Service::IsLegalAccepted(::grpc::ServerContext* context, const ::viam::app::v1::IsLegalAcceptedRequest* request, ::viam::app::v1::IsLegalAcceptedResponse* response) {
+  (void) context;
+  (void) request;
+  (void) response;
+  return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+}
+
+::grpc::Status EndUserService::Service::AcceptLegal(::grpc::ServerContext* context, const ::viam::app::v1::AcceptLegalRequest* request, ::viam::app::v1::AcceptLegalResponse* response) {
+  (void) context;
+  (void) request;
+  (void) response;
+  return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+}
+
+
+}  // namespace viam
+}  // namespace app
+}  // namespace v1
+
diff --git a/src/viam/api/app/v1/end_user.grpc.pb.h b/src/viam/api/app/v1/end_user.grpc.pb.h
new file mode 100644
index 000000000..0028cc606
--- /dev/null
+++ b/src/viam/api/app/v1/end_user.grpc.pb.h
@@ -0,0 +1,410 @@
+// Generated by the gRPC C++ plugin.
+// If you make any local change, they will be lost.
+// source: app/v1/end_user.proto
+#ifndef GRPC_app_2fv1_2fend_5fuser_2eproto__INCLUDED
+#define GRPC_app_2fv1_2fend_5fuser_2eproto__INCLUDED
+
+#include "app/v1/end_user.pb.h"
+
+#include <functional>
+#include <grpcpp/generic/async_generic_service.h>
+#include <grpcpp/support/async_stream.h>
+#include <grpcpp/support/async_unary_call.h>
+#include <grpcpp/support/client_callback.h>
+#include <grpcpp/client_context.h>
+#include <grpcpp/completion_queue.h>
+#include <grpcpp/support/message_allocator.h>
+#include <grpcpp/support/method_handler.h>
+#include <grpcpp/impl/codegen/proto_utils.h>
+#include <grpcpp/impl/rpc_method.h>
+#include <grpcpp/support/server_callback.h>
+#include <grpcpp/impl/codegen/server_callback_handlers.h>
+#include <grpcpp/server_context.h>
+#include <grpcpp/impl/service_type.h>
+#include <grpcpp/impl/codegen/status.h>
+#include <grpcpp/support/stub_options.h>
+#include <grpcpp/support/sync_stream.h>
+
+namespace viam {
+namespace app {
+namespace v1 {
+
+class EndUserService final {
+ public:
+  static constexpr char const* service_full_name() {
+    return "viam.app.v1.EndUserService";
+  }
+  class StubInterface {
+   public:
+    virtual ~StubInterface() {}
+    // Returns whether the specified user has accepted end user license agreements.
+    // If false, the user should not be able to use the application.
+    virtual ::grpc::Status IsLegalAccepted(::grpc::ClientContext* context, const ::viam::app::v1::IsLegalAcceptedRequest& request, ::viam::app::v1::IsLegalAcceptedResponse* response) = 0;
+    std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::app::v1::IsLegalAcceptedResponse>> AsyncIsLegalAccepted(::grpc::ClientContext* context, const ::viam::app::v1::IsLegalAcceptedRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::app::v1::IsLegalAcceptedResponse>>(AsyncIsLegalAcceptedRaw(context, request, cq));
+    }
+    std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::app::v1::IsLegalAcceptedResponse>> PrepareAsyncIsLegalAccepted(::grpc::ClientContext* context, const ::viam::app::v1::IsLegalAcceptedRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::app::v1::IsLegalAcceptedResponse>>(PrepareAsyncIsLegalAcceptedRaw(context, request, cq));
+    }
+    // Marks that the specified user has accepted end user license agreements.
+    virtual ::grpc::Status AcceptLegal(::grpc::ClientContext* context, const ::viam::app::v1::AcceptLegalRequest& request, ::viam::app::v1::AcceptLegalResponse* response) = 0;
+    std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::app::v1::AcceptLegalResponse>> AsyncAcceptLegal(::grpc::ClientContext* context, const ::viam::app::v1::AcceptLegalRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::app::v1::AcceptLegalResponse>>(AsyncAcceptLegalRaw(context, request, cq));
+    }
+    std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::app::v1::AcceptLegalResponse>> PrepareAsyncAcceptLegal(::grpc::ClientContext* context, const ::viam::app::v1::AcceptLegalRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::app::v1::AcceptLegalResponse>>(PrepareAsyncAcceptLegalRaw(context, request, cq));
+    }
+    class async_interface {
+     public:
+      virtual ~async_interface() {}
+      // Returns whether the specified user has accepted end user license agreements.
+      // If false, the user should not be able to use the application.
+      virtual void IsLegalAccepted(::grpc::ClientContext* context, const ::viam::app::v1::IsLegalAcceptedRequest* request, ::viam::app::v1::IsLegalAcceptedResponse* response, std::function<void(::grpc::Status)>) = 0;
+      virtual void IsLegalAccepted(::grpc::ClientContext* context, const ::viam::app::v1::IsLegalAcceptedRequest* request, ::viam::app::v1::IsLegalAcceptedResponse* response, ::grpc::ClientUnaryReactor* reactor) = 0;
+      // Marks that the specified user has accepted end user license agreements.
+      virtual void AcceptLegal(::grpc::ClientContext* context, const ::viam::app::v1::AcceptLegalRequest* request, ::viam::app::v1::AcceptLegalResponse* response, std::function<void(::grpc::Status)>) = 0;
+      virtual void AcceptLegal(::grpc::ClientContext* context, const ::viam::app::v1::AcceptLegalRequest* request, ::viam::app::v1::AcceptLegalResponse* response, ::grpc::ClientUnaryReactor* reactor) = 0;
+    };
+    typedef class async_interface experimental_async_interface;
+    virtual class async_interface* async() { return nullptr; }
+    class async_interface* experimental_async() { return async(); }
+   private:
+    virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::app::v1::IsLegalAcceptedResponse>* AsyncIsLegalAcceptedRaw(::grpc::ClientContext* context, const ::viam::app::v1::IsLegalAcceptedRequest& request, ::grpc::CompletionQueue* cq) = 0;
+    virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::app::v1::IsLegalAcceptedResponse>* PrepareAsyncIsLegalAcceptedRaw(::grpc::ClientContext* context, const ::viam::app::v1::IsLegalAcceptedRequest& request, ::grpc::CompletionQueue* cq) = 0;
+    virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::app::v1::AcceptLegalResponse>* AsyncAcceptLegalRaw(::grpc::ClientContext* context, const ::viam::app::v1::AcceptLegalRequest& request, ::grpc::CompletionQueue* cq) = 0;
+    virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::app::v1::AcceptLegalResponse>* PrepareAsyncAcceptLegalRaw(::grpc::ClientContext* context, const ::viam::app::v1::AcceptLegalRequest& request, ::grpc::CompletionQueue* cq) = 0;
+  };
+  class Stub final : public StubInterface {
+   public:
+    Stub(const std::shared_ptr< ::grpc::ChannelInterface>& channel, const ::grpc::StubOptions& options = ::grpc::StubOptions());
+    ::grpc::Status IsLegalAccepted(::grpc::ClientContext* context, const ::viam::app::v1::IsLegalAcceptedRequest& request, ::viam::app::v1::IsLegalAcceptedResponse* response) override;
+    std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::app::v1::IsLegalAcceptedResponse>> AsyncIsLegalAccepted(::grpc::ClientContext* context, const ::viam::app::v1::IsLegalAcceptedRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::app::v1::IsLegalAcceptedResponse>>(AsyncIsLegalAcceptedRaw(context, request, cq));
+    }
+    std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::app::v1::IsLegalAcceptedResponse>> PrepareAsyncIsLegalAccepted(::grpc::ClientContext* context, const ::viam::app::v1::IsLegalAcceptedRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::app::v1::IsLegalAcceptedResponse>>(PrepareAsyncIsLegalAcceptedRaw(context, request, cq));
+    }
+    ::grpc::Status AcceptLegal(::grpc::ClientContext* context, const ::viam::app::v1::AcceptLegalRequest& request, ::viam::app::v1::AcceptLegalResponse* response) override;
+    std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::app::v1::AcceptLegalResponse>> AsyncAcceptLegal(::grpc::ClientContext* context, const ::viam::app::v1::AcceptLegalRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::app::v1::AcceptLegalResponse>>(AsyncAcceptLegalRaw(context, request, cq));
+    }
+    std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::app::v1::AcceptLegalResponse>> PrepareAsyncAcceptLegal(::grpc::ClientContext* context, const ::viam::app::v1::AcceptLegalRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::app::v1::AcceptLegalResponse>>(PrepareAsyncAcceptLegalRaw(context, request, cq));
+    }
+    class async final :
+      public StubInterface::async_interface {
+     public:
+      void IsLegalAccepted(::grpc::ClientContext* context, const ::viam::app::v1::IsLegalAcceptedRequest* request, ::viam::app::v1::IsLegalAcceptedResponse* response, std::function<void(::grpc::Status)>) override;
+      void IsLegalAccepted(::grpc::ClientContext* context, const ::viam::app::v1::IsLegalAcceptedRequest* request, ::viam::app::v1::IsLegalAcceptedResponse* response, ::grpc::ClientUnaryReactor* reactor) override;
+      void AcceptLegal(::grpc::ClientContext* context, const ::viam::app::v1::AcceptLegalRequest* request, ::viam::app::v1::AcceptLegalResponse* response, std::function<void(::grpc::Status)>) override;
+      void AcceptLegal(::grpc::ClientContext* context, const ::viam::app::v1::AcceptLegalRequest* request, ::viam::app::v1::AcceptLegalResponse* response, ::grpc::ClientUnaryReactor* reactor) override;
+     private:
+      friend class Stub;
+      explicit async(Stub* stub): stub_(stub) { }
+      Stub* stub() { return stub_; }
+      Stub* stub_;
+    };
+    class async* async() override { return &async_stub_; }
+
+   private:
+    std::shared_ptr< ::grpc::ChannelInterface> channel_;
+    class async async_stub_{this};
+    ::grpc::ClientAsyncResponseReader< ::viam::app::v1::IsLegalAcceptedResponse>* AsyncIsLegalAcceptedRaw(::grpc::ClientContext* context, const ::viam::app::v1::IsLegalAcceptedRequest& request, ::grpc::CompletionQueue* cq) override;
+    ::grpc::ClientAsyncResponseReader< ::viam::app::v1::IsLegalAcceptedResponse>* PrepareAsyncIsLegalAcceptedRaw(::grpc::ClientContext* context, const ::viam::app::v1::IsLegalAcceptedRequest& request, ::grpc::CompletionQueue* cq) override;
+    ::grpc::ClientAsyncResponseReader< ::viam::app::v1::AcceptLegalResponse>* AsyncAcceptLegalRaw(::grpc::ClientContext* context, const ::viam::app::v1::AcceptLegalRequest& request, ::grpc::CompletionQueue* cq) override;
+    ::grpc::ClientAsyncResponseReader< ::viam::app::v1::AcceptLegalResponse>* PrepareAsyncAcceptLegalRaw(::grpc::ClientContext* context, const ::viam::app::v1::AcceptLegalRequest& request, ::grpc::CompletionQueue* cq) override;
+    const ::grpc::internal::RpcMethod rpcmethod_IsLegalAccepted_;
+    const ::grpc::internal::RpcMethod rpcmethod_AcceptLegal_;
+  };
+  static std::unique_ptr<Stub> NewStub(const std::shared_ptr< ::grpc::ChannelInterface>& channel, const ::grpc::StubOptions& options = ::grpc::StubOptions());
+
+  class Service : public ::grpc::Service {
+   public:
+    Service();
+    virtual ~Service();
+    // Returns whether the specified user has accepted end user license agreements.
+    // If false, the user should not be able to use the application.
+    virtual ::grpc::Status IsLegalAccepted(::grpc::ServerContext* context, const ::viam::app::v1::IsLegalAcceptedRequest* request, ::viam::app::v1::IsLegalAcceptedResponse* response);
+    // Marks that the specified user has accepted end user license agreements.
+    virtual ::grpc::Status AcceptLegal(::grpc::ServerContext* context, const ::viam::app::v1::AcceptLegalRequest* request, ::viam::app::v1::AcceptLegalResponse* response);
+  };
+  template <class BaseClass>
+  class WithAsyncMethod_IsLegalAccepted : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithAsyncMethod_IsLegalAccepted() {
+      ::grpc::Service::MarkMethodAsync(0);
+    }
+    ~WithAsyncMethod_IsLegalAccepted() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status IsLegalAccepted(::grpc::ServerContext* /*context*/, const ::viam::app::v1::IsLegalAcceptedRequest* /*request*/, ::viam::app::v1::IsLegalAcceptedResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    void RequestIsLegalAccepted(::grpc::ServerContext* context, ::viam::app::v1::IsLegalAcceptedRequest* request, ::grpc::ServerAsyncResponseWriter< ::viam::app::v1::IsLegalAcceptedResponse>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
+      ::grpc::Service::RequestAsyncUnary(0, context, request, response, new_call_cq, notification_cq, tag);
+    }
+  };
+  template <class BaseClass>
+  class WithAsyncMethod_AcceptLegal : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithAsyncMethod_AcceptLegal() {
+      ::grpc::Service::MarkMethodAsync(1);
+    }
+    ~WithAsyncMethod_AcceptLegal() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status AcceptLegal(::grpc::ServerContext* /*context*/, const ::viam::app::v1::AcceptLegalRequest* /*request*/, ::viam::app::v1::AcceptLegalResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    void RequestAcceptLegal(::grpc::ServerContext* context, ::viam::app::v1::AcceptLegalRequest* request, ::grpc::ServerAsyncResponseWriter< ::viam::app::v1::AcceptLegalResponse>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
+      ::grpc::Service::RequestAsyncUnary(1, context, request, response, new_call_cq, notification_cq, tag);
+    }
+  };
+  typedef WithAsyncMethod_IsLegalAccepted<WithAsyncMethod_AcceptLegal<Service > > AsyncService;
+  template <class BaseClass>
+  class WithCallbackMethod_IsLegalAccepted : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithCallbackMethod_IsLegalAccepted() {
+      ::grpc::Service::MarkMethodCallback(0,
+          new ::grpc::internal::CallbackUnaryHandler< ::viam::app::v1::IsLegalAcceptedRequest, ::viam::app::v1::IsLegalAcceptedResponse>(
+            [this](
+                   ::grpc::CallbackServerContext* context, const ::viam::app::v1::IsLegalAcceptedRequest* request, ::viam::app::v1::IsLegalAcceptedResponse* response) { return this->IsLegalAccepted(context, request, response); }));}
+    void SetMessageAllocatorFor_IsLegalAccepted(
+        ::grpc::MessageAllocator< ::viam::app::v1::IsLegalAcceptedRequest, ::viam::app::v1::IsLegalAcceptedResponse>* allocator) {
+      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::GetHandler(0);
+      static_cast<::grpc::internal::CallbackUnaryHandler< ::viam::app::v1::IsLegalAcceptedRequest, ::viam::app::v1::IsLegalAcceptedResponse>*>(handler)
+              ->SetMessageAllocator(allocator);
+    }
+    ~WithCallbackMethod_IsLegalAccepted() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status IsLegalAccepted(::grpc::ServerContext* /*context*/, const ::viam::app::v1::IsLegalAcceptedRequest* /*request*/, ::viam::app::v1::IsLegalAcceptedResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    virtual ::grpc::ServerUnaryReactor* IsLegalAccepted(
+      ::grpc::CallbackServerContext* /*context*/, const ::viam::app::v1::IsLegalAcceptedRequest* /*request*/, ::viam::app::v1::IsLegalAcceptedResponse* /*response*/)  { return nullptr; }
+  };
+  template <class BaseClass>
+  class WithCallbackMethod_AcceptLegal : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithCallbackMethod_AcceptLegal() {
+      ::grpc::Service::MarkMethodCallback(1,
+          new ::grpc::internal::CallbackUnaryHandler< ::viam::app::v1::AcceptLegalRequest, ::viam::app::v1::AcceptLegalResponse>(
+            [this](
+                   ::grpc::CallbackServerContext* context, const ::viam::app::v1::AcceptLegalRequest* request, ::viam::app::v1::AcceptLegalResponse* response) { return this->AcceptLegal(context, request, response); }));}
+    void SetMessageAllocatorFor_AcceptLegal(
+        ::grpc::MessageAllocator< ::viam::app::v1::AcceptLegalRequest, ::viam::app::v1::AcceptLegalResponse>* allocator) {
+      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::GetHandler(1);
+      static_cast<::grpc::internal::CallbackUnaryHandler< ::viam::app::v1::AcceptLegalRequest, ::viam::app::v1::AcceptLegalResponse>*>(handler)
+              ->SetMessageAllocator(allocator);
+    }
+    ~WithCallbackMethod_AcceptLegal() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status AcceptLegal(::grpc::ServerContext* /*context*/, const ::viam::app::v1::AcceptLegalRequest* /*request*/, ::viam::app::v1::AcceptLegalResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    virtual ::grpc::ServerUnaryReactor* AcceptLegal(
+      ::grpc::CallbackServerContext* /*context*/, const ::viam::app::v1::AcceptLegalRequest* /*request*/, ::viam::app::v1::AcceptLegalResponse* /*response*/)  { return nullptr; }
+  };
+  typedef WithCallbackMethod_IsLegalAccepted<WithCallbackMethod_AcceptLegal<Service > > CallbackService;
+  typedef CallbackService ExperimentalCallbackService;
+  template <class BaseClass>
+  class WithGenericMethod_IsLegalAccepted : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithGenericMethod_IsLegalAccepted() {
+      ::grpc::Service::MarkMethodGeneric(0);
+    }
+    ~WithGenericMethod_IsLegalAccepted() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status IsLegalAccepted(::grpc::ServerContext* /*context*/, const ::viam::app::v1::IsLegalAcceptedRequest* /*request*/, ::viam::app::v1::IsLegalAcceptedResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+  };
+  template <class BaseClass>
+  class WithGenericMethod_AcceptLegal : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithGenericMethod_AcceptLegal() {
+      ::grpc::Service::MarkMethodGeneric(1);
+    }
+    ~WithGenericMethod_AcceptLegal() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status AcceptLegal(::grpc::ServerContext* /*context*/, const ::viam::app::v1::AcceptLegalRequest* /*request*/, ::viam::app::v1::AcceptLegalResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+  };
+  template <class BaseClass>
+  class WithRawMethod_IsLegalAccepted : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithRawMethod_IsLegalAccepted() {
+      ::grpc::Service::MarkMethodRaw(0);
+    }
+    ~WithRawMethod_IsLegalAccepted() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status IsLegalAccepted(::grpc::ServerContext* /*context*/, const ::viam::app::v1::IsLegalAcceptedRequest* /*request*/, ::viam::app::v1::IsLegalAcceptedResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    void RequestIsLegalAccepted(::grpc::ServerContext* context, ::grpc::ByteBuffer* request, ::grpc::ServerAsyncResponseWriter< ::grpc::ByteBuffer>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
+      ::grpc::Service::RequestAsyncUnary(0, context, request, response, new_call_cq, notification_cq, tag);
+    }
+  };
+  template <class BaseClass>
+  class WithRawMethod_AcceptLegal : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithRawMethod_AcceptLegal() {
+      ::grpc::Service::MarkMethodRaw(1);
+    }
+    ~WithRawMethod_AcceptLegal() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status AcceptLegal(::grpc::ServerContext* /*context*/, const ::viam::app::v1::AcceptLegalRequest* /*request*/, ::viam::app::v1::AcceptLegalResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    void RequestAcceptLegal(::grpc::ServerContext* context, ::grpc::ByteBuffer* request, ::grpc::ServerAsyncResponseWriter< ::grpc::ByteBuffer>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
+      ::grpc::Service::RequestAsyncUnary(1, context, request, response, new_call_cq, notification_cq, tag);
+    }
+  };
+  template <class BaseClass>
+  class WithRawCallbackMethod_IsLegalAccepted : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithRawCallbackMethod_IsLegalAccepted() {
+      ::grpc::Service::MarkMethodRawCallback(0,
+          new ::grpc::internal::CallbackUnaryHandler< ::grpc::ByteBuffer, ::grpc::ByteBuffer>(
+            [this](
+                   ::grpc::CallbackServerContext* context, const ::grpc::ByteBuffer* request, ::grpc::ByteBuffer* response) { return this->IsLegalAccepted(context, request, response); }));
+    }
+    ~WithRawCallbackMethod_IsLegalAccepted() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status IsLegalAccepted(::grpc::ServerContext* /*context*/, const ::viam::app::v1::IsLegalAcceptedRequest* /*request*/, ::viam::app::v1::IsLegalAcceptedResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    virtual ::grpc::ServerUnaryReactor* IsLegalAccepted(
+      ::grpc::CallbackServerContext* /*context*/, const ::grpc::ByteBuffer* /*request*/, ::grpc::ByteBuffer* /*response*/)  { return nullptr; }
+  };
+  template <class BaseClass>
+  class WithRawCallbackMethod_AcceptLegal : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithRawCallbackMethod_AcceptLegal() {
+      ::grpc::Service::MarkMethodRawCallback(1,
+          new ::grpc::internal::CallbackUnaryHandler< ::grpc::ByteBuffer, ::grpc::ByteBuffer>(
+            [this](
+                   ::grpc::CallbackServerContext* context, const ::grpc::ByteBuffer* request, ::grpc::ByteBuffer* response) { return this->AcceptLegal(context, request, response); }));
+    }
+    ~WithRawCallbackMethod_AcceptLegal() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status AcceptLegal(::grpc::ServerContext* /*context*/, const ::viam::app::v1::AcceptLegalRequest* /*request*/, ::viam::app::v1::AcceptLegalResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    virtual ::grpc::ServerUnaryReactor* AcceptLegal(
+      ::grpc::CallbackServerContext* /*context*/, const ::grpc::ByteBuffer* /*request*/, ::grpc::ByteBuffer* /*response*/)  { return nullptr; }
+  };
+  template <class BaseClass>
+  class WithStreamedUnaryMethod_IsLegalAccepted : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithStreamedUnaryMethod_IsLegalAccepted() {
+      ::grpc::Service::MarkMethodStreamed(0,
+        new ::grpc::internal::StreamedUnaryHandler<
+          ::viam::app::v1::IsLegalAcceptedRequest, ::viam::app::v1::IsLegalAcceptedResponse>(
+            [this](::grpc::ServerContext* context,
+                   ::grpc::ServerUnaryStreamer<
+                     ::viam::app::v1::IsLegalAcceptedRequest, ::viam::app::v1::IsLegalAcceptedResponse>* streamer) {
+                       return this->StreamedIsLegalAccepted(context,
+                         streamer);
+                  }));
+    }
+    ~WithStreamedUnaryMethod_IsLegalAccepted() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable regular version of this method
+    ::grpc::Status IsLegalAccepted(::grpc::ServerContext* /*context*/, const ::viam::app::v1::IsLegalAcceptedRequest* /*request*/, ::viam::app::v1::IsLegalAcceptedResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    // replace default version of method with streamed unary
+    virtual ::grpc::Status StreamedIsLegalAccepted(::grpc::ServerContext* context, ::grpc::ServerUnaryStreamer< ::viam::app::v1::IsLegalAcceptedRequest,::viam::app::v1::IsLegalAcceptedResponse>* server_unary_streamer) = 0;
+  };
+  template <class BaseClass>
+  class WithStreamedUnaryMethod_AcceptLegal : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithStreamedUnaryMethod_AcceptLegal() {
+      ::grpc::Service::MarkMethodStreamed(1,
+        new ::grpc::internal::StreamedUnaryHandler<
+          ::viam::app::v1::AcceptLegalRequest, ::viam::app::v1::AcceptLegalResponse>(
+            [this](::grpc::ServerContext* context,
+                   ::grpc::ServerUnaryStreamer<
+                     ::viam::app::v1::AcceptLegalRequest, ::viam::app::v1::AcceptLegalResponse>* streamer) {
+                       return this->StreamedAcceptLegal(context,
+                         streamer);
+                  }));
+    }
+    ~WithStreamedUnaryMethod_AcceptLegal() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable regular version of this method
+    ::grpc::Status AcceptLegal(::grpc::ServerContext* /*context*/, const ::viam::app::v1::AcceptLegalRequest* /*request*/, ::viam::app::v1::AcceptLegalResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    // replace default version of method with streamed unary
+    virtual ::grpc::Status StreamedAcceptLegal(::grpc::ServerContext* context, ::grpc::ServerUnaryStreamer< ::viam::app::v1::AcceptLegalRequest,::viam::app::v1::AcceptLegalResponse>* server_unary_streamer) = 0;
+  };
+  typedef WithStreamedUnaryMethod_IsLegalAccepted<WithStreamedUnaryMethod_AcceptLegal<Service > > StreamedUnaryService;
+  typedef Service SplitStreamedService;
+  typedef WithStreamedUnaryMethod_IsLegalAccepted<WithStreamedUnaryMethod_AcceptLegal<Service > > StreamedService;
+};
+
+}  // namespace v1
+}  // namespace app
+}  // namespace viam
+
+
+#endif  // GRPC_app_2fv1_2fend_5fuser_2eproto__INCLUDED
diff --git a/src/viam/api/app/v1/end_user.pb.cc b/src/viam/api/app/v1/end_user.pb.cc
new file mode 100644
index 000000000..d1a77be4a
--- /dev/null
+++ b/src/viam/api/app/v1/end_user.pb.cc
@@ -0,0 +1,780 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: app/v1/end_user.proto
+
+#include "app/v1/end_user.pb.h"
+
+#include <algorithm>
+
+#include <google/protobuf/io/coded_stream.h>
+#include <google/protobuf/extension_set.h>
+#include <google/protobuf/wire_format_lite.h>
+#include <google/protobuf/descriptor.h>
+#include <google/protobuf/generated_message_reflection.h>
+#include <google/protobuf/reflection_ops.h>
+#include <google/protobuf/wire_format.h>
+// @@protoc_insertion_point(includes)
+#include <google/protobuf/port_def.inc>
+
+PROTOBUF_PRAGMA_INIT_SEG
+
+namespace _pb = ::PROTOBUF_NAMESPACE_ID;
+namespace _pbi = _pb::internal;
+
+namespace viam {
+namespace app {
+namespace v1 {
+PROTOBUF_CONSTEXPR IsLegalAcceptedRequest::IsLegalAcceptedRequest(
+    ::_pbi::ConstantInitialized)
+  : user_id_(&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{}){}
+struct IsLegalAcceptedRequestDefaultTypeInternal {
+  PROTOBUF_CONSTEXPR IsLegalAcceptedRequestDefaultTypeInternal()
+      : _instance(::_pbi::ConstantInitialized{}) {}
+  ~IsLegalAcceptedRequestDefaultTypeInternal() {}
+  union {
+    IsLegalAcceptedRequest _instance;
+  };
+};
+PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORITY1 IsLegalAcceptedRequestDefaultTypeInternal _IsLegalAcceptedRequest_default_instance_;
+PROTOBUF_CONSTEXPR IsLegalAcceptedResponse::IsLegalAcceptedResponse(
+    ::_pbi::ConstantInitialized)
+  : accepted_legal_(false){}
+struct IsLegalAcceptedResponseDefaultTypeInternal {
+  PROTOBUF_CONSTEXPR IsLegalAcceptedResponseDefaultTypeInternal()
+      : _instance(::_pbi::ConstantInitialized{}) {}
+  ~IsLegalAcceptedResponseDefaultTypeInternal() {}
+  union {
+    IsLegalAcceptedResponse _instance;
+  };
+};
+PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORITY1 IsLegalAcceptedResponseDefaultTypeInternal _IsLegalAcceptedResponse_default_instance_;
+PROTOBUF_CONSTEXPR AcceptLegalRequest::AcceptLegalRequest(
+    ::_pbi::ConstantInitialized)
+  : user_id_(&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{}){}
+struct AcceptLegalRequestDefaultTypeInternal {
+  PROTOBUF_CONSTEXPR AcceptLegalRequestDefaultTypeInternal()
+      : _instance(::_pbi::ConstantInitialized{}) {}
+  ~AcceptLegalRequestDefaultTypeInternal() {}
+  union {
+    AcceptLegalRequest _instance;
+  };
+};
+PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORITY1 AcceptLegalRequestDefaultTypeInternal _AcceptLegalRequest_default_instance_;
+PROTOBUF_CONSTEXPR AcceptLegalResponse::AcceptLegalResponse(
+    ::_pbi::ConstantInitialized){}
+struct AcceptLegalResponseDefaultTypeInternal {
+  PROTOBUF_CONSTEXPR AcceptLegalResponseDefaultTypeInternal()
+      : _instance(::_pbi::ConstantInitialized{}) {}
+  ~AcceptLegalResponseDefaultTypeInternal() {}
+  union {
+    AcceptLegalResponse _instance;
+  };
+};
+PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORITY1 AcceptLegalResponseDefaultTypeInternal _AcceptLegalResponse_default_instance_;
+}  // namespace v1
+}  // namespace app
+}  // namespace viam
+static ::_pb::Metadata file_level_metadata_app_2fv1_2fend_5fuser_2eproto[4];
+static constexpr ::_pb::EnumDescriptor const** file_level_enum_descriptors_app_2fv1_2fend_5fuser_2eproto = nullptr;
+static constexpr ::_pb::ServiceDescriptor const** file_level_service_descriptors_app_2fv1_2fend_5fuser_2eproto = nullptr;
+
+const uint32_t TableStruct_app_2fv1_2fend_5fuser_2eproto::offsets[] PROTOBUF_SECTION_VARIABLE(protodesc_cold) = {
+  ~0u,  // no _has_bits_
+  PROTOBUF_FIELD_OFFSET(::viam::app::v1::IsLegalAcceptedRequest, _internal_metadata_),
+  ~0u,  // no _extensions_
+  ~0u,  // no _oneof_case_
+  ~0u,  // no _weak_field_map_
+  ~0u,  // no _inlined_string_donated_
+  PROTOBUF_FIELD_OFFSET(::viam::app::v1::IsLegalAcceptedRequest, user_id_),
+  ~0u,  // no _has_bits_
+  PROTOBUF_FIELD_OFFSET(::viam::app::v1::IsLegalAcceptedResponse, _internal_metadata_),
+  ~0u,  // no _extensions_
+  ~0u,  // no _oneof_case_
+  ~0u,  // no _weak_field_map_
+  ~0u,  // no _inlined_string_donated_
+  PROTOBUF_FIELD_OFFSET(::viam::app::v1::IsLegalAcceptedResponse, accepted_legal_),
+  ~0u,  // no _has_bits_
+  PROTOBUF_FIELD_OFFSET(::viam::app::v1::AcceptLegalRequest, _internal_metadata_),
+  ~0u,  // no _extensions_
+  ~0u,  // no _oneof_case_
+  ~0u,  // no _weak_field_map_
+  ~0u,  // no _inlined_string_donated_
+  PROTOBUF_FIELD_OFFSET(::viam::app::v1::AcceptLegalRequest, user_id_),
+  ~0u,  // no _has_bits_
+  PROTOBUF_FIELD_OFFSET(::viam::app::v1::AcceptLegalResponse, _internal_metadata_),
+  ~0u,  // no _extensions_
+  ~0u,  // no _oneof_case_
+  ~0u,  // no _weak_field_map_
+  ~0u,  // no _inlined_string_donated_
+};
+static const ::_pbi::MigrationSchema schemas[] PROTOBUF_SECTION_VARIABLE(protodesc_cold) = {
+  { 0, -1, -1, sizeof(::viam::app::v1::IsLegalAcceptedRequest)},
+  { 7, -1, -1, sizeof(::viam::app::v1::IsLegalAcceptedResponse)},
+  { 14, -1, -1, sizeof(::viam::app::v1::AcceptLegalRequest)},
+  { 21, -1, -1, sizeof(::viam::app::v1::AcceptLegalResponse)},
+};
+
+static const ::_pb::Message* const file_default_instances[] = {
+  &::viam::app::v1::_IsLegalAcceptedRequest_default_instance_._instance,
+  &::viam::app::v1::_IsLegalAcceptedResponse_default_instance_._instance,
+  &::viam::app::v1::_AcceptLegalRequest_default_instance_._instance,
+  &::viam::app::v1::_AcceptLegalResponse_default_instance_._instance,
+};
+
+const char descriptor_table_protodef_app_2fv1_2fend_5fuser_2eproto[] PROTOBUF_SECTION_VARIABLE(protodesc_cold) =
+  "\n\025app/v1/end_user.proto\022\013viam.app.v1\"1\n\026"
+  "IsLegalAcceptedRequest\022\027\n\007user_id\030\001 \001(\tR"
+  "\006userId\"@\n\027IsLegalAcceptedResponse\022%\n\016ac"
+  "cepted_legal\030\001 \001(\010R\racceptedLegal\"-\n\022Acc"
+  "eptLegalRequest\022\027\n\007user_id\030\001 \001(\tR\006userId"
+  "\"\025\n\023AcceptLegalResponse2\300\001\n\016EndUserServi"
+  "ce\022\\\n\017IsLegalAccepted\022#.viam.app.v1.IsLe"
+  "galAcceptedRequest\032$.viam.app.v1.IsLegal"
+  "AcceptedResponse\022P\n\013AcceptLegal\022\037.viam.a"
+  "pp.v1.AcceptLegalRequest\032 .viam.app.v1.A"
+  "cceptLegalResponseB\030Z\026go.viam.com/api/ap"
+  "p/v1b\006proto3"
+  ;
+static ::_pbi::once_flag descriptor_table_app_2fv1_2fend_5fuser_2eproto_once;
+const ::_pbi::DescriptorTable descriptor_table_app_2fv1_2fend_5fuser_2eproto = {
+    false, false, 452, descriptor_table_protodef_app_2fv1_2fend_5fuser_2eproto,
+    "app/v1/end_user.proto",
+    &descriptor_table_app_2fv1_2fend_5fuser_2eproto_once, nullptr, 0, 4,
+    schemas, file_default_instances, TableStruct_app_2fv1_2fend_5fuser_2eproto::offsets,
+    file_level_metadata_app_2fv1_2fend_5fuser_2eproto, file_level_enum_descriptors_app_2fv1_2fend_5fuser_2eproto,
+    file_level_service_descriptors_app_2fv1_2fend_5fuser_2eproto,
+};
+PROTOBUF_ATTRIBUTE_WEAK const ::_pbi::DescriptorTable* descriptor_table_app_2fv1_2fend_5fuser_2eproto_getter() {
+  return &descriptor_table_app_2fv1_2fend_5fuser_2eproto;
+}
+
+// Force running AddDescriptors() at dynamic initialization time.
+PROTOBUF_ATTRIBUTE_INIT_PRIORITY2 static ::_pbi::AddDescriptorsRunner dynamic_init_dummy_app_2fv1_2fend_5fuser_2eproto(&descriptor_table_app_2fv1_2fend_5fuser_2eproto);
+namespace viam {
+namespace app {
+namespace v1 {
+
+// ===================================================================
+
+class IsLegalAcceptedRequest::_Internal {
+ public:
+};
+
+IsLegalAcceptedRequest::IsLegalAcceptedRequest(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                         bool is_message_owned)
+  : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned) {
+  SharedCtor();
+  // @@protoc_insertion_point(arena_constructor:viam.app.v1.IsLegalAcceptedRequest)
+}
+IsLegalAcceptedRequest::IsLegalAcceptedRequest(const IsLegalAcceptedRequest& from)
+  : ::PROTOBUF_NAMESPACE_ID::Message() {
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+  user_id_.InitDefault();
+  #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+    user_id_.Set("", GetArenaForAllocation());
+  #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (!from._internal_user_id().empty()) {
+    user_id_.Set(from._internal_user_id(), 
+      GetArenaForAllocation());
+  }
+  // @@protoc_insertion_point(copy_constructor:viam.app.v1.IsLegalAcceptedRequest)
+}
+
+inline void IsLegalAcceptedRequest::SharedCtor() {
+user_id_.InitDefault();
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  user_id_.Set("", GetArenaForAllocation());
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+}
+
+IsLegalAcceptedRequest::~IsLegalAcceptedRequest() {
+  // @@protoc_insertion_point(destructor:viam.app.v1.IsLegalAcceptedRequest)
+  if (auto *arena = _internal_metadata_.DeleteReturnArena<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>()) {
+  (void)arena;
+    return;
+  }
+  SharedDtor();
+}
+
+inline void IsLegalAcceptedRequest::SharedDtor() {
+  GOOGLE_DCHECK(GetArenaForAllocation() == nullptr);
+  user_id_.Destroy();
+}
+
+void IsLegalAcceptedRequest::SetCachedSize(int size) const {
+  _cached_size_.Set(size);
+}
+
+void IsLegalAcceptedRequest::Clear() {
+// @@protoc_insertion_point(message_clear_start:viam.app.v1.IsLegalAcceptedRequest)
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  user_id_.ClearToEmpty();
+  _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
+}
+
+const char* IsLegalAcceptedRequest::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
+#define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
+  while (!ctx->Done(&ptr)) {
+    uint32_t tag;
+    ptr = ::_pbi::ReadTag(ptr, &tag);
+    switch (tag >> 3) {
+      // string user_id = 1 [json_name = "userId"];
+      case 1:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 10)) {
+          auto str = _internal_mutable_user_id();
+          ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx);
+          CHK_(ptr);
+          CHK_(::_pbi::VerifyUTF8(str, "viam.app.v1.IsLegalAcceptedRequest.user_id"));
+        } else
+          goto handle_unusual;
+        continue;
+      default:
+        goto handle_unusual;
+    }  // switch
+  handle_unusual:
+    if ((tag == 0) || ((tag & 7) == 4)) {
+      CHK_(ptr);
+      ctx->SetLastTag(tag);
+      goto message_done;
+    }
+    ptr = UnknownFieldParse(
+        tag,
+        _internal_metadata_.mutable_unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(),
+        ptr, ctx);
+    CHK_(ptr != nullptr);
+  }  // while
+message_done:
+  return ptr;
+failure:
+  ptr = nullptr;
+  goto message_done;
+#undef CHK_
+}
+
+uint8_t* IsLegalAcceptedRequest::_InternalSerialize(
+    uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
+  // @@protoc_insertion_point(serialize_to_array_start:viam.app.v1.IsLegalAcceptedRequest)
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  // string user_id = 1 [json_name = "userId"];
+  if (!this->_internal_user_id().empty()) {
+    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
+      this->_internal_user_id().data(), static_cast<int>(this->_internal_user_id().length()),
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
+      "viam.app.v1.IsLegalAcceptedRequest.user_id");
+    target = stream->WriteStringMaybeAliased(
+        1, this->_internal_user_id(), target);
+  }
+
+  if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
+    target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray(
+        _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
+  }
+  // @@protoc_insertion_point(serialize_to_array_end:viam.app.v1.IsLegalAcceptedRequest)
+  return target;
+}
+
+size_t IsLegalAcceptedRequest::ByteSizeLong() const {
+// @@protoc_insertion_point(message_byte_size_start:viam.app.v1.IsLegalAcceptedRequest)
+  size_t total_size = 0;
+
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  // string user_id = 1 [json_name = "userId"];
+  if (!this->_internal_user_id().empty()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
+        this->_internal_user_id());
+  }
+
+  return MaybeComputeUnknownFieldsSize(total_size, &_cached_size_);
+}
+
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData IsLegalAcceptedRequest::_class_data_ = {
+    ::PROTOBUF_NAMESPACE_ID::Message::CopyWithSizeCheck,
+    IsLegalAcceptedRequest::MergeImpl
+};
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*IsLegalAcceptedRequest::GetClassData() const { return &_class_data_; }
+
+void IsLegalAcceptedRequest::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
+                      const ::PROTOBUF_NAMESPACE_ID::Message& from) {
+  static_cast<IsLegalAcceptedRequest *>(to)->MergeFrom(
+      static_cast<const IsLegalAcceptedRequest &>(from));
+}
+
+
+void IsLegalAcceptedRequest::MergeFrom(const IsLegalAcceptedRequest& from) {
+// @@protoc_insertion_point(class_specific_merge_from_start:viam.app.v1.IsLegalAcceptedRequest)
+  GOOGLE_DCHECK_NE(&from, this);
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  if (!from._internal_user_id().empty()) {
+    _internal_set_user_id(from._internal_user_id());
+  }
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+}
+
+void IsLegalAcceptedRequest::CopyFrom(const IsLegalAcceptedRequest& from) {
+// @@protoc_insertion_point(class_specific_copy_from_start:viam.app.v1.IsLegalAcceptedRequest)
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool IsLegalAcceptedRequest::IsInitialized() const {
+  return true;
+}
+
+void IsLegalAcceptedRequest::InternalSwap(IsLegalAcceptedRequest* other) {
+  using std::swap;
+  auto* lhs_arena = GetArenaForAllocation();
+  auto* rhs_arena = other->GetArenaForAllocation();
+  _internal_metadata_.InternalSwap(&other->_internal_metadata_);
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
+      &user_id_, lhs_arena,
+      &other->user_id_, rhs_arena
+  );
+}
+
+::PROTOBUF_NAMESPACE_ID::Metadata IsLegalAcceptedRequest::GetMetadata() const {
+  return ::_pbi::AssignDescriptors(
+      &descriptor_table_app_2fv1_2fend_5fuser_2eproto_getter, &descriptor_table_app_2fv1_2fend_5fuser_2eproto_once,
+      file_level_metadata_app_2fv1_2fend_5fuser_2eproto[0]);
+}
+
+// ===================================================================
+
+class IsLegalAcceptedResponse::_Internal {
+ public:
+};
+
+IsLegalAcceptedResponse::IsLegalAcceptedResponse(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                         bool is_message_owned)
+  : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned) {
+  SharedCtor();
+  // @@protoc_insertion_point(arena_constructor:viam.app.v1.IsLegalAcceptedResponse)
+}
+IsLegalAcceptedResponse::IsLegalAcceptedResponse(const IsLegalAcceptedResponse& from)
+  : ::PROTOBUF_NAMESPACE_ID::Message() {
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+  accepted_legal_ = from.accepted_legal_;
+  // @@protoc_insertion_point(copy_constructor:viam.app.v1.IsLegalAcceptedResponse)
+}
+
+inline void IsLegalAcceptedResponse::SharedCtor() {
+accepted_legal_ = false;
+}
+
+IsLegalAcceptedResponse::~IsLegalAcceptedResponse() {
+  // @@protoc_insertion_point(destructor:viam.app.v1.IsLegalAcceptedResponse)
+  if (auto *arena = _internal_metadata_.DeleteReturnArena<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>()) {
+  (void)arena;
+    return;
+  }
+  SharedDtor();
+}
+
+inline void IsLegalAcceptedResponse::SharedDtor() {
+  GOOGLE_DCHECK(GetArenaForAllocation() == nullptr);
+}
+
+void IsLegalAcceptedResponse::SetCachedSize(int size) const {
+  _cached_size_.Set(size);
+}
+
+void IsLegalAcceptedResponse::Clear() {
+// @@protoc_insertion_point(message_clear_start:viam.app.v1.IsLegalAcceptedResponse)
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  accepted_legal_ = false;
+  _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
+}
+
+const char* IsLegalAcceptedResponse::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
+#define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
+  while (!ctx->Done(&ptr)) {
+    uint32_t tag;
+    ptr = ::_pbi::ReadTag(ptr, &tag);
+    switch (tag >> 3) {
+      // bool accepted_legal = 1 [json_name = "acceptedLegal"];
+      case 1:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 8)) {
+          accepted_legal_ = ::PROTOBUF_NAMESPACE_ID::internal::ReadVarint64(&ptr);
+          CHK_(ptr);
+        } else
+          goto handle_unusual;
+        continue;
+      default:
+        goto handle_unusual;
+    }  // switch
+  handle_unusual:
+    if ((tag == 0) || ((tag & 7) == 4)) {
+      CHK_(ptr);
+      ctx->SetLastTag(tag);
+      goto message_done;
+    }
+    ptr = UnknownFieldParse(
+        tag,
+        _internal_metadata_.mutable_unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(),
+        ptr, ctx);
+    CHK_(ptr != nullptr);
+  }  // while
+message_done:
+  return ptr;
+failure:
+  ptr = nullptr;
+  goto message_done;
+#undef CHK_
+}
+
+uint8_t* IsLegalAcceptedResponse::_InternalSerialize(
+    uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
+  // @@protoc_insertion_point(serialize_to_array_start:viam.app.v1.IsLegalAcceptedResponse)
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  // bool accepted_legal = 1 [json_name = "acceptedLegal"];
+  if (this->_internal_accepted_legal() != 0) {
+    target = stream->EnsureSpace(target);
+    target = ::_pbi::WireFormatLite::WriteBoolToArray(1, this->_internal_accepted_legal(), target);
+  }
+
+  if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
+    target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray(
+        _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
+  }
+  // @@protoc_insertion_point(serialize_to_array_end:viam.app.v1.IsLegalAcceptedResponse)
+  return target;
+}
+
+size_t IsLegalAcceptedResponse::ByteSizeLong() const {
+// @@protoc_insertion_point(message_byte_size_start:viam.app.v1.IsLegalAcceptedResponse)
+  size_t total_size = 0;
+
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  // bool accepted_legal = 1 [json_name = "acceptedLegal"];
+  if (this->_internal_accepted_legal() != 0) {
+    total_size += 1 + 1;
+  }
+
+  return MaybeComputeUnknownFieldsSize(total_size, &_cached_size_);
+}
+
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData IsLegalAcceptedResponse::_class_data_ = {
+    ::PROTOBUF_NAMESPACE_ID::Message::CopyWithSizeCheck,
+    IsLegalAcceptedResponse::MergeImpl
+};
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*IsLegalAcceptedResponse::GetClassData() const { return &_class_data_; }
+
+void IsLegalAcceptedResponse::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
+                      const ::PROTOBUF_NAMESPACE_ID::Message& from) {
+  static_cast<IsLegalAcceptedResponse *>(to)->MergeFrom(
+      static_cast<const IsLegalAcceptedResponse &>(from));
+}
+
+
+void IsLegalAcceptedResponse::MergeFrom(const IsLegalAcceptedResponse& from) {
+// @@protoc_insertion_point(class_specific_merge_from_start:viam.app.v1.IsLegalAcceptedResponse)
+  GOOGLE_DCHECK_NE(&from, this);
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  if (from._internal_accepted_legal() != 0) {
+    _internal_set_accepted_legal(from._internal_accepted_legal());
+  }
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+}
+
+void IsLegalAcceptedResponse::CopyFrom(const IsLegalAcceptedResponse& from) {
+// @@protoc_insertion_point(class_specific_copy_from_start:viam.app.v1.IsLegalAcceptedResponse)
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool IsLegalAcceptedResponse::IsInitialized() const {
+  return true;
+}
+
+void IsLegalAcceptedResponse::InternalSwap(IsLegalAcceptedResponse* other) {
+  using std::swap;
+  _internal_metadata_.InternalSwap(&other->_internal_metadata_);
+  swap(accepted_legal_, other->accepted_legal_);
+}
+
+::PROTOBUF_NAMESPACE_ID::Metadata IsLegalAcceptedResponse::GetMetadata() const {
+  return ::_pbi::AssignDescriptors(
+      &descriptor_table_app_2fv1_2fend_5fuser_2eproto_getter, &descriptor_table_app_2fv1_2fend_5fuser_2eproto_once,
+      file_level_metadata_app_2fv1_2fend_5fuser_2eproto[1]);
+}
+
+// ===================================================================
+
+class AcceptLegalRequest::_Internal {
+ public:
+};
+
+AcceptLegalRequest::AcceptLegalRequest(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                         bool is_message_owned)
+  : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned) {
+  SharedCtor();
+  // @@protoc_insertion_point(arena_constructor:viam.app.v1.AcceptLegalRequest)
+}
+AcceptLegalRequest::AcceptLegalRequest(const AcceptLegalRequest& from)
+  : ::PROTOBUF_NAMESPACE_ID::Message() {
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+  user_id_.InitDefault();
+  #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+    user_id_.Set("", GetArenaForAllocation());
+  #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (!from._internal_user_id().empty()) {
+    user_id_.Set(from._internal_user_id(), 
+      GetArenaForAllocation());
+  }
+  // @@protoc_insertion_point(copy_constructor:viam.app.v1.AcceptLegalRequest)
+}
+
+inline void AcceptLegalRequest::SharedCtor() {
+user_id_.InitDefault();
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  user_id_.Set("", GetArenaForAllocation());
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+}
+
+AcceptLegalRequest::~AcceptLegalRequest() {
+  // @@protoc_insertion_point(destructor:viam.app.v1.AcceptLegalRequest)
+  if (auto *arena = _internal_metadata_.DeleteReturnArena<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>()) {
+  (void)arena;
+    return;
+  }
+  SharedDtor();
+}
+
+inline void AcceptLegalRequest::SharedDtor() {
+  GOOGLE_DCHECK(GetArenaForAllocation() == nullptr);
+  user_id_.Destroy();
+}
+
+void AcceptLegalRequest::SetCachedSize(int size) const {
+  _cached_size_.Set(size);
+}
+
+void AcceptLegalRequest::Clear() {
+// @@protoc_insertion_point(message_clear_start:viam.app.v1.AcceptLegalRequest)
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  user_id_.ClearToEmpty();
+  _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
+}
+
+const char* AcceptLegalRequest::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
+#define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
+  while (!ctx->Done(&ptr)) {
+    uint32_t tag;
+    ptr = ::_pbi::ReadTag(ptr, &tag);
+    switch (tag >> 3) {
+      // string user_id = 1 [json_name = "userId"];
+      case 1:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 10)) {
+          auto str = _internal_mutable_user_id();
+          ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx);
+          CHK_(ptr);
+          CHK_(::_pbi::VerifyUTF8(str, "viam.app.v1.AcceptLegalRequest.user_id"));
+        } else
+          goto handle_unusual;
+        continue;
+      default:
+        goto handle_unusual;
+    }  // switch
+  handle_unusual:
+    if ((tag == 0) || ((tag & 7) == 4)) {
+      CHK_(ptr);
+      ctx->SetLastTag(tag);
+      goto message_done;
+    }
+    ptr = UnknownFieldParse(
+        tag,
+        _internal_metadata_.mutable_unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(),
+        ptr, ctx);
+    CHK_(ptr != nullptr);
+  }  // while
+message_done:
+  return ptr;
+failure:
+  ptr = nullptr;
+  goto message_done;
+#undef CHK_
+}
+
+uint8_t* AcceptLegalRequest::_InternalSerialize(
+    uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
+  // @@protoc_insertion_point(serialize_to_array_start:viam.app.v1.AcceptLegalRequest)
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  // string user_id = 1 [json_name = "userId"];
+  if (!this->_internal_user_id().empty()) {
+    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
+      this->_internal_user_id().data(), static_cast<int>(this->_internal_user_id().length()),
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
+      "viam.app.v1.AcceptLegalRequest.user_id");
+    target = stream->WriteStringMaybeAliased(
+        1, this->_internal_user_id(), target);
+  }
+
+  if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
+    target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray(
+        _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
+  }
+  // @@protoc_insertion_point(serialize_to_array_end:viam.app.v1.AcceptLegalRequest)
+  return target;
+}
+
+size_t AcceptLegalRequest::ByteSizeLong() const {
+// @@protoc_insertion_point(message_byte_size_start:viam.app.v1.AcceptLegalRequest)
+  size_t total_size = 0;
+
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  // string user_id = 1 [json_name = "userId"];
+  if (!this->_internal_user_id().empty()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
+        this->_internal_user_id());
+  }
+
+  return MaybeComputeUnknownFieldsSize(total_size, &_cached_size_);
+}
+
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData AcceptLegalRequest::_class_data_ = {
+    ::PROTOBUF_NAMESPACE_ID::Message::CopyWithSizeCheck,
+    AcceptLegalRequest::MergeImpl
+};
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*AcceptLegalRequest::GetClassData() const { return &_class_data_; }
+
+void AcceptLegalRequest::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
+                      const ::PROTOBUF_NAMESPACE_ID::Message& from) {
+  static_cast<AcceptLegalRequest *>(to)->MergeFrom(
+      static_cast<const AcceptLegalRequest &>(from));
+}
+
+
+void AcceptLegalRequest::MergeFrom(const AcceptLegalRequest& from) {
+// @@protoc_insertion_point(class_specific_merge_from_start:viam.app.v1.AcceptLegalRequest)
+  GOOGLE_DCHECK_NE(&from, this);
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  if (!from._internal_user_id().empty()) {
+    _internal_set_user_id(from._internal_user_id());
+  }
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+}
+
+void AcceptLegalRequest::CopyFrom(const AcceptLegalRequest& from) {
+// @@protoc_insertion_point(class_specific_copy_from_start:viam.app.v1.AcceptLegalRequest)
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool AcceptLegalRequest::IsInitialized() const {
+  return true;
+}
+
+void AcceptLegalRequest::InternalSwap(AcceptLegalRequest* other) {
+  using std::swap;
+  auto* lhs_arena = GetArenaForAllocation();
+  auto* rhs_arena = other->GetArenaForAllocation();
+  _internal_metadata_.InternalSwap(&other->_internal_metadata_);
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
+      &user_id_, lhs_arena,
+      &other->user_id_, rhs_arena
+  );
+}
+
+::PROTOBUF_NAMESPACE_ID::Metadata AcceptLegalRequest::GetMetadata() const {
+  return ::_pbi::AssignDescriptors(
+      &descriptor_table_app_2fv1_2fend_5fuser_2eproto_getter, &descriptor_table_app_2fv1_2fend_5fuser_2eproto_once,
+      file_level_metadata_app_2fv1_2fend_5fuser_2eproto[2]);
+}
+
+// ===================================================================
+
+class AcceptLegalResponse::_Internal {
+ public:
+};
+
+AcceptLegalResponse::AcceptLegalResponse(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                         bool is_message_owned)
+  : ::PROTOBUF_NAMESPACE_ID::internal::ZeroFieldsBase(arena, is_message_owned) {
+  // @@protoc_insertion_point(arena_constructor:viam.app.v1.AcceptLegalResponse)
+}
+AcceptLegalResponse::AcceptLegalResponse(const AcceptLegalResponse& from)
+  : ::PROTOBUF_NAMESPACE_ID::internal::ZeroFieldsBase() {
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+  // @@protoc_insertion_point(copy_constructor:viam.app.v1.AcceptLegalResponse)
+}
+
+
+
+
+
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData AcceptLegalResponse::_class_data_ = {
+    ::PROTOBUF_NAMESPACE_ID::internal::ZeroFieldsBase::CopyImpl,
+    ::PROTOBUF_NAMESPACE_ID::internal::ZeroFieldsBase::MergeImpl,
+};
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*AcceptLegalResponse::GetClassData() const { return &_class_data_; }
+
+
+
+
+
+
+
+::PROTOBUF_NAMESPACE_ID::Metadata AcceptLegalResponse::GetMetadata() const {
+  return ::_pbi::AssignDescriptors(
+      &descriptor_table_app_2fv1_2fend_5fuser_2eproto_getter, &descriptor_table_app_2fv1_2fend_5fuser_2eproto_once,
+      file_level_metadata_app_2fv1_2fend_5fuser_2eproto[3]);
+}
+
+// @@protoc_insertion_point(namespace_scope)
+}  // namespace v1
+}  // namespace app
+}  // namespace viam
+PROTOBUF_NAMESPACE_OPEN
+template<> PROTOBUF_NOINLINE ::viam::app::v1::IsLegalAcceptedRequest*
+Arena::CreateMaybeMessage< ::viam::app::v1::IsLegalAcceptedRequest >(Arena* arena) {
+  return Arena::CreateMessageInternal< ::viam::app::v1::IsLegalAcceptedRequest >(arena);
+}
+template<> PROTOBUF_NOINLINE ::viam::app::v1::IsLegalAcceptedResponse*
+Arena::CreateMaybeMessage< ::viam::app::v1::IsLegalAcceptedResponse >(Arena* arena) {
+  return Arena::CreateMessageInternal< ::viam::app::v1::IsLegalAcceptedResponse >(arena);
+}
+template<> PROTOBUF_NOINLINE ::viam::app::v1::AcceptLegalRequest*
+Arena::CreateMaybeMessage< ::viam::app::v1::AcceptLegalRequest >(Arena* arena) {
+  return Arena::CreateMessageInternal< ::viam::app::v1::AcceptLegalRequest >(arena);
+}
+template<> PROTOBUF_NOINLINE ::viam::app::v1::AcceptLegalResponse*
+Arena::CreateMaybeMessage< ::viam::app::v1::AcceptLegalResponse >(Arena* arena) {
+  return Arena::CreateMessageInternal< ::viam::app::v1::AcceptLegalResponse >(arena);
+}
+PROTOBUF_NAMESPACE_CLOSE
+
+// @@protoc_insertion_point(global_scope)
+#include <google/protobuf/port_undef.inc>
diff --git a/src/viam/api/app/v1/end_user.pb.h b/src/viam/api/app/v1/end_user.pb.h
new file mode 100644
index 000000000..4a98d21fc
--- /dev/null
+++ b/src/viam/api/app/v1/end_user.pb.h
@@ -0,0 +1,793 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: app/v1/end_user.proto
+
+#ifndef GOOGLE_PROTOBUF_INCLUDED_app_2fv1_2fend_5fuser_2eproto
+#define GOOGLE_PROTOBUF_INCLUDED_app_2fv1_2fend_5fuser_2eproto
+
+#include <limits>
+#include <string>
+
+#include <google/protobuf/port_def.inc>
+#if PROTOBUF_VERSION < 3020000
+#error This file was generated by a newer version of protoc which is
+#error incompatible with your Protocol Buffer headers. Please update
+#error your headers.
+#endif
+#if 3020003 < PROTOBUF_MIN_PROTOC_VERSION
+#error This file was generated by an older version of protoc which is
+#error incompatible with your Protocol Buffer headers. Please
+#error regenerate this file with a newer version of protoc.
+#endif
+
+#include <google/protobuf/port_undef.inc>
+#include <google/protobuf/io/coded_stream.h>
+#include <google/protobuf/arena.h>
+#include <google/protobuf/arenastring.h>
+#include <google/protobuf/generated_message_bases.h>
+#include <google/protobuf/generated_message_util.h>
+#include <google/protobuf/metadata_lite.h>
+#include <google/protobuf/generated_message_reflection.h>
+#include <google/protobuf/message.h>
+#include <google/protobuf/repeated_field.h>  // IWYU pragma: export
+#include <google/protobuf/extension_set.h>  // IWYU pragma: export
+#include <google/protobuf/unknown_field_set.h>
+// @@protoc_insertion_point(includes)
+#include <google/protobuf/port_def.inc>
+#define PROTOBUF_INTERNAL_EXPORT_app_2fv1_2fend_5fuser_2eproto
+PROTOBUF_NAMESPACE_OPEN
+namespace internal {
+class AnyMetadata;
+}  // namespace internal
+PROTOBUF_NAMESPACE_CLOSE
+
+// Internal implementation detail -- do not use these members.
+struct TableStruct_app_2fv1_2fend_5fuser_2eproto {
+  static const uint32_t offsets[];
+};
+extern const ::PROTOBUF_NAMESPACE_ID::internal::DescriptorTable descriptor_table_app_2fv1_2fend_5fuser_2eproto;
+namespace viam {
+namespace app {
+namespace v1 {
+class AcceptLegalRequest;
+struct AcceptLegalRequestDefaultTypeInternal;
+extern AcceptLegalRequestDefaultTypeInternal _AcceptLegalRequest_default_instance_;
+class AcceptLegalResponse;
+struct AcceptLegalResponseDefaultTypeInternal;
+extern AcceptLegalResponseDefaultTypeInternal _AcceptLegalResponse_default_instance_;
+class IsLegalAcceptedRequest;
+struct IsLegalAcceptedRequestDefaultTypeInternal;
+extern IsLegalAcceptedRequestDefaultTypeInternal _IsLegalAcceptedRequest_default_instance_;
+class IsLegalAcceptedResponse;
+struct IsLegalAcceptedResponseDefaultTypeInternal;
+extern IsLegalAcceptedResponseDefaultTypeInternal _IsLegalAcceptedResponse_default_instance_;
+}  // namespace v1
+}  // namespace app
+}  // namespace viam
+PROTOBUF_NAMESPACE_OPEN
+template<> ::viam::app::v1::AcceptLegalRequest* Arena::CreateMaybeMessage<::viam::app::v1::AcceptLegalRequest>(Arena*);
+template<> ::viam::app::v1::AcceptLegalResponse* Arena::CreateMaybeMessage<::viam::app::v1::AcceptLegalResponse>(Arena*);
+template<> ::viam::app::v1::IsLegalAcceptedRequest* Arena::CreateMaybeMessage<::viam::app::v1::IsLegalAcceptedRequest>(Arena*);
+template<> ::viam::app::v1::IsLegalAcceptedResponse* Arena::CreateMaybeMessage<::viam::app::v1::IsLegalAcceptedResponse>(Arena*);
+PROTOBUF_NAMESPACE_CLOSE
+namespace viam {
+namespace app {
+namespace v1 {
+
+// ===================================================================
+
+class IsLegalAcceptedRequest final :
+    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.app.v1.IsLegalAcceptedRequest) */ {
+ public:
+  inline IsLegalAcceptedRequest() : IsLegalAcceptedRequest(nullptr) {}
+  ~IsLegalAcceptedRequest() override;
+  explicit PROTOBUF_CONSTEXPR IsLegalAcceptedRequest(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
+
+  IsLegalAcceptedRequest(const IsLegalAcceptedRequest& from);
+  IsLegalAcceptedRequest(IsLegalAcceptedRequest&& from) noexcept
+    : IsLegalAcceptedRequest() {
+    *this = ::std::move(from);
+  }
+
+  inline IsLegalAcceptedRequest& operator=(const IsLegalAcceptedRequest& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  inline IsLegalAcceptedRequest& operator=(IsLegalAcceptedRequest&& from) noexcept {
+    if (this == &from) return *this;
+    if (GetOwningArena() == from.GetOwningArena()
+  #ifdef PROTOBUF_FORCE_COPY_IN_MOVE
+        && GetOwningArena() != nullptr
+  #endif  // !PROTOBUF_FORCE_COPY_IN_MOVE
+    ) {
+      InternalSwap(&from);
+    } else {
+      CopyFrom(from);
+    }
+    return *this;
+  }
+
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* descriptor() {
+    return GetDescriptor();
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* GetDescriptor() {
+    return default_instance().GetMetadata().descriptor;
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
+    return default_instance().GetMetadata().reflection;
+  }
+  static const IsLegalAcceptedRequest& default_instance() {
+    return *internal_default_instance();
+  }
+  static inline const IsLegalAcceptedRequest* internal_default_instance() {
+    return reinterpret_cast<const IsLegalAcceptedRequest*>(
+               &_IsLegalAcceptedRequest_default_instance_);
+  }
+  static constexpr int kIndexInFileMessages =
+    0;
+
+  friend void swap(IsLegalAcceptedRequest& a, IsLegalAcceptedRequest& b) {
+    a.Swap(&b);
+  }
+  inline void Swap(IsLegalAcceptedRequest* other) {
+    if (other == this) return;
+  #ifdef PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() != nullptr &&
+        GetOwningArena() == other->GetOwningArena()) {
+   #else  // PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() == other->GetOwningArena()) {
+  #endif  // !PROTOBUF_FORCE_COPY_IN_SWAP
+      InternalSwap(other);
+    } else {
+      ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
+    }
+  }
+  void UnsafeArenaSwap(IsLegalAcceptedRequest* other) {
+    if (other == this) return;
+    GOOGLE_DCHECK(GetOwningArena() == other->GetOwningArena());
+    InternalSwap(other);
+  }
+
+  // implements Message ----------------------------------------------
+
+  IsLegalAcceptedRequest* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
+    return CreateMaybeMessage<IsLegalAcceptedRequest>(arena);
+  }
+  using ::PROTOBUF_NAMESPACE_ID::Message::CopyFrom;
+  void CopyFrom(const IsLegalAcceptedRequest& from);
+  using ::PROTOBUF_NAMESPACE_ID::Message::MergeFrom;
+  void MergeFrom(const IsLegalAcceptedRequest& from);
+  private:
+  static void MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to, const ::PROTOBUF_NAMESPACE_ID::Message& from);
+  public:
+  PROTOBUF_ATTRIBUTE_REINITIALIZES void Clear() final;
+  bool IsInitialized() const final;
+
+  size_t ByteSizeLong() const final;
+  const char* _InternalParse(const char* ptr, ::PROTOBUF_NAMESPACE_ID::internal::ParseContext* ctx) final;
+  uint8_t* _InternalSerialize(
+      uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const final;
+  int GetCachedSize() const final { return _cached_size_.Get(); }
+
+  private:
+  void SharedCtor();
+  void SharedDtor();
+  void SetCachedSize(int size) const final;
+  void InternalSwap(IsLegalAcceptedRequest* other);
+
+  private:
+  friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
+  static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
+    return "viam.app.v1.IsLegalAcceptedRequest";
+  }
+  protected:
+  explicit IsLegalAcceptedRequest(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                       bool is_message_owned = false);
+  public:
+
+  static const ClassData _class_data_;
+  const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*GetClassData() const final;
+
+  ::PROTOBUF_NAMESPACE_ID::Metadata GetMetadata() const final;
+
+  // nested types ----------------------------------------------------
+
+  // accessors -------------------------------------------------------
+
+  enum : int {
+    kUserIdFieldNumber = 1,
+  };
+  // string user_id = 1 [json_name = "userId"];
+  void clear_user_id();
+  const std::string& user_id() const;
+  template <typename ArgT0 = const std::string&, typename... ArgT>
+  void set_user_id(ArgT0&& arg0, ArgT... args);
+  std::string* mutable_user_id();
+  PROTOBUF_NODISCARD std::string* release_user_id();
+  void set_allocated_user_id(std::string* user_id);
+  private:
+  const std::string& _internal_user_id() const;
+  inline PROTOBUF_ALWAYS_INLINE void _internal_set_user_id(const std::string& value);
+  std::string* _internal_mutable_user_id();
+  public:
+
+  // @@protoc_insertion_point(class_scope:viam.app.v1.IsLegalAcceptedRequest)
+ private:
+  class _Internal;
+
+  template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
+  typedef void InternalArenaConstructable_;
+  typedef void DestructorSkippable_;
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr user_id_;
+  mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
+  friend struct ::TableStruct_app_2fv1_2fend_5fuser_2eproto;
+};
+// -------------------------------------------------------------------
+
+class IsLegalAcceptedResponse final :
+    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.app.v1.IsLegalAcceptedResponse) */ {
+ public:
+  inline IsLegalAcceptedResponse() : IsLegalAcceptedResponse(nullptr) {}
+  ~IsLegalAcceptedResponse() override;
+  explicit PROTOBUF_CONSTEXPR IsLegalAcceptedResponse(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
+
+  IsLegalAcceptedResponse(const IsLegalAcceptedResponse& from);
+  IsLegalAcceptedResponse(IsLegalAcceptedResponse&& from) noexcept
+    : IsLegalAcceptedResponse() {
+    *this = ::std::move(from);
+  }
+
+  inline IsLegalAcceptedResponse& operator=(const IsLegalAcceptedResponse& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  inline IsLegalAcceptedResponse& operator=(IsLegalAcceptedResponse&& from) noexcept {
+    if (this == &from) return *this;
+    if (GetOwningArena() == from.GetOwningArena()
+  #ifdef PROTOBUF_FORCE_COPY_IN_MOVE
+        && GetOwningArena() != nullptr
+  #endif  // !PROTOBUF_FORCE_COPY_IN_MOVE
+    ) {
+      InternalSwap(&from);
+    } else {
+      CopyFrom(from);
+    }
+    return *this;
+  }
+
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* descriptor() {
+    return GetDescriptor();
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* GetDescriptor() {
+    return default_instance().GetMetadata().descriptor;
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
+    return default_instance().GetMetadata().reflection;
+  }
+  static const IsLegalAcceptedResponse& default_instance() {
+    return *internal_default_instance();
+  }
+  static inline const IsLegalAcceptedResponse* internal_default_instance() {
+    return reinterpret_cast<const IsLegalAcceptedResponse*>(
+               &_IsLegalAcceptedResponse_default_instance_);
+  }
+  static constexpr int kIndexInFileMessages =
+    1;
+
+  friend void swap(IsLegalAcceptedResponse& a, IsLegalAcceptedResponse& b) {
+    a.Swap(&b);
+  }
+  inline void Swap(IsLegalAcceptedResponse* other) {
+    if (other == this) return;
+  #ifdef PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() != nullptr &&
+        GetOwningArena() == other->GetOwningArena()) {
+   #else  // PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() == other->GetOwningArena()) {
+  #endif  // !PROTOBUF_FORCE_COPY_IN_SWAP
+      InternalSwap(other);
+    } else {
+      ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
+    }
+  }
+  void UnsafeArenaSwap(IsLegalAcceptedResponse* other) {
+    if (other == this) return;
+    GOOGLE_DCHECK(GetOwningArena() == other->GetOwningArena());
+    InternalSwap(other);
+  }
+
+  // implements Message ----------------------------------------------
+
+  IsLegalAcceptedResponse* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
+    return CreateMaybeMessage<IsLegalAcceptedResponse>(arena);
+  }
+  using ::PROTOBUF_NAMESPACE_ID::Message::CopyFrom;
+  void CopyFrom(const IsLegalAcceptedResponse& from);
+  using ::PROTOBUF_NAMESPACE_ID::Message::MergeFrom;
+  void MergeFrom(const IsLegalAcceptedResponse& from);
+  private:
+  static void MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to, const ::PROTOBUF_NAMESPACE_ID::Message& from);
+  public:
+  PROTOBUF_ATTRIBUTE_REINITIALIZES void Clear() final;
+  bool IsInitialized() const final;
+
+  size_t ByteSizeLong() const final;
+  const char* _InternalParse(const char* ptr, ::PROTOBUF_NAMESPACE_ID::internal::ParseContext* ctx) final;
+  uint8_t* _InternalSerialize(
+      uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const final;
+  int GetCachedSize() const final { return _cached_size_.Get(); }
+
+  private:
+  void SharedCtor();
+  void SharedDtor();
+  void SetCachedSize(int size) const final;
+  void InternalSwap(IsLegalAcceptedResponse* other);
+
+  private:
+  friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
+  static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
+    return "viam.app.v1.IsLegalAcceptedResponse";
+  }
+  protected:
+  explicit IsLegalAcceptedResponse(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                       bool is_message_owned = false);
+  public:
+
+  static const ClassData _class_data_;
+  const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*GetClassData() const final;
+
+  ::PROTOBUF_NAMESPACE_ID::Metadata GetMetadata() const final;
+
+  // nested types ----------------------------------------------------
+
+  // accessors -------------------------------------------------------
+
+  enum : int {
+    kAcceptedLegalFieldNumber = 1,
+  };
+  // bool accepted_legal = 1 [json_name = "acceptedLegal"];
+  void clear_accepted_legal();
+  bool accepted_legal() const;
+  void set_accepted_legal(bool value);
+  private:
+  bool _internal_accepted_legal() const;
+  void _internal_set_accepted_legal(bool value);
+  public:
+
+  // @@protoc_insertion_point(class_scope:viam.app.v1.IsLegalAcceptedResponse)
+ private:
+  class _Internal;
+
+  template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
+  typedef void InternalArenaConstructable_;
+  typedef void DestructorSkippable_;
+  bool accepted_legal_;
+  mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
+  friend struct ::TableStruct_app_2fv1_2fend_5fuser_2eproto;
+};
+// -------------------------------------------------------------------
+
+class AcceptLegalRequest final :
+    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.app.v1.AcceptLegalRequest) */ {
+ public:
+  inline AcceptLegalRequest() : AcceptLegalRequest(nullptr) {}
+  ~AcceptLegalRequest() override;
+  explicit PROTOBUF_CONSTEXPR AcceptLegalRequest(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
+
+  AcceptLegalRequest(const AcceptLegalRequest& from);
+  AcceptLegalRequest(AcceptLegalRequest&& from) noexcept
+    : AcceptLegalRequest() {
+    *this = ::std::move(from);
+  }
+
+  inline AcceptLegalRequest& operator=(const AcceptLegalRequest& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  inline AcceptLegalRequest& operator=(AcceptLegalRequest&& from) noexcept {
+    if (this == &from) return *this;
+    if (GetOwningArena() == from.GetOwningArena()
+  #ifdef PROTOBUF_FORCE_COPY_IN_MOVE
+        && GetOwningArena() != nullptr
+  #endif  // !PROTOBUF_FORCE_COPY_IN_MOVE
+    ) {
+      InternalSwap(&from);
+    } else {
+      CopyFrom(from);
+    }
+    return *this;
+  }
+
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* descriptor() {
+    return GetDescriptor();
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* GetDescriptor() {
+    return default_instance().GetMetadata().descriptor;
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
+    return default_instance().GetMetadata().reflection;
+  }
+  static const AcceptLegalRequest& default_instance() {
+    return *internal_default_instance();
+  }
+  static inline const AcceptLegalRequest* internal_default_instance() {
+    return reinterpret_cast<const AcceptLegalRequest*>(
+               &_AcceptLegalRequest_default_instance_);
+  }
+  static constexpr int kIndexInFileMessages =
+    2;
+
+  friend void swap(AcceptLegalRequest& a, AcceptLegalRequest& b) {
+    a.Swap(&b);
+  }
+  inline void Swap(AcceptLegalRequest* other) {
+    if (other == this) return;
+  #ifdef PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() != nullptr &&
+        GetOwningArena() == other->GetOwningArena()) {
+   #else  // PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() == other->GetOwningArena()) {
+  #endif  // !PROTOBUF_FORCE_COPY_IN_SWAP
+      InternalSwap(other);
+    } else {
+      ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
+    }
+  }
+  void UnsafeArenaSwap(AcceptLegalRequest* other) {
+    if (other == this) return;
+    GOOGLE_DCHECK(GetOwningArena() == other->GetOwningArena());
+    InternalSwap(other);
+  }
+
+  // implements Message ----------------------------------------------
+
+  AcceptLegalRequest* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
+    return CreateMaybeMessage<AcceptLegalRequest>(arena);
+  }
+  using ::PROTOBUF_NAMESPACE_ID::Message::CopyFrom;
+  void CopyFrom(const AcceptLegalRequest& from);
+  using ::PROTOBUF_NAMESPACE_ID::Message::MergeFrom;
+  void MergeFrom(const AcceptLegalRequest& from);
+  private:
+  static void MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to, const ::PROTOBUF_NAMESPACE_ID::Message& from);
+  public:
+  PROTOBUF_ATTRIBUTE_REINITIALIZES void Clear() final;
+  bool IsInitialized() const final;
+
+  size_t ByteSizeLong() const final;
+  const char* _InternalParse(const char* ptr, ::PROTOBUF_NAMESPACE_ID::internal::ParseContext* ctx) final;
+  uint8_t* _InternalSerialize(
+      uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const final;
+  int GetCachedSize() const final { return _cached_size_.Get(); }
+
+  private:
+  void SharedCtor();
+  void SharedDtor();
+  void SetCachedSize(int size) const final;
+  void InternalSwap(AcceptLegalRequest* other);
+
+  private:
+  friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
+  static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
+    return "viam.app.v1.AcceptLegalRequest";
+  }
+  protected:
+  explicit AcceptLegalRequest(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                       bool is_message_owned = false);
+  public:
+
+  static const ClassData _class_data_;
+  const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*GetClassData() const final;
+
+  ::PROTOBUF_NAMESPACE_ID::Metadata GetMetadata() const final;
+
+  // nested types ----------------------------------------------------
+
+  // accessors -------------------------------------------------------
+
+  enum : int {
+    kUserIdFieldNumber = 1,
+  };
+  // string user_id = 1 [json_name = "userId"];
+  void clear_user_id();
+  const std::string& user_id() const;
+  template <typename ArgT0 = const std::string&, typename... ArgT>
+  void set_user_id(ArgT0&& arg0, ArgT... args);
+  std::string* mutable_user_id();
+  PROTOBUF_NODISCARD std::string* release_user_id();
+  void set_allocated_user_id(std::string* user_id);
+  private:
+  const std::string& _internal_user_id() const;
+  inline PROTOBUF_ALWAYS_INLINE void _internal_set_user_id(const std::string& value);
+  std::string* _internal_mutable_user_id();
+  public:
+
+  // @@protoc_insertion_point(class_scope:viam.app.v1.AcceptLegalRequest)
+ private:
+  class _Internal;
+
+  template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
+  typedef void InternalArenaConstructable_;
+  typedef void DestructorSkippable_;
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr user_id_;
+  mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
+  friend struct ::TableStruct_app_2fv1_2fend_5fuser_2eproto;
+};
+// -------------------------------------------------------------------
+
+class AcceptLegalResponse final :
+    public ::PROTOBUF_NAMESPACE_ID::internal::ZeroFieldsBase /* @@protoc_insertion_point(class_definition:viam.app.v1.AcceptLegalResponse) */ {
+ public:
+  inline AcceptLegalResponse() : AcceptLegalResponse(nullptr) {}
+  explicit PROTOBUF_CONSTEXPR AcceptLegalResponse(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
+
+  AcceptLegalResponse(const AcceptLegalResponse& from);
+  AcceptLegalResponse(AcceptLegalResponse&& from) noexcept
+    : AcceptLegalResponse() {
+    *this = ::std::move(from);
+  }
+
+  inline AcceptLegalResponse& operator=(const AcceptLegalResponse& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  inline AcceptLegalResponse& operator=(AcceptLegalResponse&& from) noexcept {
+    if (this == &from) return *this;
+    if (GetOwningArena() == from.GetOwningArena()
+  #ifdef PROTOBUF_FORCE_COPY_IN_MOVE
+        && GetOwningArena() != nullptr
+  #endif  // !PROTOBUF_FORCE_COPY_IN_MOVE
+    ) {
+      InternalSwap(&from);
+    } else {
+      CopyFrom(from);
+    }
+    return *this;
+  }
+
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* descriptor() {
+    return GetDescriptor();
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* GetDescriptor() {
+    return default_instance().GetMetadata().descriptor;
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
+    return default_instance().GetMetadata().reflection;
+  }
+  static const AcceptLegalResponse& default_instance() {
+    return *internal_default_instance();
+  }
+  static inline const AcceptLegalResponse* internal_default_instance() {
+    return reinterpret_cast<const AcceptLegalResponse*>(
+               &_AcceptLegalResponse_default_instance_);
+  }
+  static constexpr int kIndexInFileMessages =
+    3;
+
+  friend void swap(AcceptLegalResponse& a, AcceptLegalResponse& b) {
+    a.Swap(&b);
+  }
+  inline void Swap(AcceptLegalResponse* other) {
+    if (other == this) return;
+  #ifdef PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() != nullptr &&
+        GetOwningArena() == other->GetOwningArena()) {
+   #else  // PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() == other->GetOwningArena()) {
+  #endif  // !PROTOBUF_FORCE_COPY_IN_SWAP
+      InternalSwap(other);
+    } else {
+      ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
+    }
+  }
+  void UnsafeArenaSwap(AcceptLegalResponse* other) {
+    if (other == this) return;
+    GOOGLE_DCHECK(GetOwningArena() == other->GetOwningArena());
+    InternalSwap(other);
+  }
+
+  // implements Message ----------------------------------------------
+
+  AcceptLegalResponse* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
+    return CreateMaybeMessage<AcceptLegalResponse>(arena);
+  }
+  using ::PROTOBUF_NAMESPACE_ID::internal::ZeroFieldsBase::CopyFrom;
+  inline void CopyFrom(const AcceptLegalResponse& from) {
+    ::PROTOBUF_NAMESPACE_ID::internal::ZeroFieldsBase::CopyImpl(this, from);
+  }
+  using ::PROTOBUF_NAMESPACE_ID::internal::ZeroFieldsBase::MergeFrom;
+  void MergeFrom(const AcceptLegalResponse& from) {
+    ::PROTOBUF_NAMESPACE_ID::internal::ZeroFieldsBase::MergeImpl(this, from);
+  }
+  public:
+
+  private:
+  friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
+  static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
+    return "viam.app.v1.AcceptLegalResponse";
+  }
+  protected:
+  explicit AcceptLegalResponse(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                       bool is_message_owned = false);
+  public:
+
+  static const ClassData _class_data_;
+  const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*GetClassData() const final;
+
+  ::PROTOBUF_NAMESPACE_ID::Metadata GetMetadata() const final;
+
+  // nested types ----------------------------------------------------
+
+  // accessors -------------------------------------------------------
+
+  // @@protoc_insertion_point(class_scope:viam.app.v1.AcceptLegalResponse)
+ private:
+  class _Internal;
+
+  template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
+  typedef void InternalArenaConstructable_;
+  typedef void DestructorSkippable_;
+  friend struct ::TableStruct_app_2fv1_2fend_5fuser_2eproto;
+};
+// ===================================================================
+
+
+// ===================================================================
+
+#ifdef __GNUC__
+  #pragma GCC diagnostic push
+  #pragma GCC diagnostic ignored "-Wstrict-aliasing"
+#endif  // __GNUC__
+// IsLegalAcceptedRequest
+
+// string user_id = 1 [json_name = "userId"];
+inline void IsLegalAcceptedRequest::clear_user_id() {
+  user_id_.ClearToEmpty();
+}
+inline const std::string& IsLegalAcceptedRequest::user_id() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.IsLegalAcceptedRequest.user_id)
+  return _internal_user_id();
+}
+template <typename ArgT0, typename... ArgT>
+inline PROTOBUF_ALWAYS_INLINE
+void IsLegalAcceptedRequest::set_user_id(ArgT0&& arg0, ArgT... args) {
+ 
+ user_id_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.app.v1.IsLegalAcceptedRequest.user_id)
+}
+inline std::string* IsLegalAcceptedRequest::mutable_user_id() {
+  std::string* _s = _internal_mutable_user_id();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.IsLegalAcceptedRequest.user_id)
+  return _s;
+}
+inline const std::string& IsLegalAcceptedRequest::_internal_user_id() const {
+  return user_id_.Get();
+}
+inline void IsLegalAcceptedRequest::_internal_set_user_id(const std::string& value) {
+  
+  user_id_.Set(value, GetArenaForAllocation());
+}
+inline std::string* IsLegalAcceptedRequest::_internal_mutable_user_id() {
+  
+  return user_id_.Mutable(GetArenaForAllocation());
+}
+inline std::string* IsLegalAcceptedRequest::release_user_id() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.IsLegalAcceptedRequest.user_id)
+  return user_id_.Release();
+}
+inline void IsLegalAcceptedRequest::set_allocated_user_id(std::string* user_id) {
+  if (user_id != nullptr) {
+    
+  } else {
+    
+  }
+  user_id_.SetAllocated(user_id, GetArenaForAllocation());
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (user_id_.IsDefault()) {
+    user_id_.Set("", GetArenaForAllocation());
+  }
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.IsLegalAcceptedRequest.user_id)
+}
+
+// -------------------------------------------------------------------
+
+// IsLegalAcceptedResponse
+
+// bool accepted_legal = 1 [json_name = "acceptedLegal"];
+inline void IsLegalAcceptedResponse::clear_accepted_legal() {
+  accepted_legal_ = false;
+}
+inline bool IsLegalAcceptedResponse::_internal_accepted_legal() const {
+  return accepted_legal_;
+}
+inline bool IsLegalAcceptedResponse::accepted_legal() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.IsLegalAcceptedResponse.accepted_legal)
+  return _internal_accepted_legal();
+}
+inline void IsLegalAcceptedResponse::_internal_set_accepted_legal(bool value) {
+  
+  accepted_legal_ = value;
+}
+inline void IsLegalAcceptedResponse::set_accepted_legal(bool value) {
+  _internal_set_accepted_legal(value);
+  // @@protoc_insertion_point(field_set:viam.app.v1.IsLegalAcceptedResponse.accepted_legal)
+}
+
+// -------------------------------------------------------------------
+
+// AcceptLegalRequest
+
+// string user_id = 1 [json_name = "userId"];
+inline void AcceptLegalRequest::clear_user_id() {
+  user_id_.ClearToEmpty();
+}
+inline const std::string& AcceptLegalRequest::user_id() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.AcceptLegalRequest.user_id)
+  return _internal_user_id();
+}
+template <typename ArgT0, typename... ArgT>
+inline PROTOBUF_ALWAYS_INLINE
+void AcceptLegalRequest::set_user_id(ArgT0&& arg0, ArgT... args) {
+ 
+ user_id_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.app.v1.AcceptLegalRequest.user_id)
+}
+inline std::string* AcceptLegalRequest::mutable_user_id() {
+  std::string* _s = _internal_mutable_user_id();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.AcceptLegalRequest.user_id)
+  return _s;
+}
+inline const std::string& AcceptLegalRequest::_internal_user_id() const {
+  return user_id_.Get();
+}
+inline void AcceptLegalRequest::_internal_set_user_id(const std::string& value) {
+  
+  user_id_.Set(value, GetArenaForAllocation());
+}
+inline std::string* AcceptLegalRequest::_internal_mutable_user_id() {
+  
+  return user_id_.Mutable(GetArenaForAllocation());
+}
+inline std::string* AcceptLegalRequest::release_user_id() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.AcceptLegalRequest.user_id)
+  return user_id_.Release();
+}
+inline void AcceptLegalRequest::set_allocated_user_id(std::string* user_id) {
+  if (user_id != nullptr) {
+    
+  } else {
+    
+  }
+  user_id_.SetAllocated(user_id, GetArenaForAllocation());
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (user_id_.IsDefault()) {
+    user_id_.Set("", GetArenaForAllocation());
+  }
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.AcceptLegalRequest.user_id)
+}
+
+// -------------------------------------------------------------------
+
+// AcceptLegalResponse
+
+#ifdef __GNUC__
+  #pragma GCC diagnostic pop
+#endif  // __GNUC__
+// -------------------------------------------------------------------
+
+// -------------------------------------------------------------------
+
+// -------------------------------------------------------------------
+
+
+// @@protoc_insertion_point(namespace_scope)
+
+}  // namespace v1
+}  // namespace app
+}  // namespace viam
+
+// @@protoc_insertion_point(global_scope)
+
+#include <google/protobuf/port_undef.inc>
+#endif  // GOOGLE_PROTOBUF_INCLUDED_GOOGLE_PROTOBUF_INCLUDED_app_2fv1_2fend_5fuser_2eproto
diff --git a/src/viam/api/component/board/v1/board.grpc.pb.cc b/src/viam/api/component/board/v1/board.grpc.pb.cc
index 637d1b975..20e1f7990 100644
--- a/src/viam/api/component/board/v1/board.grpc.pb.cc
+++ b/src/viam/api/component/board/v1/board.grpc.pb.cc
@@ -34,6 +34,7 @@ static const char* BoardService_method_names[] = {
   "/viam.component.board.v1.BoardService/SetPWMFrequency",
   "/viam.component.board.v1.BoardService/DoCommand",
   "/viam.component.board.v1.BoardService/ReadAnalogReader",
+  "/viam.component.board.v1.BoardService/WriteAnalog",
   "/viam.component.board.v1.BoardService/GetDigitalInterruptValue",
   "/viam.component.board.v1.BoardService/SetPowerMode",
   "/viam.component.board.v1.BoardService/GetGeometries",
@@ -55,9 +56,10 @@ BoardService::Stub::Stub(const std::shared_ptr< ::grpc::ChannelInterface>& chann
   , rpcmethod_SetPWMFrequency_(BoardService_method_names[6], options.suffix_for_stats(),::grpc::internal::RpcMethod::NORMAL_RPC, channel)
   , rpcmethod_DoCommand_(BoardService_method_names[7], options.suffix_for_stats(),::grpc::internal::RpcMethod::NORMAL_RPC, channel)
   , rpcmethod_ReadAnalogReader_(BoardService_method_names[8], options.suffix_for_stats(),::grpc::internal::RpcMethod::NORMAL_RPC, channel)
-  , rpcmethod_GetDigitalInterruptValue_(BoardService_method_names[9], options.suffix_for_stats(),::grpc::internal::RpcMethod::NORMAL_RPC, channel)
-  , rpcmethod_SetPowerMode_(BoardService_method_names[10], options.suffix_for_stats(),::grpc::internal::RpcMethod::NORMAL_RPC, channel)
-  , rpcmethod_GetGeometries_(BoardService_method_names[11], options.suffix_for_stats(),::grpc::internal::RpcMethod::NORMAL_RPC, channel)
+  , rpcmethod_WriteAnalog_(BoardService_method_names[9], options.suffix_for_stats(),::grpc::internal::RpcMethod::NORMAL_RPC, channel)
+  , rpcmethod_GetDigitalInterruptValue_(BoardService_method_names[10], options.suffix_for_stats(),::grpc::internal::RpcMethod::NORMAL_RPC, channel)
+  , rpcmethod_SetPowerMode_(BoardService_method_names[11], options.suffix_for_stats(),::grpc::internal::RpcMethod::NORMAL_RPC, channel)
+  , rpcmethod_GetGeometries_(BoardService_method_names[12], options.suffix_for_stats(),::grpc::internal::RpcMethod::NORMAL_RPC, channel)
   {}
 
 ::grpc::Status BoardService::Stub::Status(::grpc::ClientContext* context, const ::viam::component::board::v1::StatusRequest& request, ::viam::component::board::v1::StatusResponse* response) {
@@ -267,6 +269,29 @@ ::grpc::ClientAsyncResponseReader< ::viam::component::board::v1::ReadAnalogReade
   return result;
 }
 
+::grpc::Status BoardService::Stub::WriteAnalog(::grpc::ClientContext* context, const ::viam::component::board::v1::WriteAnalogRequest& request, ::viam::component::board::v1::WriteAnalogResponse* response) {
+  return ::grpc::internal::BlockingUnaryCall< ::viam::component::board::v1::WriteAnalogRequest, ::viam::component::board::v1::WriteAnalogResponse, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(channel_.get(), rpcmethod_WriteAnalog_, context, request, response);
+}
+
+void BoardService::Stub::async::WriteAnalog(::grpc::ClientContext* context, const ::viam::component::board::v1::WriteAnalogRequest* request, ::viam::component::board::v1::WriteAnalogResponse* response, std::function<void(::grpc::Status)> f) {
+  ::grpc::internal::CallbackUnaryCall< ::viam::component::board::v1::WriteAnalogRequest, ::viam::component::board::v1::WriteAnalogResponse, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(stub_->channel_.get(), stub_->rpcmethod_WriteAnalog_, context, request, response, std::move(f));
+}
+
+void BoardService::Stub::async::WriteAnalog(::grpc::ClientContext* context, const ::viam::component::board::v1::WriteAnalogRequest* request, ::viam::component::board::v1::WriteAnalogResponse* response, ::grpc::ClientUnaryReactor* reactor) {
+  ::grpc::internal::ClientCallbackUnaryFactory::Create< ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(stub_->channel_.get(), stub_->rpcmethod_WriteAnalog_, context, request, response, reactor);
+}
+
+::grpc::ClientAsyncResponseReader< ::viam::component::board::v1::WriteAnalogResponse>* BoardService::Stub::PrepareAsyncWriteAnalogRaw(::grpc::ClientContext* context, const ::viam::component::board::v1::WriteAnalogRequest& request, ::grpc::CompletionQueue* cq) {
+  return ::grpc::internal::ClientAsyncResponseReaderHelper::Create< ::viam::component::board::v1::WriteAnalogResponse, ::viam::component::board::v1::WriteAnalogRequest, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(channel_.get(), cq, rpcmethod_WriteAnalog_, context, request);
+}
+
+::grpc::ClientAsyncResponseReader< ::viam::component::board::v1::WriteAnalogResponse>* BoardService::Stub::AsyncWriteAnalogRaw(::grpc::ClientContext* context, const ::viam::component::board::v1::WriteAnalogRequest& request, ::grpc::CompletionQueue* cq) {
+  auto* result =
+    this->PrepareAsyncWriteAnalogRaw(context, request, cq);
+  result->StartCall();
+  return result;
+}
+
 ::grpc::Status BoardService::Stub::GetDigitalInterruptValue(::grpc::ClientContext* context, const ::viam::component::board::v1::GetDigitalInterruptValueRequest& request, ::viam::component::board::v1::GetDigitalInterruptValueResponse* response) {
   return ::grpc::internal::BlockingUnaryCall< ::viam::component::board::v1::GetDigitalInterruptValueRequest, ::viam::component::board::v1::GetDigitalInterruptValueResponse, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(channel_.get(), rpcmethod_GetDigitalInterruptValue_, context, request, response);
 }
@@ -430,6 +455,16 @@ BoardService::Service::Service() {
   AddMethod(new ::grpc::internal::RpcServiceMethod(
       BoardService_method_names[9],
       ::grpc::internal::RpcMethod::NORMAL_RPC,
+      new ::grpc::internal::RpcMethodHandler< BoardService::Service, ::viam::component::board::v1::WriteAnalogRequest, ::viam::component::board::v1::WriteAnalogResponse, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(
+          [](BoardService::Service* service,
+             ::grpc::ServerContext* ctx,
+             const ::viam::component::board::v1::WriteAnalogRequest* req,
+             ::viam::component::board::v1::WriteAnalogResponse* resp) {
+               return service->WriteAnalog(ctx, req, resp);
+             }, this)));
+  AddMethod(new ::grpc::internal::RpcServiceMethod(
+      BoardService_method_names[10],
+      ::grpc::internal::RpcMethod::NORMAL_RPC,
       new ::grpc::internal::RpcMethodHandler< BoardService::Service, ::viam::component::board::v1::GetDigitalInterruptValueRequest, ::viam::component::board::v1::GetDigitalInterruptValueResponse, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(
           [](BoardService::Service* service,
              ::grpc::ServerContext* ctx,
@@ -438,7 +473,7 @@ BoardService::Service::Service() {
                return service->GetDigitalInterruptValue(ctx, req, resp);
              }, this)));
   AddMethod(new ::grpc::internal::RpcServiceMethod(
-      BoardService_method_names[10],
+      BoardService_method_names[11],
       ::grpc::internal::RpcMethod::NORMAL_RPC,
       new ::grpc::internal::RpcMethodHandler< BoardService::Service, ::viam::component::board::v1::SetPowerModeRequest, ::viam::component::board::v1::SetPowerModeResponse, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(
           [](BoardService::Service* service,
@@ -448,7 +483,7 @@ BoardService::Service::Service() {
                return service->SetPowerMode(ctx, req, resp);
              }, this)));
   AddMethod(new ::grpc::internal::RpcServiceMethod(
-      BoardService_method_names[11],
+      BoardService_method_names[12],
       ::grpc::internal::RpcMethod::NORMAL_RPC,
       new ::grpc::internal::RpcMethodHandler< BoardService::Service, ::viam::common::v1::GetGeometriesRequest, ::viam::common::v1::GetGeometriesResponse, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(
           [](BoardService::Service* service,
@@ -525,6 +560,13 @@ ::grpc::Status BoardService::Service::ReadAnalogReader(::grpc::ServerContext* co
   return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
 }
 
+::grpc::Status BoardService::Service::WriteAnalog(::grpc::ServerContext* context, const ::viam::component::board::v1::WriteAnalogRequest* request, ::viam::component::board::v1::WriteAnalogResponse* response) {
+  (void) context;
+  (void) request;
+  (void) response;
+  return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+}
+
 ::grpc::Status BoardService::Service::GetDigitalInterruptValue(::grpc::ServerContext* context, const ::viam::component::board::v1::GetDigitalInterruptValueRequest* request, ::viam::component::board::v1::GetDigitalInterruptValueResponse* response) {
   (void) context;
   (void) request;
diff --git a/src/viam/api/component/board/v1/board.grpc.pb.h b/src/viam/api/component/board/v1/board.grpc.pb.h
index ea4c93933..3998062c4 100644
--- a/src/viam/api/component/board/v1/board.grpc.pb.h
+++ b/src/viam/api/component/board/v1/board.grpc.pb.h
@@ -111,6 +111,16 @@ class BoardService final {
     std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::component::board::v1::ReadAnalogReaderResponse>> PrepareAsyncReadAnalogReader(::grpc::ClientContext* context, const ::viam::component::board::v1::ReadAnalogReaderRequest& request, ::grpc::CompletionQueue* cq) {
       return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::component::board::v1::ReadAnalogReaderResponse>>(PrepareAsyncReadAnalogReaderRaw(context, request, cq));
     }
+    // Analog Writer
+    //
+    // WriteAnalog writes the value to the analog writer of the board.
+    virtual ::grpc::Status WriteAnalog(::grpc::ClientContext* context, const ::viam::component::board::v1::WriteAnalogRequest& request, ::viam::component::board::v1::WriteAnalogResponse* response) = 0;
+    std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::component::board::v1::WriteAnalogResponse>> AsyncWriteAnalog(::grpc::ClientContext* context, const ::viam::component::board::v1::WriteAnalogRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::component::board::v1::WriteAnalogResponse>>(AsyncWriteAnalogRaw(context, request, cq));
+    }
+    std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::component::board::v1::WriteAnalogResponse>> PrepareAsyncWriteAnalog(::grpc::ClientContext* context, const ::viam::component::board::v1::WriteAnalogRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::component::board::v1::WriteAnalogResponse>>(PrepareAsyncWriteAnalogRaw(context, request, cq));
+    }
     // Digital Interrupt
     //
     // GetDigitalInterruptValue returns the current value of the interrupt which is based on the type of interrupt.
@@ -131,7 +141,7 @@ class BoardService final {
     std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::component::board::v1::SetPowerModeResponse>> PrepareAsyncSetPowerMode(::grpc::ClientContext* context, const ::viam::component::board::v1::SetPowerModeRequest& request, ::grpc::CompletionQueue* cq) {
       return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::component::board::v1::SetPowerModeResponse>>(PrepareAsyncSetPowerModeRaw(context, request, cq));
     }
-    // GetGeometries returns the geometries of the component in their current configuration
+    // GetGeometries returns the geometries of the component in their current configuration.
     virtual ::grpc::Status GetGeometries(::grpc::ClientContext* context, const ::viam::common::v1::GetGeometriesRequest& request, ::viam::common::v1::GetGeometriesResponse* response) = 0;
     std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::common::v1::GetGeometriesResponse>> AsyncGetGeometries(::grpc::ClientContext* context, const ::viam::common::v1::GetGeometriesRequest& request, ::grpc::CompletionQueue* cq) {
       return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::common::v1::GetGeometriesResponse>>(AsyncGetGeometriesRaw(context, request, cq));
@@ -169,6 +179,11 @@ class BoardService final {
       // ReadAnalogReader reads off the current value of an analog reader of a board of the underlying robot.
       virtual void ReadAnalogReader(::grpc::ClientContext* context, const ::viam::component::board::v1::ReadAnalogReaderRequest* request, ::viam::component::board::v1::ReadAnalogReaderResponse* response, std::function<void(::grpc::Status)>) = 0;
       virtual void ReadAnalogReader(::grpc::ClientContext* context, const ::viam::component::board::v1::ReadAnalogReaderRequest* request, ::viam::component::board::v1::ReadAnalogReaderResponse* response, ::grpc::ClientUnaryReactor* reactor) = 0;
+      // Analog Writer
+      //
+      // WriteAnalog writes the value to the analog writer of the board.
+      virtual void WriteAnalog(::grpc::ClientContext* context, const ::viam::component::board::v1::WriteAnalogRequest* request, ::viam::component::board::v1::WriteAnalogResponse* response, std::function<void(::grpc::Status)>) = 0;
+      virtual void WriteAnalog(::grpc::ClientContext* context, const ::viam::component::board::v1::WriteAnalogRequest* request, ::viam::component::board::v1::WriteAnalogResponse* response, ::grpc::ClientUnaryReactor* reactor) = 0;
       // Digital Interrupt
       //
       // GetDigitalInterruptValue returns the current value of the interrupt which is based on the type of interrupt.
@@ -179,7 +194,7 @@ class BoardService final {
       // `SetPowerMode` sets the power consumption mode of the board to the requested setting for the given duration.
       virtual void SetPowerMode(::grpc::ClientContext* context, const ::viam::component::board::v1::SetPowerModeRequest* request, ::viam::component::board::v1::SetPowerModeResponse* response, std::function<void(::grpc::Status)>) = 0;
       virtual void SetPowerMode(::grpc::ClientContext* context, const ::viam::component::board::v1::SetPowerModeRequest* request, ::viam::component::board::v1::SetPowerModeResponse* response, ::grpc::ClientUnaryReactor* reactor) = 0;
-      // GetGeometries returns the geometries of the component in their current configuration
+      // GetGeometries returns the geometries of the component in their current configuration.
       virtual void GetGeometries(::grpc::ClientContext* context, const ::viam::common::v1::GetGeometriesRequest* request, ::viam::common::v1::GetGeometriesResponse* response, std::function<void(::grpc::Status)>) = 0;
       virtual void GetGeometries(::grpc::ClientContext* context, const ::viam::common::v1::GetGeometriesRequest* request, ::viam::common::v1::GetGeometriesResponse* response, ::grpc::ClientUnaryReactor* reactor) = 0;
     };
@@ -205,6 +220,8 @@ class BoardService final {
     virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::common::v1::DoCommandResponse>* PrepareAsyncDoCommandRaw(::grpc::ClientContext* context, const ::viam::common::v1::DoCommandRequest& request, ::grpc::CompletionQueue* cq) = 0;
     virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::component::board::v1::ReadAnalogReaderResponse>* AsyncReadAnalogReaderRaw(::grpc::ClientContext* context, const ::viam::component::board::v1::ReadAnalogReaderRequest& request, ::grpc::CompletionQueue* cq) = 0;
     virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::component::board::v1::ReadAnalogReaderResponse>* PrepareAsyncReadAnalogReaderRaw(::grpc::ClientContext* context, const ::viam::component::board::v1::ReadAnalogReaderRequest& request, ::grpc::CompletionQueue* cq) = 0;
+    virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::component::board::v1::WriteAnalogResponse>* AsyncWriteAnalogRaw(::grpc::ClientContext* context, const ::viam::component::board::v1::WriteAnalogRequest& request, ::grpc::CompletionQueue* cq) = 0;
+    virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::component::board::v1::WriteAnalogResponse>* PrepareAsyncWriteAnalogRaw(::grpc::ClientContext* context, const ::viam::component::board::v1::WriteAnalogRequest& request, ::grpc::CompletionQueue* cq) = 0;
     virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::component::board::v1::GetDigitalInterruptValueResponse>* AsyncGetDigitalInterruptValueRaw(::grpc::ClientContext* context, const ::viam::component::board::v1::GetDigitalInterruptValueRequest& request, ::grpc::CompletionQueue* cq) = 0;
     virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::component::board::v1::GetDigitalInterruptValueResponse>* PrepareAsyncGetDigitalInterruptValueRaw(::grpc::ClientContext* context, const ::viam::component::board::v1::GetDigitalInterruptValueRequest& request, ::grpc::CompletionQueue* cq) = 0;
     virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::component::board::v1::SetPowerModeResponse>* AsyncSetPowerModeRaw(::grpc::ClientContext* context, const ::viam::component::board::v1::SetPowerModeRequest& request, ::grpc::CompletionQueue* cq) = 0;
@@ -278,6 +295,13 @@ class BoardService final {
     std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::component::board::v1::ReadAnalogReaderResponse>> PrepareAsyncReadAnalogReader(::grpc::ClientContext* context, const ::viam::component::board::v1::ReadAnalogReaderRequest& request, ::grpc::CompletionQueue* cq) {
       return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::component::board::v1::ReadAnalogReaderResponse>>(PrepareAsyncReadAnalogReaderRaw(context, request, cq));
     }
+    ::grpc::Status WriteAnalog(::grpc::ClientContext* context, const ::viam::component::board::v1::WriteAnalogRequest& request, ::viam::component::board::v1::WriteAnalogResponse* response) override;
+    std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::component::board::v1::WriteAnalogResponse>> AsyncWriteAnalog(::grpc::ClientContext* context, const ::viam::component::board::v1::WriteAnalogRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::component::board::v1::WriteAnalogResponse>>(AsyncWriteAnalogRaw(context, request, cq));
+    }
+    std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::component::board::v1::WriteAnalogResponse>> PrepareAsyncWriteAnalog(::grpc::ClientContext* context, const ::viam::component::board::v1::WriteAnalogRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::component::board::v1::WriteAnalogResponse>>(PrepareAsyncWriteAnalogRaw(context, request, cq));
+    }
     ::grpc::Status GetDigitalInterruptValue(::grpc::ClientContext* context, const ::viam::component::board::v1::GetDigitalInterruptValueRequest& request, ::viam::component::board::v1::GetDigitalInterruptValueResponse* response) override;
     std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::component::board::v1::GetDigitalInterruptValueResponse>> AsyncGetDigitalInterruptValue(::grpc::ClientContext* context, const ::viam::component::board::v1::GetDigitalInterruptValueRequest& request, ::grpc::CompletionQueue* cq) {
       return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::component::board::v1::GetDigitalInterruptValueResponse>>(AsyncGetDigitalInterruptValueRaw(context, request, cq));
@@ -320,6 +344,8 @@ class BoardService final {
       void DoCommand(::grpc::ClientContext* context, const ::viam::common::v1::DoCommandRequest* request, ::viam::common::v1::DoCommandResponse* response, ::grpc::ClientUnaryReactor* reactor) override;
       void ReadAnalogReader(::grpc::ClientContext* context, const ::viam::component::board::v1::ReadAnalogReaderRequest* request, ::viam::component::board::v1::ReadAnalogReaderResponse* response, std::function<void(::grpc::Status)>) override;
       void ReadAnalogReader(::grpc::ClientContext* context, const ::viam::component::board::v1::ReadAnalogReaderRequest* request, ::viam::component::board::v1::ReadAnalogReaderResponse* response, ::grpc::ClientUnaryReactor* reactor) override;
+      void WriteAnalog(::grpc::ClientContext* context, const ::viam::component::board::v1::WriteAnalogRequest* request, ::viam::component::board::v1::WriteAnalogResponse* response, std::function<void(::grpc::Status)>) override;
+      void WriteAnalog(::grpc::ClientContext* context, const ::viam::component::board::v1::WriteAnalogRequest* request, ::viam::component::board::v1::WriteAnalogResponse* response, ::grpc::ClientUnaryReactor* reactor) override;
       void GetDigitalInterruptValue(::grpc::ClientContext* context, const ::viam::component::board::v1::GetDigitalInterruptValueRequest* request, ::viam::component::board::v1::GetDigitalInterruptValueResponse* response, std::function<void(::grpc::Status)>) override;
       void GetDigitalInterruptValue(::grpc::ClientContext* context, const ::viam::component::board::v1::GetDigitalInterruptValueRequest* request, ::viam::component::board::v1::GetDigitalInterruptValueResponse* response, ::grpc::ClientUnaryReactor* reactor) override;
       void SetPowerMode(::grpc::ClientContext* context, const ::viam::component::board::v1::SetPowerModeRequest* request, ::viam::component::board::v1::SetPowerModeResponse* response, std::function<void(::grpc::Status)>) override;
@@ -355,6 +381,8 @@ class BoardService final {
     ::grpc::ClientAsyncResponseReader< ::viam::common::v1::DoCommandResponse>* PrepareAsyncDoCommandRaw(::grpc::ClientContext* context, const ::viam::common::v1::DoCommandRequest& request, ::grpc::CompletionQueue* cq) override;
     ::grpc::ClientAsyncResponseReader< ::viam::component::board::v1::ReadAnalogReaderResponse>* AsyncReadAnalogReaderRaw(::grpc::ClientContext* context, const ::viam::component::board::v1::ReadAnalogReaderRequest& request, ::grpc::CompletionQueue* cq) override;
     ::grpc::ClientAsyncResponseReader< ::viam::component::board::v1::ReadAnalogReaderResponse>* PrepareAsyncReadAnalogReaderRaw(::grpc::ClientContext* context, const ::viam::component::board::v1::ReadAnalogReaderRequest& request, ::grpc::CompletionQueue* cq) override;
+    ::grpc::ClientAsyncResponseReader< ::viam::component::board::v1::WriteAnalogResponse>* AsyncWriteAnalogRaw(::grpc::ClientContext* context, const ::viam::component::board::v1::WriteAnalogRequest& request, ::grpc::CompletionQueue* cq) override;
+    ::grpc::ClientAsyncResponseReader< ::viam::component::board::v1::WriteAnalogResponse>* PrepareAsyncWriteAnalogRaw(::grpc::ClientContext* context, const ::viam::component::board::v1::WriteAnalogRequest& request, ::grpc::CompletionQueue* cq) override;
     ::grpc::ClientAsyncResponseReader< ::viam::component::board::v1::GetDigitalInterruptValueResponse>* AsyncGetDigitalInterruptValueRaw(::grpc::ClientContext* context, const ::viam::component::board::v1::GetDigitalInterruptValueRequest& request, ::grpc::CompletionQueue* cq) override;
     ::grpc::ClientAsyncResponseReader< ::viam::component::board::v1::GetDigitalInterruptValueResponse>* PrepareAsyncGetDigitalInterruptValueRaw(::grpc::ClientContext* context, const ::viam::component::board::v1::GetDigitalInterruptValueRequest& request, ::grpc::CompletionQueue* cq) override;
     ::grpc::ClientAsyncResponseReader< ::viam::component::board::v1::SetPowerModeResponse>* AsyncSetPowerModeRaw(::grpc::ClientContext* context, const ::viam::component::board::v1::SetPowerModeRequest& request, ::grpc::CompletionQueue* cq) override;
@@ -370,6 +398,7 @@ class BoardService final {
     const ::grpc::internal::RpcMethod rpcmethod_SetPWMFrequency_;
     const ::grpc::internal::RpcMethod rpcmethod_DoCommand_;
     const ::grpc::internal::RpcMethod rpcmethod_ReadAnalogReader_;
+    const ::grpc::internal::RpcMethod rpcmethod_WriteAnalog_;
     const ::grpc::internal::RpcMethod rpcmethod_GetDigitalInterruptValue_;
     const ::grpc::internal::RpcMethod rpcmethod_SetPowerMode_;
     const ::grpc::internal::RpcMethod rpcmethod_GetGeometries_;
@@ -398,6 +427,10 @@ class BoardService final {
     //
     // ReadAnalogReader reads off the current value of an analog reader of a board of the underlying robot.
     virtual ::grpc::Status ReadAnalogReader(::grpc::ServerContext* context, const ::viam::component::board::v1::ReadAnalogReaderRequest* request, ::viam::component::board::v1::ReadAnalogReaderResponse* response);
+    // Analog Writer
+    //
+    // WriteAnalog writes the value to the analog writer of the board.
+    virtual ::grpc::Status WriteAnalog(::grpc::ServerContext* context, const ::viam::component::board::v1::WriteAnalogRequest* request, ::viam::component::board::v1::WriteAnalogResponse* response);
     // Digital Interrupt
     //
     // GetDigitalInterruptValue returns the current value of the interrupt which is based on the type of interrupt.
@@ -406,7 +439,7 @@ class BoardService final {
     //
     // `SetPowerMode` sets the power consumption mode of the board to the requested setting for the given duration.
     virtual ::grpc::Status SetPowerMode(::grpc::ServerContext* context, const ::viam::component::board::v1::SetPowerModeRequest* request, ::viam::component::board::v1::SetPowerModeResponse* response);
-    // GetGeometries returns the geometries of the component in their current configuration
+    // GetGeometries returns the geometries of the component in their current configuration.
     virtual ::grpc::Status GetGeometries(::grpc::ServerContext* context, const ::viam::common::v1::GetGeometriesRequest* request, ::viam::common::v1::GetGeometriesResponse* response);
   };
   template <class BaseClass>
@@ -590,12 +623,32 @@ class BoardService final {
     }
   };
   template <class BaseClass>
+  class WithAsyncMethod_WriteAnalog : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithAsyncMethod_WriteAnalog() {
+      ::grpc::Service::MarkMethodAsync(9);
+    }
+    ~WithAsyncMethod_WriteAnalog() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status WriteAnalog(::grpc::ServerContext* /*context*/, const ::viam::component::board::v1::WriteAnalogRequest* /*request*/, ::viam::component::board::v1::WriteAnalogResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    void RequestWriteAnalog(::grpc::ServerContext* context, ::viam::component::board::v1::WriteAnalogRequest* request, ::grpc::ServerAsyncResponseWriter< ::viam::component::board::v1::WriteAnalogResponse>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
+      ::grpc::Service::RequestAsyncUnary(9, context, request, response, new_call_cq, notification_cq, tag);
+    }
+  };
+  template <class BaseClass>
   class WithAsyncMethod_GetDigitalInterruptValue : public BaseClass {
    private:
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithAsyncMethod_GetDigitalInterruptValue() {
-      ::grpc::Service::MarkMethodAsync(9);
+      ::grpc::Service::MarkMethodAsync(10);
     }
     ~WithAsyncMethod_GetDigitalInterruptValue() override {
       BaseClassMustBeDerivedFromService(this);
@@ -606,7 +659,7 @@ class BoardService final {
       return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
     }
     void RequestGetDigitalInterruptValue(::grpc::ServerContext* context, ::viam::component::board::v1::GetDigitalInterruptValueRequest* request, ::grpc::ServerAsyncResponseWriter< ::viam::component::board::v1::GetDigitalInterruptValueResponse>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
-      ::grpc::Service::RequestAsyncUnary(9, context, request, response, new_call_cq, notification_cq, tag);
+      ::grpc::Service::RequestAsyncUnary(10, context, request, response, new_call_cq, notification_cq, tag);
     }
   };
   template <class BaseClass>
@@ -615,7 +668,7 @@ class BoardService final {
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithAsyncMethod_SetPowerMode() {
-      ::grpc::Service::MarkMethodAsync(10);
+      ::grpc::Service::MarkMethodAsync(11);
     }
     ~WithAsyncMethod_SetPowerMode() override {
       BaseClassMustBeDerivedFromService(this);
@@ -626,7 +679,7 @@ class BoardService final {
       return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
     }
     void RequestSetPowerMode(::grpc::ServerContext* context, ::viam::component::board::v1::SetPowerModeRequest* request, ::grpc::ServerAsyncResponseWriter< ::viam::component::board::v1::SetPowerModeResponse>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
-      ::grpc::Service::RequestAsyncUnary(10, context, request, response, new_call_cq, notification_cq, tag);
+      ::grpc::Service::RequestAsyncUnary(11, context, request, response, new_call_cq, notification_cq, tag);
     }
   };
   template <class BaseClass>
@@ -635,7 +688,7 @@ class BoardService final {
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithAsyncMethod_GetGeometries() {
-      ::grpc::Service::MarkMethodAsync(11);
+      ::grpc::Service::MarkMethodAsync(12);
     }
     ~WithAsyncMethod_GetGeometries() override {
       BaseClassMustBeDerivedFromService(this);
@@ -646,10 +699,10 @@ class BoardService final {
       return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
     }
     void RequestGetGeometries(::grpc::ServerContext* context, ::viam::common::v1::GetGeometriesRequest* request, ::grpc::ServerAsyncResponseWriter< ::viam::common::v1::GetGeometriesResponse>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
-      ::grpc::Service::RequestAsyncUnary(11, context, request, response, new_call_cq, notification_cq, tag);
+      ::grpc::Service::RequestAsyncUnary(12, context, request, response, new_call_cq, notification_cq, tag);
     }
   };
-  typedef WithAsyncMethod_Status<WithAsyncMethod_SetGPIO<WithAsyncMethod_GetGPIO<WithAsyncMethod_PWM<WithAsyncMethod_SetPWM<WithAsyncMethod_PWMFrequency<WithAsyncMethod_SetPWMFrequency<WithAsyncMethod_DoCommand<WithAsyncMethod_ReadAnalogReader<WithAsyncMethod_GetDigitalInterruptValue<WithAsyncMethod_SetPowerMode<WithAsyncMethod_GetGeometries<Service > > > > > > > > > > > > AsyncService;
+  typedef WithAsyncMethod_Status<WithAsyncMethod_SetGPIO<WithAsyncMethod_GetGPIO<WithAsyncMethod_PWM<WithAsyncMethod_SetPWM<WithAsyncMethod_PWMFrequency<WithAsyncMethod_SetPWMFrequency<WithAsyncMethod_DoCommand<WithAsyncMethod_ReadAnalogReader<WithAsyncMethod_WriteAnalog<WithAsyncMethod_GetDigitalInterruptValue<WithAsyncMethod_SetPowerMode<WithAsyncMethod_GetGeometries<Service > > > > > > > > > > > > > AsyncService;
   template <class BaseClass>
   class WithCallbackMethod_Status : public BaseClass {
    private:
@@ -894,18 +947,45 @@ class BoardService final {
       ::grpc::CallbackServerContext* /*context*/, const ::viam::component::board::v1::ReadAnalogReaderRequest* /*request*/, ::viam::component::board::v1::ReadAnalogReaderResponse* /*response*/)  { return nullptr; }
   };
   template <class BaseClass>
+  class WithCallbackMethod_WriteAnalog : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithCallbackMethod_WriteAnalog() {
+      ::grpc::Service::MarkMethodCallback(9,
+          new ::grpc::internal::CallbackUnaryHandler< ::viam::component::board::v1::WriteAnalogRequest, ::viam::component::board::v1::WriteAnalogResponse>(
+            [this](
+                   ::grpc::CallbackServerContext* context, const ::viam::component::board::v1::WriteAnalogRequest* request, ::viam::component::board::v1::WriteAnalogResponse* response) { return this->WriteAnalog(context, request, response); }));}
+    void SetMessageAllocatorFor_WriteAnalog(
+        ::grpc::MessageAllocator< ::viam::component::board::v1::WriteAnalogRequest, ::viam::component::board::v1::WriteAnalogResponse>* allocator) {
+      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::GetHandler(9);
+      static_cast<::grpc::internal::CallbackUnaryHandler< ::viam::component::board::v1::WriteAnalogRequest, ::viam::component::board::v1::WriteAnalogResponse>*>(handler)
+              ->SetMessageAllocator(allocator);
+    }
+    ~WithCallbackMethod_WriteAnalog() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status WriteAnalog(::grpc::ServerContext* /*context*/, const ::viam::component::board::v1::WriteAnalogRequest* /*request*/, ::viam::component::board::v1::WriteAnalogResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    virtual ::grpc::ServerUnaryReactor* WriteAnalog(
+      ::grpc::CallbackServerContext* /*context*/, const ::viam::component::board::v1::WriteAnalogRequest* /*request*/, ::viam::component::board::v1::WriteAnalogResponse* /*response*/)  { return nullptr; }
+  };
+  template <class BaseClass>
   class WithCallbackMethod_GetDigitalInterruptValue : public BaseClass {
    private:
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithCallbackMethod_GetDigitalInterruptValue() {
-      ::grpc::Service::MarkMethodCallback(9,
+      ::grpc::Service::MarkMethodCallback(10,
           new ::grpc::internal::CallbackUnaryHandler< ::viam::component::board::v1::GetDigitalInterruptValueRequest, ::viam::component::board::v1::GetDigitalInterruptValueResponse>(
             [this](
                    ::grpc::CallbackServerContext* context, const ::viam::component::board::v1::GetDigitalInterruptValueRequest* request, ::viam::component::board::v1::GetDigitalInterruptValueResponse* response) { return this->GetDigitalInterruptValue(context, request, response); }));}
     void SetMessageAllocatorFor_GetDigitalInterruptValue(
         ::grpc::MessageAllocator< ::viam::component::board::v1::GetDigitalInterruptValueRequest, ::viam::component::board::v1::GetDigitalInterruptValueResponse>* allocator) {
-      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::GetHandler(9);
+      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::GetHandler(10);
       static_cast<::grpc::internal::CallbackUnaryHandler< ::viam::component::board::v1::GetDigitalInterruptValueRequest, ::viam::component::board::v1::GetDigitalInterruptValueResponse>*>(handler)
               ->SetMessageAllocator(allocator);
     }
@@ -926,13 +1006,13 @@ class BoardService final {
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithCallbackMethod_SetPowerMode() {
-      ::grpc::Service::MarkMethodCallback(10,
+      ::grpc::Service::MarkMethodCallback(11,
           new ::grpc::internal::CallbackUnaryHandler< ::viam::component::board::v1::SetPowerModeRequest, ::viam::component::board::v1::SetPowerModeResponse>(
             [this](
                    ::grpc::CallbackServerContext* context, const ::viam::component::board::v1::SetPowerModeRequest* request, ::viam::component::board::v1::SetPowerModeResponse* response) { return this->SetPowerMode(context, request, response); }));}
     void SetMessageAllocatorFor_SetPowerMode(
         ::grpc::MessageAllocator< ::viam::component::board::v1::SetPowerModeRequest, ::viam::component::board::v1::SetPowerModeResponse>* allocator) {
-      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::GetHandler(10);
+      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::GetHandler(11);
       static_cast<::grpc::internal::CallbackUnaryHandler< ::viam::component::board::v1::SetPowerModeRequest, ::viam::component::board::v1::SetPowerModeResponse>*>(handler)
               ->SetMessageAllocator(allocator);
     }
@@ -953,13 +1033,13 @@ class BoardService final {
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithCallbackMethod_GetGeometries() {
-      ::grpc::Service::MarkMethodCallback(11,
+      ::grpc::Service::MarkMethodCallback(12,
           new ::grpc::internal::CallbackUnaryHandler< ::viam::common::v1::GetGeometriesRequest, ::viam::common::v1::GetGeometriesResponse>(
             [this](
                    ::grpc::CallbackServerContext* context, const ::viam::common::v1::GetGeometriesRequest* request, ::viam::common::v1::GetGeometriesResponse* response) { return this->GetGeometries(context, request, response); }));}
     void SetMessageAllocatorFor_GetGeometries(
         ::grpc::MessageAllocator< ::viam::common::v1::GetGeometriesRequest, ::viam::common::v1::GetGeometriesResponse>* allocator) {
-      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::GetHandler(11);
+      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::GetHandler(12);
       static_cast<::grpc::internal::CallbackUnaryHandler< ::viam::common::v1::GetGeometriesRequest, ::viam::common::v1::GetGeometriesResponse>*>(handler)
               ->SetMessageAllocator(allocator);
     }
@@ -974,7 +1054,7 @@ class BoardService final {
     virtual ::grpc::ServerUnaryReactor* GetGeometries(
       ::grpc::CallbackServerContext* /*context*/, const ::viam::common::v1::GetGeometriesRequest* /*request*/, ::viam::common::v1::GetGeometriesResponse* /*response*/)  { return nullptr; }
   };
-  typedef WithCallbackMethod_Status<WithCallbackMethod_SetGPIO<WithCallbackMethod_GetGPIO<WithCallbackMethod_PWM<WithCallbackMethod_SetPWM<WithCallbackMethod_PWMFrequency<WithCallbackMethod_SetPWMFrequency<WithCallbackMethod_DoCommand<WithCallbackMethod_ReadAnalogReader<WithCallbackMethod_GetDigitalInterruptValue<WithCallbackMethod_SetPowerMode<WithCallbackMethod_GetGeometries<Service > > > > > > > > > > > > CallbackService;
+  typedef WithCallbackMethod_Status<WithCallbackMethod_SetGPIO<WithCallbackMethod_GetGPIO<WithCallbackMethod_PWM<WithCallbackMethod_SetPWM<WithCallbackMethod_PWMFrequency<WithCallbackMethod_SetPWMFrequency<WithCallbackMethod_DoCommand<WithCallbackMethod_ReadAnalogReader<WithCallbackMethod_WriteAnalog<WithCallbackMethod_GetDigitalInterruptValue<WithCallbackMethod_SetPowerMode<WithCallbackMethod_GetGeometries<Service > > > > > > > > > > > > > CallbackService;
   typedef CallbackService ExperimentalCallbackService;
   template <class BaseClass>
   class WithGenericMethod_Status : public BaseClass {
@@ -1130,12 +1210,29 @@ class BoardService final {
     }
   };
   template <class BaseClass>
+  class WithGenericMethod_WriteAnalog : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithGenericMethod_WriteAnalog() {
+      ::grpc::Service::MarkMethodGeneric(9);
+    }
+    ~WithGenericMethod_WriteAnalog() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status WriteAnalog(::grpc::ServerContext* /*context*/, const ::viam::component::board::v1::WriteAnalogRequest* /*request*/, ::viam::component::board::v1::WriteAnalogResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+  };
+  template <class BaseClass>
   class WithGenericMethod_GetDigitalInterruptValue : public BaseClass {
    private:
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithGenericMethod_GetDigitalInterruptValue() {
-      ::grpc::Service::MarkMethodGeneric(9);
+      ::grpc::Service::MarkMethodGeneric(10);
     }
     ~WithGenericMethod_GetDigitalInterruptValue() override {
       BaseClassMustBeDerivedFromService(this);
@@ -1152,7 +1249,7 @@ class BoardService final {
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithGenericMethod_SetPowerMode() {
-      ::grpc::Service::MarkMethodGeneric(10);
+      ::grpc::Service::MarkMethodGeneric(11);
     }
     ~WithGenericMethod_SetPowerMode() override {
       BaseClassMustBeDerivedFromService(this);
@@ -1169,7 +1266,7 @@ class BoardService final {
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithGenericMethod_GetGeometries() {
-      ::grpc::Service::MarkMethodGeneric(11);
+      ::grpc::Service::MarkMethodGeneric(12);
     }
     ~WithGenericMethod_GetGeometries() override {
       BaseClassMustBeDerivedFromService(this);
@@ -1361,12 +1458,32 @@ class BoardService final {
     }
   };
   template <class BaseClass>
+  class WithRawMethod_WriteAnalog : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithRawMethod_WriteAnalog() {
+      ::grpc::Service::MarkMethodRaw(9);
+    }
+    ~WithRawMethod_WriteAnalog() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status WriteAnalog(::grpc::ServerContext* /*context*/, const ::viam::component::board::v1::WriteAnalogRequest* /*request*/, ::viam::component::board::v1::WriteAnalogResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    void RequestWriteAnalog(::grpc::ServerContext* context, ::grpc::ByteBuffer* request, ::grpc::ServerAsyncResponseWriter< ::grpc::ByteBuffer>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
+      ::grpc::Service::RequestAsyncUnary(9, context, request, response, new_call_cq, notification_cq, tag);
+    }
+  };
+  template <class BaseClass>
   class WithRawMethod_GetDigitalInterruptValue : public BaseClass {
    private:
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithRawMethod_GetDigitalInterruptValue() {
-      ::grpc::Service::MarkMethodRaw(9);
+      ::grpc::Service::MarkMethodRaw(10);
     }
     ~WithRawMethod_GetDigitalInterruptValue() override {
       BaseClassMustBeDerivedFromService(this);
@@ -1377,7 +1494,7 @@ class BoardService final {
       return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
     }
     void RequestGetDigitalInterruptValue(::grpc::ServerContext* context, ::grpc::ByteBuffer* request, ::grpc::ServerAsyncResponseWriter< ::grpc::ByteBuffer>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
-      ::grpc::Service::RequestAsyncUnary(9, context, request, response, new_call_cq, notification_cq, tag);
+      ::grpc::Service::RequestAsyncUnary(10, context, request, response, new_call_cq, notification_cq, tag);
     }
   };
   template <class BaseClass>
@@ -1386,7 +1503,7 @@ class BoardService final {
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithRawMethod_SetPowerMode() {
-      ::grpc::Service::MarkMethodRaw(10);
+      ::grpc::Service::MarkMethodRaw(11);
     }
     ~WithRawMethod_SetPowerMode() override {
       BaseClassMustBeDerivedFromService(this);
@@ -1397,7 +1514,7 @@ class BoardService final {
       return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
     }
     void RequestSetPowerMode(::grpc::ServerContext* context, ::grpc::ByteBuffer* request, ::grpc::ServerAsyncResponseWriter< ::grpc::ByteBuffer>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
-      ::grpc::Service::RequestAsyncUnary(10, context, request, response, new_call_cq, notification_cq, tag);
+      ::grpc::Service::RequestAsyncUnary(11, context, request, response, new_call_cq, notification_cq, tag);
     }
   };
   template <class BaseClass>
@@ -1406,7 +1523,7 @@ class BoardService final {
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithRawMethod_GetGeometries() {
-      ::grpc::Service::MarkMethodRaw(11);
+      ::grpc::Service::MarkMethodRaw(12);
     }
     ~WithRawMethod_GetGeometries() override {
       BaseClassMustBeDerivedFromService(this);
@@ -1417,7 +1534,7 @@ class BoardService final {
       return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
     }
     void RequestGetGeometries(::grpc::ServerContext* context, ::grpc::ByteBuffer* request, ::grpc::ServerAsyncResponseWriter< ::grpc::ByteBuffer>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
-      ::grpc::Service::RequestAsyncUnary(11, context, request, response, new_call_cq, notification_cq, tag);
+      ::grpc::Service::RequestAsyncUnary(12, context, request, response, new_call_cq, notification_cq, tag);
     }
   };
   template <class BaseClass>
@@ -1619,12 +1736,34 @@ class BoardService final {
       ::grpc::CallbackServerContext* /*context*/, const ::grpc::ByteBuffer* /*request*/, ::grpc::ByteBuffer* /*response*/)  { return nullptr; }
   };
   template <class BaseClass>
+  class WithRawCallbackMethod_WriteAnalog : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithRawCallbackMethod_WriteAnalog() {
+      ::grpc::Service::MarkMethodRawCallback(9,
+          new ::grpc::internal::CallbackUnaryHandler< ::grpc::ByteBuffer, ::grpc::ByteBuffer>(
+            [this](
+                   ::grpc::CallbackServerContext* context, const ::grpc::ByteBuffer* request, ::grpc::ByteBuffer* response) { return this->WriteAnalog(context, request, response); }));
+    }
+    ~WithRawCallbackMethod_WriteAnalog() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status WriteAnalog(::grpc::ServerContext* /*context*/, const ::viam::component::board::v1::WriteAnalogRequest* /*request*/, ::viam::component::board::v1::WriteAnalogResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    virtual ::grpc::ServerUnaryReactor* WriteAnalog(
+      ::grpc::CallbackServerContext* /*context*/, const ::grpc::ByteBuffer* /*request*/, ::grpc::ByteBuffer* /*response*/)  { return nullptr; }
+  };
+  template <class BaseClass>
   class WithRawCallbackMethod_GetDigitalInterruptValue : public BaseClass {
    private:
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithRawCallbackMethod_GetDigitalInterruptValue() {
-      ::grpc::Service::MarkMethodRawCallback(9,
+      ::grpc::Service::MarkMethodRawCallback(10,
           new ::grpc::internal::CallbackUnaryHandler< ::grpc::ByteBuffer, ::grpc::ByteBuffer>(
             [this](
                    ::grpc::CallbackServerContext* context, const ::grpc::ByteBuffer* request, ::grpc::ByteBuffer* response) { return this->GetDigitalInterruptValue(context, request, response); }));
@@ -1646,7 +1785,7 @@ class BoardService final {
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithRawCallbackMethod_SetPowerMode() {
-      ::grpc::Service::MarkMethodRawCallback(10,
+      ::grpc::Service::MarkMethodRawCallback(11,
           new ::grpc::internal::CallbackUnaryHandler< ::grpc::ByteBuffer, ::grpc::ByteBuffer>(
             [this](
                    ::grpc::CallbackServerContext* context, const ::grpc::ByteBuffer* request, ::grpc::ByteBuffer* response) { return this->SetPowerMode(context, request, response); }));
@@ -1668,7 +1807,7 @@ class BoardService final {
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithRawCallbackMethod_GetGeometries() {
-      ::grpc::Service::MarkMethodRawCallback(11,
+      ::grpc::Service::MarkMethodRawCallback(12,
           new ::grpc::internal::CallbackUnaryHandler< ::grpc::ByteBuffer, ::grpc::ByteBuffer>(
             [this](
                    ::grpc::CallbackServerContext* context, const ::grpc::ByteBuffer* request, ::grpc::ByteBuffer* response) { return this->GetGeometries(context, request, response); }));
@@ -1928,12 +2067,39 @@ class BoardService final {
     virtual ::grpc::Status StreamedReadAnalogReader(::grpc::ServerContext* context, ::grpc::ServerUnaryStreamer< ::viam::component::board::v1::ReadAnalogReaderRequest,::viam::component::board::v1::ReadAnalogReaderResponse>* server_unary_streamer) = 0;
   };
   template <class BaseClass>
+  class WithStreamedUnaryMethod_WriteAnalog : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithStreamedUnaryMethod_WriteAnalog() {
+      ::grpc::Service::MarkMethodStreamed(9,
+        new ::grpc::internal::StreamedUnaryHandler<
+          ::viam::component::board::v1::WriteAnalogRequest, ::viam::component::board::v1::WriteAnalogResponse>(
+            [this](::grpc::ServerContext* context,
+                   ::grpc::ServerUnaryStreamer<
+                     ::viam::component::board::v1::WriteAnalogRequest, ::viam::component::board::v1::WriteAnalogResponse>* streamer) {
+                       return this->StreamedWriteAnalog(context,
+                         streamer);
+                  }));
+    }
+    ~WithStreamedUnaryMethod_WriteAnalog() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable regular version of this method
+    ::grpc::Status WriteAnalog(::grpc::ServerContext* /*context*/, const ::viam::component::board::v1::WriteAnalogRequest* /*request*/, ::viam::component::board::v1::WriteAnalogResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    // replace default version of method with streamed unary
+    virtual ::grpc::Status StreamedWriteAnalog(::grpc::ServerContext* context, ::grpc::ServerUnaryStreamer< ::viam::component::board::v1::WriteAnalogRequest,::viam::component::board::v1::WriteAnalogResponse>* server_unary_streamer) = 0;
+  };
+  template <class BaseClass>
   class WithStreamedUnaryMethod_GetDigitalInterruptValue : public BaseClass {
    private:
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithStreamedUnaryMethod_GetDigitalInterruptValue() {
-      ::grpc::Service::MarkMethodStreamed(9,
+      ::grpc::Service::MarkMethodStreamed(10,
         new ::grpc::internal::StreamedUnaryHandler<
           ::viam::component::board::v1::GetDigitalInterruptValueRequest, ::viam::component::board::v1::GetDigitalInterruptValueResponse>(
             [this](::grpc::ServerContext* context,
@@ -1960,7 +2126,7 @@ class BoardService final {
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithStreamedUnaryMethod_SetPowerMode() {
-      ::grpc::Service::MarkMethodStreamed(10,
+      ::grpc::Service::MarkMethodStreamed(11,
         new ::grpc::internal::StreamedUnaryHandler<
           ::viam::component::board::v1::SetPowerModeRequest, ::viam::component::board::v1::SetPowerModeResponse>(
             [this](::grpc::ServerContext* context,
@@ -1987,7 +2153,7 @@ class BoardService final {
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithStreamedUnaryMethod_GetGeometries() {
-      ::grpc::Service::MarkMethodStreamed(11,
+      ::grpc::Service::MarkMethodStreamed(12,
         new ::grpc::internal::StreamedUnaryHandler<
           ::viam::common::v1::GetGeometriesRequest, ::viam::common::v1::GetGeometriesResponse>(
             [this](::grpc::ServerContext* context,
@@ -2008,9 +2174,9 @@ class BoardService final {
     // replace default version of method with streamed unary
     virtual ::grpc::Status StreamedGetGeometries(::grpc::ServerContext* context, ::grpc::ServerUnaryStreamer< ::viam::common::v1::GetGeometriesRequest,::viam::common::v1::GetGeometriesResponse>* server_unary_streamer) = 0;
   };
-  typedef WithStreamedUnaryMethod_Status<WithStreamedUnaryMethod_SetGPIO<WithStreamedUnaryMethod_GetGPIO<WithStreamedUnaryMethod_PWM<WithStreamedUnaryMethod_SetPWM<WithStreamedUnaryMethod_PWMFrequency<WithStreamedUnaryMethod_SetPWMFrequency<WithStreamedUnaryMethod_DoCommand<WithStreamedUnaryMethod_ReadAnalogReader<WithStreamedUnaryMethod_GetDigitalInterruptValue<WithStreamedUnaryMethod_SetPowerMode<WithStreamedUnaryMethod_GetGeometries<Service > > > > > > > > > > > > StreamedUnaryService;
+  typedef WithStreamedUnaryMethod_Status<WithStreamedUnaryMethod_SetGPIO<WithStreamedUnaryMethod_GetGPIO<WithStreamedUnaryMethod_PWM<WithStreamedUnaryMethod_SetPWM<WithStreamedUnaryMethod_PWMFrequency<WithStreamedUnaryMethod_SetPWMFrequency<WithStreamedUnaryMethod_DoCommand<WithStreamedUnaryMethod_ReadAnalogReader<WithStreamedUnaryMethod_WriteAnalog<WithStreamedUnaryMethod_GetDigitalInterruptValue<WithStreamedUnaryMethod_SetPowerMode<WithStreamedUnaryMethod_GetGeometries<Service > > > > > > > > > > > > > StreamedUnaryService;
   typedef Service SplitStreamedService;
-  typedef WithStreamedUnaryMethod_Status<WithStreamedUnaryMethod_SetGPIO<WithStreamedUnaryMethod_GetGPIO<WithStreamedUnaryMethod_PWM<WithStreamedUnaryMethod_SetPWM<WithStreamedUnaryMethod_PWMFrequency<WithStreamedUnaryMethod_SetPWMFrequency<WithStreamedUnaryMethod_DoCommand<WithStreamedUnaryMethod_ReadAnalogReader<WithStreamedUnaryMethod_GetDigitalInterruptValue<WithStreamedUnaryMethod_SetPowerMode<WithStreamedUnaryMethod_GetGeometries<Service > > > > > > > > > > > > StreamedService;
+  typedef WithStreamedUnaryMethod_Status<WithStreamedUnaryMethod_SetGPIO<WithStreamedUnaryMethod_GetGPIO<WithStreamedUnaryMethod_PWM<WithStreamedUnaryMethod_SetPWM<WithStreamedUnaryMethod_PWMFrequency<WithStreamedUnaryMethod_SetPWMFrequency<WithStreamedUnaryMethod_DoCommand<WithStreamedUnaryMethod_ReadAnalogReader<WithStreamedUnaryMethod_WriteAnalog<WithStreamedUnaryMethod_GetDigitalInterruptValue<WithStreamedUnaryMethod_SetPowerMode<WithStreamedUnaryMethod_GetGeometries<Service > > > > > > > > > > > > > StreamedService;
 };
 
 }  // namespace v1
diff --git a/src/viam/api/component/board/v1/board.pb.cc b/src/viam/api/component/board/v1/board.pb.cc
index 795439e66..e1d2b0337 100644
--- a/src/viam/api/component/board/v1/board.pb.cc
+++ b/src/viam/api/component/board/v1/board.pb.cc
@@ -231,6 +231,32 @@ struct ReadAnalogReaderResponseDefaultTypeInternal {
   };
 };
 PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORITY1 ReadAnalogReaderResponseDefaultTypeInternal _ReadAnalogReaderResponse_default_instance_;
+PROTOBUF_CONSTEXPR WriteAnalogRequest::WriteAnalogRequest(
+    ::_pbi::ConstantInitialized)
+  : name_(&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{})
+  , pin_(&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{})
+  , extra_(nullptr)
+  , value_(0){}
+struct WriteAnalogRequestDefaultTypeInternal {
+  PROTOBUF_CONSTEXPR WriteAnalogRequestDefaultTypeInternal()
+      : _instance(::_pbi::ConstantInitialized{}) {}
+  ~WriteAnalogRequestDefaultTypeInternal() {}
+  union {
+    WriteAnalogRequest _instance;
+  };
+};
+PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORITY1 WriteAnalogRequestDefaultTypeInternal _WriteAnalogRequest_default_instance_;
+PROTOBUF_CONSTEXPR WriteAnalogResponse::WriteAnalogResponse(
+    ::_pbi::ConstantInitialized){}
+struct WriteAnalogResponseDefaultTypeInternal {
+  PROTOBUF_CONSTEXPR WriteAnalogResponseDefaultTypeInternal()
+      : _instance(::_pbi::ConstantInitialized{}) {}
+  ~WriteAnalogResponseDefaultTypeInternal() {}
+  union {
+    WriteAnalogResponse _instance;
+  };
+};
+PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORITY1 WriteAnalogResponseDefaultTypeInternal _WriteAnalogResponse_default_instance_;
 PROTOBUF_CONSTEXPR GetDigitalInterruptValueRequest::GetDigitalInterruptValueRequest(
     ::_pbi::ConstantInitialized)
   : board_name_(&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{})
@@ -288,7 +314,7 @@ PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORIT
 }  // namespace board
 }  // namespace component
 }  // namespace viam
-static ::_pb::Metadata file_level_metadata_component_2fboard_2fv1_2fboard_2eproto[20];
+static ::_pb::Metadata file_level_metadata_component_2fboard_2fv1_2fboard_2eproto[22];
 static const ::_pb::EnumDescriptor* file_level_enum_descriptors_component_2fboard_2fv1_2fboard_2eproto[1];
 static constexpr ::_pb::ServiceDescriptor const** file_level_service_descriptors_component_2fboard_2fv1_2fboard_2eproto = nullptr;
 
@@ -421,6 +447,22 @@ const uint32_t TableStruct_component_2fboard_2fv1_2fboard_2eproto::offsets[] PRO
   ~0u,  // no _inlined_string_donated_
   PROTOBUF_FIELD_OFFSET(::viam::component::board::v1::ReadAnalogReaderResponse, value_),
   ~0u,  // no _has_bits_
+  PROTOBUF_FIELD_OFFSET(::viam::component::board::v1::WriteAnalogRequest, _internal_metadata_),
+  ~0u,  // no _extensions_
+  ~0u,  // no _oneof_case_
+  ~0u,  // no _weak_field_map_
+  ~0u,  // no _inlined_string_donated_
+  PROTOBUF_FIELD_OFFSET(::viam::component::board::v1::WriteAnalogRequest, name_),
+  PROTOBUF_FIELD_OFFSET(::viam::component::board::v1::WriteAnalogRequest, pin_),
+  PROTOBUF_FIELD_OFFSET(::viam::component::board::v1::WriteAnalogRequest, value_),
+  PROTOBUF_FIELD_OFFSET(::viam::component::board::v1::WriteAnalogRequest, extra_),
+  ~0u,  // no _has_bits_
+  PROTOBUF_FIELD_OFFSET(::viam::component::board::v1::WriteAnalogResponse, _internal_metadata_),
+  ~0u,  // no _extensions_
+  ~0u,  // no _oneof_case_
+  ~0u,  // no _weak_field_map_
+  ~0u,  // no _inlined_string_donated_
+  ~0u,  // no _has_bits_
   PROTOBUF_FIELD_OFFSET(::viam::component::board::v1::GetDigitalInterruptValueRequest, _internal_metadata_),
   ~0u,  // no _extensions_
   ~0u,  // no _oneof_case_
@@ -474,10 +516,12 @@ static const ::_pbi::MigrationSchema schemas[] PROTOBUF_SECTION_VARIABLE(protode
   { 105, -1, -1, sizeof(::viam::component::board::v1::SetPWMFrequencyResponse)},
   { 111, -1, -1, sizeof(::viam::component::board::v1::ReadAnalogReaderRequest)},
   { 120, -1, -1, sizeof(::viam::component::board::v1::ReadAnalogReaderResponse)},
-  { 127, -1, -1, sizeof(::viam::component::board::v1::GetDigitalInterruptValueRequest)},
-  { 136, -1, -1, sizeof(::viam::component::board::v1::GetDigitalInterruptValueResponse)},
-  { 143, 153, -1, sizeof(::viam::component::board::v1::SetPowerModeRequest)},
-  { 157, -1, -1, sizeof(::viam::component::board::v1::SetPowerModeResponse)},
+  { 127, -1, -1, sizeof(::viam::component::board::v1::WriteAnalogRequest)},
+  { 137, -1, -1, sizeof(::viam::component::board::v1::WriteAnalogResponse)},
+  { 143, -1, -1, sizeof(::viam::component::board::v1::GetDigitalInterruptValueRequest)},
+  { 152, -1, -1, sizeof(::viam::component::board::v1::GetDigitalInterruptValueResponse)},
+  { 159, 169, -1, sizeof(::viam::component::board::v1::SetPowerModeRequest)},
+  { 173, -1, -1, sizeof(::viam::component::board::v1::SetPowerModeResponse)},
 };
 
 static const ::_pb::Message* const file_default_instances[] = {
@@ -497,6 +541,8 @@ static const ::_pb::Message* const file_default_instances[] = {
   &::viam::component::board::v1::_SetPWMFrequencyResponse_default_instance_._instance,
   &::viam::component::board::v1::_ReadAnalogReaderRequest_default_instance_._instance,
   &::viam::component::board::v1::_ReadAnalogReaderResponse_default_instance_._instance,
+  &::viam::component::board::v1::_WriteAnalogRequest_default_instance_._instance,
+  &::viam::component::board::v1::_WriteAnalogResponse_default_instance_._instance,
   &::viam::component::board::v1::_GetDigitalInterruptValueRequest_default_instance_._instance,
   &::viam::component::board::v1::_GetDigitalInterruptValueResponse_default_instance_._instance,
   &::viam::component::board::v1::_SetPowerModeRequest_default_instance_._instance,
@@ -540,73 +586,81 @@ const char descriptor_table_protodef_component_2fboard_2fv1_2fboard_2eproto[] PR
   "ame\022,\n\022analog_reader_name\030\002 \001(\tR\020analogR"
   "eaderName\022-\n\005extra\030c \001(\0132\027.google.protob"
   "uf.StructR\005extra\"0\n\030ReadAnalogReaderResp"
-  "onse\022\024\n\005value\030\001 \001(\005R\005value\"\245\001\n\037GetDigita"
-  "lInterruptValueRequest\022\035\n\nboard_name\030\001 \001"
-  "(\tR\tboardName\0224\n\026digital_interrupt_name\030"
-  "\002 \001(\tR\024digitalInterruptName\022-\n\005extra\030c \001"
-  "(\0132\027.google.protobuf.StructR\005extra\"8\n Ge"
-  "tDigitalInterruptValueResponse\022\024\n\005value\030"
-  "\001 \001(\003R\005value\"\344\001\n\023SetPowerModeRequest\022\022\n\004"
-  "name\030\001 \001(\tR\004name\022A\n\npower_mode\030\002 \001(\0162\".v"
-  "iam.component.board.v1.PowerModeR\tpowerM"
-  "ode\022:\n\010duration\030\003 \001(\0132\031.google.protobuf."
-  "DurationH\000R\010duration\210\001\001\022-\n\005extra\030c \001(\0132\027"
-  ".google.protobuf.StructR\005extraB\013\n\t_durat"
-  "ion\"\026\n\024SetPowerModeResponse*[\n\tPowerMode"
-  "\022\032\n\026POWER_MODE_UNSPECIFIED\020\000\022\025\n\021POWER_MO"
-  "DE_NORMAL\020\001\022\033\n\027POWER_MODE_OFFLINE_DEEP\020\002"
-  "2\265\017\n\014BoardService\022\215\001\n\006Status\022&.viam.comp"
-  "onent.board.v1.StatusRequest\032\'.viam.comp"
-  "onent.board.v1.StatusResponse\"2\202\323\344\223\002,\022*/"
-  "viam/api/v1/component/board/{name}/statu"
-  "s\022\216\001\n\007SetGPIO\022\'.viam.component.board.v1."
-  "SetGPIORequest\032(.viam.component.board.v1"
-  ".SetGPIOResponse\"0\202\323\344\223\002*\032(/viam/api/v1/c"
-  "omponent/board/{name}/gpio\022\216\001\n\007GetGPIO\022\'"
-  ".viam.component.board.v1.GetGPIORequest\032"
-  "(.viam.component.board.v1.GetGPIORespons"
-  "e\"0\202\323\344\223\002*\022(/viam/api/v1/component/board/"
-  "{name}/gpio\022\201\001\n\003PWM\022#.viam.component.boa"
-  "rd.v1.PWMRequest\032$.viam.component.board."
-  "v1.PWMResponse\"/\202\323\344\223\002)\022\'/viam/api/v1/com"
-  "ponent/board/{name}/pwm\022\212\001\n\006SetPWM\022&.via"
-  "m.component.board.v1.SetPWMRequest\032\'.via"
-  "m.component.board.v1.SetPWMResponse\"/\202\323\344"
-  "\223\002)\032\'/viam/api/v1/component/board/{name}"
-  "/pwm\022\241\001\n\014PWMFrequency\022,.viam.component.b"
-  "oard.v1.PWMFrequencyRequest\032-.viam.compo"
-  "nent.board.v1.PWMFrequencyResponse\"4\202\323\344\223"
-  "\002.\022,/viam/api/v1/component/board/{name}/"
-  "pwm_freq\022\252\001\n\017SetPWMFrequency\022/.viam.comp"
-  "onent.board.v1.SetPWMFrequencyRequest\0320."
-  "viam.component.board.v1.SetPWMFrequencyR"
-  "esponse\"4\202\323\344\223\002.\032,/viam/api/v1/component/"
-  "board/{name}/pwm_freq\022\210\001\n\tDoCommand\022 .vi"
-  "am.common.v1.DoCommandRequest\032!.viam.com"
-  "mon.v1.DoCommandResponse\"6\202\323\344\223\0020\"./viam/"
-  "api/v1/component/board/{name}/do_command"
-  "\022\322\001\n\020ReadAnalogReader\0220.viam.component.b"
-  "oard.v1.ReadAnalogReaderRequest\0321.viam.c"
-  "omponent.board.v1.ReadAnalogReaderRespon"
-  "se\"Y\202\323\344\223\002S\022Q/viam/api/v1/component/board"
-  "/{board_name}/analog_reader/{analog_read"
-  "er_name}/read\022\363\001\n\030GetDigitalInterruptVal"
-  "ue\0228.viam.component.board.v1.GetDigitalI"
-  "nterruptValueRequest\0329.viam.component.bo"
-  "ard.v1.GetDigitalInterruptValueResponse\""
-  "b\202\323\344\223\002\\\022Z/viam/api/v1/component/board/{b"
-  "oard_name}/digital_interrupt/{digital_in"
-  "terrupt_name}/value\022\243\001\n\014SetPowerMode\022,.v"
-  "iam.component.board.v1.SetPowerModeReque"
-  "st\032-.viam.component.board.v1.SetPowerMod"
-  "eResponse\"6\202\323\344\223\0020\032./viam/api/v1/componen"
-  "t/board/{name}/power_mode\022\224\001\n\rGetGeometr"
-  "ies\022$.viam.common.v1.GetGeometriesReques"
-  "t\032%.viam.common.v1.GetGeometriesResponse"
-  "\"6\202\323\344\223\0020\022./viam/api/v1/component/board/{"
-  "name}/geometriesBA\n\033com.viam.component.b"
-  "oard.v1Z\"go.viam.com/api/component/board"
-  "/v1b\006proto3"
+  "onse\022\024\n\005value\030\001 \001(\005R\005value\"\177\n\022WriteAnalo"
+  "gRequest\022\022\n\004name\030\001 \001(\tR\004name\022\020\n\003pin\030\002 \001("
+  "\tR\003pin\022\024\n\005value\030\003 \001(\005R\005value\022-\n\005extra\030c "
+  "\001(\0132\027.google.protobuf.StructR\005extra\"\025\n\023W"
+  "riteAnalogResponse\"\245\001\n\037GetDigitalInterru"
+  "ptValueRequest\022\035\n\nboard_name\030\001 \001(\tR\tboar"
+  "dName\0224\n\026digital_interrupt_name\030\002 \001(\tR\024d"
+  "igitalInterruptName\022-\n\005extra\030c \001(\0132\027.goo"
+  "gle.protobuf.StructR\005extra\"8\n GetDigital"
+  "InterruptValueResponse\022\024\n\005value\030\001 \001(\003R\005v"
+  "alue\"\344\001\n\023SetPowerModeRequest\022\022\n\004name\030\001 \001"
+  "(\tR\004name\022A\n\npower_mode\030\002 \001(\0162\".viam.comp"
+  "onent.board.v1.PowerModeR\tpowerMode\022:\n\010d"
+  "uration\030\003 \001(\0132\031.google.protobuf.Duration"
+  "H\000R\010duration\210\001\001\022-\n\005extra\030c \001(\0132\027.google."
+  "protobuf.StructR\005extraB\013\n\t_duration\"\026\n\024S"
+  "etPowerModeResponse*[\n\tPowerMode\022\032\n\026POWE"
+  "R_MODE_UNSPECIFIED\020\000\022\025\n\021POWER_MODE_NORMA"
+  "L\020\001\022\033\n\027POWER_MODE_OFFLINE_DEEP\020\0022\332\020\n\014Boa"
+  "rdService\022\215\001\n\006Status\022&.viam.component.bo"
+  "ard.v1.StatusRequest\032\'.viam.component.bo"
+  "ard.v1.StatusResponse\"2\202\323\344\223\002,\022*/viam/api"
+  "/v1/component/board/{name}/status\022\216\001\n\007Se"
+  "tGPIO\022\'.viam.component.board.v1.SetGPIOR"
+  "equest\032(.viam.component.board.v1.SetGPIO"
+  "Response\"0\202\323\344\223\002*\032(/viam/api/v1/component"
+  "/board/{name}/gpio\022\216\001\n\007GetGPIO\022\'.viam.co"
+  "mponent.board.v1.GetGPIORequest\032(.viam.c"
+  "omponent.board.v1.GetGPIOResponse\"0\202\323\344\223\002"
+  "*\022(/viam/api/v1/component/board/{name}/g"
+  "pio\022\201\001\n\003PWM\022#.viam.component.board.v1.PW"
+  "MRequest\032$.viam.component.board.v1.PWMRe"
+  "sponse\"/\202\323\344\223\002)\022\'/viam/api/v1/component/b"
+  "oard/{name}/pwm\022\212\001\n\006SetPWM\022&.viam.compon"
+  "ent.board.v1.SetPWMRequest\032\'.viam.compon"
+  "ent.board.v1.SetPWMResponse\"/\202\323\344\223\002)\032\'/vi"
+  "am/api/v1/component/board/{name}/pwm\022\241\001\n"
+  "\014PWMFrequency\022,.viam.component.board.v1."
+  "PWMFrequencyRequest\032-.viam.component.boa"
+  "rd.v1.PWMFrequencyResponse\"4\202\323\344\223\002.\022,/via"
+  "m/api/v1/component/board/{name}/pwm_freq"
+  "\022\252\001\n\017SetPWMFrequency\022/.viam.component.bo"
+  "ard.v1.SetPWMFrequencyRequest\0320.viam.com"
+  "ponent.board.v1.SetPWMFrequencyResponse\""
+  "4\202\323\344\223\002.\032,/viam/api/v1/component/board/{n"
+  "ame}/pwm_freq\022\210\001\n\tDoCommand\022 .viam.commo"
+  "n.v1.DoCommandRequest\032!.viam.common.v1.D"
+  "oCommandResponse\"6\202\323\344\223\0020\"./viam/api/v1/c"
+  "omponent/board/{name}/do_command\022\322\001\n\020Rea"
+  "dAnalogReader\0220.viam.component.board.v1."
+  "ReadAnalogReaderRequest\0321.viam.component"
+  ".board.v1.ReadAnalogReaderResponse\"Y\202\323\344\223"
+  "\002S\022Q/viam/api/v1/component/board/{board_"
+  "name}/analog_reader/{analog_reader_name}"
+  "/read\022\242\001\n\013WriteAnalog\022+.viam.component.b"
+  "oard.v1.WriteAnalogRequest\032,.viam.compon"
+  "ent.board.v1.WriteAnalogResponse\"8\202\323\344\223\0022"
+  "\0320/viam/api/v1/component/board/{name}/an"
+  "alog_write\022\363\001\n\030GetDigitalInterruptValue\022"
+  "8.viam.component.board.v1.GetDigitalInte"
+  "rruptValueRequest\0329.viam.component.board"
+  ".v1.GetDigitalInterruptValueResponse\"b\202\323"
+  "\344\223\002\\\022Z/viam/api/v1/component/board/{boar"
+  "d_name}/digital_interrupt/{digital_inter"
+  "rupt_name}/value\022\243\001\n\014SetPowerMode\022,.viam"
+  ".component.board.v1.SetPowerModeRequest\032"
+  "-.viam.component.board.v1.SetPowerModeRe"
+  "sponse\"6\202\323\344\223\0020\032./viam/api/v1/component/b"
+  "oard/{name}/power_mode\022\224\001\n\rGetGeometries"
+  "\022$.viam.common.v1.GetGeometriesRequest\032%"
+  ".viam.common.v1.GetGeometriesResponse\"6\202"
+  "\323\344\223\0020\022./viam/api/v1/component/board/{nam"
+  "e}/geometriesBA\n\033com.viam.component.boar"
+  "d.v1Z\"go.viam.com/api/component/board/v1"
+  "b\006proto3"
   ;
 static const ::_pbi::DescriptorTable* const descriptor_table_component_2fboard_2fv1_2fboard_2eproto_deps[4] = {
   &::descriptor_table_common_2fv1_2fcommon_2eproto,
@@ -616,9 +670,9 @@ static const ::_pbi::DescriptorTable* const descriptor_table_component_2fboard_2
 };
 static ::_pbi::once_flag descriptor_table_component_2fboard_2fv1_2fboard_2eproto_once;
 const ::_pbi::DescriptorTable descriptor_table_component_2fboard_2fv1_2fboard_2eproto = {
-    false, false, 4091, descriptor_table_protodef_component_2fboard_2fv1_2fboard_2eproto,
+    false, false, 4408, descriptor_table_protodef_component_2fboard_2fv1_2fboard_2eproto,
     "component/board/v1/board.proto",
-    &descriptor_table_component_2fboard_2fv1_2fboard_2eproto_once, descriptor_table_component_2fboard_2fv1_2fboard_2eproto_deps, 4, 20,
+    &descriptor_table_component_2fboard_2fv1_2fboard_2eproto_once, descriptor_table_component_2fboard_2fv1_2fboard_2eproto_deps, 4, 22,
     schemas, file_default_instances, TableStruct_component_2fboard_2fv1_2fboard_2eproto::offsets,
     file_level_metadata_component_2fboard_2fv1_2fboard_2eproto, file_level_enum_descriptors_component_2fboard_2fv1_2fboard_2eproto,
     file_level_service_descriptors_component_2fboard_2fv1_2fboard_2eproto,
@@ -4045,6 +4099,368 @@ ::PROTOBUF_NAMESPACE_ID::Metadata ReadAnalogReaderResponse::GetMetadata() const
 
 // ===================================================================
 
+class WriteAnalogRequest::_Internal {
+ public:
+  static const ::PROTOBUF_NAMESPACE_ID::Struct& extra(const WriteAnalogRequest* msg);
+};
+
+const ::PROTOBUF_NAMESPACE_ID::Struct&
+WriteAnalogRequest::_Internal::extra(const WriteAnalogRequest* msg) {
+  return *msg->extra_;
+}
+void WriteAnalogRequest::clear_extra() {
+  if (GetArenaForAllocation() == nullptr && extra_ != nullptr) {
+    delete extra_;
+  }
+  extra_ = nullptr;
+}
+WriteAnalogRequest::WriteAnalogRequest(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                         bool is_message_owned)
+  : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned) {
+  SharedCtor();
+  // @@protoc_insertion_point(arena_constructor:viam.component.board.v1.WriteAnalogRequest)
+}
+WriteAnalogRequest::WriteAnalogRequest(const WriteAnalogRequest& from)
+  : ::PROTOBUF_NAMESPACE_ID::Message() {
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+  name_.InitDefault();
+  #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+    name_.Set("", GetArenaForAllocation());
+  #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (!from._internal_name().empty()) {
+    name_.Set(from._internal_name(), 
+      GetArenaForAllocation());
+  }
+  pin_.InitDefault();
+  #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+    pin_.Set("", GetArenaForAllocation());
+  #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (!from._internal_pin().empty()) {
+    pin_.Set(from._internal_pin(), 
+      GetArenaForAllocation());
+  }
+  if (from._internal_has_extra()) {
+    extra_ = new ::PROTOBUF_NAMESPACE_ID::Struct(*from.extra_);
+  } else {
+    extra_ = nullptr;
+  }
+  value_ = from.value_;
+  // @@protoc_insertion_point(copy_constructor:viam.component.board.v1.WriteAnalogRequest)
+}
+
+inline void WriteAnalogRequest::SharedCtor() {
+name_.InitDefault();
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  name_.Set("", GetArenaForAllocation());
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+pin_.InitDefault();
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  pin_.Set("", GetArenaForAllocation());
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+::memset(reinterpret_cast<char*>(this) + static_cast<size_t>(
+    reinterpret_cast<char*>(&extra_) - reinterpret_cast<char*>(this)),
+    0, static_cast<size_t>(reinterpret_cast<char*>(&value_) -
+    reinterpret_cast<char*>(&extra_)) + sizeof(value_));
+}
+
+WriteAnalogRequest::~WriteAnalogRequest() {
+  // @@protoc_insertion_point(destructor:viam.component.board.v1.WriteAnalogRequest)
+  if (auto *arena = _internal_metadata_.DeleteReturnArena<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>()) {
+  (void)arena;
+    return;
+  }
+  SharedDtor();
+}
+
+inline void WriteAnalogRequest::SharedDtor() {
+  GOOGLE_DCHECK(GetArenaForAllocation() == nullptr);
+  name_.Destroy();
+  pin_.Destroy();
+  if (this != internal_default_instance()) delete extra_;
+}
+
+void WriteAnalogRequest::SetCachedSize(int size) const {
+  _cached_size_.Set(size);
+}
+
+void WriteAnalogRequest::Clear() {
+// @@protoc_insertion_point(message_clear_start:viam.component.board.v1.WriteAnalogRequest)
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  name_.ClearToEmpty();
+  pin_.ClearToEmpty();
+  if (GetArenaForAllocation() == nullptr && extra_ != nullptr) {
+    delete extra_;
+  }
+  extra_ = nullptr;
+  value_ = 0;
+  _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
+}
+
+const char* WriteAnalogRequest::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
+#define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
+  while (!ctx->Done(&ptr)) {
+    uint32_t tag;
+    ptr = ::_pbi::ReadTag(ptr, &tag);
+    switch (tag >> 3) {
+      // string name = 1 [json_name = "name"];
+      case 1:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 10)) {
+          auto str = _internal_mutable_name();
+          ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx);
+          CHK_(ptr);
+          CHK_(::_pbi::VerifyUTF8(str, "viam.component.board.v1.WriteAnalogRequest.name"));
+        } else
+          goto handle_unusual;
+        continue;
+      // string pin = 2 [json_name = "pin"];
+      case 2:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 18)) {
+          auto str = _internal_mutable_pin();
+          ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx);
+          CHK_(ptr);
+          CHK_(::_pbi::VerifyUTF8(str, "viam.component.board.v1.WriteAnalogRequest.pin"));
+        } else
+          goto handle_unusual;
+        continue;
+      // int32 value = 3 [json_name = "value"];
+      case 3:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 24)) {
+          value_ = ::PROTOBUF_NAMESPACE_ID::internal::ReadVarint32(&ptr);
+          CHK_(ptr);
+        } else
+          goto handle_unusual;
+        continue;
+      // .google.protobuf.Struct extra = 99 [json_name = "extra"];
+      case 99:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 26)) {
+          ptr = ctx->ParseMessage(_internal_mutable_extra(), ptr);
+          CHK_(ptr);
+        } else
+          goto handle_unusual;
+        continue;
+      default:
+        goto handle_unusual;
+    }  // switch
+  handle_unusual:
+    if ((tag == 0) || ((tag & 7) == 4)) {
+      CHK_(ptr);
+      ctx->SetLastTag(tag);
+      goto message_done;
+    }
+    ptr = UnknownFieldParse(
+        tag,
+        _internal_metadata_.mutable_unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(),
+        ptr, ctx);
+    CHK_(ptr != nullptr);
+  }  // while
+message_done:
+  return ptr;
+failure:
+  ptr = nullptr;
+  goto message_done;
+#undef CHK_
+}
+
+uint8_t* WriteAnalogRequest::_InternalSerialize(
+    uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
+  // @@protoc_insertion_point(serialize_to_array_start:viam.component.board.v1.WriteAnalogRequest)
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  // string name = 1 [json_name = "name"];
+  if (!this->_internal_name().empty()) {
+    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
+      this->_internal_name().data(), static_cast<int>(this->_internal_name().length()),
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
+      "viam.component.board.v1.WriteAnalogRequest.name");
+    target = stream->WriteStringMaybeAliased(
+        1, this->_internal_name(), target);
+  }
+
+  // string pin = 2 [json_name = "pin"];
+  if (!this->_internal_pin().empty()) {
+    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
+      this->_internal_pin().data(), static_cast<int>(this->_internal_pin().length()),
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
+      "viam.component.board.v1.WriteAnalogRequest.pin");
+    target = stream->WriteStringMaybeAliased(
+        2, this->_internal_pin(), target);
+  }
+
+  // int32 value = 3 [json_name = "value"];
+  if (this->_internal_value() != 0) {
+    target = stream->EnsureSpace(target);
+    target = ::_pbi::WireFormatLite::WriteInt32ToArray(3, this->_internal_value(), target);
+  }
+
+  // .google.protobuf.Struct extra = 99 [json_name = "extra"];
+  if (this->_internal_has_extra()) {
+    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::
+      InternalWriteMessage(99, _Internal::extra(this),
+        _Internal::extra(this).GetCachedSize(), target, stream);
+  }
+
+  if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
+    target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray(
+        _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
+  }
+  // @@protoc_insertion_point(serialize_to_array_end:viam.component.board.v1.WriteAnalogRequest)
+  return target;
+}
+
+size_t WriteAnalogRequest::ByteSizeLong() const {
+// @@protoc_insertion_point(message_byte_size_start:viam.component.board.v1.WriteAnalogRequest)
+  size_t total_size = 0;
+
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  // string name = 1 [json_name = "name"];
+  if (!this->_internal_name().empty()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
+        this->_internal_name());
+  }
+
+  // string pin = 2 [json_name = "pin"];
+  if (!this->_internal_pin().empty()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
+        this->_internal_pin());
+  }
+
+  // .google.protobuf.Struct extra = 99 [json_name = "extra"];
+  if (this->_internal_has_extra()) {
+    total_size += 2 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(
+        *extra_);
+  }
+
+  // int32 value = 3 [json_name = "value"];
+  if (this->_internal_value() != 0) {
+    total_size += ::_pbi::WireFormatLite::Int32SizePlusOne(this->_internal_value());
+  }
+
+  return MaybeComputeUnknownFieldsSize(total_size, &_cached_size_);
+}
+
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData WriteAnalogRequest::_class_data_ = {
+    ::PROTOBUF_NAMESPACE_ID::Message::CopyWithSizeCheck,
+    WriteAnalogRequest::MergeImpl
+};
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*WriteAnalogRequest::GetClassData() const { return &_class_data_; }
+
+void WriteAnalogRequest::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
+                      const ::PROTOBUF_NAMESPACE_ID::Message& from) {
+  static_cast<WriteAnalogRequest *>(to)->MergeFrom(
+      static_cast<const WriteAnalogRequest &>(from));
+}
+
+
+void WriteAnalogRequest::MergeFrom(const WriteAnalogRequest& from) {
+// @@protoc_insertion_point(class_specific_merge_from_start:viam.component.board.v1.WriteAnalogRequest)
+  GOOGLE_DCHECK_NE(&from, this);
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  if (!from._internal_name().empty()) {
+    _internal_set_name(from._internal_name());
+  }
+  if (!from._internal_pin().empty()) {
+    _internal_set_pin(from._internal_pin());
+  }
+  if (from._internal_has_extra()) {
+    _internal_mutable_extra()->::PROTOBUF_NAMESPACE_ID::Struct::MergeFrom(from._internal_extra());
+  }
+  if (from._internal_value() != 0) {
+    _internal_set_value(from._internal_value());
+  }
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+}
+
+void WriteAnalogRequest::CopyFrom(const WriteAnalogRequest& from) {
+// @@protoc_insertion_point(class_specific_copy_from_start:viam.component.board.v1.WriteAnalogRequest)
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool WriteAnalogRequest::IsInitialized() const {
+  return true;
+}
+
+void WriteAnalogRequest::InternalSwap(WriteAnalogRequest* other) {
+  using std::swap;
+  auto* lhs_arena = GetArenaForAllocation();
+  auto* rhs_arena = other->GetArenaForAllocation();
+  _internal_metadata_.InternalSwap(&other->_internal_metadata_);
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
+      &name_, lhs_arena,
+      &other->name_, rhs_arena
+  );
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
+      &pin_, lhs_arena,
+      &other->pin_, rhs_arena
+  );
+  ::PROTOBUF_NAMESPACE_ID::internal::memswap<
+      PROTOBUF_FIELD_OFFSET(WriteAnalogRequest, value_)
+      + sizeof(WriteAnalogRequest::value_)
+      - PROTOBUF_FIELD_OFFSET(WriteAnalogRequest, extra_)>(
+          reinterpret_cast<char*>(&extra_),
+          reinterpret_cast<char*>(&other->extra_));
+}
+
+::PROTOBUF_NAMESPACE_ID::Metadata WriteAnalogRequest::GetMetadata() const {
+  return ::_pbi::AssignDescriptors(
+      &descriptor_table_component_2fboard_2fv1_2fboard_2eproto_getter, &descriptor_table_component_2fboard_2fv1_2fboard_2eproto_once,
+      file_level_metadata_component_2fboard_2fv1_2fboard_2eproto[16]);
+}
+
+// ===================================================================
+
+class WriteAnalogResponse::_Internal {
+ public:
+};
+
+WriteAnalogResponse::WriteAnalogResponse(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                         bool is_message_owned)
+  : ::PROTOBUF_NAMESPACE_ID::internal::ZeroFieldsBase(arena, is_message_owned) {
+  // @@protoc_insertion_point(arena_constructor:viam.component.board.v1.WriteAnalogResponse)
+}
+WriteAnalogResponse::WriteAnalogResponse(const WriteAnalogResponse& from)
+  : ::PROTOBUF_NAMESPACE_ID::internal::ZeroFieldsBase() {
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+  // @@protoc_insertion_point(copy_constructor:viam.component.board.v1.WriteAnalogResponse)
+}
+
+
+
+
+
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData WriteAnalogResponse::_class_data_ = {
+    ::PROTOBUF_NAMESPACE_ID::internal::ZeroFieldsBase::CopyImpl,
+    ::PROTOBUF_NAMESPACE_ID::internal::ZeroFieldsBase::MergeImpl,
+};
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*WriteAnalogResponse::GetClassData() const { return &_class_data_; }
+
+
+
+
+
+
+
+::PROTOBUF_NAMESPACE_ID::Metadata WriteAnalogResponse::GetMetadata() const {
+  return ::_pbi::AssignDescriptors(
+      &descriptor_table_component_2fboard_2fv1_2fboard_2eproto_getter, &descriptor_table_component_2fboard_2fv1_2fboard_2eproto_once,
+      file_level_metadata_component_2fboard_2fv1_2fboard_2eproto[17]);
+}
+
+// ===================================================================
+
 class GetDigitalInterruptValueRequest::_Internal {
  public:
   static const ::PROTOBUF_NAMESPACE_ID::Struct& extra(const GetDigitalInterruptValueRequest* msg);
@@ -4331,7 +4747,7 @@ void GetDigitalInterruptValueRequest::InternalSwap(GetDigitalInterruptValueReque
 ::PROTOBUF_NAMESPACE_ID::Metadata GetDigitalInterruptValueRequest::GetMetadata() const {
   return ::_pbi::AssignDescriptors(
       &descriptor_table_component_2fboard_2fv1_2fboard_2eproto_getter, &descriptor_table_component_2fboard_2fv1_2fboard_2eproto_once,
-      file_level_metadata_component_2fboard_2fv1_2fboard_2eproto[16]);
+      file_level_metadata_component_2fboard_2fv1_2fboard_2eproto[18]);
 }
 
 // ===================================================================
@@ -4502,7 +4918,7 @@ void GetDigitalInterruptValueResponse::InternalSwap(GetDigitalInterruptValueResp
 ::PROTOBUF_NAMESPACE_ID::Metadata GetDigitalInterruptValueResponse::GetMetadata() const {
   return ::_pbi::AssignDescriptors(
       &descriptor_table_component_2fboard_2fv1_2fboard_2eproto_getter, &descriptor_table_component_2fboard_2fv1_2fboard_2eproto_once,
-      file_level_metadata_component_2fboard_2fv1_2fboard_2eproto[17]);
+      file_level_metadata_component_2fboard_2fv1_2fboard_2eproto[19]);
 }
 
 // ===================================================================
@@ -4835,7 +5251,7 @@ void SetPowerModeRequest::InternalSwap(SetPowerModeRequest* other) {
 ::PROTOBUF_NAMESPACE_ID::Metadata SetPowerModeRequest::GetMetadata() const {
   return ::_pbi::AssignDescriptors(
       &descriptor_table_component_2fboard_2fv1_2fboard_2eproto_getter, &descriptor_table_component_2fboard_2fv1_2fboard_2eproto_once,
-      file_level_metadata_component_2fboard_2fv1_2fboard_2eproto[18]);
+      file_level_metadata_component_2fboard_2fv1_2fboard_2eproto[20]);
 }
 
 // ===================================================================
@@ -4874,7 +5290,7 @@ const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*SetPowerModeResponse::GetClass
 ::PROTOBUF_NAMESPACE_ID::Metadata SetPowerModeResponse::GetMetadata() const {
   return ::_pbi::AssignDescriptors(
       &descriptor_table_component_2fboard_2fv1_2fboard_2eproto_getter, &descriptor_table_component_2fboard_2fv1_2fboard_2eproto_once,
-      file_level_metadata_component_2fboard_2fv1_2fboard_2eproto[19]);
+      file_level_metadata_component_2fboard_2fv1_2fboard_2eproto[21]);
 }
 
 // @@protoc_insertion_point(namespace_scope)
@@ -4947,6 +5363,14 @@ template<> PROTOBUF_NOINLINE ::viam::component::board::v1::ReadAnalogReaderRespo
 Arena::CreateMaybeMessage< ::viam::component::board::v1::ReadAnalogReaderResponse >(Arena* arena) {
   return Arena::CreateMessageInternal< ::viam::component::board::v1::ReadAnalogReaderResponse >(arena);
 }
+template<> PROTOBUF_NOINLINE ::viam::component::board::v1::WriteAnalogRequest*
+Arena::CreateMaybeMessage< ::viam::component::board::v1::WriteAnalogRequest >(Arena* arena) {
+  return Arena::CreateMessageInternal< ::viam::component::board::v1::WriteAnalogRequest >(arena);
+}
+template<> PROTOBUF_NOINLINE ::viam::component::board::v1::WriteAnalogResponse*
+Arena::CreateMaybeMessage< ::viam::component::board::v1::WriteAnalogResponse >(Arena* arena) {
+  return Arena::CreateMessageInternal< ::viam::component::board::v1::WriteAnalogResponse >(arena);
+}
 template<> PROTOBUF_NOINLINE ::viam::component::board::v1::GetDigitalInterruptValueRequest*
 Arena::CreateMaybeMessage< ::viam::component::board::v1::GetDigitalInterruptValueRequest >(Arena* arena) {
   return Arena::CreateMessageInternal< ::viam::component::board::v1::GetDigitalInterruptValueRequest >(arena);
diff --git a/src/viam/api/component/board/v1/board.pb.h b/src/viam/api/component/board/v1/board.pb.h
index ae91bc6c9..d69ff0ffa 100644
--- a/src/viam/api/component/board/v1/board.pb.h
+++ b/src/viam/api/component/board/v1/board.pb.h
@@ -114,6 +114,12 @@ extern StatusRequestDefaultTypeInternal _StatusRequest_default_instance_;
 class StatusResponse;
 struct StatusResponseDefaultTypeInternal;
 extern StatusResponseDefaultTypeInternal _StatusResponse_default_instance_;
+class WriteAnalogRequest;
+struct WriteAnalogRequestDefaultTypeInternal;
+extern WriteAnalogRequestDefaultTypeInternal _WriteAnalogRequest_default_instance_;
+class WriteAnalogResponse;
+struct WriteAnalogResponseDefaultTypeInternal;
+extern WriteAnalogResponseDefaultTypeInternal _WriteAnalogResponse_default_instance_;
 }  // namespace v1
 }  // namespace board
 }  // namespace component
@@ -139,6 +145,8 @@ template<> ::viam::component::board::v1::SetPowerModeRequest* Arena::CreateMaybe
 template<> ::viam::component::board::v1::SetPowerModeResponse* Arena::CreateMaybeMessage<::viam::component::board::v1::SetPowerModeResponse>(Arena*);
 template<> ::viam::component::board::v1::StatusRequest* Arena::CreateMaybeMessage<::viam::component::board::v1::StatusRequest>(Arena*);
 template<> ::viam::component::board::v1::StatusResponse* Arena::CreateMaybeMessage<::viam::component::board::v1::StatusResponse>(Arena*);
+template<> ::viam::component::board::v1::WriteAnalogRequest* Arena::CreateMaybeMessage<::viam::component::board::v1::WriteAnalogRequest>(Arena*);
+template<> ::viam::component::board::v1::WriteAnalogResponse* Arena::CreateMaybeMessage<::viam::component::board::v1::WriteAnalogResponse>(Arena*);
 PROTOBUF_NAMESPACE_CLOSE
 namespace viam {
 namespace component {
@@ -2734,6 +2742,317 @@ class ReadAnalogReaderResponse final :
 };
 // -------------------------------------------------------------------
 
+class WriteAnalogRequest final :
+    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.component.board.v1.WriteAnalogRequest) */ {
+ public:
+  inline WriteAnalogRequest() : WriteAnalogRequest(nullptr) {}
+  ~WriteAnalogRequest() override;
+  explicit PROTOBUF_CONSTEXPR WriteAnalogRequest(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
+
+  WriteAnalogRequest(const WriteAnalogRequest& from);
+  WriteAnalogRequest(WriteAnalogRequest&& from) noexcept
+    : WriteAnalogRequest() {
+    *this = ::std::move(from);
+  }
+
+  inline WriteAnalogRequest& operator=(const WriteAnalogRequest& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  inline WriteAnalogRequest& operator=(WriteAnalogRequest&& from) noexcept {
+    if (this == &from) return *this;
+    if (GetOwningArena() == from.GetOwningArena()
+  #ifdef PROTOBUF_FORCE_COPY_IN_MOVE
+        && GetOwningArena() != nullptr
+  #endif  // !PROTOBUF_FORCE_COPY_IN_MOVE
+    ) {
+      InternalSwap(&from);
+    } else {
+      CopyFrom(from);
+    }
+    return *this;
+  }
+
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* descriptor() {
+    return GetDescriptor();
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* GetDescriptor() {
+    return default_instance().GetMetadata().descriptor;
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
+    return default_instance().GetMetadata().reflection;
+  }
+  static const WriteAnalogRequest& default_instance() {
+    return *internal_default_instance();
+  }
+  static inline const WriteAnalogRequest* internal_default_instance() {
+    return reinterpret_cast<const WriteAnalogRequest*>(
+               &_WriteAnalogRequest_default_instance_);
+  }
+  static constexpr int kIndexInFileMessages =
+    16;
+
+  friend void swap(WriteAnalogRequest& a, WriteAnalogRequest& b) {
+    a.Swap(&b);
+  }
+  inline void Swap(WriteAnalogRequest* other) {
+    if (other == this) return;
+  #ifdef PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() != nullptr &&
+        GetOwningArena() == other->GetOwningArena()) {
+   #else  // PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() == other->GetOwningArena()) {
+  #endif  // !PROTOBUF_FORCE_COPY_IN_SWAP
+      InternalSwap(other);
+    } else {
+      ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
+    }
+  }
+  void UnsafeArenaSwap(WriteAnalogRequest* other) {
+    if (other == this) return;
+    GOOGLE_DCHECK(GetOwningArena() == other->GetOwningArena());
+    InternalSwap(other);
+  }
+
+  // implements Message ----------------------------------------------
+
+  WriteAnalogRequest* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
+    return CreateMaybeMessage<WriteAnalogRequest>(arena);
+  }
+  using ::PROTOBUF_NAMESPACE_ID::Message::CopyFrom;
+  void CopyFrom(const WriteAnalogRequest& from);
+  using ::PROTOBUF_NAMESPACE_ID::Message::MergeFrom;
+  void MergeFrom(const WriteAnalogRequest& from);
+  private:
+  static void MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to, const ::PROTOBUF_NAMESPACE_ID::Message& from);
+  public:
+  PROTOBUF_ATTRIBUTE_REINITIALIZES void Clear() final;
+  bool IsInitialized() const final;
+
+  size_t ByteSizeLong() const final;
+  const char* _InternalParse(const char* ptr, ::PROTOBUF_NAMESPACE_ID::internal::ParseContext* ctx) final;
+  uint8_t* _InternalSerialize(
+      uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const final;
+  int GetCachedSize() const final { return _cached_size_.Get(); }
+
+  private:
+  void SharedCtor();
+  void SharedDtor();
+  void SetCachedSize(int size) const final;
+  void InternalSwap(WriteAnalogRequest* other);
+
+  private:
+  friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
+  static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
+    return "viam.component.board.v1.WriteAnalogRequest";
+  }
+  protected:
+  explicit WriteAnalogRequest(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                       bool is_message_owned = false);
+  public:
+
+  static const ClassData _class_data_;
+  const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*GetClassData() const final;
+
+  ::PROTOBUF_NAMESPACE_ID::Metadata GetMetadata() const final;
+
+  // nested types ----------------------------------------------------
+
+  // accessors -------------------------------------------------------
+
+  enum : int {
+    kNameFieldNumber = 1,
+    kPinFieldNumber = 2,
+    kExtraFieldNumber = 99,
+    kValueFieldNumber = 3,
+  };
+  // string name = 1 [json_name = "name"];
+  void clear_name();
+  const std::string& name() const;
+  template <typename ArgT0 = const std::string&, typename... ArgT>
+  void set_name(ArgT0&& arg0, ArgT... args);
+  std::string* mutable_name();
+  PROTOBUF_NODISCARD std::string* release_name();
+  void set_allocated_name(std::string* name);
+  private:
+  const std::string& _internal_name() const;
+  inline PROTOBUF_ALWAYS_INLINE void _internal_set_name(const std::string& value);
+  std::string* _internal_mutable_name();
+  public:
+
+  // string pin = 2 [json_name = "pin"];
+  void clear_pin();
+  const std::string& pin() const;
+  template <typename ArgT0 = const std::string&, typename... ArgT>
+  void set_pin(ArgT0&& arg0, ArgT... args);
+  std::string* mutable_pin();
+  PROTOBUF_NODISCARD std::string* release_pin();
+  void set_allocated_pin(std::string* pin);
+  private:
+  const std::string& _internal_pin() const;
+  inline PROTOBUF_ALWAYS_INLINE void _internal_set_pin(const std::string& value);
+  std::string* _internal_mutable_pin();
+  public:
+
+  // .google.protobuf.Struct extra = 99 [json_name = "extra"];
+  bool has_extra() const;
+  private:
+  bool _internal_has_extra() const;
+  public:
+  void clear_extra();
+  const ::PROTOBUF_NAMESPACE_ID::Struct& extra() const;
+  PROTOBUF_NODISCARD ::PROTOBUF_NAMESPACE_ID::Struct* release_extra();
+  ::PROTOBUF_NAMESPACE_ID::Struct* mutable_extra();
+  void set_allocated_extra(::PROTOBUF_NAMESPACE_ID::Struct* extra);
+  private:
+  const ::PROTOBUF_NAMESPACE_ID::Struct& _internal_extra() const;
+  ::PROTOBUF_NAMESPACE_ID::Struct* _internal_mutable_extra();
+  public:
+  void unsafe_arena_set_allocated_extra(
+      ::PROTOBUF_NAMESPACE_ID::Struct* extra);
+  ::PROTOBUF_NAMESPACE_ID::Struct* unsafe_arena_release_extra();
+
+  // int32 value = 3 [json_name = "value"];
+  void clear_value();
+  int32_t value() const;
+  void set_value(int32_t value);
+  private:
+  int32_t _internal_value() const;
+  void _internal_set_value(int32_t value);
+  public:
+
+  // @@protoc_insertion_point(class_scope:viam.component.board.v1.WriteAnalogRequest)
+ private:
+  class _Internal;
+
+  template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
+  typedef void InternalArenaConstructable_;
+  typedef void DestructorSkippable_;
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr name_;
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr pin_;
+  ::PROTOBUF_NAMESPACE_ID::Struct* extra_;
+  int32_t value_;
+  mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
+  friend struct ::TableStruct_component_2fboard_2fv1_2fboard_2eproto;
+};
+// -------------------------------------------------------------------
+
+class WriteAnalogResponse final :
+    public ::PROTOBUF_NAMESPACE_ID::internal::ZeroFieldsBase /* @@protoc_insertion_point(class_definition:viam.component.board.v1.WriteAnalogResponse) */ {
+ public:
+  inline WriteAnalogResponse() : WriteAnalogResponse(nullptr) {}
+  explicit PROTOBUF_CONSTEXPR WriteAnalogResponse(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
+
+  WriteAnalogResponse(const WriteAnalogResponse& from);
+  WriteAnalogResponse(WriteAnalogResponse&& from) noexcept
+    : WriteAnalogResponse() {
+    *this = ::std::move(from);
+  }
+
+  inline WriteAnalogResponse& operator=(const WriteAnalogResponse& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  inline WriteAnalogResponse& operator=(WriteAnalogResponse&& from) noexcept {
+    if (this == &from) return *this;
+    if (GetOwningArena() == from.GetOwningArena()
+  #ifdef PROTOBUF_FORCE_COPY_IN_MOVE
+        && GetOwningArena() != nullptr
+  #endif  // !PROTOBUF_FORCE_COPY_IN_MOVE
+    ) {
+      InternalSwap(&from);
+    } else {
+      CopyFrom(from);
+    }
+    return *this;
+  }
+
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* descriptor() {
+    return GetDescriptor();
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* GetDescriptor() {
+    return default_instance().GetMetadata().descriptor;
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
+    return default_instance().GetMetadata().reflection;
+  }
+  static const WriteAnalogResponse& default_instance() {
+    return *internal_default_instance();
+  }
+  static inline const WriteAnalogResponse* internal_default_instance() {
+    return reinterpret_cast<const WriteAnalogResponse*>(
+               &_WriteAnalogResponse_default_instance_);
+  }
+  static constexpr int kIndexInFileMessages =
+    17;
+
+  friend void swap(WriteAnalogResponse& a, WriteAnalogResponse& b) {
+    a.Swap(&b);
+  }
+  inline void Swap(WriteAnalogResponse* other) {
+    if (other == this) return;
+  #ifdef PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() != nullptr &&
+        GetOwningArena() == other->GetOwningArena()) {
+   #else  // PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() == other->GetOwningArena()) {
+  #endif  // !PROTOBUF_FORCE_COPY_IN_SWAP
+      InternalSwap(other);
+    } else {
+      ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
+    }
+  }
+  void UnsafeArenaSwap(WriteAnalogResponse* other) {
+    if (other == this) return;
+    GOOGLE_DCHECK(GetOwningArena() == other->GetOwningArena());
+    InternalSwap(other);
+  }
+
+  // implements Message ----------------------------------------------
+
+  WriteAnalogResponse* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
+    return CreateMaybeMessage<WriteAnalogResponse>(arena);
+  }
+  using ::PROTOBUF_NAMESPACE_ID::internal::ZeroFieldsBase::CopyFrom;
+  inline void CopyFrom(const WriteAnalogResponse& from) {
+    ::PROTOBUF_NAMESPACE_ID::internal::ZeroFieldsBase::CopyImpl(this, from);
+  }
+  using ::PROTOBUF_NAMESPACE_ID::internal::ZeroFieldsBase::MergeFrom;
+  void MergeFrom(const WriteAnalogResponse& from) {
+    ::PROTOBUF_NAMESPACE_ID::internal::ZeroFieldsBase::MergeImpl(this, from);
+  }
+  public:
+
+  private:
+  friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
+  static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
+    return "viam.component.board.v1.WriteAnalogResponse";
+  }
+  protected:
+  explicit WriteAnalogResponse(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                       bool is_message_owned = false);
+  public:
+
+  static const ClassData _class_data_;
+  const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*GetClassData() const final;
+
+  ::PROTOBUF_NAMESPACE_ID::Metadata GetMetadata() const final;
+
+  // nested types ----------------------------------------------------
+
+  // accessors -------------------------------------------------------
+
+  // @@protoc_insertion_point(class_scope:viam.component.board.v1.WriteAnalogResponse)
+ private:
+  class _Internal;
+
+  template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
+  typedef void InternalArenaConstructable_;
+  typedef void DestructorSkippable_;
+  friend struct ::TableStruct_component_2fboard_2fv1_2fboard_2eproto;
+};
+// -------------------------------------------------------------------
+
 class GetDigitalInterruptValueRequest final :
     public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.component.board.v1.GetDigitalInterruptValueRequest) */ {
  public:
@@ -2782,7 +3101,7 @@ class GetDigitalInterruptValueRequest final :
                &_GetDigitalInterruptValueRequest_default_instance_);
   }
   static constexpr int kIndexInFileMessages =
-    16;
+    18;
 
   friend void swap(GetDigitalInterruptValueRequest& a, GetDigitalInterruptValueRequest& b) {
     a.Swap(&b);
@@ -2966,7 +3285,7 @@ class GetDigitalInterruptValueResponse final :
                &_GetDigitalInterruptValueResponse_default_instance_);
   }
   static constexpr int kIndexInFileMessages =
-    17;
+    19;
 
   friend void swap(GetDigitalInterruptValueResponse& a, GetDigitalInterruptValueResponse& b) {
     a.Swap(&b);
@@ -3109,7 +3428,7 @@ class SetPowerModeRequest final :
                &_SetPowerModeRequest_default_instance_);
   }
   static constexpr int kIndexInFileMessages =
-    18;
+    20;
 
   friend void swap(SetPowerModeRequest& a, SetPowerModeRequest& b) {
     a.Swap(&b);
@@ -3308,7 +3627,7 @@ class SetPowerModeResponse final :
                &_SetPowerModeResponse_default_instance_);
   }
   static constexpr int kIndexInFileMessages =
-    19;
+    21;
 
   friend void swap(SetPowerModeResponse& a, SetPowerModeResponse& b) {
     a.Swap(&b);
@@ -5103,6 +5422,219 @@ inline void ReadAnalogReaderResponse::set_value(int32_t value) {
 
 // -------------------------------------------------------------------
 
+// WriteAnalogRequest
+
+// string name = 1 [json_name = "name"];
+inline void WriteAnalogRequest::clear_name() {
+  name_.ClearToEmpty();
+}
+inline const std::string& WriteAnalogRequest::name() const {
+  // @@protoc_insertion_point(field_get:viam.component.board.v1.WriteAnalogRequest.name)
+  return _internal_name();
+}
+template <typename ArgT0, typename... ArgT>
+inline PROTOBUF_ALWAYS_INLINE
+void WriteAnalogRequest::set_name(ArgT0&& arg0, ArgT... args) {
+ 
+ name_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.component.board.v1.WriteAnalogRequest.name)
+}
+inline std::string* WriteAnalogRequest::mutable_name() {
+  std::string* _s = _internal_mutable_name();
+  // @@protoc_insertion_point(field_mutable:viam.component.board.v1.WriteAnalogRequest.name)
+  return _s;
+}
+inline const std::string& WriteAnalogRequest::_internal_name() const {
+  return name_.Get();
+}
+inline void WriteAnalogRequest::_internal_set_name(const std::string& value) {
+  
+  name_.Set(value, GetArenaForAllocation());
+}
+inline std::string* WriteAnalogRequest::_internal_mutable_name() {
+  
+  return name_.Mutable(GetArenaForAllocation());
+}
+inline std::string* WriteAnalogRequest::release_name() {
+  // @@protoc_insertion_point(field_release:viam.component.board.v1.WriteAnalogRequest.name)
+  return name_.Release();
+}
+inline void WriteAnalogRequest::set_allocated_name(std::string* name) {
+  if (name != nullptr) {
+    
+  } else {
+    
+  }
+  name_.SetAllocated(name, GetArenaForAllocation());
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (name_.IsDefault()) {
+    name_.Set("", GetArenaForAllocation());
+  }
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  // @@protoc_insertion_point(field_set_allocated:viam.component.board.v1.WriteAnalogRequest.name)
+}
+
+// string pin = 2 [json_name = "pin"];
+inline void WriteAnalogRequest::clear_pin() {
+  pin_.ClearToEmpty();
+}
+inline const std::string& WriteAnalogRequest::pin() const {
+  // @@protoc_insertion_point(field_get:viam.component.board.v1.WriteAnalogRequest.pin)
+  return _internal_pin();
+}
+template <typename ArgT0, typename... ArgT>
+inline PROTOBUF_ALWAYS_INLINE
+void WriteAnalogRequest::set_pin(ArgT0&& arg0, ArgT... args) {
+ 
+ pin_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.component.board.v1.WriteAnalogRequest.pin)
+}
+inline std::string* WriteAnalogRequest::mutable_pin() {
+  std::string* _s = _internal_mutable_pin();
+  // @@protoc_insertion_point(field_mutable:viam.component.board.v1.WriteAnalogRequest.pin)
+  return _s;
+}
+inline const std::string& WriteAnalogRequest::_internal_pin() const {
+  return pin_.Get();
+}
+inline void WriteAnalogRequest::_internal_set_pin(const std::string& value) {
+  
+  pin_.Set(value, GetArenaForAllocation());
+}
+inline std::string* WriteAnalogRequest::_internal_mutable_pin() {
+  
+  return pin_.Mutable(GetArenaForAllocation());
+}
+inline std::string* WriteAnalogRequest::release_pin() {
+  // @@protoc_insertion_point(field_release:viam.component.board.v1.WriteAnalogRequest.pin)
+  return pin_.Release();
+}
+inline void WriteAnalogRequest::set_allocated_pin(std::string* pin) {
+  if (pin != nullptr) {
+    
+  } else {
+    
+  }
+  pin_.SetAllocated(pin, GetArenaForAllocation());
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (pin_.IsDefault()) {
+    pin_.Set("", GetArenaForAllocation());
+  }
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  // @@protoc_insertion_point(field_set_allocated:viam.component.board.v1.WriteAnalogRequest.pin)
+}
+
+// int32 value = 3 [json_name = "value"];
+inline void WriteAnalogRequest::clear_value() {
+  value_ = 0;
+}
+inline int32_t WriteAnalogRequest::_internal_value() const {
+  return value_;
+}
+inline int32_t WriteAnalogRequest::value() const {
+  // @@protoc_insertion_point(field_get:viam.component.board.v1.WriteAnalogRequest.value)
+  return _internal_value();
+}
+inline void WriteAnalogRequest::_internal_set_value(int32_t value) {
+  
+  value_ = value;
+}
+inline void WriteAnalogRequest::set_value(int32_t value) {
+  _internal_set_value(value);
+  // @@protoc_insertion_point(field_set:viam.component.board.v1.WriteAnalogRequest.value)
+}
+
+// .google.protobuf.Struct extra = 99 [json_name = "extra"];
+inline bool WriteAnalogRequest::_internal_has_extra() const {
+  return this != internal_default_instance() && extra_ != nullptr;
+}
+inline bool WriteAnalogRequest::has_extra() const {
+  return _internal_has_extra();
+}
+inline const ::PROTOBUF_NAMESPACE_ID::Struct& WriteAnalogRequest::_internal_extra() const {
+  const ::PROTOBUF_NAMESPACE_ID::Struct* p = extra_;
+  return p != nullptr ? *p : reinterpret_cast<const ::PROTOBUF_NAMESPACE_ID::Struct&>(
+      ::PROTOBUF_NAMESPACE_ID::_Struct_default_instance_);
+}
+inline const ::PROTOBUF_NAMESPACE_ID::Struct& WriteAnalogRequest::extra() const {
+  // @@protoc_insertion_point(field_get:viam.component.board.v1.WriteAnalogRequest.extra)
+  return _internal_extra();
+}
+inline void WriteAnalogRequest::unsafe_arena_set_allocated_extra(
+    ::PROTOBUF_NAMESPACE_ID::Struct* extra) {
+  if (GetArenaForAllocation() == nullptr) {
+    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(extra_);
+  }
+  extra_ = extra;
+  if (extra) {
+    
+  } else {
+    
+  }
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.component.board.v1.WriteAnalogRequest.extra)
+}
+inline ::PROTOBUF_NAMESPACE_ID::Struct* WriteAnalogRequest::release_extra() {
+  
+  ::PROTOBUF_NAMESPACE_ID::Struct* temp = extra_;
+  extra_ = nullptr;
+#ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
+  auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
+  temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  if (GetArenaForAllocation() == nullptr) { delete old; }
+#else  // PROTOBUF_FORCE_COPY_IN_RELEASE
+  if (GetArenaForAllocation() != nullptr) {
+    temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  }
+#endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
+  return temp;
+}
+inline ::PROTOBUF_NAMESPACE_ID::Struct* WriteAnalogRequest::unsafe_arena_release_extra() {
+  // @@protoc_insertion_point(field_release:viam.component.board.v1.WriteAnalogRequest.extra)
+  
+  ::PROTOBUF_NAMESPACE_ID::Struct* temp = extra_;
+  extra_ = nullptr;
+  return temp;
+}
+inline ::PROTOBUF_NAMESPACE_ID::Struct* WriteAnalogRequest::_internal_mutable_extra() {
+  
+  if (extra_ == nullptr) {
+    auto* p = CreateMaybeMessage<::PROTOBUF_NAMESPACE_ID::Struct>(GetArenaForAllocation());
+    extra_ = p;
+  }
+  return extra_;
+}
+inline ::PROTOBUF_NAMESPACE_ID::Struct* WriteAnalogRequest::mutable_extra() {
+  ::PROTOBUF_NAMESPACE_ID::Struct* _msg = _internal_mutable_extra();
+  // @@protoc_insertion_point(field_mutable:viam.component.board.v1.WriteAnalogRequest.extra)
+  return _msg;
+}
+inline void WriteAnalogRequest::set_allocated_extra(::PROTOBUF_NAMESPACE_ID::Struct* extra) {
+  ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
+  if (message_arena == nullptr) {
+    delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(extra_);
+  }
+  if (extra) {
+    ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
+        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(
+                reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(extra));
+    if (message_arena != submessage_arena) {
+      extra = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
+          message_arena, extra, submessage_arena);
+    }
+    
+  } else {
+    
+  }
+  extra_ = extra;
+  // @@protoc_insertion_point(field_set_allocated:viam.component.board.v1.WriteAnalogRequest.extra)
+}
+
+// -------------------------------------------------------------------
+
+// WriteAnalogResponse
+
+// -------------------------------------------------------------------
+
 // GetDigitalInterruptValueRequest
 
 // string board_name = 1 [json_name = "boardName"];
@@ -5605,6 +6137,10 @@ inline void SetPowerModeRequest::set_allocated_extra(::PROTOBUF_NAMESPACE_ID::St
 
 // -------------------------------------------------------------------
 
+// -------------------------------------------------------------------
+
+// -------------------------------------------------------------------
+
 
 // @@protoc_insertion_point(namespace_scope)
 
diff --git a/src/viam/api/service/motion/v1/motion.grpc.pb.cc b/src/viam/api/service/motion/v1/motion.grpc.pb.cc
index 0cf45112e..748f8bba4 100644
--- a/src/viam/api/service/motion/v1/motion.grpc.pb.cc
+++ b/src/viam/api/service/motion/v1/motion.grpc.pb.cc
@@ -28,7 +28,11 @@ static const char* MotionService_method_names[] = {
   "/viam.service.motion.v1.MotionService/Move",
   "/viam.service.motion.v1.MotionService/MoveOnMap",
   "/viam.service.motion.v1.MotionService/MoveOnGlobe",
+  "/viam.service.motion.v1.MotionService/MoveOnGlobeNew",
   "/viam.service.motion.v1.MotionService/GetPose",
+  "/viam.service.motion.v1.MotionService/StopPlan",
+  "/viam.service.motion.v1.MotionService/ListPlanStatuses",
+  "/viam.service.motion.v1.MotionService/GetPlan",
   "/viam.service.motion.v1.MotionService/DoCommand",
 };
 
@@ -42,8 +46,12 @@ MotionService::Stub::Stub(const std::shared_ptr< ::grpc::ChannelInterface>& chan
   : channel_(channel), rpcmethod_Move_(MotionService_method_names[0], options.suffix_for_stats(),::grpc::internal::RpcMethod::NORMAL_RPC, channel)
   , rpcmethod_MoveOnMap_(MotionService_method_names[1], options.suffix_for_stats(),::grpc::internal::RpcMethod::NORMAL_RPC, channel)
   , rpcmethod_MoveOnGlobe_(MotionService_method_names[2], options.suffix_for_stats(),::grpc::internal::RpcMethod::NORMAL_RPC, channel)
-  , rpcmethod_GetPose_(MotionService_method_names[3], options.suffix_for_stats(),::grpc::internal::RpcMethod::NORMAL_RPC, channel)
-  , rpcmethod_DoCommand_(MotionService_method_names[4], options.suffix_for_stats(),::grpc::internal::RpcMethod::NORMAL_RPC, channel)
+  , rpcmethod_MoveOnGlobeNew_(MotionService_method_names[3], options.suffix_for_stats(),::grpc::internal::RpcMethod::NORMAL_RPC, channel)
+  , rpcmethod_GetPose_(MotionService_method_names[4], options.suffix_for_stats(),::grpc::internal::RpcMethod::NORMAL_RPC, channel)
+  , rpcmethod_StopPlan_(MotionService_method_names[5], options.suffix_for_stats(),::grpc::internal::RpcMethod::NORMAL_RPC, channel)
+  , rpcmethod_ListPlanStatuses_(MotionService_method_names[6], options.suffix_for_stats(),::grpc::internal::RpcMethod::NORMAL_RPC, channel)
+  , rpcmethod_GetPlan_(MotionService_method_names[7], options.suffix_for_stats(),::grpc::internal::RpcMethod::NORMAL_RPC, channel)
+  , rpcmethod_DoCommand_(MotionService_method_names[8], options.suffix_for_stats(),::grpc::internal::RpcMethod::NORMAL_RPC, channel)
   {}
 
 ::grpc::Status MotionService::Stub::Move(::grpc::ClientContext* context, const ::viam::service::motion::v1::MoveRequest& request, ::viam::service::motion::v1::MoveResponse* response) {
@@ -115,6 +123,29 @@ ::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::MoveOnGlobeRespo
   return result;
 }
 
+::grpc::Status MotionService::Stub::MoveOnGlobeNew(::grpc::ClientContext* context, const ::viam::service::motion::v1::MoveOnGlobeNewRequest& request, ::viam::service::motion::v1::MoveOnGlobeNewResponse* response) {
+  return ::grpc::internal::BlockingUnaryCall< ::viam::service::motion::v1::MoveOnGlobeNewRequest, ::viam::service::motion::v1::MoveOnGlobeNewResponse, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(channel_.get(), rpcmethod_MoveOnGlobeNew_, context, request, response);
+}
+
+void MotionService::Stub::async::MoveOnGlobeNew(::grpc::ClientContext* context, const ::viam::service::motion::v1::MoveOnGlobeNewRequest* request, ::viam::service::motion::v1::MoveOnGlobeNewResponse* response, std::function<void(::grpc::Status)> f) {
+  ::grpc::internal::CallbackUnaryCall< ::viam::service::motion::v1::MoveOnGlobeNewRequest, ::viam::service::motion::v1::MoveOnGlobeNewResponse, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(stub_->channel_.get(), stub_->rpcmethod_MoveOnGlobeNew_, context, request, response, std::move(f));
+}
+
+void MotionService::Stub::async::MoveOnGlobeNew(::grpc::ClientContext* context, const ::viam::service::motion::v1::MoveOnGlobeNewRequest* request, ::viam::service::motion::v1::MoveOnGlobeNewResponse* response, ::grpc::ClientUnaryReactor* reactor) {
+  ::grpc::internal::ClientCallbackUnaryFactory::Create< ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(stub_->channel_.get(), stub_->rpcmethod_MoveOnGlobeNew_, context, request, response, reactor);
+}
+
+::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::MoveOnGlobeNewResponse>* MotionService::Stub::PrepareAsyncMoveOnGlobeNewRaw(::grpc::ClientContext* context, const ::viam::service::motion::v1::MoveOnGlobeNewRequest& request, ::grpc::CompletionQueue* cq) {
+  return ::grpc::internal::ClientAsyncResponseReaderHelper::Create< ::viam::service::motion::v1::MoveOnGlobeNewResponse, ::viam::service::motion::v1::MoveOnGlobeNewRequest, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(channel_.get(), cq, rpcmethod_MoveOnGlobeNew_, context, request);
+}
+
+::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::MoveOnGlobeNewResponse>* MotionService::Stub::AsyncMoveOnGlobeNewRaw(::grpc::ClientContext* context, const ::viam::service::motion::v1::MoveOnGlobeNewRequest& request, ::grpc::CompletionQueue* cq) {
+  auto* result =
+    this->PrepareAsyncMoveOnGlobeNewRaw(context, request, cq);
+  result->StartCall();
+  return result;
+}
+
 ::grpc::Status MotionService::Stub::GetPose(::grpc::ClientContext* context, const ::viam::service::motion::v1::GetPoseRequest& request, ::viam::service::motion::v1::GetPoseResponse* response) {
   return ::grpc::internal::BlockingUnaryCall< ::viam::service::motion::v1::GetPoseRequest, ::viam::service::motion::v1::GetPoseResponse, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(channel_.get(), rpcmethod_GetPose_, context, request, response);
 }
@@ -138,6 +169,75 @@ ::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::GetPoseResponse>
   return result;
 }
 
+::grpc::Status MotionService::Stub::StopPlan(::grpc::ClientContext* context, const ::viam::service::motion::v1::StopPlanRequest& request, ::viam::service::motion::v1::StopPlanResponse* response) {
+  return ::grpc::internal::BlockingUnaryCall< ::viam::service::motion::v1::StopPlanRequest, ::viam::service::motion::v1::StopPlanResponse, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(channel_.get(), rpcmethod_StopPlan_, context, request, response);
+}
+
+void MotionService::Stub::async::StopPlan(::grpc::ClientContext* context, const ::viam::service::motion::v1::StopPlanRequest* request, ::viam::service::motion::v1::StopPlanResponse* response, std::function<void(::grpc::Status)> f) {
+  ::grpc::internal::CallbackUnaryCall< ::viam::service::motion::v1::StopPlanRequest, ::viam::service::motion::v1::StopPlanResponse, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(stub_->channel_.get(), stub_->rpcmethod_StopPlan_, context, request, response, std::move(f));
+}
+
+void MotionService::Stub::async::StopPlan(::grpc::ClientContext* context, const ::viam::service::motion::v1::StopPlanRequest* request, ::viam::service::motion::v1::StopPlanResponse* response, ::grpc::ClientUnaryReactor* reactor) {
+  ::grpc::internal::ClientCallbackUnaryFactory::Create< ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(stub_->channel_.get(), stub_->rpcmethod_StopPlan_, context, request, response, reactor);
+}
+
+::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::StopPlanResponse>* MotionService::Stub::PrepareAsyncStopPlanRaw(::grpc::ClientContext* context, const ::viam::service::motion::v1::StopPlanRequest& request, ::grpc::CompletionQueue* cq) {
+  return ::grpc::internal::ClientAsyncResponseReaderHelper::Create< ::viam::service::motion::v1::StopPlanResponse, ::viam::service::motion::v1::StopPlanRequest, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(channel_.get(), cq, rpcmethod_StopPlan_, context, request);
+}
+
+::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::StopPlanResponse>* MotionService::Stub::AsyncStopPlanRaw(::grpc::ClientContext* context, const ::viam::service::motion::v1::StopPlanRequest& request, ::grpc::CompletionQueue* cq) {
+  auto* result =
+    this->PrepareAsyncStopPlanRaw(context, request, cq);
+  result->StartCall();
+  return result;
+}
+
+::grpc::Status MotionService::Stub::ListPlanStatuses(::grpc::ClientContext* context, const ::viam::service::motion::v1::ListPlanStatusesRequest& request, ::viam::service::motion::v1::ListPlanStatusesResponse* response) {
+  return ::grpc::internal::BlockingUnaryCall< ::viam::service::motion::v1::ListPlanStatusesRequest, ::viam::service::motion::v1::ListPlanStatusesResponse, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(channel_.get(), rpcmethod_ListPlanStatuses_, context, request, response);
+}
+
+void MotionService::Stub::async::ListPlanStatuses(::grpc::ClientContext* context, const ::viam::service::motion::v1::ListPlanStatusesRequest* request, ::viam::service::motion::v1::ListPlanStatusesResponse* response, std::function<void(::grpc::Status)> f) {
+  ::grpc::internal::CallbackUnaryCall< ::viam::service::motion::v1::ListPlanStatusesRequest, ::viam::service::motion::v1::ListPlanStatusesResponse, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(stub_->channel_.get(), stub_->rpcmethod_ListPlanStatuses_, context, request, response, std::move(f));
+}
+
+void MotionService::Stub::async::ListPlanStatuses(::grpc::ClientContext* context, const ::viam::service::motion::v1::ListPlanStatusesRequest* request, ::viam::service::motion::v1::ListPlanStatusesResponse* response, ::grpc::ClientUnaryReactor* reactor) {
+  ::grpc::internal::ClientCallbackUnaryFactory::Create< ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(stub_->channel_.get(), stub_->rpcmethod_ListPlanStatuses_, context, request, response, reactor);
+}
+
+::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::ListPlanStatusesResponse>* MotionService::Stub::PrepareAsyncListPlanStatusesRaw(::grpc::ClientContext* context, const ::viam::service::motion::v1::ListPlanStatusesRequest& request, ::grpc::CompletionQueue* cq) {
+  return ::grpc::internal::ClientAsyncResponseReaderHelper::Create< ::viam::service::motion::v1::ListPlanStatusesResponse, ::viam::service::motion::v1::ListPlanStatusesRequest, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(channel_.get(), cq, rpcmethod_ListPlanStatuses_, context, request);
+}
+
+::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::ListPlanStatusesResponse>* MotionService::Stub::AsyncListPlanStatusesRaw(::grpc::ClientContext* context, const ::viam::service::motion::v1::ListPlanStatusesRequest& request, ::grpc::CompletionQueue* cq) {
+  auto* result =
+    this->PrepareAsyncListPlanStatusesRaw(context, request, cq);
+  result->StartCall();
+  return result;
+}
+
+::grpc::Status MotionService::Stub::GetPlan(::grpc::ClientContext* context, const ::viam::service::motion::v1::GetPlanRequest& request, ::viam::service::motion::v1::GetPlanResponse* response) {
+  return ::grpc::internal::BlockingUnaryCall< ::viam::service::motion::v1::GetPlanRequest, ::viam::service::motion::v1::GetPlanResponse, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(channel_.get(), rpcmethod_GetPlan_, context, request, response);
+}
+
+void MotionService::Stub::async::GetPlan(::grpc::ClientContext* context, const ::viam::service::motion::v1::GetPlanRequest* request, ::viam::service::motion::v1::GetPlanResponse* response, std::function<void(::grpc::Status)> f) {
+  ::grpc::internal::CallbackUnaryCall< ::viam::service::motion::v1::GetPlanRequest, ::viam::service::motion::v1::GetPlanResponse, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(stub_->channel_.get(), stub_->rpcmethod_GetPlan_, context, request, response, std::move(f));
+}
+
+void MotionService::Stub::async::GetPlan(::grpc::ClientContext* context, const ::viam::service::motion::v1::GetPlanRequest* request, ::viam::service::motion::v1::GetPlanResponse* response, ::grpc::ClientUnaryReactor* reactor) {
+  ::grpc::internal::ClientCallbackUnaryFactory::Create< ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(stub_->channel_.get(), stub_->rpcmethod_GetPlan_, context, request, response, reactor);
+}
+
+::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::GetPlanResponse>* MotionService::Stub::PrepareAsyncGetPlanRaw(::grpc::ClientContext* context, const ::viam::service::motion::v1::GetPlanRequest& request, ::grpc::CompletionQueue* cq) {
+  return ::grpc::internal::ClientAsyncResponseReaderHelper::Create< ::viam::service::motion::v1::GetPlanResponse, ::viam::service::motion::v1::GetPlanRequest, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(channel_.get(), cq, rpcmethod_GetPlan_, context, request);
+}
+
+::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::GetPlanResponse>* MotionService::Stub::AsyncGetPlanRaw(::grpc::ClientContext* context, const ::viam::service::motion::v1::GetPlanRequest& request, ::grpc::CompletionQueue* cq) {
+  auto* result =
+    this->PrepareAsyncGetPlanRaw(context, request, cq);
+  result->StartCall();
+  return result;
+}
+
 ::grpc::Status MotionService::Stub::DoCommand(::grpc::ClientContext* context, const ::viam::common::v1::DoCommandRequest& request, ::viam::common::v1::DoCommandResponse* response) {
   return ::grpc::internal::BlockingUnaryCall< ::viam::common::v1::DoCommandRequest, ::viam::common::v1::DoCommandResponse, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(channel_.get(), rpcmethod_DoCommand_, context, request, response);
 }
@@ -195,6 +295,16 @@ MotionService::Service::Service() {
   AddMethod(new ::grpc::internal::RpcServiceMethod(
       MotionService_method_names[3],
       ::grpc::internal::RpcMethod::NORMAL_RPC,
+      new ::grpc::internal::RpcMethodHandler< MotionService::Service, ::viam::service::motion::v1::MoveOnGlobeNewRequest, ::viam::service::motion::v1::MoveOnGlobeNewResponse, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(
+          [](MotionService::Service* service,
+             ::grpc::ServerContext* ctx,
+             const ::viam::service::motion::v1::MoveOnGlobeNewRequest* req,
+             ::viam::service::motion::v1::MoveOnGlobeNewResponse* resp) {
+               return service->MoveOnGlobeNew(ctx, req, resp);
+             }, this)));
+  AddMethod(new ::grpc::internal::RpcServiceMethod(
+      MotionService_method_names[4],
+      ::grpc::internal::RpcMethod::NORMAL_RPC,
       new ::grpc::internal::RpcMethodHandler< MotionService::Service, ::viam::service::motion::v1::GetPoseRequest, ::viam::service::motion::v1::GetPoseResponse, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(
           [](MotionService::Service* service,
              ::grpc::ServerContext* ctx,
@@ -203,7 +313,37 @@ MotionService::Service::Service() {
                return service->GetPose(ctx, req, resp);
              }, this)));
   AddMethod(new ::grpc::internal::RpcServiceMethod(
-      MotionService_method_names[4],
+      MotionService_method_names[5],
+      ::grpc::internal::RpcMethod::NORMAL_RPC,
+      new ::grpc::internal::RpcMethodHandler< MotionService::Service, ::viam::service::motion::v1::StopPlanRequest, ::viam::service::motion::v1::StopPlanResponse, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(
+          [](MotionService::Service* service,
+             ::grpc::ServerContext* ctx,
+             const ::viam::service::motion::v1::StopPlanRequest* req,
+             ::viam::service::motion::v1::StopPlanResponse* resp) {
+               return service->StopPlan(ctx, req, resp);
+             }, this)));
+  AddMethod(new ::grpc::internal::RpcServiceMethod(
+      MotionService_method_names[6],
+      ::grpc::internal::RpcMethod::NORMAL_RPC,
+      new ::grpc::internal::RpcMethodHandler< MotionService::Service, ::viam::service::motion::v1::ListPlanStatusesRequest, ::viam::service::motion::v1::ListPlanStatusesResponse, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(
+          [](MotionService::Service* service,
+             ::grpc::ServerContext* ctx,
+             const ::viam::service::motion::v1::ListPlanStatusesRequest* req,
+             ::viam::service::motion::v1::ListPlanStatusesResponse* resp) {
+               return service->ListPlanStatuses(ctx, req, resp);
+             }, this)));
+  AddMethod(new ::grpc::internal::RpcServiceMethod(
+      MotionService_method_names[7],
+      ::grpc::internal::RpcMethod::NORMAL_RPC,
+      new ::grpc::internal::RpcMethodHandler< MotionService::Service, ::viam::service::motion::v1::GetPlanRequest, ::viam::service::motion::v1::GetPlanResponse, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(
+          [](MotionService::Service* service,
+             ::grpc::ServerContext* ctx,
+             const ::viam::service::motion::v1::GetPlanRequest* req,
+             ::viam::service::motion::v1::GetPlanResponse* resp) {
+               return service->GetPlan(ctx, req, resp);
+             }, this)));
+  AddMethod(new ::grpc::internal::RpcServiceMethod(
+      MotionService_method_names[8],
       ::grpc::internal::RpcMethod::NORMAL_RPC,
       new ::grpc::internal::RpcMethodHandler< MotionService::Service, ::viam::common::v1::DoCommandRequest, ::viam::common::v1::DoCommandResponse, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(
           [](MotionService::Service* service,
@@ -238,6 +378,13 @@ ::grpc::Status MotionService::Service::MoveOnGlobe(::grpc::ServerContext* contex
   return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
 }
 
+::grpc::Status MotionService::Service::MoveOnGlobeNew(::grpc::ServerContext* context, const ::viam::service::motion::v1::MoveOnGlobeNewRequest* request, ::viam::service::motion::v1::MoveOnGlobeNewResponse* response) {
+  (void) context;
+  (void) request;
+  (void) response;
+  return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+}
+
 ::grpc::Status MotionService::Service::GetPose(::grpc::ServerContext* context, const ::viam::service::motion::v1::GetPoseRequest* request, ::viam::service::motion::v1::GetPoseResponse* response) {
   (void) context;
   (void) request;
@@ -245,6 +392,27 @@ ::grpc::Status MotionService::Service::GetPose(::grpc::ServerContext* context, c
   return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
 }
 
+::grpc::Status MotionService::Service::StopPlan(::grpc::ServerContext* context, const ::viam::service::motion::v1::StopPlanRequest* request, ::viam::service::motion::v1::StopPlanResponse* response) {
+  (void) context;
+  (void) request;
+  (void) response;
+  return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+}
+
+::grpc::Status MotionService::Service::ListPlanStatuses(::grpc::ServerContext* context, const ::viam::service::motion::v1::ListPlanStatusesRequest* request, ::viam::service::motion::v1::ListPlanStatusesResponse* response) {
+  (void) context;
+  (void) request;
+  (void) response;
+  return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+}
+
+::grpc::Status MotionService::Service::GetPlan(::grpc::ServerContext* context, const ::viam::service::motion::v1::GetPlanRequest* request, ::viam::service::motion::v1::GetPlanResponse* response) {
+  (void) context;
+  (void) request;
+  (void) response;
+  return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+}
+
 ::grpc::Status MotionService::Service::DoCommand(::grpc::ServerContext* context, const ::viam::common::v1::DoCommandRequest* request, ::viam::common::v1::DoCommandResponse* response) {
   (void) context;
   (void) request;
diff --git a/src/viam/api/service/motion/v1/motion.grpc.pb.h b/src/viam/api/service/motion/v1/motion.grpc.pb.h
index 39b6f6465..0b4367e90 100644
--- a/src/viam/api/service/motion/v1/motion.grpc.pb.h
+++ b/src/viam/api/service/motion/v1/motion.grpc.pb.h
@@ -60,6 +60,17 @@ class MotionService final {
     std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::service::motion::v1::MoveOnGlobeResponse>> PrepareAsyncMoveOnGlobe(::grpc::ClientContext* context, const ::viam::service::motion::v1::MoveOnGlobeRequest& request, ::grpc::CompletionQueue* cq) {
       return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::service::motion::v1::MoveOnGlobeResponse>>(PrepareAsyncMoveOnGlobeRaw(context, request, cq));
     }
+    // Generate and begin executing an execution to move a component
+    // to a specific GPS coordinate.
+    // May replan to avoid obstacles.
+    // Create new a new plan after replanning.
+    virtual ::grpc::Status MoveOnGlobeNew(::grpc::ClientContext* context, const ::viam::service::motion::v1::MoveOnGlobeNewRequest& request, ::viam::service::motion::v1::MoveOnGlobeNewResponse* response) = 0;
+    std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::service::motion::v1::MoveOnGlobeNewResponse>> AsyncMoveOnGlobeNew(::grpc::ClientContext* context, const ::viam::service::motion::v1::MoveOnGlobeNewRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::service::motion::v1::MoveOnGlobeNewResponse>>(AsyncMoveOnGlobeNewRaw(context, request, cq));
+    }
+    std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::service::motion::v1::MoveOnGlobeNewResponse>> PrepareAsyncMoveOnGlobeNew(::grpc::ClientContext* context, const ::viam::service::motion::v1::MoveOnGlobeNewRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::service::motion::v1::MoveOnGlobeNewResponse>>(PrepareAsyncMoveOnGlobeNewRaw(context, request, cq));
+    }
     virtual ::grpc::Status GetPose(::grpc::ClientContext* context, const ::viam::service::motion::v1::GetPoseRequest& request, ::viam::service::motion::v1::GetPoseResponse* response) = 0;
     std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::service::motion::v1::GetPoseResponse>> AsyncGetPose(::grpc::ClientContext* context, const ::viam::service::motion::v1::GetPoseRequest& request, ::grpc::CompletionQueue* cq) {
       return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::service::motion::v1::GetPoseResponse>>(AsyncGetPoseRaw(context, request, cq));
@@ -67,6 +78,37 @@ class MotionService final {
     std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::service::motion::v1::GetPoseResponse>> PrepareAsyncGetPose(::grpc::ClientContext* context, const ::viam::service::motion::v1::GetPoseRequest& request, ::grpc::CompletionQueue* cq) {
       return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::service::motion::v1::GetPoseResponse>>(PrepareAsyncGetPoseRaw(context, request, cq));
     }
+    // Stops a Plan
+    virtual ::grpc::Status StopPlan(::grpc::ClientContext* context, const ::viam::service::motion::v1::StopPlanRequest& request, ::viam::service::motion::v1::StopPlanResponse* response) = 0;
+    std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::service::motion::v1::StopPlanResponse>> AsyncStopPlan(::grpc::ClientContext* context, const ::viam::service::motion::v1::StopPlanRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::service::motion::v1::StopPlanResponse>>(AsyncStopPlanRaw(context, request, cq));
+    }
+    std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::service::motion::v1::StopPlanResponse>> PrepareAsyncStopPlan(::grpc::ClientContext* context, const ::viam::service::motion::v1::StopPlanRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::service::motion::v1::StopPlanResponse>>(PrepareAsyncStopPlanRaw(context, request, cq));
+    }
+    // Returns the status of plans created by MoveOnGlobe requests
+    // that are executing OR are part of an execution which changed it state
+    // within the a 24HR TTL OR until the robot reinitializes.
+    virtual ::grpc::Status ListPlanStatuses(::grpc::ClientContext* context, const ::viam::service::motion::v1::ListPlanStatusesRequest& request, ::viam::service::motion::v1::ListPlanStatusesResponse* response) = 0;
+    std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::service::motion::v1::ListPlanStatusesResponse>> AsyncListPlanStatuses(::grpc::ClientContext* context, const ::viam::service::motion::v1::ListPlanStatusesRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::service::motion::v1::ListPlanStatusesResponse>>(AsyncListPlanStatusesRaw(context, request, cq));
+    }
+    std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::service::motion::v1::ListPlanStatusesResponse>> PrepareAsyncListPlanStatuses(::grpc::ClientContext* context, const ::viam::service::motion::v1::ListPlanStatusesRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::service::motion::v1::ListPlanStatusesResponse>>(PrepareAsyncListPlanStatusesRaw(context, request, cq));
+    }
+    // Returns the plan(s) & state history of the most recent execution to move a
+    // component. Returns a result if the last execution is still executing OR
+    // changed state within the last 24 hours AND the robot has not reinitialized.
+    // Plans are never mutated.
+    // Replans always create new plans.
+    // Replans share the execution_id of the previously executing plan.
+    virtual ::grpc::Status GetPlan(::grpc::ClientContext* context, const ::viam::service::motion::v1::GetPlanRequest& request, ::viam::service::motion::v1::GetPlanResponse* response) = 0;
+    std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::service::motion::v1::GetPlanResponse>> AsyncGetPlan(::grpc::ClientContext* context, const ::viam::service::motion::v1::GetPlanRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::service::motion::v1::GetPlanResponse>>(AsyncGetPlanRaw(context, request, cq));
+    }
+    std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::service::motion::v1::GetPlanResponse>> PrepareAsyncGetPlan(::grpc::ClientContext* context, const ::viam::service::motion::v1::GetPlanRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::service::motion::v1::GetPlanResponse>>(PrepareAsyncGetPlanRaw(context, request, cq));
+    }
     // DoCommand sends/receives arbitrary commands
     virtual ::grpc::Status DoCommand(::grpc::ClientContext* context, const ::viam::common::v1::DoCommandRequest& request, ::viam::common::v1::DoCommandResponse* response) = 0;
     std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::common::v1::DoCommandResponse>> AsyncDoCommand(::grpc::ClientContext* context, const ::viam::common::v1::DoCommandRequest& request, ::grpc::CompletionQueue* cq) {
@@ -84,8 +126,30 @@ class MotionService final {
       virtual void MoveOnMap(::grpc::ClientContext* context, const ::viam::service::motion::v1::MoveOnMapRequest* request, ::viam::service::motion::v1::MoveOnMapResponse* response, ::grpc::ClientUnaryReactor* reactor) = 0;
       virtual void MoveOnGlobe(::grpc::ClientContext* context, const ::viam::service::motion::v1::MoveOnGlobeRequest* request, ::viam::service::motion::v1::MoveOnGlobeResponse* response, std::function<void(::grpc::Status)>) = 0;
       virtual void MoveOnGlobe(::grpc::ClientContext* context, const ::viam::service::motion::v1::MoveOnGlobeRequest* request, ::viam::service::motion::v1::MoveOnGlobeResponse* response, ::grpc::ClientUnaryReactor* reactor) = 0;
+      // Generate and begin executing an execution to move a component
+      // to a specific GPS coordinate.
+      // May replan to avoid obstacles.
+      // Create new a new plan after replanning.
+      virtual void MoveOnGlobeNew(::grpc::ClientContext* context, const ::viam::service::motion::v1::MoveOnGlobeNewRequest* request, ::viam::service::motion::v1::MoveOnGlobeNewResponse* response, std::function<void(::grpc::Status)>) = 0;
+      virtual void MoveOnGlobeNew(::grpc::ClientContext* context, const ::viam::service::motion::v1::MoveOnGlobeNewRequest* request, ::viam::service::motion::v1::MoveOnGlobeNewResponse* response, ::grpc::ClientUnaryReactor* reactor) = 0;
       virtual void GetPose(::grpc::ClientContext* context, const ::viam::service::motion::v1::GetPoseRequest* request, ::viam::service::motion::v1::GetPoseResponse* response, std::function<void(::grpc::Status)>) = 0;
       virtual void GetPose(::grpc::ClientContext* context, const ::viam::service::motion::v1::GetPoseRequest* request, ::viam::service::motion::v1::GetPoseResponse* response, ::grpc::ClientUnaryReactor* reactor) = 0;
+      // Stops a Plan
+      virtual void StopPlan(::grpc::ClientContext* context, const ::viam::service::motion::v1::StopPlanRequest* request, ::viam::service::motion::v1::StopPlanResponse* response, std::function<void(::grpc::Status)>) = 0;
+      virtual void StopPlan(::grpc::ClientContext* context, const ::viam::service::motion::v1::StopPlanRequest* request, ::viam::service::motion::v1::StopPlanResponse* response, ::grpc::ClientUnaryReactor* reactor) = 0;
+      // Returns the status of plans created by MoveOnGlobe requests
+      // that are executing OR are part of an execution which changed it state
+      // within the a 24HR TTL OR until the robot reinitializes.
+      virtual void ListPlanStatuses(::grpc::ClientContext* context, const ::viam::service::motion::v1::ListPlanStatusesRequest* request, ::viam::service::motion::v1::ListPlanStatusesResponse* response, std::function<void(::grpc::Status)>) = 0;
+      virtual void ListPlanStatuses(::grpc::ClientContext* context, const ::viam::service::motion::v1::ListPlanStatusesRequest* request, ::viam::service::motion::v1::ListPlanStatusesResponse* response, ::grpc::ClientUnaryReactor* reactor) = 0;
+      // Returns the plan(s) & state history of the most recent execution to move a
+      // component. Returns a result if the last execution is still executing OR
+      // changed state within the last 24 hours AND the robot has not reinitialized.
+      // Plans are never mutated.
+      // Replans always create new plans.
+      // Replans share the execution_id of the previously executing plan.
+      virtual void GetPlan(::grpc::ClientContext* context, const ::viam::service::motion::v1::GetPlanRequest* request, ::viam::service::motion::v1::GetPlanResponse* response, std::function<void(::grpc::Status)>) = 0;
+      virtual void GetPlan(::grpc::ClientContext* context, const ::viam::service::motion::v1::GetPlanRequest* request, ::viam::service::motion::v1::GetPlanResponse* response, ::grpc::ClientUnaryReactor* reactor) = 0;
       // DoCommand sends/receives arbitrary commands
       virtual void DoCommand(::grpc::ClientContext* context, const ::viam::common::v1::DoCommandRequest* request, ::viam::common::v1::DoCommandResponse* response, std::function<void(::grpc::Status)>) = 0;
       virtual void DoCommand(::grpc::ClientContext* context, const ::viam::common::v1::DoCommandRequest* request, ::viam::common::v1::DoCommandResponse* response, ::grpc::ClientUnaryReactor* reactor) = 0;
@@ -100,8 +164,16 @@ class MotionService final {
     virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::service::motion::v1::MoveOnMapResponse>* PrepareAsyncMoveOnMapRaw(::grpc::ClientContext* context, const ::viam::service::motion::v1::MoveOnMapRequest& request, ::grpc::CompletionQueue* cq) = 0;
     virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::service::motion::v1::MoveOnGlobeResponse>* AsyncMoveOnGlobeRaw(::grpc::ClientContext* context, const ::viam::service::motion::v1::MoveOnGlobeRequest& request, ::grpc::CompletionQueue* cq) = 0;
     virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::service::motion::v1::MoveOnGlobeResponse>* PrepareAsyncMoveOnGlobeRaw(::grpc::ClientContext* context, const ::viam::service::motion::v1::MoveOnGlobeRequest& request, ::grpc::CompletionQueue* cq) = 0;
+    virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::service::motion::v1::MoveOnGlobeNewResponse>* AsyncMoveOnGlobeNewRaw(::grpc::ClientContext* context, const ::viam::service::motion::v1::MoveOnGlobeNewRequest& request, ::grpc::CompletionQueue* cq) = 0;
+    virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::service::motion::v1::MoveOnGlobeNewResponse>* PrepareAsyncMoveOnGlobeNewRaw(::grpc::ClientContext* context, const ::viam::service::motion::v1::MoveOnGlobeNewRequest& request, ::grpc::CompletionQueue* cq) = 0;
     virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::service::motion::v1::GetPoseResponse>* AsyncGetPoseRaw(::grpc::ClientContext* context, const ::viam::service::motion::v1::GetPoseRequest& request, ::grpc::CompletionQueue* cq) = 0;
     virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::service::motion::v1::GetPoseResponse>* PrepareAsyncGetPoseRaw(::grpc::ClientContext* context, const ::viam::service::motion::v1::GetPoseRequest& request, ::grpc::CompletionQueue* cq) = 0;
+    virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::service::motion::v1::StopPlanResponse>* AsyncStopPlanRaw(::grpc::ClientContext* context, const ::viam::service::motion::v1::StopPlanRequest& request, ::grpc::CompletionQueue* cq) = 0;
+    virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::service::motion::v1::StopPlanResponse>* PrepareAsyncStopPlanRaw(::grpc::ClientContext* context, const ::viam::service::motion::v1::StopPlanRequest& request, ::grpc::CompletionQueue* cq) = 0;
+    virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::service::motion::v1::ListPlanStatusesResponse>* AsyncListPlanStatusesRaw(::grpc::ClientContext* context, const ::viam::service::motion::v1::ListPlanStatusesRequest& request, ::grpc::CompletionQueue* cq) = 0;
+    virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::service::motion::v1::ListPlanStatusesResponse>* PrepareAsyncListPlanStatusesRaw(::grpc::ClientContext* context, const ::viam::service::motion::v1::ListPlanStatusesRequest& request, ::grpc::CompletionQueue* cq) = 0;
+    virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::service::motion::v1::GetPlanResponse>* AsyncGetPlanRaw(::grpc::ClientContext* context, const ::viam::service::motion::v1::GetPlanRequest& request, ::grpc::CompletionQueue* cq) = 0;
+    virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::service::motion::v1::GetPlanResponse>* PrepareAsyncGetPlanRaw(::grpc::ClientContext* context, const ::viam::service::motion::v1::GetPlanRequest& request, ::grpc::CompletionQueue* cq) = 0;
     virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::common::v1::DoCommandResponse>* AsyncDoCommandRaw(::grpc::ClientContext* context, const ::viam::common::v1::DoCommandRequest& request, ::grpc::CompletionQueue* cq) = 0;
     virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::common::v1::DoCommandResponse>* PrepareAsyncDoCommandRaw(::grpc::ClientContext* context, const ::viam::common::v1::DoCommandRequest& request, ::grpc::CompletionQueue* cq) = 0;
   };
@@ -129,6 +201,13 @@ class MotionService final {
     std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::MoveOnGlobeResponse>> PrepareAsyncMoveOnGlobe(::grpc::ClientContext* context, const ::viam::service::motion::v1::MoveOnGlobeRequest& request, ::grpc::CompletionQueue* cq) {
       return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::MoveOnGlobeResponse>>(PrepareAsyncMoveOnGlobeRaw(context, request, cq));
     }
+    ::grpc::Status MoveOnGlobeNew(::grpc::ClientContext* context, const ::viam::service::motion::v1::MoveOnGlobeNewRequest& request, ::viam::service::motion::v1::MoveOnGlobeNewResponse* response) override;
+    std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::MoveOnGlobeNewResponse>> AsyncMoveOnGlobeNew(::grpc::ClientContext* context, const ::viam::service::motion::v1::MoveOnGlobeNewRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::MoveOnGlobeNewResponse>>(AsyncMoveOnGlobeNewRaw(context, request, cq));
+    }
+    std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::MoveOnGlobeNewResponse>> PrepareAsyncMoveOnGlobeNew(::grpc::ClientContext* context, const ::viam::service::motion::v1::MoveOnGlobeNewRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::MoveOnGlobeNewResponse>>(PrepareAsyncMoveOnGlobeNewRaw(context, request, cq));
+    }
     ::grpc::Status GetPose(::grpc::ClientContext* context, const ::viam::service::motion::v1::GetPoseRequest& request, ::viam::service::motion::v1::GetPoseResponse* response) override;
     std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::GetPoseResponse>> AsyncGetPose(::grpc::ClientContext* context, const ::viam::service::motion::v1::GetPoseRequest& request, ::grpc::CompletionQueue* cq) {
       return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::GetPoseResponse>>(AsyncGetPoseRaw(context, request, cq));
@@ -136,6 +215,27 @@ class MotionService final {
     std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::GetPoseResponse>> PrepareAsyncGetPose(::grpc::ClientContext* context, const ::viam::service::motion::v1::GetPoseRequest& request, ::grpc::CompletionQueue* cq) {
       return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::GetPoseResponse>>(PrepareAsyncGetPoseRaw(context, request, cq));
     }
+    ::grpc::Status StopPlan(::grpc::ClientContext* context, const ::viam::service::motion::v1::StopPlanRequest& request, ::viam::service::motion::v1::StopPlanResponse* response) override;
+    std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::StopPlanResponse>> AsyncStopPlan(::grpc::ClientContext* context, const ::viam::service::motion::v1::StopPlanRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::StopPlanResponse>>(AsyncStopPlanRaw(context, request, cq));
+    }
+    std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::StopPlanResponse>> PrepareAsyncStopPlan(::grpc::ClientContext* context, const ::viam::service::motion::v1::StopPlanRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::StopPlanResponse>>(PrepareAsyncStopPlanRaw(context, request, cq));
+    }
+    ::grpc::Status ListPlanStatuses(::grpc::ClientContext* context, const ::viam::service::motion::v1::ListPlanStatusesRequest& request, ::viam::service::motion::v1::ListPlanStatusesResponse* response) override;
+    std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::ListPlanStatusesResponse>> AsyncListPlanStatuses(::grpc::ClientContext* context, const ::viam::service::motion::v1::ListPlanStatusesRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::ListPlanStatusesResponse>>(AsyncListPlanStatusesRaw(context, request, cq));
+    }
+    std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::ListPlanStatusesResponse>> PrepareAsyncListPlanStatuses(::grpc::ClientContext* context, const ::viam::service::motion::v1::ListPlanStatusesRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::ListPlanStatusesResponse>>(PrepareAsyncListPlanStatusesRaw(context, request, cq));
+    }
+    ::grpc::Status GetPlan(::grpc::ClientContext* context, const ::viam::service::motion::v1::GetPlanRequest& request, ::viam::service::motion::v1::GetPlanResponse* response) override;
+    std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::GetPlanResponse>> AsyncGetPlan(::grpc::ClientContext* context, const ::viam::service::motion::v1::GetPlanRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::GetPlanResponse>>(AsyncGetPlanRaw(context, request, cq));
+    }
+    std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::GetPlanResponse>> PrepareAsyncGetPlan(::grpc::ClientContext* context, const ::viam::service::motion::v1::GetPlanRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::GetPlanResponse>>(PrepareAsyncGetPlanRaw(context, request, cq));
+    }
     ::grpc::Status DoCommand(::grpc::ClientContext* context, const ::viam::common::v1::DoCommandRequest& request, ::viam::common::v1::DoCommandResponse* response) override;
     std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::common::v1::DoCommandResponse>> AsyncDoCommand(::grpc::ClientContext* context, const ::viam::common::v1::DoCommandRequest& request, ::grpc::CompletionQueue* cq) {
       return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::common::v1::DoCommandResponse>>(AsyncDoCommandRaw(context, request, cq));
@@ -152,8 +252,16 @@ class MotionService final {
       void MoveOnMap(::grpc::ClientContext* context, const ::viam::service::motion::v1::MoveOnMapRequest* request, ::viam::service::motion::v1::MoveOnMapResponse* response, ::grpc::ClientUnaryReactor* reactor) override;
       void MoveOnGlobe(::grpc::ClientContext* context, const ::viam::service::motion::v1::MoveOnGlobeRequest* request, ::viam::service::motion::v1::MoveOnGlobeResponse* response, std::function<void(::grpc::Status)>) override;
       void MoveOnGlobe(::grpc::ClientContext* context, const ::viam::service::motion::v1::MoveOnGlobeRequest* request, ::viam::service::motion::v1::MoveOnGlobeResponse* response, ::grpc::ClientUnaryReactor* reactor) override;
+      void MoveOnGlobeNew(::grpc::ClientContext* context, const ::viam::service::motion::v1::MoveOnGlobeNewRequest* request, ::viam::service::motion::v1::MoveOnGlobeNewResponse* response, std::function<void(::grpc::Status)>) override;
+      void MoveOnGlobeNew(::grpc::ClientContext* context, const ::viam::service::motion::v1::MoveOnGlobeNewRequest* request, ::viam::service::motion::v1::MoveOnGlobeNewResponse* response, ::grpc::ClientUnaryReactor* reactor) override;
       void GetPose(::grpc::ClientContext* context, const ::viam::service::motion::v1::GetPoseRequest* request, ::viam::service::motion::v1::GetPoseResponse* response, std::function<void(::grpc::Status)>) override;
       void GetPose(::grpc::ClientContext* context, const ::viam::service::motion::v1::GetPoseRequest* request, ::viam::service::motion::v1::GetPoseResponse* response, ::grpc::ClientUnaryReactor* reactor) override;
+      void StopPlan(::grpc::ClientContext* context, const ::viam::service::motion::v1::StopPlanRequest* request, ::viam::service::motion::v1::StopPlanResponse* response, std::function<void(::grpc::Status)>) override;
+      void StopPlan(::grpc::ClientContext* context, const ::viam::service::motion::v1::StopPlanRequest* request, ::viam::service::motion::v1::StopPlanResponse* response, ::grpc::ClientUnaryReactor* reactor) override;
+      void ListPlanStatuses(::grpc::ClientContext* context, const ::viam::service::motion::v1::ListPlanStatusesRequest* request, ::viam::service::motion::v1::ListPlanStatusesResponse* response, std::function<void(::grpc::Status)>) override;
+      void ListPlanStatuses(::grpc::ClientContext* context, const ::viam::service::motion::v1::ListPlanStatusesRequest* request, ::viam::service::motion::v1::ListPlanStatusesResponse* response, ::grpc::ClientUnaryReactor* reactor) override;
+      void GetPlan(::grpc::ClientContext* context, const ::viam::service::motion::v1::GetPlanRequest* request, ::viam::service::motion::v1::GetPlanResponse* response, std::function<void(::grpc::Status)>) override;
+      void GetPlan(::grpc::ClientContext* context, const ::viam::service::motion::v1::GetPlanRequest* request, ::viam::service::motion::v1::GetPlanResponse* response, ::grpc::ClientUnaryReactor* reactor) override;
       void DoCommand(::grpc::ClientContext* context, const ::viam::common::v1::DoCommandRequest* request, ::viam::common::v1::DoCommandResponse* response, std::function<void(::grpc::Status)>) override;
       void DoCommand(::grpc::ClientContext* context, const ::viam::common::v1::DoCommandRequest* request, ::viam::common::v1::DoCommandResponse* response, ::grpc::ClientUnaryReactor* reactor) override;
      private:
@@ -173,14 +281,26 @@ class MotionService final {
     ::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::MoveOnMapResponse>* PrepareAsyncMoveOnMapRaw(::grpc::ClientContext* context, const ::viam::service::motion::v1::MoveOnMapRequest& request, ::grpc::CompletionQueue* cq) override;
     ::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::MoveOnGlobeResponse>* AsyncMoveOnGlobeRaw(::grpc::ClientContext* context, const ::viam::service::motion::v1::MoveOnGlobeRequest& request, ::grpc::CompletionQueue* cq) override;
     ::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::MoveOnGlobeResponse>* PrepareAsyncMoveOnGlobeRaw(::grpc::ClientContext* context, const ::viam::service::motion::v1::MoveOnGlobeRequest& request, ::grpc::CompletionQueue* cq) override;
+    ::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::MoveOnGlobeNewResponse>* AsyncMoveOnGlobeNewRaw(::grpc::ClientContext* context, const ::viam::service::motion::v1::MoveOnGlobeNewRequest& request, ::grpc::CompletionQueue* cq) override;
+    ::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::MoveOnGlobeNewResponse>* PrepareAsyncMoveOnGlobeNewRaw(::grpc::ClientContext* context, const ::viam::service::motion::v1::MoveOnGlobeNewRequest& request, ::grpc::CompletionQueue* cq) override;
     ::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::GetPoseResponse>* AsyncGetPoseRaw(::grpc::ClientContext* context, const ::viam::service::motion::v1::GetPoseRequest& request, ::grpc::CompletionQueue* cq) override;
     ::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::GetPoseResponse>* PrepareAsyncGetPoseRaw(::grpc::ClientContext* context, const ::viam::service::motion::v1::GetPoseRequest& request, ::grpc::CompletionQueue* cq) override;
+    ::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::StopPlanResponse>* AsyncStopPlanRaw(::grpc::ClientContext* context, const ::viam::service::motion::v1::StopPlanRequest& request, ::grpc::CompletionQueue* cq) override;
+    ::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::StopPlanResponse>* PrepareAsyncStopPlanRaw(::grpc::ClientContext* context, const ::viam::service::motion::v1::StopPlanRequest& request, ::grpc::CompletionQueue* cq) override;
+    ::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::ListPlanStatusesResponse>* AsyncListPlanStatusesRaw(::grpc::ClientContext* context, const ::viam::service::motion::v1::ListPlanStatusesRequest& request, ::grpc::CompletionQueue* cq) override;
+    ::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::ListPlanStatusesResponse>* PrepareAsyncListPlanStatusesRaw(::grpc::ClientContext* context, const ::viam::service::motion::v1::ListPlanStatusesRequest& request, ::grpc::CompletionQueue* cq) override;
+    ::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::GetPlanResponse>* AsyncGetPlanRaw(::grpc::ClientContext* context, const ::viam::service::motion::v1::GetPlanRequest& request, ::grpc::CompletionQueue* cq) override;
+    ::grpc::ClientAsyncResponseReader< ::viam::service::motion::v1::GetPlanResponse>* PrepareAsyncGetPlanRaw(::grpc::ClientContext* context, const ::viam::service::motion::v1::GetPlanRequest& request, ::grpc::CompletionQueue* cq) override;
     ::grpc::ClientAsyncResponseReader< ::viam::common::v1::DoCommandResponse>* AsyncDoCommandRaw(::grpc::ClientContext* context, const ::viam::common::v1::DoCommandRequest& request, ::grpc::CompletionQueue* cq) override;
     ::grpc::ClientAsyncResponseReader< ::viam::common::v1::DoCommandResponse>* PrepareAsyncDoCommandRaw(::grpc::ClientContext* context, const ::viam::common::v1::DoCommandRequest& request, ::grpc::CompletionQueue* cq) override;
     const ::grpc::internal::RpcMethod rpcmethod_Move_;
     const ::grpc::internal::RpcMethod rpcmethod_MoveOnMap_;
     const ::grpc::internal::RpcMethod rpcmethod_MoveOnGlobe_;
+    const ::grpc::internal::RpcMethod rpcmethod_MoveOnGlobeNew_;
     const ::grpc::internal::RpcMethod rpcmethod_GetPose_;
+    const ::grpc::internal::RpcMethod rpcmethod_StopPlan_;
+    const ::grpc::internal::RpcMethod rpcmethod_ListPlanStatuses_;
+    const ::grpc::internal::RpcMethod rpcmethod_GetPlan_;
     const ::grpc::internal::RpcMethod rpcmethod_DoCommand_;
   };
   static std::unique_ptr<Stub> NewStub(const std::shared_ptr< ::grpc::ChannelInterface>& channel, const ::grpc::StubOptions& options = ::grpc::StubOptions());
@@ -192,7 +312,25 @@ class MotionService final {
     virtual ::grpc::Status Move(::grpc::ServerContext* context, const ::viam::service::motion::v1::MoveRequest* request, ::viam::service::motion::v1::MoveResponse* response);
     virtual ::grpc::Status MoveOnMap(::grpc::ServerContext* context, const ::viam::service::motion::v1::MoveOnMapRequest* request, ::viam::service::motion::v1::MoveOnMapResponse* response);
     virtual ::grpc::Status MoveOnGlobe(::grpc::ServerContext* context, const ::viam::service::motion::v1::MoveOnGlobeRequest* request, ::viam::service::motion::v1::MoveOnGlobeResponse* response);
+    // Generate and begin executing an execution to move a component
+    // to a specific GPS coordinate.
+    // May replan to avoid obstacles.
+    // Create new a new plan after replanning.
+    virtual ::grpc::Status MoveOnGlobeNew(::grpc::ServerContext* context, const ::viam::service::motion::v1::MoveOnGlobeNewRequest* request, ::viam::service::motion::v1::MoveOnGlobeNewResponse* response);
     virtual ::grpc::Status GetPose(::grpc::ServerContext* context, const ::viam::service::motion::v1::GetPoseRequest* request, ::viam::service::motion::v1::GetPoseResponse* response);
+    // Stops a Plan
+    virtual ::grpc::Status StopPlan(::grpc::ServerContext* context, const ::viam::service::motion::v1::StopPlanRequest* request, ::viam::service::motion::v1::StopPlanResponse* response);
+    // Returns the status of plans created by MoveOnGlobe requests
+    // that are executing OR are part of an execution which changed it state
+    // within the a 24HR TTL OR until the robot reinitializes.
+    virtual ::grpc::Status ListPlanStatuses(::grpc::ServerContext* context, const ::viam::service::motion::v1::ListPlanStatusesRequest* request, ::viam::service::motion::v1::ListPlanStatusesResponse* response);
+    // Returns the plan(s) & state history of the most recent execution to move a
+    // component. Returns a result if the last execution is still executing OR
+    // changed state within the last 24 hours AND the robot has not reinitialized.
+    // Plans are never mutated.
+    // Replans always create new plans.
+    // Replans share the execution_id of the previously executing plan.
+    virtual ::grpc::Status GetPlan(::grpc::ServerContext* context, const ::viam::service::motion::v1::GetPlanRequest* request, ::viam::service::motion::v1::GetPlanResponse* response);
     // DoCommand sends/receives arbitrary commands
     virtual ::grpc::Status DoCommand(::grpc::ServerContext* context, const ::viam::common::v1::DoCommandRequest* request, ::viam::common::v1::DoCommandResponse* response);
   };
@@ -257,12 +395,32 @@ class MotionService final {
     }
   };
   template <class BaseClass>
+  class WithAsyncMethod_MoveOnGlobeNew : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithAsyncMethod_MoveOnGlobeNew() {
+      ::grpc::Service::MarkMethodAsync(3);
+    }
+    ~WithAsyncMethod_MoveOnGlobeNew() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status MoveOnGlobeNew(::grpc::ServerContext* /*context*/, const ::viam::service::motion::v1::MoveOnGlobeNewRequest* /*request*/, ::viam::service::motion::v1::MoveOnGlobeNewResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    void RequestMoveOnGlobeNew(::grpc::ServerContext* context, ::viam::service::motion::v1::MoveOnGlobeNewRequest* request, ::grpc::ServerAsyncResponseWriter< ::viam::service::motion::v1::MoveOnGlobeNewResponse>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
+      ::grpc::Service::RequestAsyncUnary(3, context, request, response, new_call_cq, notification_cq, tag);
+    }
+  };
+  template <class BaseClass>
   class WithAsyncMethod_GetPose : public BaseClass {
    private:
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithAsyncMethod_GetPose() {
-      ::grpc::Service::MarkMethodAsync(3);
+      ::grpc::Service::MarkMethodAsync(4);
     }
     ~WithAsyncMethod_GetPose() override {
       BaseClassMustBeDerivedFromService(this);
@@ -273,7 +431,67 @@ class MotionService final {
       return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
     }
     void RequestGetPose(::grpc::ServerContext* context, ::viam::service::motion::v1::GetPoseRequest* request, ::grpc::ServerAsyncResponseWriter< ::viam::service::motion::v1::GetPoseResponse>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
-      ::grpc::Service::RequestAsyncUnary(3, context, request, response, new_call_cq, notification_cq, tag);
+      ::grpc::Service::RequestAsyncUnary(4, context, request, response, new_call_cq, notification_cq, tag);
+    }
+  };
+  template <class BaseClass>
+  class WithAsyncMethod_StopPlan : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithAsyncMethod_StopPlan() {
+      ::grpc::Service::MarkMethodAsync(5);
+    }
+    ~WithAsyncMethod_StopPlan() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status StopPlan(::grpc::ServerContext* /*context*/, const ::viam::service::motion::v1::StopPlanRequest* /*request*/, ::viam::service::motion::v1::StopPlanResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    void RequestStopPlan(::grpc::ServerContext* context, ::viam::service::motion::v1::StopPlanRequest* request, ::grpc::ServerAsyncResponseWriter< ::viam::service::motion::v1::StopPlanResponse>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
+      ::grpc::Service::RequestAsyncUnary(5, context, request, response, new_call_cq, notification_cq, tag);
+    }
+  };
+  template <class BaseClass>
+  class WithAsyncMethod_ListPlanStatuses : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithAsyncMethod_ListPlanStatuses() {
+      ::grpc::Service::MarkMethodAsync(6);
+    }
+    ~WithAsyncMethod_ListPlanStatuses() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status ListPlanStatuses(::grpc::ServerContext* /*context*/, const ::viam::service::motion::v1::ListPlanStatusesRequest* /*request*/, ::viam::service::motion::v1::ListPlanStatusesResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    void RequestListPlanStatuses(::grpc::ServerContext* context, ::viam::service::motion::v1::ListPlanStatusesRequest* request, ::grpc::ServerAsyncResponseWriter< ::viam::service::motion::v1::ListPlanStatusesResponse>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
+      ::grpc::Service::RequestAsyncUnary(6, context, request, response, new_call_cq, notification_cq, tag);
+    }
+  };
+  template <class BaseClass>
+  class WithAsyncMethod_GetPlan : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithAsyncMethod_GetPlan() {
+      ::grpc::Service::MarkMethodAsync(7);
+    }
+    ~WithAsyncMethod_GetPlan() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status GetPlan(::grpc::ServerContext* /*context*/, const ::viam::service::motion::v1::GetPlanRequest* /*request*/, ::viam::service::motion::v1::GetPlanResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    void RequestGetPlan(::grpc::ServerContext* context, ::viam::service::motion::v1::GetPlanRequest* request, ::grpc::ServerAsyncResponseWriter< ::viam::service::motion::v1::GetPlanResponse>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
+      ::grpc::Service::RequestAsyncUnary(7, context, request, response, new_call_cq, notification_cq, tag);
     }
   };
   template <class BaseClass>
@@ -282,7 +500,7 @@ class MotionService final {
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithAsyncMethod_DoCommand() {
-      ::grpc::Service::MarkMethodAsync(4);
+      ::grpc::Service::MarkMethodAsync(8);
     }
     ~WithAsyncMethod_DoCommand() override {
       BaseClassMustBeDerivedFromService(this);
@@ -293,10 +511,10 @@ class MotionService final {
       return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
     }
     void RequestDoCommand(::grpc::ServerContext* context, ::viam::common::v1::DoCommandRequest* request, ::grpc::ServerAsyncResponseWriter< ::viam::common::v1::DoCommandResponse>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
-      ::grpc::Service::RequestAsyncUnary(4, context, request, response, new_call_cq, notification_cq, tag);
+      ::grpc::Service::RequestAsyncUnary(8, context, request, response, new_call_cq, notification_cq, tag);
     }
   };
-  typedef WithAsyncMethod_Move<WithAsyncMethod_MoveOnMap<WithAsyncMethod_MoveOnGlobe<WithAsyncMethod_GetPose<WithAsyncMethod_DoCommand<Service > > > > > AsyncService;
+  typedef WithAsyncMethod_Move<WithAsyncMethod_MoveOnMap<WithAsyncMethod_MoveOnGlobe<WithAsyncMethod_MoveOnGlobeNew<WithAsyncMethod_GetPose<WithAsyncMethod_StopPlan<WithAsyncMethod_ListPlanStatuses<WithAsyncMethod_GetPlan<WithAsyncMethod_DoCommand<Service > > > > > > > > > AsyncService;
   template <class BaseClass>
   class WithCallbackMethod_Move : public BaseClass {
    private:
@@ -379,18 +597,45 @@ class MotionService final {
       ::grpc::CallbackServerContext* /*context*/, const ::viam::service::motion::v1::MoveOnGlobeRequest* /*request*/, ::viam::service::motion::v1::MoveOnGlobeResponse* /*response*/)  { return nullptr; }
   };
   template <class BaseClass>
+  class WithCallbackMethod_MoveOnGlobeNew : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithCallbackMethod_MoveOnGlobeNew() {
+      ::grpc::Service::MarkMethodCallback(3,
+          new ::grpc::internal::CallbackUnaryHandler< ::viam::service::motion::v1::MoveOnGlobeNewRequest, ::viam::service::motion::v1::MoveOnGlobeNewResponse>(
+            [this](
+                   ::grpc::CallbackServerContext* context, const ::viam::service::motion::v1::MoveOnGlobeNewRequest* request, ::viam::service::motion::v1::MoveOnGlobeNewResponse* response) { return this->MoveOnGlobeNew(context, request, response); }));}
+    void SetMessageAllocatorFor_MoveOnGlobeNew(
+        ::grpc::MessageAllocator< ::viam::service::motion::v1::MoveOnGlobeNewRequest, ::viam::service::motion::v1::MoveOnGlobeNewResponse>* allocator) {
+      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::GetHandler(3);
+      static_cast<::grpc::internal::CallbackUnaryHandler< ::viam::service::motion::v1::MoveOnGlobeNewRequest, ::viam::service::motion::v1::MoveOnGlobeNewResponse>*>(handler)
+              ->SetMessageAllocator(allocator);
+    }
+    ~WithCallbackMethod_MoveOnGlobeNew() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status MoveOnGlobeNew(::grpc::ServerContext* /*context*/, const ::viam::service::motion::v1::MoveOnGlobeNewRequest* /*request*/, ::viam::service::motion::v1::MoveOnGlobeNewResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    virtual ::grpc::ServerUnaryReactor* MoveOnGlobeNew(
+      ::grpc::CallbackServerContext* /*context*/, const ::viam::service::motion::v1::MoveOnGlobeNewRequest* /*request*/, ::viam::service::motion::v1::MoveOnGlobeNewResponse* /*response*/)  { return nullptr; }
+  };
+  template <class BaseClass>
   class WithCallbackMethod_GetPose : public BaseClass {
    private:
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithCallbackMethod_GetPose() {
-      ::grpc::Service::MarkMethodCallback(3,
+      ::grpc::Service::MarkMethodCallback(4,
           new ::grpc::internal::CallbackUnaryHandler< ::viam::service::motion::v1::GetPoseRequest, ::viam::service::motion::v1::GetPoseResponse>(
             [this](
                    ::grpc::CallbackServerContext* context, const ::viam::service::motion::v1::GetPoseRequest* request, ::viam::service::motion::v1::GetPoseResponse* response) { return this->GetPose(context, request, response); }));}
     void SetMessageAllocatorFor_GetPose(
         ::grpc::MessageAllocator< ::viam::service::motion::v1::GetPoseRequest, ::viam::service::motion::v1::GetPoseResponse>* allocator) {
-      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::GetHandler(3);
+      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::GetHandler(4);
       static_cast<::grpc::internal::CallbackUnaryHandler< ::viam::service::motion::v1::GetPoseRequest, ::viam::service::motion::v1::GetPoseResponse>*>(handler)
               ->SetMessageAllocator(allocator);
     }
@@ -406,18 +651,99 @@ class MotionService final {
       ::grpc::CallbackServerContext* /*context*/, const ::viam::service::motion::v1::GetPoseRequest* /*request*/, ::viam::service::motion::v1::GetPoseResponse* /*response*/)  { return nullptr; }
   };
   template <class BaseClass>
+  class WithCallbackMethod_StopPlan : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithCallbackMethod_StopPlan() {
+      ::grpc::Service::MarkMethodCallback(5,
+          new ::grpc::internal::CallbackUnaryHandler< ::viam::service::motion::v1::StopPlanRequest, ::viam::service::motion::v1::StopPlanResponse>(
+            [this](
+                   ::grpc::CallbackServerContext* context, const ::viam::service::motion::v1::StopPlanRequest* request, ::viam::service::motion::v1::StopPlanResponse* response) { return this->StopPlan(context, request, response); }));}
+    void SetMessageAllocatorFor_StopPlan(
+        ::grpc::MessageAllocator< ::viam::service::motion::v1::StopPlanRequest, ::viam::service::motion::v1::StopPlanResponse>* allocator) {
+      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::GetHandler(5);
+      static_cast<::grpc::internal::CallbackUnaryHandler< ::viam::service::motion::v1::StopPlanRequest, ::viam::service::motion::v1::StopPlanResponse>*>(handler)
+              ->SetMessageAllocator(allocator);
+    }
+    ~WithCallbackMethod_StopPlan() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status StopPlan(::grpc::ServerContext* /*context*/, const ::viam::service::motion::v1::StopPlanRequest* /*request*/, ::viam::service::motion::v1::StopPlanResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    virtual ::grpc::ServerUnaryReactor* StopPlan(
+      ::grpc::CallbackServerContext* /*context*/, const ::viam::service::motion::v1::StopPlanRequest* /*request*/, ::viam::service::motion::v1::StopPlanResponse* /*response*/)  { return nullptr; }
+  };
+  template <class BaseClass>
+  class WithCallbackMethod_ListPlanStatuses : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithCallbackMethod_ListPlanStatuses() {
+      ::grpc::Service::MarkMethodCallback(6,
+          new ::grpc::internal::CallbackUnaryHandler< ::viam::service::motion::v1::ListPlanStatusesRequest, ::viam::service::motion::v1::ListPlanStatusesResponse>(
+            [this](
+                   ::grpc::CallbackServerContext* context, const ::viam::service::motion::v1::ListPlanStatusesRequest* request, ::viam::service::motion::v1::ListPlanStatusesResponse* response) { return this->ListPlanStatuses(context, request, response); }));}
+    void SetMessageAllocatorFor_ListPlanStatuses(
+        ::grpc::MessageAllocator< ::viam::service::motion::v1::ListPlanStatusesRequest, ::viam::service::motion::v1::ListPlanStatusesResponse>* allocator) {
+      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::GetHandler(6);
+      static_cast<::grpc::internal::CallbackUnaryHandler< ::viam::service::motion::v1::ListPlanStatusesRequest, ::viam::service::motion::v1::ListPlanStatusesResponse>*>(handler)
+              ->SetMessageAllocator(allocator);
+    }
+    ~WithCallbackMethod_ListPlanStatuses() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status ListPlanStatuses(::grpc::ServerContext* /*context*/, const ::viam::service::motion::v1::ListPlanStatusesRequest* /*request*/, ::viam::service::motion::v1::ListPlanStatusesResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    virtual ::grpc::ServerUnaryReactor* ListPlanStatuses(
+      ::grpc::CallbackServerContext* /*context*/, const ::viam::service::motion::v1::ListPlanStatusesRequest* /*request*/, ::viam::service::motion::v1::ListPlanStatusesResponse* /*response*/)  { return nullptr; }
+  };
+  template <class BaseClass>
+  class WithCallbackMethod_GetPlan : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithCallbackMethod_GetPlan() {
+      ::grpc::Service::MarkMethodCallback(7,
+          new ::grpc::internal::CallbackUnaryHandler< ::viam::service::motion::v1::GetPlanRequest, ::viam::service::motion::v1::GetPlanResponse>(
+            [this](
+                   ::grpc::CallbackServerContext* context, const ::viam::service::motion::v1::GetPlanRequest* request, ::viam::service::motion::v1::GetPlanResponse* response) { return this->GetPlan(context, request, response); }));}
+    void SetMessageAllocatorFor_GetPlan(
+        ::grpc::MessageAllocator< ::viam::service::motion::v1::GetPlanRequest, ::viam::service::motion::v1::GetPlanResponse>* allocator) {
+      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::GetHandler(7);
+      static_cast<::grpc::internal::CallbackUnaryHandler< ::viam::service::motion::v1::GetPlanRequest, ::viam::service::motion::v1::GetPlanResponse>*>(handler)
+              ->SetMessageAllocator(allocator);
+    }
+    ~WithCallbackMethod_GetPlan() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status GetPlan(::grpc::ServerContext* /*context*/, const ::viam::service::motion::v1::GetPlanRequest* /*request*/, ::viam::service::motion::v1::GetPlanResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    virtual ::grpc::ServerUnaryReactor* GetPlan(
+      ::grpc::CallbackServerContext* /*context*/, const ::viam::service::motion::v1::GetPlanRequest* /*request*/, ::viam::service::motion::v1::GetPlanResponse* /*response*/)  { return nullptr; }
+  };
+  template <class BaseClass>
   class WithCallbackMethod_DoCommand : public BaseClass {
    private:
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithCallbackMethod_DoCommand() {
-      ::grpc::Service::MarkMethodCallback(4,
+      ::grpc::Service::MarkMethodCallback(8,
           new ::grpc::internal::CallbackUnaryHandler< ::viam::common::v1::DoCommandRequest, ::viam::common::v1::DoCommandResponse>(
             [this](
                    ::grpc::CallbackServerContext* context, const ::viam::common::v1::DoCommandRequest* request, ::viam::common::v1::DoCommandResponse* response) { return this->DoCommand(context, request, response); }));}
     void SetMessageAllocatorFor_DoCommand(
         ::grpc::MessageAllocator< ::viam::common::v1::DoCommandRequest, ::viam::common::v1::DoCommandResponse>* allocator) {
-      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::GetHandler(4);
+      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::GetHandler(8);
       static_cast<::grpc::internal::CallbackUnaryHandler< ::viam::common::v1::DoCommandRequest, ::viam::common::v1::DoCommandResponse>*>(handler)
               ->SetMessageAllocator(allocator);
     }
@@ -432,7 +758,7 @@ class MotionService final {
     virtual ::grpc::ServerUnaryReactor* DoCommand(
       ::grpc::CallbackServerContext* /*context*/, const ::viam::common::v1::DoCommandRequest* /*request*/, ::viam::common::v1::DoCommandResponse* /*response*/)  { return nullptr; }
   };
-  typedef WithCallbackMethod_Move<WithCallbackMethod_MoveOnMap<WithCallbackMethod_MoveOnGlobe<WithCallbackMethod_GetPose<WithCallbackMethod_DoCommand<Service > > > > > CallbackService;
+  typedef WithCallbackMethod_Move<WithCallbackMethod_MoveOnMap<WithCallbackMethod_MoveOnGlobe<WithCallbackMethod_MoveOnGlobeNew<WithCallbackMethod_GetPose<WithCallbackMethod_StopPlan<WithCallbackMethod_ListPlanStatuses<WithCallbackMethod_GetPlan<WithCallbackMethod_DoCommand<Service > > > > > > > > > CallbackService;
   typedef CallbackService ExperimentalCallbackService;
   template <class BaseClass>
   class WithGenericMethod_Move : public BaseClass {
@@ -486,12 +812,29 @@ class MotionService final {
     }
   };
   template <class BaseClass>
+  class WithGenericMethod_MoveOnGlobeNew : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithGenericMethod_MoveOnGlobeNew() {
+      ::grpc::Service::MarkMethodGeneric(3);
+    }
+    ~WithGenericMethod_MoveOnGlobeNew() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status MoveOnGlobeNew(::grpc::ServerContext* /*context*/, const ::viam::service::motion::v1::MoveOnGlobeNewRequest* /*request*/, ::viam::service::motion::v1::MoveOnGlobeNewResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+  };
+  template <class BaseClass>
   class WithGenericMethod_GetPose : public BaseClass {
    private:
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithGenericMethod_GetPose() {
-      ::grpc::Service::MarkMethodGeneric(3);
+      ::grpc::Service::MarkMethodGeneric(4);
     }
     ~WithGenericMethod_GetPose() override {
       BaseClassMustBeDerivedFromService(this);
@@ -503,12 +846,63 @@ class MotionService final {
     }
   };
   template <class BaseClass>
+  class WithGenericMethod_StopPlan : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithGenericMethod_StopPlan() {
+      ::grpc::Service::MarkMethodGeneric(5);
+    }
+    ~WithGenericMethod_StopPlan() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status StopPlan(::grpc::ServerContext* /*context*/, const ::viam::service::motion::v1::StopPlanRequest* /*request*/, ::viam::service::motion::v1::StopPlanResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+  };
+  template <class BaseClass>
+  class WithGenericMethod_ListPlanStatuses : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithGenericMethod_ListPlanStatuses() {
+      ::grpc::Service::MarkMethodGeneric(6);
+    }
+    ~WithGenericMethod_ListPlanStatuses() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status ListPlanStatuses(::grpc::ServerContext* /*context*/, const ::viam::service::motion::v1::ListPlanStatusesRequest* /*request*/, ::viam::service::motion::v1::ListPlanStatusesResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+  };
+  template <class BaseClass>
+  class WithGenericMethod_GetPlan : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithGenericMethod_GetPlan() {
+      ::grpc::Service::MarkMethodGeneric(7);
+    }
+    ~WithGenericMethod_GetPlan() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status GetPlan(::grpc::ServerContext* /*context*/, const ::viam::service::motion::v1::GetPlanRequest* /*request*/, ::viam::service::motion::v1::GetPlanResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+  };
+  template <class BaseClass>
   class WithGenericMethod_DoCommand : public BaseClass {
    private:
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithGenericMethod_DoCommand() {
-      ::grpc::Service::MarkMethodGeneric(4);
+      ::grpc::Service::MarkMethodGeneric(8);
     }
     ~WithGenericMethod_DoCommand() override {
       BaseClassMustBeDerivedFromService(this);
@@ -580,12 +974,32 @@ class MotionService final {
     }
   };
   template <class BaseClass>
+  class WithRawMethod_MoveOnGlobeNew : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithRawMethod_MoveOnGlobeNew() {
+      ::grpc::Service::MarkMethodRaw(3);
+    }
+    ~WithRawMethod_MoveOnGlobeNew() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status MoveOnGlobeNew(::grpc::ServerContext* /*context*/, const ::viam::service::motion::v1::MoveOnGlobeNewRequest* /*request*/, ::viam::service::motion::v1::MoveOnGlobeNewResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    void RequestMoveOnGlobeNew(::grpc::ServerContext* context, ::grpc::ByteBuffer* request, ::grpc::ServerAsyncResponseWriter< ::grpc::ByteBuffer>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
+      ::grpc::Service::RequestAsyncUnary(3, context, request, response, new_call_cq, notification_cq, tag);
+    }
+  };
+  template <class BaseClass>
   class WithRawMethod_GetPose : public BaseClass {
    private:
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithRawMethod_GetPose() {
-      ::grpc::Service::MarkMethodRaw(3);
+      ::grpc::Service::MarkMethodRaw(4);
     }
     ~WithRawMethod_GetPose() override {
       BaseClassMustBeDerivedFromService(this);
@@ -596,7 +1010,67 @@ class MotionService final {
       return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
     }
     void RequestGetPose(::grpc::ServerContext* context, ::grpc::ByteBuffer* request, ::grpc::ServerAsyncResponseWriter< ::grpc::ByteBuffer>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
-      ::grpc::Service::RequestAsyncUnary(3, context, request, response, new_call_cq, notification_cq, tag);
+      ::grpc::Service::RequestAsyncUnary(4, context, request, response, new_call_cq, notification_cq, tag);
+    }
+  };
+  template <class BaseClass>
+  class WithRawMethod_StopPlan : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithRawMethod_StopPlan() {
+      ::grpc::Service::MarkMethodRaw(5);
+    }
+    ~WithRawMethod_StopPlan() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status StopPlan(::grpc::ServerContext* /*context*/, const ::viam::service::motion::v1::StopPlanRequest* /*request*/, ::viam::service::motion::v1::StopPlanResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    void RequestStopPlan(::grpc::ServerContext* context, ::grpc::ByteBuffer* request, ::grpc::ServerAsyncResponseWriter< ::grpc::ByteBuffer>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
+      ::grpc::Service::RequestAsyncUnary(5, context, request, response, new_call_cq, notification_cq, tag);
+    }
+  };
+  template <class BaseClass>
+  class WithRawMethod_ListPlanStatuses : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithRawMethod_ListPlanStatuses() {
+      ::grpc::Service::MarkMethodRaw(6);
+    }
+    ~WithRawMethod_ListPlanStatuses() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status ListPlanStatuses(::grpc::ServerContext* /*context*/, const ::viam::service::motion::v1::ListPlanStatusesRequest* /*request*/, ::viam::service::motion::v1::ListPlanStatusesResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    void RequestListPlanStatuses(::grpc::ServerContext* context, ::grpc::ByteBuffer* request, ::grpc::ServerAsyncResponseWriter< ::grpc::ByteBuffer>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
+      ::grpc::Service::RequestAsyncUnary(6, context, request, response, new_call_cq, notification_cq, tag);
+    }
+  };
+  template <class BaseClass>
+  class WithRawMethod_GetPlan : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithRawMethod_GetPlan() {
+      ::grpc::Service::MarkMethodRaw(7);
+    }
+    ~WithRawMethod_GetPlan() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status GetPlan(::grpc::ServerContext* /*context*/, const ::viam::service::motion::v1::GetPlanRequest* /*request*/, ::viam::service::motion::v1::GetPlanResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    void RequestGetPlan(::grpc::ServerContext* context, ::grpc::ByteBuffer* request, ::grpc::ServerAsyncResponseWriter< ::grpc::ByteBuffer>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
+      ::grpc::Service::RequestAsyncUnary(7, context, request, response, new_call_cq, notification_cq, tag);
     }
   };
   template <class BaseClass>
@@ -605,7 +1079,7 @@ class MotionService final {
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithRawMethod_DoCommand() {
-      ::grpc::Service::MarkMethodRaw(4);
+      ::grpc::Service::MarkMethodRaw(8);
     }
     ~WithRawMethod_DoCommand() override {
       BaseClassMustBeDerivedFromService(this);
@@ -616,7 +1090,7 @@ class MotionService final {
       return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
     }
     void RequestDoCommand(::grpc::ServerContext* context, ::grpc::ByteBuffer* request, ::grpc::ServerAsyncResponseWriter< ::grpc::ByteBuffer>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
-      ::grpc::Service::RequestAsyncUnary(4, context, request, response, new_call_cq, notification_cq, tag);
+      ::grpc::Service::RequestAsyncUnary(8, context, request, response, new_call_cq, notification_cq, tag);
     }
   };
   template <class BaseClass>
@@ -686,12 +1160,34 @@ class MotionService final {
       ::grpc::CallbackServerContext* /*context*/, const ::grpc::ByteBuffer* /*request*/, ::grpc::ByteBuffer* /*response*/)  { return nullptr; }
   };
   template <class BaseClass>
+  class WithRawCallbackMethod_MoveOnGlobeNew : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithRawCallbackMethod_MoveOnGlobeNew() {
+      ::grpc::Service::MarkMethodRawCallback(3,
+          new ::grpc::internal::CallbackUnaryHandler< ::grpc::ByteBuffer, ::grpc::ByteBuffer>(
+            [this](
+                   ::grpc::CallbackServerContext* context, const ::grpc::ByteBuffer* request, ::grpc::ByteBuffer* response) { return this->MoveOnGlobeNew(context, request, response); }));
+    }
+    ~WithRawCallbackMethod_MoveOnGlobeNew() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status MoveOnGlobeNew(::grpc::ServerContext* /*context*/, const ::viam::service::motion::v1::MoveOnGlobeNewRequest* /*request*/, ::viam::service::motion::v1::MoveOnGlobeNewResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    virtual ::grpc::ServerUnaryReactor* MoveOnGlobeNew(
+      ::grpc::CallbackServerContext* /*context*/, const ::grpc::ByteBuffer* /*request*/, ::grpc::ByteBuffer* /*response*/)  { return nullptr; }
+  };
+  template <class BaseClass>
   class WithRawCallbackMethod_GetPose : public BaseClass {
    private:
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithRawCallbackMethod_GetPose() {
-      ::grpc::Service::MarkMethodRawCallback(3,
+      ::grpc::Service::MarkMethodRawCallback(4,
           new ::grpc::internal::CallbackUnaryHandler< ::grpc::ByteBuffer, ::grpc::ByteBuffer>(
             [this](
                    ::grpc::CallbackServerContext* context, const ::grpc::ByteBuffer* request, ::grpc::ByteBuffer* response) { return this->GetPose(context, request, response); }));
@@ -708,12 +1204,78 @@ class MotionService final {
       ::grpc::CallbackServerContext* /*context*/, const ::grpc::ByteBuffer* /*request*/, ::grpc::ByteBuffer* /*response*/)  { return nullptr; }
   };
   template <class BaseClass>
+  class WithRawCallbackMethod_StopPlan : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithRawCallbackMethod_StopPlan() {
+      ::grpc::Service::MarkMethodRawCallback(5,
+          new ::grpc::internal::CallbackUnaryHandler< ::grpc::ByteBuffer, ::grpc::ByteBuffer>(
+            [this](
+                   ::grpc::CallbackServerContext* context, const ::grpc::ByteBuffer* request, ::grpc::ByteBuffer* response) { return this->StopPlan(context, request, response); }));
+    }
+    ~WithRawCallbackMethod_StopPlan() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status StopPlan(::grpc::ServerContext* /*context*/, const ::viam::service::motion::v1::StopPlanRequest* /*request*/, ::viam::service::motion::v1::StopPlanResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    virtual ::grpc::ServerUnaryReactor* StopPlan(
+      ::grpc::CallbackServerContext* /*context*/, const ::grpc::ByteBuffer* /*request*/, ::grpc::ByteBuffer* /*response*/)  { return nullptr; }
+  };
+  template <class BaseClass>
+  class WithRawCallbackMethod_ListPlanStatuses : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithRawCallbackMethod_ListPlanStatuses() {
+      ::grpc::Service::MarkMethodRawCallback(6,
+          new ::grpc::internal::CallbackUnaryHandler< ::grpc::ByteBuffer, ::grpc::ByteBuffer>(
+            [this](
+                   ::grpc::CallbackServerContext* context, const ::grpc::ByteBuffer* request, ::grpc::ByteBuffer* response) { return this->ListPlanStatuses(context, request, response); }));
+    }
+    ~WithRawCallbackMethod_ListPlanStatuses() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status ListPlanStatuses(::grpc::ServerContext* /*context*/, const ::viam::service::motion::v1::ListPlanStatusesRequest* /*request*/, ::viam::service::motion::v1::ListPlanStatusesResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    virtual ::grpc::ServerUnaryReactor* ListPlanStatuses(
+      ::grpc::CallbackServerContext* /*context*/, const ::grpc::ByteBuffer* /*request*/, ::grpc::ByteBuffer* /*response*/)  { return nullptr; }
+  };
+  template <class BaseClass>
+  class WithRawCallbackMethod_GetPlan : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithRawCallbackMethod_GetPlan() {
+      ::grpc::Service::MarkMethodRawCallback(7,
+          new ::grpc::internal::CallbackUnaryHandler< ::grpc::ByteBuffer, ::grpc::ByteBuffer>(
+            [this](
+                   ::grpc::CallbackServerContext* context, const ::grpc::ByteBuffer* request, ::grpc::ByteBuffer* response) { return this->GetPlan(context, request, response); }));
+    }
+    ~WithRawCallbackMethod_GetPlan() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status GetPlan(::grpc::ServerContext* /*context*/, const ::viam::service::motion::v1::GetPlanRequest* /*request*/, ::viam::service::motion::v1::GetPlanResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    virtual ::grpc::ServerUnaryReactor* GetPlan(
+      ::grpc::CallbackServerContext* /*context*/, const ::grpc::ByteBuffer* /*request*/, ::grpc::ByteBuffer* /*response*/)  { return nullptr; }
+  };
+  template <class BaseClass>
   class WithRawCallbackMethod_DoCommand : public BaseClass {
    private:
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithRawCallbackMethod_DoCommand() {
-      ::grpc::Service::MarkMethodRawCallback(4,
+      ::grpc::Service::MarkMethodRawCallback(8,
           new ::grpc::internal::CallbackUnaryHandler< ::grpc::ByteBuffer, ::grpc::ByteBuffer>(
             [this](
                    ::grpc::CallbackServerContext* context, const ::grpc::ByteBuffer* request, ::grpc::ByteBuffer* response) { return this->DoCommand(context, request, response); }));
@@ -811,12 +1373,39 @@ class MotionService final {
     virtual ::grpc::Status StreamedMoveOnGlobe(::grpc::ServerContext* context, ::grpc::ServerUnaryStreamer< ::viam::service::motion::v1::MoveOnGlobeRequest,::viam::service::motion::v1::MoveOnGlobeResponse>* server_unary_streamer) = 0;
   };
   template <class BaseClass>
+  class WithStreamedUnaryMethod_MoveOnGlobeNew : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithStreamedUnaryMethod_MoveOnGlobeNew() {
+      ::grpc::Service::MarkMethodStreamed(3,
+        new ::grpc::internal::StreamedUnaryHandler<
+          ::viam::service::motion::v1::MoveOnGlobeNewRequest, ::viam::service::motion::v1::MoveOnGlobeNewResponse>(
+            [this](::grpc::ServerContext* context,
+                   ::grpc::ServerUnaryStreamer<
+                     ::viam::service::motion::v1::MoveOnGlobeNewRequest, ::viam::service::motion::v1::MoveOnGlobeNewResponse>* streamer) {
+                       return this->StreamedMoveOnGlobeNew(context,
+                         streamer);
+                  }));
+    }
+    ~WithStreamedUnaryMethod_MoveOnGlobeNew() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable regular version of this method
+    ::grpc::Status MoveOnGlobeNew(::grpc::ServerContext* /*context*/, const ::viam::service::motion::v1::MoveOnGlobeNewRequest* /*request*/, ::viam::service::motion::v1::MoveOnGlobeNewResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    // replace default version of method with streamed unary
+    virtual ::grpc::Status StreamedMoveOnGlobeNew(::grpc::ServerContext* context, ::grpc::ServerUnaryStreamer< ::viam::service::motion::v1::MoveOnGlobeNewRequest,::viam::service::motion::v1::MoveOnGlobeNewResponse>* server_unary_streamer) = 0;
+  };
+  template <class BaseClass>
   class WithStreamedUnaryMethod_GetPose : public BaseClass {
    private:
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithStreamedUnaryMethod_GetPose() {
-      ::grpc::Service::MarkMethodStreamed(3,
+      ::grpc::Service::MarkMethodStreamed(4,
         new ::grpc::internal::StreamedUnaryHandler<
           ::viam::service::motion::v1::GetPoseRequest, ::viam::service::motion::v1::GetPoseResponse>(
             [this](::grpc::ServerContext* context,
@@ -838,12 +1427,93 @@ class MotionService final {
     virtual ::grpc::Status StreamedGetPose(::grpc::ServerContext* context, ::grpc::ServerUnaryStreamer< ::viam::service::motion::v1::GetPoseRequest,::viam::service::motion::v1::GetPoseResponse>* server_unary_streamer) = 0;
   };
   template <class BaseClass>
+  class WithStreamedUnaryMethod_StopPlan : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithStreamedUnaryMethod_StopPlan() {
+      ::grpc::Service::MarkMethodStreamed(5,
+        new ::grpc::internal::StreamedUnaryHandler<
+          ::viam::service::motion::v1::StopPlanRequest, ::viam::service::motion::v1::StopPlanResponse>(
+            [this](::grpc::ServerContext* context,
+                   ::grpc::ServerUnaryStreamer<
+                     ::viam::service::motion::v1::StopPlanRequest, ::viam::service::motion::v1::StopPlanResponse>* streamer) {
+                       return this->StreamedStopPlan(context,
+                         streamer);
+                  }));
+    }
+    ~WithStreamedUnaryMethod_StopPlan() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable regular version of this method
+    ::grpc::Status StopPlan(::grpc::ServerContext* /*context*/, const ::viam::service::motion::v1::StopPlanRequest* /*request*/, ::viam::service::motion::v1::StopPlanResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    // replace default version of method with streamed unary
+    virtual ::grpc::Status StreamedStopPlan(::grpc::ServerContext* context, ::grpc::ServerUnaryStreamer< ::viam::service::motion::v1::StopPlanRequest,::viam::service::motion::v1::StopPlanResponse>* server_unary_streamer) = 0;
+  };
+  template <class BaseClass>
+  class WithStreamedUnaryMethod_ListPlanStatuses : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithStreamedUnaryMethod_ListPlanStatuses() {
+      ::grpc::Service::MarkMethodStreamed(6,
+        new ::grpc::internal::StreamedUnaryHandler<
+          ::viam::service::motion::v1::ListPlanStatusesRequest, ::viam::service::motion::v1::ListPlanStatusesResponse>(
+            [this](::grpc::ServerContext* context,
+                   ::grpc::ServerUnaryStreamer<
+                     ::viam::service::motion::v1::ListPlanStatusesRequest, ::viam::service::motion::v1::ListPlanStatusesResponse>* streamer) {
+                       return this->StreamedListPlanStatuses(context,
+                         streamer);
+                  }));
+    }
+    ~WithStreamedUnaryMethod_ListPlanStatuses() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable regular version of this method
+    ::grpc::Status ListPlanStatuses(::grpc::ServerContext* /*context*/, const ::viam::service::motion::v1::ListPlanStatusesRequest* /*request*/, ::viam::service::motion::v1::ListPlanStatusesResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    // replace default version of method with streamed unary
+    virtual ::grpc::Status StreamedListPlanStatuses(::grpc::ServerContext* context, ::grpc::ServerUnaryStreamer< ::viam::service::motion::v1::ListPlanStatusesRequest,::viam::service::motion::v1::ListPlanStatusesResponse>* server_unary_streamer) = 0;
+  };
+  template <class BaseClass>
+  class WithStreamedUnaryMethod_GetPlan : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithStreamedUnaryMethod_GetPlan() {
+      ::grpc::Service::MarkMethodStreamed(7,
+        new ::grpc::internal::StreamedUnaryHandler<
+          ::viam::service::motion::v1::GetPlanRequest, ::viam::service::motion::v1::GetPlanResponse>(
+            [this](::grpc::ServerContext* context,
+                   ::grpc::ServerUnaryStreamer<
+                     ::viam::service::motion::v1::GetPlanRequest, ::viam::service::motion::v1::GetPlanResponse>* streamer) {
+                       return this->StreamedGetPlan(context,
+                         streamer);
+                  }));
+    }
+    ~WithStreamedUnaryMethod_GetPlan() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable regular version of this method
+    ::grpc::Status GetPlan(::grpc::ServerContext* /*context*/, const ::viam::service::motion::v1::GetPlanRequest* /*request*/, ::viam::service::motion::v1::GetPlanResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    // replace default version of method with streamed unary
+    virtual ::grpc::Status StreamedGetPlan(::grpc::ServerContext* context, ::grpc::ServerUnaryStreamer< ::viam::service::motion::v1::GetPlanRequest,::viam::service::motion::v1::GetPlanResponse>* server_unary_streamer) = 0;
+  };
+  template <class BaseClass>
   class WithStreamedUnaryMethod_DoCommand : public BaseClass {
    private:
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithStreamedUnaryMethod_DoCommand() {
-      ::grpc::Service::MarkMethodStreamed(4,
+      ::grpc::Service::MarkMethodStreamed(8,
         new ::grpc::internal::StreamedUnaryHandler<
           ::viam::common::v1::DoCommandRequest, ::viam::common::v1::DoCommandResponse>(
             [this](::grpc::ServerContext* context,
@@ -864,9 +1534,9 @@ class MotionService final {
     // replace default version of method with streamed unary
     virtual ::grpc::Status StreamedDoCommand(::grpc::ServerContext* context, ::grpc::ServerUnaryStreamer< ::viam::common::v1::DoCommandRequest,::viam::common::v1::DoCommandResponse>* server_unary_streamer) = 0;
   };
-  typedef WithStreamedUnaryMethod_Move<WithStreamedUnaryMethod_MoveOnMap<WithStreamedUnaryMethod_MoveOnGlobe<WithStreamedUnaryMethod_GetPose<WithStreamedUnaryMethod_DoCommand<Service > > > > > StreamedUnaryService;
+  typedef WithStreamedUnaryMethod_Move<WithStreamedUnaryMethod_MoveOnMap<WithStreamedUnaryMethod_MoveOnGlobe<WithStreamedUnaryMethod_MoveOnGlobeNew<WithStreamedUnaryMethod_GetPose<WithStreamedUnaryMethod_StopPlan<WithStreamedUnaryMethod_ListPlanStatuses<WithStreamedUnaryMethod_GetPlan<WithStreamedUnaryMethod_DoCommand<Service > > > > > > > > > StreamedUnaryService;
   typedef Service SplitStreamedService;
-  typedef WithStreamedUnaryMethod_Move<WithStreamedUnaryMethod_MoveOnMap<WithStreamedUnaryMethod_MoveOnGlobe<WithStreamedUnaryMethod_GetPose<WithStreamedUnaryMethod_DoCommand<Service > > > > > StreamedService;
+  typedef WithStreamedUnaryMethod_Move<WithStreamedUnaryMethod_MoveOnMap<WithStreamedUnaryMethod_MoveOnGlobe<WithStreamedUnaryMethod_MoveOnGlobeNew<WithStreamedUnaryMethod_GetPose<WithStreamedUnaryMethod_StopPlan<WithStreamedUnaryMethod_ListPlanStatuses<WithStreamedUnaryMethod_GetPlan<WithStreamedUnaryMethod_DoCommand<Service > > > > > > > > > StreamedService;
 };
 
 }  // namespace v1
diff --git a/src/viam/api/service/motion/v1/motion.pb.cc b/src/viam/api/service/motion/v1/motion.pb.cc
index b40a467ce..da952a9cb 100644
--- a/src/viam/api/service/motion/v1/motion.pb.cc
+++ b/src/viam/api/service/motion/v1/motion.pb.cc
@@ -129,6 +129,37 @@ struct MoveOnGlobeResponseDefaultTypeInternal {
   };
 };
 PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORITY1 MoveOnGlobeResponseDefaultTypeInternal _MoveOnGlobeResponse_default_instance_;
+PROTOBUF_CONSTEXPR MoveOnGlobeNewRequest::MoveOnGlobeNewRequest(
+    ::_pbi::ConstantInitialized)
+  : obstacles_()
+  , name_(&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{})
+  , destination_(nullptr)
+  , component_name_(nullptr)
+  , movement_sensor_name_(nullptr)
+  , motion_configuration_(nullptr)
+  , extra_(nullptr)
+  , heading_(0){}
+struct MoveOnGlobeNewRequestDefaultTypeInternal {
+  PROTOBUF_CONSTEXPR MoveOnGlobeNewRequestDefaultTypeInternal()
+      : _instance(::_pbi::ConstantInitialized{}) {}
+  ~MoveOnGlobeNewRequestDefaultTypeInternal() {}
+  union {
+    MoveOnGlobeNewRequest _instance;
+  };
+};
+PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORITY1 MoveOnGlobeNewRequestDefaultTypeInternal _MoveOnGlobeNewRequest_default_instance_;
+PROTOBUF_CONSTEXPR MoveOnGlobeNewResponse::MoveOnGlobeNewResponse(
+    ::_pbi::ConstantInitialized)
+  : execution_id_(&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{}){}
+struct MoveOnGlobeNewResponseDefaultTypeInternal {
+  PROTOBUF_CONSTEXPR MoveOnGlobeNewResponseDefaultTypeInternal()
+      : _instance(::_pbi::ConstantInitialized{}) {}
+  ~MoveOnGlobeNewResponseDefaultTypeInternal() {}
+  union {
+    MoveOnGlobeNewResponse _instance;
+  };
+};
+PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORITY1 MoveOnGlobeNewResponseDefaultTypeInternal _MoveOnGlobeNewResponse_default_instance_;
 PROTOBUF_CONSTEXPR GetPoseRequest::GetPoseRequest(
     ::_pbi::ConstantInitialized)
   : supplemental_transforms_()
@@ -157,6 +188,86 @@ struct GetPoseResponseDefaultTypeInternal {
   };
 };
 PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORITY1 GetPoseResponseDefaultTypeInternal _GetPoseResponse_default_instance_;
+PROTOBUF_CONSTEXPR StopPlanRequest::StopPlanRequest(
+    ::_pbi::ConstantInitialized)
+  : name_(&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{})
+  , component_name_(nullptr)
+  , extra_(nullptr){}
+struct StopPlanRequestDefaultTypeInternal {
+  PROTOBUF_CONSTEXPR StopPlanRequestDefaultTypeInternal()
+      : _instance(::_pbi::ConstantInitialized{}) {}
+  ~StopPlanRequestDefaultTypeInternal() {}
+  union {
+    StopPlanRequest _instance;
+  };
+};
+PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORITY1 StopPlanRequestDefaultTypeInternal _StopPlanRequest_default_instance_;
+PROTOBUF_CONSTEXPR StopPlanResponse::StopPlanResponse(
+    ::_pbi::ConstantInitialized){}
+struct StopPlanResponseDefaultTypeInternal {
+  PROTOBUF_CONSTEXPR StopPlanResponseDefaultTypeInternal()
+      : _instance(::_pbi::ConstantInitialized{}) {}
+  ~StopPlanResponseDefaultTypeInternal() {}
+  union {
+    StopPlanResponse _instance;
+  };
+};
+PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORITY1 StopPlanResponseDefaultTypeInternal _StopPlanResponse_default_instance_;
+PROTOBUF_CONSTEXPR ListPlanStatusesRequest::ListPlanStatusesRequest(
+    ::_pbi::ConstantInitialized)
+  : name_(&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{})
+  , extra_(nullptr)
+  , only_active_plans_(false){}
+struct ListPlanStatusesRequestDefaultTypeInternal {
+  PROTOBUF_CONSTEXPR ListPlanStatusesRequestDefaultTypeInternal()
+      : _instance(::_pbi::ConstantInitialized{}) {}
+  ~ListPlanStatusesRequestDefaultTypeInternal() {}
+  union {
+    ListPlanStatusesRequest _instance;
+  };
+};
+PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORITY1 ListPlanStatusesRequestDefaultTypeInternal _ListPlanStatusesRequest_default_instance_;
+PROTOBUF_CONSTEXPR ListPlanStatusesResponse::ListPlanStatusesResponse(
+    ::_pbi::ConstantInitialized)
+  : plan_statuses_with_ids_(){}
+struct ListPlanStatusesResponseDefaultTypeInternal {
+  PROTOBUF_CONSTEXPR ListPlanStatusesResponseDefaultTypeInternal()
+      : _instance(::_pbi::ConstantInitialized{}) {}
+  ~ListPlanStatusesResponseDefaultTypeInternal() {}
+  union {
+    ListPlanStatusesResponse _instance;
+  };
+};
+PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORITY1 ListPlanStatusesResponseDefaultTypeInternal _ListPlanStatusesResponse_default_instance_;
+PROTOBUF_CONSTEXPR GetPlanRequest::GetPlanRequest(
+    ::_pbi::ConstantInitialized)
+  : name_(&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{})
+  , execution_id_(&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{})
+  , component_name_(nullptr)
+  , extra_(nullptr)
+  , last_plan_only_(false){}
+struct GetPlanRequestDefaultTypeInternal {
+  PROTOBUF_CONSTEXPR GetPlanRequestDefaultTypeInternal()
+      : _instance(::_pbi::ConstantInitialized{}) {}
+  ~GetPlanRequestDefaultTypeInternal() {}
+  union {
+    GetPlanRequest _instance;
+  };
+};
+PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORITY1 GetPlanRequestDefaultTypeInternal _GetPlanRequest_default_instance_;
+PROTOBUF_CONSTEXPR GetPlanResponse::GetPlanResponse(
+    ::_pbi::ConstantInitialized)
+  : replan_history_()
+  , current_plan_with_status_(nullptr){}
+struct GetPlanResponseDefaultTypeInternal {
+  PROTOBUF_CONSTEXPR GetPlanResponseDefaultTypeInternal()
+      : _instance(::_pbi::ConstantInitialized{}) {}
+  ~GetPlanResponseDefaultTypeInternal() {}
+  union {
+    GetPlanResponse _instance;
+  };
+};
+PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORITY1 GetPlanResponseDefaultTypeInternal _GetPlanResponse_default_instance_;
 PROTOBUF_CONSTEXPR Constraints::Constraints(
     ::_pbi::ConstantInitialized)
   : linear_constraint_()
@@ -221,12 +332,106 @@ struct CollisionSpecificationDefaultTypeInternal {
   };
 };
 PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORITY1 CollisionSpecificationDefaultTypeInternal _CollisionSpecification_default_instance_;
+PROTOBUF_CONSTEXPR PlanWithStatus::PlanWithStatus(
+    ::_pbi::ConstantInitialized)
+  : status_history_()
+  , plan_(nullptr)
+  , status_(nullptr){}
+struct PlanWithStatusDefaultTypeInternal {
+  PROTOBUF_CONSTEXPR PlanWithStatusDefaultTypeInternal()
+      : _instance(::_pbi::ConstantInitialized{}) {}
+  ~PlanWithStatusDefaultTypeInternal() {}
+  union {
+    PlanWithStatus _instance;
+  };
+};
+PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORITY1 PlanWithStatusDefaultTypeInternal _PlanWithStatus_default_instance_;
+PROTOBUF_CONSTEXPR PlanStatusWithID::PlanStatusWithID(
+    ::_pbi::ConstantInitialized)
+  : plan_id_(&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{})
+  , execution_id_(&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{})
+  , component_name_(nullptr)
+  , status_(nullptr){}
+struct PlanStatusWithIDDefaultTypeInternal {
+  PROTOBUF_CONSTEXPR PlanStatusWithIDDefaultTypeInternal()
+      : _instance(::_pbi::ConstantInitialized{}) {}
+  ~PlanStatusWithIDDefaultTypeInternal() {}
+  union {
+    PlanStatusWithID _instance;
+  };
+};
+PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORITY1 PlanStatusWithIDDefaultTypeInternal _PlanStatusWithID_default_instance_;
+PROTOBUF_CONSTEXPR PlanStatus::PlanStatus(
+    ::_pbi::ConstantInitialized)
+  : reason_(&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{})
+  , timestamp_(nullptr)
+  , state_(0)
+{}
+struct PlanStatusDefaultTypeInternal {
+  PROTOBUF_CONSTEXPR PlanStatusDefaultTypeInternal()
+      : _instance(::_pbi::ConstantInitialized{}) {}
+  ~PlanStatusDefaultTypeInternal() {}
+  union {
+    PlanStatus _instance;
+  };
+};
+PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORITY1 PlanStatusDefaultTypeInternal _PlanStatus_default_instance_;
+PROTOBUF_CONSTEXPR Plan::Plan(
+    ::_pbi::ConstantInitialized)
+  : steps_()
+  , id_(&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{})
+  , execution_id_(&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{})
+  , component_name_(nullptr){}
+struct PlanDefaultTypeInternal {
+  PROTOBUF_CONSTEXPR PlanDefaultTypeInternal()
+      : _instance(::_pbi::ConstantInitialized{}) {}
+  ~PlanDefaultTypeInternal() {}
+  union {
+    Plan _instance;
+  };
+};
+PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORITY1 PlanDefaultTypeInternal _Plan_default_instance_;
+PROTOBUF_CONSTEXPR PlanStep_StepEntry_DoNotUse::PlanStep_StepEntry_DoNotUse(
+    ::_pbi::ConstantInitialized){}
+struct PlanStep_StepEntry_DoNotUseDefaultTypeInternal {
+  PROTOBUF_CONSTEXPR PlanStep_StepEntry_DoNotUseDefaultTypeInternal()
+      : _instance(::_pbi::ConstantInitialized{}) {}
+  ~PlanStep_StepEntry_DoNotUseDefaultTypeInternal() {}
+  union {
+    PlanStep_StepEntry_DoNotUse _instance;
+  };
+};
+PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORITY1 PlanStep_StepEntry_DoNotUseDefaultTypeInternal _PlanStep_StepEntry_DoNotUse_default_instance_;
+PROTOBUF_CONSTEXPR PlanStep::PlanStep(
+    ::_pbi::ConstantInitialized)
+  : step_(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized{}){}
+struct PlanStepDefaultTypeInternal {
+  PROTOBUF_CONSTEXPR PlanStepDefaultTypeInternal()
+      : _instance(::_pbi::ConstantInitialized{}) {}
+  ~PlanStepDefaultTypeInternal() {}
+  union {
+    PlanStep _instance;
+  };
+};
+PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORITY1 PlanStepDefaultTypeInternal _PlanStep_default_instance_;
+PROTOBUF_CONSTEXPR ComponentState::ComponentState(
+    ::_pbi::ConstantInitialized)
+  : pose_(nullptr){}
+struct ComponentStateDefaultTypeInternal {
+  PROTOBUF_CONSTEXPR ComponentStateDefaultTypeInternal()
+      : _instance(::_pbi::ConstantInitialized{}) {}
+  ~ComponentStateDefaultTypeInternal() {}
+  union {
+    ComponentState _instance;
+  };
+};
+PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORITY1 ComponentStateDefaultTypeInternal _ComponentState_default_instance_;
 }  // namespace v1
 }  // namespace motion
 }  // namespace service
 }  // namespace viam
-static ::_pb::Metadata file_level_metadata_service_2fmotion_2fv1_2fmotion_2eproto[14];
-static constexpr ::_pb::EnumDescriptor const** file_level_enum_descriptors_service_2fmotion_2fv1_2fmotion_2eproto = nullptr;
+static ::_pb::Metadata file_level_metadata_service_2fmotion_2fv1_2fmotion_2eproto[29];
+static const ::_pb::EnumDescriptor* file_level_enum_descriptors_service_2fmotion_2fv1_2fmotion_2eproto[1];
 static constexpr ::_pb::ServiceDescriptor const** file_level_service_descriptors_service_2fmotion_2fv1_2fmotion_2eproto = nullptr;
 
 const uint32_t TableStruct_service_2fmotion_2fv1_2fmotion_2eproto::offsets[] PROTOBUF_SECTION_VARIABLE(protodesc_cold) = {
@@ -320,6 +525,35 @@ const uint32_t TableStruct_service_2fmotion_2fv1_2fmotion_2eproto::offsets[] PRO
   ~0u,  // no _weak_field_map_
   ~0u,  // no _inlined_string_donated_
   PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::MoveOnGlobeResponse, success_),
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::MoveOnGlobeNewRequest, _has_bits_),
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::MoveOnGlobeNewRequest, _internal_metadata_),
+  ~0u,  // no _extensions_
+  ~0u,  // no _oneof_case_
+  ~0u,  // no _weak_field_map_
+  ~0u,  // no _inlined_string_donated_
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::MoveOnGlobeNewRequest, name_),
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::MoveOnGlobeNewRequest, destination_),
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::MoveOnGlobeNewRequest, heading_),
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::MoveOnGlobeNewRequest, component_name_),
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::MoveOnGlobeNewRequest, movement_sensor_name_),
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::MoveOnGlobeNewRequest, obstacles_),
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::MoveOnGlobeNewRequest, motion_configuration_),
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::MoveOnGlobeNewRequest, extra_),
+  ~0u,
+  ~0u,
+  1,
+  ~0u,
+  ~0u,
+  ~0u,
+  0,
+  ~0u,
+  ~0u,  // no _has_bits_
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::MoveOnGlobeNewResponse, _internal_metadata_),
+  ~0u,  // no _extensions_
+  ~0u,  // no _oneof_case_
+  ~0u,  // no _weak_field_map_
+  ~0u,  // no _inlined_string_donated_
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::MoveOnGlobeNewResponse, execution_id_),
   ~0u,  // no _has_bits_
   PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::GetPoseRequest, _internal_metadata_),
   ~0u,  // no _extensions_
@@ -339,6 +573,61 @@ const uint32_t TableStruct_service_2fmotion_2fv1_2fmotion_2eproto::offsets[] PRO
   ~0u,  // no _inlined_string_donated_
   PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::GetPoseResponse, pose_),
   ~0u,  // no _has_bits_
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::StopPlanRequest, _internal_metadata_),
+  ~0u,  // no _extensions_
+  ~0u,  // no _oneof_case_
+  ~0u,  // no _weak_field_map_
+  ~0u,  // no _inlined_string_donated_
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::StopPlanRequest, name_),
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::StopPlanRequest, component_name_),
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::StopPlanRequest, extra_),
+  ~0u,  // no _has_bits_
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::StopPlanResponse, _internal_metadata_),
+  ~0u,  // no _extensions_
+  ~0u,  // no _oneof_case_
+  ~0u,  // no _weak_field_map_
+  ~0u,  // no _inlined_string_donated_
+  ~0u,  // no _has_bits_
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::ListPlanStatusesRequest, _internal_metadata_),
+  ~0u,  // no _extensions_
+  ~0u,  // no _oneof_case_
+  ~0u,  // no _weak_field_map_
+  ~0u,  // no _inlined_string_donated_
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::ListPlanStatusesRequest, name_),
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::ListPlanStatusesRequest, only_active_plans_),
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::ListPlanStatusesRequest, extra_),
+  ~0u,  // no _has_bits_
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::ListPlanStatusesResponse, _internal_metadata_),
+  ~0u,  // no _extensions_
+  ~0u,  // no _oneof_case_
+  ~0u,  // no _weak_field_map_
+  ~0u,  // no _inlined_string_donated_
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::ListPlanStatusesResponse, plan_statuses_with_ids_),
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::GetPlanRequest, _has_bits_),
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::GetPlanRequest, _internal_metadata_),
+  ~0u,  // no _extensions_
+  ~0u,  // no _oneof_case_
+  ~0u,  // no _weak_field_map_
+  ~0u,  // no _inlined_string_donated_
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::GetPlanRequest, name_),
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::GetPlanRequest, component_name_),
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::GetPlanRequest, last_plan_only_),
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::GetPlanRequest, execution_id_),
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::GetPlanRequest, extra_),
+  ~0u,
+  ~0u,
+  ~0u,
+  0,
+  ~0u,
+  ~0u,  // no _has_bits_
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::GetPlanResponse, _internal_metadata_),
+  ~0u,  // no _extensions_
+  ~0u,  // no _oneof_case_
+  ~0u,  // no _weak_field_map_
+  ~0u,  // no _inlined_string_donated_
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::GetPlanResponse, current_plan_with_status_),
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::GetPlanResponse, replan_history_),
+  ~0u,  // no _has_bits_
   PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::Constraints, _internal_metadata_),
   ~0u,  // no _extensions_
   ~0u,  // no _oneof_case_
@@ -380,6 +669,71 @@ const uint32_t TableStruct_service_2fmotion_2fv1_2fmotion_2eproto::offsets[] PRO
   ~0u,  // no _weak_field_map_
   ~0u,  // no _inlined_string_donated_
   PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::CollisionSpecification, allows_),
+  ~0u,  // no _has_bits_
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::PlanWithStatus, _internal_metadata_),
+  ~0u,  // no _extensions_
+  ~0u,  // no _oneof_case_
+  ~0u,  // no _weak_field_map_
+  ~0u,  // no _inlined_string_donated_
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::PlanWithStatus, plan_),
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::PlanWithStatus, status_),
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::PlanWithStatus, status_history_),
+  ~0u,  // no _has_bits_
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::PlanStatusWithID, _internal_metadata_),
+  ~0u,  // no _extensions_
+  ~0u,  // no _oneof_case_
+  ~0u,  // no _weak_field_map_
+  ~0u,  // no _inlined_string_donated_
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::PlanStatusWithID, plan_id_),
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::PlanStatusWithID, component_name_),
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::PlanStatusWithID, execution_id_),
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::PlanStatusWithID, status_),
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::PlanStatus, _has_bits_),
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::PlanStatus, _internal_metadata_),
+  ~0u,  // no _extensions_
+  ~0u,  // no _oneof_case_
+  ~0u,  // no _weak_field_map_
+  ~0u,  // no _inlined_string_donated_
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::PlanStatus, state_),
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::PlanStatus, timestamp_),
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::PlanStatus, reason_),
+  ~0u,
+  ~0u,
+  0,
+  ~0u,  // no _has_bits_
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::Plan, _internal_metadata_),
+  ~0u,  // no _extensions_
+  ~0u,  // no _oneof_case_
+  ~0u,  // no _weak_field_map_
+  ~0u,  // no _inlined_string_donated_
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::Plan, id_),
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::Plan, component_name_),
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::Plan, execution_id_),
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::Plan, steps_),
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::PlanStep_StepEntry_DoNotUse, _has_bits_),
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::PlanStep_StepEntry_DoNotUse, _internal_metadata_),
+  ~0u,  // no _extensions_
+  ~0u,  // no _oneof_case_
+  ~0u,  // no _weak_field_map_
+  ~0u,  // no _inlined_string_donated_
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::PlanStep_StepEntry_DoNotUse, key_),
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::PlanStep_StepEntry_DoNotUse, value_),
+  0,
+  1,
+  ~0u,  // no _has_bits_
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::PlanStep, _internal_metadata_),
+  ~0u,  // no _extensions_
+  ~0u,  // no _oneof_case_
+  ~0u,  // no _weak_field_map_
+  ~0u,  // no _inlined_string_donated_
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::PlanStep, step_),
+  ~0u,  // no _has_bits_
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::ComponentState, _internal_metadata_),
+  ~0u,  // no _extensions_
+  ~0u,  // no _oneof_case_
+  ~0u,  // no _weak_field_map_
+  ~0u,  // no _inlined_string_donated_
+  PROTOBUF_FIELD_OFFSET(::viam::service::motion::v1::ComponentState, pose_),
 };
 static const ::_pbi::MigrationSchema schemas[] PROTOBUF_SECTION_VARIABLE(protodesc_cold) = {
   { 0, 12, -1, sizeof(::viam::service::motion::v1::MoveRequest)},
@@ -389,13 +743,28 @@ static const ::_pbi::MigrationSchema schemas[] PROTOBUF_SECTION_VARIABLE(protode
   { 43, 55, -1, sizeof(::viam::service::motion::v1::MotionConfiguration)},
   { 61, 75, -1, sizeof(::viam::service::motion::v1::MoveOnGlobeRequest)},
   { 83, -1, -1, sizeof(::viam::service::motion::v1::MoveOnGlobeResponse)},
-  { 90, -1, -1, sizeof(::viam::service::motion::v1::GetPoseRequest)},
-  { 101, -1, -1, sizeof(::viam::service::motion::v1::GetPoseResponse)},
-  { 108, -1, -1, sizeof(::viam::service::motion::v1::Constraints)},
-  { 117, 125, -1, sizeof(::viam::service::motion::v1::LinearConstraint)},
-  { 127, 134, -1, sizeof(::viam::service::motion::v1::OrientationConstraint)},
-  { 135, -1, -1, sizeof(::viam::service::motion::v1::CollisionSpecification_AllowedFrameCollisions)},
-  { 143, -1, -1, sizeof(::viam::service::motion::v1::CollisionSpecification)},
+  { 90, 104, -1, sizeof(::viam::service::motion::v1::MoveOnGlobeNewRequest)},
+  { 112, -1, -1, sizeof(::viam::service::motion::v1::MoveOnGlobeNewResponse)},
+  { 119, -1, -1, sizeof(::viam::service::motion::v1::GetPoseRequest)},
+  { 130, -1, -1, sizeof(::viam::service::motion::v1::GetPoseResponse)},
+  { 137, -1, -1, sizeof(::viam::service::motion::v1::StopPlanRequest)},
+  { 146, -1, -1, sizeof(::viam::service::motion::v1::StopPlanResponse)},
+  { 152, -1, -1, sizeof(::viam::service::motion::v1::ListPlanStatusesRequest)},
+  { 161, -1, -1, sizeof(::viam::service::motion::v1::ListPlanStatusesResponse)},
+  { 168, 179, -1, sizeof(::viam::service::motion::v1::GetPlanRequest)},
+  { 184, -1, -1, sizeof(::viam::service::motion::v1::GetPlanResponse)},
+  { 192, -1, -1, sizeof(::viam::service::motion::v1::Constraints)},
+  { 201, 209, -1, sizeof(::viam::service::motion::v1::LinearConstraint)},
+  { 211, 218, -1, sizeof(::viam::service::motion::v1::OrientationConstraint)},
+  { 219, -1, -1, sizeof(::viam::service::motion::v1::CollisionSpecification_AllowedFrameCollisions)},
+  { 227, -1, -1, sizeof(::viam::service::motion::v1::CollisionSpecification)},
+  { 234, -1, -1, sizeof(::viam::service::motion::v1::PlanWithStatus)},
+  { 243, -1, -1, sizeof(::viam::service::motion::v1::PlanStatusWithID)},
+  { 253, 262, -1, sizeof(::viam::service::motion::v1::PlanStatus)},
+  { 265, -1, -1, sizeof(::viam::service::motion::v1::Plan)},
+  { 275, 283, -1, sizeof(::viam::service::motion::v1::PlanStep_StepEntry_DoNotUse)},
+  { 285, -1, -1, sizeof(::viam::service::motion::v1::PlanStep)},
+  { 292, -1, -1, sizeof(::viam::service::motion::v1::ComponentState)},
 };
 
 static const ::_pb::Message* const file_default_instances[] = {
@@ -406,127 +775,226 @@ static const ::_pb::Message* const file_default_instances[] = {
   &::viam::service::motion::v1::_MotionConfiguration_default_instance_._instance,
   &::viam::service::motion::v1::_MoveOnGlobeRequest_default_instance_._instance,
   &::viam::service::motion::v1::_MoveOnGlobeResponse_default_instance_._instance,
+  &::viam::service::motion::v1::_MoveOnGlobeNewRequest_default_instance_._instance,
+  &::viam::service::motion::v1::_MoveOnGlobeNewResponse_default_instance_._instance,
   &::viam::service::motion::v1::_GetPoseRequest_default_instance_._instance,
   &::viam::service::motion::v1::_GetPoseResponse_default_instance_._instance,
+  &::viam::service::motion::v1::_StopPlanRequest_default_instance_._instance,
+  &::viam::service::motion::v1::_StopPlanResponse_default_instance_._instance,
+  &::viam::service::motion::v1::_ListPlanStatusesRequest_default_instance_._instance,
+  &::viam::service::motion::v1::_ListPlanStatusesResponse_default_instance_._instance,
+  &::viam::service::motion::v1::_GetPlanRequest_default_instance_._instance,
+  &::viam::service::motion::v1::_GetPlanResponse_default_instance_._instance,
   &::viam::service::motion::v1::_Constraints_default_instance_._instance,
   &::viam::service::motion::v1::_LinearConstraint_default_instance_._instance,
   &::viam::service::motion::v1::_OrientationConstraint_default_instance_._instance,
   &::viam::service::motion::v1::_CollisionSpecification_AllowedFrameCollisions_default_instance_._instance,
   &::viam::service::motion::v1::_CollisionSpecification_default_instance_._instance,
+  &::viam::service::motion::v1::_PlanWithStatus_default_instance_._instance,
+  &::viam::service::motion::v1::_PlanStatusWithID_default_instance_._instance,
+  &::viam::service::motion::v1::_PlanStatus_default_instance_._instance,
+  &::viam::service::motion::v1::_Plan_default_instance_._instance,
+  &::viam::service::motion::v1::_PlanStep_StepEntry_DoNotUse_default_instance_._instance,
+  &::viam::service::motion::v1::_PlanStep_default_instance_._instance,
+  &::viam::service::motion::v1::_ComponentState_default_instance_._instance,
 };
 
 const char descriptor_table_protodef_service_2fmotion_2fv1_2fmotion_2eproto[] PROTOBUF_SECTION_VARIABLE(protodesc_cold) =
   "\n\036service/motion/v1/motion.proto\022\026viam.s"
   "ervice.motion.v1\032\026common/v1/common.proto"
   "\032\034google/api/annotations.proto\032\034google/p"
-  "rotobuf/struct.proto\"\202\003\n\013MoveRequest\022\022\n\004"
-  "name\030\001 \001(\tR\004name\022=\n\013destination\030\002 \001(\0132\033."
-  "viam.common.v1.PoseInFrameR\013destination\022"
-  "C\n\016component_name\030\003 \001(\0132\034.viam.common.v1"
-  ".ResourceNameR\rcomponentName\022@\n\013world_st"
-  "ate\030\004 \001(\0132\032.viam.common.v1.WorldStateH\000R"
-  "\nworldState\210\001\001\022J\n\013constraints\030\005 \001(\0132#.vi"
-  "am.service.motion.v1.ConstraintsH\001R\013cons"
-  "traints\210\001\001\022-\n\005extra\030c \001(\0132\027.google.proto"
-  "buf.StructR\005extraB\016\n\014_world_stateB\016\n\014_co"
-  "nstraints\"(\n\014MoveResponse\022\030\n\007success\030\001 \001"
-  "(\010R\007success\"\234\002\n\020MoveOnMapRequest\022\022\n\004name"
-  "\030\001 \001(\tR\004name\0226\n\013destination\030\002 \001(\0132\024.viam"
-  ".common.v1.PoseR\013destination\022C\n\016componen"
-  "t_name\030\003 \001(\0132\034.viam.common.v1.ResourceNa"
-  "meR\rcomponentName\022H\n\021slam_service_name\030\004"
-  " \001(\0132\034.viam.common.v1.ResourceNameR\017slam"
-  "ServiceName\022-\n\005extra\030c \001(\0132\027.google.prot"
-  "obuf.StructR\005extra\"-\n\021MoveOnMapResponse\022"
-  "\030\n\007success\030\001 \001(\010R\007success\"\206\004\n\023MotionConf"
-  "iguration\022E\n\017vision_services\030\001 \003(\0132\034.via"
-  "m.common.v1.ResourceNameR\016visionServices"
-  "\022F\n\035position_polling_frequency_hz\030\002 \001(\001H"
-  "\000R\032positionPollingFrequencyHz\210\001\001\022F\n\035obst"
-  "acle_polling_frequency_hz\030\003 \001(\001H\001R\032obsta"
-  "clePollingFrequencyHz\210\001\001\022-\n\020plan_deviati"
-  "on_m\030\004 \001(\001H\002R\016planDeviationM\210\001\001\022,\n\020linea"
-  "r_m_per_sec\030\005 \001(\001H\003R\rlinearMPerSec\210\001\001\0224\n"
-  "\024angular_degs_per_sec\030\006 \001(\001H\004R\021angularDe"
-  "gsPerSec\210\001\001B \n\036_position_polling_frequen"
-  "cy_hzB \n\036_obstacle_polling_frequency_hzB"
-  "\023\n\021_plan_deviation_mB\023\n\021_linear_m_per_se"
-  "cB\027\n\025_angular_degs_per_sec\"\214\004\n\022MoveOnGlo"
-  "beRequest\022\022\n\004name\030\001 \001(\tR\004name\022:\n\013destina"
-  "tion\030\002 \001(\0132\030.viam.common.v1.GeoPointR\013de"
-  "stination\022\035\n\007heading\030\003 \001(\001H\000R\007heading\210\001\001"
-  "\022C\n\016component_name\030\004 \001(\0132\034.viam.common.v"
-  "1.ResourceNameR\rcomponentName\022N\n\024movemen"
-  "t_sensor_name\030\005 \001(\0132\034.viam.common.v1.Res"
-  "ourceNameR\022movementSensorName\0229\n\tobstacl"
-  "es\030\006 \003(\0132\033.viam.common.v1.GeoObstacleR\to"
-  "bstacles\022c\n\024motion_configuration\030\007 \001(\0132+"
-  ".viam.service.motion.v1.MotionConfigurat"
-  "ionH\001R\023motionConfiguration\210\001\001\022-\n\005extra\030c"
-  " \001(\0132\027.google.protobuf.StructR\005extraB\n\n\010"
-  "_headingB\027\n\025_motion_configuration\"/\n\023Mov"
-  "eOnGlobeResponse\022\030\n\007success\030\001 \001(\010R\007succe"
-  "ss\"\231\002\n\016GetPoseRequest\022\022\n\004name\030\001 \001(\tR\004nam"
-  "e\022C\n\016component_name\030\002 \001(\0132\034.viam.common."
-  "v1.ResourceNameR\rcomponentName\022+\n\021destin"
-  "ation_frame\030\003 \001(\tR\020destinationFrame\022R\n\027s"
-  "upplemental_transforms\030\004 \003(\0132\031.viam.comm"
-  "on.v1.TransformR\026supplementalTransforms\022"
-  "-\n\005extra\030c \001(\0132\027.google.protobuf.StructR"
-  "\005extra\"B\n\017GetPoseResponse\022/\n\004pose\030\001 \001(\0132"
-  "\033.viam.common.v1.PoseInFrameR\004pose\"\263\002\n\013C"
-  "onstraints\022U\n\021linear_constraint\030\001 \003(\0132(."
-  "viam.service.motion.v1.LinearConstraintR"
-  "\020linearConstraint\022d\n\026orientation_constra"
-  "int\030\002 \003(\0132-.viam.service.motion.v1.Orien"
-  "tationConstraintR\025orientationConstraint\022"
-  "g\n\027collision_specification\030\003 \003(\0132..viam."
-  "service.motion.v1.CollisionSpecification"
-  "R\026collisionSpecification\"\273\001\n\020LinearConst"
-  "raint\022/\n\021line_tolerance_mm\030\001 \001(\002H\000R\017line"
-  "ToleranceMm\210\001\001\022A\n\032orientation_tolerance_"
-  "degs\030\002 \001(\002H\001R\030orientationToleranceDegs\210\001"
-  "\001B\024\n\022_line_tolerance_mmB\035\n\033_orientation_"
-  "tolerance_degs\"y\n\025OrientationConstraint\022"
-  "A\n\032orientation_tolerance_degs\030\001 \001(\002H\000R\030o"
-  "rientationToleranceDegs\210\001\001B\035\n\033_orientati"
-  "on_tolerance_degs\"\301\001\n\026CollisionSpecifica"
-  "tion\022]\n\006allows\030\001 \003(\0132E.viam.service.moti"
-  "on.v1.CollisionSpecification.AllowedFram"
-  "eCollisionsR\006allows\032H\n\026AllowedFrameColli"
-  "sions\022\026\n\006frame1\030\001 \001(\tR\006frame1\022\026\n\006frame2\030"
-  "\002 \001(\tR\006frame22\352\005\n\rMotionService\022\202\001\n\004Move"
-  "\022#.viam.service.motion.v1.MoveRequest\032$."
-  "viam.service.motion.v1.MoveResponse\"/\202\323\344"
-  "\223\002)\"\'/viam/api/v1/service/motion/{name}/"
-  "move\022\230\001\n\tMoveOnMap\022(.viam.service.motion"
-  ".v1.MoveOnMapRequest\032).viam.service.moti"
-  "on.v1.MoveOnMapResponse\"6\202\323\344\223\0020\"./viam/a"
-  "pi/v1/service/motion/{name}/move_on_map\022"
-  "\240\001\n\013MoveOnGlobe\022*.viam.service.motion.v1"
-  ".MoveOnGlobeRequest\032+.viam.service.motio"
-  "n.v1.MoveOnGlobeResponse\"8\202\323\344\223\0022\"0/viam/"
-  "api/v1/service/motion/{name}/move_on_glo"
-  "be\022\213\001\n\007GetPose\022&.viam.service.motion.v1."
-  "GetPoseRequest\032\'.viam.service.motion.v1."
-  "GetPoseResponse\"/\202\323\344\223\002)\022\'/viam/api/v1/se"
-  "rvice/motion/{name}/pose\022\207\001\n\tDoCommand\022 "
-  ".viam.common.v1.DoCommandRequest\032!.viam."
-  "common.v1.DoCommandResponse\"5\202\323\344\223\002/\"-/vi"
-  "am/api/v1/service/motion/{name}/do_comma"
-  "ndB\?\n\032com.viam.service.motion.v1Z!go.via"
-  "m.com/api/service/motion/v1b\006proto3"
+  "rotobuf/struct.proto\032\037google/protobuf/ti"
+  "mestamp.proto\"\202\003\n\013MoveRequest\022\022\n\004name\030\001 "
+  "\001(\tR\004name\022=\n\013destination\030\002 \001(\0132\033.viam.co"
+  "mmon.v1.PoseInFrameR\013destination\022C\n\016comp"
+  "onent_name\030\003 \001(\0132\034.viam.common.v1.Resour"
+  "ceNameR\rcomponentName\022@\n\013world_state\030\004 \001"
+  "(\0132\032.viam.common.v1.WorldStateH\000R\nworldS"
+  "tate\210\001\001\022J\n\013constraints\030\005 \001(\0132#.viam.serv"
+  "ice.motion.v1.ConstraintsH\001R\013constraints"
+  "\210\001\001\022-\n\005extra\030c \001(\0132\027.google.protobuf.Str"
+  "uctR\005extraB\016\n\014_world_stateB\016\n\014_constrain"
+  "ts\"(\n\014MoveResponse\022\030\n\007success\030\001 \001(\010R\007suc"
+  "cess\"\234\002\n\020MoveOnMapRequest\022\022\n\004name\030\001 \001(\tR"
+  "\004name\0226\n\013destination\030\002 \001(\0132\024.viam.common"
+  ".v1.PoseR\013destination\022C\n\016component_name\030"
+  "\003 \001(\0132\034.viam.common.v1.ResourceNameR\rcom"
+  "ponentName\022H\n\021slam_service_name\030\004 \001(\0132\034."
+  "viam.common.v1.ResourceNameR\017slamService"
+  "Name\022-\n\005extra\030c \001(\0132\027.google.protobuf.St"
+  "ructR\005extra\"-\n\021MoveOnMapResponse\022\030\n\007succ"
+  "ess\030\001 \001(\010R\007success\"\206\004\n\023MotionConfigurati"
+  "on\022E\n\017vision_services\030\001 \003(\0132\034.viam.commo"
+  "n.v1.ResourceNameR\016visionServices\022F\n\035pos"
+  "ition_polling_frequency_hz\030\002 \001(\001H\000R\032posi"
+  "tionPollingFrequencyHz\210\001\001\022F\n\035obstacle_po"
+  "lling_frequency_hz\030\003 \001(\001H\001R\032obstaclePoll"
+  "ingFrequencyHz\210\001\001\022-\n\020plan_deviation_m\030\004 "
+  "\001(\001H\002R\016planDeviationM\210\001\001\022,\n\020linear_m_per"
+  "_sec\030\005 \001(\001H\003R\rlinearMPerSec\210\001\001\0224\n\024angula"
+  "r_degs_per_sec\030\006 \001(\001H\004R\021angularDegsPerSe"
+  "c\210\001\001B \n\036_position_polling_frequency_hzB "
+  "\n\036_obstacle_polling_frequency_hzB\023\n\021_pla"
+  "n_deviation_mB\023\n\021_linear_m_per_secB\027\n\025_a"
+  "ngular_degs_per_sec\"\214\004\n\022MoveOnGlobeReque"
+  "st\022\022\n\004name\030\001 \001(\tR\004name\022:\n\013destination\030\002 "
+  "\001(\0132\030.viam.common.v1.GeoPointR\013destinati"
+  "on\022\035\n\007heading\030\003 \001(\001H\000R\007heading\210\001\001\022C\n\016com"
+  "ponent_name\030\004 \001(\0132\034.viam.common.v1.Resou"
+  "rceNameR\rcomponentName\022N\n\024movement_senso"
+  "r_name\030\005 \001(\0132\034.viam.common.v1.ResourceNa"
+  "meR\022movementSensorName\0229\n\tobstacles\030\006 \003("
+  "\0132\033.viam.common.v1.GeoObstacleR\tobstacle"
+  "s\022c\n\024motion_configuration\030\007 \001(\0132+.viam.s"
+  "ervice.motion.v1.MotionConfigurationH\001R\023"
+  "motionConfiguration\210\001\001\022-\n\005extra\030c \001(\0132\027."
+  "google.protobuf.StructR\005extraB\n\n\010_headin"
+  "gB\027\n\025_motion_configuration\"/\n\023MoveOnGlob"
+  "eResponse\022\030\n\007success\030\001 \001(\010R\007success\"\217\004\n\025"
+  "MoveOnGlobeNewRequest\022\022\n\004name\030\001 \001(\tR\004nam"
+  "e\022:\n\013destination\030\002 \001(\0132\030.viam.common.v1."
+  "GeoPointR\013destination\022\035\n\007heading\030\003 \001(\001H\000"
+  "R\007heading\210\001\001\022C\n\016component_name\030\004 \001(\0132\034.v"
+  "iam.common.v1.ResourceNameR\rcomponentNam"
+  "e\022N\n\024movement_sensor_name\030\005 \001(\0132\034.viam.c"
+  "ommon.v1.ResourceNameR\022movementSensorNam"
+  "e\0229\n\tobstacles\030\006 \003(\0132\033.viam.common.v1.Ge"
+  "oObstacleR\tobstacles\022c\n\024motion_configura"
+  "tion\030\007 \001(\0132+.viam.service.motion.v1.Moti"
+  "onConfigurationH\001R\023motionConfiguration\210\001"
+  "\001\022-\n\005extra\030c \001(\0132\027.google.protobuf.Struc"
+  "tR\005extraB\n\n\010_headingB\027\n\025_motion_configur"
+  "ation\";\n\026MoveOnGlobeNewResponse\022!\n\014execu"
+  "tion_id\030\001 \001(\tR\013executionId\"\231\002\n\016GetPoseRe"
+  "quest\022\022\n\004name\030\001 \001(\tR\004name\022C\n\016component_n"
+  "ame\030\002 \001(\0132\034.viam.common.v1.ResourceNameR"
+  "\rcomponentName\022+\n\021destination_frame\030\003 \001("
+  "\tR\020destinationFrame\022R\n\027supplemental_tran"
+  "sforms\030\004 \003(\0132\031.viam.common.v1.TransformR"
+  "\026supplementalTransforms\022-\n\005extra\030c \001(\0132\027"
+  ".google.protobuf.StructR\005extra\"B\n\017GetPos"
+  "eResponse\022/\n\004pose\030\001 \001(\0132\033.viam.common.v1"
+  ".PoseInFrameR\004pose\"\231\001\n\017StopPlanRequest\022\022"
+  "\n\004name\030\001 \001(\tR\004name\022C\n\016component_name\030\002 \001"
+  "(\0132\034.viam.common.v1.ResourceNameR\rcompon"
+  "entName\022-\n\005extra\030c \001(\0132\027.google.protobuf"
+  ".StructR\005extra\"\022\n\020StopPlanResponse\"\210\001\n\027L"
+  "istPlanStatusesRequest\022\022\n\004name\030\001 \001(\tR\004na"
+  "me\022*\n\021only_active_plans\030\002 \001(\010R\017onlyActiv"
+  "ePlans\022-\n\005extra\030c \001(\0132\027.google.protobuf."
+  "StructR\005extra\"y\n\030ListPlanStatusesRespons"
+  "e\022]\n\026plan_statuses_with_ids\030\001 \003(\0132(.viam"
+  ".service.motion.v1.PlanStatusWithIDR\023pla"
+  "nStatusesWithIds\"\367\001\n\016GetPlanRequest\022\022\n\004n"
+  "ame\030\001 \001(\tR\004name\022C\n\016component_name\030\002 \001(\0132"
+  "\034.viam.common.v1.ResourceNameR\rcomponent"
+  "Name\022$\n\016last_plan_only\030\003 \001(\010R\014lastPlanOn"
+  "ly\022&\n\014execution_id\030\004 \001(\tH\000R\013executionId\210"
+  "\001\001\022-\n\005extra\030c \001(\0132\027.google.protobuf.Stru"
+  "ctR\005extraB\017\n\r_execution_id\"\301\001\n\017GetPlanRe"
+  "sponse\022_\n\030current_plan_with_status\030\001 \001(\013"
+  "2&.viam.service.motion.v1.PlanWithStatus"
+  "R\025currentPlanWithStatus\022M\n\016replan_histor"
+  "y\030\002 \003(\0132&.viam.service.motion.v1.PlanWit"
+  "hStatusR\rreplanHistory\"\263\002\n\013Constraints\022U"
+  "\n\021linear_constraint\030\001 \003(\0132(.viam.service"
+  ".motion.v1.LinearConstraintR\020linearConst"
+  "raint\022d\n\026orientation_constraint\030\002 \003(\0132-."
+  "viam.service.motion.v1.OrientationConstr"
+  "aintR\025orientationConstraint\022g\n\027collision"
+  "_specification\030\003 \003(\0132..viam.service.moti"
+  "on.v1.CollisionSpecificationR\026collisionS"
+  "pecification\"\273\001\n\020LinearConstraint\022/\n\021lin"
+  "e_tolerance_mm\030\001 \001(\002H\000R\017lineToleranceMm\210"
+  "\001\001\022A\n\032orientation_tolerance_degs\030\002 \001(\002H\001"
+  "R\030orientationToleranceDegs\210\001\001B\024\n\022_line_t"
+  "olerance_mmB\035\n\033_orientation_tolerance_de"
+  "gs\"y\n\025OrientationConstraint\022A\n\032orientati"
+  "on_tolerance_degs\030\001 \001(\002H\000R\030orientationTo"
+  "leranceDegs\210\001\001B\035\n\033_orientation_tolerance"
+  "_degs\"\301\001\n\026CollisionSpecification\022]\n\006allo"
+  "ws\030\001 \003(\0132E.viam.service.motion.v1.Collis"
+  "ionSpecification.AllowedFrameCollisionsR"
+  "\006allows\032H\n\026AllowedFrameCollisions\022\026\n\006fra"
+  "me1\030\001 \001(\tR\006frame1\022\026\n\006frame2\030\002 \001(\tR\006frame"
+  "2\"\311\001\n\016PlanWithStatus\0220\n\004plan\030\001 \001(\0132\034.via"
+  "m.service.motion.v1.PlanR\004plan\022:\n\006status"
+  "\030\002 \001(\0132\".viam.service.motion.v1.PlanStat"
+  "usR\006status\022I\n\016status_history\030\003 \003(\0132\".via"
+  "m.service.motion.v1.PlanStatusR\rstatusHi"
+  "story\"\317\001\n\020PlanStatusWithID\022\027\n\007plan_id\030\001 "
+  "\001(\tR\006planId\022C\n\016component_name\030\002 \001(\0132\034.vi"
+  "am.common.v1.ResourceNameR\rcomponentName"
+  "\022!\n\014execution_id\030\003 \001(\tR\013executionId\022:\n\006s"
+  "tatus\030\004 \001(\0132\".viam.service.motion.v1.Pla"
+  "nStatusR\006status\"\247\001\n\nPlanStatus\0227\n\005state\030"
+  "\001 \001(\0162!.viam.service.motion.v1.PlanState"
+  "R\005state\0228\n\ttimestamp\030\002 \001(\0132\032.google.prot"
+  "obuf.TimestampR\ttimestamp\022\033\n\006reason\030\003 \001("
+  "\tH\000R\006reason\210\001\001B\t\n\007_reason\"\266\001\n\004Plan\022\016\n\002id"
+  "\030\001 \001(\tR\002id\022C\n\016component_name\030\002 \001(\0132\034.via"
+  "m.common.v1.ResourceNameR\rcomponentName\022"
+  "!\n\014execution_id\030\003 \001(\tR\013executionId\0226\n\005st"
+  "eps\030\004 \003(\0132 .viam.service.motion.v1.PlanS"
+  "tepR\005steps\"\253\001\n\010PlanStep\022>\n\004step\030\001 \003(\0132*."
+  "viam.service.motion.v1.PlanStep.StepEntr"
+  "yR\004step\032_\n\tStepEntry\022\020\n\003key\030\001 \001(\tR\003key\022<"
+  "\n\005value\030\002 \001(\0132&.viam.service.motion.v1.C"
+  "omponentStateR\005value:\0028\001\":\n\016ComponentSta"
+  "te\022(\n\004pose\030\001 \001(\0132\024.viam.common.v1.PoseR\004"
+  "pose*\214\001\n\tPlanState\022\032\n\026PLAN_STATE_UNSPECI"
+  "FIED\020\000\022\032\n\026PLAN_STATE_IN_PROGRESS\020\001\022\026\n\022PL"
+  "AN_STATE_STOPPED\020\002\022\030\n\024PLAN_STATE_SUCCEED"
+  "ED\020\003\022\025\n\021PLAN_STATE_FAILED\020\0042\371\n\n\rMotionSe"
+  "rvice\022\202\001\n\004Move\022#.viam.service.motion.v1."
+  "MoveRequest\032$.viam.service.motion.v1.Mov"
+  "eResponse\"/\202\323\344\223\002)\"\'/viam/api/v1/service/"
+  "motion/{name}/move\022\230\001\n\tMoveOnMap\022(.viam."
+  "service.motion.v1.MoveOnMapRequest\032).via"
+  "m.service.motion.v1.MoveOnMapResponse\"6\202"
+  "\323\344\223\0020\"./viam/api/v1/service/motion/{name"
+  "}/move_on_map\022\240\001\n\013MoveOnGlobe\022*.viam.ser"
+  "vice.motion.v1.MoveOnGlobeRequest\032+.viam"
+  ".service.motion.v1.MoveOnGlobeResponse\"8"
+  "\202\323\344\223\0022\"0/viam/api/v1/service/motion/{nam"
+  "e}/move_on_globe\022\255\001\n\016MoveOnGlobeNew\022-.vi"
+  "am.service.motion.v1.MoveOnGlobeNewReque"
+  "st\032..viam.service.motion.v1.MoveOnGlobeN"
+  "ewResponse\"<\202\323\344\223\0026\0224/viam/api/v1/service"
+  "/motion/{name}/move_on_globe_new\022\213\001\n\007Get"
+  "Pose\022&.viam.service.motion.v1.GetPoseReq"
+  "uest\032\'.viam.service.motion.v1.GetPoseRes"
+  "ponse\"/\202\323\344\223\002)\022\'/viam/api/v1/service/moti"
+  "on/{name}/pose\022\223\001\n\010StopPlan\022\'.viam.servi"
+  "ce.motion.v1.StopPlanRequest\032(.viam.serv"
+  "ice.motion.v1.StopPlanResponse\"4\202\323\344\223\002.\022,"
+  "/viam/api/v1/service/motion/{name}/stop_"
+  "plan\022\264\001\n\020ListPlanStatuses\022/.viam.service"
+  ".motion.v1.ListPlanStatusesRequest\0320.via"
+  "m.service.motion.v1.ListPlanStatusesResp"
+  "onse\"=\202\323\344\223\0027\0225/viam/api/v1/service/motio"
+  "n/{name}/list_plan_statuses\022\217\001\n\007GetPlan\022"
+  "&.viam.service.motion.v1.GetPlanRequest\032"
+  "\'.viam.service.motion.v1.GetPlanResponse"
+  "\"3\202\323\344\223\002-\022+/viam/api/v1/service/motion/{n"
+  "ame}/get_plan\022\207\001\n\tDoCommand\022 .viam.commo"
+  "n.v1.DoCommandRequest\032!.viam.common.v1.D"
+  "oCommandResponse\"5\202\323\344\223\002/\"-/viam/api/v1/s"
+  "ervice/motion/{name}/do_commandB\?\n\032com.v"
+  "iam.service.motion.v1Z!go.viam.com/api/s"
+  "ervice/motion/v1b\006proto3"
   ;
-static const ::_pbi::DescriptorTable* const descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_deps[3] = {
+static const ::_pbi::DescriptorTable* const descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_deps[4] = {
   &::descriptor_table_common_2fv1_2fcommon_2eproto,
   &::descriptor_table_google_2fapi_2fannotations_2eproto,
   &::descriptor_table_google_2fprotobuf_2fstruct_2eproto,
+  &::descriptor_table_google_2fprotobuf_2ftimestamp_2eproto,
 };
 static ::_pbi::once_flag descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_once;
 const ::_pbi::DescriptorTable descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto = {
-    false, false, 3995, descriptor_table_protodef_service_2fmotion_2fv1_2fmotion_2eproto,
+    false, false, 7304, descriptor_table_protodef_service_2fmotion_2fv1_2fmotion_2eproto,
     "service/motion/v1/motion.proto",
-    &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_once, descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_deps, 3, 14,
+    &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_once, descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_deps, 4, 29,
     schemas, file_default_instances, TableStruct_service_2fmotion_2fv1_2fmotion_2eproto::offsets,
     file_level_metadata_service_2fmotion_2fv1_2fmotion_2eproto, file_level_enum_descriptors_service_2fmotion_2fv1_2fmotion_2eproto,
     file_level_service_descriptors_service_2fmotion_2fv1_2fmotion_2eproto,
@@ -541,6 +1009,23 @@ namespace viam {
 namespace service {
 namespace motion {
 namespace v1 {
+const ::PROTOBUF_NAMESPACE_ID::EnumDescriptor* PlanState_descriptor() {
+  ::PROTOBUF_NAMESPACE_ID::internal::AssignDescriptors(&descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto);
+  return file_level_enum_descriptors_service_2fmotion_2fv1_2fmotion_2eproto[0];
+}
+bool PlanState_IsValid(int value) {
+  switch (value) {
+    case 0:
+    case 1:
+    case 2:
+    case 3:
+    case 4:
+      return true;
+    default:
+      return false;
+  }
+}
+
 
 // ===================================================================
 
@@ -2741,45 +3226,80 @@ ::PROTOBUF_NAMESPACE_ID::Metadata MoveOnGlobeResponse::GetMetadata() const {
 
 // ===================================================================
 
-class GetPoseRequest::_Internal {
+class MoveOnGlobeNewRequest::_Internal {
  public:
-  static const ::viam::common::v1::ResourceName& component_name(const GetPoseRequest* msg);
-  static const ::PROTOBUF_NAMESPACE_ID::Struct& extra(const GetPoseRequest* msg);
+  using HasBits = decltype(std::declval<MoveOnGlobeNewRequest>()._has_bits_);
+  static const ::viam::common::v1::GeoPoint& destination(const MoveOnGlobeNewRequest* msg);
+  static void set_has_heading(HasBits* has_bits) {
+    (*has_bits)[0] |= 2u;
+  }
+  static const ::viam::common::v1::ResourceName& component_name(const MoveOnGlobeNewRequest* msg);
+  static const ::viam::common::v1::ResourceName& movement_sensor_name(const MoveOnGlobeNewRequest* msg);
+  static const ::viam::service::motion::v1::MotionConfiguration& motion_configuration(const MoveOnGlobeNewRequest* msg);
+  static void set_has_motion_configuration(HasBits* has_bits) {
+    (*has_bits)[0] |= 1u;
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Struct& extra(const MoveOnGlobeNewRequest* msg);
 };
 
+const ::viam::common::v1::GeoPoint&
+MoveOnGlobeNewRequest::_Internal::destination(const MoveOnGlobeNewRequest* msg) {
+  return *msg->destination_;
+}
 const ::viam::common::v1::ResourceName&
-GetPoseRequest::_Internal::component_name(const GetPoseRequest* msg) {
+MoveOnGlobeNewRequest::_Internal::component_name(const MoveOnGlobeNewRequest* msg) {
   return *msg->component_name_;
 }
+const ::viam::common::v1::ResourceName&
+MoveOnGlobeNewRequest::_Internal::movement_sensor_name(const MoveOnGlobeNewRequest* msg) {
+  return *msg->movement_sensor_name_;
+}
+const ::viam::service::motion::v1::MotionConfiguration&
+MoveOnGlobeNewRequest::_Internal::motion_configuration(const MoveOnGlobeNewRequest* msg) {
+  return *msg->motion_configuration_;
+}
 const ::PROTOBUF_NAMESPACE_ID::Struct&
-GetPoseRequest::_Internal::extra(const GetPoseRequest* msg) {
+MoveOnGlobeNewRequest::_Internal::extra(const MoveOnGlobeNewRequest* msg) {
   return *msg->extra_;
 }
-void GetPoseRequest::clear_component_name() {
+void MoveOnGlobeNewRequest::clear_destination() {
+  if (GetArenaForAllocation() == nullptr && destination_ != nullptr) {
+    delete destination_;
+  }
+  destination_ = nullptr;
+}
+void MoveOnGlobeNewRequest::clear_component_name() {
   if (GetArenaForAllocation() == nullptr && component_name_ != nullptr) {
     delete component_name_;
   }
   component_name_ = nullptr;
 }
-void GetPoseRequest::clear_supplemental_transforms() {
-  supplemental_transforms_.Clear();
+void MoveOnGlobeNewRequest::clear_movement_sensor_name() {
+  if (GetArenaForAllocation() == nullptr && movement_sensor_name_ != nullptr) {
+    delete movement_sensor_name_;
+  }
+  movement_sensor_name_ = nullptr;
 }
-void GetPoseRequest::clear_extra() {
+void MoveOnGlobeNewRequest::clear_obstacles() {
+  obstacles_.Clear();
+}
+void MoveOnGlobeNewRequest::clear_extra() {
   if (GetArenaForAllocation() == nullptr && extra_ != nullptr) {
     delete extra_;
   }
   extra_ = nullptr;
 }
-GetPoseRequest::GetPoseRequest(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+MoveOnGlobeNewRequest::MoveOnGlobeNewRequest(::PROTOBUF_NAMESPACE_ID::Arena* arena,
                          bool is_message_owned)
   : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned),
-  supplemental_transforms_(arena) {
+  obstacles_(arena) {
   SharedCtor();
-  // @@protoc_insertion_point(arena_constructor:viam.service.motion.v1.GetPoseRequest)
+  // @@protoc_insertion_point(arena_constructor:viam.service.motion.v1.MoveOnGlobeNewRequest)
 }
-GetPoseRequest::GetPoseRequest(const GetPoseRequest& from)
+MoveOnGlobeNewRequest::MoveOnGlobeNewRequest(const MoveOnGlobeNewRequest& from)
   : ::PROTOBUF_NAMESPACE_ID::Message(),
-      supplemental_transforms_(from.supplemental_transforms_) {
+      _has_bits_(from._has_bits_),
+      obstacles_(from.obstacles_) {
   _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
   name_.InitDefault();
   #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
@@ -2789,44 +3309,48 @@ GetPoseRequest::GetPoseRequest(const GetPoseRequest& from)
     name_.Set(from._internal_name(), 
       GetArenaForAllocation());
   }
-  destination_frame_.InitDefault();
-  #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
-    destination_frame_.Set("", GetArenaForAllocation());
-  #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  if (!from._internal_destination_frame().empty()) {
-    destination_frame_.Set(from._internal_destination_frame(), 
-      GetArenaForAllocation());
+  if (from._internal_has_destination()) {
+    destination_ = new ::viam::common::v1::GeoPoint(*from.destination_);
+  } else {
+    destination_ = nullptr;
   }
   if (from._internal_has_component_name()) {
     component_name_ = new ::viam::common::v1::ResourceName(*from.component_name_);
   } else {
     component_name_ = nullptr;
   }
+  if (from._internal_has_movement_sensor_name()) {
+    movement_sensor_name_ = new ::viam::common::v1::ResourceName(*from.movement_sensor_name_);
+  } else {
+    movement_sensor_name_ = nullptr;
+  }
+  if (from._internal_has_motion_configuration()) {
+    motion_configuration_ = new ::viam::service::motion::v1::MotionConfiguration(*from.motion_configuration_);
+  } else {
+    motion_configuration_ = nullptr;
+  }
   if (from._internal_has_extra()) {
     extra_ = new ::PROTOBUF_NAMESPACE_ID::Struct(*from.extra_);
   } else {
     extra_ = nullptr;
   }
-  // @@protoc_insertion_point(copy_constructor:viam.service.motion.v1.GetPoseRequest)
+  heading_ = from.heading_;
+  // @@protoc_insertion_point(copy_constructor:viam.service.motion.v1.MoveOnGlobeNewRequest)
 }
 
-inline void GetPoseRequest::SharedCtor() {
+inline void MoveOnGlobeNewRequest::SharedCtor() {
 name_.InitDefault();
 #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
   name_.Set("", GetArenaForAllocation());
 #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-destination_frame_.InitDefault();
-#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  destination_frame_.Set("", GetArenaForAllocation());
-#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
 ::memset(reinterpret_cast<char*>(this) + static_cast<size_t>(
-    reinterpret_cast<char*>(&component_name_) - reinterpret_cast<char*>(this)),
-    0, static_cast<size_t>(reinterpret_cast<char*>(&extra_) -
-    reinterpret_cast<char*>(&component_name_)) + sizeof(extra_));
+    reinterpret_cast<char*>(&destination_) - reinterpret_cast<char*>(this)),
+    0, static_cast<size_t>(reinterpret_cast<char*>(&heading_) -
+    reinterpret_cast<char*>(&destination_)) + sizeof(heading_));
 }
 
-GetPoseRequest::~GetPoseRequest() {
-  // @@protoc_insertion_point(destructor:viam.service.motion.v1.GetPoseRequest)
+MoveOnGlobeNewRequest::~MoveOnGlobeNewRequest() {
+  // @@protoc_insertion_point(destructor:viam.service.motion.v1.MoveOnGlobeNewRequest)
   if (auto *arena = _internal_metadata_.DeleteReturnArena<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>()) {
   (void)arena;
     return;
@@ -2834,40 +3358,57 @@ GetPoseRequest::~GetPoseRequest() {
   SharedDtor();
 }
 
-inline void GetPoseRequest::SharedDtor() {
+inline void MoveOnGlobeNewRequest::SharedDtor() {
   GOOGLE_DCHECK(GetArenaForAllocation() == nullptr);
   name_.Destroy();
-  destination_frame_.Destroy();
+  if (this != internal_default_instance()) delete destination_;
   if (this != internal_default_instance()) delete component_name_;
+  if (this != internal_default_instance()) delete movement_sensor_name_;
+  if (this != internal_default_instance()) delete motion_configuration_;
   if (this != internal_default_instance()) delete extra_;
 }
 
-void GetPoseRequest::SetCachedSize(int size) const {
+void MoveOnGlobeNewRequest::SetCachedSize(int size) const {
   _cached_size_.Set(size);
 }
 
-void GetPoseRequest::Clear() {
-// @@protoc_insertion_point(message_clear_start:viam.service.motion.v1.GetPoseRequest)
+void MoveOnGlobeNewRequest::Clear() {
+// @@protoc_insertion_point(message_clear_start:viam.service.motion.v1.MoveOnGlobeNewRequest)
   uint32_t cached_has_bits = 0;
   // Prevent compiler warnings about cached_has_bits being unused
   (void) cached_has_bits;
 
-  supplemental_transforms_.Clear();
+  obstacles_.Clear();
   name_.ClearToEmpty();
-  destination_frame_.ClearToEmpty();
+  if (GetArenaForAllocation() == nullptr && destination_ != nullptr) {
+    delete destination_;
+  }
+  destination_ = nullptr;
   if (GetArenaForAllocation() == nullptr && component_name_ != nullptr) {
     delete component_name_;
   }
   component_name_ = nullptr;
+  if (GetArenaForAllocation() == nullptr && movement_sensor_name_ != nullptr) {
+    delete movement_sensor_name_;
+  }
+  movement_sensor_name_ = nullptr;
+  cached_has_bits = _has_bits_[0];
+  if (cached_has_bits & 0x00000001u) {
+    GOOGLE_DCHECK(motion_configuration_ != nullptr);
+    motion_configuration_->Clear();
+  }
   if (GetArenaForAllocation() == nullptr && extra_ != nullptr) {
     delete extra_;
   }
   extra_ = nullptr;
+  heading_ = 0;
+  _has_bits_.Clear();
   _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
 }
 
-const char* GetPoseRequest::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
+const char* MoveOnGlobeNewRequest::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
 #define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
+  _Internal::HasBits has_bits{};
   while (!ctx->Done(&ptr)) {
     uint32_t tag;
     ptr = ::_pbi::ReadTag(ptr, &tag);
@@ -2878,38 +3419,61 @@ const char* GetPoseRequest::_InternalParse(const char* ptr, ::_pbi::ParseContext
           auto str = _internal_mutable_name();
           ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx);
           CHK_(ptr);
-          CHK_(::_pbi::VerifyUTF8(str, "viam.service.motion.v1.GetPoseRequest.name"));
+          CHK_(::_pbi::VerifyUTF8(str, "viam.service.motion.v1.MoveOnGlobeNewRequest.name"));
         } else
           goto handle_unusual;
         continue;
-      // .viam.common.v1.ResourceName component_name = 2 [json_name = "componentName"];
+      // .viam.common.v1.GeoPoint destination = 2 [json_name = "destination"];
       case 2:
         if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 18)) {
-          ptr = ctx->ParseMessage(_internal_mutable_component_name(), ptr);
+          ptr = ctx->ParseMessage(_internal_mutable_destination(), ptr);
           CHK_(ptr);
         } else
           goto handle_unusual;
         continue;
-      // string destination_frame = 3 [json_name = "destinationFrame"];
+      // optional double heading = 3 [json_name = "heading"];
       case 3:
-        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 26)) {
-          auto str = _internal_mutable_destination_frame();
-          ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx);
-          CHK_(ptr);
-          CHK_(::_pbi::VerifyUTF8(str, "viam.service.motion.v1.GetPoseRequest.destination_frame"));
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 25)) {
+          _Internal::set_has_heading(&has_bits);
+          heading_ = ::PROTOBUF_NAMESPACE_ID::internal::UnalignedLoad<double>(ptr);
+          ptr += sizeof(double);
         } else
           goto handle_unusual;
         continue;
-      // repeated .viam.common.v1.Transform supplemental_transforms = 4 [json_name = "supplementalTransforms"];
+      // .viam.common.v1.ResourceName component_name = 4 [json_name = "componentName"];
       case 4:
         if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 34)) {
+          ptr = ctx->ParseMessage(_internal_mutable_component_name(), ptr);
+          CHK_(ptr);
+        } else
+          goto handle_unusual;
+        continue;
+      // .viam.common.v1.ResourceName movement_sensor_name = 5 [json_name = "movementSensorName"];
+      case 5:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 42)) {
+          ptr = ctx->ParseMessage(_internal_mutable_movement_sensor_name(), ptr);
+          CHK_(ptr);
+        } else
+          goto handle_unusual;
+        continue;
+      // repeated .viam.common.v1.GeoObstacle obstacles = 6 [json_name = "obstacles"];
+      case 6:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 50)) {
           ptr -= 1;
           do {
             ptr += 1;
-            ptr = ctx->ParseMessage(_internal_add_supplemental_transforms(), ptr);
+            ptr = ctx->ParseMessage(_internal_add_obstacles(), ptr);
             CHK_(ptr);
             if (!ctx->DataAvailable(ptr)) break;
-          } while (::PROTOBUF_NAMESPACE_ID::internal::ExpectTag<34>(ptr));
+          } while (::PROTOBUF_NAMESPACE_ID::internal::ExpectTag<50>(ptr));
+        } else
+          goto handle_unusual;
+        continue;
+      // optional .viam.service.motion.v1.MotionConfiguration motion_configuration = 7 [json_name = "motionConfiguration"];
+      case 7:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 58)) {
+          ptr = ctx->ParseMessage(_internal_mutable_motion_configuration(), ptr);
+          CHK_(ptr);
         } else
           goto handle_unusual;
         continue;
@@ -2937,6 +3501,7 @@ const char* GetPoseRequest::_InternalParse(const char* ptr, ::_pbi::ParseContext
     CHK_(ptr != nullptr);
   }  // while
 message_done:
+  _has_bits_.Or(has_bits);
   return ptr;
 failure:
   ptr = nullptr;
@@ -2944,9 +3509,9 @@ const char* GetPoseRequest::_InternalParse(const char* ptr, ::_pbi::ParseContext
 #undef CHK_
 }
 
-uint8_t* GetPoseRequest::_InternalSerialize(
+uint8_t* MoveOnGlobeNewRequest::_InternalSerialize(
     uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
-  // @@protoc_insertion_point(serialize_to_array_start:viam.service.motion.v1.GetPoseRequest)
+  // @@protoc_insertion_point(serialize_to_array_start:viam.service.motion.v1.MoveOnGlobeNewRequest)
   uint32_t cached_has_bits = 0;
   (void) cached_has_bits;
 
@@ -2955,34 +3520,51 @@ uint8_t* GetPoseRequest::_InternalSerialize(
     ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
       this->_internal_name().data(), static_cast<int>(this->_internal_name().length()),
       ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
-      "viam.service.motion.v1.GetPoseRequest.name");
+      "viam.service.motion.v1.MoveOnGlobeNewRequest.name");
     target = stream->WriteStringMaybeAliased(
         1, this->_internal_name(), target);
   }
 
-  // .viam.common.v1.ResourceName component_name = 2 [json_name = "componentName"];
+  // .viam.common.v1.GeoPoint destination = 2 [json_name = "destination"];
+  if (this->_internal_has_destination()) {
+    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::
+      InternalWriteMessage(2, _Internal::destination(this),
+        _Internal::destination(this).GetCachedSize(), target, stream);
+  }
+
+  // optional double heading = 3 [json_name = "heading"];
+  if (_internal_has_heading()) {
+    target = stream->EnsureSpace(target);
+    target = ::_pbi::WireFormatLite::WriteDoubleToArray(3, this->_internal_heading(), target);
+  }
+
+  // .viam.common.v1.ResourceName component_name = 4 [json_name = "componentName"];
   if (this->_internal_has_component_name()) {
     target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::
-      InternalWriteMessage(2, _Internal::component_name(this),
+      InternalWriteMessage(4, _Internal::component_name(this),
         _Internal::component_name(this).GetCachedSize(), target, stream);
   }
 
-  // string destination_frame = 3 [json_name = "destinationFrame"];
-  if (!this->_internal_destination_frame().empty()) {
-    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
-      this->_internal_destination_frame().data(), static_cast<int>(this->_internal_destination_frame().length()),
-      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
-      "viam.service.motion.v1.GetPoseRequest.destination_frame");
-    target = stream->WriteStringMaybeAliased(
-        3, this->_internal_destination_frame(), target);
+  // .viam.common.v1.ResourceName movement_sensor_name = 5 [json_name = "movementSensorName"];
+  if (this->_internal_has_movement_sensor_name()) {
+    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::
+      InternalWriteMessage(5, _Internal::movement_sensor_name(this),
+        _Internal::movement_sensor_name(this).GetCachedSize(), target, stream);
   }
 
-  // repeated .viam.common.v1.Transform supplemental_transforms = 4 [json_name = "supplementalTransforms"];
+  // repeated .viam.common.v1.GeoObstacle obstacles = 6 [json_name = "obstacles"];
   for (unsigned i = 0,
-      n = static_cast<unsigned>(this->_internal_supplemental_transforms_size()); i < n; i++) {
-    const auto& repfield = this->_internal_supplemental_transforms(i);
+      n = static_cast<unsigned>(this->_internal_obstacles_size()); i < n; i++) {
+    const auto& repfield = this->_internal_obstacles(i);
     target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::
-        InternalWriteMessage(4, repfield, repfield.GetCachedSize(), target, stream);
+        InternalWriteMessage(6, repfield, repfield.GetCachedSize(), target, stream);
+  }
+
+  // optional .viam.service.motion.v1.MotionConfiguration motion_configuration = 7 [json_name = "motionConfiguration"];
+  if (_internal_has_motion_configuration()) {
+    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::
+      InternalWriteMessage(7, _Internal::motion_configuration(this),
+        _Internal::motion_configuration(this).GetCachedSize(), target, stream);
   }
 
   // .google.protobuf.Struct extra = 99 [json_name = "extra"];
@@ -2996,21 +3578,21 @@ uint8_t* GetPoseRequest::_InternalSerialize(
     target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray(
         _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
   }
-  // @@protoc_insertion_point(serialize_to_array_end:viam.service.motion.v1.GetPoseRequest)
+  // @@protoc_insertion_point(serialize_to_array_end:viam.service.motion.v1.MoveOnGlobeNewRequest)
   return target;
 }
 
-size_t GetPoseRequest::ByteSizeLong() const {
-// @@protoc_insertion_point(message_byte_size_start:viam.service.motion.v1.GetPoseRequest)
+size_t MoveOnGlobeNewRequest::ByteSizeLong() const {
+// @@protoc_insertion_point(message_byte_size_start:viam.service.motion.v1.MoveOnGlobeNewRequest)
   size_t total_size = 0;
 
   uint32_t cached_has_bits = 0;
   // Prevent compiler warnings about cached_has_bits being unused
   (void) cached_has_bits;
 
-  // repeated .viam.common.v1.Transform supplemental_transforms = 4 [json_name = "supplementalTransforms"];
-  total_size += 1UL * this->_internal_supplemental_transforms_size();
-  for (const auto& msg : this->supplemental_transforms_) {
+  // repeated .viam.common.v1.GeoObstacle obstacles = 6 [json_name = "obstacles"];
+  total_size += 1UL * this->_internal_obstacles_size();
+  for (const auto& msg : this->obstacles_) {
     total_size +=
       ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(msg);
   }
@@ -3022,20 +3604,35 @@ size_t GetPoseRequest::ByteSizeLong() const {
         this->_internal_name());
   }
 
-  // string destination_frame = 3 [json_name = "destinationFrame"];
-  if (!this->_internal_destination_frame().empty()) {
+  // .viam.common.v1.GeoPoint destination = 2 [json_name = "destination"];
+  if (this->_internal_has_destination()) {
     total_size += 1 +
-      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
-        this->_internal_destination_frame());
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(
+        *destination_);
   }
 
-  // .viam.common.v1.ResourceName component_name = 2 [json_name = "componentName"];
+  // .viam.common.v1.ResourceName component_name = 4 [json_name = "componentName"];
   if (this->_internal_has_component_name()) {
     total_size += 1 +
       ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(
         *component_name_);
   }
 
+  // .viam.common.v1.ResourceName movement_sensor_name = 5 [json_name = "movementSensorName"];
+  if (this->_internal_has_movement_sensor_name()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(
+        *movement_sensor_name_);
+  }
+
+  // optional .viam.service.motion.v1.MotionConfiguration motion_configuration = 7 [json_name = "motionConfiguration"];
+  cached_has_bits = _has_bits_[0];
+  if (cached_has_bits & 0x00000001u) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(
+        *motion_configuration_);
+  }
+
   // .google.protobuf.Struct extra = 99 [json_name = "extra"];
   if (this->_internal_has_extra()) {
     total_size += 2 +
@@ -3043,78 +3640,89 @@ size_t GetPoseRequest::ByteSizeLong() const {
         *extra_);
   }
 
+  // optional double heading = 3 [json_name = "heading"];
+  if (cached_has_bits & 0x00000002u) {
+    total_size += 1 + 8;
+  }
+
   return MaybeComputeUnknownFieldsSize(total_size, &_cached_size_);
 }
 
-const ::PROTOBUF_NAMESPACE_ID::Message::ClassData GetPoseRequest::_class_data_ = {
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData MoveOnGlobeNewRequest::_class_data_ = {
     ::PROTOBUF_NAMESPACE_ID::Message::CopyWithSizeCheck,
-    GetPoseRequest::MergeImpl
+    MoveOnGlobeNewRequest::MergeImpl
 };
-const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*GetPoseRequest::GetClassData() const { return &_class_data_; }
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*MoveOnGlobeNewRequest::GetClassData() const { return &_class_data_; }
 
-void GetPoseRequest::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
+void MoveOnGlobeNewRequest::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
                       const ::PROTOBUF_NAMESPACE_ID::Message& from) {
-  static_cast<GetPoseRequest *>(to)->MergeFrom(
-      static_cast<const GetPoseRequest &>(from));
+  static_cast<MoveOnGlobeNewRequest *>(to)->MergeFrom(
+      static_cast<const MoveOnGlobeNewRequest &>(from));
 }
 
 
-void GetPoseRequest::MergeFrom(const GetPoseRequest& from) {
-// @@protoc_insertion_point(class_specific_merge_from_start:viam.service.motion.v1.GetPoseRequest)
+void MoveOnGlobeNewRequest::MergeFrom(const MoveOnGlobeNewRequest& from) {
+// @@protoc_insertion_point(class_specific_merge_from_start:viam.service.motion.v1.MoveOnGlobeNewRequest)
   GOOGLE_DCHECK_NE(&from, this);
   uint32_t cached_has_bits = 0;
   (void) cached_has_bits;
 
-  supplemental_transforms_.MergeFrom(from.supplemental_transforms_);
+  obstacles_.MergeFrom(from.obstacles_);
   if (!from._internal_name().empty()) {
     _internal_set_name(from._internal_name());
   }
-  if (!from._internal_destination_frame().empty()) {
-    _internal_set_destination_frame(from._internal_destination_frame());
+  if (from._internal_has_destination()) {
+    _internal_mutable_destination()->::viam::common::v1::GeoPoint::MergeFrom(from._internal_destination());
   }
   if (from._internal_has_component_name()) {
     _internal_mutable_component_name()->::viam::common::v1::ResourceName::MergeFrom(from._internal_component_name());
   }
+  if (from._internal_has_movement_sensor_name()) {
+    _internal_mutable_movement_sensor_name()->::viam::common::v1::ResourceName::MergeFrom(from._internal_movement_sensor_name());
+  }
+  if (from._internal_has_motion_configuration()) {
+    _internal_mutable_motion_configuration()->::viam::service::motion::v1::MotionConfiguration::MergeFrom(from._internal_motion_configuration());
+  }
   if (from._internal_has_extra()) {
     _internal_mutable_extra()->::PROTOBUF_NAMESPACE_ID::Struct::MergeFrom(from._internal_extra());
   }
+  if (from._internal_has_heading()) {
+    _internal_set_heading(from._internal_heading());
+  }
   _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
 }
 
-void GetPoseRequest::CopyFrom(const GetPoseRequest& from) {
-// @@protoc_insertion_point(class_specific_copy_from_start:viam.service.motion.v1.GetPoseRequest)
+void MoveOnGlobeNewRequest::CopyFrom(const MoveOnGlobeNewRequest& from) {
+// @@protoc_insertion_point(class_specific_copy_from_start:viam.service.motion.v1.MoveOnGlobeNewRequest)
   if (&from == this) return;
   Clear();
   MergeFrom(from);
 }
 
-bool GetPoseRequest::IsInitialized() const {
+bool MoveOnGlobeNewRequest::IsInitialized() const {
   return true;
 }
 
-void GetPoseRequest::InternalSwap(GetPoseRequest* other) {
+void MoveOnGlobeNewRequest::InternalSwap(MoveOnGlobeNewRequest* other) {
   using std::swap;
   auto* lhs_arena = GetArenaForAllocation();
   auto* rhs_arena = other->GetArenaForAllocation();
   _internal_metadata_.InternalSwap(&other->_internal_metadata_);
-  supplemental_transforms_.InternalSwap(&other->supplemental_transforms_);
+  swap(_has_bits_[0], other->_has_bits_[0]);
+  obstacles_.InternalSwap(&other->obstacles_);
   ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
       &name_, lhs_arena,
       &other->name_, rhs_arena
   );
-  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
-      &destination_frame_, lhs_arena,
-      &other->destination_frame_, rhs_arena
-  );
   ::PROTOBUF_NAMESPACE_ID::internal::memswap<
-      PROTOBUF_FIELD_OFFSET(GetPoseRequest, extra_)
-      + sizeof(GetPoseRequest::extra_)
-      - PROTOBUF_FIELD_OFFSET(GetPoseRequest, component_name_)>(
-          reinterpret_cast<char*>(&component_name_),
-          reinterpret_cast<char*>(&other->component_name_));
+      PROTOBUF_FIELD_OFFSET(MoveOnGlobeNewRequest, heading_)
+      + sizeof(MoveOnGlobeNewRequest::heading_)
+      - PROTOBUF_FIELD_OFFSET(MoveOnGlobeNewRequest, destination_)>(
+          reinterpret_cast<char*>(&destination_),
+          reinterpret_cast<char*>(&other->destination_));
 }
 
-::PROTOBUF_NAMESPACE_ID::Metadata GetPoseRequest::GetMetadata() const {
+::PROTOBUF_NAMESPACE_ID::Metadata MoveOnGlobeNewRequest::GetMetadata() const {
   return ::_pbi::AssignDescriptors(
       &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_getter, &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_once,
       file_level_metadata_service_2fmotion_2fv1_2fmotion_2eproto[7]);
@@ -3122,44 +3730,39 @@ ::PROTOBUF_NAMESPACE_ID::Metadata GetPoseRequest::GetMetadata() const {
 
 // ===================================================================
 
-class GetPoseResponse::_Internal {
+class MoveOnGlobeNewResponse::_Internal {
  public:
-  static const ::viam::common::v1::PoseInFrame& pose(const GetPoseResponse* msg);
 };
 
-const ::viam::common::v1::PoseInFrame&
-GetPoseResponse::_Internal::pose(const GetPoseResponse* msg) {
-  return *msg->pose_;
-}
-void GetPoseResponse::clear_pose() {
-  if (GetArenaForAllocation() == nullptr && pose_ != nullptr) {
-    delete pose_;
-  }
-  pose_ = nullptr;
-}
-GetPoseResponse::GetPoseResponse(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+MoveOnGlobeNewResponse::MoveOnGlobeNewResponse(::PROTOBUF_NAMESPACE_ID::Arena* arena,
                          bool is_message_owned)
   : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned) {
   SharedCtor();
-  // @@protoc_insertion_point(arena_constructor:viam.service.motion.v1.GetPoseResponse)
+  // @@protoc_insertion_point(arena_constructor:viam.service.motion.v1.MoveOnGlobeNewResponse)
 }
-GetPoseResponse::GetPoseResponse(const GetPoseResponse& from)
+MoveOnGlobeNewResponse::MoveOnGlobeNewResponse(const MoveOnGlobeNewResponse& from)
   : ::PROTOBUF_NAMESPACE_ID::Message() {
   _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
-  if (from._internal_has_pose()) {
-    pose_ = new ::viam::common::v1::PoseInFrame(*from.pose_);
-  } else {
-    pose_ = nullptr;
+  execution_id_.InitDefault();
+  #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+    execution_id_.Set("", GetArenaForAllocation());
+  #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (!from._internal_execution_id().empty()) {
+    execution_id_.Set(from._internal_execution_id(), 
+      GetArenaForAllocation());
   }
-  // @@protoc_insertion_point(copy_constructor:viam.service.motion.v1.GetPoseResponse)
+  // @@protoc_insertion_point(copy_constructor:viam.service.motion.v1.MoveOnGlobeNewResponse)
 }
 
-inline void GetPoseResponse::SharedCtor() {
-pose_ = nullptr;
+inline void MoveOnGlobeNewResponse::SharedCtor() {
+execution_id_.InitDefault();
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  execution_id_.Set("", GetArenaForAllocation());
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
 }
 
-GetPoseResponse::~GetPoseResponse() {
-  // @@protoc_insertion_point(destructor:viam.service.motion.v1.GetPoseResponse)
+MoveOnGlobeNewResponse::~MoveOnGlobeNewResponse() {
+  // @@protoc_insertion_point(destructor:viam.service.motion.v1.MoveOnGlobeNewResponse)
   if (auto *arena = _internal_metadata_.DeleteReturnArena<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>()) {
   (void)arena;
     return;
@@ -3167,39 +3770,38 @@ GetPoseResponse::~GetPoseResponse() {
   SharedDtor();
 }
 
-inline void GetPoseResponse::SharedDtor() {
+inline void MoveOnGlobeNewResponse::SharedDtor() {
   GOOGLE_DCHECK(GetArenaForAllocation() == nullptr);
-  if (this != internal_default_instance()) delete pose_;
+  execution_id_.Destroy();
 }
 
-void GetPoseResponse::SetCachedSize(int size) const {
+void MoveOnGlobeNewResponse::SetCachedSize(int size) const {
   _cached_size_.Set(size);
 }
 
-void GetPoseResponse::Clear() {
-// @@protoc_insertion_point(message_clear_start:viam.service.motion.v1.GetPoseResponse)
+void MoveOnGlobeNewResponse::Clear() {
+// @@protoc_insertion_point(message_clear_start:viam.service.motion.v1.MoveOnGlobeNewResponse)
   uint32_t cached_has_bits = 0;
   // Prevent compiler warnings about cached_has_bits being unused
   (void) cached_has_bits;
 
-  if (GetArenaForAllocation() == nullptr && pose_ != nullptr) {
-    delete pose_;
-  }
-  pose_ = nullptr;
+  execution_id_.ClearToEmpty();
   _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
 }
 
-const char* GetPoseResponse::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
+const char* MoveOnGlobeNewResponse::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
 #define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
   while (!ctx->Done(&ptr)) {
     uint32_t tag;
     ptr = ::_pbi::ReadTag(ptr, &tag);
     switch (tag >> 3) {
-      // .viam.common.v1.PoseInFrame pose = 1 [json_name = "pose"];
+      // string execution_id = 1 [json_name = "executionId"];
       case 1:
         if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 10)) {
-          ptr = ctx->ParseMessage(_internal_mutable_pose(), ptr);
+          auto str = _internal_mutable_execution_id();
+          ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx);
           CHK_(ptr);
+          CHK_(::_pbi::VerifyUTF8(str, "viam.service.motion.v1.MoveOnGlobeNewResponse.execution_id"));
         } else
           goto handle_unusual;
         continue;
@@ -3226,122 +3828,3487 @@ const char* GetPoseResponse::_InternalParse(const char* ptr, ::_pbi::ParseContex
 #undef CHK_
 }
 
-uint8_t* GetPoseResponse::_InternalSerialize(
+uint8_t* MoveOnGlobeNewResponse::_InternalSerialize(
     uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
-  // @@protoc_insertion_point(serialize_to_array_start:viam.service.motion.v1.GetPoseResponse)
+  // @@protoc_insertion_point(serialize_to_array_start:viam.service.motion.v1.MoveOnGlobeNewResponse)
   uint32_t cached_has_bits = 0;
   (void) cached_has_bits;
 
-  // .viam.common.v1.PoseInFrame pose = 1 [json_name = "pose"];
+  // string execution_id = 1 [json_name = "executionId"];
+  if (!this->_internal_execution_id().empty()) {
+    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
+      this->_internal_execution_id().data(), static_cast<int>(this->_internal_execution_id().length()),
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
+      "viam.service.motion.v1.MoveOnGlobeNewResponse.execution_id");
+    target = stream->WriteStringMaybeAliased(
+        1, this->_internal_execution_id(), target);
+  }
+
+  if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
+    target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray(
+        _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
+  }
+  // @@protoc_insertion_point(serialize_to_array_end:viam.service.motion.v1.MoveOnGlobeNewResponse)
+  return target;
+}
+
+size_t MoveOnGlobeNewResponse::ByteSizeLong() const {
+// @@protoc_insertion_point(message_byte_size_start:viam.service.motion.v1.MoveOnGlobeNewResponse)
+  size_t total_size = 0;
+
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  // string execution_id = 1 [json_name = "executionId"];
+  if (!this->_internal_execution_id().empty()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
+        this->_internal_execution_id());
+  }
+
+  return MaybeComputeUnknownFieldsSize(total_size, &_cached_size_);
+}
+
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData MoveOnGlobeNewResponse::_class_data_ = {
+    ::PROTOBUF_NAMESPACE_ID::Message::CopyWithSizeCheck,
+    MoveOnGlobeNewResponse::MergeImpl
+};
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*MoveOnGlobeNewResponse::GetClassData() const { return &_class_data_; }
+
+void MoveOnGlobeNewResponse::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
+                      const ::PROTOBUF_NAMESPACE_ID::Message& from) {
+  static_cast<MoveOnGlobeNewResponse *>(to)->MergeFrom(
+      static_cast<const MoveOnGlobeNewResponse &>(from));
+}
+
+
+void MoveOnGlobeNewResponse::MergeFrom(const MoveOnGlobeNewResponse& from) {
+// @@protoc_insertion_point(class_specific_merge_from_start:viam.service.motion.v1.MoveOnGlobeNewResponse)
+  GOOGLE_DCHECK_NE(&from, this);
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  if (!from._internal_execution_id().empty()) {
+    _internal_set_execution_id(from._internal_execution_id());
+  }
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+}
+
+void MoveOnGlobeNewResponse::CopyFrom(const MoveOnGlobeNewResponse& from) {
+// @@protoc_insertion_point(class_specific_copy_from_start:viam.service.motion.v1.MoveOnGlobeNewResponse)
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool MoveOnGlobeNewResponse::IsInitialized() const {
+  return true;
+}
+
+void MoveOnGlobeNewResponse::InternalSwap(MoveOnGlobeNewResponse* other) {
+  using std::swap;
+  auto* lhs_arena = GetArenaForAllocation();
+  auto* rhs_arena = other->GetArenaForAllocation();
+  _internal_metadata_.InternalSwap(&other->_internal_metadata_);
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
+      &execution_id_, lhs_arena,
+      &other->execution_id_, rhs_arena
+  );
+}
+
+::PROTOBUF_NAMESPACE_ID::Metadata MoveOnGlobeNewResponse::GetMetadata() const {
+  return ::_pbi::AssignDescriptors(
+      &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_getter, &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_once,
+      file_level_metadata_service_2fmotion_2fv1_2fmotion_2eproto[8]);
+}
+
+// ===================================================================
+
+class GetPoseRequest::_Internal {
+ public:
+  static const ::viam::common::v1::ResourceName& component_name(const GetPoseRequest* msg);
+  static const ::PROTOBUF_NAMESPACE_ID::Struct& extra(const GetPoseRequest* msg);
+};
+
+const ::viam::common::v1::ResourceName&
+GetPoseRequest::_Internal::component_name(const GetPoseRequest* msg) {
+  return *msg->component_name_;
+}
+const ::PROTOBUF_NAMESPACE_ID::Struct&
+GetPoseRequest::_Internal::extra(const GetPoseRequest* msg) {
+  return *msg->extra_;
+}
+void GetPoseRequest::clear_component_name() {
+  if (GetArenaForAllocation() == nullptr && component_name_ != nullptr) {
+    delete component_name_;
+  }
+  component_name_ = nullptr;
+}
+void GetPoseRequest::clear_supplemental_transforms() {
+  supplemental_transforms_.Clear();
+}
+void GetPoseRequest::clear_extra() {
+  if (GetArenaForAllocation() == nullptr && extra_ != nullptr) {
+    delete extra_;
+  }
+  extra_ = nullptr;
+}
+GetPoseRequest::GetPoseRequest(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                         bool is_message_owned)
+  : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned),
+  supplemental_transforms_(arena) {
+  SharedCtor();
+  // @@protoc_insertion_point(arena_constructor:viam.service.motion.v1.GetPoseRequest)
+}
+GetPoseRequest::GetPoseRequest(const GetPoseRequest& from)
+  : ::PROTOBUF_NAMESPACE_ID::Message(),
+      supplemental_transforms_(from.supplemental_transforms_) {
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+  name_.InitDefault();
+  #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+    name_.Set("", GetArenaForAllocation());
+  #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (!from._internal_name().empty()) {
+    name_.Set(from._internal_name(), 
+      GetArenaForAllocation());
+  }
+  destination_frame_.InitDefault();
+  #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+    destination_frame_.Set("", GetArenaForAllocation());
+  #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (!from._internal_destination_frame().empty()) {
+    destination_frame_.Set(from._internal_destination_frame(), 
+      GetArenaForAllocation());
+  }
+  if (from._internal_has_component_name()) {
+    component_name_ = new ::viam::common::v1::ResourceName(*from.component_name_);
+  } else {
+    component_name_ = nullptr;
+  }
+  if (from._internal_has_extra()) {
+    extra_ = new ::PROTOBUF_NAMESPACE_ID::Struct(*from.extra_);
+  } else {
+    extra_ = nullptr;
+  }
+  // @@protoc_insertion_point(copy_constructor:viam.service.motion.v1.GetPoseRequest)
+}
+
+inline void GetPoseRequest::SharedCtor() {
+name_.InitDefault();
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  name_.Set("", GetArenaForAllocation());
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+destination_frame_.InitDefault();
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  destination_frame_.Set("", GetArenaForAllocation());
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+::memset(reinterpret_cast<char*>(this) + static_cast<size_t>(
+    reinterpret_cast<char*>(&component_name_) - reinterpret_cast<char*>(this)),
+    0, static_cast<size_t>(reinterpret_cast<char*>(&extra_) -
+    reinterpret_cast<char*>(&component_name_)) + sizeof(extra_));
+}
+
+GetPoseRequest::~GetPoseRequest() {
+  // @@protoc_insertion_point(destructor:viam.service.motion.v1.GetPoseRequest)
+  if (auto *arena = _internal_metadata_.DeleteReturnArena<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>()) {
+  (void)arena;
+    return;
+  }
+  SharedDtor();
+}
+
+inline void GetPoseRequest::SharedDtor() {
+  GOOGLE_DCHECK(GetArenaForAllocation() == nullptr);
+  name_.Destroy();
+  destination_frame_.Destroy();
+  if (this != internal_default_instance()) delete component_name_;
+  if (this != internal_default_instance()) delete extra_;
+}
+
+void GetPoseRequest::SetCachedSize(int size) const {
+  _cached_size_.Set(size);
+}
+
+void GetPoseRequest::Clear() {
+// @@protoc_insertion_point(message_clear_start:viam.service.motion.v1.GetPoseRequest)
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  supplemental_transforms_.Clear();
+  name_.ClearToEmpty();
+  destination_frame_.ClearToEmpty();
+  if (GetArenaForAllocation() == nullptr && component_name_ != nullptr) {
+    delete component_name_;
+  }
+  component_name_ = nullptr;
+  if (GetArenaForAllocation() == nullptr && extra_ != nullptr) {
+    delete extra_;
+  }
+  extra_ = nullptr;
+  _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
+}
+
+const char* GetPoseRequest::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
+#define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
+  while (!ctx->Done(&ptr)) {
+    uint32_t tag;
+    ptr = ::_pbi::ReadTag(ptr, &tag);
+    switch (tag >> 3) {
+      // string name = 1 [json_name = "name"];
+      case 1:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 10)) {
+          auto str = _internal_mutable_name();
+          ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx);
+          CHK_(ptr);
+          CHK_(::_pbi::VerifyUTF8(str, "viam.service.motion.v1.GetPoseRequest.name"));
+        } else
+          goto handle_unusual;
+        continue;
+      // .viam.common.v1.ResourceName component_name = 2 [json_name = "componentName"];
+      case 2:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 18)) {
+          ptr = ctx->ParseMessage(_internal_mutable_component_name(), ptr);
+          CHK_(ptr);
+        } else
+          goto handle_unusual;
+        continue;
+      // string destination_frame = 3 [json_name = "destinationFrame"];
+      case 3:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 26)) {
+          auto str = _internal_mutable_destination_frame();
+          ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx);
+          CHK_(ptr);
+          CHK_(::_pbi::VerifyUTF8(str, "viam.service.motion.v1.GetPoseRequest.destination_frame"));
+        } else
+          goto handle_unusual;
+        continue;
+      // repeated .viam.common.v1.Transform supplemental_transforms = 4 [json_name = "supplementalTransforms"];
+      case 4:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 34)) {
+          ptr -= 1;
+          do {
+            ptr += 1;
+            ptr = ctx->ParseMessage(_internal_add_supplemental_transforms(), ptr);
+            CHK_(ptr);
+            if (!ctx->DataAvailable(ptr)) break;
+          } while (::PROTOBUF_NAMESPACE_ID::internal::ExpectTag<34>(ptr));
+        } else
+          goto handle_unusual;
+        continue;
+      // .google.protobuf.Struct extra = 99 [json_name = "extra"];
+      case 99:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 26)) {
+          ptr = ctx->ParseMessage(_internal_mutable_extra(), ptr);
+          CHK_(ptr);
+        } else
+          goto handle_unusual;
+        continue;
+      default:
+        goto handle_unusual;
+    }  // switch
+  handle_unusual:
+    if ((tag == 0) || ((tag & 7) == 4)) {
+      CHK_(ptr);
+      ctx->SetLastTag(tag);
+      goto message_done;
+    }
+    ptr = UnknownFieldParse(
+        tag,
+        _internal_metadata_.mutable_unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(),
+        ptr, ctx);
+    CHK_(ptr != nullptr);
+  }  // while
+message_done:
+  return ptr;
+failure:
+  ptr = nullptr;
+  goto message_done;
+#undef CHK_
+}
+
+uint8_t* GetPoseRequest::_InternalSerialize(
+    uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
+  // @@protoc_insertion_point(serialize_to_array_start:viam.service.motion.v1.GetPoseRequest)
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  // string name = 1 [json_name = "name"];
+  if (!this->_internal_name().empty()) {
+    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
+      this->_internal_name().data(), static_cast<int>(this->_internal_name().length()),
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
+      "viam.service.motion.v1.GetPoseRequest.name");
+    target = stream->WriteStringMaybeAliased(
+        1, this->_internal_name(), target);
+  }
+
+  // .viam.common.v1.ResourceName component_name = 2 [json_name = "componentName"];
+  if (this->_internal_has_component_name()) {
+    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::
+      InternalWriteMessage(2, _Internal::component_name(this),
+        _Internal::component_name(this).GetCachedSize(), target, stream);
+  }
+
+  // string destination_frame = 3 [json_name = "destinationFrame"];
+  if (!this->_internal_destination_frame().empty()) {
+    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
+      this->_internal_destination_frame().data(), static_cast<int>(this->_internal_destination_frame().length()),
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
+      "viam.service.motion.v1.GetPoseRequest.destination_frame");
+    target = stream->WriteStringMaybeAliased(
+        3, this->_internal_destination_frame(), target);
+  }
+
+  // repeated .viam.common.v1.Transform supplemental_transforms = 4 [json_name = "supplementalTransforms"];
+  for (unsigned i = 0,
+      n = static_cast<unsigned>(this->_internal_supplemental_transforms_size()); i < n; i++) {
+    const auto& repfield = this->_internal_supplemental_transforms(i);
+    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::
+        InternalWriteMessage(4, repfield, repfield.GetCachedSize(), target, stream);
+  }
+
+  // .google.protobuf.Struct extra = 99 [json_name = "extra"];
+  if (this->_internal_has_extra()) {
+    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::
+      InternalWriteMessage(99, _Internal::extra(this),
+        _Internal::extra(this).GetCachedSize(), target, stream);
+  }
+
+  if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
+    target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray(
+        _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
+  }
+  // @@protoc_insertion_point(serialize_to_array_end:viam.service.motion.v1.GetPoseRequest)
+  return target;
+}
+
+size_t GetPoseRequest::ByteSizeLong() const {
+// @@protoc_insertion_point(message_byte_size_start:viam.service.motion.v1.GetPoseRequest)
+  size_t total_size = 0;
+
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  // repeated .viam.common.v1.Transform supplemental_transforms = 4 [json_name = "supplementalTransforms"];
+  total_size += 1UL * this->_internal_supplemental_transforms_size();
+  for (const auto& msg : this->supplemental_transforms_) {
+    total_size +=
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(msg);
+  }
+
+  // string name = 1 [json_name = "name"];
+  if (!this->_internal_name().empty()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
+        this->_internal_name());
+  }
+
+  // string destination_frame = 3 [json_name = "destinationFrame"];
+  if (!this->_internal_destination_frame().empty()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
+        this->_internal_destination_frame());
+  }
+
+  // .viam.common.v1.ResourceName component_name = 2 [json_name = "componentName"];
+  if (this->_internal_has_component_name()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(
+        *component_name_);
+  }
+
+  // .google.protobuf.Struct extra = 99 [json_name = "extra"];
+  if (this->_internal_has_extra()) {
+    total_size += 2 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(
+        *extra_);
+  }
+
+  return MaybeComputeUnknownFieldsSize(total_size, &_cached_size_);
+}
+
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData GetPoseRequest::_class_data_ = {
+    ::PROTOBUF_NAMESPACE_ID::Message::CopyWithSizeCheck,
+    GetPoseRequest::MergeImpl
+};
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*GetPoseRequest::GetClassData() const { return &_class_data_; }
+
+void GetPoseRequest::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
+                      const ::PROTOBUF_NAMESPACE_ID::Message& from) {
+  static_cast<GetPoseRequest *>(to)->MergeFrom(
+      static_cast<const GetPoseRequest &>(from));
+}
+
+
+void GetPoseRequest::MergeFrom(const GetPoseRequest& from) {
+// @@protoc_insertion_point(class_specific_merge_from_start:viam.service.motion.v1.GetPoseRequest)
+  GOOGLE_DCHECK_NE(&from, this);
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  supplemental_transforms_.MergeFrom(from.supplemental_transforms_);
+  if (!from._internal_name().empty()) {
+    _internal_set_name(from._internal_name());
+  }
+  if (!from._internal_destination_frame().empty()) {
+    _internal_set_destination_frame(from._internal_destination_frame());
+  }
+  if (from._internal_has_component_name()) {
+    _internal_mutable_component_name()->::viam::common::v1::ResourceName::MergeFrom(from._internal_component_name());
+  }
+  if (from._internal_has_extra()) {
+    _internal_mutable_extra()->::PROTOBUF_NAMESPACE_ID::Struct::MergeFrom(from._internal_extra());
+  }
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+}
+
+void GetPoseRequest::CopyFrom(const GetPoseRequest& from) {
+// @@protoc_insertion_point(class_specific_copy_from_start:viam.service.motion.v1.GetPoseRequest)
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool GetPoseRequest::IsInitialized() const {
+  return true;
+}
+
+void GetPoseRequest::InternalSwap(GetPoseRequest* other) {
+  using std::swap;
+  auto* lhs_arena = GetArenaForAllocation();
+  auto* rhs_arena = other->GetArenaForAllocation();
+  _internal_metadata_.InternalSwap(&other->_internal_metadata_);
+  supplemental_transforms_.InternalSwap(&other->supplemental_transforms_);
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
+      &name_, lhs_arena,
+      &other->name_, rhs_arena
+  );
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
+      &destination_frame_, lhs_arena,
+      &other->destination_frame_, rhs_arena
+  );
+  ::PROTOBUF_NAMESPACE_ID::internal::memswap<
+      PROTOBUF_FIELD_OFFSET(GetPoseRequest, extra_)
+      + sizeof(GetPoseRequest::extra_)
+      - PROTOBUF_FIELD_OFFSET(GetPoseRequest, component_name_)>(
+          reinterpret_cast<char*>(&component_name_),
+          reinterpret_cast<char*>(&other->component_name_));
+}
+
+::PROTOBUF_NAMESPACE_ID::Metadata GetPoseRequest::GetMetadata() const {
+  return ::_pbi::AssignDescriptors(
+      &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_getter, &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_once,
+      file_level_metadata_service_2fmotion_2fv1_2fmotion_2eproto[9]);
+}
+
+// ===================================================================
+
+class GetPoseResponse::_Internal {
+ public:
+  static const ::viam::common::v1::PoseInFrame& pose(const GetPoseResponse* msg);
+};
+
+const ::viam::common::v1::PoseInFrame&
+GetPoseResponse::_Internal::pose(const GetPoseResponse* msg) {
+  return *msg->pose_;
+}
+void GetPoseResponse::clear_pose() {
+  if (GetArenaForAllocation() == nullptr && pose_ != nullptr) {
+    delete pose_;
+  }
+  pose_ = nullptr;
+}
+GetPoseResponse::GetPoseResponse(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                         bool is_message_owned)
+  : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned) {
+  SharedCtor();
+  // @@protoc_insertion_point(arena_constructor:viam.service.motion.v1.GetPoseResponse)
+}
+GetPoseResponse::GetPoseResponse(const GetPoseResponse& from)
+  : ::PROTOBUF_NAMESPACE_ID::Message() {
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+  if (from._internal_has_pose()) {
+    pose_ = new ::viam::common::v1::PoseInFrame(*from.pose_);
+  } else {
+    pose_ = nullptr;
+  }
+  // @@protoc_insertion_point(copy_constructor:viam.service.motion.v1.GetPoseResponse)
+}
+
+inline void GetPoseResponse::SharedCtor() {
+pose_ = nullptr;
+}
+
+GetPoseResponse::~GetPoseResponse() {
+  // @@protoc_insertion_point(destructor:viam.service.motion.v1.GetPoseResponse)
+  if (auto *arena = _internal_metadata_.DeleteReturnArena<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>()) {
+  (void)arena;
+    return;
+  }
+  SharedDtor();
+}
+
+inline void GetPoseResponse::SharedDtor() {
+  GOOGLE_DCHECK(GetArenaForAllocation() == nullptr);
+  if (this != internal_default_instance()) delete pose_;
+}
+
+void GetPoseResponse::SetCachedSize(int size) const {
+  _cached_size_.Set(size);
+}
+
+void GetPoseResponse::Clear() {
+// @@protoc_insertion_point(message_clear_start:viam.service.motion.v1.GetPoseResponse)
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  if (GetArenaForAllocation() == nullptr && pose_ != nullptr) {
+    delete pose_;
+  }
+  pose_ = nullptr;
+  _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
+}
+
+const char* GetPoseResponse::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
+#define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
+  while (!ctx->Done(&ptr)) {
+    uint32_t tag;
+    ptr = ::_pbi::ReadTag(ptr, &tag);
+    switch (tag >> 3) {
+      // .viam.common.v1.PoseInFrame pose = 1 [json_name = "pose"];
+      case 1:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 10)) {
+          ptr = ctx->ParseMessage(_internal_mutable_pose(), ptr);
+          CHK_(ptr);
+        } else
+          goto handle_unusual;
+        continue;
+      default:
+        goto handle_unusual;
+    }  // switch
+  handle_unusual:
+    if ((tag == 0) || ((tag & 7) == 4)) {
+      CHK_(ptr);
+      ctx->SetLastTag(tag);
+      goto message_done;
+    }
+    ptr = UnknownFieldParse(
+        tag,
+        _internal_metadata_.mutable_unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(),
+        ptr, ctx);
+    CHK_(ptr != nullptr);
+  }  // while
+message_done:
+  return ptr;
+failure:
+  ptr = nullptr;
+  goto message_done;
+#undef CHK_
+}
+
+uint8_t* GetPoseResponse::_InternalSerialize(
+    uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
+  // @@protoc_insertion_point(serialize_to_array_start:viam.service.motion.v1.GetPoseResponse)
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  // .viam.common.v1.PoseInFrame pose = 1 [json_name = "pose"];
+  if (this->_internal_has_pose()) {
+    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::
+      InternalWriteMessage(1, _Internal::pose(this),
+        _Internal::pose(this).GetCachedSize(), target, stream);
+  }
+
+  if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
+    target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray(
+        _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
+  }
+  // @@protoc_insertion_point(serialize_to_array_end:viam.service.motion.v1.GetPoseResponse)
+  return target;
+}
+
+size_t GetPoseResponse::ByteSizeLong() const {
+// @@protoc_insertion_point(message_byte_size_start:viam.service.motion.v1.GetPoseResponse)
+  size_t total_size = 0;
+
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  // .viam.common.v1.PoseInFrame pose = 1 [json_name = "pose"];
   if (this->_internal_has_pose()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(
+        *pose_);
+  }
+
+  return MaybeComputeUnknownFieldsSize(total_size, &_cached_size_);
+}
+
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData GetPoseResponse::_class_data_ = {
+    ::PROTOBUF_NAMESPACE_ID::Message::CopyWithSizeCheck,
+    GetPoseResponse::MergeImpl
+};
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*GetPoseResponse::GetClassData() const { return &_class_data_; }
+
+void GetPoseResponse::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
+                      const ::PROTOBUF_NAMESPACE_ID::Message& from) {
+  static_cast<GetPoseResponse *>(to)->MergeFrom(
+      static_cast<const GetPoseResponse &>(from));
+}
+
+
+void GetPoseResponse::MergeFrom(const GetPoseResponse& from) {
+// @@protoc_insertion_point(class_specific_merge_from_start:viam.service.motion.v1.GetPoseResponse)
+  GOOGLE_DCHECK_NE(&from, this);
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  if (from._internal_has_pose()) {
+    _internal_mutable_pose()->::viam::common::v1::PoseInFrame::MergeFrom(from._internal_pose());
+  }
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+}
+
+void GetPoseResponse::CopyFrom(const GetPoseResponse& from) {
+// @@protoc_insertion_point(class_specific_copy_from_start:viam.service.motion.v1.GetPoseResponse)
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool GetPoseResponse::IsInitialized() const {
+  return true;
+}
+
+void GetPoseResponse::InternalSwap(GetPoseResponse* other) {
+  using std::swap;
+  _internal_metadata_.InternalSwap(&other->_internal_metadata_);
+  swap(pose_, other->pose_);
+}
+
+::PROTOBUF_NAMESPACE_ID::Metadata GetPoseResponse::GetMetadata() const {
+  return ::_pbi::AssignDescriptors(
+      &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_getter, &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_once,
+      file_level_metadata_service_2fmotion_2fv1_2fmotion_2eproto[10]);
+}
+
+// ===================================================================
+
+class StopPlanRequest::_Internal {
+ public:
+  static const ::viam::common::v1::ResourceName& component_name(const StopPlanRequest* msg);
+  static const ::PROTOBUF_NAMESPACE_ID::Struct& extra(const StopPlanRequest* msg);
+};
+
+const ::viam::common::v1::ResourceName&
+StopPlanRequest::_Internal::component_name(const StopPlanRequest* msg) {
+  return *msg->component_name_;
+}
+const ::PROTOBUF_NAMESPACE_ID::Struct&
+StopPlanRequest::_Internal::extra(const StopPlanRequest* msg) {
+  return *msg->extra_;
+}
+void StopPlanRequest::clear_component_name() {
+  if (GetArenaForAllocation() == nullptr && component_name_ != nullptr) {
+    delete component_name_;
+  }
+  component_name_ = nullptr;
+}
+void StopPlanRequest::clear_extra() {
+  if (GetArenaForAllocation() == nullptr && extra_ != nullptr) {
+    delete extra_;
+  }
+  extra_ = nullptr;
+}
+StopPlanRequest::StopPlanRequest(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                         bool is_message_owned)
+  : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned) {
+  SharedCtor();
+  // @@protoc_insertion_point(arena_constructor:viam.service.motion.v1.StopPlanRequest)
+}
+StopPlanRequest::StopPlanRequest(const StopPlanRequest& from)
+  : ::PROTOBUF_NAMESPACE_ID::Message() {
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+  name_.InitDefault();
+  #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+    name_.Set("", GetArenaForAllocation());
+  #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (!from._internal_name().empty()) {
+    name_.Set(from._internal_name(), 
+      GetArenaForAllocation());
+  }
+  if (from._internal_has_component_name()) {
+    component_name_ = new ::viam::common::v1::ResourceName(*from.component_name_);
+  } else {
+    component_name_ = nullptr;
+  }
+  if (from._internal_has_extra()) {
+    extra_ = new ::PROTOBUF_NAMESPACE_ID::Struct(*from.extra_);
+  } else {
+    extra_ = nullptr;
+  }
+  // @@protoc_insertion_point(copy_constructor:viam.service.motion.v1.StopPlanRequest)
+}
+
+inline void StopPlanRequest::SharedCtor() {
+name_.InitDefault();
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  name_.Set("", GetArenaForAllocation());
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+::memset(reinterpret_cast<char*>(this) + static_cast<size_t>(
+    reinterpret_cast<char*>(&component_name_) - reinterpret_cast<char*>(this)),
+    0, static_cast<size_t>(reinterpret_cast<char*>(&extra_) -
+    reinterpret_cast<char*>(&component_name_)) + sizeof(extra_));
+}
+
+StopPlanRequest::~StopPlanRequest() {
+  // @@protoc_insertion_point(destructor:viam.service.motion.v1.StopPlanRequest)
+  if (auto *arena = _internal_metadata_.DeleteReturnArena<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>()) {
+  (void)arena;
+    return;
+  }
+  SharedDtor();
+}
+
+inline void StopPlanRequest::SharedDtor() {
+  GOOGLE_DCHECK(GetArenaForAllocation() == nullptr);
+  name_.Destroy();
+  if (this != internal_default_instance()) delete component_name_;
+  if (this != internal_default_instance()) delete extra_;
+}
+
+void StopPlanRequest::SetCachedSize(int size) const {
+  _cached_size_.Set(size);
+}
+
+void StopPlanRequest::Clear() {
+// @@protoc_insertion_point(message_clear_start:viam.service.motion.v1.StopPlanRequest)
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  name_.ClearToEmpty();
+  if (GetArenaForAllocation() == nullptr && component_name_ != nullptr) {
+    delete component_name_;
+  }
+  component_name_ = nullptr;
+  if (GetArenaForAllocation() == nullptr && extra_ != nullptr) {
+    delete extra_;
+  }
+  extra_ = nullptr;
+  _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
+}
+
+const char* StopPlanRequest::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
+#define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
+  while (!ctx->Done(&ptr)) {
+    uint32_t tag;
+    ptr = ::_pbi::ReadTag(ptr, &tag);
+    switch (tag >> 3) {
+      // string name = 1 [json_name = "name"];
+      case 1:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 10)) {
+          auto str = _internal_mutable_name();
+          ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx);
+          CHK_(ptr);
+          CHK_(::_pbi::VerifyUTF8(str, "viam.service.motion.v1.StopPlanRequest.name"));
+        } else
+          goto handle_unusual;
+        continue;
+      // .viam.common.v1.ResourceName component_name = 2 [json_name = "componentName"];
+      case 2:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 18)) {
+          ptr = ctx->ParseMessage(_internal_mutable_component_name(), ptr);
+          CHK_(ptr);
+        } else
+          goto handle_unusual;
+        continue;
+      // .google.protobuf.Struct extra = 99 [json_name = "extra"];
+      case 99:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 26)) {
+          ptr = ctx->ParseMessage(_internal_mutable_extra(), ptr);
+          CHK_(ptr);
+        } else
+          goto handle_unusual;
+        continue;
+      default:
+        goto handle_unusual;
+    }  // switch
+  handle_unusual:
+    if ((tag == 0) || ((tag & 7) == 4)) {
+      CHK_(ptr);
+      ctx->SetLastTag(tag);
+      goto message_done;
+    }
+    ptr = UnknownFieldParse(
+        tag,
+        _internal_metadata_.mutable_unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(),
+        ptr, ctx);
+    CHK_(ptr != nullptr);
+  }  // while
+message_done:
+  return ptr;
+failure:
+  ptr = nullptr;
+  goto message_done;
+#undef CHK_
+}
+
+uint8_t* StopPlanRequest::_InternalSerialize(
+    uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
+  // @@protoc_insertion_point(serialize_to_array_start:viam.service.motion.v1.StopPlanRequest)
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  // string name = 1 [json_name = "name"];
+  if (!this->_internal_name().empty()) {
+    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
+      this->_internal_name().data(), static_cast<int>(this->_internal_name().length()),
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
+      "viam.service.motion.v1.StopPlanRequest.name");
+    target = stream->WriteStringMaybeAliased(
+        1, this->_internal_name(), target);
+  }
+
+  // .viam.common.v1.ResourceName component_name = 2 [json_name = "componentName"];
+  if (this->_internal_has_component_name()) {
+    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::
+      InternalWriteMessage(2, _Internal::component_name(this),
+        _Internal::component_name(this).GetCachedSize(), target, stream);
+  }
+
+  // .google.protobuf.Struct extra = 99 [json_name = "extra"];
+  if (this->_internal_has_extra()) {
+    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::
+      InternalWriteMessage(99, _Internal::extra(this),
+        _Internal::extra(this).GetCachedSize(), target, stream);
+  }
+
+  if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
+    target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray(
+        _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
+  }
+  // @@protoc_insertion_point(serialize_to_array_end:viam.service.motion.v1.StopPlanRequest)
+  return target;
+}
+
+size_t StopPlanRequest::ByteSizeLong() const {
+// @@protoc_insertion_point(message_byte_size_start:viam.service.motion.v1.StopPlanRequest)
+  size_t total_size = 0;
+
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  // string name = 1 [json_name = "name"];
+  if (!this->_internal_name().empty()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
+        this->_internal_name());
+  }
+
+  // .viam.common.v1.ResourceName component_name = 2 [json_name = "componentName"];
+  if (this->_internal_has_component_name()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(
+        *component_name_);
+  }
+
+  // .google.protobuf.Struct extra = 99 [json_name = "extra"];
+  if (this->_internal_has_extra()) {
+    total_size += 2 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(
+        *extra_);
+  }
+
+  return MaybeComputeUnknownFieldsSize(total_size, &_cached_size_);
+}
+
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData StopPlanRequest::_class_data_ = {
+    ::PROTOBUF_NAMESPACE_ID::Message::CopyWithSizeCheck,
+    StopPlanRequest::MergeImpl
+};
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*StopPlanRequest::GetClassData() const { return &_class_data_; }
+
+void StopPlanRequest::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
+                      const ::PROTOBUF_NAMESPACE_ID::Message& from) {
+  static_cast<StopPlanRequest *>(to)->MergeFrom(
+      static_cast<const StopPlanRequest &>(from));
+}
+
+
+void StopPlanRequest::MergeFrom(const StopPlanRequest& from) {
+// @@protoc_insertion_point(class_specific_merge_from_start:viam.service.motion.v1.StopPlanRequest)
+  GOOGLE_DCHECK_NE(&from, this);
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  if (!from._internal_name().empty()) {
+    _internal_set_name(from._internal_name());
+  }
+  if (from._internal_has_component_name()) {
+    _internal_mutable_component_name()->::viam::common::v1::ResourceName::MergeFrom(from._internal_component_name());
+  }
+  if (from._internal_has_extra()) {
+    _internal_mutable_extra()->::PROTOBUF_NAMESPACE_ID::Struct::MergeFrom(from._internal_extra());
+  }
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+}
+
+void StopPlanRequest::CopyFrom(const StopPlanRequest& from) {
+// @@protoc_insertion_point(class_specific_copy_from_start:viam.service.motion.v1.StopPlanRequest)
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool StopPlanRequest::IsInitialized() const {
+  return true;
+}
+
+void StopPlanRequest::InternalSwap(StopPlanRequest* other) {
+  using std::swap;
+  auto* lhs_arena = GetArenaForAllocation();
+  auto* rhs_arena = other->GetArenaForAllocation();
+  _internal_metadata_.InternalSwap(&other->_internal_metadata_);
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
+      &name_, lhs_arena,
+      &other->name_, rhs_arena
+  );
+  ::PROTOBUF_NAMESPACE_ID::internal::memswap<
+      PROTOBUF_FIELD_OFFSET(StopPlanRequest, extra_)
+      + sizeof(StopPlanRequest::extra_)
+      - PROTOBUF_FIELD_OFFSET(StopPlanRequest, component_name_)>(
+          reinterpret_cast<char*>(&component_name_),
+          reinterpret_cast<char*>(&other->component_name_));
+}
+
+::PROTOBUF_NAMESPACE_ID::Metadata StopPlanRequest::GetMetadata() const {
+  return ::_pbi::AssignDescriptors(
+      &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_getter, &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_once,
+      file_level_metadata_service_2fmotion_2fv1_2fmotion_2eproto[11]);
+}
+
+// ===================================================================
+
+class StopPlanResponse::_Internal {
+ public:
+};
+
+StopPlanResponse::StopPlanResponse(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                         bool is_message_owned)
+  : ::PROTOBUF_NAMESPACE_ID::internal::ZeroFieldsBase(arena, is_message_owned) {
+  // @@protoc_insertion_point(arena_constructor:viam.service.motion.v1.StopPlanResponse)
+}
+StopPlanResponse::StopPlanResponse(const StopPlanResponse& from)
+  : ::PROTOBUF_NAMESPACE_ID::internal::ZeroFieldsBase() {
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+  // @@protoc_insertion_point(copy_constructor:viam.service.motion.v1.StopPlanResponse)
+}
+
+
+
+
+
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData StopPlanResponse::_class_data_ = {
+    ::PROTOBUF_NAMESPACE_ID::internal::ZeroFieldsBase::CopyImpl,
+    ::PROTOBUF_NAMESPACE_ID::internal::ZeroFieldsBase::MergeImpl,
+};
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*StopPlanResponse::GetClassData() const { return &_class_data_; }
+
+
+
+
+
+
+
+::PROTOBUF_NAMESPACE_ID::Metadata StopPlanResponse::GetMetadata() const {
+  return ::_pbi::AssignDescriptors(
+      &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_getter, &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_once,
+      file_level_metadata_service_2fmotion_2fv1_2fmotion_2eproto[12]);
+}
+
+// ===================================================================
+
+class ListPlanStatusesRequest::_Internal {
+ public:
+  static const ::PROTOBUF_NAMESPACE_ID::Struct& extra(const ListPlanStatusesRequest* msg);
+};
+
+const ::PROTOBUF_NAMESPACE_ID::Struct&
+ListPlanStatusesRequest::_Internal::extra(const ListPlanStatusesRequest* msg) {
+  return *msg->extra_;
+}
+void ListPlanStatusesRequest::clear_extra() {
+  if (GetArenaForAllocation() == nullptr && extra_ != nullptr) {
+    delete extra_;
+  }
+  extra_ = nullptr;
+}
+ListPlanStatusesRequest::ListPlanStatusesRequest(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                         bool is_message_owned)
+  : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned) {
+  SharedCtor();
+  // @@protoc_insertion_point(arena_constructor:viam.service.motion.v1.ListPlanStatusesRequest)
+}
+ListPlanStatusesRequest::ListPlanStatusesRequest(const ListPlanStatusesRequest& from)
+  : ::PROTOBUF_NAMESPACE_ID::Message() {
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+  name_.InitDefault();
+  #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+    name_.Set("", GetArenaForAllocation());
+  #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (!from._internal_name().empty()) {
+    name_.Set(from._internal_name(), 
+      GetArenaForAllocation());
+  }
+  if (from._internal_has_extra()) {
+    extra_ = new ::PROTOBUF_NAMESPACE_ID::Struct(*from.extra_);
+  } else {
+    extra_ = nullptr;
+  }
+  only_active_plans_ = from.only_active_plans_;
+  // @@protoc_insertion_point(copy_constructor:viam.service.motion.v1.ListPlanStatusesRequest)
+}
+
+inline void ListPlanStatusesRequest::SharedCtor() {
+name_.InitDefault();
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  name_.Set("", GetArenaForAllocation());
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+::memset(reinterpret_cast<char*>(this) + static_cast<size_t>(
+    reinterpret_cast<char*>(&extra_) - reinterpret_cast<char*>(this)),
+    0, static_cast<size_t>(reinterpret_cast<char*>(&only_active_plans_) -
+    reinterpret_cast<char*>(&extra_)) + sizeof(only_active_plans_));
+}
+
+ListPlanStatusesRequest::~ListPlanStatusesRequest() {
+  // @@protoc_insertion_point(destructor:viam.service.motion.v1.ListPlanStatusesRequest)
+  if (auto *arena = _internal_metadata_.DeleteReturnArena<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>()) {
+  (void)arena;
+    return;
+  }
+  SharedDtor();
+}
+
+inline void ListPlanStatusesRequest::SharedDtor() {
+  GOOGLE_DCHECK(GetArenaForAllocation() == nullptr);
+  name_.Destroy();
+  if (this != internal_default_instance()) delete extra_;
+}
+
+void ListPlanStatusesRequest::SetCachedSize(int size) const {
+  _cached_size_.Set(size);
+}
+
+void ListPlanStatusesRequest::Clear() {
+// @@protoc_insertion_point(message_clear_start:viam.service.motion.v1.ListPlanStatusesRequest)
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  name_.ClearToEmpty();
+  if (GetArenaForAllocation() == nullptr && extra_ != nullptr) {
+    delete extra_;
+  }
+  extra_ = nullptr;
+  only_active_plans_ = false;
+  _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
+}
+
+const char* ListPlanStatusesRequest::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
+#define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
+  while (!ctx->Done(&ptr)) {
+    uint32_t tag;
+    ptr = ::_pbi::ReadTag(ptr, &tag);
+    switch (tag >> 3) {
+      // string name = 1 [json_name = "name"];
+      case 1:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 10)) {
+          auto str = _internal_mutable_name();
+          ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx);
+          CHK_(ptr);
+          CHK_(::_pbi::VerifyUTF8(str, "viam.service.motion.v1.ListPlanStatusesRequest.name"));
+        } else
+          goto handle_unusual;
+        continue;
+      // bool only_active_plans = 2 [json_name = "onlyActivePlans"];
+      case 2:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 16)) {
+          only_active_plans_ = ::PROTOBUF_NAMESPACE_ID::internal::ReadVarint64(&ptr);
+          CHK_(ptr);
+        } else
+          goto handle_unusual;
+        continue;
+      // .google.protobuf.Struct extra = 99 [json_name = "extra"];
+      case 99:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 26)) {
+          ptr = ctx->ParseMessage(_internal_mutable_extra(), ptr);
+          CHK_(ptr);
+        } else
+          goto handle_unusual;
+        continue;
+      default:
+        goto handle_unusual;
+    }  // switch
+  handle_unusual:
+    if ((tag == 0) || ((tag & 7) == 4)) {
+      CHK_(ptr);
+      ctx->SetLastTag(tag);
+      goto message_done;
+    }
+    ptr = UnknownFieldParse(
+        tag,
+        _internal_metadata_.mutable_unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(),
+        ptr, ctx);
+    CHK_(ptr != nullptr);
+  }  // while
+message_done:
+  return ptr;
+failure:
+  ptr = nullptr;
+  goto message_done;
+#undef CHK_
+}
+
+uint8_t* ListPlanStatusesRequest::_InternalSerialize(
+    uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
+  // @@protoc_insertion_point(serialize_to_array_start:viam.service.motion.v1.ListPlanStatusesRequest)
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  // string name = 1 [json_name = "name"];
+  if (!this->_internal_name().empty()) {
+    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
+      this->_internal_name().data(), static_cast<int>(this->_internal_name().length()),
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
+      "viam.service.motion.v1.ListPlanStatusesRequest.name");
+    target = stream->WriteStringMaybeAliased(
+        1, this->_internal_name(), target);
+  }
+
+  // bool only_active_plans = 2 [json_name = "onlyActivePlans"];
+  if (this->_internal_only_active_plans() != 0) {
+    target = stream->EnsureSpace(target);
+    target = ::_pbi::WireFormatLite::WriteBoolToArray(2, this->_internal_only_active_plans(), target);
+  }
+
+  // .google.protobuf.Struct extra = 99 [json_name = "extra"];
+  if (this->_internal_has_extra()) {
+    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::
+      InternalWriteMessage(99, _Internal::extra(this),
+        _Internal::extra(this).GetCachedSize(), target, stream);
+  }
+
+  if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
+    target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray(
+        _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
+  }
+  // @@protoc_insertion_point(serialize_to_array_end:viam.service.motion.v1.ListPlanStatusesRequest)
+  return target;
+}
+
+size_t ListPlanStatusesRequest::ByteSizeLong() const {
+// @@protoc_insertion_point(message_byte_size_start:viam.service.motion.v1.ListPlanStatusesRequest)
+  size_t total_size = 0;
+
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  // string name = 1 [json_name = "name"];
+  if (!this->_internal_name().empty()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
+        this->_internal_name());
+  }
+
+  // .google.protobuf.Struct extra = 99 [json_name = "extra"];
+  if (this->_internal_has_extra()) {
+    total_size += 2 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(
+        *extra_);
+  }
+
+  // bool only_active_plans = 2 [json_name = "onlyActivePlans"];
+  if (this->_internal_only_active_plans() != 0) {
+    total_size += 1 + 1;
+  }
+
+  return MaybeComputeUnknownFieldsSize(total_size, &_cached_size_);
+}
+
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData ListPlanStatusesRequest::_class_data_ = {
+    ::PROTOBUF_NAMESPACE_ID::Message::CopyWithSizeCheck,
+    ListPlanStatusesRequest::MergeImpl
+};
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*ListPlanStatusesRequest::GetClassData() const { return &_class_data_; }
+
+void ListPlanStatusesRequest::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
+                      const ::PROTOBUF_NAMESPACE_ID::Message& from) {
+  static_cast<ListPlanStatusesRequest *>(to)->MergeFrom(
+      static_cast<const ListPlanStatusesRequest &>(from));
+}
+
+
+void ListPlanStatusesRequest::MergeFrom(const ListPlanStatusesRequest& from) {
+// @@protoc_insertion_point(class_specific_merge_from_start:viam.service.motion.v1.ListPlanStatusesRequest)
+  GOOGLE_DCHECK_NE(&from, this);
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  if (!from._internal_name().empty()) {
+    _internal_set_name(from._internal_name());
+  }
+  if (from._internal_has_extra()) {
+    _internal_mutable_extra()->::PROTOBUF_NAMESPACE_ID::Struct::MergeFrom(from._internal_extra());
+  }
+  if (from._internal_only_active_plans() != 0) {
+    _internal_set_only_active_plans(from._internal_only_active_plans());
+  }
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+}
+
+void ListPlanStatusesRequest::CopyFrom(const ListPlanStatusesRequest& from) {
+// @@protoc_insertion_point(class_specific_copy_from_start:viam.service.motion.v1.ListPlanStatusesRequest)
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool ListPlanStatusesRequest::IsInitialized() const {
+  return true;
+}
+
+void ListPlanStatusesRequest::InternalSwap(ListPlanStatusesRequest* other) {
+  using std::swap;
+  auto* lhs_arena = GetArenaForAllocation();
+  auto* rhs_arena = other->GetArenaForAllocation();
+  _internal_metadata_.InternalSwap(&other->_internal_metadata_);
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
+      &name_, lhs_arena,
+      &other->name_, rhs_arena
+  );
+  ::PROTOBUF_NAMESPACE_ID::internal::memswap<
+      PROTOBUF_FIELD_OFFSET(ListPlanStatusesRequest, only_active_plans_)
+      + sizeof(ListPlanStatusesRequest::only_active_plans_)
+      - PROTOBUF_FIELD_OFFSET(ListPlanStatusesRequest, extra_)>(
+          reinterpret_cast<char*>(&extra_),
+          reinterpret_cast<char*>(&other->extra_));
+}
+
+::PROTOBUF_NAMESPACE_ID::Metadata ListPlanStatusesRequest::GetMetadata() const {
+  return ::_pbi::AssignDescriptors(
+      &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_getter, &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_once,
+      file_level_metadata_service_2fmotion_2fv1_2fmotion_2eproto[13]);
+}
+
+// ===================================================================
+
+class ListPlanStatusesResponse::_Internal {
+ public:
+};
+
+ListPlanStatusesResponse::ListPlanStatusesResponse(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                         bool is_message_owned)
+  : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned),
+  plan_statuses_with_ids_(arena) {
+  SharedCtor();
+  // @@protoc_insertion_point(arena_constructor:viam.service.motion.v1.ListPlanStatusesResponse)
+}
+ListPlanStatusesResponse::ListPlanStatusesResponse(const ListPlanStatusesResponse& from)
+  : ::PROTOBUF_NAMESPACE_ID::Message(),
+      plan_statuses_with_ids_(from.plan_statuses_with_ids_) {
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+  // @@protoc_insertion_point(copy_constructor:viam.service.motion.v1.ListPlanStatusesResponse)
+}
+
+inline void ListPlanStatusesResponse::SharedCtor() {
+}
+
+ListPlanStatusesResponse::~ListPlanStatusesResponse() {
+  // @@protoc_insertion_point(destructor:viam.service.motion.v1.ListPlanStatusesResponse)
+  if (auto *arena = _internal_metadata_.DeleteReturnArena<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>()) {
+  (void)arena;
+    return;
+  }
+  SharedDtor();
+}
+
+inline void ListPlanStatusesResponse::SharedDtor() {
+  GOOGLE_DCHECK(GetArenaForAllocation() == nullptr);
+}
+
+void ListPlanStatusesResponse::SetCachedSize(int size) const {
+  _cached_size_.Set(size);
+}
+
+void ListPlanStatusesResponse::Clear() {
+// @@protoc_insertion_point(message_clear_start:viam.service.motion.v1.ListPlanStatusesResponse)
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  plan_statuses_with_ids_.Clear();
+  _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
+}
+
+const char* ListPlanStatusesResponse::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
+#define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
+  while (!ctx->Done(&ptr)) {
+    uint32_t tag;
+    ptr = ::_pbi::ReadTag(ptr, &tag);
+    switch (tag >> 3) {
+      // repeated .viam.service.motion.v1.PlanStatusWithID plan_statuses_with_ids = 1 [json_name = "planStatusesWithIds"];
+      case 1:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 10)) {
+          ptr -= 1;
+          do {
+            ptr += 1;
+            ptr = ctx->ParseMessage(_internal_add_plan_statuses_with_ids(), ptr);
+            CHK_(ptr);
+            if (!ctx->DataAvailable(ptr)) break;
+          } while (::PROTOBUF_NAMESPACE_ID::internal::ExpectTag<10>(ptr));
+        } else
+          goto handle_unusual;
+        continue;
+      default:
+        goto handle_unusual;
+    }  // switch
+  handle_unusual:
+    if ((tag == 0) || ((tag & 7) == 4)) {
+      CHK_(ptr);
+      ctx->SetLastTag(tag);
+      goto message_done;
+    }
+    ptr = UnknownFieldParse(
+        tag,
+        _internal_metadata_.mutable_unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(),
+        ptr, ctx);
+    CHK_(ptr != nullptr);
+  }  // while
+message_done:
+  return ptr;
+failure:
+  ptr = nullptr;
+  goto message_done;
+#undef CHK_
+}
+
+uint8_t* ListPlanStatusesResponse::_InternalSerialize(
+    uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
+  // @@protoc_insertion_point(serialize_to_array_start:viam.service.motion.v1.ListPlanStatusesResponse)
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  // repeated .viam.service.motion.v1.PlanStatusWithID plan_statuses_with_ids = 1 [json_name = "planStatusesWithIds"];
+  for (unsigned i = 0,
+      n = static_cast<unsigned>(this->_internal_plan_statuses_with_ids_size()); i < n; i++) {
+    const auto& repfield = this->_internal_plan_statuses_with_ids(i);
+    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::
+        InternalWriteMessage(1, repfield, repfield.GetCachedSize(), target, stream);
+  }
+
+  if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
+    target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray(
+        _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
+  }
+  // @@protoc_insertion_point(serialize_to_array_end:viam.service.motion.v1.ListPlanStatusesResponse)
+  return target;
+}
+
+size_t ListPlanStatusesResponse::ByteSizeLong() const {
+// @@protoc_insertion_point(message_byte_size_start:viam.service.motion.v1.ListPlanStatusesResponse)
+  size_t total_size = 0;
+
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  // repeated .viam.service.motion.v1.PlanStatusWithID plan_statuses_with_ids = 1 [json_name = "planStatusesWithIds"];
+  total_size += 1UL * this->_internal_plan_statuses_with_ids_size();
+  for (const auto& msg : this->plan_statuses_with_ids_) {
+    total_size +=
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(msg);
+  }
+
+  return MaybeComputeUnknownFieldsSize(total_size, &_cached_size_);
+}
+
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData ListPlanStatusesResponse::_class_data_ = {
+    ::PROTOBUF_NAMESPACE_ID::Message::CopyWithSizeCheck,
+    ListPlanStatusesResponse::MergeImpl
+};
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*ListPlanStatusesResponse::GetClassData() const { return &_class_data_; }
+
+void ListPlanStatusesResponse::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
+                      const ::PROTOBUF_NAMESPACE_ID::Message& from) {
+  static_cast<ListPlanStatusesResponse *>(to)->MergeFrom(
+      static_cast<const ListPlanStatusesResponse &>(from));
+}
+
+
+void ListPlanStatusesResponse::MergeFrom(const ListPlanStatusesResponse& from) {
+// @@protoc_insertion_point(class_specific_merge_from_start:viam.service.motion.v1.ListPlanStatusesResponse)
+  GOOGLE_DCHECK_NE(&from, this);
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  plan_statuses_with_ids_.MergeFrom(from.plan_statuses_with_ids_);
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+}
+
+void ListPlanStatusesResponse::CopyFrom(const ListPlanStatusesResponse& from) {
+// @@protoc_insertion_point(class_specific_copy_from_start:viam.service.motion.v1.ListPlanStatusesResponse)
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool ListPlanStatusesResponse::IsInitialized() const {
+  return true;
+}
+
+void ListPlanStatusesResponse::InternalSwap(ListPlanStatusesResponse* other) {
+  using std::swap;
+  _internal_metadata_.InternalSwap(&other->_internal_metadata_);
+  plan_statuses_with_ids_.InternalSwap(&other->plan_statuses_with_ids_);
+}
+
+::PROTOBUF_NAMESPACE_ID::Metadata ListPlanStatusesResponse::GetMetadata() const {
+  return ::_pbi::AssignDescriptors(
+      &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_getter, &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_once,
+      file_level_metadata_service_2fmotion_2fv1_2fmotion_2eproto[14]);
+}
+
+// ===================================================================
+
+class GetPlanRequest::_Internal {
+ public:
+  using HasBits = decltype(std::declval<GetPlanRequest>()._has_bits_);
+  static const ::viam::common::v1::ResourceName& component_name(const GetPlanRequest* msg);
+  static void set_has_execution_id(HasBits* has_bits) {
+    (*has_bits)[0] |= 1u;
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Struct& extra(const GetPlanRequest* msg);
+};
+
+const ::viam::common::v1::ResourceName&
+GetPlanRequest::_Internal::component_name(const GetPlanRequest* msg) {
+  return *msg->component_name_;
+}
+const ::PROTOBUF_NAMESPACE_ID::Struct&
+GetPlanRequest::_Internal::extra(const GetPlanRequest* msg) {
+  return *msg->extra_;
+}
+void GetPlanRequest::clear_component_name() {
+  if (GetArenaForAllocation() == nullptr && component_name_ != nullptr) {
+    delete component_name_;
+  }
+  component_name_ = nullptr;
+}
+void GetPlanRequest::clear_extra() {
+  if (GetArenaForAllocation() == nullptr && extra_ != nullptr) {
+    delete extra_;
+  }
+  extra_ = nullptr;
+}
+GetPlanRequest::GetPlanRequest(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                         bool is_message_owned)
+  : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned) {
+  SharedCtor();
+  // @@protoc_insertion_point(arena_constructor:viam.service.motion.v1.GetPlanRequest)
+}
+GetPlanRequest::GetPlanRequest(const GetPlanRequest& from)
+  : ::PROTOBUF_NAMESPACE_ID::Message(),
+      _has_bits_(from._has_bits_) {
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+  name_.InitDefault();
+  #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+    name_.Set("", GetArenaForAllocation());
+  #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (!from._internal_name().empty()) {
+    name_.Set(from._internal_name(), 
+      GetArenaForAllocation());
+  }
+  execution_id_.InitDefault();
+  #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+    execution_id_.Set("", GetArenaForAllocation());
+  #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (from._internal_has_execution_id()) {
+    execution_id_.Set(from._internal_execution_id(), 
+      GetArenaForAllocation());
+  }
+  if (from._internal_has_component_name()) {
+    component_name_ = new ::viam::common::v1::ResourceName(*from.component_name_);
+  } else {
+    component_name_ = nullptr;
+  }
+  if (from._internal_has_extra()) {
+    extra_ = new ::PROTOBUF_NAMESPACE_ID::Struct(*from.extra_);
+  } else {
+    extra_ = nullptr;
+  }
+  last_plan_only_ = from.last_plan_only_;
+  // @@protoc_insertion_point(copy_constructor:viam.service.motion.v1.GetPlanRequest)
+}
+
+inline void GetPlanRequest::SharedCtor() {
+name_.InitDefault();
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  name_.Set("", GetArenaForAllocation());
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+execution_id_.InitDefault();
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  execution_id_.Set("", GetArenaForAllocation());
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+::memset(reinterpret_cast<char*>(this) + static_cast<size_t>(
+    reinterpret_cast<char*>(&component_name_) - reinterpret_cast<char*>(this)),
+    0, static_cast<size_t>(reinterpret_cast<char*>(&last_plan_only_) -
+    reinterpret_cast<char*>(&component_name_)) + sizeof(last_plan_only_));
+}
+
+GetPlanRequest::~GetPlanRequest() {
+  // @@protoc_insertion_point(destructor:viam.service.motion.v1.GetPlanRequest)
+  if (auto *arena = _internal_metadata_.DeleteReturnArena<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>()) {
+  (void)arena;
+    return;
+  }
+  SharedDtor();
+}
+
+inline void GetPlanRequest::SharedDtor() {
+  GOOGLE_DCHECK(GetArenaForAllocation() == nullptr);
+  name_.Destroy();
+  execution_id_.Destroy();
+  if (this != internal_default_instance()) delete component_name_;
+  if (this != internal_default_instance()) delete extra_;
+}
+
+void GetPlanRequest::SetCachedSize(int size) const {
+  _cached_size_.Set(size);
+}
+
+void GetPlanRequest::Clear() {
+// @@protoc_insertion_point(message_clear_start:viam.service.motion.v1.GetPlanRequest)
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  name_.ClearToEmpty();
+  cached_has_bits = _has_bits_[0];
+  if (cached_has_bits & 0x00000001u) {
+    execution_id_.ClearNonDefaultToEmpty();
+  }
+  if (GetArenaForAllocation() == nullptr && component_name_ != nullptr) {
+    delete component_name_;
+  }
+  component_name_ = nullptr;
+  if (GetArenaForAllocation() == nullptr && extra_ != nullptr) {
+    delete extra_;
+  }
+  extra_ = nullptr;
+  last_plan_only_ = false;
+  _has_bits_.Clear();
+  _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
+}
+
+const char* GetPlanRequest::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
+#define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
+  _Internal::HasBits has_bits{};
+  while (!ctx->Done(&ptr)) {
+    uint32_t tag;
+    ptr = ::_pbi::ReadTag(ptr, &tag);
+    switch (tag >> 3) {
+      // string name = 1 [json_name = "name"];
+      case 1:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 10)) {
+          auto str = _internal_mutable_name();
+          ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx);
+          CHK_(ptr);
+          CHK_(::_pbi::VerifyUTF8(str, "viam.service.motion.v1.GetPlanRequest.name"));
+        } else
+          goto handle_unusual;
+        continue;
+      // .viam.common.v1.ResourceName component_name = 2 [json_name = "componentName"];
+      case 2:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 18)) {
+          ptr = ctx->ParseMessage(_internal_mutable_component_name(), ptr);
+          CHK_(ptr);
+        } else
+          goto handle_unusual;
+        continue;
+      // bool last_plan_only = 3 [json_name = "lastPlanOnly"];
+      case 3:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 24)) {
+          last_plan_only_ = ::PROTOBUF_NAMESPACE_ID::internal::ReadVarint64(&ptr);
+          CHK_(ptr);
+        } else
+          goto handle_unusual;
+        continue;
+      // optional string execution_id = 4 [json_name = "executionId"];
+      case 4:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 34)) {
+          auto str = _internal_mutable_execution_id();
+          ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx);
+          CHK_(ptr);
+          CHK_(::_pbi::VerifyUTF8(str, "viam.service.motion.v1.GetPlanRequest.execution_id"));
+        } else
+          goto handle_unusual;
+        continue;
+      // .google.protobuf.Struct extra = 99 [json_name = "extra"];
+      case 99:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 26)) {
+          ptr = ctx->ParseMessage(_internal_mutable_extra(), ptr);
+          CHK_(ptr);
+        } else
+          goto handle_unusual;
+        continue;
+      default:
+        goto handle_unusual;
+    }  // switch
+  handle_unusual:
+    if ((tag == 0) || ((tag & 7) == 4)) {
+      CHK_(ptr);
+      ctx->SetLastTag(tag);
+      goto message_done;
+    }
+    ptr = UnknownFieldParse(
+        tag,
+        _internal_metadata_.mutable_unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(),
+        ptr, ctx);
+    CHK_(ptr != nullptr);
+  }  // while
+message_done:
+  _has_bits_.Or(has_bits);
+  return ptr;
+failure:
+  ptr = nullptr;
+  goto message_done;
+#undef CHK_
+}
+
+uint8_t* GetPlanRequest::_InternalSerialize(
+    uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
+  // @@protoc_insertion_point(serialize_to_array_start:viam.service.motion.v1.GetPlanRequest)
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  // string name = 1 [json_name = "name"];
+  if (!this->_internal_name().empty()) {
+    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
+      this->_internal_name().data(), static_cast<int>(this->_internal_name().length()),
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
+      "viam.service.motion.v1.GetPlanRequest.name");
+    target = stream->WriteStringMaybeAliased(
+        1, this->_internal_name(), target);
+  }
+
+  // .viam.common.v1.ResourceName component_name = 2 [json_name = "componentName"];
+  if (this->_internal_has_component_name()) {
+    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::
+      InternalWriteMessage(2, _Internal::component_name(this),
+        _Internal::component_name(this).GetCachedSize(), target, stream);
+  }
+
+  // bool last_plan_only = 3 [json_name = "lastPlanOnly"];
+  if (this->_internal_last_plan_only() != 0) {
+    target = stream->EnsureSpace(target);
+    target = ::_pbi::WireFormatLite::WriteBoolToArray(3, this->_internal_last_plan_only(), target);
+  }
+
+  // optional string execution_id = 4 [json_name = "executionId"];
+  if (_internal_has_execution_id()) {
+    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
+      this->_internal_execution_id().data(), static_cast<int>(this->_internal_execution_id().length()),
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
+      "viam.service.motion.v1.GetPlanRequest.execution_id");
+    target = stream->WriteStringMaybeAliased(
+        4, this->_internal_execution_id(), target);
+  }
+
+  // .google.protobuf.Struct extra = 99 [json_name = "extra"];
+  if (this->_internal_has_extra()) {
+    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::
+      InternalWriteMessage(99, _Internal::extra(this),
+        _Internal::extra(this).GetCachedSize(), target, stream);
+  }
+
+  if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
+    target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray(
+        _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
+  }
+  // @@protoc_insertion_point(serialize_to_array_end:viam.service.motion.v1.GetPlanRequest)
+  return target;
+}
+
+size_t GetPlanRequest::ByteSizeLong() const {
+// @@protoc_insertion_point(message_byte_size_start:viam.service.motion.v1.GetPlanRequest)
+  size_t total_size = 0;
+
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  // string name = 1 [json_name = "name"];
+  if (!this->_internal_name().empty()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
+        this->_internal_name());
+  }
+
+  // optional string execution_id = 4 [json_name = "executionId"];
+  cached_has_bits = _has_bits_[0];
+  if (cached_has_bits & 0x00000001u) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
+        this->_internal_execution_id());
+  }
+
+  // .viam.common.v1.ResourceName component_name = 2 [json_name = "componentName"];
+  if (this->_internal_has_component_name()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(
+        *component_name_);
+  }
+
+  // .google.protobuf.Struct extra = 99 [json_name = "extra"];
+  if (this->_internal_has_extra()) {
+    total_size += 2 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(
+        *extra_);
+  }
+
+  // bool last_plan_only = 3 [json_name = "lastPlanOnly"];
+  if (this->_internal_last_plan_only() != 0) {
+    total_size += 1 + 1;
+  }
+
+  return MaybeComputeUnknownFieldsSize(total_size, &_cached_size_);
+}
+
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData GetPlanRequest::_class_data_ = {
+    ::PROTOBUF_NAMESPACE_ID::Message::CopyWithSizeCheck,
+    GetPlanRequest::MergeImpl
+};
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*GetPlanRequest::GetClassData() const { return &_class_data_; }
+
+void GetPlanRequest::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
+                      const ::PROTOBUF_NAMESPACE_ID::Message& from) {
+  static_cast<GetPlanRequest *>(to)->MergeFrom(
+      static_cast<const GetPlanRequest &>(from));
+}
+
+
+void GetPlanRequest::MergeFrom(const GetPlanRequest& from) {
+// @@protoc_insertion_point(class_specific_merge_from_start:viam.service.motion.v1.GetPlanRequest)
+  GOOGLE_DCHECK_NE(&from, this);
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  if (!from._internal_name().empty()) {
+    _internal_set_name(from._internal_name());
+  }
+  if (from._internal_has_execution_id()) {
+    _internal_set_execution_id(from._internal_execution_id());
+  }
+  if (from._internal_has_component_name()) {
+    _internal_mutable_component_name()->::viam::common::v1::ResourceName::MergeFrom(from._internal_component_name());
+  }
+  if (from._internal_has_extra()) {
+    _internal_mutable_extra()->::PROTOBUF_NAMESPACE_ID::Struct::MergeFrom(from._internal_extra());
+  }
+  if (from._internal_last_plan_only() != 0) {
+    _internal_set_last_plan_only(from._internal_last_plan_only());
+  }
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+}
+
+void GetPlanRequest::CopyFrom(const GetPlanRequest& from) {
+// @@protoc_insertion_point(class_specific_copy_from_start:viam.service.motion.v1.GetPlanRequest)
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool GetPlanRequest::IsInitialized() const {
+  return true;
+}
+
+void GetPlanRequest::InternalSwap(GetPlanRequest* other) {
+  using std::swap;
+  auto* lhs_arena = GetArenaForAllocation();
+  auto* rhs_arena = other->GetArenaForAllocation();
+  _internal_metadata_.InternalSwap(&other->_internal_metadata_);
+  swap(_has_bits_[0], other->_has_bits_[0]);
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
+      &name_, lhs_arena,
+      &other->name_, rhs_arena
+  );
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
+      &execution_id_, lhs_arena,
+      &other->execution_id_, rhs_arena
+  );
+  ::PROTOBUF_NAMESPACE_ID::internal::memswap<
+      PROTOBUF_FIELD_OFFSET(GetPlanRequest, last_plan_only_)
+      + sizeof(GetPlanRequest::last_plan_only_)
+      - PROTOBUF_FIELD_OFFSET(GetPlanRequest, component_name_)>(
+          reinterpret_cast<char*>(&component_name_),
+          reinterpret_cast<char*>(&other->component_name_));
+}
+
+::PROTOBUF_NAMESPACE_ID::Metadata GetPlanRequest::GetMetadata() const {
+  return ::_pbi::AssignDescriptors(
+      &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_getter, &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_once,
+      file_level_metadata_service_2fmotion_2fv1_2fmotion_2eproto[15]);
+}
+
+// ===================================================================
+
+class GetPlanResponse::_Internal {
+ public:
+  static const ::viam::service::motion::v1::PlanWithStatus& current_plan_with_status(const GetPlanResponse* msg);
+};
+
+const ::viam::service::motion::v1::PlanWithStatus&
+GetPlanResponse::_Internal::current_plan_with_status(const GetPlanResponse* msg) {
+  return *msg->current_plan_with_status_;
+}
+GetPlanResponse::GetPlanResponse(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                         bool is_message_owned)
+  : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned),
+  replan_history_(arena) {
+  SharedCtor();
+  // @@protoc_insertion_point(arena_constructor:viam.service.motion.v1.GetPlanResponse)
+}
+GetPlanResponse::GetPlanResponse(const GetPlanResponse& from)
+  : ::PROTOBUF_NAMESPACE_ID::Message(),
+      replan_history_(from.replan_history_) {
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+  if (from._internal_has_current_plan_with_status()) {
+    current_plan_with_status_ = new ::viam::service::motion::v1::PlanWithStatus(*from.current_plan_with_status_);
+  } else {
+    current_plan_with_status_ = nullptr;
+  }
+  // @@protoc_insertion_point(copy_constructor:viam.service.motion.v1.GetPlanResponse)
+}
+
+inline void GetPlanResponse::SharedCtor() {
+current_plan_with_status_ = nullptr;
+}
+
+GetPlanResponse::~GetPlanResponse() {
+  // @@protoc_insertion_point(destructor:viam.service.motion.v1.GetPlanResponse)
+  if (auto *arena = _internal_metadata_.DeleteReturnArena<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>()) {
+  (void)arena;
+    return;
+  }
+  SharedDtor();
+}
+
+inline void GetPlanResponse::SharedDtor() {
+  GOOGLE_DCHECK(GetArenaForAllocation() == nullptr);
+  if (this != internal_default_instance()) delete current_plan_with_status_;
+}
+
+void GetPlanResponse::SetCachedSize(int size) const {
+  _cached_size_.Set(size);
+}
+
+void GetPlanResponse::Clear() {
+// @@protoc_insertion_point(message_clear_start:viam.service.motion.v1.GetPlanResponse)
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  replan_history_.Clear();
+  if (GetArenaForAllocation() == nullptr && current_plan_with_status_ != nullptr) {
+    delete current_plan_with_status_;
+  }
+  current_plan_with_status_ = nullptr;
+  _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
+}
+
+const char* GetPlanResponse::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
+#define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
+  while (!ctx->Done(&ptr)) {
+    uint32_t tag;
+    ptr = ::_pbi::ReadTag(ptr, &tag);
+    switch (tag >> 3) {
+      // .viam.service.motion.v1.PlanWithStatus current_plan_with_status = 1 [json_name = "currentPlanWithStatus"];
+      case 1:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 10)) {
+          ptr = ctx->ParseMessage(_internal_mutable_current_plan_with_status(), ptr);
+          CHK_(ptr);
+        } else
+          goto handle_unusual;
+        continue;
+      // repeated .viam.service.motion.v1.PlanWithStatus replan_history = 2 [json_name = "replanHistory"];
+      case 2:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 18)) {
+          ptr -= 1;
+          do {
+            ptr += 1;
+            ptr = ctx->ParseMessage(_internal_add_replan_history(), ptr);
+            CHK_(ptr);
+            if (!ctx->DataAvailable(ptr)) break;
+          } while (::PROTOBUF_NAMESPACE_ID::internal::ExpectTag<18>(ptr));
+        } else
+          goto handle_unusual;
+        continue;
+      default:
+        goto handle_unusual;
+    }  // switch
+  handle_unusual:
+    if ((tag == 0) || ((tag & 7) == 4)) {
+      CHK_(ptr);
+      ctx->SetLastTag(tag);
+      goto message_done;
+    }
+    ptr = UnknownFieldParse(
+        tag,
+        _internal_metadata_.mutable_unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(),
+        ptr, ctx);
+    CHK_(ptr != nullptr);
+  }  // while
+message_done:
+  return ptr;
+failure:
+  ptr = nullptr;
+  goto message_done;
+#undef CHK_
+}
+
+uint8_t* GetPlanResponse::_InternalSerialize(
+    uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
+  // @@protoc_insertion_point(serialize_to_array_start:viam.service.motion.v1.GetPlanResponse)
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  // .viam.service.motion.v1.PlanWithStatus current_plan_with_status = 1 [json_name = "currentPlanWithStatus"];
+  if (this->_internal_has_current_plan_with_status()) {
+    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::
+      InternalWriteMessage(1, _Internal::current_plan_with_status(this),
+        _Internal::current_plan_with_status(this).GetCachedSize(), target, stream);
+  }
+
+  // repeated .viam.service.motion.v1.PlanWithStatus replan_history = 2 [json_name = "replanHistory"];
+  for (unsigned i = 0,
+      n = static_cast<unsigned>(this->_internal_replan_history_size()); i < n; i++) {
+    const auto& repfield = this->_internal_replan_history(i);
+    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::
+        InternalWriteMessage(2, repfield, repfield.GetCachedSize(), target, stream);
+  }
+
+  if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
+    target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray(
+        _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
+  }
+  // @@protoc_insertion_point(serialize_to_array_end:viam.service.motion.v1.GetPlanResponse)
+  return target;
+}
+
+size_t GetPlanResponse::ByteSizeLong() const {
+// @@protoc_insertion_point(message_byte_size_start:viam.service.motion.v1.GetPlanResponse)
+  size_t total_size = 0;
+
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  // repeated .viam.service.motion.v1.PlanWithStatus replan_history = 2 [json_name = "replanHistory"];
+  total_size += 1UL * this->_internal_replan_history_size();
+  for (const auto& msg : this->replan_history_) {
+    total_size +=
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(msg);
+  }
+
+  // .viam.service.motion.v1.PlanWithStatus current_plan_with_status = 1 [json_name = "currentPlanWithStatus"];
+  if (this->_internal_has_current_plan_with_status()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(
+        *current_plan_with_status_);
+  }
+
+  return MaybeComputeUnknownFieldsSize(total_size, &_cached_size_);
+}
+
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData GetPlanResponse::_class_data_ = {
+    ::PROTOBUF_NAMESPACE_ID::Message::CopyWithSizeCheck,
+    GetPlanResponse::MergeImpl
+};
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*GetPlanResponse::GetClassData() const { return &_class_data_; }
+
+void GetPlanResponse::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
+                      const ::PROTOBUF_NAMESPACE_ID::Message& from) {
+  static_cast<GetPlanResponse *>(to)->MergeFrom(
+      static_cast<const GetPlanResponse &>(from));
+}
+
+
+void GetPlanResponse::MergeFrom(const GetPlanResponse& from) {
+// @@protoc_insertion_point(class_specific_merge_from_start:viam.service.motion.v1.GetPlanResponse)
+  GOOGLE_DCHECK_NE(&from, this);
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  replan_history_.MergeFrom(from.replan_history_);
+  if (from._internal_has_current_plan_with_status()) {
+    _internal_mutable_current_plan_with_status()->::viam::service::motion::v1::PlanWithStatus::MergeFrom(from._internal_current_plan_with_status());
+  }
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+}
+
+void GetPlanResponse::CopyFrom(const GetPlanResponse& from) {
+// @@protoc_insertion_point(class_specific_copy_from_start:viam.service.motion.v1.GetPlanResponse)
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool GetPlanResponse::IsInitialized() const {
+  return true;
+}
+
+void GetPlanResponse::InternalSwap(GetPlanResponse* other) {
+  using std::swap;
+  _internal_metadata_.InternalSwap(&other->_internal_metadata_);
+  replan_history_.InternalSwap(&other->replan_history_);
+  swap(current_plan_with_status_, other->current_plan_with_status_);
+}
+
+::PROTOBUF_NAMESPACE_ID::Metadata GetPlanResponse::GetMetadata() const {
+  return ::_pbi::AssignDescriptors(
+      &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_getter, &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_once,
+      file_level_metadata_service_2fmotion_2fv1_2fmotion_2eproto[16]);
+}
+
+// ===================================================================
+
+class Constraints::_Internal {
+ public:
+};
+
+Constraints::Constraints(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                         bool is_message_owned)
+  : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned),
+  linear_constraint_(arena),
+  orientation_constraint_(arena),
+  collision_specification_(arena) {
+  SharedCtor();
+  // @@protoc_insertion_point(arena_constructor:viam.service.motion.v1.Constraints)
+}
+Constraints::Constraints(const Constraints& from)
+  : ::PROTOBUF_NAMESPACE_ID::Message(),
+      linear_constraint_(from.linear_constraint_),
+      orientation_constraint_(from.orientation_constraint_),
+      collision_specification_(from.collision_specification_) {
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+  // @@protoc_insertion_point(copy_constructor:viam.service.motion.v1.Constraints)
+}
+
+inline void Constraints::SharedCtor() {
+}
+
+Constraints::~Constraints() {
+  // @@protoc_insertion_point(destructor:viam.service.motion.v1.Constraints)
+  if (auto *arena = _internal_metadata_.DeleteReturnArena<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>()) {
+  (void)arena;
+    return;
+  }
+  SharedDtor();
+}
+
+inline void Constraints::SharedDtor() {
+  GOOGLE_DCHECK(GetArenaForAllocation() == nullptr);
+}
+
+void Constraints::SetCachedSize(int size) const {
+  _cached_size_.Set(size);
+}
+
+void Constraints::Clear() {
+// @@protoc_insertion_point(message_clear_start:viam.service.motion.v1.Constraints)
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  linear_constraint_.Clear();
+  orientation_constraint_.Clear();
+  collision_specification_.Clear();
+  _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
+}
+
+const char* Constraints::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
+#define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
+  while (!ctx->Done(&ptr)) {
+    uint32_t tag;
+    ptr = ::_pbi::ReadTag(ptr, &tag);
+    switch (tag >> 3) {
+      // repeated .viam.service.motion.v1.LinearConstraint linear_constraint = 1 [json_name = "linearConstraint"];
+      case 1:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 10)) {
+          ptr -= 1;
+          do {
+            ptr += 1;
+            ptr = ctx->ParseMessage(_internal_add_linear_constraint(), ptr);
+            CHK_(ptr);
+            if (!ctx->DataAvailable(ptr)) break;
+          } while (::PROTOBUF_NAMESPACE_ID::internal::ExpectTag<10>(ptr));
+        } else
+          goto handle_unusual;
+        continue;
+      // repeated .viam.service.motion.v1.OrientationConstraint orientation_constraint = 2 [json_name = "orientationConstraint"];
+      case 2:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 18)) {
+          ptr -= 1;
+          do {
+            ptr += 1;
+            ptr = ctx->ParseMessage(_internal_add_orientation_constraint(), ptr);
+            CHK_(ptr);
+            if (!ctx->DataAvailable(ptr)) break;
+          } while (::PROTOBUF_NAMESPACE_ID::internal::ExpectTag<18>(ptr));
+        } else
+          goto handle_unusual;
+        continue;
+      // repeated .viam.service.motion.v1.CollisionSpecification collision_specification = 3 [json_name = "collisionSpecification"];
+      case 3:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 26)) {
+          ptr -= 1;
+          do {
+            ptr += 1;
+            ptr = ctx->ParseMessage(_internal_add_collision_specification(), ptr);
+            CHK_(ptr);
+            if (!ctx->DataAvailable(ptr)) break;
+          } while (::PROTOBUF_NAMESPACE_ID::internal::ExpectTag<26>(ptr));
+        } else
+          goto handle_unusual;
+        continue;
+      default:
+        goto handle_unusual;
+    }  // switch
+  handle_unusual:
+    if ((tag == 0) || ((tag & 7) == 4)) {
+      CHK_(ptr);
+      ctx->SetLastTag(tag);
+      goto message_done;
+    }
+    ptr = UnknownFieldParse(
+        tag,
+        _internal_metadata_.mutable_unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(),
+        ptr, ctx);
+    CHK_(ptr != nullptr);
+  }  // while
+message_done:
+  return ptr;
+failure:
+  ptr = nullptr;
+  goto message_done;
+#undef CHK_
+}
+
+uint8_t* Constraints::_InternalSerialize(
+    uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
+  // @@protoc_insertion_point(serialize_to_array_start:viam.service.motion.v1.Constraints)
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  // repeated .viam.service.motion.v1.LinearConstraint linear_constraint = 1 [json_name = "linearConstraint"];
+  for (unsigned i = 0,
+      n = static_cast<unsigned>(this->_internal_linear_constraint_size()); i < n; i++) {
+    const auto& repfield = this->_internal_linear_constraint(i);
+    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::
+        InternalWriteMessage(1, repfield, repfield.GetCachedSize(), target, stream);
+  }
+
+  // repeated .viam.service.motion.v1.OrientationConstraint orientation_constraint = 2 [json_name = "orientationConstraint"];
+  for (unsigned i = 0,
+      n = static_cast<unsigned>(this->_internal_orientation_constraint_size()); i < n; i++) {
+    const auto& repfield = this->_internal_orientation_constraint(i);
+    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::
+        InternalWriteMessage(2, repfield, repfield.GetCachedSize(), target, stream);
+  }
+
+  // repeated .viam.service.motion.v1.CollisionSpecification collision_specification = 3 [json_name = "collisionSpecification"];
+  for (unsigned i = 0,
+      n = static_cast<unsigned>(this->_internal_collision_specification_size()); i < n; i++) {
+    const auto& repfield = this->_internal_collision_specification(i);
+    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::
+        InternalWriteMessage(3, repfield, repfield.GetCachedSize(), target, stream);
+  }
+
+  if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
+    target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray(
+        _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
+  }
+  // @@protoc_insertion_point(serialize_to_array_end:viam.service.motion.v1.Constraints)
+  return target;
+}
+
+size_t Constraints::ByteSizeLong() const {
+// @@protoc_insertion_point(message_byte_size_start:viam.service.motion.v1.Constraints)
+  size_t total_size = 0;
+
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  // repeated .viam.service.motion.v1.LinearConstraint linear_constraint = 1 [json_name = "linearConstraint"];
+  total_size += 1UL * this->_internal_linear_constraint_size();
+  for (const auto& msg : this->linear_constraint_) {
+    total_size +=
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(msg);
+  }
+
+  // repeated .viam.service.motion.v1.OrientationConstraint orientation_constraint = 2 [json_name = "orientationConstraint"];
+  total_size += 1UL * this->_internal_orientation_constraint_size();
+  for (const auto& msg : this->orientation_constraint_) {
+    total_size +=
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(msg);
+  }
+
+  // repeated .viam.service.motion.v1.CollisionSpecification collision_specification = 3 [json_name = "collisionSpecification"];
+  total_size += 1UL * this->_internal_collision_specification_size();
+  for (const auto& msg : this->collision_specification_) {
+    total_size +=
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(msg);
+  }
+
+  return MaybeComputeUnknownFieldsSize(total_size, &_cached_size_);
+}
+
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData Constraints::_class_data_ = {
+    ::PROTOBUF_NAMESPACE_ID::Message::CopyWithSizeCheck,
+    Constraints::MergeImpl
+};
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*Constraints::GetClassData() const { return &_class_data_; }
+
+void Constraints::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
+                      const ::PROTOBUF_NAMESPACE_ID::Message& from) {
+  static_cast<Constraints *>(to)->MergeFrom(
+      static_cast<const Constraints &>(from));
+}
+
+
+void Constraints::MergeFrom(const Constraints& from) {
+// @@protoc_insertion_point(class_specific_merge_from_start:viam.service.motion.v1.Constraints)
+  GOOGLE_DCHECK_NE(&from, this);
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  linear_constraint_.MergeFrom(from.linear_constraint_);
+  orientation_constraint_.MergeFrom(from.orientation_constraint_);
+  collision_specification_.MergeFrom(from.collision_specification_);
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+}
+
+void Constraints::CopyFrom(const Constraints& from) {
+// @@protoc_insertion_point(class_specific_copy_from_start:viam.service.motion.v1.Constraints)
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool Constraints::IsInitialized() const {
+  return true;
+}
+
+void Constraints::InternalSwap(Constraints* other) {
+  using std::swap;
+  _internal_metadata_.InternalSwap(&other->_internal_metadata_);
+  linear_constraint_.InternalSwap(&other->linear_constraint_);
+  orientation_constraint_.InternalSwap(&other->orientation_constraint_);
+  collision_specification_.InternalSwap(&other->collision_specification_);
+}
+
+::PROTOBUF_NAMESPACE_ID::Metadata Constraints::GetMetadata() const {
+  return ::_pbi::AssignDescriptors(
+      &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_getter, &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_once,
+      file_level_metadata_service_2fmotion_2fv1_2fmotion_2eproto[17]);
+}
+
+// ===================================================================
+
+class LinearConstraint::_Internal {
+ public:
+  using HasBits = decltype(std::declval<LinearConstraint>()._has_bits_);
+  static void set_has_line_tolerance_mm(HasBits* has_bits) {
+    (*has_bits)[0] |= 1u;
+  }
+  static void set_has_orientation_tolerance_degs(HasBits* has_bits) {
+    (*has_bits)[0] |= 2u;
+  }
+};
+
+LinearConstraint::LinearConstraint(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                         bool is_message_owned)
+  : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned) {
+  SharedCtor();
+  // @@protoc_insertion_point(arena_constructor:viam.service.motion.v1.LinearConstraint)
+}
+LinearConstraint::LinearConstraint(const LinearConstraint& from)
+  : ::PROTOBUF_NAMESPACE_ID::Message(),
+      _has_bits_(from._has_bits_) {
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+  ::memcpy(&line_tolerance_mm_, &from.line_tolerance_mm_,
+    static_cast<size_t>(reinterpret_cast<char*>(&orientation_tolerance_degs_) -
+    reinterpret_cast<char*>(&line_tolerance_mm_)) + sizeof(orientation_tolerance_degs_));
+  // @@protoc_insertion_point(copy_constructor:viam.service.motion.v1.LinearConstraint)
+}
+
+inline void LinearConstraint::SharedCtor() {
+::memset(reinterpret_cast<char*>(this) + static_cast<size_t>(
+    reinterpret_cast<char*>(&line_tolerance_mm_) - reinterpret_cast<char*>(this)),
+    0, static_cast<size_t>(reinterpret_cast<char*>(&orientation_tolerance_degs_) -
+    reinterpret_cast<char*>(&line_tolerance_mm_)) + sizeof(orientation_tolerance_degs_));
+}
+
+LinearConstraint::~LinearConstraint() {
+  // @@protoc_insertion_point(destructor:viam.service.motion.v1.LinearConstraint)
+  if (auto *arena = _internal_metadata_.DeleteReturnArena<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>()) {
+  (void)arena;
+    return;
+  }
+  SharedDtor();
+}
+
+inline void LinearConstraint::SharedDtor() {
+  GOOGLE_DCHECK(GetArenaForAllocation() == nullptr);
+}
+
+void LinearConstraint::SetCachedSize(int size) const {
+  _cached_size_.Set(size);
+}
+
+void LinearConstraint::Clear() {
+// @@protoc_insertion_point(message_clear_start:viam.service.motion.v1.LinearConstraint)
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  cached_has_bits = _has_bits_[0];
+  if (cached_has_bits & 0x00000003u) {
+    ::memset(&line_tolerance_mm_, 0, static_cast<size_t>(
+        reinterpret_cast<char*>(&orientation_tolerance_degs_) -
+        reinterpret_cast<char*>(&line_tolerance_mm_)) + sizeof(orientation_tolerance_degs_));
+  }
+  _has_bits_.Clear();
+  _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
+}
+
+const char* LinearConstraint::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
+#define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
+  _Internal::HasBits has_bits{};
+  while (!ctx->Done(&ptr)) {
+    uint32_t tag;
+    ptr = ::_pbi::ReadTag(ptr, &tag);
+    switch (tag >> 3) {
+      // optional float line_tolerance_mm = 1 [json_name = "lineToleranceMm"];
+      case 1:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 13)) {
+          _Internal::set_has_line_tolerance_mm(&has_bits);
+          line_tolerance_mm_ = ::PROTOBUF_NAMESPACE_ID::internal::UnalignedLoad<float>(ptr);
+          ptr += sizeof(float);
+        } else
+          goto handle_unusual;
+        continue;
+      // optional float orientation_tolerance_degs = 2 [json_name = "orientationToleranceDegs"];
+      case 2:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 21)) {
+          _Internal::set_has_orientation_tolerance_degs(&has_bits);
+          orientation_tolerance_degs_ = ::PROTOBUF_NAMESPACE_ID::internal::UnalignedLoad<float>(ptr);
+          ptr += sizeof(float);
+        } else
+          goto handle_unusual;
+        continue;
+      default:
+        goto handle_unusual;
+    }  // switch
+  handle_unusual:
+    if ((tag == 0) || ((tag & 7) == 4)) {
+      CHK_(ptr);
+      ctx->SetLastTag(tag);
+      goto message_done;
+    }
+    ptr = UnknownFieldParse(
+        tag,
+        _internal_metadata_.mutable_unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(),
+        ptr, ctx);
+    CHK_(ptr != nullptr);
+  }  // while
+message_done:
+  _has_bits_.Or(has_bits);
+  return ptr;
+failure:
+  ptr = nullptr;
+  goto message_done;
+#undef CHK_
+}
+
+uint8_t* LinearConstraint::_InternalSerialize(
+    uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
+  // @@protoc_insertion_point(serialize_to_array_start:viam.service.motion.v1.LinearConstraint)
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  // optional float line_tolerance_mm = 1 [json_name = "lineToleranceMm"];
+  if (_internal_has_line_tolerance_mm()) {
+    target = stream->EnsureSpace(target);
+    target = ::_pbi::WireFormatLite::WriteFloatToArray(1, this->_internal_line_tolerance_mm(), target);
+  }
+
+  // optional float orientation_tolerance_degs = 2 [json_name = "orientationToleranceDegs"];
+  if (_internal_has_orientation_tolerance_degs()) {
+    target = stream->EnsureSpace(target);
+    target = ::_pbi::WireFormatLite::WriteFloatToArray(2, this->_internal_orientation_tolerance_degs(), target);
+  }
+
+  if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
+    target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray(
+        _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
+  }
+  // @@protoc_insertion_point(serialize_to_array_end:viam.service.motion.v1.LinearConstraint)
+  return target;
+}
+
+size_t LinearConstraint::ByteSizeLong() const {
+// @@protoc_insertion_point(message_byte_size_start:viam.service.motion.v1.LinearConstraint)
+  size_t total_size = 0;
+
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  cached_has_bits = _has_bits_[0];
+  if (cached_has_bits & 0x00000003u) {
+    // optional float line_tolerance_mm = 1 [json_name = "lineToleranceMm"];
+    if (cached_has_bits & 0x00000001u) {
+      total_size += 1 + 4;
+    }
+
+    // optional float orientation_tolerance_degs = 2 [json_name = "orientationToleranceDegs"];
+    if (cached_has_bits & 0x00000002u) {
+      total_size += 1 + 4;
+    }
+
+  }
+  return MaybeComputeUnknownFieldsSize(total_size, &_cached_size_);
+}
+
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData LinearConstraint::_class_data_ = {
+    ::PROTOBUF_NAMESPACE_ID::Message::CopyWithSizeCheck,
+    LinearConstraint::MergeImpl
+};
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*LinearConstraint::GetClassData() const { return &_class_data_; }
+
+void LinearConstraint::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
+                      const ::PROTOBUF_NAMESPACE_ID::Message& from) {
+  static_cast<LinearConstraint *>(to)->MergeFrom(
+      static_cast<const LinearConstraint &>(from));
+}
+
+
+void LinearConstraint::MergeFrom(const LinearConstraint& from) {
+// @@protoc_insertion_point(class_specific_merge_from_start:viam.service.motion.v1.LinearConstraint)
+  GOOGLE_DCHECK_NE(&from, this);
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  cached_has_bits = from._has_bits_[0];
+  if (cached_has_bits & 0x00000003u) {
+    if (cached_has_bits & 0x00000001u) {
+      line_tolerance_mm_ = from.line_tolerance_mm_;
+    }
+    if (cached_has_bits & 0x00000002u) {
+      orientation_tolerance_degs_ = from.orientation_tolerance_degs_;
+    }
+    _has_bits_[0] |= cached_has_bits;
+  }
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+}
+
+void LinearConstraint::CopyFrom(const LinearConstraint& from) {
+// @@protoc_insertion_point(class_specific_copy_from_start:viam.service.motion.v1.LinearConstraint)
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool LinearConstraint::IsInitialized() const {
+  return true;
+}
+
+void LinearConstraint::InternalSwap(LinearConstraint* other) {
+  using std::swap;
+  _internal_metadata_.InternalSwap(&other->_internal_metadata_);
+  swap(_has_bits_[0], other->_has_bits_[0]);
+  ::PROTOBUF_NAMESPACE_ID::internal::memswap<
+      PROTOBUF_FIELD_OFFSET(LinearConstraint, orientation_tolerance_degs_)
+      + sizeof(LinearConstraint::orientation_tolerance_degs_)
+      - PROTOBUF_FIELD_OFFSET(LinearConstraint, line_tolerance_mm_)>(
+          reinterpret_cast<char*>(&line_tolerance_mm_),
+          reinterpret_cast<char*>(&other->line_tolerance_mm_));
+}
+
+::PROTOBUF_NAMESPACE_ID::Metadata LinearConstraint::GetMetadata() const {
+  return ::_pbi::AssignDescriptors(
+      &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_getter, &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_once,
+      file_level_metadata_service_2fmotion_2fv1_2fmotion_2eproto[18]);
+}
+
+// ===================================================================
+
+class OrientationConstraint::_Internal {
+ public:
+  using HasBits = decltype(std::declval<OrientationConstraint>()._has_bits_);
+  static void set_has_orientation_tolerance_degs(HasBits* has_bits) {
+    (*has_bits)[0] |= 1u;
+  }
+};
+
+OrientationConstraint::OrientationConstraint(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                         bool is_message_owned)
+  : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned) {
+  SharedCtor();
+  // @@protoc_insertion_point(arena_constructor:viam.service.motion.v1.OrientationConstraint)
+}
+OrientationConstraint::OrientationConstraint(const OrientationConstraint& from)
+  : ::PROTOBUF_NAMESPACE_ID::Message(),
+      _has_bits_(from._has_bits_) {
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+  orientation_tolerance_degs_ = from.orientation_tolerance_degs_;
+  // @@protoc_insertion_point(copy_constructor:viam.service.motion.v1.OrientationConstraint)
+}
+
+inline void OrientationConstraint::SharedCtor() {
+orientation_tolerance_degs_ = 0;
+}
+
+OrientationConstraint::~OrientationConstraint() {
+  // @@protoc_insertion_point(destructor:viam.service.motion.v1.OrientationConstraint)
+  if (auto *arena = _internal_metadata_.DeleteReturnArena<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>()) {
+  (void)arena;
+    return;
+  }
+  SharedDtor();
+}
+
+inline void OrientationConstraint::SharedDtor() {
+  GOOGLE_DCHECK(GetArenaForAllocation() == nullptr);
+}
+
+void OrientationConstraint::SetCachedSize(int size) const {
+  _cached_size_.Set(size);
+}
+
+void OrientationConstraint::Clear() {
+// @@protoc_insertion_point(message_clear_start:viam.service.motion.v1.OrientationConstraint)
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  orientation_tolerance_degs_ = 0;
+  _has_bits_.Clear();
+  _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
+}
+
+const char* OrientationConstraint::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
+#define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
+  _Internal::HasBits has_bits{};
+  while (!ctx->Done(&ptr)) {
+    uint32_t tag;
+    ptr = ::_pbi::ReadTag(ptr, &tag);
+    switch (tag >> 3) {
+      // optional float orientation_tolerance_degs = 1 [json_name = "orientationToleranceDegs"];
+      case 1:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 13)) {
+          _Internal::set_has_orientation_tolerance_degs(&has_bits);
+          orientation_tolerance_degs_ = ::PROTOBUF_NAMESPACE_ID::internal::UnalignedLoad<float>(ptr);
+          ptr += sizeof(float);
+        } else
+          goto handle_unusual;
+        continue;
+      default:
+        goto handle_unusual;
+    }  // switch
+  handle_unusual:
+    if ((tag == 0) || ((tag & 7) == 4)) {
+      CHK_(ptr);
+      ctx->SetLastTag(tag);
+      goto message_done;
+    }
+    ptr = UnknownFieldParse(
+        tag,
+        _internal_metadata_.mutable_unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(),
+        ptr, ctx);
+    CHK_(ptr != nullptr);
+  }  // while
+message_done:
+  _has_bits_.Or(has_bits);
+  return ptr;
+failure:
+  ptr = nullptr;
+  goto message_done;
+#undef CHK_
+}
+
+uint8_t* OrientationConstraint::_InternalSerialize(
+    uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
+  // @@protoc_insertion_point(serialize_to_array_start:viam.service.motion.v1.OrientationConstraint)
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  // optional float orientation_tolerance_degs = 1 [json_name = "orientationToleranceDegs"];
+  if (_internal_has_orientation_tolerance_degs()) {
+    target = stream->EnsureSpace(target);
+    target = ::_pbi::WireFormatLite::WriteFloatToArray(1, this->_internal_orientation_tolerance_degs(), target);
+  }
+
+  if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
+    target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray(
+        _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
+  }
+  // @@protoc_insertion_point(serialize_to_array_end:viam.service.motion.v1.OrientationConstraint)
+  return target;
+}
+
+size_t OrientationConstraint::ByteSizeLong() const {
+// @@protoc_insertion_point(message_byte_size_start:viam.service.motion.v1.OrientationConstraint)
+  size_t total_size = 0;
+
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  // optional float orientation_tolerance_degs = 1 [json_name = "orientationToleranceDegs"];
+  cached_has_bits = _has_bits_[0];
+  if (cached_has_bits & 0x00000001u) {
+    total_size += 1 + 4;
+  }
+
+  return MaybeComputeUnknownFieldsSize(total_size, &_cached_size_);
+}
+
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData OrientationConstraint::_class_data_ = {
+    ::PROTOBUF_NAMESPACE_ID::Message::CopyWithSizeCheck,
+    OrientationConstraint::MergeImpl
+};
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*OrientationConstraint::GetClassData() const { return &_class_data_; }
+
+void OrientationConstraint::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
+                      const ::PROTOBUF_NAMESPACE_ID::Message& from) {
+  static_cast<OrientationConstraint *>(to)->MergeFrom(
+      static_cast<const OrientationConstraint &>(from));
+}
+
+
+void OrientationConstraint::MergeFrom(const OrientationConstraint& from) {
+// @@protoc_insertion_point(class_specific_merge_from_start:viam.service.motion.v1.OrientationConstraint)
+  GOOGLE_DCHECK_NE(&from, this);
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  if (from._internal_has_orientation_tolerance_degs()) {
+    _internal_set_orientation_tolerance_degs(from._internal_orientation_tolerance_degs());
+  }
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+}
+
+void OrientationConstraint::CopyFrom(const OrientationConstraint& from) {
+// @@protoc_insertion_point(class_specific_copy_from_start:viam.service.motion.v1.OrientationConstraint)
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool OrientationConstraint::IsInitialized() const {
+  return true;
+}
+
+void OrientationConstraint::InternalSwap(OrientationConstraint* other) {
+  using std::swap;
+  _internal_metadata_.InternalSwap(&other->_internal_metadata_);
+  swap(_has_bits_[0], other->_has_bits_[0]);
+  swap(orientation_tolerance_degs_, other->orientation_tolerance_degs_);
+}
+
+::PROTOBUF_NAMESPACE_ID::Metadata OrientationConstraint::GetMetadata() const {
+  return ::_pbi::AssignDescriptors(
+      &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_getter, &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_once,
+      file_level_metadata_service_2fmotion_2fv1_2fmotion_2eproto[19]);
+}
+
+// ===================================================================
+
+class CollisionSpecification_AllowedFrameCollisions::_Internal {
+ public:
+};
+
+CollisionSpecification_AllowedFrameCollisions::CollisionSpecification_AllowedFrameCollisions(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                         bool is_message_owned)
+  : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned) {
+  SharedCtor();
+  // @@protoc_insertion_point(arena_constructor:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions)
+}
+CollisionSpecification_AllowedFrameCollisions::CollisionSpecification_AllowedFrameCollisions(const CollisionSpecification_AllowedFrameCollisions& from)
+  : ::PROTOBUF_NAMESPACE_ID::Message() {
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+  frame1_.InitDefault();
+  #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+    frame1_.Set("", GetArenaForAllocation());
+  #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (!from._internal_frame1().empty()) {
+    frame1_.Set(from._internal_frame1(), 
+      GetArenaForAllocation());
+  }
+  frame2_.InitDefault();
+  #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+    frame2_.Set("", GetArenaForAllocation());
+  #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (!from._internal_frame2().empty()) {
+    frame2_.Set(from._internal_frame2(), 
+      GetArenaForAllocation());
+  }
+  // @@protoc_insertion_point(copy_constructor:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions)
+}
+
+inline void CollisionSpecification_AllowedFrameCollisions::SharedCtor() {
+frame1_.InitDefault();
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  frame1_.Set("", GetArenaForAllocation());
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+frame2_.InitDefault();
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  frame2_.Set("", GetArenaForAllocation());
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+}
+
+CollisionSpecification_AllowedFrameCollisions::~CollisionSpecification_AllowedFrameCollisions() {
+  // @@protoc_insertion_point(destructor:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions)
+  if (auto *arena = _internal_metadata_.DeleteReturnArena<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>()) {
+  (void)arena;
+    return;
+  }
+  SharedDtor();
+}
+
+inline void CollisionSpecification_AllowedFrameCollisions::SharedDtor() {
+  GOOGLE_DCHECK(GetArenaForAllocation() == nullptr);
+  frame1_.Destroy();
+  frame2_.Destroy();
+}
+
+void CollisionSpecification_AllowedFrameCollisions::SetCachedSize(int size) const {
+  _cached_size_.Set(size);
+}
+
+void CollisionSpecification_AllowedFrameCollisions::Clear() {
+// @@protoc_insertion_point(message_clear_start:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions)
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  frame1_.ClearToEmpty();
+  frame2_.ClearToEmpty();
+  _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
+}
+
+const char* CollisionSpecification_AllowedFrameCollisions::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
+#define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
+  while (!ctx->Done(&ptr)) {
+    uint32_t tag;
+    ptr = ::_pbi::ReadTag(ptr, &tag);
+    switch (tag >> 3) {
+      // string frame1 = 1 [json_name = "frame1"];
+      case 1:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 10)) {
+          auto str = _internal_mutable_frame1();
+          ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx);
+          CHK_(ptr);
+          CHK_(::_pbi::VerifyUTF8(str, "viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions.frame1"));
+        } else
+          goto handle_unusual;
+        continue;
+      // string frame2 = 2 [json_name = "frame2"];
+      case 2:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 18)) {
+          auto str = _internal_mutable_frame2();
+          ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx);
+          CHK_(ptr);
+          CHK_(::_pbi::VerifyUTF8(str, "viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions.frame2"));
+        } else
+          goto handle_unusual;
+        continue;
+      default:
+        goto handle_unusual;
+    }  // switch
+  handle_unusual:
+    if ((tag == 0) || ((tag & 7) == 4)) {
+      CHK_(ptr);
+      ctx->SetLastTag(tag);
+      goto message_done;
+    }
+    ptr = UnknownFieldParse(
+        tag,
+        _internal_metadata_.mutable_unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(),
+        ptr, ctx);
+    CHK_(ptr != nullptr);
+  }  // while
+message_done:
+  return ptr;
+failure:
+  ptr = nullptr;
+  goto message_done;
+#undef CHK_
+}
+
+uint8_t* CollisionSpecification_AllowedFrameCollisions::_InternalSerialize(
+    uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
+  // @@protoc_insertion_point(serialize_to_array_start:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions)
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  // string frame1 = 1 [json_name = "frame1"];
+  if (!this->_internal_frame1().empty()) {
+    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
+      this->_internal_frame1().data(), static_cast<int>(this->_internal_frame1().length()),
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
+      "viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions.frame1");
+    target = stream->WriteStringMaybeAliased(
+        1, this->_internal_frame1(), target);
+  }
+
+  // string frame2 = 2 [json_name = "frame2"];
+  if (!this->_internal_frame2().empty()) {
+    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
+      this->_internal_frame2().data(), static_cast<int>(this->_internal_frame2().length()),
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
+      "viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions.frame2");
+    target = stream->WriteStringMaybeAliased(
+        2, this->_internal_frame2(), target);
+  }
+
+  if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
+    target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray(
+        _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
+  }
+  // @@protoc_insertion_point(serialize_to_array_end:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions)
+  return target;
+}
+
+size_t CollisionSpecification_AllowedFrameCollisions::ByteSizeLong() const {
+// @@protoc_insertion_point(message_byte_size_start:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions)
+  size_t total_size = 0;
+
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  // string frame1 = 1 [json_name = "frame1"];
+  if (!this->_internal_frame1().empty()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
+        this->_internal_frame1());
+  }
+
+  // string frame2 = 2 [json_name = "frame2"];
+  if (!this->_internal_frame2().empty()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
+        this->_internal_frame2());
+  }
+
+  return MaybeComputeUnknownFieldsSize(total_size, &_cached_size_);
+}
+
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData CollisionSpecification_AllowedFrameCollisions::_class_data_ = {
+    ::PROTOBUF_NAMESPACE_ID::Message::CopyWithSizeCheck,
+    CollisionSpecification_AllowedFrameCollisions::MergeImpl
+};
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*CollisionSpecification_AllowedFrameCollisions::GetClassData() const { return &_class_data_; }
+
+void CollisionSpecification_AllowedFrameCollisions::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
+                      const ::PROTOBUF_NAMESPACE_ID::Message& from) {
+  static_cast<CollisionSpecification_AllowedFrameCollisions *>(to)->MergeFrom(
+      static_cast<const CollisionSpecification_AllowedFrameCollisions &>(from));
+}
+
+
+void CollisionSpecification_AllowedFrameCollisions::MergeFrom(const CollisionSpecification_AllowedFrameCollisions& from) {
+// @@protoc_insertion_point(class_specific_merge_from_start:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions)
+  GOOGLE_DCHECK_NE(&from, this);
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  if (!from._internal_frame1().empty()) {
+    _internal_set_frame1(from._internal_frame1());
+  }
+  if (!from._internal_frame2().empty()) {
+    _internal_set_frame2(from._internal_frame2());
+  }
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+}
+
+void CollisionSpecification_AllowedFrameCollisions::CopyFrom(const CollisionSpecification_AllowedFrameCollisions& from) {
+// @@protoc_insertion_point(class_specific_copy_from_start:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions)
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool CollisionSpecification_AllowedFrameCollisions::IsInitialized() const {
+  return true;
+}
+
+void CollisionSpecification_AllowedFrameCollisions::InternalSwap(CollisionSpecification_AllowedFrameCollisions* other) {
+  using std::swap;
+  auto* lhs_arena = GetArenaForAllocation();
+  auto* rhs_arena = other->GetArenaForAllocation();
+  _internal_metadata_.InternalSwap(&other->_internal_metadata_);
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
+      &frame1_, lhs_arena,
+      &other->frame1_, rhs_arena
+  );
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
+      &frame2_, lhs_arena,
+      &other->frame2_, rhs_arena
+  );
+}
+
+::PROTOBUF_NAMESPACE_ID::Metadata CollisionSpecification_AllowedFrameCollisions::GetMetadata() const {
+  return ::_pbi::AssignDescriptors(
+      &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_getter, &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_once,
+      file_level_metadata_service_2fmotion_2fv1_2fmotion_2eproto[20]);
+}
+
+// ===================================================================
+
+class CollisionSpecification::_Internal {
+ public:
+};
+
+CollisionSpecification::CollisionSpecification(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                         bool is_message_owned)
+  : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned),
+  allows_(arena) {
+  SharedCtor();
+  // @@protoc_insertion_point(arena_constructor:viam.service.motion.v1.CollisionSpecification)
+}
+CollisionSpecification::CollisionSpecification(const CollisionSpecification& from)
+  : ::PROTOBUF_NAMESPACE_ID::Message(),
+      allows_(from.allows_) {
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+  // @@protoc_insertion_point(copy_constructor:viam.service.motion.v1.CollisionSpecification)
+}
+
+inline void CollisionSpecification::SharedCtor() {
+}
+
+CollisionSpecification::~CollisionSpecification() {
+  // @@protoc_insertion_point(destructor:viam.service.motion.v1.CollisionSpecification)
+  if (auto *arena = _internal_metadata_.DeleteReturnArena<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>()) {
+  (void)arena;
+    return;
+  }
+  SharedDtor();
+}
+
+inline void CollisionSpecification::SharedDtor() {
+  GOOGLE_DCHECK(GetArenaForAllocation() == nullptr);
+}
+
+void CollisionSpecification::SetCachedSize(int size) const {
+  _cached_size_.Set(size);
+}
+
+void CollisionSpecification::Clear() {
+// @@protoc_insertion_point(message_clear_start:viam.service.motion.v1.CollisionSpecification)
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  allows_.Clear();
+  _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
+}
+
+const char* CollisionSpecification::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
+#define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
+  while (!ctx->Done(&ptr)) {
+    uint32_t tag;
+    ptr = ::_pbi::ReadTag(ptr, &tag);
+    switch (tag >> 3) {
+      // repeated .viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions allows = 1 [json_name = "allows"];
+      case 1:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 10)) {
+          ptr -= 1;
+          do {
+            ptr += 1;
+            ptr = ctx->ParseMessage(_internal_add_allows(), ptr);
+            CHK_(ptr);
+            if (!ctx->DataAvailable(ptr)) break;
+          } while (::PROTOBUF_NAMESPACE_ID::internal::ExpectTag<10>(ptr));
+        } else
+          goto handle_unusual;
+        continue;
+      default:
+        goto handle_unusual;
+    }  // switch
+  handle_unusual:
+    if ((tag == 0) || ((tag & 7) == 4)) {
+      CHK_(ptr);
+      ctx->SetLastTag(tag);
+      goto message_done;
+    }
+    ptr = UnknownFieldParse(
+        tag,
+        _internal_metadata_.mutable_unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(),
+        ptr, ctx);
+    CHK_(ptr != nullptr);
+  }  // while
+message_done:
+  return ptr;
+failure:
+  ptr = nullptr;
+  goto message_done;
+#undef CHK_
+}
+
+uint8_t* CollisionSpecification::_InternalSerialize(
+    uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
+  // @@protoc_insertion_point(serialize_to_array_start:viam.service.motion.v1.CollisionSpecification)
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  // repeated .viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions allows = 1 [json_name = "allows"];
+  for (unsigned i = 0,
+      n = static_cast<unsigned>(this->_internal_allows_size()); i < n; i++) {
+    const auto& repfield = this->_internal_allows(i);
     target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::
-      InternalWriteMessage(1, _Internal::pose(this),
-        _Internal::pose(this).GetCachedSize(), target, stream);
+        InternalWriteMessage(1, repfield, repfield.GetCachedSize(), target, stream);
   }
 
   if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
     target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray(
         _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
   }
-  // @@protoc_insertion_point(serialize_to_array_end:viam.service.motion.v1.GetPoseResponse)
+  // @@protoc_insertion_point(serialize_to_array_end:viam.service.motion.v1.CollisionSpecification)
   return target;
 }
 
-size_t GetPoseResponse::ByteSizeLong() const {
-// @@protoc_insertion_point(message_byte_size_start:viam.service.motion.v1.GetPoseResponse)
+size_t CollisionSpecification::ByteSizeLong() const {
+// @@protoc_insertion_point(message_byte_size_start:viam.service.motion.v1.CollisionSpecification)
+  size_t total_size = 0;
+
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  // repeated .viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions allows = 1 [json_name = "allows"];
+  total_size += 1UL * this->_internal_allows_size();
+  for (const auto& msg : this->allows_) {
+    total_size +=
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(msg);
+  }
+
+  return MaybeComputeUnknownFieldsSize(total_size, &_cached_size_);
+}
+
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData CollisionSpecification::_class_data_ = {
+    ::PROTOBUF_NAMESPACE_ID::Message::CopyWithSizeCheck,
+    CollisionSpecification::MergeImpl
+};
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*CollisionSpecification::GetClassData() const { return &_class_data_; }
+
+void CollisionSpecification::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
+                      const ::PROTOBUF_NAMESPACE_ID::Message& from) {
+  static_cast<CollisionSpecification *>(to)->MergeFrom(
+      static_cast<const CollisionSpecification &>(from));
+}
+
+
+void CollisionSpecification::MergeFrom(const CollisionSpecification& from) {
+// @@protoc_insertion_point(class_specific_merge_from_start:viam.service.motion.v1.CollisionSpecification)
+  GOOGLE_DCHECK_NE(&from, this);
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  allows_.MergeFrom(from.allows_);
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+}
+
+void CollisionSpecification::CopyFrom(const CollisionSpecification& from) {
+// @@protoc_insertion_point(class_specific_copy_from_start:viam.service.motion.v1.CollisionSpecification)
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool CollisionSpecification::IsInitialized() const {
+  return true;
+}
+
+void CollisionSpecification::InternalSwap(CollisionSpecification* other) {
+  using std::swap;
+  _internal_metadata_.InternalSwap(&other->_internal_metadata_);
+  allows_.InternalSwap(&other->allows_);
+}
+
+::PROTOBUF_NAMESPACE_ID::Metadata CollisionSpecification::GetMetadata() const {
+  return ::_pbi::AssignDescriptors(
+      &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_getter, &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_once,
+      file_level_metadata_service_2fmotion_2fv1_2fmotion_2eproto[21]);
+}
+
+// ===================================================================
+
+class PlanWithStatus::_Internal {
+ public:
+  static const ::viam::service::motion::v1::Plan& plan(const PlanWithStatus* msg);
+  static const ::viam::service::motion::v1::PlanStatus& status(const PlanWithStatus* msg);
+};
+
+const ::viam::service::motion::v1::Plan&
+PlanWithStatus::_Internal::plan(const PlanWithStatus* msg) {
+  return *msg->plan_;
+}
+const ::viam::service::motion::v1::PlanStatus&
+PlanWithStatus::_Internal::status(const PlanWithStatus* msg) {
+  return *msg->status_;
+}
+PlanWithStatus::PlanWithStatus(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                         bool is_message_owned)
+  : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned),
+  status_history_(arena) {
+  SharedCtor();
+  // @@protoc_insertion_point(arena_constructor:viam.service.motion.v1.PlanWithStatus)
+}
+PlanWithStatus::PlanWithStatus(const PlanWithStatus& from)
+  : ::PROTOBUF_NAMESPACE_ID::Message(),
+      status_history_(from.status_history_) {
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+  if (from._internal_has_plan()) {
+    plan_ = new ::viam::service::motion::v1::Plan(*from.plan_);
+  } else {
+    plan_ = nullptr;
+  }
+  if (from._internal_has_status()) {
+    status_ = new ::viam::service::motion::v1::PlanStatus(*from.status_);
+  } else {
+    status_ = nullptr;
+  }
+  // @@protoc_insertion_point(copy_constructor:viam.service.motion.v1.PlanWithStatus)
+}
+
+inline void PlanWithStatus::SharedCtor() {
+::memset(reinterpret_cast<char*>(this) + static_cast<size_t>(
+    reinterpret_cast<char*>(&plan_) - reinterpret_cast<char*>(this)),
+    0, static_cast<size_t>(reinterpret_cast<char*>(&status_) -
+    reinterpret_cast<char*>(&plan_)) + sizeof(status_));
+}
+
+PlanWithStatus::~PlanWithStatus() {
+  // @@protoc_insertion_point(destructor:viam.service.motion.v1.PlanWithStatus)
+  if (auto *arena = _internal_metadata_.DeleteReturnArena<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>()) {
+  (void)arena;
+    return;
+  }
+  SharedDtor();
+}
+
+inline void PlanWithStatus::SharedDtor() {
+  GOOGLE_DCHECK(GetArenaForAllocation() == nullptr);
+  if (this != internal_default_instance()) delete plan_;
+  if (this != internal_default_instance()) delete status_;
+}
+
+void PlanWithStatus::SetCachedSize(int size) const {
+  _cached_size_.Set(size);
+}
+
+void PlanWithStatus::Clear() {
+// @@protoc_insertion_point(message_clear_start:viam.service.motion.v1.PlanWithStatus)
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  status_history_.Clear();
+  if (GetArenaForAllocation() == nullptr && plan_ != nullptr) {
+    delete plan_;
+  }
+  plan_ = nullptr;
+  if (GetArenaForAllocation() == nullptr && status_ != nullptr) {
+    delete status_;
+  }
+  status_ = nullptr;
+  _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
+}
+
+const char* PlanWithStatus::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
+#define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
+  while (!ctx->Done(&ptr)) {
+    uint32_t tag;
+    ptr = ::_pbi::ReadTag(ptr, &tag);
+    switch (tag >> 3) {
+      // .viam.service.motion.v1.Plan plan = 1 [json_name = "plan"];
+      case 1:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 10)) {
+          ptr = ctx->ParseMessage(_internal_mutable_plan(), ptr);
+          CHK_(ptr);
+        } else
+          goto handle_unusual;
+        continue;
+      // .viam.service.motion.v1.PlanStatus status = 2 [json_name = "status"];
+      case 2:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 18)) {
+          ptr = ctx->ParseMessage(_internal_mutable_status(), ptr);
+          CHK_(ptr);
+        } else
+          goto handle_unusual;
+        continue;
+      // repeated .viam.service.motion.v1.PlanStatus status_history = 3 [json_name = "statusHistory"];
+      case 3:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 26)) {
+          ptr -= 1;
+          do {
+            ptr += 1;
+            ptr = ctx->ParseMessage(_internal_add_status_history(), ptr);
+            CHK_(ptr);
+            if (!ctx->DataAvailable(ptr)) break;
+          } while (::PROTOBUF_NAMESPACE_ID::internal::ExpectTag<26>(ptr));
+        } else
+          goto handle_unusual;
+        continue;
+      default:
+        goto handle_unusual;
+    }  // switch
+  handle_unusual:
+    if ((tag == 0) || ((tag & 7) == 4)) {
+      CHK_(ptr);
+      ctx->SetLastTag(tag);
+      goto message_done;
+    }
+    ptr = UnknownFieldParse(
+        tag,
+        _internal_metadata_.mutable_unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(),
+        ptr, ctx);
+    CHK_(ptr != nullptr);
+  }  // while
+message_done:
+  return ptr;
+failure:
+  ptr = nullptr;
+  goto message_done;
+#undef CHK_
+}
+
+uint8_t* PlanWithStatus::_InternalSerialize(
+    uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
+  // @@protoc_insertion_point(serialize_to_array_start:viam.service.motion.v1.PlanWithStatus)
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  // .viam.service.motion.v1.Plan plan = 1 [json_name = "plan"];
+  if (this->_internal_has_plan()) {
+    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::
+      InternalWriteMessage(1, _Internal::plan(this),
+        _Internal::plan(this).GetCachedSize(), target, stream);
+  }
+
+  // .viam.service.motion.v1.PlanStatus status = 2 [json_name = "status"];
+  if (this->_internal_has_status()) {
+    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::
+      InternalWriteMessage(2, _Internal::status(this),
+        _Internal::status(this).GetCachedSize(), target, stream);
+  }
+
+  // repeated .viam.service.motion.v1.PlanStatus status_history = 3 [json_name = "statusHistory"];
+  for (unsigned i = 0,
+      n = static_cast<unsigned>(this->_internal_status_history_size()); i < n; i++) {
+    const auto& repfield = this->_internal_status_history(i);
+    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::
+        InternalWriteMessage(3, repfield, repfield.GetCachedSize(), target, stream);
+  }
+
+  if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
+    target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray(
+        _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
+  }
+  // @@protoc_insertion_point(serialize_to_array_end:viam.service.motion.v1.PlanWithStatus)
+  return target;
+}
+
+size_t PlanWithStatus::ByteSizeLong() const {
+// @@protoc_insertion_point(message_byte_size_start:viam.service.motion.v1.PlanWithStatus)
   size_t total_size = 0;
 
   uint32_t cached_has_bits = 0;
   // Prevent compiler warnings about cached_has_bits being unused
   (void) cached_has_bits;
 
-  // .viam.common.v1.PoseInFrame pose = 1 [json_name = "pose"];
-  if (this->_internal_has_pose()) {
+  // repeated .viam.service.motion.v1.PlanStatus status_history = 3 [json_name = "statusHistory"];
+  total_size += 1UL * this->_internal_status_history_size();
+  for (const auto& msg : this->status_history_) {
+    total_size +=
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(msg);
+  }
+
+  // .viam.service.motion.v1.Plan plan = 1 [json_name = "plan"];
+  if (this->_internal_has_plan()) {
     total_size += 1 +
       ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(
-        *pose_);
+        *plan_);
+  }
+
+  // .viam.service.motion.v1.PlanStatus status = 2 [json_name = "status"];
+  if (this->_internal_has_status()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(
+        *status_);
   }
 
   return MaybeComputeUnknownFieldsSize(total_size, &_cached_size_);
 }
 
-const ::PROTOBUF_NAMESPACE_ID::Message::ClassData GetPoseResponse::_class_data_ = {
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData PlanWithStatus::_class_data_ = {
     ::PROTOBUF_NAMESPACE_ID::Message::CopyWithSizeCheck,
-    GetPoseResponse::MergeImpl
+    PlanWithStatus::MergeImpl
 };
-const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*GetPoseResponse::GetClassData() const { return &_class_data_; }
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*PlanWithStatus::GetClassData() const { return &_class_data_; }
 
-void GetPoseResponse::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
+void PlanWithStatus::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
                       const ::PROTOBUF_NAMESPACE_ID::Message& from) {
-  static_cast<GetPoseResponse *>(to)->MergeFrom(
-      static_cast<const GetPoseResponse &>(from));
+  static_cast<PlanWithStatus *>(to)->MergeFrom(
+      static_cast<const PlanWithStatus &>(from));
 }
 
 
-void GetPoseResponse::MergeFrom(const GetPoseResponse& from) {
-// @@protoc_insertion_point(class_specific_merge_from_start:viam.service.motion.v1.GetPoseResponse)
+void PlanWithStatus::MergeFrom(const PlanWithStatus& from) {
+// @@protoc_insertion_point(class_specific_merge_from_start:viam.service.motion.v1.PlanWithStatus)
   GOOGLE_DCHECK_NE(&from, this);
   uint32_t cached_has_bits = 0;
   (void) cached_has_bits;
 
-  if (from._internal_has_pose()) {
-    _internal_mutable_pose()->::viam::common::v1::PoseInFrame::MergeFrom(from._internal_pose());
+  status_history_.MergeFrom(from.status_history_);
+  if (from._internal_has_plan()) {
+    _internal_mutable_plan()->::viam::service::motion::v1::Plan::MergeFrom(from._internal_plan());
+  }
+  if (from._internal_has_status()) {
+    _internal_mutable_status()->::viam::service::motion::v1::PlanStatus::MergeFrom(from._internal_status());
   }
   _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
 }
 
-void GetPoseResponse::CopyFrom(const GetPoseResponse& from) {
-// @@protoc_insertion_point(class_specific_copy_from_start:viam.service.motion.v1.GetPoseResponse)
+void PlanWithStatus::CopyFrom(const PlanWithStatus& from) {
+// @@protoc_insertion_point(class_specific_copy_from_start:viam.service.motion.v1.PlanWithStatus)
   if (&from == this) return;
   Clear();
   MergeFrom(from);
 }
 
-bool GetPoseResponse::IsInitialized() const {
+bool PlanWithStatus::IsInitialized() const {
   return true;
 }
 
-void GetPoseResponse::InternalSwap(GetPoseResponse* other) {
+void PlanWithStatus::InternalSwap(PlanWithStatus* other) {
   using std::swap;
   _internal_metadata_.InternalSwap(&other->_internal_metadata_);
-  swap(pose_, other->pose_);
+  status_history_.InternalSwap(&other->status_history_);
+  ::PROTOBUF_NAMESPACE_ID::internal::memswap<
+      PROTOBUF_FIELD_OFFSET(PlanWithStatus, status_)
+      + sizeof(PlanWithStatus::status_)
+      - PROTOBUF_FIELD_OFFSET(PlanWithStatus, plan_)>(
+          reinterpret_cast<char*>(&plan_),
+          reinterpret_cast<char*>(&other->plan_));
 }
 
-::PROTOBUF_NAMESPACE_ID::Metadata GetPoseResponse::GetMetadata() const {
+::PROTOBUF_NAMESPACE_ID::Metadata PlanWithStatus::GetMetadata() const {
   return ::_pbi::AssignDescriptors(
       &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_getter, &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_once,
-      file_level_metadata_service_2fmotion_2fv1_2fmotion_2eproto[8]);
+      file_level_metadata_service_2fmotion_2fv1_2fmotion_2eproto[22]);
 }
 
 // ===================================================================
 
-class Constraints::_Internal {
+class PlanStatusWithID::_Internal {
  public:
+  static const ::viam::common::v1::ResourceName& component_name(const PlanStatusWithID* msg);
+  static const ::viam::service::motion::v1::PlanStatus& status(const PlanStatusWithID* msg);
 };
 
-Constraints::Constraints(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+const ::viam::common::v1::ResourceName&
+PlanStatusWithID::_Internal::component_name(const PlanStatusWithID* msg) {
+  return *msg->component_name_;
+}
+const ::viam::service::motion::v1::PlanStatus&
+PlanStatusWithID::_Internal::status(const PlanStatusWithID* msg) {
+  return *msg->status_;
+}
+void PlanStatusWithID::clear_component_name() {
+  if (GetArenaForAllocation() == nullptr && component_name_ != nullptr) {
+    delete component_name_;
+  }
+  component_name_ = nullptr;
+}
+PlanStatusWithID::PlanStatusWithID(::PROTOBUF_NAMESPACE_ID::Arena* arena,
                          bool is_message_owned)
-  : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned),
-  linear_constraint_(arena),
-  orientation_constraint_(arena),
-  collision_specification_(arena) {
+  : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned) {
   SharedCtor();
-  // @@protoc_insertion_point(arena_constructor:viam.service.motion.v1.Constraints)
+  // @@protoc_insertion_point(arena_constructor:viam.service.motion.v1.PlanStatusWithID)
 }
-Constraints::Constraints(const Constraints& from)
-  : ::PROTOBUF_NAMESPACE_ID::Message(),
-      linear_constraint_(from.linear_constraint_),
-      orientation_constraint_(from.orientation_constraint_),
-      collision_specification_(from.collision_specification_) {
+PlanStatusWithID::PlanStatusWithID(const PlanStatusWithID& from)
+  : ::PROTOBUF_NAMESPACE_ID::Message() {
   _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
-  // @@protoc_insertion_point(copy_constructor:viam.service.motion.v1.Constraints)
+  plan_id_.InitDefault();
+  #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+    plan_id_.Set("", GetArenaForAllocation());
+  #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (!from._internal_plan_id().empty()) {
+    plan_id_.Set(from._internal_plan_id(), 
+      GetArenaForAllocation());
+  }
+  execution_id_.InitDefault();
+  #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+    execution_id_.Set("", GetArenaForAllocation());
+  #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (!from._internal_execution_id().empty()) {
+    execution_id_.Set(from._internal_execution_id(), 
+      GetArenaForAllocation());
+  }
+  if (from._internal_has_component_name()) {
+    component_name_ = new ::viam::common::v1::ResourceName(*from.component_name_);
+  } else {
+    component_name_ = nullptr;
+  }
+  if (from._internal_has_status()) {
+    status_ = new ::viam::service::motion::v1::PlanStatus(*from.status_);
+  } else {
+    status_ = nullptr;
+  }
+  // @@protoc_insertion_point(copy_constructor:viam.service.motion.v1.PlanStatusWithID)
 }
 
-inline void Constraints::SharedCtor() {
+inline void PlanStatusWithID::SharedCtor() {
+plan_id_.InitDefault();
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  plan_id_.Set("", GetArenaForAllocation());
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+execution_id_.InitDefault();
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  execution_id_.Set("", GetArenaForAllocation());
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+::memset(reinterpret_cast<char*>(this) + static_cast<size_t>(
+    reinterpret_cast<char*>(&component_name_) - reinterpret_cast<char*>(this)),
+    0, static_cast<size_t>(reinterpret_cast<char*>(&status_) -
+    reinterpret_cast<char*>(&component_name_)) + sizeof(status_));
 }
 
-Constraints::~Constraints() {
-  // @@protoc_insertion_point(destructor:viam.service.motion.v1.Constraints)
+PlanStatusWithID::~PlanStatusWithID() {
+  // @@protoc_insertion_point(destructor:viam.service.motion.v1.PlanStatusWithID)
   if (auto *arena = _internal_metadata_.DeleteReturnArena<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>()) {
   (void)arena;
     return;
@@ -3349,68 +7316,76 @@ Constraints::~Constraints() {
   SharedDtor();
 }
 
-inline void Constraints::SharedDtor() {
+inline void PlanStatusWithID::SharedDtor() {
   GOOGLE_DCHECK(GetArenaForAllocation() == nullptr);
+  plan_id_.Destroy();
+  execution_id_.Destroy();
+  if (this != internal_default_instance()) delete component_name_;
+  if (this != internal_default_instance()) delete status_;
 }
 
-void Constraints::SetCachedSize(int size) const {
+void PlanStatusWithID::SetCachedSize(int size) const {
   _cached_size_.Set(size);
 }
 
-void Constraints::Clear() {
-// @@protoc_insertion_point(message_clear_start:viam.service.motion.v1.Constraints)
+void PlanStatusWithID::Clear() {
+// @@protoc_insertion_point(message_clear_start:viam.service.motion.v1.PlanStatusWithID)
   uint32_t cached_has_bits = 0;
   // Prevent compiler warnings about cached_has_bits being unused
   (void) cached_has_bits;
 
-  linear_constraint_.Clear();
-  orientation_constraint_.Clear();
-  collision_specification_.Clear();
+  plan_id_.ClearToEmpty();
+  execution_id_.ClearToEmpty();
+  if (GetArenaForAllocation() == nullptr && component_name_ != nullptr) {
+    delete component_name_;
+  }
+  component_name_ = nullptr;
+  if (GetArenaForAllocation() == nullptr && status_ != nullptr) {
+    delete status_;
+  }
+  status_ = nullptr;
   _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
 }
 
-const char* Constraints::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
+const char* PlanStatusWithID::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
 #define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
   while (!ctx->Done(&ptr)) {
     uint32_t tag;
     ptr = ::_pbi::ReadTag(ptr, &tag);
     switch (tag >> 3) {
-      // repeated .viam.service.motion.v1.LinearConstraint linear_constraint = 1 [json_name = "linearConstraint"];
+      // string plan_id = 1 [json_name = "planId"];
       case 1:
         if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 10)) {
-          ptr -= 1;
-          do {
-            ptr += 1;
-            ptr = ctx->ParseMessage(_internal_add_linear_constraint(), ptr);
-            CHK_(ptr);
-            if (!ctx->DataAvailable(ptr)) break;
-          } while (::PROTOBUF_NAMESPACE_ID::internal::ExpectTag<10>(ptr));
+          auto str = _internal_mutable_plan_id();
+          ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx);
+          CHK_(ptr);
+          CHK_(::_pbi::VerifyUTF8(str, "viam.service.motion.v1.PlanStatusWithID.plan_id"));
         } else
           goto handle_unusual;
         continue;
-      // repeated .viam.service.motion.v1.OrientationConstraint orientation_constraint = 2 [json_name = "orientationConstraint"];
+      // .viam.common.v1.ResourceName component_name = 2 [json_name = "componentName"];
       case 2:
         if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 18)) {
-          ptr -= 1;
-          do {
-            ptr += 1;
-            ptr = ctx->ParseMessage(_internal_add_orientation_constraint(), ptr);
-            CHK_(ptr);
-            if (!ctx->DataAvailable(ptr)) break;
-          } while (::PROTOBUF_NAMESPACE_ID::internal::ExpectTag<18>(ptr));
+          ptr = ctx->ParseMessage(_internal_mutable_component_name(), ptr);
+          CHK_(ptr);
         } else
           goto handle_unusual;
         continue;
-      // repeated .viam.service.motion.v1.CollisionSpecification collision_specification = 3 [json_name = "collisionSpecification"];
+      // string execution_id = 3 [json_name = "executionId"];
       case 3:
         if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 26)) {
-          ptr -= 1;
-          do {
-            ptr += 1;
-            ptr = ctx->ParseMessage(_internal_add_collision_specification(), ptr);
-            CHK_(ptr);
-            if (!ctx->DataAvailable(ptr)) break;
-          } while (::PROTOBUF_NAMESPACE_ID::internal::ExpectTag<26>(ptr));
+          auto str = _internal_mutable_execution_id();
+          ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx);
+          CHK_(ptr);
+          CHK_(::_pbi::VerifyUTF8(str, "viam.service.motion.v1.PlanStatusWithID.execution_id"));
+        } else
+          goto handle_unusual;
+        continue;
+      // .viam.service.motion.v1.PlanStatus status = 4 [json_name = "status"];
+      case 4:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 34)) {
+          ptr = ctx->ParseMessage(_internal_mutable_status(), ptr);
+          CHK_(ptr);
         } else
           goto handle_unusual;
         continue;
@@ -3437,164 +7412,226 @@ const char* Constraints::_InternalParse(const char* ptr, ::_pbi::ParseContext* c
 #undef CHK_
 }
 
-uint8_t* Constraints::_InternalSerialize(
+uint8_t* PlanStatusWithID::_InternalSerialize(
     uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
-  // @@protoc_insertion_point(serialize_to_array_start:viam.service.motion.v1.Constraints)
+  // @@protoc_insertion_point(serialize_to_array_start:viam.service.motion.v1.PlanStatusWithID)
   uint32_t cached_has_bits = 0;
   (void) cached_has_bits;
 
-  // repeated .viam.service.motion.v1.LinearConstraint linear_constraint = 1 [json_name = "linearConstraint"];
-  for (unsigned i = 0,
-      n = static_cast<unsigned>(this->_internal_linear_constraint_size()); i < n; i++) {
-    const auto& repfield = this->_internal_linear_constraint(i);
-    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::
-        InternalWriteMessage(1, repfield, repfield.GetCachedSize(), target, stream);
+  // string plan_id = 1 [json_name = "planId"];
+  if (!this->_internal_plan_id().empty()) {
+    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
+      this->_internal_plan_id().data(), static_cast<int>(this->_internal_plan_id().length()),
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
+      "viam.service.motion.v1.PlanStatusWithID.plan_id");
+    target = stream->WriteStringMaybeAliased(
+        1, this->_internal_plan_id(), target);
   }
 
-  // repeated .viam.service.motion.v1.OrientationConstraint orientation_constraint = 2 [json_name = "orientationConstraint"];
-  for (unsigned i = 0,
-      n = static_cast<unsigned>(this->_internal_orientation_constraint_size()); i < n; i++) {
-    const auto& repfield = this->_internal_orientation_constraint(i);
+  // .viam.common.v1.ResourceName component_name = 2 [json_name = "componentName"];
+  if (this->_internal_has_component_name()) {
     target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::
-        InternalWriteMessage(2, repfield, repfield.GetCachedSize(), target, stream);
+      InternalWriteMessage(2, _Internal::component_name(this),
+        _Internal::component_name(this).GetCachedSize(), target, stream);
   }
 
-  // repeated .viam.service.motion.v1.CollisionSpecification collision_specification = 3 [json_name = "collisionSpecification"];
-  for (unsigned i = 0,
-      n = static_cast<unsigned>(this->_internal_collision_specification_size()); i < n; i++) {
-    const auto& repfield = this->_internal_collision_specification(i);
+  // string execution_id = 3 [json_name = "executionId"];
+  if (!this->_internal_execution_id().empty()) {
+    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
+      this->_internal_execution_id().data(), static_cast<int>(this->_internal_execution_id().length()),
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
+      "viam.service.motion.v1.PlanStatusWithID.execution_id");
+    target = stream->WriteStringMaybeAliased(
+        3, this->_internal_execution_id(), target);
+  }
+
+  // .viam.service.motion.v1.PlanStatus status = 4 [json_name = "status"];
+  if (this->_internal_has_status()) {
     target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::
-        InternalWriteMessage(3, repfield, repfield.GetCachedSize(), target, stream);
+      InternalWriteMessage(4, _Internal::status(this),
+        _Internal::status(this).GetCachedSize(), target, stream);
   }
 
   if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
     target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray(
         _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
   }
-  // @@protoc_insertion_point(serialize_to_array_end:viam.service.motion.v1.Constraints)
+  // @@protoc_insertion_point(serialize_to_array_end:viam.service.motion.v1.PlanStatusWithID)
   return target;
 }
 
-size_t Constraints::ByteSizeLong() const {
-// @@protoc_insertion_point(message_byte_size_start:viam.service.motion.v1.Constraints)
+size_t PlanStatusWithID::ByteSizeLong() const {
+// @@protoc_insertion_point(message_byte_size_start:viam.service.motion.v1.PlanStatusWithID)
   size_t total_size = 0;
 
   uint32_t cached_has_bits = 0;
   // Prevent compiler warnings about cached_has_bits being unused
   (void) cached_has_bits;
 
-  // repeated .viam.service.motion.v1.LinearConstraint linear_constraint = 1 [json_name = "linearConstraint"];
-  total_size += 1UL * this->_internal_linear_constraint_size();
-  for (const auto& msg : this->linear_constraint_) {
-    total_size +=
-      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(msg);
+  // string plan_id = 1 [json_name = "planId"];
+  if (!this->_internal_plan_id().empty()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
+        this->_internal_plan_id());
   }
 
-  // repeated .viam.service.motion.v1.OrientationConstraint orientation_constraint = 2 [json_name = "orientationConstraint"];
-  total_size += 1UL * this->_internal_orientation_constraint_size();
-  for (const auto& msg : this->orientation_constraint_) {
-    total_size +=
-      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(msg);
+  // string execution_id = 3 [json_name = "executionId"];
+  if (!this->_internal_execution_id().empty()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
+        this->_internal_execution_id());
   }
 
-  // repeated .viam.service.motion.v1.CollisionSpecification collision_specification = 3 [json_name = "collisionSpecification"];
-  total_size += 1UL * this->_internal_collision_specification_size();
-  for (const auto& msg : this->collision_specification_) {
-    total_size +=
-      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(msg);
+  // .viam.common.v1.ResourceName component_name = 2 [json_name = "componentName"];
+  if (this->_internal_has_component_name()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(
+        *component_name_);
+  }
+
+  // .viam.service.motion.v1.PlanStatus status = 4 [json_name = "status"];
+  if (this->_internal_has_status()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(
+        *status_);
   }
 
   return MaybeComputeUnknownFieldsSize(total_size, &_cached_size_);
 }
 
-const ::PROTOBUF_NAMESPACE_ID::Message::ClassData Constraints::_class_data_ = {
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData PlanStatusWithID::_class_data_ = {
     ::PROTOBUF_NAMESPACE_ID::Message::CopyWithSizeCheck,
-    Constraints::MergeImpl
+    PlanStatusWithID::MergeImpl
 };
-const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*Constraints::GetClassData() const { return &_class_data_; }
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*PlanStatusWithID::GetClassData() const { return &_class_data_; }
 
-void Constraints::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
+void PlanStatusWithID::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
                       const ::PROTOBUF_NAMESPACE_ID::Message& from) {
-  static_cast<Constraints *>(to)->MergeFrom(
-      static_cast<const Constraints &>(from));
+  static_cast<PlanStatusWithID *>(to)->MergeFrom(
+      static_cast<const PlanStatusWithID &>(from));
 }
 
 
-void Constraints::MergeFrom(const Constraints& from) {
-// @@protoc_insertion_point(class_specific_merge_from_start:viam.service.motion.v1.Constraints)
+void PlanStatusWithID::MergeFrom(const PlanStatusWithID& from) {
+// @@protoc_insertion_point(class_specific_merge_from_start:viam.service.motion.v1.PlanStatusWithID)
   GOOGLE_DCHECK_NE(&from, this);
   uint32_t cached_has_bits = 0;
   (void) cached_has_bits;
 
-  linear_constraint_.MergeFrom(from.linear_constraint_);
-  orientation_constraint_.MergeFrom(from.orientation_constraint_);
-  collision_specification_.MergeFrom(from.collision_specification_);
+  if (!from._internal_plan_id().empty()) {
+    _internal_set_plan_id(from._internal_plan_id());
+  }
+  if (!from._internal_execution_id().empty()) {
+    _internal_set_execution_id(from._internal_execution_id());
+  }
+  if (from._internal_has_component_name()) {
+    _internal_mutable_component_name()->::viam::common::v1::ResourceName::MergeFrom(from._internal_component_name());
+  }
+  if (from._internal_has_status()) {
+    _internal_mutable_status()->::viam::service::motion::v1::PlanStatus::MergeFrom(from._internal_status());
+  }
   _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
 }
 
-void Constraints::CopyFrom(const Constraints& from) {
-// @@protoc_insertion_point(class_specific_copy_from_start:viam.service.motion.v1.Constraints)
+void PlanStatusWithID::CopyFrom(const PlanStatusWithID& from) {
+// @@protoc_insertion_point(class_specific_copy_from_start:viam.service.motion.v1.PlanStatusWithID)
   if (&from == this) return;
   Clear();
   MergeFrom(from);
 }
 
-bool Constraints::IsInitialized() const {
+bool PlanStatusWithID::IsInitialized() const {
   return true;
 }
 
-void Constraints::InternalSwap(Constraints* other) {
+void PlanStatusWithID::InternalSwap(PlanStatusWithID* other) {
   using std::swap;
+  auto* lhs_arena = GetArenaForAllocation();
+  auto* rhs_arena = other->GetArenaForAllocation();
   _internal_metadata_.InternalSwap(&other->_internal_metadata_);
-  linear_constraint_.InternalSwap(&other->linear_constraint_);
-  orientation_constraint_.InternalSwap(&other->orientation_constraint_);
-  collision_specification_.InternalSwap(&other->collision_specification_);
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
+      &plan_id_, lhs_arena,
+      &other->plan_id_, rhs_arena
+  );
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
+      &execution_id_, lhs_arena,
+      &other->execution_id_, rhs_arena
+  );
+  ::PROTOBUF_NAMESPACE_ID::internal::memswap<
+      PROTOBUF_FIELD_OFFSET(PlanStatusWithID, status_)
+      + sizeof(PlanStatusWithID::status_)
+      - PROTOBUF_FIELD_OFFSET(PlanStatusWithID, component_name_)>(
+          reinterpret_cast<char*>(&component_name_),
+          reinterpret_cast<char*>(&other->component_name_));
 }
 
-::PROTOBUF_NAMESPACE_ID::Metadata Constraints::GetMetadata() const {
+::PROTOBUF_NAMESPACE_ID::Metadata PlanStatusWithID::GetMetadata() const {
   return ::_pbi::AssignDescriptors(
       &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_getter, &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_once,
-      file_level_metadata_service_2fmotion_2fv1_2fmotion_2eproto[9]);
+      file_level_metadata_service_2fmotion_2fv1_2fmotion_2eproto[23]);
 }
 
 // ===================================================================
 
-class LinearConstraint::_Internal {
+class PlanStatus::_Internal {
  public:
-  using HasBits = decltype(std::declval<LinearConstraint>()._has_bits_);
-  static void set_has_line_tolerance_mm(HasBits* has_bits) {
+  using HasBits = decltype(std::declval<PlanStatus>()._has_bits_);
+  static const ::PROTOBUF_NAMESPACE_ID::Timestamp& timestamp(const PlanStatus* msg);
+  static void set_has_reason(HasBits* has_bits) {
     (*has_bits)[0] |= 1u;
   }
-  static void set_has_orientation_tolerance_degs(HasBits* has_bits) {
-    (*has_bits)[0] |= 2u;
-  }
 };
 
-LinearConstraint::LinearConstraint(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+const ::PROTOBUF_NAMESPACE_ID::Timestamp&
+PlanStatus::_Internal::timestamp(const PlanStatus* msg) {
+  return *msg->timestamp_;
+}
+void PlanStatus::clear_timestamp() {
+  if (GetArenaForAllocation() == nullptr && timestamp_ != nullptr) {
+    delete timestamp_;
+  }
+  timestamp_ = nullptr;
+}
+PlanStatus::PlanStatus(::PROTOBUF_NAMESPACE_ID::Arena* arena,
                          bool is_message_owned)
   : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned) {
   SharedCtor();
-  // @@protoc_insertion_point(arena_constructor:viam.service.motion.v1.LinearConstraint)
+  // @@protoc_insertion_point(arena_constructor:viam.service.motion.v1.PlanStatus)
 }
-LinearConstraint::LinearConstraint(const LinearConstraint& from)
+PlanStatus::PlanStatus(const PlanStatus& from)
   : ::PROTOBUF_NAMESPACE_ID::Message(),
       _has_bits_(from._has_bits_) {
   _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
-  ::memcpy(&line_tolerance_mm_, &from.line_tolerance_mm_,
-    static_cast<size_t>(reinterpret_cast<char*>(&orientation_tolerance_degs_) -
-    reinterpret_cast<char*>(&line_tolerance_mm_)) + sizeof(orientation_tolerance_degs_));
-  // @@protoc_insertion_point(copy_constructor:viam.service.motion.v1.LinearConstraint)
+  reason_.InitDefault();
+  #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+    reason_.Set("", GetArenaForAllocation());
+  #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (from._internal_has_reason()) {
+    reason_.Set(from._internal_reason(), 
+      GetArenaForAllocation());
+  }
+  if (from._internal_has_timestamp()) {
+    timestamp_ = new ::PROTOBUF_NAMESPACE_ID::Timestamp(*from.timestamp_);
+  } else {
+    timestamp_ = nullptr;
+  }
+  state_ = from.state_;
+  // @@protoc_insertion_point(copy_constructor:viam.service.motion.v1.PlanStatus)
 }
 
-inline void LinearConstraint::SharedCtor() {
+inline void PlanStatus::SharedCtor() {
+reason_.InitDefault();
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  reason_.Set("", GetArenaForAllocation());
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
 ::memset(reinterpret_cast<char*>(this) + static_cast<size_t>(
-    reinterpret_cast<char*>(&line_tolerance_mm_) - reinterpret_cast<char*>(this)),
-    0, static_cast<size_t>(reinterpret_cast<char*>(&orientation_tolerance_degs_) -
-    reinterpret_cast<char*>(&line_tolerance_mm_)) + sizeof(orientation_tolerance_degs_));
+    reinterpret_cast<char*>(&timestamp_) - reinterpret_cast<char*>(this)),
+    0, static_cast<size_t>(reinterpret_cast<char*>(&state_) -
+    reinterpret_cast<char*>(&timestamp_)) + sizeof(state_));
 }
 
-LinearConstraint::~LinearConstraint() {
-  // @@protoc_insertion_point(destructor:viam.service.motion.v1.LinearConstraint)
+PlanStatus::~PlanStatus() {
+  // @@protoc_insertion_point(destructor:viam.service.motion.v1.PlanStatus)
   if (auto *arena = _internal_metadata_.DeleteReturnArena<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>()) {
   (void)arena;
     return;
@@ -3602,52 +7639,66 @@ LinearConstraint::~LinearConstraint() {
   SharedDtor();
 }
 
-inline void LinearConstraint::SharedDtor() {
+inline void PlanStatus::SharedDtor() {
   GOOGLE_DCHECK(GetArenaForAllocation() == nullptr);
+  reason_.Destroy();
+  if (this != internal_default_instance()) delete timestamp_;
 }
 
-void LinearConstraint::SetCachedSize(int size) const {
+void PlanStatus::SetCachedSize(int size) const {
   _cached_size_.Set(size);
 }
-
-void LinearConstraint::Clear() {
-// @@protoc_insertion_point(message_clear_start:viam.service.motion.v1.LinearConstraint)
+
+void PlanStatus::Clear() {
+// @@protoc_insertion_point(message_clear_start:viam.service.motion.v1.PlanStatus)
   uint32_t cached_has_bits = 0;
   // Prevent compiler warnings about cached_has_bits being unused
   (void) cached_has_bits;
 
   cached_has_bits = _has_bits_[0];
-  if (cached_has_bits & 0x00000003u) {
-    ::memset(&line_tolerance_mm_, 0, static_cast<size_t>(
-        reinterpret_cast<char*>(&orientation_tolerance_degs_) -
-        reinterpret_cast<char*>(&line_tolerance_mm_)) + sizeof(orientation_tolerance_degs_));
+  if (cached_has_bits & 0x00000001u) {
+    reason_.ClearNonDefaultToEmpty();
   }
+  if (GetArenaForAllocation() == nullptr && timestamp_ != nullptr) {
+    delete timestamp_;
+  }
+  timestamp_ = nullptr;
+  state_ = 0;
   _has_bits_.Clear();
   _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
 }
 
-const char* LinearConstraint::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
+const char* PlanStatus::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
 #define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
   _Internal::HasBits has_bits{};
   while (!ctx->Done(&ptr)) {
     uint32_t tag;
     ptr = ::_pbi::ReadTag(ptr, &tag);
     switch (tag >> 3) {
-      // optional float line_tolerance_mm = 1 [json_name = "lineToleranceMm"];
+      // .viam.service.motion.v1.PlanState state = 1 [json_name = "state"];
       case 1:
-        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 13)) {
-          _Internal::set_has_line_tolerance_mm(&has_bits);
-          line_tolerance_mm_ = ::PROTOBUF_NAMESPACE_ID::internal::UnalignedLoad<float>(ptr);
-          ptr += sizeof(float);
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 8)) {
+          uint64_t val = ::PROTOBUF_NAMESPACE_ID::internal::ReadVarint64(&ptr);
+          CHK_(ptr);
+          _internal_set_state(static_cast<::viam::service::motion::v1::PlanState>(val));
         } else
           goto handle_unusual;
         continue;
-      // optional float orientation_tolerance_degs = 2 [json_name = "orientationToleranceDegs"];
+      // .google.protobuf.Timestamp timestamp = 2 [json_name = "timestamp"];
       case 2:
-        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 21)) {
-          _Internal::set_has_orientation_tolerance_degs(&has_bits);
-          orientation_tolerance_degs_ = ::PROTOBUF_NAMESPACE_ID::internal::UnalignedLoad<float>(ptr);
-          ptr += sizeof(float);
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 18)) {
+          ptr = ctx->ParseMessage(_internal_mutable_timestamp(), ptr);
+          CHK_(ptr);
+        } else
+          goto handle_unusual;
+        continue;
+      // optional string reason = 3 [json_name = "reason"];
+      case 3:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 26)) {
+          auto str = _internal_mutable_reason();
+          ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx);
+          CHK_(ptr);
+          CHK_(::_pbi::VerifyUTF8(str, "viam.service.motion.v1.PlanStatus.reason"));
         } else
           goto handle_unusual;
         continue;
@@ -3675,147 +7726,208 @@ const char* LinearConstraint::_InternalParse(const char* ptr, ::_pbi::ParseConte
 #undef CHK_
 }
 
-uint8_t* LinearConstraint::_InternalSerialize(
+uint8_t* PlanStatus::_InternalSerialize(
     uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
-  // @@protoc_insertion_point(serialize_to_array_start:viam.service.motion.v1.LinearConstraint)
+  // @@protoc_insertion_point(serialize_to_array_start:viam.service.motion.v1.PlanStatus)
   uint32_t cached_has_bits = 0;
   (void) cached_has_bits;
 
-  // optional float line_tolerance_mm = 1 [json_name = "lineToleranceMm"];
-  if (_internal_has_line_tolerance_mm()) {
+  // .viam.service.motion.v1.PlanState state = 1 [json_name = "state"];
+  if (this->_internal_state() != 0) {
     target = stream->EnsureSpace(target);
-    target = ::_pbi::WireFormatLite::WriteFloatToArray(1, this->_internal_line_tolerance_mm(), target);
+    target = ::_pbi::WireFormatLite::WriteEnumToArray(
+      1, this->_internal_state(), target);
   }
 
-  // optional float orientation_tolerance_degs = 2 [json_name = "orientationToleranceDegs"];
-  if (_internal_has_orientation_tolerance_degs()) {
-    target = stream->EnsureSpace(target);
-    target = ::_pbi::WireFormatLite::WriteFloatToArray(2, this->_internal_orientation_tolerance_degs(), target);
+  // .google.protobuf.Timestamp timestamp = 2 [json_name = "timestamp"];
+  if (this->_internal_has_timestamp()) {
+    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::
+      InternalWriteMessage(2, _Internal::timestamp(this),
+        _Internal::timestamp(this).GetCachedSize(), target, stream);
+  }
+
+  // optional string reason = 3 [json_name = "reason"];
+  if (_internal_has_reason()) {
+    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
+      this->_internal_reason().data(), static_cast<int>(this->_internal_reason().length()),
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
+      "viam.service.motion.v1.PlanStatus.reason");
+    target = stream->WriteStringMaybeAliased(
+        3, this->_internal_reason(), target);
   }
 
   if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
     target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray(
         _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
   }
-  // @@protoc_insertion_point(serialize_to_array_end:viam.service.motion.v1.LinearConstraint)
+  // @@protoc_insertion_point(serialize_to_array_end:viam.service.motion.v1.PlanStatus)
   return target;
 }
 
-size_t LinearConstraint::ByteSizeLong() const {
-// @@protoc_insertion_point(message_byte_size_start:viam.service.motion.v1.LinearConstraint)
+size_t PlanStatus::ByteSizeLong() const {
+// @@protoc_insertion_point(message_byte_size_start:viam.service.motion.v1.PlanStatus)
   size_t total_size = 0;
 
   uint32_t cached_has_bits = 0;
   // Prevent compiler warnings about cached_has_bits being unused
   (void) cached_has_bits;
 
+  // optional string reason = 3 [json_name = "reason"];
   cached_has_bits = _has_bits_[0];
-  if (cached_has_bits & 0x00000003u) {
-    // optional float line_tolerance_mm = 1 [json_name = "lineToleranceMm"];
-    if (cached_has_bits & 0x00000001u) {
-      total_size += 1 + 4;
-    }
+  if (cached_has_bits & 0x00000001u) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
+        this->_internal_reason());
+  }
 
-    // optional float orientation_tolerance_degs = 2 [json_name = "orientationToleranceDegs"];
-    if (cached_has_bits & 0x00000002u) {
-      total_size += 1 + 4;
-    }
+  // .google.protobuf.Timestamp timestamp = 2 [json_name = "timestamp"];
+  if (this->_internal_has_timestamp()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(
+        *timestamp_);
+  }
 
+  // .viam.service.motion.v1.PlanState state = 1 [json_name = "state"];
+  if (this->_internal_state() != 0) {
+    total_size += 1 +
+      ::_pbi::WireFormatLite::EnumSize(this->_internal_state());
   }
+
   return MaybeComputeUnknownFieldsSize(total_size, &_cached_size_);
 }
 
-const ::PROTOBUF_NAMESPACE_ID::Message::ClassData LinearConstraint::_class_data_ = {
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData PlanStatus::_class_data_ = {
     ::PROTOBUF_NAMESPACE_ID::Message::CopyWithSizeCheck,
-    LinearConstraint::MergeImpl
+    PlanStatus::MergeImpl
 };
-const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*LinearConstraint::GetClassData() const { return &_class_data_; }
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*PlanStatus::GetClassData() const { return &_class_data_; }
 
-void LinearConstraint::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
+void PlanStatus::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
                       const ::PROTOBUF_NAMESPACE_ID::Message& from) {
-  static_cast<LinearConstraint *>(to)->MergeFrom(
-      static_cast<const LinearConstraint &>(from));
+  static_cast<PlanStatus *>(to)->MergeFrom(
+      static_cast<const PlanStatus &>(from));
 }
 
 
-void LinearConstraint::MergeFrom(const LinearConstraint& from) {
-// @@protoc_insertion_point(class_specific_merge_from_start:viam.service.motion.v1.LinearConstraint)
+void PlanStatus::MergeFrom(const PlanStatus& from) {
+// @@protoc_insertion_point(class_specific_merge_from_start:viam.service.motion.v1.PlanStatus)
   GOOGLE_DCHECK_NE(&from, this);
   uint32_t cached_has_bits = 0;
   (void) cached_has_bits;
 
-  cached_has_bits = from._has_bits_[0];
-  if (cached_has_bits & 0x00000003u) {
-    if (cached_has_bits & 0x00000001u) {
-      line_tolerance_mm_ = from.line_tolerance_mm_;
-    }
-    if (cached_has_bits & 0x00000002u) {
-      orientation_tolerance_degs_ = from.orientation_tolerance_degs_;
-    }
-    _has_bits_[0] |= cached_has_bits;
+  if (from._internal_has_reason()) {
+    _internal_set_reason(from._internal_reason());
+  }
+  if (from._internal_has_timestamp()) {
+    _internal_mutable_timestamp()->::PROTOBUF_NAMESPACE_ID::Timestamp::MergeFrom(from._internal_timestamp());
+  }
+  if (from._internal_state() != 0) {
+    _internal_set_state(from._internal_state());
   }
   _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
 }
 
-void LinearConstraint::CopyFrom(const LinearConstraint& from) {
-// @@protoc_insertion_point(class_specific_copy_from_start:viam.service.motion.v1.LinearConstraint)
+void PlanStatus::CopyFrom(const PlanStatus& from) {
+// @@protoc_insertion_point(class_specific_copy_from_start:viam.service.motion.v1.PlanStatus)
   if (&from == this) return;
   Clear();
   MergeFrom(from);
 }
 
-bool LinearConstraint::IsInitialized() const {
+bool PlanStatus::IsInitialized() const {
   return true;
 }
 
-void LinearConstraint::InternalSwap(LinearConstraint* other) {
+void PlanStatus::InternalSwap(PlanStatus* other) {
   using std::swap;
+  auto* lhs_arena = GetArenaForAllocation();
+  auto* rhs_arena = other->GetArenaForAllocation();
   _internal_metadata_.InternalSwap(&other->_internal_metadata_);
   swap(_has_bits_[0], other->_has_bits_[0]);
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
+      &reason_, lhs_arena,
+      &other->reason_, rhs_arena
+  );
   ::PROTOBUF_NAMESPACE_ID::internal::memswap<
-      PROTOBUF_FIELD_OFFSET(LinearConstraint, orientation_tolerance_degs_)
-      + sizeof(LinearConstraint::orientation_tolerance_degs_)
-      - PROTOBUF_FIELD_OFFSET(LinearConstraint, line_tolerance_mm_)>(
-          reinterpret_cast<char*>(&line_tolerance_mm_),
-          reinterpret_cast<char*>(&other->line_tolerance_mm_));
+      PROTOBUF_FIELD_OFFSET(PlanStatus, state_)
+      + sizeof(PlanStatus::state_)
+      - PROTOBUF_FIELD_OFFSET(PlanStatus, timestamp_)>(
+          reinterpret_cast<char*>(&timestamp_),
+          reinterpret_cast<char*>(&other->timestamp_));
 }
 
-::PROTOBUF_NAMESPACE_ID::Metadata LinearConstraint::GetMetadata() const {
+::PROTOBUF_NAMESPACE_ID::Metadata PlanStatus::GetMetadata() const {
   return ::_pbi::AssignDescriptors(
       &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_getter, &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_once,
-      file_level_metadata_service_2fmotion_2fv1_2fmotion_2eproto[10]);
+      file_level_metadata_service_2fmotion_2fv1_2fmotion_2eproto[24]);
 }
 
 // ===================================================================
 
-class OrientationConstraint::_Internal {
+class Plan::_Internal {
  public:
-  using HasBits = decltype(std::declval<OrientationConstraint>()._has_bits_);
-  static void set_has_orientation_tolerance_degs(HasBits* has_bits) {
-    (*has_bits)[0] |= 1u;
-  }
+  static const ::viam::common::v1::ResourceName& component_name(const Plan* msg);
 };
 
-OrientationConstraint::OrientationConstraint(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+const ::viam::common::v1::ResourceName&
+Plan::_Internal::component_name(const Plan* msg) {
+  return *msg->component_name_;
+}
+void Plan::clear_component_name() {
+  if (GetArenaForAllocation() == nullptr && component_name_ != nullptr) {
+    delete component_name_;
+  }
+  component_name_ = nullptr;
+}
+Plan::Plan(::PROTOBUF_NAMESPACE_ID::Arena* arena,
                          bool is_message_owned)
-  : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned) {
+  : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned),
+  steps_(arena) {
   SharedCtor();
-  // @@protoc_insertion_point(arena_constructor:viam.service.motion.v1.OrientationConstraint)
+  // @@protoc_insertion_point(arena_constructor:viam.service.motion.v1.Plan)
 }
-OrientationConstraint::OrientationConstraint(const OrientationConstraint& from)
+Plan::Plan(const Plan& from)
   : ::PROTOBUF_NAMESPACE_ID::Message(),
-      _has_bits_(from._has_bits_) {
+      steps_(from.steps_) {
   _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
-  orientation_tolerance_degs_ = from.orientation_tolerance_degs_;
-  // @@protoc_insertion_point(copy_constructor:viam.service.motion.v1.OrientationConstraint)
+  id_.InitDefault();
+  #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+    id_.Set("", GetArenaForAllocation());
+  #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (!from._internal_id().empty()) {
+    id_.Set(from._internal_id(), 
+      GetArenaForAllocation());
+  }
+  execution_id_.InitDefault();
+  #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+    execution_id_.Set("", GetArenaForAllocation());
+  #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (!from._internal_execution_id().empty()) {
+    execution_id_.Set(from._internal_execution_id(), 
+      GetArenaForAllocation());
+  }
+  if (from._internal_has_component_name()) {
+    component_name_ = new ::viam::common::v1::ResourceName(*from.component_name_);
+  } else {
+    component_name_ = nullptr;
+  }
+  // @@protoc_insertion_point(copy_constructor:viam.service.motion.v1.Plan)
 }
 
-inline void OrientationConstraint::SharedCtor() {
-orientation_tolerance_degs_ = 0;
+inline void Plan::SharedCtor() {
+id_.InitDefault();
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  id_.Set("", GetArenaForAllocation());
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+execution_id_.InitDefault();
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  execution_id_.Set("", GetArenaForAllocation());
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+component_name_ = nullptr;
 }
 
-OrientationConstraint::~OrientationConstraint() {
-  // @@protoc_insertion_point(destructor:viam.service.motion.v1.OrientationConstraint)
+Plan::~Plan() {
+  // @@protoc_insertion_point(destructor:viam.service.motion.v1.Plan)
   if (auto *arena = _internal_metadata_.DeleteReturnArena<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>()) {
   (void)arena;
     return;
@@ -3823,38 +7935,77 @@ OrientationConstraint::~OrientationConstraint() {
   SharedDtor();
 }
 
-inline void OrientationConstraint::SharedDtor() {
+inline void Plan::SharedDtor() {
   GOOGLE_DCHECK(GetArenaForAllocation() == nullptr);
+  id_.Destroy();
+  execution_id_.Destroy();
+  if (this != internal_default_instance()) delete component_name_;
 }
 
-void OrientationConstraint::SetCachedSize(int size) const {
+void Plan::SetCachedSize(int size) const {
   _cached_size_.Set(size);
 }
 
-void OrientationConstraint::Clear() {
-// @@protoc_insertion_point(message_clear_start:viam.service.motion.v1.OrientationConstraint)
+void Plan::Clear() {
+// @@protoc_insertion_point(message_clear_start:viam.service.motion.v1.Plan)
   uint32_t cached_has_bits = 0;
   // Prevent compiler warnings about cached_has_bits being unused
   (void) cached_has_bits;
 
-  orientation_tolerance_degs_ = 0;
-  _has_bits_.Clear();
+  steps_.Clear();
+  id_.ClearToEmpty();
+  execution_id_.ClearToEmpty();
+  if (GetArenaForAllocation() == nullptr && component_name_ != nullptr) {
+    delete component_name_;
+  }
+  component_name_ = nullptr;
   _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
 }
 
-const char* OrientationConstraint::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
+const char* Plan::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
 #define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
-  _Internal::HasBits has_bits{};
   while (!ctx->Done(&ptr)) {
     uint32_t tag;
     ptr = ::_pbi::ReadTag(ptr, &tag);
     switch (tag >> 3) {
-      // optional float orientation_tolerance_degs = 1 [json_name = "orientationToleranceDegs"];
+      // string id = 1 [json_name = "id"];
       case 1:
-        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 13)) {
-          _Internal::set_has_orientation_tolerance_degs(&has_bits);
-          orientation_tolerance_degs_ = ::PROTOBUF_NAMESPACE_ID::internal::UnalignedLoad<float>(ptr);
-          ptr += sizeof(float);
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 10)) {
+          auto str = _internal_mutable_id();
+          ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx);
+          CHK_(ptr);
+          CHK_(::_pbi::VerifyUTF8(str, "viam.service.motion.v1.Plan.id"));
+        } else
+          goto handle_unusual;
+        continue;
+      // .viam.common.v1.ResourceName component_name = 2 [json_name = "componentName"];
+      case 2:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 18)) {
+          ptr = ctx->ParseMessage(_internal_mutable_component_name(), ptr);
+          CHK_(ptr);
+        } else
+          goto handle_unusual;
+        continue;
+      // string execution_id = 3 [json_name = "executionId"];
+      case 3:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 26)) {
+          auto str = _internal_mutable_execution_id();
+          ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx);
+          CHK_(ptr);
+          CHK_(::_pbi::VerifyUTF8(str, "viam.service.motion.v1.Plan.execution_id"));
+        } else
+          goto handle_unusual;
+        continue;
+      // repeated .viam.service.motion.v1.PlanStep steps = 4 [json_name = "steps"];
+      case 4:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 34)) {
+          ptr -= 1;
+          do {
+            ptr += 1;
+            ptr = ctx->ParseMessage(_internal_add_steps(), ptr);
+            CHK_(ptr);
+            if (!ctx->DataAvailable(ptr)) break;
+          } while (::PROTOBUF_NAMESPACE_ID::internal::ExpectTag<34>(ptr));
         } else
           goto handle_unusual;
         continue;
@@ -3874,7 +8025,6 @@ const char* OrientationConstraint::_InternalParse(const char* ptr, ::_pbi::Parse
     CHK_(ptr != nullptr);
   }  // while
 message_done:
-  _has_bits_.Or(has_bits);
   return ptr;
 failure:
   ptr = nullptr;
@@ -3882,190 +8032,249 @@ const char* OrientationConstraint::_InternalParse(const char* ptr, ::_pbi::Parse
 #undef CHK_
 }
 
-uint8_t* OrientationConstraint::_InternalSerialize(
+uint8_t* Plan::_InternalSerialize(
     uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
-  // @@protoc_insertion_point(serialize_to_array_start:viam.service.motion.v1.OrientationConstraint)
+  // @@protoc_insertion_point(serialize_to_array_start:viam.service.motion.v1.Plan)
   uint32_t cached_has_bits = 0;
   (void) cached_has_bits;
 
-  // optional float orientation_tolerance_degs = 1 [json_name = "orientationToleranceDegs"];
-  if (_internal_has_orientation_tolerance_degs()) {
-    target = stream->EnsureSpace(target);
-    target = ::_pbi::WireFormatLite::WriteFloatToArray(1, this->_internal_orientation_tolerance_degs(), target);
+  // string id = 1 [json_name = "id"];
+  if (!this->_internal_id().empty()) {
+    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
+      this->_internal_id().data(), static_cast<int>(this->_internal_id().length()),
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
+      "viam.service.motion.v1.Plan.id");
+    target = stream->WriteStringMaybeAliased(
+        1, this->_internal_id(), target);
+  }
+
+  // .viam.common.v1.ResourceName component_name = 2 [json_name = "componentName"];
+  if (this->_internal_has_component_name()) {
+    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::
+      InternalWriteMessage(2, _Internal::component_name(this),
+        _Internal::component_name(this).GetCachedSize(), target, stream);
+  }
+
+  // string execution_id = 3 [json_name = "executionId"];
+  if (!this->_internal_execution_id().empty()) {
+    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
+      this->_internal_execution_id().data(), static_cast<int>(this->_internal_execution_id().length()),
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
+      "viam.service.motion.v1.Plan.execution_id");
+    target = stream->WriteStringMaybeAliased(
+        3, this->_internal_execution_id(), target);
+  }
+
+  // repeated .viam.service.motion.v1.PlanStep steps = 4 [json_name = "steps"];
+  for (unsigned i = 0,
+      n = static_cast<unsigned>(this->_internal_steps_size()); i < n; i++) {
+    const auto& repfield = this->_internal_steps(i);
+    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::
+        InternalWriteMessage(4, repfield, repfield.GetCachedSize(), target, stream);
   }
 
   if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
     target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray(
         _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
   }
-  // @@protoc_insertion_point(serialize_to_array_end:viam.service.motion.v1.OrientationConstraint)
+  // @@protoc_insertion_point(serialize_to_array_end:viam.service.motion.v1.Plan)
   return target;
 }
 
-size_t OrientationConstraint::ByteSizeLong() const {
-// @@protoc_insertion_point(message_byte_size_start:viam.service.motion.v1.OrientationConstraint)
+size_t Plan::ByteSizeLong() const {
+// @@protoc_insertion_point(message_byte_size_start:viam.service.motion.v1.Plan)
   size_t total_size = 0;
 
   uint32_t cached_has_bits = 0;
   // Prevent compiler warnings about cached_has_bits being unused
   (void) cached_has_bits;
 
-  // optional float orientation_tolerance_degs = 1 [json_name = "orientationToleranceDegs"];
-  cached_has_bits = _has_bits_[0];
-  if (cached_has_bits & 0x00000001u) {
-    total_size += 1 + 4;
+  // repeated .viam.service.motion.v1.PlanStep steps = 4 [json_name = "steps"];
+  total_size += 1UL * this->_internal_steps_size();
+  for (const auto& msg : this->steps_) {
+    total_size +=
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(msg);
+  }
+
+  // string id = 1 [json_name = "id"];
+  if (!this->_internal_id().empty()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
+        this->_internal_id());
+  }
+
+  // string execution_id = 3 [json_name = "executionId"];
+  if (!this->_internal_execution_id().empty()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
+        this->_internal_execution_id());
+  }
+
+  // .viam.common.v1.ResourceName component_name = 2 [json_name = "componentName"];
+  if (this->_internal_has_component_name()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(
+        *component_name_);
   }
 
   return MaybeComputeUnknownFieldsSize(total_size, &_cached_size_);
 }
 
-const ::PROTOBUF_NAMESPACE_ID::Message::ClassData OrientationConstraint::_class_data_ = {
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData Plan::_class_data_ = {
     ::PROTOBUF_NAMESPACE_ID::Message::CopyWithSizeCheck,
-    OrientationConstraint::MergeImpl
+    Plan::MergeImpl
 };
-const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*OrientationConstraint::GetClassData() const { return &_class_data_; }
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*Plan::GetClassData() const { return &_class_data_; }
 
-void OrientationConstraint::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
+void Plan::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
                       const ::PROTOBUF_NAMESPACE_ID::Message& from) {
-  static_cast<OrientationConstraint *>(to)->MergeFrom(
-      static_cast<const OrientationConstraint &>(from));
+  static_cast<Plan *>(to)->MergeFrom(
+      static_cast<const Plan &>(from));
 }
 
 
-void OrientationConstraint::MergeFrom(const OrientationConstraint& from) {
-// @@protoc_insertion_point(class_specific_merge_from_start:viam.service.motion.v1.OrientationConstraint)
+void Plan::MergeFrom(const Plan& from) {
+// @@protoc_insertion_point(class_specific_merge_from_start:viam.service.motion.v1.Plan)
   GOOGLE_DCHECK_NE(&from, this);
   uint32_t cached_has_bits = 0;
   (void) cached_has_bits;
 
-  if (from._internal_has_orientation_tolerance_degs()) {
-    _internal_set_orientation_tolerance_degs(from._internal_orientation_tolerance_degs());
+  steps_.MergeFrom(from.steps_);
+  if (!from._internal_id().empty()) {
+    _internal_set_id(from._internal_id());
+  }
+  if (!from._internal_execution_id().empty()) {
+    _internal_set_execution_id(from._internal_execution_id());
+  }
+  if (from._internal_has_component_name()) {
+    _internal_mutable_component_name()->::viam::common::v1::ResourceName::MergeFrom(from._internal_component_name());
   }
   _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
 }
-
-void OrientationConstraint::CopyFrom(const OrientationConstraint& from) {
-// @@protoc_insertion_point(class_specific_copy_from_start:viam.service.motion.v1.OrientationConstraint)
+
+void Plan::CopyFrom(const Plan& from) {
+// @@protoc_insertion_point(class_specific_copy_from_start:viam.service.motion.v1.Plan)
   if (&from == this) return;
   Clear();
   MergeFrom(from);
 }
 
-bool OrientationConstraint::IsInitialized() const {
+bool Plan::IsInitialized() const {
   return true;
 }
 
-void OrientationConstraint::InternalSwap(OrientationConstraint* other) {
+void Plan::InternalSwap(Plan* other) {
   using std::swap;
+  auto* lhs_arena = GetArenaForAllocation();
+  auto* rhs_arena = other->GetArenaForAllocation();
   _internal_metadata_.InternalSwap(&other->_internal_metadata_);
-  swap(_has_bits_[0], other->_has_bits_[0]);
-  swap(orientation_tolerance_degs_, other->orientation_tolerance_degs_);
+  steps_.InternalSwap(&other->steps_);
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
+      &id_, lhs_arena,
+      &other->id_, rhs_arena
+  );
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
+      &execution_id_, lhs_arena,
+      &other->execution_id_, rhs_arena
+  );
+  swap(component_name_, other->component_name_);
 }
 
-::PROTOBUF_NAMESPACE_ID::Metadata OrientationConstraint::GetMetadata() const {
+::PROTOBUF_NAMESPACE_ID::Metadata Plan::GetMetadata() const {
   return ::_pbi::AssignDescriptors(
       &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_getter, &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_once,
-      file_level_metadata_service_2fmotion_2fv1_2fmotion_2eproto[11]);
+      file_level_metadata_service_2fmotion_2fv1_2fmotion_2eproto[25]);
 }
 
 // ===================================================================
 
-class CollisionSpecification_AllowedFrameCollisions::_Internal {
+PlanStep_StepEntry_DoNotUse::PlanStep_StepEntry_DoNotUse() {}
+PlanStep_StepEntry_DoNotUse::PlanStep_StepEntry_DoNotUse(::PROTOBUF_NAMESPACE_ID::Arena* arena)
+    : SuperType(arena) {}
+void PlanStep_StepEntry_DoNotUse::MergeFrom(const PlanStep_StepEntry_DoNotUse& other) {
+  MergeFromInternal(other);
+}
+::PROTOBUF_NAMESPACE_ID::Metadata PlanStep_StepEntry_DoNotUse::GetMetadata() const {
+  return ::_pbi::AssignDescriptors(
+      &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_getter, &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_once,
+      file_level_metadata_service_2fmotion_2fv1_2fmotion_2eproto[26]);
+}
+
+// ===================================================================
+
+class PlanStep::_Internal {
  public:
 };
 
-CollisionSpecification_AllowedFrameCollisions::CollisionSpecification_AllowedFrameCollisions(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+PlanStep::PlanStep(::PROTOBUF_NAMESPACE_ID::Arena* arena,
                          bool is_message_owned)
-  : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned) {
+  : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned),
+  step_(arena) {
   SharedCtor();
-  // @@protoc_insertion_point(arena_constructor:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions)
+  if (arena != nullptr && !is_message_owned) {
+    arena->OwnCustomDestructor(this, &PlanStep::ArenaDtor);
+  }
+  // @@protoc_insertion_point(arena_constructor:viam.service.motion.v1.PlanStep)
 }
-CollisionSpecification_AllowedFrameCollisions::CollisionSpecification_AllowedFrameCollisions(const CollisionSpecification_AllowedFrameCollisions& from)
+PlanStep::PlanStep(const PlanStep& from)
   : ::PROTOBUF_NAMESPACE_ID::Message() {
   _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
-  frame1_.InitDefault();
-  #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
-    frame1_.Set("", GetArenaForAllocation());
-  #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  if (!from._internal_frame1().empty()) {
-    frame1_.Set(from._internal_frame1(), 
-      GetArenaForAllocation());
-  }
-  frame2_.InitDefault();
-  #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
-    frame2_.Set("", GetArenaForAllocation());
-  #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  if (!from._internal_frame2().empty()) {
-    frame2_.Set(from._internal_frame2(), 
-      GetArenaForAllocation());
-  }
-  // @@protoc_insertion_point(copy_constructor:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions)
+  step_.MergeFrom(from.step_);
+  // @@protoc_insertion_point(copy_constructor:viam.service.motion.v1.PlanStep)
 }
 
-inline void CollisionSpecification_AllowedFrameCollisions::SharedCtor() {
-frame1_.InitDefault();
-#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  frame1_.Set("", GetArenaForAllocation());
-#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-frame2_.InitDefault();
-#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  frame2_.Set("", GetArenaForAllocation());
-#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+inline void PlanStep::SharedCtor() {
 }
 
-CollisionSpecification_AllowedFrameCollisions::~CollisionSpecification_AllowedFrameCollisions() {
-  // @@protoc_insertion_point(destructor:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions)
+PlanStep::~PlanStep() {
+  // @@protoc_insertion_point(destructor:viam.service.motion.v1.PlanStep)
   if (auto *arena = _internal_metadata_.DeleteReturnArena<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>()) {
   (void)arena;
+    ArenaDtor(this);
     return;
   }
   SharedDtor();
 }
 
-inline void CollisionSpecification_AllowedFrameCollisions::SharedDtor() {
+inline void PlanStep::SharedDtor() {
   GOOGLE_DCHECK(GetArenaForAllocation() == nullptr);
-  frame1_.Destroy();
-  frame2_.Destroy();
+  step_.Destruct();
 }
 
-void CollisionSpecification_AllowedFrameCollisions::SetCachedSize(int size) const {
+void PlanStep::ArenaDtor(void* object) {
+  PlanStep* _this = reinterpret_cast< PlanStep* >(object);
+  _this->step_.Destruct();
+}
+void PlanStep::SetCachedSize(int size) const {
   _cached_size_.Set(size);
 }
 
-void CollisionSpecification_AllowedFrameCollisions::Clear() {
-// @@protoc_insertion_point(message_clear_start:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions)
+void PlanStep::Clear() {
+// @@protoc_insertion_point(message_clear_start:viam.service.motion.v1.PlanStep)
   uint32_t cached_has_bits = 0;
   // Prevent compiler warnings about cached_has_bits being unused
   (void) cached_has_bits;
 
-  frame1_.ClearToEmpty();
-  frame2_.ClearToEmpty();
+  step_.Clear();
   _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
 }
 
-const char* CollisionSpecification_AllowedFrameCollisions::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
+const char* PlanStep::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
 #define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
   while (!ctx->Done(&ptr)) {
     uint32_t tag;
     ptr = ::_pbi::ReadTag(ptr, &tag);
     switch (tag >> 3) {
-      // string frame1 = 1 [json_name = "frame1"];
+      // map<string, .viam.service.motion.v1.ComponentState> step = 1 [json_name = "step"];
       case 1:
         if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 10)) {
-          auto str = _internal_mutable_frame1();
-          ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx);
-          CHK_(ptr);
-          CHK_(::_pbi::VerifyUTF8(str, "viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions.frame1"));
-        } else
-          goto handle_unusual;
-        continue;
-      // string frame2 = 2 [json_name = "frame2"];
-      case 2:
-        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 18)) {
-          auto str = _internal_mutable_frame2();
-          ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx);
-          CHK_(ptr);
-          CHK_(::_pbi::VerifyUTF8(str, "viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions.frame2"));
+          ptr -= 1;
+          do {
+            ptr += 1;
+            ptr = ctx->ParseMessage(&step_, ptr);
+            CHK_(ptr);
+            if (!ctx->DataAvailable(ptr)) break;
+          } while (::PROTOBUF_NAMESPACE_ID::internal::ExpectTag<10>(ptr));
         } else
           goto handle_unusual;
         continue;
@@ -4092,150 +8301,152 @@ const char* CollisionSpecification_AllowedFrameCollisions::_InternalParse(const
 #undef CHK_
 }
 
-uint8_t* CollisionSpecification_AllowedFrameCollisions::_InternalSerialize(
+uint8_t* PlanStep::_InternalSerialize(
     uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
-  // @@protoc_insertion_point(serialize_to_array_start:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions)
+  // @@protoc_insertion_point(serialize_to_array_start:viam.service.motion.v1.PlanStep)
   uint32_t cached_has_bits = 0;
   (void) cached_has_bits;
 
-  // string frame1 = 1 [json_name = "frame1"];
-  if (!this->_internal_frame1().empty()) {
-    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
-      this->_internal_frame1().data(), static_cast<int>(this->_internal_frame1().length()),
-      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
-      "viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions.frame1");
-    target = stream->WriteStringMaybeAliased(
-        1, this->_internal_frame1(), target);
-  }
-
-  // string frame2 = 2 [json_name = "frame2"];
-  if (!this->_internal_frame2().empty()) {
-    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
-      this->_internal_frame2().data(), static_cast<int>(this->_internal_frame2().length()),
-      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
-      "viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions.frame2");
-    target = stream->WriteStringMaybeAliased(
-        2, this->_internal_frame2(), target);
+  // map<string, .viam.service.motion.v1.ComponentState> step = 1 [json_name = "step"];
+  if (!this->_internal_step().empty()) {
+    using MapType = ::_pb::Map<std::string, ::viam::service::motion::v1::ComponentState>;
+    using WireHelper = PlanStep_StepEntry_DoNotUse::Funcs;
+    const auto& map_field = this->_internal_step();
+    auto check_utf8 = [](const MapType::value_type& entry) {
+      (void)entry;
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
+        entry.first.data(), static_cast<int>(entry.first.length()),
+        ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
+        "viam.service.motion.v1.PlanStep.StepEntry.key");
+    };
+
+    if (stream->IsSerializationDeterministic() && map_field.size() > 1) {
+      for (const auto& entry : ::_pbi::MapSorterPtr<MapType>(map_field)) {
+        target = WireHelper::InternalSerialize(1, entry.first, entry.second, target, stream);
+        check_utf8(entry);
+      }
+    } else {
+      for (const auto& entry : map_field) {
+        target = WireHelper::InternalSerialize(1, entry.first, entry.second, target, stream);
+        check_utf8(entry);
+      }
+    }
   }
 
   if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
     target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray(
         _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
   }
-  // @@protoc_insertion_point(serialize_to_array_end:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions)
+  // @@protoc_insertion_point(serialize_to_array_end:viam.service.motion.v1.PlanStep)
   return target;
 }
 
-size_t CollisionSpecification_AllowedFrameCollisions::ByteSizeLong() const {
-// @@protoc_insertion_point(message_byte_size_start:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions)
+size_t PlanStep::ByteSizeLong() const {
+// @@protoc_insertion_point(message_byte_size_start:viam.service.motion.v1.PlanStep)
   size_t total_size = 0;
 
   uint32_t cached_has_bits = 0;
   // Prevent compiler warnings about cached_has_bits being unused
   (void) cached_has_bits;
 
-  // string frame1 = 1 [json_name = "frame1"];
-  if (!this->_internal_frame1().empty()) {
-    total_size += 1 +
-      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
-        this->_internal_frame1());
-  }
-
-  // string frame2 = 2 [json_name = "frame2"];
-  if (!this->_internal_frame2().empty()) {
-    total_size += 1 +
-      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
-        this->_internal_frame2());
+  // map<string, .viam.service.motion.v1.ComponentState> step = 1 [json_name = "step"];
+  total_size += 1 *
+      ::PROTOBUF_NAMESPACE_ID::internal::FromIntSize(this->_internal_step_size());
+  for (::PROTOBUF_NAMESPACE_ID::Map< std::string, ::viam::service::motion::v1::ComponentState >::const_iterator
+      it = this->_internal_step().begin();
+      it != this->_internal_step().end(); ++it) {
+    total_size += PlanStep_StepEntry_DoNotUse::Funcs::ByteSizeLong(it->first, it->second);
   }
 
   return MaybeComputeUnknownFieldsSize(total_size, &_cached_size_);
 }
 
-const ::PROTOBUF_NAMESPACE_ID::Message::ClassData CollisionSpecification_AllowedFrameCollisions::_class_data_ = {
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData PlanStep::_class_data_ = {
     ::PROTOBUF_NAMESPACE_ID::Message::CopyWithSizeCheck,
-    CollisionSpecification_AllowedFrameCollisions::MergeImpl
+    PlanStep::MergeImpl
 };
-const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*CollisionSpecification_AllowedFrameCollisions::GetClassData() const { return &_class_data_; }
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*PlanStep::GetClassData() const { return &_class_data_; }
 
-void CollisionSpecification_AllowedFrameCollisions::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
+void PlanStep::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
                       const ::PROTOBUF_NAMESPACE_ID::Message& from) {
-  static_cast<CollisionSpecification_AllowedFrameCollisions *>(to)->MergeFrom(
-      static_cast<const CollisionSpecification_AllowedFrameCollisions &>(from));
+  static_cast<PlanStep *>(to)->MergeFrom(
+      static_cast<const PlanStep &>(from));
 }
 
 
-void CollisionSpecification_AllowedFrameCollisions::MergeFrom(const CollisionSpecification_AllowedFrameCollisions& from) {
-// @@protoc_insertion_point(class_specific_merge_from_start:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions)
+void PlanStep::MergeFrom(const PlanStep& from) {
+// @@protoc_insertion_point(class_specific_merge_from_start:viam.service.motion.v1.PlanStep)
   GOOGLE_DCHECK_NE(&from, this);
   uint32_t cached_has_bits = 0;
   (void) cached_has_bits;
 
-  if (!from._internal_frame1().empty()) {
-    _internal_set_frame1(from._internal_frame1());
-  }
-  if (!from._internal_frame2().empty()) {
-    _internal_set_frame2(from._internal_frame2());
-  }
+  step_.MergeFrom(from.step_);
   _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
 }
 
-void CollisionSpecification_AllowedFrameCollisions::CopyFrom(const CollisionSpecification_AllowedFrameCollisions& from) {
-// @@protoc_insertion_point(class_specific_copy_from_start:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions)
+void PlanStep::CopyFrom(const PlanStep& from) {
+// @@protoc_insertion_point(class_specific_copy_from_start:viam.service.motion.v1.PlanStep)
   if (&from == this) return;
   Clear();
   MergeFrom(from);
 }
 
-bool CollisionSpecification_AllowedFrameCollisions::IsInitialized() const {
+bool PlanStep::IsInitialized() const {
   return true;
 }
 
-void CollisionSpecification_AllowedFrameCollisions::InternalSwap(CollisionSpecification_AllowedFrameCollisions* other) {
+void PlanStep::InternalSwap(PlanStep* other) {
   using std::swap;
-  auto* lhs_arena = GetArenaForAllocation();
-  auto* rhs_arena = other->GetArenaForAllocation();
   _internal_metadata_.InternalSwap(&other->_internal_metadata_);
-  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
-      &frame1_, lhs_arena,
-      &other->frame1_, rhs_arena
-  );
-  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
-      &frame2_, lhs_arena,
-      &other->frame2_, rhs_arena
-  );
+  step_.InternalSwap(&other->step_);
 }
 
-::PROTOBUF_NAMESPACE_ID::Metadata CollisionSpecification_AllowedFrameCollisions::GetMetadata() const {
+::PROTOBUF_NAMESPACE_ID::Metadata PlanStep::GetMetadata() const {
   return ::_pbi::AssignDescriptors(
       &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_getter, &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_once,
-      file_level_metadata_service_2fmotion_2fv1_2fmotion_2eproto[12]);
+      file_level_metadata_service_2fmotion_2fv1_2fmotion_2eproto[27]);
 }
 
 // ===================================================================
 
-class CollisionSpecification::_Internal {
+class ComponentState::_Internal {
  public:
+  static const ::viam::common::v1::Pose& pose(const ComponentState* msg);
 };
 
-CollisionSpecification::CollisionSpecification(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+const ::viam::common::v1::Pose&
+ComponentState::_Internal::pose(const ComponentState* msg) {
+  return *msg->pose_;
+}
+void ComponentState::clear_pose() {
+  if (GetArenaForAllocation() == nullptr && pose_ != nullptr) {
+    delete pose_;
+  }
+  pose_ = nullptr;
+}
+ComponentState::ComponentState(::PROTOBUF_NAMESPACE_ID::Arena* arena,
                          bool is_message_owned)
-  : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned),
-  allows_(arena) {
+  : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned) {
   SharedCtor();
-  // @@protoc_insertion_point(arena_constructor:viam.service.motion.v1.CollisionSpecification)
+  // @@protoc_insertion_point(arena_constructor:viam.service.motion.v1.ComponentState)
 }
-CollisionSpecification::CollisionSpecification(const CollisionSpecification& from)
-  : ::PROTOBUF_NAMESPACE_ID::Message(),
-      allows_(from.allows_) {
+ComponentState::ComponentState(const ComponentState& from)
+  : ::PROTOBUF_NAMESPACE_ID::Message() {
   _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
-  // @@protoc_insertion_point(copy_constructor:viam.service.motion.v1.CollisionSpecification)
+  if (from._internal_has_pose()) {
+    pose_ = new ::viam::common::v1::Pose(*from.pose_);
+  } else {
+    pose_ = nullptr;
+  }
+  // @@protoc_insertion_point(copy_constructor:viam.service.motion.v1.ComponentState)
 }
 
-inline void CollisionSpecification::SharedCtor() {
+inline void ComponentState::SharedCtor() {
+pose_ = nullptr;
 }
 
-CollisionSpecification::~CollisionSpecification() {
-  // @@protoc_insertion_point(destructor:viam.service.motion.v1.CollisionSpecification)
+ComponentState::~ComponentState() {
+  // @@protoc_insertion_point(destructor:viam.service.motion.v1.ComponentState)
   if (auto *arena = _internal_metadata_.DeleteReturnArena<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>()) {
   (void)arena;
     return;
@@ -4243,40 +8454,39 @@ CollisionSpecification::~CollisionSpecification() {
   SharedDtor();
 }
 
-inline void CollisionSpecification::SharedDtor() {
+inline void ComponentState::SharedDtor() {
   GOOGLE_DCHECK(GetArenaForAllocation() == nullptr);
+  if (this != internal_default_instance()) delete pose_;
 }
 
-void CollisionSpecification::SetCachedSize(int size) const {
+void ComponentState::SetCachedSize(int size) const {
   _cached_size_.Set(size);
 }
 
-void CollisionSpecification::Clear() {
-// @@protoc_insertion_point(message_clear_start:viam.service.motion.v1.CollisionSpecification)
+void ComponentState::Clear() {
+// @@protoc_insertion_point(message_clear_start:viam.service.motion.v1.ComponentState)
   uint32_t cached_has_bits = 0;
   // Prevent compiler warnings about cached_has_bits being unused
   (void) cached_has_bits;
 
-  allows_.Clear();
+  if (GetArenaForAllocation() == nullptr && pose_ != nullptr) {
+    delete pose_;
+  }
+  pose_ = nullptr;
   _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
 }
 
-const char* CollisionSpecification::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
+const char* ComponentState::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
 #define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
   while (!ctx->Done(&ptr)) {
     uint32_t tag;
     ptr = ::_pbi::ReadTag(ptr, &tag);
     switch (tag >> 3) {
-      // repeated .viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions allows = 1 [json_name = "allows"];
+      // .viam.common.v1.Pose pose = 1 [json_name = "pose"];
       case 1:
         if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 10)) {
-          ptr -= 1;
-          do {
-            ptr += 1;
-            ptr = ctx->ParseMessage(_internal_add_allows(), ptr);
-            CHK_(ptr);
-            if (!ctx->DataAvailable(ptr)) break;
-          } while (::PROTOBUF_NAMESPACE_ID::internal::ExpectTag<10>(ptr));
+          ptr = ctx->ParseMessage(_internal_mutable_pose(), ptr);
+          CHK_(ptr);
         } else
           goto handle_unusual;
         continue;
@@ -4303,90 +8513,91 @@ const char* CollisionSpecification::_InternalParse(const char* ptr, ::_pbi::Pars
 #undef CHK_
 }
 
-uint8_t* CollisionSpecification::_InternalSerialize(
+uint8_t* ComponentState::_InternalSerialize(
     uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
-  // @@protoc_insertion_point(serialize_to_array_start:viam.service.motion.v1.CollisionSpecification)
+  // @@protoc_insertion_point(serialize_to_array_start:viam.service.motion.v1.ComponentState)
   uint32_t cached_has_bits = 0;
   (void) cached_has_bits;
 
-  // repeated .viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions allows = 1 [json_name = "allows"];
-  for (unsigned i = 0,
-      n = static_cast<unsigned>(this->_internal_allows_size()); i < n; i++) {
-    const auto& repfield = this->_internal_allows(i);
+  // .viam.common.v1.Pose pose = 1 [json_name = "pose"];
+  if (this->_internal_has_pose()) {
     target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::
-        InternalWriteMessage(1, repfield, repfield.GetCachedSize(), target, stream);
+      InternalWriteMessage(1, _Internal::pose(this),
+        _Internal::pose(this).GetCachedSize(), target, stream);
   }
 
   if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
     target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray(
         _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
   }
-  // @@protoc_insertion_point(serialize_to_array_end:viam.service.motion.v1.CollisionSpecification)
+  // @@protoc_insertion_point(serialize_to_array_end:viam.service.motion.v1.ComponentState)
   return target;
 }
 
-size_t CollisionSpecification::ByteSizeLong() const {
-// @@protoc_insertion_point(message_byte_size_start:viam.service.motion.v1.CollisionSpecification)
+size_t ComponentState::ByteSizeLong() const {
+// @@protoc_insertion_point(message_byte_size_start:viam.service.motion.v1.ComponentState)
   size_t total_size = 0;
 
   uint32_t cached_has_bits = 0;
   // Prevent compiler warnings about cached_has_bits being unused
   (void) cached_has_bits;
 
-  // repeated .viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions allows = 1 [json_name = "allows"];
-  total_size += 1UL * this->_internal_allows_size();
-  for (const auto& msg : this->allows_) {
-    total_size +=
-      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(msg);
+  // .viam.common.v1.Pose pose = 1 [json_name = "pose"];
+  if (this->_internal_has_pose()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(
+        *pose_);
   }
 
   return MaybeComputeUnknownFieldsSize(total_size, &_cached_size_);
 }
 
-const ::PROTOBUF_NAMESPACE_ID::Message::ClassData CollisionSpecification::_class_data_ = {
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData ComponentState::_class_data_ = {
     ::PROTOBUF_NAMESPACE_ID::Message::CopyWithSizeCheck,
-    CollisionSpecification::MergeImpl
+    ComponentState::MergeImpl
 };
-const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*CollisionSpecification::GetClassData() const { return &_class_data_; }
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*ComponentState::GetClassData() const { return &_class_data_; }
 
-void CollisionSpecification::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
+void ComponentState::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
                       const ::PROTOBUF_NAMESPACE_ID::Message& from) {
-  static_cast<CollisionSpecification *>(to)->MergeFrom(
-      static_cast<const CollisionSpecification &>(from));
+  static_cast<ComponentState *>(to)->MergeFrom(
+      static_cast<const ComponentState &>(from));
 }
 
 
-void CollisionSpecification::MergeFrom(const CollisionSpecification& from) {
-// @@protoc_insertion_point(class_specific_merge_from_start:viam.service.motion.v1.CollisionSpecification)
+void ComponentState::MergeFrom(const ComponentState& from) {
+// @@protoc_insertion_point(class_specific_merge_from_start:viam.service.motion.v1.ComponentState)
   GOOGLE_DCHECK_NE(&from, this);
   uint32_t cached_has_bits = 0;
   (void) cached_has_bits;
 
-  allows_.MergeFrom(from.allows_);
+  if (from._internal_has_pose()) {
+    _internal_mutable_pose()->::viam::common::v1::Pose::MergeFrom(from._internal_pose());
+  }
   _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
 }
 
-void CollisionSpecification::CopyFrom(const CollisionSpecification& from) {
-// @@protoc_insertion_point(class_specific_copy_from_start:viam.service.motion.v1.CollisionSpecification)
+void ComponentState::CopyFrom(const ComponentState& from) {
+// @@protoc_insertion_point(class_specific_copy_from_start:viam.service.motion.v1.ComponentState)
   if (&from == this) return;
   Clear();
   MergeFrom(from);
 }
 
-bool CollisionSpecification::IsInitialized() const {
+bool ComponentState::IsInitialized() const {
   return true;
 }
 
-void CollisionSpecification::InternalSwap(CollisionSpecification* other) {
+void ComponentState::InternalSwap(ComponentState* other) {
   using std::swap;
   _internal_metadata_.InternalSwap(&other->_internal_metadata_);
-  allows_.InternalSwap(&other->allows_);
+  swap(pose_, other->pose_);
 }
 
-::PROTOBUF_NAMESPACE_ID::Metadata CollisionSpecification::GetMetadata() const {
+::PROTOBUF_NAMESPACE_ID::Metadata ComponentState::GetMetadata() const {
   return ::_pbi::AssignDescriptors(
       &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_getter, &descriptor_table_service_2fmotion_2fv1_2fmotion_2eproto_once,
-      file_level_metadata_service_2fmotion_2fv1_2fmotion_2eproto[13]);
+      file_level_metadata_service_2fmotion_2fv1_2fmotion_2eproto[28]);
 }
 
 // @@protoc_insertion_point(namespace_scope)
@@ -4423,6 +8634,14 @@ template<> PROTOBUF_NOINLINE ::viam::service::motion::v1::MoveOnGlobeResponse*
 Arena::CreateMaybeMessage< ::viam::service::motion::v1::MoveOnGlobeResponse >(Arena* arena) {
   return Arena::CreateMessageInternal< ::viam::service::motion::v1::MoveOnGlobeResponse >(arena);
 }
+template<> PROTOBUF_NOINLINE ::viam::service::motion::v1::MoveOnGlobeNewRequest*
+Arena::CreateMaybeMessage< ::viam::service::motion::v1::MoveOnGlobeNewRequest >(Arena* arena) {
+  return Arena::CreateMessageInternal< ::viam::service::motion::v1::MoveOnGlobeNewRequest >(arena);
+}
+template<> PROTOBUF_NOINLINE ::viam::service::motion::v1::MoveOnGlobeNewResponse*
+Arena::CreateMaybeMessage< ::viam::service::motion::v1::MoveOnGlobeNewResponse >(Arena* arena) {
+  return Arena::CreateMessageInternal< ::viam::service::motion::v1::MoveOnGlobeNewResponse >(arena);
+}
 template<> PROTOBUF_NOINLINE ::viam::service::motion::v1::GetPoseRequest*
 Arena::CreateMaybeMessage< ::viam::service::motion::v1::GetPoseRequest >(Arena* arena) {
   return Arena::CreateMessageInternal< ::viam::service::motion::v1::GetPoseRequest >(arena);
@@ -4431,6 +8650,30 @@ template<> PROTOBUF_NOINLINE ::viam::service::motion::v1::GetPoseResponse*
 Arena::CreateMaybeMessage< ::viam::service::motion::v1::GetPoseResponse >(Arena* arena) {
   return Arena::CreateMessageInternal< ::viam::service::motion::v1::GetPoseResponse >(arena);
 }
+template<> PROTOBUF_NOINLINE ::viam::service::motion::v1::StopPlanRequest*
+Arena::CreateMaybeMessage< ::viam::service::motion::v1::StopPlanRequest >(Arena* arena) {
+  return Arena::CreateMessageInternal< ::viam::service::motion::v1::StopPlanRequest >(arena);
+}
+template<> PROTOBUF_NOINLINE ::viam::service::motion::v1::StopPlanResponse*
+Arena::CreateMaybeMessage< ::viam::service::motion::v1::StopPlanResponse >(Arena* arena) {
+  return Arena::CreateMessageInternal< ::viam::service::motion::v1::StopPlanResponse >(arena);
+}
+template<> PROTOBUF_NOINLINE ::viam::service::motion::v1::ListPlanStatusesRequest*
+Arena::CreateMaybeMessage< ::viam::service::motion::v1::ListPlanStatusesRequest >(Arena* arena) {
+  return Arena::CreateMessageInternal< ::viam::service::motion::v1::ListPlanStatusesRequest >(arena);
+}
+template<> PROTOBUF_NOINLINE ::viam::service::motion::v1::ListPlanStatusesResponse*
+Arena::CreateMaybeMessage< ::viam::service::motion::v1::ListPlanStatusesResponse >(Arena* arena) {
+  return Arena::CreateMessageInternal< ::viam::service::motion::v1::ListPlanStatusesResponse >(arena);
+}
+template<> PROTOBUF_NOINLINE ::viam::service::motion::v1::GetPlanRequest*
+Arena::CreateMaybeMessage< ::viam::service::motion::v1::GetPlanRequest >(Arena* arena) {
+  return Arena::CreateMessageInternal< ::viam::service::motion::v1::GetPlanRequest >(arena);
+}
+template<> PROTOBUF_NOINLINE ::viam::service::motion::v1::GetPlanResponse*
+Arena::CreateMaybeMessage< ::viam::service::motion::v1::GetPlanResponse >(Arena* arena) {
+  return Arena::CreateMessageInternal< ::viam::service::motion::v1::GetPlanResponse >(arena);
+}
 template<> PROTOBUF_NOINLINE ::viam::service::motion::v1::Constraints*
 Arena::CreateMaybeMessage< ::viam::service::motion::v1::Constraints >(Arena* arena) {
   return Arena::CreateMessageInternal< ::viam::service::motion::v1::Constraints >(arena);
@@ -4451,6 +8694,34 @@ template<> PROTOBUF_NOINLINE ::viam::service::motion::v1::CollisionSpecification
 Arena::CreateMaybeMessage< ::viam::service::motion::v1::CollisionSpecification >(Arena* arena) {
   return Arena::CreateMessageInternal< ::viam::service::motion::v1::CollisionSpecification >(arena);
 }
+template<> PROTOBUF_NOINLINE ::viam::service::motion::v1::PlanWithStatus*
+Arena::CreateMaybeMessage< ::viam::service::motion::v1::PlanWithStatus >(Arena* arena) {
+  return Arena::CreateMessageInternal< ::viam::service::motion::v1::PlanWithStatus >(arena);
+}
+template<> PROTOBUF_NOINLINE ::viam::service::motion::v1::PlanStatusWithID*
+Arena::CreateMaybeMessage< ::viam::service::motion::v1::PlanStatusWithID >(Arena* arena) {
+  return Arena::CreateMessageInternal< ::viam::service::motion::v1::PlanStatusWithID >(arena);
+}
+template<> PROTOBUF_NOINLINE ::viam::service::motion::v1::PlanStatus*
+Arena::CreateMaybeMessage< ::viam::service::motion::v1::PlanStatus >(Arena* arena) {
+  return Arena::CreateMessageInternal< ::viam::service::motion::v1::PlanStatus >(arena);
+}
+template<> PROTOBUF_NOINLINE ::viam::service::motion::v1::Plan*
+Arena::CreateMaybeMessage< ::viam::service::motion::v1::Plan >(Arena* arena) {
+  return Arena::CreateMessageInternal< ::viam::service::motion::v1::Plan >(arena);
+}
+template<> PROTOBUF_NOINLINE ::viam::service::motion::v1::PlanStep_StepEntry_DoNotUse*
+Arena::CreateMaybeMessage< ::viam::service::motion::v1::PlanStep_StepEntry_DoNotUse >(Arena* arena) {
+  return Arena::CreateMessageInternal< ::viam::service::motion::v1::PlanStep_StepEntry_DoNotUse >(arena);
+}
+template<> PROTOBUF_NOINLINE ::viam::service::motion::v1::PlanStep*
+Arena::CreateMaybeMessage< ::viam::service::motion::v1::PlanStep >(Arena* arena) {
+  return Arena::CreateMessageInternal< ::viam::service::motion::v1::PlanStep >(arena);
+}
+template<> PROTOBUF_NOINLINE ::viam::service::motion::v1::ComponentState*
+Arena::CreateMaybeMessage< ::viam::service::motion::v1::ComponentState >(Arena* arena) {
+  return Arena::CreateMessageInternal< ::viam::service::motion::v1::ComponentState >(arena);
+}
 PROTOBUF_NAMESPACE_CLOSE
 
 // @@protoc_insertion_point(global_scope)
diff --git a/src/viam/api/service/motion/v1/motion.pb.h b/src/viam/api/service/motion/v1/motion.pb.h
index f457b084e..5ee5bf795 100644
--- a/src/viam/api/service/motion/v1/motion.pb.h
+++ b/src/viam/api/service/motion/v1/motion.pb.h
@@ -23,16 +23,22 @@
 #include <google/protobuf/io/coded_stream.h>
 #include <google/protobuf/arena.h>
 #include <google/protobuf/arenastring.h>
+#include <google/protobuf/generated_message_bases.h>
 #include <google/protobuf/generated_message_util.h>
 #include <google/protobuf/metadata_lite.h>
 #include <google/protobuf/generated_message_reflection.h>
 #include <google/protobuf/message.h>
 #include <google/protobuf/repeated_field.h>  // IWYU pragma: export
 #include <google/protobuf/extension_set.h>  // IWYU pragma: export
+#include <google/protobuf/map.h>  // IWYU pragma: export
+#include <google/protobuf/map_entry.h>
+#include <google/protobuf/map_field_inl.h>
+#include <google/protobuf/generated_enum_reflection.h>
 #include <google/protobuf/unknown_field_set.h>
 #include "common/v1/common.pb.h"
 #include "google/api/annotations.pb.h"
 #include <google/protobuf/struct.pb.h>
+#include <google/protobuf/timestamp.pb.h>
 // @@protoc_insertion_point(includes)
 #include <google/protobuf/port_def.inc>
 #define PROTOBUF_INTERNAL_EXPORT_service_2fmotion_2fv1_2fmotion_2eproto
@@ -57,9 +63,18 @@ extern CollisionSpecificationDefaultTypeInternal _CollisionSpecification_default
 class CollisionSpecification_AllowedFrameCollisions;
 struct CollisionSpecification_AllowedFrameCollisionsDefaultTypeInternal;
 extern CollisionSpecification_AllowedFrameCollisionsDefaultTypeInternal _CollisionSpecification_AllowedFrameCollisions_default_instance_;
+class ComponentState;
+struct ComponentStateDefaultTypeInternal;
+extern ComponentStateDefaultTypeInternal _ComponentState_default_instance_;
 class Constraints;
 struct ConstraintsDefaultTypeInternal;
 extern ConstraintsDefaultTypeInternal _Constraints_default_instance_;
+class GetPlanRequest;
+struct GetPlanRequestDefaultTypeInternal;
+extern GetPlanRequestDefaultTypeInternal _GetPlanRequest_default_instance_;
+class GetPlanResponse;
+struct GetPlanResponseDefaultTypeInternal;
+extern GetPlanResponseDefaultTypeInternal _GetPlanResponse_default_instance_;
 class GetPoseRequest;
 struct GetPoseRequestDefaultTypeInternal;
 extern GetPoseRequestDefaultTypeInternal _GetPoseRequest_default_instance_;
@@ -69,9 +84,21 @@ extern GetPoseResponseDefaultTypeInternal _GetPoseResponse_default_instance_;
 class LinearConstraint;
 struct LinearConstraintDefaultTypeInternal;
 extern LinearConstraintDefaultTypeInternal _LinearConstraint_default_instance_;
+class ListPlanStatusesRequest;
+struct ListPlanStatusesRequestDefaultTypeInternal;
+extern ListPlanStatusesRequestDefaultTypeInternal _ListPlanStatusesRequest_default_instance_;
+class ListPlanStatusesResponse;
+struct ListPlanStatusesResponseDefaultTypeInternal;
+extern ListPlanStatusesResponseDefaultTypeInternal _ListPlanStatusesResponse_default_instance_;
 class MotionConfiguration;
 struct MotionConfigurationDefaultTypeInternal;
 extern MotionConfigurationDefaultTypeInternal _MotionConfiguration_default_instance_;
+class MoveOnGlobeNewRequest;
+struct MoveOnGlobeNewRequestDefaultTypeInternal;
+extern MoveOnGlobeNewRequestDefaultTypeInternal _MoveOnGlobeNewRequest_default_instance_;
+class MoveOnGlobeNewResponse;
+struct MoveOnGlobeNewResponseDefaultTypeInternal;
+extern MoveOnGlobeNewResponseDefaultTypeInternal _MoveOnGlobeNewResponse_default_instance_;
 class MoveOnGlobeRequest;
 struct MoveOnGlobeRequestDefaultTypeInternal;
 extern MoveOnGlobeRequestDefaultTypeInternal _MoveOnGlobeRequest_default_instance_;
@@ -93,6 +120,30 @@ extern MoveResponseDefaultTypeInternal _MoveResponse_default_instance_;
 class OrientationConstraint;
 struct OrientationConstraintDefaultTypeInternal;
 extern OrientationConstraintDefaultTypeInternal _OrientationConstraint_default_instance_;
+class Plan;
+struct PlanDefaultTypeInternal;
+extern PlanDefaultTypeInternal _Plan_default_instance_;
+class PlanStatus;
+struct PlanStatusDefaultTypeInternal;
+extern PlanStatusDefaultTypeInternal _PlanStatus_default_instance_;
+class PlanStatusWithID;
+struct PlanStatusWithIDDefaultTypeInternal;
+extern PlanStatusWithIDDefaultTypeInternal _PlanStatusWithID_default_instance_;
+class PlanStep;
+struct PlanStepDefaultTypeInternal;
+extern PlanStepDefaultTypeInternal _PlanStep_default_instance_;
+class PlanStep_StepEntry_DoNotUse;
+struct PlanStep_StepEntry_DoNotUseDefaultTypeInternal;
+extern PlanStep_StepEntry_DoNotUseDefaultTypeInternal _PlanStep_StepEntry_DoNotUse_default_instance_;
+class PlanWithStatus;
+struct PlanWithStatusDefaultTypeInternal;
+extern PlanWithStatusDefaultTypeInternal _PlanWithStatus_default_instance_;
+class StopPlanRequest;
+struct StopPlanRequestDefaultTypeInternal;
+extern StopPlanRequestDefaultTypeInternal _StopPlanRequest_default_instance_;
+class StopPlanResponse;
+struct StopPlanResponseDefaultTypeInternal;
+extern StopPlanResponseDefaultTypeInternal _StopPlanResponse_default_instance_;
 }  // namespace v1
 }  // namespace motion
 }  // namespace service
@@ -100,11 +151,18 @@ extern OrientationConstraintDefaultTypeInternal _OrientationConstraint_default_i
 PROTOBUF_NAMESPACE_OPEN
 template<> ::viam::service::motion::v1::CollisionSpecification* Arena::CreateMaybeMessage<::viam::service::motion::v1::CollisionSpecification>(Arena*);
 template<> ::viam::service::motion::v1::CollisionSpecification_AllowedFrameCollisions* Arena::CreateMaybeMessage<::viam::service::motion::v1::CollisionSpecification_AllowedFrameCollisions>(Arena*);
+template<> ::viam::service::motion::v1::ComponentState* Arena::CreateMaybeMessage<::viam::service::motion::v1::ComponentState>(Arena*);
 template<> ::viam::service::motion::v1::Constraints* Arena::CreateMaybeMessage<::viam::service::motion::v1::Constraints>(Arena*);
+template<> ::viam::service::motion::v1::GetPlanRequest* Arena::CreateMaybeMessage<::viam::service::motion::v1::GetPlanRequest>(Arena*);
+template<> ::viam::service::motion::v1::GetPlanResponse* Arena::CreateMaybeMessage<::viam::service::motion::v1::GetPlanResponse>(Arena*);
 template<> ::viam::service::motion::v1::GetPoseRequest* Arena::CreateMaybeMessage<::viam::service::motion::v1::GetPoseRequest>(Arena*);
 template<> ::viam::service::motion::v1::GetPoseResponse* Arena::CreateMaybeMessage<::viam::service::motion::v1::GetPoseResponse>(Arena*);
 template<> ::viam::service::motion::v1::LinearConstraint* Arena::CreateMaybeMessage<::viam::service::motion::v1::LinearConstraint>(Arena*);
+template<> ::viam::service::motion::v1::ListPlanStatusesRequest* Arena::CreateMaybeMessage<::viam::service::motion::v1::ListPlanStatusesRequest>(Arena*);
+template<> ::viam::service::motion::v1::ListPlanStatusesResponse* Arena::CreateMaybeMessage<::viam::service::motion::v1::ListPlanStatusesResponse>(Arena*);
 template<> ::viam::service::motion::v1::MotionConfiguration* Arena::CreateMaybeMessage<::viam::service::motion::v1::MotionConfiguration>(Arena*);
+template<> ::viam::service::motion::v1::MoveOnGlobeNewRequest* Arena::CreateMaybeMessage<::viam::service::motion::v1::MoveOnGlobeNewRequest>(Arena*);
+template<> ::viam::service::motion::v1::MoveOnGlobeNewResponse* Arena::CreateMaybeMessage<::viam::service::motion::v1::MoveOnGlobeNewResponse>(Arena*);
 template<> ::viam::service::motion::v1::MoveOnGlobeRequest* Arena::CreateMaybeMessage<::viam::service::motion::v1::MoveOnGlobeRequest>(Arena*);
 template<> ::viam::service::motion::v1::MoveOnGlobeResponse* Arena::CreateMaybeMessage<::viam::service::motion::v1::MoveOnGlobeResponse>(Arena*);
 template<> ::viam::service::motion::v1::MoveOnMapRequest* Arena::CreateMaybeMessage<::viam::service::motion::v1::MoveOnMapRequest>(Arena*);
@@ -112,12 +170,48 @@ template<> ::viam::service::motion::v1::MoveOnMapResponse* Arena::CreateMaybeMes
 template<> ::viam::service::motion::v1::MoveRequest* Arena::CreateMaybeMessage<::viam::service::motion::v1::MoveRequest>(Arena*);
 template<> ::viam::service::motion::v1::MoveResponse* Arena::CreateMaybeMessage<::viam::service::motion::v1::MoveResponse>(Arena*);
 template<> ::viam::service::motion::v1::OrientationConstraint* Arena::CreateMaybeMessage<::viam::service::motion::v1::OrientationConstraint>(Arena*);
+template<> ::viam::service::motion::v1::Plan* Arena::CreateMaybeMessage<::viam::service::motion::v1::Plan>(Arena*);
+template<> ::viam::service::motion::v1::PlanStatus* Arena::CreateMaybeMessage<::viam::service::motion::v1::PlanStatus>(Arena*);
+template<> ::viam::service::motion::v1::PlanStatusWithID* Arena::CreateMaybeMessage<::viam::service::motion::v1::PlanStatusWithID>(Arena*);
+template<> ::viam::service::motion::v1::PlanStep* Arena::CreateMaybeMessage<::viam::service::motion::v1::PlanStep>(Arena*);
+template<> ::viam::service::motion::v1::PlanStep_StepEntry_DoNotUse* Arena::CreateMaybeMessage<::viam::service::motion::v1::PlanStep_StepEntry_DoNotUse>(Arena*);
+template<> ::viam::service::motion::v1::PlanWithStatus* Arena::CreateMaybeMessage<::viam::service::motion::v1::PlanWithStatus>(Arena*);
+template<> ::viam::service::motion::v1::StopPlanRequest* Arena::CreateMaybeMessage<::viam::service::motion::v1::StopPlanRequest>(Arena*);
+template<> ::viam::service::motion::v1::StopPlanResponse* Arena::CreateMaybeMessage<::viam::service::motion::v1::StopPlanResponse>(Arena*);
 PROTOBUF_NAMESPACE_CLOSE
 namespace viam {
 namespace service {
 namespace motion {
 namespace v1 {
 
+enum PlanState : int {
+  PLAN_STATE_UNSPECIFIED = 0,
+  PLAN_STATE_IN_PROGRESS = 1,
+  PLAN_STATE_STOPPED = 2,
+  PLAN_STATE_SUCCEEDED = 3,
+  PLAN_STATE_FAILED = 4,
+  PlanState_INT_MIN_SENTINEL_DO_NOT_USE_ = std::numeric_limits<int32_t>::min(),
+  PlanState_INT_MAX_SENTINEL_DO_NOT_USE_ = std::numeric_limits<int32_t>::max()
+};
+bool PlanState_IsValid(int value);
+constexpr PlanState PlanState_MIN = PLAN_STATE_UNSPECIFIED;
+constexpr PlanState PlanState_MAX = PLAN_STATE_FAILED;
+constexpr int PlanState_ARRAYSIZE = PlanState_MAX + 1;
+
+const ::PROTOBUF_NAMESPACE_ID::EnumDescriptor* PlanState_descriptor();
+template<typename T>
+inline const std::string& PlanState_Name(T enum_t_value) {
+  static_assert(::std::is_same<T, PlanState>::value ||
+    ::std::is_integral<T>::value,
+    "Incorrect type passed to function PlanState_Name.");
+  return ::PROTOBUF_NAMESPACE_ID::internal::NameOfEnum(
+    PlanState_descriptor(), enum_t_value);
+}
+inline bool PlanState_Parse(
+    ::PROTOBUF_NAMESPACE_ID::ConstStringParam name, PlanState* value) {
+  return ::PROTOBUF_NAMESPACE_ID::internal::ParseNamedEnum<PlanState>(
+    PlanState_descriptor(), name, value);
+}
 // ===================================================================
 
 class MoveRequest final :
@@ -1538,24 +1632,24 @@ class MoveOnGlobeResponse final :
 };
 // -------------------------------------------------------------------
 
-class GetPoseRequest final :
-    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.service.motion.v1.GetPoseRequest) */ {
+class MoveOnGlobeNewRequest final :
+    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.service.motion.v1.MoveOnGlobeNewRequest) */ {
  public:
-  inline GetPoseRequest() : GetPoseRequest(nullptr) {}
-  ~GetPoseRequest() override;
-  explicit PROTOBUF_CONSTEXPR GetPoseRequest(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
+  inline MoveOnGlobeNewRequest() : MoveOnGlobeNewRequest(nullptr) {}
+  ~MoveOnGlobeNewRequest() override;
+  explicit PROTOBUF_CONSTEXPR MoveOnGlobeNewRequest(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
 
-  GetPoseRequest(const GetPoseRequest& from);
-  GetPoseRequest(GetPoseRequest&& from) noexcept
-    : GetPoseRequest() {
+  MoveOnGlobeNewRequest(const MoveOnGlobeNewRequest& from);
+  MoveOnGlobeNewRequest(MoveOnGlobeNewRequest&& from) noexcept
+    : MoveOnGlobeNewRequest() {
     *this = ::std::move(from);
   }
 
-  inline GetPoseRequest& operator=(const GetPoseRequest& from) {
+  inline MoveOnGlobeNewRequest& operator=(const MoveOnGlobeNewRequest& from) {
     CopyFrom(from);
     return *this;
   }
-  inline GetPoseRequest& operator=(GetPoseRequest&& from) noexcept {
+  inline MoveOnGlobeNewRequest& operator=(MoveOnGlobeNewRequest&& from) noexcept {
     if (this == &from) return *this;
     if (GetOwningArena() == from.GetOwningArena()
   #ifdef PROTOBUF_FORCE_COPY_IN_MOVE
@@ -1578,20 +1672,20 @@ class GetPoseRequest final :
   static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
     return default_instance().GetMetadata().reflection;
   }
-  static const GetPoseRequest& default_instance() {
+  static const MoveOnGlobeNewRequest& default_instance() {
     return *internal_default_instance();
   }
-  static inline const GetPoseRequest* internal_default_instance() {
-    return reinterpret_cast<const GetPoseRequest*>(
-               &_GetPoseRequest_default_instance_);
+  static inline const MoveOnGlobeNewRequest* internal_default_instance() {
+    return reinterpret_cast<const MoveOnGlobeNewRequest*>(
+               &_MoveOnGlobeNewRequest_default_instance_);
   }
   static constexpr int kIndexInFileMessages =
     7;
 
-  friend void swap(GetPoseRequest& a, GetPoseRequest& b) {
+  friend void swap(MoveOnGlobeNewRequest& a, MoveOnGlobeNewRequest& b) {
     a.Swap(&b);
   }
-  inline void Swap(GetPoseRequest* other) {
+  inline void Swap(MoveOnGlobeNewRequest* other) {
     if (other == this) return;
   #ifdef PROTOBUF_FORCE_COPY_IN_SWAP
     if (GetOwningArena() != nullptr &&
@@ -1604,7 +1698,7 @@ class GetPoseRequest final :
       ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
     }
   }
-  void UnsafeArenaSwap(GetPoseRequest* other) {
+  void UnsafeArenaSwap(MoveOnGlobeNewRequest* other) {
     if (other == this) return;
     GOOGLE_DCHECK(GetOwningArena() == other->GetOwningArena());
     InternalSwap(other);
@@ -1612,13 +1706,13 @@ class GetPoseRequest final :
 
   // implements Message ----------------------------------------------
 
-  GetPoseRequest* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
-    return CreateMaybeMessage<GetPoseRequest>(arena);
+  MoveOnGlobeNewRequest* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
+    return CreateMaybeMessage<MoveOnGlobeNewRequest>(arena);
   }
   using ::PROTOBUF_NAMESPACE_ID::Message::CopyFrom;
-  void CopyFrom(const GetPoseRequest& from);
+  void CopyFrom(const MoveOnGlobeNewRequest& from);
   using ::PROTOBUF_NAMESPACE_ID::Message::MergeFrom;
-  void MergeFrom(const GetPoseRequest& from);
+  void MergeFrom(const MoveOnGlobeNewRequest& from);
   private:
   static void MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to, const ::PROTOBUF_NAMESPACE_ID::Message& from);
   public:
@@ -1635,15 +1729,15 @@ class GetPoseRequest final :
   void SharedCtor();
   void SharedDtor();
   void SetCachedSize(int size) const final;
-  void InternalSwap(GetPoseRequest* other);
+  void InternalSwap(MoveOnGlobeNewRequest* other);
 
   private:
   friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
   static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
-    return "viam.service.motion.v1.GetPoseRequest";
+    return "viam.service.motion.v1.MoveOnGlobeNewRequest";
   }
   protected:
-  explicit GetPoseRequest(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+  explicit MoveOnGlobeNewRequest(::PROTOBUF_NAMESPACE_ID::Arena* arena,
                        bool is_message_owned = false);
   public:
 
@@ -1657,29 +1751,32 @@ class GetPoseRequest final :
   // accessors -------------------------------------------------------
 
   enum : int {
-    kSupplementalTransformsFieldNumber = 4,
+    kObstaclesFieldNumber = 6,
     kNameFieldNumber = 1,
-    kDestinationFrameFieldNumber = 3,
-    kComponentNameFieldNumber = 2,
+    kDestinationFieldNumber = 2,
+    kComponentNameFieldNumber = 4,
+    kMovementSensorNameFieldNumber = 5,
+    kMotionConfigurationFieldNumber = 7,
     kExtraFieldNumber = 99,
+    kHeadingFieldNumber = 3,
   };
-  // repeated .viam.common.v1.Transform supplemental_transforms = 4 [json_name = "supplementalTransforms"];
-  int supplemental_transforms_size() const;
+  // repeated .viam.common.v1.GeoObstacle obstacles = 6 [json_name = "obstacles"];
+  int obstacles_size() const;
   private:
-  int _internal_supplemental_transforms_size() const;
+  int _internal_obstacles_size() const;
   public:
-  void clear_supplemental_transforms();
-  ::viam::common::v1::Transform* mutable_supplemental_transforms(int index);
-  ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::common::v1::Transform >*
-      mutable_supplemental_transforms();
+  void clear_obstacles();
+  ::viam::common::v1::GeoObstacle* mutable_obstacles(int index);
+  ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::common::v1::GeoObstacle >*
+      mutable_obstacles();
   private:
-  const ::viam::common::v1::Transform& _internal_supplemental_transforms(int index) const;
-  ::viam::common::v1::Transform* _internal_add_supplemental_transforms();
+  const ::viam::common::v1::GeoObstacle& _internal_obstacles(int index) const;
+  ::viam::common::v1::GeoObstacle* _internal_add_obstacles();
   public:
-  const ::viam::common::v1::Transform& supplemental_transforms(int index) const;
-  ::viam::common::v1::Transform* add_supplemental_transforms();
-  const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::common::v1::Transform >&
-      supplemental_transforms() const;
+  const ::viam::common::v1::GeoObstacle& obstacles(int index) const;
+  ::viam::common::v1::GeoObstacle* add_obstacles();
+  const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::common::v1::GeoObstacle >&
+      obstacles() const;
 
   // string name = 1 [json_name = "name"];
   void clear_name();
@@ -1695,21 +1792,25 @@ class GetPoseRequest final :
   std::string* _internal_mutable_name();
   public:
 
-  // string destination_frame = 3 [json_name = "destinationFrame"];
-  void clear_destination_frame();
-  const std::string& destination_frame() const;
-  template <typename ArgT0 = const std::string&, typename... ArgT>
-  void set_destination_frame(ArgT0&& arg0, ArgT... args);
-  std::string* mutable_destination_frame();
-  PROTOBUF_NODISCARD std::string* release_destination_frame();
-  void set_allocated_destination_frame(std::string* destination_frame);
+  // .viam.common.v1.GeoPoint destination = 2 [json_name = "destination"];
+  bool has_destination() const;
   private:
-  const std::string& _internal_destination_frame() const;
-  inline PROTOBUF_ALWAYS_INLINE void _internal_set_destination_frame(const std::string& value);
-  std::string* _internal_mutable_destination_frame();
+  bool _internal_has_destination() const;
+  public:
+  void clear_destination();
+  const ::viam::common::v1::GeoPoint& destination() const;
+  PROTOBUF_NODISCARD ::viam::common::v1::GeoPoint* release_destination();
+  ::viam::common::v1::GeoPoint* mutable_destination();
+  void set_allocated_destination(::viam::common::v1::GeoPoint* destination);
+  private:
+  const ::viam::common::v1::GeoPoint& _internal_destination() const;
+  ::viam::common::v1::GeoPoint* _internal_mutable_destination();
   public:
+  void unsafe_arena_set_allocated_destination(
+      ::viam::common::v1::GeoPoint* destination);
+  ::viam::common::v1::GeoPoint* unsafe_arena_release_destination();
 
-  // .viam.common.v1.ResourceName component_name = 2 [json_name = "componentName"];
+  // .viam.common.v1.ResourceName component_name = 4 [json_name = "componentName"];
   bool has_component_name() const;
   private:
   bool _internal_has_component_name() const;
@@ -1727,6 +1828,42 @@ class GetPoseRequest final :
       ::viam::common::v1::ResourceName* component_name);
   ::viam::common::v1::ResourceName* unsafe_arena_release_component_name();
 
+  // .viam.common.v1.ResourceName movement_sensor_name = 5 [json_name = "movementSensorName"];
+  bool has_movement_sensor_name() const;
+  private:
+  bool _internal_has_movement_sensor_name() const;
+  public:
+  void clear_movement_sensor_name();
+  const ::viam::common::v1::ResourceName& movement_sensor_name() const;
+  PROTOBUF_NODISCARD ::viam::common::v1::ResourceName* release_movement_sensor_name();
+  ::viam::common::v1::ResourceName* mutable_movement_sensor_name();
+  void set_allocated_movement_sensor_name(::viam::common::v1::ResourceName* movement_sensor_name);
+  private:
+  const ::viam::common::v1::ResourceName& _internal_movement_sensor_name() const;
+  ::viam::common::v1::ResourceName* _internal_mutable_movement_sensor_name();
+  public:
+  void unsafe_arena_set_allocated_movement_sensor_name(
+      ::viam::common::v1::ResourceName* movement_sensor_name);
+  ::viam::common::v1::ResourceName* unsafe_arena_release_movement_sensor_name();
+
+  // optional .viam.service.motion.v1.MotionConfiguration motion_configuration = 7 [json_name = "motionConfiguration"];
+  bool has_motion_configuration() const;
+  private:
+  bool _internal_has_motion_configuration() const;
+  public:
+  void clear_motion_configuration();
+  const ::viam::service::motion::v1::MotionConfiguration& motion_configuration() const;
+  PROTOBUF_NODISCARD ::viam::service::motion::v1::MotionConfiguration* release_motion_configuration();
+  ::viam::service::motion::v1::MotionConfiguration* mutable_motion_configuration();
+  void set_allocated_motion_configuration(::viam::service::motion::v1::MotionConfiguration* motion_configuration);
+  private:
+  const ::viam::service::motion::v1::MotionConfiguration& _internal_motion_configuration() const;
+  ::viam::service::motion::v1::MotionConfiguration* _internal_mutable_motion_configuration();
+  public:
+  void unsafe_arena_set_allocated_motion_configuration(
+      ::viam::service::motion::v1::MotionConfiguration* motion_configuration);
+  ::viam::service::motion::v1::MotionConfiguration* unsafe_arena_release_motion_configuration();
+
   // .google.protobuf.Struct extra = 99 [json_name = "extra"];
   bool has_extra() const;
   private:
@@ -1745,41 +1882,58 @@ class GetPoseRequest final :
       ::PROTOBUF_NAMESPACE_ID::Struct* extra);
   ::PROTOBUF_NAMESPACE_ID::Struct* unsafe_arena_release_extra();
 
-  // @@protoc_insertion_point(class_scope:viam.service.motion.v1.GetPoseRequest)
+  // optional double heading = 3 [json_name = "heading"];
+  bool has_heading() const;
+  private:
+  bool _internal_has_heading() const;
+  public:
+  void clear_heading();
+  double heading() const;
+  void set_heading(double value);
+  private:
+  double _internal_heading() const;
+  void _internal_set_heading(double value);
+  public:
+
+  // @@protoc_insertion_point(class_scope:viam.service.motion.v1.MoveOnGlobeNewRequest)
  private:
   class _Internal;
 
   template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
   typedef void InternalArenaConstructable_;
   typedef void DestructorSkippable_;
-  ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::common::v1::Transform > supplemental_transforms_;
+  ::PROTOBUF_NAMESPACE_ID::internal::HasBits<1> _has_bits_;
+  mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
+  ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::common::v1::GeoObstacle > obstacles_;
   ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr name_;
-  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr destination_frame_;
+  ::viam::common::v1::GeoPoint* destination_;
   ::viam::common::v1::ResourceName* component_name_;
+  ::viam::common::v1::ResourceName* movement_sensor_name_;
+  ::viam::service::motion::v1::MotionConfiguration* motion_configuration_;
   ::PROTOBUF_NAMESPACE_ID::Struct* extra_;
-  mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
+  double heading_;
   friend struct ::TableStruct_service_2fmotion_2fv1_2fmotion_2eproto;
 };
 // -------------------------------------------------------------------
 
-class GetPoseResponse final :
-    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.service.motion.v1.GetPoseResponse) */ {
+class MoveOnGlobeNewResponse final :
+    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.service.motion.v1.MoveOnGlobeNewResponse) */ {
  public:
-  inline GetPoseResponse() : GetPoseResponse(nullptr) {}
-  ~GetPoseResponse() override;
-  explicit PROTOBUF_CONSTEXPR GetPoseResponse(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
+  inline MoveOnGlobeNewResponse() : MoveOnGlobeNewResponse(nullptr) {}
+  ~MoveOnGlobeNewResponse() override;
+  explicit PROTOBUF_CONSTEXPR MoveOnGlobeNewResponse(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
 
-  GetPoseResponse(const GetPoseResponse& from);
-  GetPoseResponse(GetPoseResponse&& from) noexcept
-    : GetPoseResponse() {
+  MoveOnGlobeNewResponse(const MoveOnGlobeNewResponse& from);
+  MoveOnGlobeNewResponse(MoveOnGlobeNewResponse&& from) noexcept
+    : MoveOnGlobeNewResponse() {
     *this = ::std::move(from);
   }
 
-  inline GetPoseResponse& operator=(const GetPoseResponse& from) {
+  inline MoveOnGlobeNewResponse& operator=(const MoveOnGlobeNewResponse& from) {
     CopyFrom(from);
     return *this;
   }
-  inline GetPoseResponse& operator=(GetPoseResponse&& from) noexcept {
+  inline MoveOnGlobeNewResponse& operator=(MoveOnGlobeNewResponse&& from) noexcept {
     if (this == &from) return *this;
     if (GetOwningArena() == from.GetOwningArena()
   #ifdef PROTOBUF_FORCE_COPY_IN_MOVE
@@ -1802,20 +1956,20 @@ class GetPoseResponse final :
   static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
     return default_instance().GetMetadata().reflection;
   }
-  static const GetPoseResponse& default_instance() {
+  static const MoveOnGlobeNewResponse& default_instance() {
     return *internal_default_instance();
   }
-  static inline const GetPoseResponse* internal_default_instance() {
-    return reinterpret_cast<const GetPoseResponse*>(
-               &_GetPoseResponse_default_instance_);
+  static inline const MoveOnGlobeNewResponse* internal_default_instance() {
+    return reinterpret_cast<const MoveOnGlobeNewResponse*>(
+               &_MoveOnGlobeNewResponse_default_instance_);
   }
   static constexpr int kIndexInFileMessages =
     8;
 
-  friend void swap(GetPoseResponse& a, GetPoseResponse& b) {
+  friend void swap(MoveOnGlobeNewResponse& a, MoveOnGlobeNewResponse& b) {
     a.Swap(&b);
   }
-  inline void Swap(GetPoseResponse* other) {
+  inline void Swap(MoveOnGlobeNewResponse* other) {
     if (other == this) return;
   #ifdef PROTOBUF_FORCE_COPY_IN_SWAP
     if (GetOwningArena() != nullptr &&
@@ -1828,7 +1982,7 @@ class GetPoseResponse final :
       ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
     }
   }
-  void UnsafeArenaSwap(GetPoseResponse* other) {
+  void UnsafeArenaSwap(MoveOnGlobeNewResponse* other) {
     if (other == this) return;
     GOOGLE_DCHECK(GetOwningArena() == other->GetOwningArena());
     InternalSwap(other);
@@ -1836,13 +1990,13 @@ class GetPoseResponse final :
 
   // implements Message ----------------------------------------------
 
-  GetPoseResponse* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
-    return CreateMaybeMessage<GetPoseResponse>(arena);
+  MoveOnGlobeNewResponse* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
+    return CreateMaybeMessage<MoveOnGlobeNewResponse>(arena);
   }
   using ::PROTOBUF_NAMESPACE_ID::Message::CopyFrom;
-  void CopyFrom(const GetPoseResponse& from);
+  void CopyFrom(const MoveOnGlobeNewResponse& from);
   using ::PROTOBUF_NAMESPACE_ID::Message::MergeFrom;
-  void MergeFrom(const GetPoseResponse& from);
+  void MergeFrom(const MoveOnGlobeNewResponse& from);
   private:
   static void MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to, const ::PROTOBUF_NAMESPACE_ID::Message& from);
   public:
@@ -1859,15 +2013,15 @@ class GetPoseResponse final :
   void SharedCtor();
   void SharedDtor();
   void SetCachedSize(int size) const final;
-  void InternalSwap(GetPoseResponse* other);
+  void InternalSwap(MoveOnGlobeNewResponse* other);
 
   private:
   friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
   static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
-    return "viam.service.motion.v1.GetPoseResponse";
+    return "viam.service.motion.v1.MoveOnGlobeNewResponse";
   }
   protected:
-  explicit GetPoseResponse(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+  explicit MoveOnGlobeNewResponse(::PROTOBUF_NAMESPACE_ID::Arena* arena,
                        bool is_message_owned = false);
   public:
 
@@ -1881,57 +2035,53 @@ class GetPoseResponse final :
   // accessors -------------------------------------------------------
 
   enum : int {
-    kPoseFieldNumber = 1,
+    kExecutionIdFieldNumber = 1,
   };
-  // .viam.common.v1.PoseInFrame pose = 1 [json_name = "pose"];
-  bool has_pose() const;
-  private:
-  bool _internal_has_pose() const;
-  public:
-  void clear_pose();
-  const ::viam::common::v1::PoseInFrame& pose() const;
-  PROTOBUF_NODISCARD ::viam::common::v1::PoseInFrame* release_pose();
-  ::viam::common::v1::PoseInFrame* mutable_pose();
-  void set_allocated_pose(::viam::common::v1::PoseInFrame* pose);
+  // string execution_id = 1 [json_name = "executionId"];
+  void clear_execution_id();
+  const std::string& execution_id() const;
+  template <typename ArgT0 = const std::string&, typename... ArgT>
+  void set_execution_id(ArgT0&& arg0, ArgT... args);
+  std::string* mutable_execution_id();
+  PROTOBUF_NODISCARD std::string* release_execution_id();
+  void set_allocated_execution_id(std::string* execution_id);
   private:
-  const ::viam::common::v1::PoseInFrame& _internal_pose() const;
-  ::viam::common::v1::PoseInFrame* _internal_mutable_pose();
+  const std::string& _internal_execution_id() const;
+  inline PROTOBUF_ALWAYS_INLINE void _internal_set_execution_id(const std::string& value);
+  std::string* _internal_mutable_execution_id();
   public:
-  void unsafe_arena_set_allocated_pose(
-      ::viam::common::v1::PoseInFrame* pose);
-  ::viam::common::v1::PoseInFrame* unsafe_arena_release_pose();
 
-  // @@protoc_insertion_point(class_scope:viam.service.motion.v1.GetPoseResponse)
+  // @@protoc_insertion_point(class_scope:viam.service.motion.v1.MoveOnGlobeNewResponse)
  private:
   class _Internal;
 
   template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
   typedef void InternalArenaConstructable_;
   typedef void DestructorSkippable_;
-  ::viam::common::v1::PoseInFrame* pose_;
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr execution_id_;
   mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
   friend struct ::TableStruct_service_2fmotion_2fv1_2fmotion_2eproto;
 };
 // -------------------------------------------------------------------
 
-class Constraints final :
-    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.service.motion.v1.Constraints) */ {
+class GetPoseRequest final :
+    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.service.motion.v1.GetPoseRequest) */ {
  public:
-  inline Constraints() : Constraints(nullptr) {}
-  ~Constraints() override;
-  explicit PROTOBUF_CONSTEXPR Constraints(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
+  inline GetPoseRequest() : GetPoseRequest(nullptr) {}
+  ~GetPoseRequest() override;
+  explicit PROTOBUF_CONSTEXPR GetPoseRequest(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
 
-  Constraints(const Constraints& from);
-  Constraints(Constraints&& from) noexcept
-    : Constraints() {
+  GetPoseRequest(const GetPoseRequest& from);
+  GetPoseRequest(GetPoseRequest&& from) noexcept
+    : GetPoseRequest() {
     *this = ::std::move(from);
   }
 
-  inline Constraints& operator=(const Constraints& from) {
+  inline GetPoseRequest& operator=(const GetPoseRequest& from) {
     CopyFrom(from);
     return *this;
   }
-  inline Constraints& operator=(Constraints&& from) noexcept {
+  inline GetPoseRequest& operator=(GetPoseRequest&& from) noexcept {
     if (this == &from) return *this;
     if (GetOwningArena() == from.GetOwningArena()
   #ifdef PROTOBUF_FORCE_COPY_IN_MOVE
@@ -1954,20 +2104,20 @@ class Constraints final :
   static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
     return default_instance().GetMetadata().reflection;
   }
-  static const Constraints& default_instance() {
+  static const GetPoseRequest& default_instance() {
     return *internal_default_instance();
   }
-  static inline const Constraints* internal_default_instance() {
-    return reinterpret_cast<const Constraints*>(
-               &_Constraints_default_instance_);
+  static inline const GetPoseRequest* internal_default_instance() {
+    return reinterpret_cast<const GetPoseRequest*>(
+               &_GetPoseRequest_default_instance_);
   }
   static constexpr int kIndexInFileMessages =
     9;
 
-  friend void swap(Constraints& a, Constraints& b) {
+  friend void swap(GetPoseRequest& a, GetPoseRequest& b) {
     a.Swap(&b);
   }
-  inline void Swap(Constraints* other) {
+  inline void Swap(GetPoseRequest* other) {
     if (other == this) return;
   #ifdef PROTOBUF_FORCE_COPY_IN_SWAP
     if (GetOwningArena() != nullptr &&
@@ -1980,7 +2130,7 @@ class Constraints final :
       ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
     }
   }
-  void UnsafeArenaSwap(Constraints* other) {
+  void UnsafeArenaSwap(GetPoseRequest* other) {
     if (other == this) return;
     GOOGLE_DCHECK(GetOwningArena() == other->GetOwningArena());
     InternalSwap(other);
@@ -1988,13 +2138,13 @@ class Constraints final :
 
   // implements Message ----------------------------------------------
 
-  Constraints* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
-    return CreateMaybeMessage<Constraints>(arena);
+  GetPoseRequest* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
+    return CreateMaybeMessage<GetPoseRequest>(arena);
   }
   using ::PROTOBUF_NAMESPACE_ID::Message::CopyFrom;
-  void CopyFrom(const Constraints& from);
+  void CopyFrom(const GetPoseRequest& from);
   using ::PROTOBUF_NAMESPACE_ID::Message::MergeFrom;
-  void MergeFrom(const Constraints& from);
+  void MergeFrom(const GetPoseRequest& from);
   private:
   static void MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to, const ::PROTOBUF_NAMESPACE_ID::Message& from);
   public:
@@ -2011,15 +2161,15 @@ class Constraints final :
   void SharedCtor();
   void SharedDtor();
   void SetCachedSize(int size) const final;
-  void InternalSwap(Constraints* other);
+  void InternalSwap(GetPoseRequest* other);
 
   private:
   friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
   static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
-    return "viam.service.motion.v1.Constraints";
+    return "viam.service.motion.v1.GetPoseRequest";
   }
   protected:
-  explicit Constraints(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+  explicit GetPoseRequest(::PROTOBUF_NAMESPACE_ID::Arena* arena,
                        bool is_message_owned = false);
   public:
 
@@ -2033,97 +2183,129 @@ class Constraints final :
   // accessors -------------------------------------------------------
 
   enum : int {
-    kLinearConstraintFieldNumber = 1,
-    kOrientationConstraintFieldNumber = 2,
-    kCollisionSpecificationFieldNumber = 3,
+    kSupplementalTransformsFieldNumber = 4,
+    kNameFieldNumber = 1,
+    kDestinationFrameFieldNumber = 3,
+    kComponentNameFieldNumber = 2,
+    kExtraFieldNumber = 99,
   };
-  // repeated .viam.service.motion.v1.LinearConstraint linear_constraint = 1 [json_name = "linearConstraint"];
-  int linear_constraint_size() const;
+  // repeated .viam.common.v1.Transform supplemental_transforms = 4 [json_name = "supplementalTransforms"];
+  int supplemental_transforms_size() const;
   private:
-  int _internal_linear_constraint_size() const;
+  int _internal_supplemental_transforms_size() const;
   public:
-  void clear_linear_constraint();
-  ::viam::service::motion::v1::LinearConstraint* mutable_linear_constraint(int index);
-  ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::LinearConstraint >*
-      mutable_linear_constraint();
+  void clear_supplemental_transforms();
+  ::viam::common::v1::Transform* mutable_supplemental_transforms(int index);
+  ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::common::v1::Transform >*
+      mutable_supplemental_transforms();
   private:
-  const ::viam::service::motion::v1::LinearConstraint& _internal_linear_constraint(int index) const;
-  ::viam::service::motion::v1::LinearConstraint* _internal_add_linear_constraint();
+  const ::viam::common::v1::Transform& _internal_supplemental_transforms(int index) const;
+  ::viam::common::v1::Transform* _internal_add_supplemental_transforms();
   public:
-  const ::viam::service::motion::v1::LinearConstraint& linear_constraint(int index) const;
-  ::viam::service::motion::v1::LinearConstraint* add_linear_constraint();
-  const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::LinearConstraint >&
-      linear_constraint() const;
+  const ::viam::common::v1::Transform& supplemental_transforms(int index) const;
+  ::viam::common::v1::Transform* add_supplemental_transforms();
+  const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::common::v1::Transform >&
+      supplemental_transforms() const;
 
-  // repeated .viam.service.motion.v1.OrientationConstraint orientation_constraint = 2 [json_name = "orientationConstraint"];
-  int orientation_constraint_size() const;
+  // string name = 1 [json_name = "name"];
+  void clear_name();
+  const std::string& name() const;
+  template <typename ArgT0 = const std::string&, typename... ArgT>
+  void set_name(ArgT0&& arg0, ArgT... args);
+  std::string* mutable_name();
+  PROTOBUF_NODISCARD std::string* release_name();
+  void set_allocated_name(std::string* name);
   private:
-  int _internal_orientation_constraint_size() const;
+  const std::string& _internal_name() const;
+  inline PROTOBUF_ALWAYS_INLINE void _internal_set_name(const std::string& value);
+  std::string* _internal_mutable_name();
   public:
-  void clear_orientation_constraint();
-  ::viam::service::motion::v1::OrientationConstraint* mutable_orientation_constraint(int index);
-  ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::OrientationConstraint >*
-      mutable_orientation_constraint();
+
+  // string destination_frame = 3 [json_name = "destinationFrame"];
+  void clear_destination_frame();
+  const std::string& destination_frame() const;
+  template <typename ArgT0 = const std::string&, typename... ArgT>
+  void set_destination_frame(ArgT0&& arg0, ArgT... args);
+  std::string* mutable_destination_frame();
+  PROTOBUF_NODISCARD std::string* release_destination_frame();
+  void set_allocated_destination_frame(std::string* destination_frame);
   private:
-  const ::viam::service::motion::v1::OrientationConstraint& _internal_orientation_constraint(int index) const;
-  ::viam::service::motion::v1::OrientationConstraint* _internal_add_orientation_constraint();
+  const std::string& _internal_destination_frame() const;
+  inline PROTOBUF_ALWAYS_INLINE void _internal_set_destination_frame(const std::string& value);
+  std::string* _internal_mutable_destination_frame();
   public:
-  const ::viam::service::motion::v1::OrientationConstraint& orientation_constraint(int index) const;
-  ::viam::service::motion::v1::OrientationConstraint* add_orientation_constraint();
-  const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::OrientationConstraint >&
-      orientation_constraint() const;
 
-  // repeated .viam.service.motion.v1.CollisionSpecification collision_specification = 3 [json_name = "collisionSpecification"];
-  int collision_specification_size() const;
+  // .viam.common.v1.ResourceName component_name = 2 [json_name = "componentName"];
+  bool has_component_name() const;
   private:
-  int _internal_collision_specification_size() const;
+  bool _internal_has_component_name() const;
   public:
-  void clear_collision_specification();
-  ::viam::service::motion::v1::CollisionSpecification* mutable_collision_specification(int index);
-  ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::CollisionSpecification >*
-      mutable_collision_specification();
+  void clear_component_name();
+  const ::viam::common::v1::ResourceName& component_name() const;
+  PROTOBUF_NODISCARD ::viam::common::v1::ResourceName* release_component_name();
+  ::viam::common::v1::ResourceName* mutable_component_name();
+  void set_allocated_component_name(::viam::common::v1::ResourceName* component_name);
   private:
-  const ::viam::service::motion::v1::CollisionSpecification& _internal_collision_specification(int index) const;
-  ::viam::service::motion::v1::CollisionSpecification* _internal_add_collision_specification();
+  const ::viam::common::v1::ResourceName& _internal_component_name() const;
+  ::viam::common::v1::ResourceName* _internal_mutable_component_name();
   public:
-  const ::viam::service::motion::v1::CollisionSpecification& collision_specification(int index) const;
-  ::viam::service::motion::v1::CollisionSpecification* add_collision_specification();
-  const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::CollisionSpecification >&
-      collision_specification() const;
+  void unsafe_arena_set_allocated_component_name(
+      ::viam::common::v1::ResourceName* component_name);
+  ::viam::common::v1::ResourceName* unsafe_arena_release_component_name();
 
-  // @@protoc_insertion_point(class_scope:viam.service.motion.v1.Constraints)
+  // .google.protobuf.Struct extra = 99 [json_name = "extra"];
+  bool has_extra() const;
+  private:
+  bool _internal_has_extra() const;
+  public:
+  void clear_extra();
+  const ::PROTOBUF_NAMESPACE_ID::Struct& extra() const;
+  PROTOBUF_NODISCARD ::PROTOBUF_NAMESPACE_ID::Struct* release_extra();
+  ::PROTOBUF_NAMESPACE_ID::Struct* mutable_extra();
+  void set_allocated_extra(::PROTOBUF_NAMESPACE_ID::Struct* extra);
+  private:
+  const ::PROTOBUF_NAMESPACE_ID::Struct& _internal_extra() const;
+  ::PROTOBUF_NAMESPACE_ID::Struct* _internal_mutable_extra();
+  public:
+  void unsafe_arena_set_allocated_extra(
+      ::PROTOBUF_NAMESPACE_ID::Struct* extra);
+  ::PROTOBUF_NAMESPACE_ID::Struct* unsafe_arena_release_extra();
+
+  // @@protoc_insertion_point(class_scope:viam.service.motion.v1.GetPoseRequest)
  private:
   class _Internal;
 
   template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
   typedef void InternalArenaConstructable_;
   typedef void DestructorSkippable_;
-  ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::LinearConstraint > linear_constraint_;
-  ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::OrientationConstraint > orientation_constraint_;
-  ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::CollisionSpecification > collision_specification_;
+  ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::common::v1::Transform > supplemental_transforms_;
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr name_;
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr destination_frame_;
+  ::viam::common::v1::ResourceName* component_name_;
+  ::PROTOBUF_NAMESPACE_ID::Struct* extra_;
   mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
   friend struct ::TableStruct_service_2fmotion_2fv1_2fmotion_2eproto;
 };
 // -------------------------------------------------------------------
 
-class LinearConstraint final :
-    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.service.motion.v1.LinearConstraint) */ {
+class GetPoseResponse final :
+    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.service.motion.v1.GetPoseResponse) */ {
  public:
-  inline LinearConstraint() : LinearConstraint(nullptr) {}
-  ~LinearConstraint() override;
-  explicit PROTOBUF_CONSTEXPR LinearConstraint(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
+  inline GetPoseResponse() : GetPoseResponse(nullptr) {}
+  ~GetPoseResponse() override;
+  explicit PROTOBUF_CONSTEXPR GetPoseResponse(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
 
-  LinearConstraint(const LinearConstraint& from);
-  LinearConstraint(LinearConstraint&& from) noexcept
-    : LinearConstraint() {
+  GetPoseResponse(const GetPoseResponse& from);
+  GetPoseResponse(GetPoseResponse&& from) noexcept
+    : GetPoseResponse() {
     *this = ::std::move(from);
   }
 
-  inline LinearConstraint& operator=(const LinearConstraint& from) {
+  inline GetPoseResponse& operator=(const GetPoseResponse& from) {
     CopyFrom(from);
     return *this;
   }
-  inline LinearConstraint& operator=(LinearConstraint&& from) noexcept {
+  inline GetPoseResponse& operator=(GetPoseResponse&& from) noexcept {
     if (this == &from) return *this;
     if (GetOwningArena() == from.GetOwningArena()
   #ifdef PROTOBUF_FORCE_COPY_IN_MOVE
@@ -2146,20 +2328,20 @@ class LinearConstraint final :
   static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
     return default_instance().GetMetadata().reflection;
   }
-  static const LinearConstraint& default_instance() {
+  static const GetPoseResponse& default_instance() {
     return *internal_default_instance();
   }
-  static inline const LinearConstraint* internal_default_instance() {
-    return reinterpret_cast<const LinearConstraint*>(
-               &_LinearConstraint_default_instance_);
+  static inline const GetPoseResponse* internal_default_instance() {
+    return reinterpret_cast<const GetPoseResponse*>(
+               &_GetPoseResponse_default_instance_);
   }
   static constexpr int kIndexInFileMessages =
     10;
 
-  friend void swap(LinearConstraint& a, LinearConstraint& b) {
+  friend void swap(GetPoseResponse& a, GetPoseResponse& b) {
     a.Swap(&b);
   }
-  inline void Swap(LinearConstraint* other) {
+  inline void Swap(GetPoseResponse* other) {
     if (other == this) return;
   #ifdef PROTOBUF_FORCE_COPY_IN_SWAP
     if (GetOwningArena() != nullptr &&
@@ -2172,7 +2354,7 @@ class LinearConstraint final :
       ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
     }
   }
-  void UnsafeArenaSwap(LinearConstraint* other) {
+  void UnsafeArenaSwap(GetPoseResponse* other) {
     if (other == this) return;
     GOOGLE_DCHECK(GetOwningArena() == other->GetOwningArena());
     InternalSwap(other);
@@ -2180,13 +2362,13 @@ class LinearConstraint final :
 
   // implements Message ----------------------------------------------
 
-  LinearConstraint* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
-    return CreateMaybeMessage<LinearConstraint>(arena);
+  GetPoseResponse* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
+    return CreateMaybeMessage<GetPoseResponse>(arena);
   }
   using ::PROTOBUF_NAMESPACE_ID::Message::CopyFrom;
-  void CopyFrom(const LinearConstraint& from);
+  void CopyFrom(const GetPoseResponse& from);
   using ::PROTOBUF_NAMESPACE_ID::Message::MergeFrom;
-  void MergeFrom(const LinearConstraint& from);
+  void MergeFrom(const GetPoseResponse& from);
   private:
   static void MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to, const ::PROTOBUF_NAMESPACE_ID::Message& from);
   public:
@@ -2203,15 +2385,15 @@ class LinearConstraint final :
   void SharedCtor();
   void SharedDtor();
   void SetCachedSize(int size) const final;
-  void InternalSwap(LinearConstraint* other);
+  void InternalSwap(GetPoseResponse* other);
 
   private:
   friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
   static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
-    return "viam.service.motion.v1.LinearConstraint";
+    return "viam.service.motion.v1.GetPoseResponse";
   }
   protected:
-  explicit LinearConstraint(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+  explicit GetPoseResponse(::PROTOBUF_NAMESPACE_ID::Arena* arena,
                        bool is_message_owned = false);
   public:
 
@@ -2225,68 +2407,57 @@ class LinearConstraint final :
   // accessors -------------------------------------------------------
 
   enum : int {
-    kLineToleranceMmFieldNumber = 1,
-    kOrientationToleranceDegsFieldNumber = 2,
+    kPoseFieldNumber = 1,
   };
-  // optional float line_tolerance_mm = 1 [json_name = "lineToleranceMm"];
-  bool has_line_tolerance_mm() const;
-  private:
-  bool _internal_has_line_tolerance_mm() const;
-  public:
-  void clear_line_tolerance_mm();
-  float line_tolerance_mm() const;
-  void set_line_tolerance_mm(float value);
-  private:
-  float _internal_line_tolerance_mm() const;
-  void _internal_set_line_tolerance_mm(float value);
-  public:
-
-  // optional float orientation_tolerance_degs = 2 [json_name = "orientationToleranceDegs"];
-  bool has_orientation_tolerance_degs() const;
+  // .viam.common.v1.PoseInFrame pose = 1 [json_name = "pose"];
+  bool has_pose() const;
   private:
-  bool _internal_has_orientation_tolerance_degs() const;
+  bool _internal_has_pose() const;
   public:
-  void clear_orientation_tolerance_degs();
-  float orientation_tolerance_degs() const;
-  void set_orientation_tolerance_degs(float value);
+  void clear_pose();
+  const ::viam::common::v1::PoseInFrame& pose() const;
+  PROTOBUF_NODISCARD ::viam::common::v1::PoseInFrame* release_pose();
+  ::viam::common::v1::PoseInFrame* mutable_pose();
+  void set_allocated_pose(::viam::common::v1::PoseInFrame* pose);
   private:
-  float _internal_orientation_tolerance_degs() const;
-  void _internal_set_orientation_tolerance_degs(float value);
+  const ::viam::common::v1::PoseInFrame& _internal_pose() const;
+  ::viam::common::v1::PoseInFrame* _internal_mutable_pose();
   public:
+  void unsafe_arena_set_allocated_pose(
+      ::viam::common::v1::PoseInFrame* pose);
+  ::viam::common::v1::PoseInFrame* unsafe_arena_release_pose();
 
-  // @@protoc_insertion_point(class_scope:viam.service.motion.v1.LinearConstraint)
+  // @@protoc_insertion_point(class_scope:viam.service.motion.v1.GetPoseResponse)
  private:
   class _Internal;
 
   template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
   typedef void InternalArenaConstructable_;
   typedef void DestructorSkippable_;
-  ::PROTOBUF_NAMESPACE_ID::internal::HasBits<1> _has_bits_;
+  ::viam::common::v1::PoseInFrame* pose_;
   mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
-  float line_tolerance_mm_;
-  float orientation_tolerance_degs_;
   friend struct ::TableStruct_service_2fmotion_2fv1_2fmotion_2eproto;
 };
 // -------------------------------------------------------------------
 
-class OrientationConstraint final :
-    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.service.motion.v1.OrientationConstraint) */ {
+class StopPlanRequest final :
+    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.service.motion.v1.StopPlanRequest) */ {
  public:
-  inline OrientationConstraint() : OrientationConstraint(nullptr) {}
-  ~OrientationConstraint() override;
-  explicit PROTOBUF_CONSTEXPR OrientationConstraint(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
+  inline StopPlanRequest() : StopPlanRequest(nullptr) {}
+  ~StopPlanRequest() override;
+  explicit PROTOBUF_CONSTEXPR StopPlanRequest(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
 
-  OrientationConstraint(const OrientationConstraint& from);
-  OrientationConstraint(OrientationConstraint&& from) noexcept
-    : OrientationConstraint() {
+  StopPlanRequest(const StopPlanRequest& from);
+  StopPlanRequest(StopPlanRequest&& from) noexcept
+    : StopPlanRequest() {
     *this = ::std::move(from);
   }
 
-  inline OrientationConstraint& operator=(const OrientationConstraint& from) {
+  inline StopPlanRequest& operator=(const StopPlanRequest& from) {
     CopyFrom(from);
     return *this;
   }
-  inline OrientationConstraint& operator=(OrientationConstraint&& from) noexcept {
+  inline StopPlanRequest& operator=(StopPlanRequest&& from) noexcept {
     if (this == &from) return *this;
     if (GetOwningArena() == from.GetOwningArena()
   #ifdef PROTOBUF_FORCE_COPY_IN_MOVE
@@ -2309,20 +2480,20 @@ class OrientationConstraint final :
   static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
     return default_instance().GetMetadata().reflection;
   }
-  static const OrientationConstraint& default_instance() {
+  static const StopPlanRequest& default_instance() {
     return *internal_default_instance();
   }
-  static inline const OrientationConstraint* internal_default_instance() {
-    return reinterpret_cast<const OrientationConstraint*>(
-               &_OrientationConstraint_default_instance_);
+  static inline const StopPlanRequest* internal_default_instance() {
+    return reinterpret_cast<const StopPlanRequest*>(
+               &_StopPlanRequest_default_instance_);
   }
   static constexpr int kIndexInFileMessages =
     11;
 
-  friend void swap(OrientationConstraint& a, OrientationConstraint& b) {
+  friend void swap(StopPlanRequest& a, StopPlanRequest& b) {
     a.Swap(&b);
   }
-  inline void Swap(OrientationConstraint* other) {
+  inline void Swap(StopPlanRequest* other) {
     if (other == this) return;
   #ifdef PROTOBUF_FORCE_COPY_IN_SWAP
     if (GetOwningArena() != nullptr &&
@@ -2335,7 +2506,7 @@ class OrientationConstraint final :
       ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
     }
   }
-  void UnsafeArenaSwap(OrientationConstraint* other) {
+  void UnsafeArenaSwap(StopPlanRequest* other) {
     if (other == this) return;
     GOOGLE_DCHECK(GetOwningArena() == other->GetOwningArena());
     InternalSwap(other);
@@ -2343,13 +2514,13 @@ class OrientationConstraint final :
 
   // implements Message ----------------------------------------------
 
-  OrientationConstraint* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
-    return CreateMaybeMessage<OrientationConstraint>(arena);
+  StopPlanRequest* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
+    return CreateMaybeMessage<StopPlanRequest>(arena);
   }
   using ::PROTOBUF_NAMESPACE_ID::Message::CopyFrom;
-  void CopyFrom(const OrientationConstraint& from);
+  void CopyFrom(const StopPlanRequest& from);
   using ::PROTOBUF_NAMESPACE_ID::Message::MergeFrom;
-  void MergeFrom(const OrientationConstraint& from);
+  void MergeFrom(const StopPlanRequest& from);
   private:
   static void MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to, const ::PROTOBUF_NAMESPACE_ID::Message& from);
   public:
@@ -2366,15 +2537,15 @@ class OrientationConstraint final :
   void SharedCtor();
   void SharedDtor();
   void SetCachedSize(int size) const final;
-  void InternalSwap(OrientationConstraint* other);
+  void InternalSwap(StopPlanRequest* other);
 
   private:
   friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
   static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
-    return "viam.service.motion.v1.OrientationConstraint";
+    return "viam.service.motion.v1.StopPlanRequest";
   }
   protected:
-  explicit OrientationConstraint(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+  explicit StopPlanRequest(::PROTOBUF_NAMESPACE_ID::Arena* arena,
                        bool is_message_owned = false);
   public:
 
@@ -2388,53 +2559,92 @@ class OrientationConstraint final :
   // accessors -------------------------------------------------------
 
   enum : int {
-    kOrientationToleranceDegsFieldNumber = 1,
+    kNameFieldNumber = 1,
+    kComponentNameFieldNumber = 2,
+    kExtraFieldNumber = 99,
   };
-  // optional float orientation_tolerance_degs = 1 [json_name = "orientationToleranceDegs"];
-  bool has_orientation_tolerance_degs() const;
+  // string name = 1 [json_name = "name"];
+  void clear_name();
+  const std::string& name() const;
+  template <typename ArgT0 = const std::string&, typename... ArgT>
+  void set_name(ArgT0&& arg0, ArgT... args);
+  std::string* mutable_name();
+  PROTOBUF_NODISCARD std::string* release_name();
+  void set_allocated_name(std::string* name);
   private:
-  bool _internal_has_orientation_tolerance_degs() const;
+  const std::string& _internal_name() const;
+  inline PROTOBUF_ALWAYS_INLINE void _internal_set_name(const std::string& value);
+  std::string* _internal_mutable_name();
   public:
-  void clear_orientation_tolerance_degs();
-  float orientation_tolerance_degs() const;
-  void set_orientation_tolerance_degs(float value);
+
+  // .viam.common.v1.ResourceName component_name = 2 [json_name = "componentName"];
+  bool has_component_name() const;
   private:
-  float _internal_orientation_tolerance_degs() const;
-  void _internal_set_orientation_tolerance_degs(float value);
+  bool _internal_has_component_name() const;
   public:
-
-  // @@protoc_insertion_point(class_scope:viam.service.motion.v1.OrientationConstraint)
- private:
-  class _Internal;
-
-  template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
+  void clear_component_name();
+  const ::viam::common::v1::ResourceName& component_name() const;
+  PROTOBUF_NODISCARD ::viam::common::v1::ResourceName* release_component_name();
+  ::viam::common::v1::ResourceName* mutable_component_name();
+  void set_allocated_component_name(::viam::common::v1::ResourceName* component_name);
+  private:
+  const ::viam::common::v1::ResourceName& _internal_component_name() const;
+  ::viam::common::v1::ResourceName* _internal_mutable_component_name();
+  public:
+  void unsafe_arena_set_allocated_component_name(
+      ::viam::common::v1::ResourceName* component_name);
+  ::viam::common::v1::ResourceName* unsafe_arena_release_component_name();
+
+  // .google.protobuf.Struct extra = 99 [json_name = "extra"];
+  bool has_extra() const;
+  private:
+  bool _internal_has_extra() const;
+  public:
+  void clear_extra();
+  const ::PROTOBUF_NAMESPACE_ID::Struct& extra() const;
+  PROTOBUF_NODISCARD ::PROTOBUF_NAMESPACE_ID::Struct* release_extra();
+  ::PROTOBUF_NAMESPACE_ID::Struct* mutable_extra();
+  void set_allocated_extra(::PROTOBUF_NAMESPACE_ID::Struct* extra);
+  private:
+  const ::PROTOBUF_NAMESPACE_ID::Struct& _internal_extra() const;
+  ::PROTOBUF_NAMESPACE_ID::Struct* _internal_mutable_extra();
+  public:
+  void unsafe_arena_set_allocated_extra(
+      ::PROTOBUF_NAMESPACE_ID::Struct* extra);
+  ::PROTOBUF_NAMESPACE_ID::Struct* unsafe_arena_release_extra();
+
+  // @@protoc_insertion_point(class_scope:viam.service.motion.v1.StopPlanRequest)
+ private:
+  class _Internal;
+
+  template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
   typedef void InternalArenaConstructable_;
   typedef void DestructorSkippable_;
-  ::PROTOBUF_NAMESPACE_ID::internal::HasBits<1> _has_bits_;
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr name_;
+  ::viam::common::v1::ResourceName* component_name_;
+  ::PROTOBUF_NAMESPACE_ID::Struct* extra_;
   mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
-  float orientation_tolerance_degs_;
   friend struct ::TableStruct_service_2fmotion_2fv1_2fmotion_2eproto;
 };
 // -------------------------------------------------------------------
 
-class CollisionSpecification_AllowedFrameCollisions final :
-    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions) */ {
+class StopPlanResponse final :
+    public ::PROTOBUF_NAMESPACE_ID::internal::ZeroFieldsBase /* @@protoc_insertion_point(class_definition:viam.service.motion.v1.StopPlanResponse) */ {
  public:
-  inline CollisionSpecification_AllowedFrameCollisions() : CollisionSpecification_AllowedFrameCollisions(nullptr) {}
-  ~CollisionSpecification_AllowedFrameCollisions() override;
-  explicit PROTOBUF_CONSTEXPR CollisionSpecification_AllowedFrameCollisions(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
+  inline StopPlanResponse() : StopPlanResponse(nullptr) {}
+  explicit PROTOBUF_CONSTEXPR StopPlanResponse(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
 
-  CollisionSpecification_AllowedFrameCollisions(const CollisionSpecification_AllowedFrameCollisions& from);
-  CollisionSpecification_AllowedFrameCollisions(CollisionSpecification_AllowedFrameCollisions&& from) noexcept
-    : CollisionSpecification_AllowedFrameCollisions() {
+  StopPlanResponse(const StopPlanResponse& from);
+  StopPlanResponse(StopPlanResponse&& from) noexcept
+    : StopPlanResponse() {
     *this = ::std::move(from);
   }
 
-  inline CollisionSpecification_AllowedFrameCollisions& operator=(const CollisionSpecification_AllowedFrameCollisions& from) {
+  inline StopPlanResponse& operator=(const StopPlanResponse& from) {
     CopyFrom(from);
     return *this;
   }
-  inline CollisionSpecification_AllowedFrameCollisions& operator=(CollisionSpecification_AllowedFrameCollisions&& from) noexcept {
+  inline StopPlanResponse& operator=(StopPlanResponse&& from) noexcept {
     if (this == &from) return *this;
     if (GetOwningArena() == from.GetOwningArena()
   #ifdef PROTOBUF_FORCE_COPY_IN_MOVE
@@ -2457,20 +2667,20 @@ class CollisionSpecification_AllowedFrameCollisions final :
   static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
     return default_instance().GetMetadata().reflection;
   }
-  static const CollisionSpecification_AllowedFrameCollisions& default_instance() {
+  static const StopPlanResponse& default_instance() {
     return *internal_default_instance();
   }
-  static inline const CollisionSpecification_AllowedFrameCollisions* internal_default_instance() {
-    return reinterpret_cast<const CollisionSpecification_AllowedFrameCollisions*>(
-               &_CollisionSpecification_AllowedFrameCollisions_default_instance_);
+  static inline const StopPlanResponse* internal_default_instance() {
+    return reinterpret_cast<const StopPlanResponse*>(
+               &_StopPlanResponse_default_instance_);
   }
   static constexpr int kIndexInFileMessages =
     12;
 
-  friend void swap(CollisionSpecification_AllowedFrameCollisions& a, CollisionSpecification_AllowedFrameCollisions& b) {
+  friend void swap(StopPlanResponse& a, StopPlanResponse& b) {
     a.Swap(&b);
   }
-  inline void Swap(CollisionSpecification_AllowedFrameCollisions* other) {
+  inline void Swap(StopPlanResponse* other) {
     if (other == this) return;
   #ifdef PROTOBUF_FORCE_COPY_IN_SWAP
     if (GetOwningArena() != nullptr &&
@@ -2483,7 +2693,7 @@ class CollisionSpecification_AllowedFrameCollisions final :
       ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
     }
   }
-  void UnsafeArenaSwap(CollisionSpecification_AllowedFrameCollisions* other) {
+  void UnsafeArenaSwap(StopPlanResponse* other) {
     if (other == this) return;
     GOOGLE_DCHECK(GetOwningArena() == other->GetOwningArena());
     InternalSwap(other);
@@ -2491,13 +2701,130 @@ class CollisionSpecification_AllowedFrameCollisions final :
 
   // implements Message ----------------------------------------------
 
-  CollisionSpecification_AllowedFrameCollisions* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
-    return CreateMaybeMessage<CollisionSpecification_AllowedFrameCollisions>(arena);
+  StopPlanResponse* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
+    return CreateMaybeMessage<StopPlanResponse>(arena);
+  }
+  using ::PROTOBUF_NAMESPACE_ID::internal::ZeroFieldsBase::CopyFrom;
+  inline void CopyFrom(const StopPlanResponse& from) {
+    ::PROTOBUF_NAMESPACE_ID::internal::ZeroFieldsBase::CopyImpl(this, from);
+  }
+  using ::PROTOBUF_NAMESPACE_ID::internal::ZeroFieldsBase::MergeFrom;
+  void MergeFrom(const StopPlanResponse& from) {
+    ::PROTOBUF_NAMESPACE_ID::internal::ZeroFieldsBase::MergeImpl(this, from);
+  }
+  public:
+
+  private:
+  friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
+  static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
+    return "viam.service.motion.v1.StopPlanResponse";
+  }
+  protected:
+  explicit StopPlanResponse(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                       bool is_message_owned = false);
+  public:
+
+  static const ClassData _class_data_;
+  const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*GetClassData() const final;
+
+  ::PROTOBUF_NAMESPACE_ID::Metadata GetMetadata() const final;
+
+  // nested types ----------------------------------------------------
+
+  // accessors -------------------------------------------------------
+
+  // @@protoc_insertion_point(class_scope:viam.service.motion.v1.StopPlanResponse)
+ private:
+  class _Internal;
+
+  template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
+  typedef void InternalArenaConstructable_;
+  typedef void DestructorSkippable_;
+  friend struct ::TableStruct_service_2fmotion_2fv1_2fmotion_2eproto;
+};
+// -------------------------------------------------------------------
+
+class ListPlanStatusesRequest final :
+    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.service.motion.v1.ListPlanStatusesRequest) */ {
+ public:
+  inline ListPlanStatusesRequest() : ListPlanStatusesRequest(nullptr) {}
+  ~ListPlanStatusesRequest() override;
+  explicit PROTOBUF_CONSTEXPR ListPlanStatusesRequest(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
+
+  ListPlanStatusesRequest(const ListPlanStatusesRequest& from);
+  ListPlanStatusesRequest(ListPlanStatusesRequest&& from) noexcept
+    : ListPlanStatusesRequest() {
+    *this = ::std::move(from);
+  }
+
+  inline ListPlanStatusesRequest& operator=(const ListPlanStatusesRequest& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  inline ListPlanStatusesRequest& operator=(ListPlanStatusesRequest&& from) noexcept {
+    if (this == &from) return *this;
+    if (GetOwningArena() == from.GetOwningArena()
+  #ifdef PROTOBUF_FORCE_COPY_IN_MOVE
+        && GetOwningArena() != nullptr
+  #endif  // !PROTOBUF_FORCE_COPY_IN_MOVE
+    ) {
+      InternalSwap(&from);
+    } else {
+      CopyFrom(from);
+    }
+    return *this;
+  }
+
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* descriptor() {
+    return GetDescriptor();
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* GetDescriptor() {
+    return default_instance().GetMetadata().descriptor;
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
+    return default_instance().GetMetadata().reflection;
+  }
+  static const ListPlanStatusesRequest& default_instance() {
+    return *internal_default_instance();
+  }
+  static inline const ListPlanStatusesRequest* internal_default_instance() {
+    return reinterpret_cast<const ListPlanStatusesRequest*>(
+               &_ListPlanStatusesRequest_default_instance_);
+  }
+  static constexpr int kIndexInFileMessages =
+    13;
+
+  friend void swap(ListPlanStatusesRequest& a, ListPlanStatusesRequest& b) {
+    a.Swap(&b);
+  }
+  inline void Swap(ListPlanStatusesRequest* other) {
+    if (other == this) return;
+  #ifdef PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() != nullptr &&
+        GetOwningArena() == other->GetOwningArena()) {
+   #else  // PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() == other->GetOwningArena()) {
+  #endif  // !PROTOBUF_FORCE_COPY_IN_SWAP
+      InternalSwap(other);
+    } else {
+      ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
+    }
+  }
+  void UnsafeArenaSwap(ListPlanStatusesRequest* other) {
+    if (other == this) return;
+    GOOGLE_DCHECK(GetOwningArena() == other->GetOwningArena());
+    InternalSwap(other);
+  }
+
+  // implements Message ----------------------------------------------
+
+  ListPlanStatusesRequest* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
+    return CreateMaybeMessage<ListPlanStatusesRequest>(arena);
   }
   using ::PROTOBUF_NAMESPACE_ID::Message::CopyFrom;
-  void CopyFrom(const CollisionSpecification_AllowedFrameCollisions& from);
+  void CopyFrom(const ListPlanStatusesRequest& from);
   using ::PROTOBUF_NAMESPACE_ID::Message::MergeFrom;
-  void MergeFrom(const CollisionSpecification_AllowedFrameCollisions& from);
+  void MergeFrom(const ListPlanStatusesRequest& from);
   private:
   static void MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to, const ::PROTOBUF_NAMESPACE_ID::Message& from);
   public:
@@ -2514,15 +2841,15 @@ class CollisionSpecification_AllowedFrameCollisions final :
   void SharedCtor();
   void SharedDtor();
   void SetCachedSize(int size) const final;
-  void InternalSwap(CollisionSpecification_AllowedFrameCollisions* other);
+  void InternalSwap(ListPlanStatusesRequest* other);
 
   private:
   friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
   static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
-    return "viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions";
+    return "viam.service.motion.v1.ListPlanStatusesRequest";
   }
   protected:
-  explicit CollisionSpecification_AllowedFrameCollisions(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+  explicit ListPlanStatusesRequest(::PROTOBUF_NAMESPACE_ID::Arena* arena,
                        bool is_message_owned = false);
   public:
 
@@ -2536,69 +2863,84 @@ class CollisionSpecification_AllowedFrameCollisions final :
   // accessors -------------------------------------------------------
 
   enum : int {
-    kFrame1FieldNumber = 1,
-    kFrame2FieldNumber = 2,
+    kNameFieldNumber = 1,
+    kExtraFieldNumber = 99,
+    kOnlyActivePlansFieldNumber = 2,
   };
-  // string frame1 = 1 [json_name = "frame1"];
-  void clear_frame1();
-  const std::string& frame1() const;
+  // string name = 1 [json_name = "name"];
+  void clear_name();
+  const std::string& name() const;
   template <typename ArgT0 = const std::string&, typename... ArgT>
-  void set_frame1(ArgT0&& arg0, ArgT... args);
-  std::string* mutable_frame1();
-  PROTOBUF_NODISCARD std::string* release_frame1();
-  void set_allocated_frame1(std::string* frame1);
+  void set_name(ArgT0&& arg0, ArgT... args);
+  std::string* mutable_name();
+  PROTOBUF_NODISCARD std::string* release_name();
+  void set_allocated_name(std::string* name);
   private:
-  const std::string& _internal_frame1() const;
-  inline PROTOBUF_ALWAYS_INLINE void _internal_set_frame1(const std::string& value);
-  std::string* _internal_mutable_frame1();
+  const std::string& _internal_name() const;
+  inline PROTOBUF_ALWAYS_INLINE void _internal_set_name(const std::string& value);
+  std::string* _internal_mutable_name();
   public:
 
-  // string frame2 = 2 [json_name = "frame2"];
-  void clear_frame2();
-  const std::string& frame2() const;
-  template <typename ArgT0 = const std::string&, typename... ArgT>
-  void set_frame2(ArgT0&& arg0, ArgT... args);
-  std::string* mutable_frame2();
-  PROTOBUF_NODISCARD std::string* release_frame2();
-  void set_allocated_frame2(std::string* frame2);
+  // .google.protobuf.Struct extra = 99 [json_name = "extra"];
+  bool has_extra() const;
   private:
-  const std::string& _internal_frame2() const;
-  inline PROTOBUF_ALWAYS_INLINE void _internal_set_frame2(const std::string& value);
-  std::string* _internal_mutable_frame2();
+  bool _internal_has_extra() const;
+  public:
+  void clear_extra();
+  const ::PROTOBUF_NAMESPACE_ID::Struct& extra() const;
+  PROTOBUF_NODISCARD ::PROTOBUF_NAMESPACE_ID::Struct* release_extra();
+  ::PROTOBUF_NAMESPACE_ID::Struct* mutable_extra();
+  void set_allocated_extra(::PROTOBUF_NAMESPACE_ID::Struct* extra);
+  private:
+  const ::PROTOBUF_NAMESPACE_ID::Struct& _internal_extra() const;
+  ::PROTOBUF_NAMESPACE_ID::Struct* _internal_mutable_extra();
   public:
+  void unsafe_arena_set_allocated_extra(
+      ::PROTOBUF_NAMESPACE_ID::Struct* extra);
+  ::PROTOBUF_NAMESPACE_ID::Struct* unsafe_arena_release_extra();
 
-  // @@protoc_insertion_point(class_scope:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions)
+  // bool only_active_plans = 2 [json_name = "onlyActivePlans"];
+  void clear_only_active_plans();
+  bool only_active_plans() const;
+  void set_only_active_plans(bool value);
+  private:
+  bool _internal_only_active_plans() const;
+  void _internal_set_only_active_plans(bool value);
+  public:
+
+  // @@protoc_insertion_point(class_scope:viam.service.motion.v1.ListPlanStatusesRequest)
  private:
   class _Internal;
 
   template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
   typedef void InternalArenaConstructable_;
   typedef void DestructorSkippable_;
-  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr frame1_;
-  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr frame2_;
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr name_;
+  ::PROTOBUF_NAMESPACE_ID::Struct* extra_;
+  bool only_active_plans_;
   mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
   friend struct ::TableStruct_service_2fmotion_2fv1_2fmotion_2eproto;
 };
 // -------------------------------------------------------------------
 
-class CollisionSpecification final :
-    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.service.motion.v1.CollisionSpecification) */ {
+class ListPlanStatusesResponse final :
+    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.service.motion.v1.ListPlanStatusesResponse) */ {
  public:
-  inline CollisionSpecification() : CollisionSpecification(nullptr) {}
-  ~CollisionSpecification() override;
-  explicit PROTOBUF_CONSTEXPR CollisionSpecification(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
+  inline ListPlanStatusesResponse() : ListPlanStatusesResponse(nullptr) {}
+  ~ListPlanStatusesResponse() override;
+  explicit PROTOBUF_CONSTEXPR ListPlanStatusesResponse(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
 
-  CollisionSpecification(const CollisionSpecification& from);
-  CollisionSpecification(CollisionSpecification&& from) noexcept
-    : CollisionSpecification() {
+  ListPlanStatusesResponse(const ListPlanStatusesResponse& from);
+  ListPlanStatusesResponse(ListPlanStatusesResponse&& from) noexcept
+    : ListPlanStatusesResponse() {
     *this = ::std::move(from);
   }
 
-  inline CollisionSpecification& operator=(const CollisionSpecification& from) {
+  inline ListPlanStatusesResponse& operator=(const ListPlanStatusesResponse& from) {
     CopyFrom(from);
     return *this;
   }
-  inline CollisionSpecification& operator=(CollisionSpecification&& from) noexcept {
+  inline ListPlanStatusesResponse& operator=(ListPlanStatusesResponse&& from) noexcept {
     if (this == &from) return *this;
     if (GetOwningArena() == from.GetOwningArena()
   #ifdef PROTOBUF_FORCE_COPY_IN_MOVE
@@ -2621,20 +2963,20 @@ class CollisionSpecification final :
   static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
     return default_instance().GetMetadata().reflection;
   }
-  static const CollisionSpecification& default_instance() {
+  static const ListPlanStatusesResponse& default_instance() {
     return *internal_default_instance();
   }
-  static inline const CollisionSpecification* internal_default_instance() {
-    return reinterpret_cast<const CollisionSpecification*>(
-               &_CollisionSpecification_default_instance_);
+  static inline const ListPlanStatusesResponse* internal_default_instance() {
+    return reinterpret_cast<const ListPlanStatusesResponse*>(
+               &_ListPlanStatusesResponse_default_instance_);
   }
   static constexpr int kIndexInFileMessages =
-    13;
+    14;
 
-  friend void swap(CollisionSpecification& a, CollisionSpecification& b) {
+  friend void swap(ListPlanStatusesResponse& a, ListPlanStatusesResponse& b) {
     a.Swap(&b);
   }
-  inline void Swap(CollisionSpecification* other) {
+  inline void Swap(ListPlanStatusesResponse* other) {
     if (other == this) return;
   #ifdef PROTOBUF_FORCE_COPY_IN_SWAP
     if (GetOwningArena() != nullptr &&
@@ -2647,7 +2989,7 @@ class CollisionSpecification final :
       ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
     }
   }
-  void UnsafeArenaSwap(CollisionSpecification* other) {
+  void UnsafeArenaSwap(ListPlanStatusesResponse* other) {
     if (other == this) return;
     GOOGLE_DCHECK(GetOwningArena() == other->GetOwningArena());
     InternalSwap(other);
@@ -2655,13 +2997,13 @@ class CollisionSpecification final :
 
   // implements Message ----------------------------------------------
 
-  CollisionSpecification* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
-    return CreateMaybeMessage<CollisionSpecification>(arena);
+  ListPlanStatusesResponse* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
+    return CreateMaybeMessage<ListPlanStatusesResponse>(arena);
   }
   using ::PROTOBUF_NAMESPACE_ID::Message::CopyFrom;
-  void CopyFrom(const CollisionSpecification& from);
+  void CopyFrom(const ListPlanStatusesResponse& from);
   using ::PROTOBUF_NAMESPACE_ID::Message::MergeFrom;
-  void MergeFrom(const CollisionSpecification& from);
+  void MergeFrom(const ListPlanStatusesResponse& from);
   private:
   static void MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to, const ::PROTOBUF_NAMESPACE_ID::Message& from);
   public:
@@ -2678,15 +3020,15 @@ class CollisionSpecification final :
   void SharedCtor();
   void SharedDtor();
   void SetCachedSize(int size) const final;
-  void InternalSwap(CollisionSpecification* other);
+  void InternalSwap(ListPlanStatusesResponse* other);
 
   private:
   friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
   static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
-    return "viam.service.motion.v1.CollisionSpecification";
+    return "viam.service.motion.v1.ListPlanStatusesResponse";
   }
   protected:
-  explicit CollisionSpecification(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+  explicit ListPlanStatusesResponse(::PROTOBUF_NAMESPACE_ID::Arena* arena,
                        bool is_message_owned = false);
   public:
 
@@ -2697,89 +3039,4705 @@ class CollisionSpecification final :
 
   // nested types ----------------------------------------------------
 
-  typedef CollisionSpecification_AllowedFrameCollisions AllowedFrameCollisions;
-
   // accessors -------------------------------------------------------
 
   enum : int {
-    kAllowsFieldNumber = 1,
+    kPlanStatusesWithIdsFieldNumber = 1,
   };
-  // repeated .viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions allows = 1 [json_name = "allows"];
-  int allows_size() const;
+  // repeated .viam.service.motion.v1.PlanStatusWithID plan_statuses_with_ids = 1 [json_name = "planStatusesWithIds"];
+  int plan_statuses_with_ids_size() const;
   private:
-  int _internal_allows_size() const;
+  int _internal_plan_statuses_with_ids_size() const;
   public:
-  void clear_allows();
-  ::viam::service::motion::v1::CollisionSpecification_AllowedFrameCollisions* mutable_allows(int index);
-  ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::CollisionSpecification_AllowedFrameCollisions >*
-      mutable_allows();
+  void clear_plan_statuses_with_ids();
+  ::viam::service::motion::v1::PlanStatusWithID* mutable_plan_statuses_with_ids(int index);
+  ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::PlanStatusWithID >*
+      mutable_plan_statuses_with_ids();
   private:
-  const ::viam::service::motion::v1::CollisionSpecification_AllowedFrameCollisions& _internal_allows(int index) const;
-  ::viam::service::motion::v1::CollisionSpecification_AllowedFrameCollisions* _internal_add_allows();
+  const ::viam::service::motion::v1::PlanStatusWithID& _internal_plan_statuses_with_ids(int index) const;
+  ::viam::service::motion::v1::PlanStatusWithID* _internal_add_plan_statuses_with_ids();
   public:
-  const ::viam::service::motion::v1::CollisionSpecification_AllowedFrameCollisions& allows(int index) const;
-  ::viam::service::motion::v1::CollisionSpecification_AllowedFrameCollisions* add_allows();
-  const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::CollisionSpecification_AllowedFrameCollisions >&
-      allows() const;
+  const ::viam::service::motion::v1::PlanStatusWithID& plan_statuses_with_ids(int index) const;
+  ::viam::service::motion::v1::PlanStatusWithID* add_plan_statuses_with_ids();
+  const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::PlanStatusWithID >&
+      plan_statuses_with_ids() const;
 
-  // @@protoc_insertion_point(class_scope:viam.service.motion.v1.CollisionSpecification)
+  // @@protoc_insertion_point(class_scope:viam.service.motion.v1.ListPlanStatusesResponse)
  private:
   class _Internal;
 
   template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
   typedef void InternalArenaConstructable_;
   typedef void DestructorSkippable_;
-  ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::CollisionSpecification_AllowedFrameCollisions > allows_;
+  ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::PlanStatusWithID > plan_statuses_with_ids_;
   mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
   friend struct ::TableStruct_service_2fmotion_2fv1_2fmotion_2eproto;
 };
-// ===================================================================
+// -------------------------------------------------------------------
 
+class GetPlanRequest final :
+    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.service.motion.v1.GetPlanRequest) */ {
+ public:
+  inline GetPlanRequest() : GetPlanRequest(nullptr) {}
+  ~GetPlanRequest() override;
+  explicit PROTOBUF_CONSTEXPR GetPlanRequest(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
+
+  GetPlanRequest(const GetPlanRequest& from);
+  GetPlanRequest(GetPlanRequest&& from) noexcept
+    : GetPlanRequest() {
+    *this = ::std::move(from);
+  }
+
+  inline GetPlanRequest& operator=(const GetPlanRequest& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  inline GetPlanRequest& operator=(GetPlanRequest&& from) noexcept {
+    if (this == &from) return *this;
+    if (GetOwningArena() == from.GetOwningArena()
+  #ifdef PROTOBUF_FORCE_COPY_IN_MOVE
+        && GetOwningArena() != nullptr
+  #endif  // !PROTOBUF_FORCE_COPY_IN_MOVE
+    ) {
+      InternalSwap(&from);
+    } else {
+      CopyFrom(from);
+    }
+    return *this;
+  }
+
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* descriptor() {
+    return GetDescriptor();
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* GetDescriptor() {
+    return default_instance().GetMetadata().descriptor;
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
+    return default_instance().GetMetadata().reflection;
+  }
+  static const GetPlanRequest& default_instance() {
+    return *internal_default_instance();
+  }
+  static inline const GetPlanRequest* internal_default_instance() {
+    return reinterpret_cast<const GetPlanRequest*>(
+               &_GetPlanRequest_default_instance_);
+  }
+  static constexpr int kIndexInFileMessages =
+    15;
+
+  friend void swap(GetPlanRequest& a, GetPlanRequest& b) {
+    a.Swap(&b);
+  }
+  inline void Swap(GetPlanRequest* other) {
+    if (other == this) return;
+  #ifdef PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() != nullptr &&
+        GetOwningArena() == other->GetOwningArena()) {
+   #else  // PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() == other->GetOwningArena()) {
+  #endif  // !PROTOBUF_FORCE_COPY_IN_SWAP
+      InternalSwap(other);
+    } else {
+      ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
+    }
+  }
+  void UnsafeArenaSwap(GetPlanRequest* other) {
+    if (other == this) return;
+    GOOGLE_DCHECK(GetOwningArena() == other->GetOwningArena());
+    InternalSwap(other);
+  }
+
+  // implements Message ----------------------------------------------
+
+  GetPlanRequest* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
+    return CreateMaybeMessage<GetPlanRequest>(arena);
+  }
+  using ::PROTOBUF_NAMESPACE_ID::Message::CopyFrom;
+  void CopyFrom(const GetPlanRequest& from);
+  using ::PROTOBUF_NAMESPACE_ID::Message::MergeFrom;
+  void MergeFrom(const GetPlanRequest& from);
+  private:
+  static void MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to, const ::PROTOBUF_NAMESPACE_ID::Message& from);
+  public:
+  PROTOBUF_ATTRIBUTE_REINITIALIZES void Clear() final;
+  bool IsInitialized() const final;
+
+  size_t ByteSizeLong() const final;
+  const char* _InternalParse(const char* ptr, ::PROTOBUF_NAMESPACE_ID::internal::ParseContext* ctx) final;
+  uint8_t* _InternalSerialize(
+      uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const final;
+  int GetCachedSize() const final { return _cached_size_.Get(); }
+
+  private:
+  void SharedCtor();
+  void SharedDtor();
+  void SetCachedSize(int size) const final;
+  void InternalSwap(GetPlanRequest* other);
+
+  private:
+  friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
+  static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
+    return "viam.service.motion.v1.GetPlanRequest";
+  }
+  protected:
+  explicit GetPlanRequest(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                       bool is_message_owned = false);
+  public:
+
+  static const ClassData _class_data_;
+  const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*GetClassData() const final;
+
+  ::PROTOBUF_NAMESPACE_ID::Metadata GetMetadata() const final;
+
+  // nested types ----------------------------------------------------
+
+  // accessors -------------------------------------------------------
+
+  enum : int {
+    kNameFieldNumber = 1,
+    kExecutionIdFieldNumber = 4,
+    kComponentNameFieldNumber = 2,
+    kExtraFieldNumber = 99,
+    kLastPlanOnlyFieldNumber = 3,
+  };
+  // string name = 1 [json_name = "name"];
+  void clear_name();
+  const std::string& name() const;
+  template <typename ArgT0 = const std::string&, typename... ArgT>
+  void set_name(ArgT0&& arg0, ArgT... args);
+  std::string* mutable_name();
+  PROTOBUF_NODISCARD std::string* release_name();
+  void set_allocated_name(std::string* name);
+  private:
+  const std::string& _internal_name() const;
+  inline PROTOBUF_ALWAYS_INLINE void _internal_set_name(const std::string& value);
+  std::string* _internal_mutable_name();
+  public:
+
+  // optional string execution_id = 4 [json_name = "executionId"];
+  bool has_execution_id() const;
+  private:
+  bool _internal_has_execution_id() const;
+  public:
+  void clear_execution_id();
+  const std::string& execution_id() const;
+  template <typename ArgT0 = const std::string&, typename... ArgT>
+  void set_execution_id(ArgT0&& arg0, ArgT... args);
+  std::string* mutable_execution_id();
+  PROTOBUF_NODISCARD std::string* release_execution_id();
+  void set_allocated_execution_id(std::string* execution_id);
+  private:
+  const std::string& _internal_execution_id() const;
+  inline PROTOBUF_ALWAYS_INLINE void _internal_set_execution_id(const std::string& value);
+  std::string* _internal_mutable_execution_id();
+  public:
+
+  // .viam.common.v1.ResourceName component_name = 2 [json_name = "componentName"];
+  bool has_component_name() const;
+  private:
+  bool _internal_has_component_name() const;
+  public:
+  void clear_component_name();
+  const ::viam::common::v1::ResourceName& component_name() const;
+  PROTOBUF_NODISCARD ::viam::common::v1::ResourceName* release_component_name();
+  ::viam::common::v1::ResourceName* mutable_component_name();
+  void set_allocated_component_name(::viam::common::v1::ResourceName* component_name);
+  private:
+  const ::viam::common::v1::ResourceName& _internal_component_name() const;
+  ::viam::common::v1::ResourceName* _internal_mutable_component_name();
+  public:
+  void unsafe_arena_set_allocated_component_name(
+      ::viam::common::v1::ResourceName* component_name);
+  ::viam::common::v1::ResourceName* unsafe_arena_release_component_name();
+
+  // .google.protobuf.Struct extra = 99 [json_name = "extra"];
+  bool has_extra() const;
+  private:
+  bool _internal_has_extra() const;
+  public:
+  void clear_extra();
+  const ::PROTOBUF_NAMESPACE_ID::Struct& extra() const;
+  PROTOBUF_NODISCARD ::PROTOBUF_NAMESPACE_ID::Struct* release_extra();
+  ::PROTOBUF_NAMESPACE_ID::Struct* mutable_extra();
+  void set_allocated_extra(::PROTOBUF_NAMESPACE_ID::Struct* extra);
+  private:
+  const ::PROTOBUF_NAMESPACE_ID::Struct& _internal_extra() const;
+  ::PROTOBUF_NAMESPACE_ID::Struct* _internal_mutable_extra();
+  public:
+  void unsafe_arena_set_allocated_extra(
+      ::PROTOBUF_NAMESPACE_ID::Struct* extra);
+  ::PROTOBUF_NAMESPACE_ID::Struct* unsafe_arena_release_extra();
+
+  // bool last_plan_only = 3 [json_name = "lastPlanOnly"];
+  void clear_last_plan_only();
+  bool last_plan_only() const;
+  void set_last_plan_only(bool value);
+  private:
+  bool _internal_last_plan_only() const;
+  void _internal_set_last_plan_only(bool value);
+  public:
+
+  // @@protoc_insertion_point(class_scope:viam.service.motion.v1.GetPlanRequest)
+ private:
+  class _Internal;
+
+  template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
+  typedef void InternalArenaConstructable_;
+  typedef void DestructorSkippable_;
+  ::PROTOBUF_NAMESPACE_ID::internal::HasBits<1> _has_bits_;
+  mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr name_;
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr execution_id_;
+  ::viam::common::v1::ResourceName* component_name_;
+  ::PROTOBUF_NAMESPACE_ID::Struct* extra_;
+  bool last_plan_only_;
+  friend struct ::TableStruct_service_2fmotion_2fv1_2fmotion_2eproto;
+};
+// -------------------------------------------------------------------
+
+class GetPlanResponse final :
+    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.service.motion.v1.GetPlanResponse) */ {
+ public:
+  inline GetPlanResponse() : GetPlanResponse(nullptr) {}
+  ~GetPlanResponse() override;
+  explicit PROTOBUF_CONSTEXPR GetPlanResponse(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
+
+  GetPlanResponse(const GetPlanResponse& from);
+  GetPlanResponse(GetPlanResponse&& from) noexcept
+    : GetPlanResponse() {
+    *this = ::std::move(from);
+  }
+
+  inline GetPlanResponse& operator=(const GetPlanResponse& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  inline GetPlanResponse& operator=(GetPlanResponse&& from) noexcept {
+    if (this == &from) return *this;
+    if (GetOwningArena() == from.GetOwningArena()
+  #ifdef PROTOBUF_FORCE_COPY_IN_MOVE
+        && GetOwningArena() != nullptr
+  #endif  // !PROTOBUF_FORCE_COPY_IN_MOVE
+    ) {
+      InternalSwap(&from);
+    } else {
+      CopyFrom(from);
+    }
+    return *this;
+  }
+
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* descriptor() {
+    return GetDescriptor();
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* GetDescriptor() {
+    return default_instance().GetMetadata().descriptor;
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
+    return default_instance().GetMetadata().reflection;
+  }
+  static const GetPlanResponse& default_instance() {
+    return *internal_default_instance();
+  }
+  static inline const GetPlanResponse* internal_default_instance() {
+    return reinterpret_cast<const GetPlanResponse*>(
+               &_GetPlanResponse_default_instance_);
+  }
+  static constexpr int kIndexInFileMessages =
+    16;
+
+  friend void swap(GetPlanResponse& a, GetPlanResponse& b) {
+    a.Swap(&b);
+  }
+  inline void Swap(GetPlanResponse* other) {
+    if (other == this) return;
+  #ifdef PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() != nullptr &&
+        GetOwningArena() == other->GetOwningArena()) {
+   #else  // PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() == other->GetOwningArena()) {
+  #endif  // !PROTOBUF_FORCE_COPY_IN_SWAP
+      InternalSwap(other);
+    } else {
+      ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
+    }
+  }
+  void UnsafeArenaSwap(GetPlanResponse* other) {
+    if (other == this) return;
+    GOOGLE_DCHECK(GetOwningArena() == other->GetOwningArena());
+    InternalSwap(other);
+  }
+
+  // implements Message ----------------------------------------------
+
+  GetPlanResponse* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
+    return CreateMaybeMessage<GetPlanResponse>(arena);
+  }
+  using ::PROTOBUF_NAMESPACE_ID::Message::CopyFrom;
+  void CopyFrom(const GetPlanResponse& from);
+  using ::PROTOBUF_NAMESPACE_ID::Message::MergeFrom;
+  void MergeFrom(const GetPlanResponse& from);
+  private:
+  static void MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to, const ::PROTOBUF_NAMESPACE_ID::Message& from);
+  public:
+  PROTOBUF_ATTRIBUTE_REINITIALIZES void Clear() final;
+  bool IsInitialized() const final;
+
+  size_t ByteSizeLong() const final;
+  const char* _InternalParse(const char* ptr, ::PROTOBUF_NAMESPACE_ID::internal::ParseContext* ctx) final;
+  uint8_t* _InternalSerialize(
+      uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const final;
+  int GetCachedSize() const final { return _cached_size_.Get(); }
+
+  private:
+  void SharedCtor();
+  void SharedDtor();
+  void SetCachedSize(int size) const final;
+  void InternalSwap(GetPlanResponse* other);
+
+  private:
+  friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
+  static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
+    return "viam.service.motion.v1.GetPlanResponse";
+  }
+  protected:
+  explicit GetPlanResponse(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                       bool is_message_owned = false);
+  public:
+
+  static const ClassData _class_data_;
+  const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*GetClassData() const final;
+
+  ::PROTOBUF_NAMESPACE_ID::Metadata GetMetadata() const final;
+
+  // nested types ----------------------------------------------------
+
+  // accessors -------------------------------------------------------
+
+  enum : int {
+    kReplanHistoryFieldNumber = 2,
+    kCurrentPlanWithStatusFieldNumber = 1,
+  };
+  // repeated .viam.service.motion.v1.PlanWithStatus replan_history = 2 [json_name = "replanHistory"];
+  int replan_history_size() const;
+  private:
+  int _internal_replan_history_size() const;
+  public:
+  void clear_replan_history();
+  ::viam::service::motion::v1::PlanWithStatus* mutable_replan_history(int index);
+  ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::PlanWithStatus >*
+      mutable_replan_history();
+  private:
+  const ::viam::service::motion::v1::PlanWithStatus& _internal_replan_history(int index) const;
+  ::viam::service::motion::v1::PlanWithStatus* _internal_add_replan_history();
+  public:
+  const ::viam::service::motion::v1::PlanWithStatus& replan_history(int index) const;
+  ::viam::service::motion::v1::PlanWithStatus* add_replan_history();
+  const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::PlanWithStatus >&
+      replan_history() const;
+
+  // .viam.service.motion.v1.PlanWithStatus current_plan_with_status = 1 [json_name = "currentPlanWithStatus"];
+  bool has_current_plan_with_status() const;
+  private:
+  bool _internal_has_current_plan_with_status() const;
+  public:
+  void clear_current_plan_with_status();
+  const ::viam::service::motion::v1::PlanWithStatus& current_plan_with_status() const;
+  PROTOBUF_NODISCARD ::viam::service::motion::v1::PlanWithStatus* release_current_plan_with_status();
+  ::viam::service::motion::v1::PlanWithStatus* mutable_current_plan_with_status();
+  void set_allocated_current_plan_with_status(::viam::service::motion::v1::PlanWithStatus* current_plan_with_status);
+  private:
+  const ::viam::service::motion::v1::PlanWithStatus& _internal_current_plan_with_status() const;
+  ::viam::service::motion::v1::PlanWithStatus* _internal_mutable_current_plan_with_status();
+  public:
+  void unsafe_arena_set_allocated_current_plan_with_status(
+      ::viam::service::motion::v1::PlanWithStatus* current_plan_with_status);
+  ::viam::service::motion::v1::PlanWithStatus* unsafe_arena_release_current_plan_with_status();
+
+  // @@protoc_insertion_point(class_scope:viam.service.motion.v1.GetPlanResponse)
+ private:
+  class _Internal;
+
+  template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
+  typedef void InternalArenaConstructable_;
+  typedef void DestructorSkippable_;
+  ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::PlanWithStatus > replan_history_;
+  ::viam::service::motion::v1::PlanWithStatus* current_plan_with_status_;
+  mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
+  friend struct ::TableStruct_service_2fmotion_2fv1_2fmotion_2eproto;
+};
+// -------------------------------------------------------------------
+
+class Constraints final :
+    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.service.motion.v1.Constraints) */ {
+ public:
+  inline Constraints() : Constraints(nullptr) {}
+  ~Constraints() override;
+  explicit PROTOBUF_CONSTEXPR Constraints(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
+
+  Constraints(const Constraints& from);
+  Constraints(Constraints&& from) noexcept
+    : Constraints() {
+    *this = ::std::move(from);
+  }
+
+  inline Constraints& operator=(const Constraints& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  inline Constraints& operator=(Constraints&& from) noexcept {
+    if (this == &from) return *this;
+    if (GetOwningArena() == from.GetOwningArena()
+  #ifdef PROTOBUF_FORCE_COPY_IN_MOVE
+        && GetOwningArena() != nullptr
+  #endif  // !PROTOBUF_FORCE_COPY_IN_MOVE
+    ) {
+      InternalSwap(&from);
+    } else {
+      CopyFrom(from);
+    }
+    return *this;
+  }
+
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* descriptor() {
+    return GetDescriptor();
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* GetDescriptor() {
+    return default_instance().GetMetadata().descriptor;
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
+    return default_instance().GetMetadata().reflection;
+  }
+  static const Constraints& default_instance() {
+    return *internal_default_instance();
+  }
+  static inline const Constraints* internal_default_instance() {
+    return reinterpret_cast<const Constraints*>(
+               &_Constraints_default_instance_);
+  }
+  static constexpr int kIndexInFileMessages =
+    17;
+
+  friend void swap(Constraints& a, Constraints& b) {
+    a.Swap(&b);
+  }
+  inline void Swap(Constraints* other) {
+    if (other == this) return;
+  #ifdef PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() != nullptr &&
+        GetOwningArena() == other->GetOwningArena()) {
+   #else  // PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() == other->GetOwningArena()) {
+  #endif  // !PROTOBUF_FORCE_COPY_IN_SWAP
+      InternalSwap(other);
+    } else {
+      ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
+    }
+  }
+  void UnsafeArenaSwap(Constraints* other) {
+    if (other == this) return;
+    GOOGLE_DCHECK(GetOwningArena() == other->GetOwningArena());
+    InternalSwap(other);
+  }
+
+  // implements Message ----------------------------------------------
+
+  Constraints* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
+    return CreateMaybeMessage<Constraints>(arena);
+  }
+  using ::PROTOBUF_NAMESPACE_ID::Message::CopyFrom;
+  void CopyFrom(const Constraints& from);
+  using ::PROTOBUF_NAMESPACE_ID::Message::MergeFrom;
+  void MergeFrom(const Constraints& from);
+  private:
+  static void MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to, const ::PROTOBUF_NAMESPACE_ID::Message& from);
+  public:
+  PROTOBUF_ATTRIBUTE_REINITIALIZES void Clear() final;
+  bool IsInitialized() const final;
+
+  size_t ByteSizeLong() const final;
+  const char* _InternalParse(const char* ptr, ::PROTOBUF_NAMESPACE_ID::internal::ParseContext* ctx) final;
+  uint8_t* _InternalSerialize(
+      uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const final;
+  int GetCachedSize() const final { return _cached_size_.Get(); }
+
+  private:
+  void SharedCtor();
+  void SharedDtor();
+  void SetCachedSize(int size) const final;
+  void InternalSwap(Constraints* other);
+
+  private:
+  friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
+  static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
+    return "viam.service.motion.v1.Constraints";
+  }
+  protected:
+  explicit Constraints(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                       bool is_message_owned = false);
+  public:
+
+  static const ClassData _class_data_;
+  const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*GetClassData() const final;
+
+  ::PROTOBUF_NAMESPACE_ID::Metadata GetMetadata() const final;
+
+  // nested types ----------------------------------------------------
+
+  // accessors -------------------------------------------------------
+
+  enum : int {
+    kLinearConstraintFieldNumber = 1,
+    kOrientationConstraintFieldNumber = 2,
+    kCollisionSpecificationFieldNumber = 3,
+  };
+  // repeated .viam.service.motion.v1.LinearConstraint linear_constraint = 1 [json_name = "linearConstraint"];
+  int linear_constraint_size() const;
+  private:
+  int _internal_linear_constraint_size() const;
+  public:
+  void clear_linear_constraint();
+  ::viam::service::motion::v1::LinearConstraint* mutable_linear_constraint(int index);
+  ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::LinearConstraint >*
+      mutable_linear_constraint();
+  private:
+  const ::viam::service::motion::v1::LinearConstraint& _internal_linear_constraint(int index) const;
+  ::viam::service::motion::v1::LinearConstraint* _internal_add_linear_constraint();
+  public:
+  const ::viam::service::motion::v1::LinearConstraint& linear_constraint(int index) const;
+  ::viam::service::motion::v1::LinearConstraint* add_linear_constraint();
+  const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::LinearConstraint >&
+      linear_constraint() const;
+
+  // repeated .viam.service.motion.v1.OrientationConstraint orientation_constraint = 2 [json_name = "orientationConstraint"];
+  int orientation_constraint_size() const;
+  private:
+  int _internal_orientation_constraint_size() const;
+  public:
+  void clear_orientation_constraint();
+  ::viam::service::motion::v1::OrientationConstraint* mutable_orientation_constraint(int index);
+  ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::OrientationConstraint >*
+      mutable_orientation_constraint();
+  private:
+  const ::viam::service::motion::v1::OrientationConstraint& _internal_orientation_constraint(int index) const;
+  ::viam::service::motion::v1::OrientationConstraint* _internal_add_orientation_constraint();
+  public:
+  const ::viam::service::motion::v1::OrientationConstraint& orientation_constraint(int index) const;
+  ::viam::service::motion::v1::OrientationConstraint* add_orientation_constraint();
+  const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::OrientationConstraint >&
+      orientation_constraint() const;
+
+  // repeated .viam.service.motion.v1.CollisionSpecification collision_specification = 3 [json_name = "collisionSpecification"];
+  int collision_specification_size() const;
+  private:
+  int _internal_collision_specification_size() const;
+  public:
+  void clear_collision_specification();
+  ::viam::service::motion::v1::CollisionSpecification* mutable_collision_specification(int index);
+  ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::CollisionSpecification >*
+      mutable_collision_specification();
+  private:
+  const ::viam::service::motion::v1::CollisionSpecification& _internal_collision_specification(int index) const;
+  ::viam::service::motion::v1::CollisionSpecification* _internal_add_collision_specification();
+  public:
+  const ::viam::service::motion::v1::CollisionSpecification& collision_specification(int index) const;
+  ::viam::service::motion::v1::CollisionSpecification* add_collision_specification();
+  const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::CollisionSpecification >&
+      collision_specification() const;
+
+  // @@protoc_insertion_point(class_scope:viam.service.motion.v1.Constraints)
+ private:
+  class _Internal;
+
+  template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
+  typedef void InternalArenaConstructable_;
+  typedef void DestructorSkippable_;
+  ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::LinearConstraint > linear_constraint_;
+  ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::OrientationConstraint > orientation_constraint_;
+  ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::CollisionSpecification > collision_specification_;
+  mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
+  friend struct ::TableStruct_service_2fmotion_2fv1_2fmotion_2eproto;
+};
+// -------------------------------------------------------------------
+
+class LinearConstraint final :
+    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.service.motion.v1.LinearConstraint) */ {
+ public:
+  inline LinearConstraint() : LinearConstraint(nullptr) {}
+  ~LinearConstraint() override;
+  explicit PROTOBUF_CONSTEXPR LinearConstraint(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
+
+  LinearConstraint(const LinearConstraint& from);
+  LinearConstraint(LinearConstraint&& from) noexcept
+    : LinearConstraint() {
+    *this = ::std::move(from);
+  }
+
+  inline LinearConstraint& operator=(const LinearConstraint& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  inline LinearConstraint& operator=(LinearConstraint&& from) noexcept {
+    if (this == &from) return *this;
+    if (GetOwningArena() == from.GetOwningArena()
+  #ifdef PROTOBUF_FORCE_COPY_IN_MOVE
+        && GetOwningArena() != nullptr
+  #endif  // !PROTOBUF_FORCE_COPY_IN_MOVE
+    ) {
+      InternalSwap(&from);
+    } else {
+      CopyFrom(from);
+    }
+    return *this;
+  }
+
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* descriptor() {
+    return GetDescriptor();
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* GetDescriptor() {
+    return default_instance().GetMetadata().descriptor;
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
+    return default_instance().GetMetadata().reflection;
+  }
+  static const LinearConstraint& default_instance() {
+    return *internal_default_instance();
+  }
+  static inline const LinearConstraint* internal_default_instance() {
+    return reinterpret_cast<const LinearConstraint*>(
+               &_LinearConstraint_default_instance_);
+  }
+  static constexpr int kIndexInFileMessages =
+    18;
+
+  friend void swap(LinearConstraint& a, LinearConstraint& b) {
+    a.Swap(&b);
+  }
+  inline void Swap(LinearConstraint* other) {
+    if (other == this) return;
+  #ifdef PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() != nullptr &&
+        GetOwningArena() == other->GetOwningArena()) {
+   #else  // PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() == other->GetOwningArena()) {
+  #endif  // !PROTOBUF_FORCE_COPY_IN_SWAP
+      InternalSwap(other);
+    } else {
+      ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
+    }
+  }
+  void UnsafeArenaSwap(LinearConstraint* other) {
+    if (other == this) return;
+    GOOGLE_DCHECK(GetOwningArena() == other->GetOwningArena());
+    InternalSwap(other);
+  }
+
+  // implements Message ----------------------------------------------
+
+  LinearConstraint* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
+    return CreateMaybeMessage<LinearConstraint>(arena);
+  }
+  using ::PROTOBUF_NAMESPACE_ID::Message::CopyFrom;
+  void CopyFrom(const LinearConstraint& from);
+  using ::PROTOBUF_NAMESPACE_ID::Message::MergeFrom;
+  void MergeFrom(const LinearConstraint& from);
+  private:
+  static void MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to, const ::PROTOBUF_NAMESPACE_ID::Message& from);
+  public:
+  PROTOBUF_ATTRIBUTE_REINITIALIZES void Clear() final;
+  bool IsInitialized() const final;
+
+  size_t ByteSizeLong() const final;
+  const char* _InternalParse(const char* ptr, ::PROTOBUF_NAMESPACE_ID::internal::ParseContext* ctx) final;
+  uint8_t* _InternalSerialize(
+      uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const final;
+  int GetCachedSize() const final { return _cached_size_.Get(); }
+
+  private:
+  void SharedCtor();
+  void SharedDtor();
+  void SetCachedSize(int size) const final;
+  void InternalSwap(LinearConstraint* other);
+
+  private:
+  friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
+  static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
+    return "viam.service.motion.v1.LinearConstraint";
+  }
+  protected:
+  explicit LinearConstraint(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                       bool is_message_owned = false);
+  public:
+
+  static const ClassData _class_data_;
+  const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*GetClassData() const final;
+
+  ::PROTOBUF_NAMESPACE_ID::Metadata GetMetadata() const final;
+
+  // nested types ----------------------------------------------------
+
+  // accessors -------------------------------------------------------
+
+  enum : int {
+    kLineToleranceMmFieldNumber = 1,
+    kOrientationToleranceDegsFieldNumber = 2,
+  };
+  // optional float line_tolerance_mm = 1 [json_name = "lineToleranceMm"];
+  bool has_line_tolerance_mm() const;
+  private:
+  bool _internal_has_line_tolerance_mm() const;
+  public:
+  void clear_line_tolerance_mm();
+  float line_tolerance_mm() const;
+  void set_line_tolerance_mm(float value);
+  private:
+  float _internal_line_tolerance_mm() const;
+  void _internal_set_line_tolerance_mm(float value);
+  public:
+
+  // optional float orientation_tolerance_degs = 2 [json_name = "orientationToleranceDegs"];
+  bool has_orientation_tolerance_degs() const;
+  private:
+  bool _internal_has_orientation_tolerance_degs() const;
+  public:
+  void clear_orientation_tolerance_degs();
+  float orientation_tolerance_degs() const;
+  void set_orientation_tolerance_degs(float value);
+  private:
+  float _internal_orientation_tolerance_degs() const;
+  void _internal_set_orientation_tolerance_degs(float value);
+  public:
+
+  // @@protoc_insertion_point(class_scope:viam.service.motion.v1.LinearConstraint)
+ private:
+  class _Internal;
+
+  template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
+  typedef void InternalArenaConstructable_;
+  typedef void DestructorSkippable_;
+  ::PROTOBUF_NAMESPACE_ID::internal::HasBits<1> _has_bits_;
+  mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
+  float line_tolerance_mm_;
+  float orientation_tolerance_degs_;
+  friend struct ::TableStruct_service_2fmotion_2fv1_2fmotion_2eproto;
+};
+// -------------------------------------------------------------------
+
+class OrientationConstraint final :
+    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.service.motion.v1.OrientationConstraint) */ {
+ public:
+  inline OrientationConstraint() : OrientationConstraint(nullptr) {}
+  ~OrientationConstraint() override;
+  explicit PROTOBUF_CONSTEXPR OrientationConstraint(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
+
+  OrientationConstraint(const OrientationConstraint& from);
+  OrientationConstraint(OrientationConstraint&& from) noexcept
+    : OrientationConstraint() {
+    *this = ::std::move(from);
+  }
+
+  inline OrientationConstraint& operator=(const OrientationConstraint& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  inline OrientationConstraint& operator=(OrientationConstraint&& from) noexcept {
+    if (this == &from) return *this;
+    if (GetOwningArena() == from.GetOwningArena()
+  #ifdef PROTOBUF_FORCE_COPY_IN_MOVE
+        && GetOwningArena() != nullptr
+  #endif  // !PROTOBUF_FORCE_COPY_IN_MOVE
+    ) {
+      InternalSwap(&from);
+    } else {
+      CopyFrom(from);
+    }
+    return *this;
+  }
+
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* descriptor() {
+    return GetDescriptor();
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* GetDescriptor() {
+    return default_instance().GetMetadata().descriptor;
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
+    return default_instance().GetMetadata().reflection;
+  }
+  static const OrientationConstraint& default_instance() {
+    return *internal_default_instance();
+  }
+  static inline const OrientationConstraint* internal_default_instance() {
+    return reinterpret_cast<const OrientationConstraint*>(
+               &_OrientationConstraint_default_instance_);
+  }
+  static constexpr int kIndexInFileMessages =
+    19;
+
+  friend void swap(OrientationConstraint& a, OrientationConstraint& b) {
+    a.Swap(&b);
+  }
+  inline void Swap(OrientationConstraint* other) {
+    if (other == this) return;
+  #ifdef PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() != nullptr &&
+        GetOwningArena() == other->GetOwningArena()) {
+   #else  // PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() == other->GetOwningArena()) {
+  #endif  // !PROTOBUF_FORCE_COPY_IN_SWAP
+      InternalSwap(other);
+    } else {
+      ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
+    }
+  }
+  void UnsafeArenaSwap(OrientationConstraint* other) {
+    if (other == this) return;
+    GOOGLE_DCHECK(GetOwningArena() == other->GetOwningArena());
+    InternalSwap(other);
+  }
+
+  // implements Message ----------------------------------------------
+
+  OrientationConstraint* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
+    return CreateMaybeMessage<OrientationConstraint>(arena);
+  }
+  using ::PROTOBUF_NAMESPACE_ID::Message::CopyFrom;
+  void CopyFrom(const OrientationConstraint& from);
+  using ::PROTOBUF_NAMESPACE_ID::Message::MergeFrom;
+  void MergeFrom(const OrientationConstraint& from);
+  private:
+  static void MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to, const ::PROTOBUF_NAMESPACE_ID::Message& from);
+  public:
+  PROTOBUF_ATTRIBUTE_REINITIALIZES void Clear() final;
+  bool IsInitialized() const final;
+
+  size_t ByteSizeLong() const final;
+  const char* _InternalParse(const char* ptr, ::PROTOBUF_NAMESPACE_ID::internal::ParseContext* ctx) final;
+  uint8_t* _InternalSerialize(
+      uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const final;
+  int GetCachedSize() const final { return _cached_size_.Get(); }
+
+  private:
+  void SharedCtor();
+  void SharedDtor();
+  void SetCachedSize(int size) const final;
+  void InternalSwap(OrientationConstraint* other);
+
+  private:
+  friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
+  static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
+    return "viam.service.motion.v1.OrientationConstraint";
+  }
+  protected:
+  explicit OrientationConstraint(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                       bool is_message_owned = false);
+  public:
+
+  static const ClassData _class_data_;
+  const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*GetClassData() const final;
+
+  ::PROTOBUF_NAMESPACE_ID::Metadata GetMetadata() const final;
+
+  // nested types ----------------------------------------------------
+
+  // accessors -------------------------------------------------------
+
+  enum : int {
+    kOrientationToleranceDegsFieldNumber = 1,
+  };
+  // optional float orientation_tolerance_degs = 1 [json_name = "orientationToleranceDegs"];
+  bool has_orientation_tolerance_degs() const;
+  private:
+  bool _internal_has_orientation_tolerance_degs() const;
+  public:
+  void clear_orientation_tolerance_degs();
+  float orientation_tolerance_degs() const;
+  void set_orientation_tolerance_degs(float value);
+  private:
+  float _internal_orientation_tolerance_degs() const;
+  void _internal_set_orientation_tolerance_degs(float value);
+  public:
+
+  // @@protoc_insertion_point(class_scope:viam.service.motion.v1.OrientationConstraint)
+ private:
+  class _Internal;
+
+  template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
+  typedef void InternalArenaConstructable_;
+  typedef void DestructorSkippable_;
+  ::PROTOBUF_NAMESPACE_ID::internal::HasBits<1> _has_bits_;
+  mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
+  float orientation_tolerance_degs_;
+  friend struct ::TableStruct_service_2fmotion_2fv1_2fmotion_2eproto;
+};
+// -------------------------------------------------------------------
+
+class CollisionSpecification_AllowedFrameCollisions final :
+    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions) */ {
+ public:
+  inline CollisionSpecification_AllowedFrameCollisions() : CollisionSpecification_AllowedFrameCollisions(nullptr) {}
+  ~CollisionSpecification_AllowedFrameCollisions() override;
+  explicit PROTOBUF_CONSTEXPR CollisionSpecification_AllowedFrameCollisions(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
+
+  CollisionSpecification_AllowedFrameCollisions(const CollisionSpecification_AllowedFrameCollisions& from);
+  CollisionSpecification_AllowedFrameCollisions(CollisionSpecification_AllowedFrameCollisions&& from) noexcept
+    : CollisionSpecification_AllowedFrameCollisions() {
+    *this = ::std::move(from);
+  }
+
+  inline CollisionSpecification_AllowedFrameCollisions& operator=(const CollisionSpecification_AllowedFrameCollisions& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  inline CollisionSpecification_AllowedFrameCollisions& operator=(CollisionSpecification_AllowedFrameCollisions&& from) noexcept {
+    if (this == &from) return *this;
+    if (GetOwningArena() == from.GetOwningArena()
+  #ifdef PROTOBUF_FORCE_COPY_IN_MOVE
+        && GetOwningArena() != nullptr
+  #endif  // !PROTOBUF_FORCE_COPY_IN_MOVE
+    ) {
+      InternalSwap(&from);
+    } else {
+      CopyFrom(from);
+    }
+    return *this;
+  }
+
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* descriptor() {
+    return GetDescriptor();
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* GetDescriptor() {
+    return default_instance().GetMetadata().descriptor;
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
+    return default_instance().GetMetadata().reflection;
+  }
+  static const CollisionSpecification_AllowedFrameCollisions& default_instance() {
+    return *internal_default_instance();
+  }
+  static inline const CollisionSpecification_AllowedFrameCollisions* internal_default_instance() {
+    return reinterpret_cast<const CollisionSpecification_AllowedFrameCollisions*>(
+               &_CollisionSpecification_AllowedFrameCollisions_default_instance_);
+  }
+  static constexpr int kIndexInFileMessages =
+    20;
+
+  friend void swap(CollisionSpecification_AllowedFrameCollisions& a, CollisionSpecification_AllowedFrameCollisions& b) {
+    a.Swap(&b);
+  }
+  inline void Swap(CollisionSpecification_AllowedFrameCollisions* other) {
+    if (other == this) return;
+  #ifdef PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() != nullptr &&
+        GetOwningArena() == other->GetOwningArena()) {
+   #else  // PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() == other->GetOwningArena()) {
+  #endif  // !PROTOBUF_FORCE_COPY_IN_SWAP
+      InternalSwap(other);
+    } else {
+      ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
+    }
+  }
+  void UnsafeArenaSwap(CollisionSpecification_AllowedFrameCollisions* other) {
+    if (other == this) return;
+    GOOGLE_DCHECK(GetOwningArena() == other->GetOwningArena());
+    InternalSwap(other);
+  }
+
+  // implements Message ----------------------------------------------
+
+  CollisionSpecification_AllowedFrameCollisions* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
+    return CreateMaybeMessage<CollisionSpecification_AllowedFrameCollisions>(arena);
+  }
+  using ::PROTOBUF_NAMESPACE_ID::Message::CopyFrom;
+  void CopyFrom(const CollisionSpecification_AllowedFrameCollisions& from);
+  using ::PROTOBUF_NAMESPACE_ID::Message::MergeFrom;
+  void MergeFrom(const CollisionSpecification_AllowedFrameCollisions& from);
+  private:
+  static void MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to, const ::PROTOBUF_NAMESPACE_ID::Message& from);
+  public:
+  PROTOBUF_ATTRIBUTE_REINITIALIZES void Clear() final;
+  bool IsInitialized() const final;
+
+  size_t ByteSizeLong() const final;
+  const char* _InternalParse(const char* ptr, ::PROTOBUF_NAMESPACE_ID::internal::ParseContext* ctx) final;
+  uint8_t* _InternalSerialize(
+      uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const final;
+  int GetCachedSize() const final { return _cached_size_.Get(); }
+
+  private:
+  void SharedCtor();
+  void SharedDtor();
+  void SetCachedSize(int size) const final;
+  void InternalSwap(CollisionSpecification_AllowedFrameCollisions* other);
+
+  private:
+  friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
+  static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
+    return "viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions";
+  }
+  protected:
+  explicit CollisionSpecification_AllowedFrameCollisions(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                       bool is_message_owned = false);
+  public:
+
+  static const ClassData _class_data_;
+  const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*GetClassData() const final;
+
+  ::PROTOBUF_NAMESPACE_ID::Metadata GetMetadata() const final;
+
+  // nested types ----------------------------------------------------
+
+  // accessors -------------------------------------------------------
+
+  enum : int {
+    kFrame1FieldNumber = 1,
+    kFrame2FieldNumber = 2,
+  };
+  // string frame1 = 1 [json_name = "frame1"];
+  void clear_frame1();
+  const std::string& frame1() const;
+  template <typename ArgT0 = const std::string&, typename... ArgT>
+  void set_frame1(ArgT0&& arg0, ArgT... args);
+  std::string* mutable_frame1();
+  PROTOBUF_NODISCARD std::string* release_frame1();
+  void set_allocated_frame1(std::string* frame1);
+  private:
+  const std::string& _internal_frame1() const;
+  inline PROTOBUF_ALWAYS_INLINE void _internal_set_frame1(const std::string& value);
+  std::string* _internal_mutable_frame1();
+  public:
+
+  // string frame2 = 2 [json_name = "frame2"];
+  void clear_frame2();
+  const std::string& frame2() const;
+  template <typename ArgT0 = const std::string&, typename... ArgT>
+  void set_frame2(ArgT0&& arg0, ArgT... args);
+  std::string* mutable_frame2();
+  PROTOBUF_NODISCARD std::string* release_frame2();
+  void set_allocated_frame2(std::string* frame2);
+  private:
+  const std::string& _internal_frame2() const;
+  inline PROTOBUF_ALWAYS_INLINE void _internal_set_frame2(const std::string& value);
+  std::string* _internal_mutable_frame2();
+  public:
+
+  // @@protoc_insertion_point(class_scope:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions)
+ private:
+  class _Internal;
+
+  template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
+  typedef void InternalArenaConstructable_;
+  typedef void DestructorSkippable_;
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr frame1_;
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr frame2_;
+  mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
+  friend struct ::TableStruct_service_2fmotion_2fv1_2fmotion_2eproto;
+};
+// -------------------------------------------------------------------
+
+class CollisionSpecification final :
+    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.service.motion.v1.CollisionSpecification) */ {
+ public:
+  inline CollisionSpecification() : CollisionSpecification(nullptr) {}
+  ~CollisionSpecification() override;
+  explicit PROTOBUF_CONSTEXPR CollisionSpecification(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
+
+  CollisionSpecification(const CollisionSpecification& from);
+  CollisionSpecification(CollisionSpecification&& from) noexcept
+    : CollisionSpecification() {
+    *this = ::std::move(from);
+  }
+
+  inline CollisionSpecification& operator=(const CollisionSpecification& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  inline CollisionSpecification& operator=(CollisionSpecification&& from) noexcept {
+    if (this == &from) return *this;
+    if (GetOwningArena() == from.GetOwningArena()
+  #ifdef PROTOBUF_FORCE_COPY_IN_MOVE
+        && GetOwningArena() != nullptr
+  #endif  // !PROTOBUF_FORCE_COPY_IN_MOVE
+    ) {
+      InternalSwap(&from);
+    } else {
+      CopyFrom(from);
+    }
+    return *this;
+  }
+
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* descriptor() {
+    return GetDescriptor();
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* GetDescriptor() {
+    return default_instance().GetMetadata().descriptor;
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
+    return default_instance().GetMetadata().reflection;
+  }
+  static const CollisionSpecification& default_instance() {
+    return *internal_default_instance();
+  }
+  static inline const CollisionSpecification* internal_default_instance() {
+    return reinterpret_cast<const CollisionSpecification*>(
+               &_CollisionSpecification_default_instance_);
+  }
+  static constexpr int kIndexInFileMessages =
+    21;
+
+  friend void swap(CollisionSpecification& a, CollisionSpecification& b) {
+    a.Swap(&b);
+  }
+  inline void Swap(CollisionSpecification* other) {
+    if (other == this) return;
+  #ifdef PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() != nullptr &&
+        GetOwningArena() == other->GetOwningArena()) {
+   #else  // PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() == other->GetOwningArena()) {
+  #endif  // !PROTOBUF_FORCE_COPY_IN_SWAP
+      InternalSwap(other);
+    } else {
+      ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
+    }
+  }
+  void UnsafeArenaSwap(CollisionSpecification* other) {
+    if (other == this) return;
+    GOOGLE_DCHECK(GetOwningArena() == other->GetOwningArena());
+    InternalSwap(other);
+  }
+
+  // implements Message ----------------------------------------------
+
+  CollisionSpecification* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
+    return CreateMaybeMessage<CollisionSpecification>(arena);
+  }
+  using ::PROTOBUF_NAMESPACE_ID::Message::CopyFrom;
+  void CopyFrom(const CollisionSpecification& from);
+  using ::PROTOBUF_NAMESPACE_ID::Message::MergeFrom;
+  void MergeFrom(const CollisionSpecification& from);
+  private:
+  static void MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to, const ::PROTOBUF_NAMESPACE_ID::Message& from);
+  public:
+  PROTOBUF_ATTRIBUTE_REINITIALIZES void Clear() final;
+  bool IsInitialized() const final;
+
+  size_t ByteSizeLong() const final;
+  const char* _InternalParse(const char* ptr, ::PROTOBUF_NAMESPACE_ID::internal::ParseContext* ctx) final;
+  uint8_t* _InternalSerialize(
+      uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const final;
+  int GetCachedSize() const final { return _cached_size_.Get(); }
+
+  private:
+  void SharedCtor();
+  void SharedDtor();
+  void SetCachedSize(int size) const final;
+  void InternalSwap(CollisionSpecification* other);
+
+  private:
+  friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
+  static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
+    return "viam.service.motion.v1.CollisionSpecification";
+  }
+  protected:
+  explicit CollisionSpecification(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                       bool is_message_owned = false);
+  public:
+
+  static const ClassData _class_data_;
+  const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*GetClassData() const final;
+
+  ::PROTOBUF_NAMESPACE_ID::Metadata GetMetadata() const final;
+
+  // nested types ----------------------------------------------------
+
+  typedef CollisionSpecification_AllowedFrameCollisions AllowedFrameCollisions;
+
+  // accessors -------------------------------------------------------
+
+  enum : int {
+    kAllowsFieldNumber = 1,
+  };
+  // repeated .viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions allows = 1 [json_name = "allows"];
+  int allows_size() const;
+  private:
+  int _internal_allows_size() const;
+  public:
+  void clear_allows();
+  ::viam::service::motion::v1::CollisionSpecification_AllowedFrameCollisions* mutable_allows(int index);
+  ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::CollisionSpecification_AllowedFrameCollisions >*
+      mutable_allows();
+  private:
+  const ::viam::service::motion::v1::CollisionSpecification_AllowedFrameCollisions& _internal_allows(int index) const;
+  ::viam::service::motion::v1::CollisionSpecification_AllowedFrameCollisions* _internal_add_allows();
+  public:
+  const ::viam::service::motion::v1::CollisionSpecification_AllowedFrameCollisions& allows(int index) const;
+  ::viam::service::motion::v1::CollisionSpecification_AllowedFrameCollisions* add_allows();
+  const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::CollisionSpecification_AllowedFrameCollisions >&
+      allows() const;
+
+  // @@protoc_insertion_point(class_scope:viam.service.motion.v1.CollisionSpecification)
+ private:
+  class _Internal;
+
+  template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
+  typedef void InternalArenaConstructable_;
+  typedef void DestructorSkippable_;
+  ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::CollisionSpecification_AllowedFrameCollisions > allows_;
+  mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
+  friend struct ::TableStruct_service_2fmotion_2fv1_2fmotion_2eproto;
+};
+// -------------------------------------------------------------------
+
+class PlanWithStatus final :
+    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.service.motion.v1.PlanWithStatus) */ {
+ public:
+  inline PlanWithStatus() : PlanWithStatus(nullptr) {}
+  ~PlanWithStatus() override;
+  explicit PROTOBUF_CONSTEXPR PlanWithStatus(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
+
+  PlanWithStatus(const PlanWithStatus& from);
+  PlanWithStatus(PlanWithStatus&& from) noexcept
+    : PlanWithStatus() {
+    *this = ::std::move(from);
+  }
+
+  inline PlanWithStatus& operator=(const PlanWithStatus& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  inline PlanWithStatus& operator=(PlanWithStatus&& from) noexcept {
+    if (this == &from) return *this;
+    if (GetOwningArena() == from.GetOwningArena()
+  #ifdef PROTOBUF_FORCE_COPY_IN_MOVE
+        && GetOwningArena() != nullptr
+  #endif  // !PROTOBUF_FORCE_COPY_IN_MOVE
+    ) {
+      InternalSwap(&from);
+    } else {
+      CopyFrom(from);
+    }
+    return *this;
+  }
+
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* descriptor() {
+    return GetDescriptor();
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* GetDescriptor() {
+    return default_instance().GetMetadata().descriptor;
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
+    return default_instance().GetMetadata().reflection;
+  }
+  static const PlanWithStatus& default_instance() {
+    return *internal_default_instance();
+  }
+  static inline const PlanWithStatus* internal_default_instance() {
+    return reinterpret_cast<const PlanWithStatus*>(
+               &_PlanWithStatus_default_instance_);
+  }
+  static constexpr int kIndexInFileMessages =
+    22;
+
+  friend void swap(PlanWithStatus& a, PlanWithStatus& b) {
+    a.Swap(&b);
+  }
+  inline void Swap(PlanWithStatus* other) {
+    if (other == this) return;
+  #ifdef PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() != nullptr &&
+        GetOwningArena() == other->GetOwningArena()) {
+   #else  // PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() == other->GetOwningArena()) {
+  #endif  // !PROTOBUF_FORCE_COPY_IN_SWAP
+      InternalSwap(other);
+    } else {
+      ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
+    }
+  }
+  void UnsafeArenaSwap(PlanWithStatus* other) {
+    if (other == this) return;
+    GOOGLE_DCHECK(GetOwningArena() == other->GetOwningArena());
+    InternalSwap(other);
+  }
+
+  // implements Message ----------------------------------------------
+
+  PlanWithStatus* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
+    return CreateMaybeMessage<PlanWithStatus>(arena);
+  }
+  using ::PROTOBUF_NAMESPACE_ID::Message::CopyFrom;
+  void CopyFrom(const PlanWithStatus& from);
+  using ::PROTOBUF_NAMESPACE_ID::Message::MergeFrom;
+  void MergeFrom(const PlanWithStatus& from);
+  private:
+  static void MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to, const ::PROTOBUF_NAMESPACE_ID::Message& from);
+  public:
+  PROTOBUF_ATTRIBUTE_REINITIALIZES void Clear() final;
+  bool IsInitialized() const final;
+
+  size_t ByteSizeLong() const final;
+  const char* _InternalParse(const char* ptr, ::PROTOBUF_NAMESPACE_ID::internal::ParseContext* ctx) final;
+  uint8_t* _InternalSerialize(
+      uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const final;
+  int GetCachedSize() const final { return _cached_size_.Get(); }
+
+  private:
+  void SharedCtor();
+  void SharedDtor();
+  void SetCachedSize(int size) const final;
+  void InternalSwap(PlanWithStatus* other);
+
+  private:
+  friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
+  static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
+    return "viam.service.motion.v1.PlanWithStatus";
+  }
+  protected:
+  explicit PlanWithStatus(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                       bool is_message_owned = false);
+  public:
+
+  static const ClassData _class_data_;
+  const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*GetClassData() const final;
+
+  ::PROTOBUF_NAMESPACE_ID::Metadata GetMetadata() const final;
+
+  // nested types ----------------------------------------------------
+
+  // accessors -------------------------------------------------------
+
+  enum : int {
+    kStatusHistoryFieldNumber = 3,
+    kPlanFieldNumber = 1,
+    kStatusFieldNumber = 2,
+  };
+  // repeated .viam.service.motion.v1.PlanStatus status_history = 3 [json_name = "statusHistory"];
+  int status_history_size() const;
+  private:
+  int _internal_status_history_size() const;
+  public:
+  void clear_status_history();
+  ::viam::service::motion::v1::PlanStatus* mutable_status_history(int index);
+  ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::PlanStatus >*
+      mutable_status_history();
+  private:
+  const ::viam::service::motion::v1::PlanStatus& _internal_status_history(int index) const;
+  ::viam::service::motion::v1::PlanStatus* _internal_add_status_history();
+  public:
+  const ::viam::service::motion::v1::PlanStatus& status_history(int index) const;
+  ::viam::service::motion::v1::PlanStatus* add_status_history();
+  const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::PlanStatus >&
+      status_history() const;
+
+  // .viam.service.motion.v1.Plan plan = 1 [json_name = "plan"];
+  bool has_plan() const;
+  private:
+  bool _internal_has_plan() const;
+  public:
+  void clear_plan();
+  const ::viam::service::motion::v1::Plan& plan() const;
+  PROTOBUF_NODISCARD ::viam::service::motion::v1::Plan* release_plan();
+  ::viam::service::motion::v1::Plan* mutable_plan();
+  void set_allocated_plan(::viam::service::motion::v1::Plan* plan);
+  private:
+  const ::viam::service::motion::v1::Plan& _internal_plan() const;
+  ::viam::service::motion::v1::Plan* _internal_mutable_plan();
+  public:
+  void unsafe_arena_set_allocated_plan(
+      ::viam::service::motion::v1::Plan* plan);
+  ::viam::service::motion::v1::Plan* unsafe_arena_release_plan();
+
+  // .viam.service.motion.v1.PlanStatus status = 2 [json_name = "status"];
+  bool has_status() const;
+  private:
+  bool _internal_has_status() const;
+  public:
+  void clear_status();
+  const ::viam::service::motion::v1::PlanStatus& status() const;
+  PROTOBUF_NODISCARD ::viam::service::motion::v1::PlanStatus* release_status();
+  ::viam::service::motion::v1::PlanStatus* mutable_status();
+  void set_allocated_status(::viam::service::motion::v1::PlanStatus* status);
+  private:
+  const ::viam::service::motion::v1::PlanStatus& _internal_status() const;
+  ::viam::service::motion::v1::PlanStatus* _internal_mutable_status();
+  public:
+  void unsafe_arena_set_allocated_status(
+      ::viam::service::motion::v1::PlanStatus* status);
+  ::viam::service::motion::v1::PlanStatus* unsafe_arena_release_status();
+
+  // @@protoc_insertion_point(class_scope:viam.service.motion.v1.PlanWithStatus)
+ private:
+  class _Internal;
+
+  template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
+  typedef void InternalArenaConstructable_;
+  typedef void DestructorSkippable_;
+  ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::PlanStatus > status_history_;
+  ::viam::service::motion::v1::Plan* plan_;
+  ::viam::service::motion::v1::PlanStatus* status_;
+  mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
+  friend struct ::TableStruct_service_2fmotion_2fv1_2fmotion_2eproto;
+};
+// -------------------------------------------------------------------
+
+class PlanStatusWithID final :
+    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.service.motion.v1.PlanStatusWithID) */ {
+ public:
+  inline PlanStatusWithID() : PlanStatusWithID(nullptr) {}
+  ~PlanStatusWithID() override;
+  explicit PROTOBUF_CONSTEXPR PlanStatusWithID(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
+
+  PlanStatusWithID(const PlanStatusWithID& from);
+  PlanStatusWithID(PlanStatusWithID&& from) noexcept
+    : PlanStatusWithID() {
+    *this = ::std::move(from);
+  }
+
+  inline PlanStatusWithID& operator=(const PlanStatusWithID& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  inline PlanStatusWithID& operator=(PlanStatusWithID&& from) noexcept {
+    if (this == &from) return *this;
+    if (GetOwningArena() == from.GetOwningArena()
+  #ifdef PROTOBUF_FORCE_COPY_IN_MOVE
+        && GetOwningArena() != nullptr
+  #endif  // !PROTOBUF_FORCE_COPY_IN_MOVE
+    ) {
+      InternalSwap(&from);
+    } else {
+      CopyFrom(from);
+    }
+    return *this;
+  }
+
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* descriptor() {
+    return GetDescriptor();
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* GetDescriptor() {
+    return default_instance().GetMetadata().descriptor;
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
+    return default_instance().GetMetadata().reflection;
+  }
+  static const PlanStatusWithID& default_instance() {
+    return *internal_default_instance();
+  }
+  static inline const PlanStatusWithID* internal_default_instance() {
+    return reinterpret_cast<const PlanStatusWithID*>(
+               &_PlanStatusWithID_default_instance_);
+  }
+  static constexpr int kIndexInFileMessages =
+    23;
+
+  friend void swap(PlanStatusWithID& a, PlanStatusWithID& b) {
+    a.Swap(&b);
+  }
+  inline void Swap(PlanStatusWithID* other) {
+    if (other == this) return;
+  #ifdef PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() != nullptr &&
+        GetOwningArena() == other->GetOwningArena()) {
+   #else  // PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() == other->GetOwningArena()) {
+  #endif  // !PROTOBUF_FORCE_COPY_IN_SWAP
+      InternalSwap(other);
+    } else {
+      ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
+    }
+  }
+  void UnsafeArenaSwap(PlanStatusWithID* other) {
+    if (other == this) return;
+    GOOGLE_DCHECK(GetOwningArena() == other->GetOwningArena());
+    InternalSwap(other);
+  }
+
+  // implements Message ----------------------------------------------
+
+  PlanStatusWithID* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
+    return CreateMaybeMessage<PlanStatusWithID>(arena);
+  }
+  using ::PROTOBUF_NAMESPACE_ID::Message::CopyFrom;
+  void CopyFrom(const PlanStatusWithID& from);
+  using ::PROTOBUF_NAMESPACE_ID::Message::MergeFrom;
+  void MergeFrom(const PlanStatusWithID& from);
+  private:
+  static void MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to, const ::PROTOBUF_NAMESPACE_ID::Message& from);
+  public:
+  PROTOBUF_ATTRIBUTE_REINITIALIZES void Clear() final;
+  bool IsInitialized() const final;
+
+  size_t ByteSizeLong() const final;
+  const char* _InternalParse(const char* ptr, ::PROTOBUF_NAMESPACE_ID::internal::ParseContext* ctx) final;
+  uint8_t* _InternalSerialize(
+      uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const final;
+  int GetCachedSize() const final { return _cached_size_.Get(); }
+
+  private:
+  void SharedCtor();
+  void SharedDtor();
+  void SetCachedSize(int size) const final;
+  void InternalSwap(PlanStatusWithID* other);
+
+  private:
+  friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
+  static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
+    return "viam.service.motion.v1.PlanStatusWithID";
+  }
+  protected:
+  explicit PlanStatusWithID(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                       bool is_message_owned = false);
+  public:
+
+  static const ClassData _class_data_;
+  const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*GetClassData() const final;
+
+  ::PROTOBUF_NAMESPACE_ID::Metadata GetMetadata() const final;
+
+  // nested types ----------------------------------------------------
+
+  // accessors -------------------------------------------------------
+
+  enum : int {
+    kPlanIdFieldNumber = 1,
+    kExecutionIdFieldNumber = 3,
+    kComponentNameFieldNumber = 2,
+    kStatusFieldNumber = 4,
+  };
+  // string plan_id = 1 [json_name = "planId"];
+  void clear_plan_id();
+  const std::string& plan_id() const;
+  template <typename ArgT0 = const std::string&, typename... ArgT>
+  void set_plan_id(ArgT0&& arg0, ArgT... args);
+  std::string* mutable_plan_id();
+  PROTOBUF_NODISCARD std::string* release_plan_id();
+  void set_allocated_plan_id(std::string* plan_id);
+  private:
+  const std::string& _internal_plan_id() const;
+  inline PROTOBUF_ALWAYS_INLINE void _internal_set_plan_id(const std::string& value);
+  std::string* _internal_mutable_plan_id();
+  public:
+
+  // string execution_id = 3 [json_name = "executionId"];
+  void clear_execution_id();
+  const std::string& execution_id() const;
+  template <typename ArgT0 = const std::string&, typename... ArgT>
+  void set_execution_id(ArgT0&& arg0, ArgT... args);
+  std::string* mutable_execution_id();
+  PROTOBUF_NODISCARD std::string* release_execution_id();
+  void set_allocated_execution_id(std::string* execution_id);
+  private:
+  const std::string& _internal_execution_id() const;
+  inline PROTOBUF_ALWAYS_INLINE void _internal_set_execution_id(const std::string& value);
+  std::string* _internal_mutable_execution_id();
+  public:
+
+  // .viam.common.v1.ResourceName component_name = 2 [json_name = "componentName"];
+  bool has_component_name() const;
+  private:
+  bool _internal_has_component_name() const;
+  public:
+  void clear_component_name();
+  const ::viam::common::v1::ResourceName& component_name() const;
+  PROTOBUF_NODISCARD ::viam::common::v1::ResourceName* release_component_name();
+  ::viam::common::v1::ResourceName* mutable_component_name();
+  void set_allocated_component_name(::viam::common::v1::ResourceName* component_name);
+  private:
+  const ::viam::common::v1::ResourceName& _internal_component_name() const;
+  ::viam::common::v1::ResourceName* _internal_mutable_component_name();
+  public:
+  void unsafe_arena_set_allocated_component_name(
+      ::viam::common::v1::ResourceName* component_name);
+  ::viam::common::v1::ResourceName* unsafe_arena_release_component_name();
+
+  // .viam.service.motion.v1.PlanStatus status = 4 [json_name = "status"];
+  bool has_status() const;
+  private:
+  bool _internal_has_status() const;
+  public:
+  void clear_status();
+  const ::viam::service::motion::v1::PlanStatus& status() const;
+  PROTOBUF_NODISCARD ::viam::service::motion::v1::PlanStatus* release_status();
+  ::viam::service::motion::v1::PlanStatus* mutable_status();
+  void set_allocated_status(::viam::service::motion::v1::PlanStatus* status);
+  private:
+  const ::viam::service::motion::v1::PlanStatus& _internal_status() const;
+  ::viam::service::motion::v1::PlanStatus* _internal_mutable_status();
+  public:
+  void unsafe_arena_set_allocated_status(
+      ::viam::service::motion::v1::PlanStatus* status);
+  ::viam::service::motion::v1::PlanStatus* unsafe_arena_release_status();
+
+  // @@protoc_insertion_point(class_scope:viam.service.motion.v1.PlanStatusWithID)
+ private:
+  class _Internal;
+
+  template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
+  typedef void InternalArenaConstructable_;
+  typedef void DestructorSkippable_;
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr plan_id_;
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr execution_id_;
+  ::viam::common::v1::ResourceName* component_name_;
+  ::viam::service::motion::v1::PlanStatus* status_;
+  mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
+  friend struct ::TableStruct_service_2fmotion_2fv1_2fmotion_2eproto;
+};
+// -------------------------------------------------------------------
+
+class PlanStatus final :
+    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.service.motion.v1.PlanStatus) */ {
+ public:
+  inline PlanStatus() : PlanStatus(nullptr) {}
+  ~PlanStatus() override;
+  explicit PROTOBUF_CONSTEXPR PlanStatus(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
+
+  PlanStatus(const PlanStatus& from);
+  PlanStatus(PlanStatus&& from) noexcept
+    : PlanStatus() {
+    *this = ::std::move(from);
+  }
+
+  inline PlanStatus& operator=(const PlanStatus& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  inline PlanStatus& operator=(PlanStatus&& from) noexcept {
+    if (this == &from) return *this;
+    if (GetOwningArena() == from.GetOwningArena()
+  #ifdef PROTOBUF_FORCE_COPY_IN_MOVE
+        && GetOwningArena() != nullptr
+  #endif  // !PROTOBUF_FORCE_COPY_IN_MOVE
+    ) {
+      InternalSwap(&from);
+    } else {
+      CopyFrom(from);
+    }
+    return *this;
+  }
+
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* descriptor() {
+    return GetDescriptor();
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* GetDescriptor() {
+    return default_instance().GetMetadata().descriptor;
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
+    return default_instance().GetMetadata().reflection;
+  }
+  static const PlanStatus& default_instance() {
+    return *internal_default_instance();
+  }
+  static inline const PlanStatus* internal_default_instance() {
+    return reinterpret_cast<const PlanStatus*>(
+               &_PlanStatus_default_instance_);
+  }
+  static constexpr int kIndexInFileMessages =
+    24;
+
+  friend void swap(PlanStatus& a, PlanStatus& b) {
+    a.Swap(&b);
+  }
+  inline void Swap(PlanStatus* other) {
+    if (other == this) return;
+  #ifdef PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() != nullptr &&
+        GetOwningArena() == other->GetOwningArena()) {
+   #else  // PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() == other->GetOwningArena()) {
+  #endif  // !PROTOBUF_FORCE_COPY_IN_SWAP
+      InternalSwap(other);
+    } else {
+      ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
+    }
+  }
+  void UnsafeArenaSwap(PlanStatus* other) {
+    if (other == this) return;
+    GOOGLE_DCHECK(GetOwningArena() == other->GetOwningArena());
+    InternalSwap(other);
+  }
+
+  // implements Message ----------------------------------------------
+
+  PlanStatus* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
+    return CreateMaybeMessage<PlanStatus>(arena);
+  }
+  using ::PROTOBUF_NAMESPACE_ID::Message::CopyFrom;
+  void CopyFrom(const PlanStatus& from);
+  using ::PROTOBUF_NAMESPACE_ID::Message::MergeFrom;
+  void MergeFrom(const PlanStatus& from);
+  private:
+  static void MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to, const ::PROTOBUF_NAMESPACE_ID::Message& from);
+  public:
+  PROTOBUF_ATTRIBUTE_REINITIALIZES void Clear() final;
+  bool IsInitialized() const final;
+
+  size_t ByteSizeLong() const final;
+  const char* _InternalParse(const char* ptr, ::PROTOBUF_NAMESPACE_ID::internal::ParseContext* ctx) final;
+  uint8_t* _InternalSerialize(
+      uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const final;
+  int GetCachedSize() const final { return _cached_size_.Get(); }
+
+  private:
+  void SharedCtor();
+  void SharedDtor();
+  void SetCachedSize(int size) const final;
+  void InternalSwap(PlanStatus* other);
+
+  private:
+  friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
+  static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
+    return "viam.service.motion.v1.PlanStatus";
+  }
+  protected:
+  explicit PlanStatus(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                       bool is_message_owned = false);
+  public:
+
+  static const ClassData _class_data_;
+  const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*GetClassData() const final;
+
+  ::PROTOBUF_NAMESPACE_ID::Metadata GetMetadata() const final;
+
+  // nested types ----------------------------------------------------
+
+  // accessors -------------------------------------------------------
+
+  enum : int {
+    kReasonFieldNumber = 3,
+    kTimestampFieldNumber = 2,
+    kStateFieldNumber = 1,
+  };
+  // optional string reason = 3 [json_name = "reason"];
+  bool has_reason() const;
+  private:
+  bool _internal_has_reason() const;
+  public:
+  void clear_reason();
+  const std::string& reason() const;
+  template <typename ArgT0 = const std::string&, typename... ArgT>
+  void set_reason(ArgT0&& arg0, ArgT... args);
+  std::string* mutable_reason();
+  PROTOBUF_NODISCARD std::string* release_reason();
+  void set_allocated_reason(std::string* reason);
+  private:
+  const std::string& _internal_reason() const;
+  inline PROTOBUF_ALWAYS_INLINE void _internal_set_reason(const std::string& value);
+  std::string* _internal_mutable_reason();
+  public:
+
+  // .google.protobuf.Timestamp timestamp = 2 [json_name = "timestamp"];
+  bool has_timestamp() const;
+  private:
+  bool _internal_has_timestamp() const;
+  public:
+  void clear_timestamp();
+  const ::PROTOBUF_NAMESPACE_ID::Timestamp& timestamp() const;
+  PROTOBUF_NODISCARD ::PROTOBUF_NAMESPACE_ID::Timestamp* release_timestamp();
+  ::PROTOBUF_NAMESPACE_ID::Timestamp* mutable_timestamp();
+  void set_allocated_timestamp(::PROTOBUF_NAMESPACE_ID::Timestamp* timestamp);
+  private:
+  const ::PROTOBUF_NAMESPACE_ID::Timestamp& _internal_timestamp() const;
+  ::PROTOBUF_NAMESPACE_ID::Timestamp* _internal_mutable_timestamp();
+  public:
+  void unsafe_arena_set_allocated_timestamp(
+      ::PROTOBUF_NAMESPACE_ID::Timestamp* timestamp);
+  ::PROTOBUF_NAMESPACE_ID::Timestamp* unsafe_arena_release_timestamp();
+
+  // .viam.service.motion.v1.PlanState state = 1 [json_name = "state"];
+  void clear_state();
+  ::viam::service::motion::v1::PlanState state() const;
+  void set_state(::viam::service::motion::v1::PlanState value);
+  private:
+  ::viam::service::motion::v1::PlanState _internal_state() const;
+  void _internal_set_state(::viam::service::motion::v1::PlanState value);
+  public:
+
+  // @@protoc_insertion_point(class_scope:viam.service.motion.v1.PlanStatus)
+ private:
+  class _Internal;
+
+  template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
+  typedef void InternalArenaConstructable_;
+  typedef void DestructorSkippable_;
+  ::PROTOBUF_NAMESPACE_ID::internal::HasBits<1> _has_bits_;
+  mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr reason_;
+  ::PROTOBUF_NAMESPACE_ID::Timestamp* timestamp_;
+  int state_;
+  friend struct ::TableStruct_service_2fmotion_2fv1_2fmotion_2eproto;
+};
+// -------------------------------------------------------------------
+
+class Plan final :
+    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.service.motion.v1.Plan) */ {
+ public:
+  inline Plan() : Plan(nullptr) {}
+  ~Plan() override;
+  explicit PROTOBUF_CONSTEXPR Plan(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
+
+  Plan(const Plan& from);
+  Plan(Plan&& from) noexcept
+    : Plan() {
+    *this = ::std::move(from);
+  }
+
+  inline Plan& operator=(const Plan& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  inline Plan& operator=(Plan&& from) noexcept {
+    if (this == &from) return *this;
+    if (GetOwningArena() == from.GetOwningArena()
+  #ifdef PROTOBUF_FORCE_COPY_IN_MOVE
+        && GetOwningArena() != nullptr
+  #endif  // !PROTOBUF_FORCE_COPY_IN_MOVE
+    ) {
+      InternalSwap(&from);
+    } else {
+      CopyFrom(from);
+    }
+    return *this;
+  }
+
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* descriptor() {
+    return GetDescriptor();
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* GetDescriptor() {
+    return default_instance().GetMetadata().descriptor;
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
+    return default_instance().GetMetadata().reflection;
+  }
+  static const Plan& default_instance() {
+    return *internal_default_instance();
+  }
+  static inline const Plan* internal_default_instance() {
+    return reinterpret_cast<const Plan*>(
+               &_Plan_default_instance_);
+  }
+  static constexpr int kIndexInFileMessages =
+    25;
+
+  friend void swap(Plan& a, Plan& b) {
+    a.Swap(&b);
+  }
+  inline void Swap(Plan* other) {
+    if (other == this) return;
+  #ifdef PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() != nullptr &&
+        GetOwningArena() == other->GetOwningArena()) {
+   #else  // PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() == other->GetOwningArena()) {
+  #endif  // !PROTOBUF_FORCE_COPY_IN_SWAP
+      InternalSwap(other);
+    } else {
+      ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
+    }
+  }
+  void UnsafeArenaSwap(Plan* other) {
+    if (other == this) return;
+    GOOGLE_DCHECK(GetOwningArena() == other->GetOwningArena());
+    InternalSwap(other);
+  }
+
+  // implements Message ----------------------------------------------
+
+  Plan* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
+    return CreateMaybeMessage<Plan>(arena);
+  }
+  using ::PROTOBUF_NAMESPACE_ID::Message::CopyFrom;
+  void CopyFrom(const Plan& from);
+  using ::PROTOBUF_NAMESPACE_ID::Message::MergeFrom;
+  void MergeFrom(const Plan& from);
+  private:
+  static void MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to, const ::PROTOBUF_NAMESPACE_ID::Message& from);
+  public:
+  PROTOBUF_ATTRIBUTE_REINITIALIZES void Clear() final;
+  bool IsInitialized() const final;
+
+  size_t ByteSizeLong() const final;
+  const char* _InternalParse(const char* ptr, ::PROTOBUF_NAMESPACE_ID::internal::ParseContext* ctx) final;
+  uint8_t* _InternalSerialize(
+      uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const final;
+  int GetCachedSize() const final { return _cached_size_.Get(); }
+
+  private:
+  void SharedCtor();
+  void SharedDtor();
+  void SetCachedSize(int size) const final;
+  void InternalSwap(Plan* other);
+
+  private:
+  friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
+  static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
+    return "viam.service.motion.v1.Plan";
+  }
+  protected:
+  explicit Plan(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                       bool is_message_owned = false);
+  public:
+
+  static const ClassData _class_data_;
+  const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*GetClassData() const final;
+
+  ::PROTOBUF_NAMESPACE_ID::Metadata GetMetadata() const final;
+
+  // nested types ----------------------------------------------------
+
+  // accessors -------------------------------------------------------
+
+  enum : int {
+    kStepsFieldNumber = 4,
+    kIdFieldNumber = 1,
+    kExecutionIdFieldNumber = 3,
+    kComponentNameFieldNumber = 2,
+  };
+  // repeated .viam.service.motion.v1.PlanStep steps = 4 [json_name = "steps"];
+  int steps_size() const;
+  private:
+  int _internal_steps_size() const;
+  public:
+  void clear_steps();
+  ::viam::service::motion::v1::PlanStep* mutable_steps(int index);
+  ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::PlanStep >*
+      mutable_steps();
+  private:
+  const ::viam::service::motion::v1::PlanStep& _internal_steps(int index) const;
+  ::viam::service::motion::v1::PlanStep* _internal_add_steps();
+  public:
+  const ::viam::service::motion::v1::PlanStep& steps(int index) const;
+  ::viam::service::motion::v1::PlanStep* add_steps();
+  const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::PlanStep >&
+      steps() const;
+
+  // string id = 1 [json_name = "id"];
+  void clear_id();
+  const std::string& id() const;
+  template <typename ArgT0 = const std::string&, typename... ArgT>
+  void set_id(ArgT0&& arg0, ArgT... args);
+  std::string* mutable_id();
+  PROTOBUF_NODISCARD std::string* release_id();
+  void set_allocated_id(std::string* id);
+  private:
+  const std::string& _internal_id() const;
+  inline PROTOBUF_ALWAYS_INLINE void _internal_set_id(const std::string& value);
+  std::string* _internal_mutable_id();
+  public:
+
+  // string execution_id = 3 [json_name = "executionId"];
+  void clear_execution_id();
+  const std::string& execution_id() const;
+  template <typename ArgT0 = const std::string&, typename... ArgT>
+  void set_execution_id(ArgT0&& arg0, ArgT... args);
+  std::string* mutable_execution_id();
+  PROTOBUF_NODISCARD std::string* release_execution_id();
+  void set_allocated_execution_id(std::string* execution_id);
+  private:
+  const std::string& _internal_execution_id() const;
+  inline PROTOBUF_ALWAYS_INLINE void _internal_set_execution_id(const std::string& value);
+  std::string* _internal_mutable_execution_id();
+  public:
+
+  // .viam.common.v1.ResourceName component_name = 2 [json_name = "componentName"];
+  bool has_component_name() const;
+  private:
+  bool _internal_has_component_name() const;
+  public:
+  void clear_component_name();
+  const ::viam::common::v1::ResourceName& component_name() const;
+  PROTOBUF_NODISCARD ::viam::common::v1::ResourceName* release_component_name();
+  ::viam::common::v1::ResourceName* mutable_component_name();
+  void set_allocated_component_name(::viam::common::v1::ResourceName* component_name);
+  private:
+  const ::viam::common::v1::ResourceName& _internal_component_name() const;
+  ::viam::common::v1::ResourceName* _internal_mutable_component_name();
+  public:
+  void unsafe_arena_set_allocated_component_name(
+      ::viam::common::v1::ResourceName* component_name);
+  ::viam::common::v1::ResourceName* unsafe_arena_release_component_name();
+
+  // @@protoc_insertion_point(class_scope:viam.service.motion.v1.Plan)
+ private:
+  class _Internal;
+
+  template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
+  typedef void InternalArenaConstructable_;
+  typedef void DestructorSkippable_;
+  ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::PlanStep > steps_;
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr id_;
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr execution_id_;
+  ::viam::common::v1::ResourceName* component_name_;
+  mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
+  friend struct ::TableStruct_service_2fmotion_2fv1_2fmotion_2eproto;
+};
+// -------------------------------------------------------------------
+
+class PlanStep_StepEntry_DoNotUse : public ::PROTOBUF_NAMESPACE_ID::internal::MapEntry<PlanStep_StepEntry_DoNotUse, 
+    std::string, ::viam::service::motion::v1::ComponentState,
+    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::TYPE_STRING,
+    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::TYPE_MESSAGE> {
+public:
+  typedef ::PROTOBUF_NAMESPACE_ID::internal::MapEntry<PlanStep_StepEntry_DoNotUse, 
+    std::string, ::viam::service::motion::v1::ComponentState,
+    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::TYPE_STRING,
+    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::TYPE_MESSAGE> SuperType;
+  PlanStep_StepEntry_DoNotUse();
+  explicit PROTOBUF_CONSTEXPR PlanStep_StepEntry_DoNotUse(
+      ::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
+  explicit PlanStep_StepEntry_DoNotUse(::PROTOBUF_NAMESPACE_ID::Arena* arena);
+  void MergeFrom(const PlanStep_StepEntry_DoNotUse& other);
+  static const PlanStep_StepEntry_DoNotUse* internal_default_instance() { return reinterpret_cast<const PlanStep_StepEntry_DoNotUse*>(&_PlanStep_StepEntry_DoNotUse_default_instance_); }
+  static bool ValidateKey(std::string* s) {
+    return ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(s->data(), static_cast<int>(s->size()), ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::PARSE, "viam.service.motion.v1.PlanStep.StepEntry.key");
+ }
+  static bool ValidateValue(void*) { return true; }
+  using ::PROTOBUF_NAMESPACE_ID::Message::MergeFrom;
+  ::PROTOBUF_NAMESPACE_ID::Metadata GetMetadata() const final;
+  friend struct ::TableStruct_service_2fmotion_2fv1_2fmotion_2eproto;
+};
+
+// -------------------------------------------------------------------
+
+class PlanStep final :
+    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.service.motion.v1.PlanStep) */ {
+ public:
+  inline PlanStep() : PlanStep(nullptr) {}
+  ~PlanStep() override;
+  explicit PROTOBUF_CONSTEXPR PlanStep(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
+
+  PlanStep(const PlanStep& from);
+  PlanStep(PlanStep&& from) noexcept
+    : PlanStep() {
+    *this = ::std::move(from);
+  }
+
+  inline PlanStep& operator=(const PlanStep& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  inline PlanStep& operator=(PlanStep&& from) noexcept {
+    if (this == &from) return *this;
+    if (GetOwningArena() == from.GetOwningArena()
+  #ifdef PROTOBUF_FORCE_COPY_IN_MOVE
+        && GetOwningArena() != nullptr
+  #endif  // !PROTOBUF_FORCE_COPY_IN_MOVE
+    ) {
+      InternalSwap(&from);
+    } else {
+      CopyFrom(from);
+    }
+    return *this;
+  }
+
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* descriptor() {
+    return GetDescriptor();
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* GetDescriptor() {
+    return default_instance().GetMetadata().descriptor;
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
+    return default_instance().GetMetadata().reflection;
+  }
+  static const PlanStep& default_instance() {
+    return *internal_default_instance();
+  }
+  static inline const PlanStep* internal_default_instance() {
+    return reinterpret_cast<const PlanStep*>(
+               &_PlanStep_default_instance_);
+  }
+  static constexpr int kIndexInFileMessages =
+    27;
+
+  friend void swap(PlanStep& a, PlanStep& b) {
+    a.Swap(&b);
+  }
+  inline void Swap(PlanStep* other) {
+    if (other == this) return;
+  #ifdef PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() != nullptr &&
+        GetOwningArena() == other->GetOwningArena()) {
+   #else  // PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() == other->GetOwningArena()) {
+  #endif  // !PROTOBUF_FORCE_COPY_IN_SWAP
+      InternalSwap(other);
+    } else {
+      ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
+    }
+  }
+  void UnsafeArenaSwap(PlanStep* other) {
+    if (other == this) return;
+    GOOGLE_DCHECK(GetOwningArena() == other->GetOwningArena());
+    InternalSwap(other);
+  }
+
+  // implements Message ----------------------------------------------
+
+  PlanStep* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
+    return CreateMaybeMessage<PlanStep>(arena);
+  }
+  using ::PROTOBUF_NAMESPACE_ID::Message::CopyFrom;
+  void CopyFrom(const PlanStep& from);
+  using ::PROTOBUF_NAMESPACE_ID::Message::MergeFrom;
+  void MergeFrom(const PlanStep& from);
+  private:
+  static void MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to, const ::PROTOBUF_NAMESPACE_ID::Message& from);
+  public:
+  PROTOBUF_ATTRIBUTE_REINITIALIZES void Clear() final;
+  bool IsInitialized() const final;
+
+  size_t ByteSizeLong() const final;
+  const char* _InternalParse(const char* ptr, ::PROTOBUF_NAMESPACE_ID::internal::ParseContext* ctx) final;
+  uint8_t* _InternalSerialize(
+      uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const final;
+  int GetCachedSize() const final { return _cached_size_.Get(); }
+
+  private:
+  void SharedCtor();
+  void SharedDtor();
+  void SetCachedSize(int size) const final;
+  void InternalSwap(PlanStep* other);
+
+  private:
+  friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
+  static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
+    return "viam.service.motion.v1.PlanStep";
+  }
+  protected:
+  explicit PlanStep(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                       bool is_message_owned = false);
+  private:
+  static void ArenaDtor(void* object);
+  public:
+
+  static const ClassData _class_data_;
+  const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*GetClassData() const final;
+
+  ::PROTOBUF_NAMESPACE_ID::Metadata GetMetadata() const final;
+
+  // nested types ----------------------------------------------------
+
+
+  // accessors -------------------------------------------------------
+
+  enum : int {
+    kStepFieldNumber = 1,
+  };
+  // map<string, .viam.service.motion.v1.ComponentState> step = 1 [json_name = "step"];
+  int step_size() const;
+  private:
+  int _internal_step_size() const;
+  public:
+  void clear_step();
+  private:
+  const ::PROTOBUF_NAMESPACE_ID::Map< std::string, ::viam::service::motion::v1::ComponentState >&
+      _internal_step() const;
+  ::PROTOBUF_NAMESPACE_ID::Map< std::string, ::viam::service::motion::v1::ComponentState >*
+      _internal_mutable_step();
+  public:
+  const ::PROTOBUF_NAMESPACE_ID::Map< std::string, ::viam::service::motion::v1::ComponentState >&
+      step() const;
+  ::PROTOBUF_NAMESPACE_ID::Map< std::string, ::viam::service::motion::v1::ComponentState >*
+      mutable_step();
+
+  // @@protoc_insertion_point(class_scope:viam.service.motion.v1.PlanStep)
+ private:
+  class _Internal;
+
+  template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
+  typedef void InternalArenaConstructable_;
+  typedef void DestructorSkippable_;
+  ::PROTOBUF_NAMESPACE_ID::internal::MapField<
+      PlanStep_StepEntry_DoNotUse,
+      std::string, ::viam::service::motion::v1::ComponentState,
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::TYPE_STRING,
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::TYPE_MESSAGE> step_;
+  mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
+  friend struct ::TableStruct_service_2fmotion_2fv1_2fmotion_2eproto;
+};
+// -------------------------------------------------------------------
+
+class ComponentState final :
+    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.service.motion.v1.ComponentState) */ {
+ public:
+  inline ComponentState() : ComponentState(nullptr) {}
+  ~ComponentState() override;
+  explicit PROTOBUF_CONSTEXPR ComponentState(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
+
+  ComponentState(const ComponentState& from);
+  ComponentState(ComponentState&& from) noexcept
+    : ComponentState() {
+    *this = ::std::move(from);
+  }
+
+  inline ComponentState& operator=(const ComponentState& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  inline ComponentState& operator=(ComponentState&& from) noexcept {
+    if (this == &from) return *this;
+    if (GetOwningArena() == from.GetOwningArena()
+  #ifdef PROTOBUF_FORCE_COPY_IN_MOVE
+        && GetOwningArena() != nullptr
+  #endif  // !PROTOBUF_FORCE_COPY_IN_MOVE
+    ) {
+      InternalSwap(&from);
+    } else {
+      CopyFrom(from);
+    }
+    return *this;
+  }
+
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* descriptor() {
+    return GetDescriptor();
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* GetDescriptor() {
+    return default_instance().GetMetadata().descriptor;
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
+    return default_instance().GetMetadata().reflection;
+  }
+  static const ComponentState& default_instance() {
+    return *internal_default_instance();
+  }
+  static inline const ComponentState* internal_default_instance() {
+    return reinterpret_cast<const ComponentState*>(
+               &_ComponentState_default_instance_);
+  }
+  static constexpr int kIndexInFileMessages =
+    28;
+
+  friend void swap(ComponentState& a, ComponentState& b) {
+    a.Swap(&b);
+  }
+  inline void Swap(ComponentState* other) {
+    if (other == this) return;
+  #ifdef PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() != nullptr &&
+        GetOwningArena() == other->GetOwningArena()) {
+   #else  // PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() == other->GetOwningArena()) {
+  #endif  // !PROTOBUF_FORCE_COPY_IN_SWAP
+      InternalSwap(other);
+    } else {
+      ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
+    }
+  }
+  void UnsafeArenaSwap(ComponentState* other) {
+    if (other == this) return;
+    GOOGLE_DCHECK(GetOwningArena() == other->GetOwningArena());
+    InternalSwap(other);
+  }
+
+  // implements Message ----------------------------------------------
+
+  ComponentState* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
+    return CreateMaybeMessage<ComponentState>(arena);
+  }
+  using ::PROTOBUF_NAMESPACE_ID::Message::CopyFrom;
+  void CopyFrom(const ComponentState& from);
+  using ::PROTOBUF_NAMESPACE_ID::Message::MergeFrom;
+  void MergeFrom(const ComponentState& from);
+  private:
+  static void MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to, const ::PROTOBUF_NAMESPACE_ID::Message& from);
+  public:
+  PROTOBUF_ATTRIBUTE_REINITIALIZES void Clear() final;
+  bool IsInitialized() const final;
+
+  size_t ByteSizeLong() const final;
+  const char* _InternalParse(const char* ptr, ::PROTOBUF_NAMESPACE_ID::internal::ParseContext* ctx) final;
+  uint8_t* _InternalSerialize(
+      uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const final;
+  int GetCachedSize() const final { return _cached_size_.Get(); }
+
+  private:
+  void SharedCtor();
+  void SharedDtor();
+  void SetCachedSize(int size) const final;
+  void InternalSwap(ComponentState* other);
+
+  private:
+  friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
+  static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
+    return "viam.service.motion.v1.ComponentState";
+  }
+  protected:
+  explicit ComponentState(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                       bool is_message_owned = false);
+  public:
+
+  static const ClassData _class_data_;
+  const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*GetClassData() const final;
+
+  ::PROTOBUF_NAMESPACE_ID::Metadata GetMetadata() const final;
+
+  // nested types ----------------------------------------------------
+
+  // accessors -------------------------------------------------------
+
+  enum : int {
+    kPoseFieldNumber = 1,
+  };
+  // .viam.common.v1.Pose pose = 1 [json_name = "pose"];
+  bool has_pose() const;
+  private:
+  bool _internal_has_pose() const;
+  public:
+  void clear_pose();
+  const ::viam::common::v1::Pose& pose() const;
+  PROTOBUF_NODISCARD ::viam::common::v1::Pose* release_pose();
+  ::viam::common::v1::Pose* mutable_pose();
+  void set_allocated_pose(::viam::common::v1::Pose* pose);
+  private:
+  const ::viam::common::v1::Pose& _internal_pose() const;
+  ::viam::common::v1::Pose* _internal_mutable_pose();
+  public:
+  void unsafe_arena_set_allocated_pose(
+      ::viam::common::v1::Pose* pose);
+  ::viam::common::v1::Pose* unsafe_arena_release_pose();
+
+  // @@protoc_insertion_point(class_scope:viam.service.motion.v1.ComponentState)
+ private:
+  class _Internal;
+
+  template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
+  typedef void InternalArenaConstructable_;
+  typedef void DestructorSkippable_;
+  ::viam::common::v1::Pose* pose_;
+  mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
+  friend struct ::TableStruct_service_2fmotion_2fv1_2fmotion_2eproto;
+};
+// ===================================================================
+
+
+// ===================================================================
+
+#ifdef __GNUC__
+  #pragma GCC diagnostic push
+  #pragma GCC diagnostic ignored "-Wstrict-aliasing"
+#endif  // __GNUC__
+// MoveRequest
+
+// string name = 1 [json_name = "name"];
+inline void MoveRequest::clear_name() {
+  name_.ClearToEmpty();
+}
+inline const std::string& MoveRequest::name() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveRequest.name)
+  return _internal_name();
+}
+template <typename ArgT0, typename... ArgT>
+inline PROTOBUF_ALWAYS_INLINE
+void MoveRequest::set_name(ArgT0&& arg0, ArgT... args) {
+ 
+ name_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.service.motion.v1.MoveRequest.name)
+}
+inline std::string* MoveRequest::mutable_name() {
+  std::string* _s = _internal_mutable_name();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveRequest.name)
+  return _s;
+}
+inline const std::string& MoveRequest::_internal_name() const {
+  return name_.Get();
+}
+inline void MoveRequest::_internal_set_name(const std::string& value) {
+  
+  name_.Set(value, GetArenaForAllocation());
+}
+inline std::string* MoveRequest::_internal_mutable_name() {
+  
+  return name_.Mutable(GetArenaForAllocation());
+}
+inline std::string* MoveRequest::release_name() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.MoveRequest.name)
+  return name_.Release();
+}
+inline void MoveRequest::set_allocated_name(std::string* name) {
+  if (name != nullptr) {
+    
+  } else {
+    
+  }
+  name_.SetAllocated(name, GetArenaForAllocation());
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (name_.IsDefault()) {
+    name_.Set("", GetArenaForAllocation());
+  }
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.MoveRequest.name)
+}
+
+// .viam.common.v1.PoseInFrame destination = 2 [json_name = "destination"];
+inline bool MoveRequest::_internal_has_destination() const {
+  return this != internal_default_instance() && destination_ != nullptr;
+}
+inline bool MoveRequest::has_destination() const {
+  return _internal_has_destination();
+}
+inline const ::viam::common::v1::PoseInFrame& MoveRequest::_internal_destination() const {
+  const ::viam::common::v1::PoseInFrame* p = destination_;
+  return p != nullptr ? *p : reinterpret_cast<const ::viam::common::v1::PoseInFrame&>(
+      ::viam::common::v1::_PoseInFrame_default_instance_);
+}
+inline const ::viam::common::v1::PoseInFrame& MoveRequest::destination() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveRequest.destination)
+  return _internal_destination();
+}
+inline void MoveRequest::unsafe_arena_set_allocated_destination(
+    ::viam::common::v1::PoseInFrame* destination) {
+  if (GetArenaForAllocation() == nullptr) {
+    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(destination_);
+  }
+  destination_ = destination;
+  if (destination) {
+    
+  } else {
+    
+  }
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.MoveRequest.destination)
+}
+inline ::viam::common::v1::PoseInFrame* MoveRequest::release_destination() {
+  
+  ::viam::common::v1::PoseInFrame* temp = destination_;
+  destination_ = nullptr;
+#ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
+  auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
+  temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  if (GetArenaForAllocation() == nullptr) { delete old; }
+#else  // PROTOBUF_FORCE_COPY_IN_RELEASE
+  if (GetArenaForAllocation() != nullptr) {
+    temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  }
+#endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
+  return temp;
+}
+inline ::viam::common::v1::PoseInFrame* MoveRequest::unsafe_arena_release_destination() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.MoveRequest.destination)
+  
+  ::viam::common::v1::PoseInFrame* temp = destination_;
+  destination_ = nullptr;
+  return temp;
+}
+inline ::viam::common::v1::PoseInFrame* MoveRequest::_internal_mutable_destination() {
+  
+  if (destination_ == nullptr) {
+    auto* p = CreateMaybeMessage<::viam::common::v1::PoseInFrame>(GetArenaForAllocation());
+    destination_ = p;
+  }
+  return destination_;
+}
+inline ::viam::common::v1::PoseInFrame* MoveRequest::mutable_destination() {
+  ::viam::common::v1::PoseInFrame* _msg = _internal_mutable_destination();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveRequest.destination)
+  return _msg;
+}
+inline void MoveRequest::set_allocated_destination(::viam::common::v1::PoseInFrame* destination) {
+  ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
+  if (message_arena == nullptr) {
+    delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(destination_);
+  }
+  if (destination) {
+    ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
+        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(
+                reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(destination));
+    if (message_arena != submessage_arena) {
+      destination = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
+          message_arena, destination, submessage_arena);
+    }
+    
+  } else {
+    
+  }
+  destination_ = destination;
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.MoveRequest.destination)
+}
+
+// .viam.common.v1.ResourceName component_name = 3 [json_name = "componentName"];
+inline bool MoveRequest::_internal_has_component_name() const {
+  return this != internal_default_instance() && component_name_ != nullptr;
+}
+inline bool MoveRequest::has_component_name() const {
+  return _internal_has_component_name();
+}
+inline const ::viam::common::v1::ResourceName& MoveRequest::_internal_component_name() const {
+  const ::viam::common::v1::ResourceName* p = component_name_;
+  return p != nullptr ? *p : reinterpret_cast<const ::viam::common::v1::ResourceName&>(
+      ::viam::common::v1::_ResourceName_default_instance_);
+}
+inline const ::viam::common::v1::ResourceName& MoveRequest::component_name() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveRequest.component_name)
+  return _internal_component_name();
+}
+inline void MoveRequest::unsafe_arena_set_allocated_component_name(
+    ::viam::common::v1::ResourceName* component_name) {
+  if (GetArenaForAllocation() == nullptr) {
+    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(component_name_);
+  }
+  component_name_ = component_name;
+  if (component_name) {
+    
+  } else {
+    
+  }
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.MoveRequest.component_name)
+}
+inline ::viam::common::v1::ResourceName* MoveRequest::release_component_name() {
+  
+  ::viam::common::v1::ResourceName* temp = component_name_;
+  component_name_ = nullptr;
+#ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
+  auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
+  temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  if (GetArenaForAllocation() == nullptr) { delete old; }
+#else  // PROTOBUF_FORCE_COPY_IN_RELEASE
+  if (GetArenaForAllocation() != nullptr) {
+    temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  }
+#endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
+  return temp;
+}
+inline ::viam::common::v1::ResourceName* MoveRequest::unsafe_arena_release_component_name() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.MoveRequest.component_name)
+  
+  ::viam::common::v1::ResourceName* temp = component_name_;
+  component_name_ = nullptr;
+  return temp;
+}
+inline ::viam::common::v1::ResourceName* MoveRequest::_internal_mutable_component_name() {
+  
+  if (component_name_ == nullptr) {
+    auto* p = CreateMaybeMessage<::viam::common::v1::ResourceName>(GetArenaForAllocation());
+    component_name_ = p;
+  }
+  return component_name_;
+}
+inline ::viam::common::v1::ResourceName* MoveRequest::mutable_component_name() {
+  ::viam::common::v1::ResourceName* _msg = _internal_mutable_component_name();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveRequest.component_name)
+  return _msg;
+}
+inline void MoveRequest::set_allocated_component_name(::viam::common::v1::ResourceName* component_name) {
+  ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
+  if (message_arena == nullptr) {
+    delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(component_name_);
+  }
+  if (component_name) {
+    ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
+        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(
+                reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(component_name));
+    if (message_arena != submessage_arena) {
+      component_name = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
+          message_arena, component_name, submessage_arena);
+    }
+    
+  } else {
+    
+  }
+  component_name_ = component_name;
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.MoveRequest.component_name)
+}
+
+// optional .viam.common.v1.WorldState world_state = 4 [json_name = "worldState"];
+inline bool MoveRequest::_internal_has_world_state() const {
+  bool value = (_has_bits_[0] & 0x00000001u) != 0;
+  PROTOBUF_ASSUME(!value || world_state_ != nullptr);
+  return value;
+}
+inline bool MoveRequest::has_world_state() const {
+  return _internal_has_world_state();
+}
+inline const ::viam::common::v1::WorldState& MoveRequest::_internal_world_state() const {
+  const ::viam::common::v1::WorldState* p = world_state_;
+  return p != nullptr ? *p : reinterpret_cast<const ::viam::common::v1::WorldState&>(
+      ::viam::common::v1::_WorldState_default_instance_);
+}
+inline const ::viam::common::v1::WorldState& MoveRequest::world_state() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveRequest.world_state)
+  return _internal_world_state();
+}
+inline void MoveRequest::unsafe_arena_set_allocated_world_state(
+    ::viam::common::v1::WorldState* world_state) {
+  if (GetArenaForAllocation() == nullptr) {
+    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(world_state_);
+  }
+  world_state_ = world_state;
+  if (world_state) {
+    _has_bits_[0] |= 0x00000001u;
+  } else {
+    _has_bits_[0] &= ~0x00000001u;
+  }
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.MoveRequest.world_state)
+}
+inline ::viam::common::v1::WorldState* MoveRequest::release_world_state() {
+  _has_bits_[0] &= ~0x00000001u;
+  ::viam::common::v1::WorldState* temp = world_state_;
+  world_state_ = nullptr;
+#ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
+  auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
+  temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  if (GetArenaForAllocation() == nullptr) { delete old; }
+#else  // PROTOBUF_FORCE_COPY_IN_RELEASE
+  if (GetArenaForAllocation() != nullptr) {
+    temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  }
+#endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
+  return temp;
+}
+inline ::viam::common::v1::WorldState* MoveRequest::unsafe_arena_release_world_state() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.MoveRequest.world_state)
+  _has_bits_[0] &= ~0x00000001u;
+  ::viam::common::v1::WorldState* temp = world_state_;
+  world_state_ = nullptr;
+  return temp;
+}
+inline ::viam::common::v1::WorldState* MoveRequest::_internal_mutable_world_state() {
+  _has_bits_[0] |= 0x00000001u;
+  if (world_state_ == nullptr) {
+    auto* p = CreateMaybeMessage<::viam::common::v1::WorldState>(GetArenaForAllocation());
+    world_state_ = p;
+  }
+  return world_state_;
+}
+inline ::viam::common::v1::WorldState* MoveRequest::mutable_world_state() {
+  ::viam::common::v1::WorldState* _msg = _internal_mutable_world_state();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveRequest.world_state)
+  return _msg;
+}
+inline void MoveRequest::set_allocated_world_state(::viam::common::v1::WorldState* world_state) {
+  ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
+  if (message_arena == nullptr) {
+    delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(world_state_);
+  }
+  if (world_state) {
+    ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
+        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(
+                reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(world_state));
+    if (message_arena != submessage_arena) {
+      world_state = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
+          message_arena, world_state, submessage_arena);
+    }
+    _has_bits_[0] |= 0x00000001u;
+  } else {
+    _has_bits_[0] &= ~0x00000001u;
+  }
+  world_state_ = world_state;
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.MoveRequest.world_state)
+}
+
+// optional .viam.service.motion.v1.Constraints constraints = 5 [json_name = "constraints"];
+inline bool MoveRequest::_internal_has_constraints() const {
+  bool value = (_has_bits_[0] & 0x00000002u) != 0;
+  PROTOBUF_ASSUME(!value || constraints_ != nullptr);
+  return value;
+}
+inline bool MoveRequest::has_constraints() const {
+  return _internal_has_constraints();
+}
+inline void MoveRequest::clear_constraints() {
+  if (constraints_ != nullptr) constraints_->Clear();
+  _has_bits_[0] &= ~0x00000002u;
+}
+inline const ::viam::service::motion::v1::Constraints& MoveRequest::_internal_constraints() const {
+  const ::viam::service::motion::v1::Constraints* p = constraints_;
+  return p != nullptr ? *p : reinterpret_cast<const ::viam::service::motion::v1::Constraints&>(
+      ::viam::service::motion::v1::_Constraints_default_instance_);
+}
+inline const ::viam::service::motion::v1::Constraints& MoveRequest::constraints() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveRequest.constraints)
+  return _internal_constraints();
+}
+inline void MoveRequest::unsafe_arena_set_allocated_constraints(
+    ::viam::service::motion::v1::Constraints* constraints) {
+  if (GetArenaForAllocation() == nullptr) {
+    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(constraints_);
+  }
+  constraints_ = constraints;
+  if (constraints) {
+    _has_bits_[0] |= 0x00000002u;
+  } else {
+    _has_bits_[0] &= ~0x00000002u;
+  }
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.MoveRequest.constraints)
+}
+inline ::viam::service::motion::v1::Constraints* MoveRequest::release_constraints() {
+  _has_bits_[0] &= ~0x00000002u;
+  ::viam::service::motion::v1::Constraints* temp = constraints_;
+  constraints_ = nullptr;
+#ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
+  auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
+  temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  if (GetArenaForAllocation() == nullptr) { delete old; }
+#else  // PROTOBUF_FORCE_COPY_IN_RELEASE
+  if (GetArenaForAllocation() != nullptr) {
+    temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  }
+#endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
+  return temp;
+}
+inline ::viam::service::motion::v1::Constraints* MoveRequest::unsafe_arena_release_constraints() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.MoveRequest.constraints)
+  _has_bits_[0] &= ~0x00000002u;
+  ::viam::service::motion::v1::Constraints* temp = constraints_;
+  constraints_ = nullptr;
+  return temp;
+}
+inline ::viam::service::motion::v1::Constraints* MoveRequest::_internal_mutable_constraints() {
+  _has_bits_[0] |= 0x00000002u;
+  if (constraints_ == nullptr) {
+    auto* p = CreateMaybeMessage<::viam::service::motion::v1::Constraints>(GetArenaForAllocation());
+    constraints_ = p;
+  }
+  return constraints_;
+}
+inline ::viam::service::motion::v1::Constraints* MoveRequest::mutable_constraints() {
+  ::viam::service::motion::v1::Constraints* _msg = _internal_mutable_constraints();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveRequest.constraints)
+  return _msg;
+}
+inline void MoveRequest::set_allocated_constraints(::viam::service::motion::v1::Constraints* constraints) {
+  ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
+  if (message_arena == nullptr) {
+    delete constraints_;
+  }
+  if (constraints) {
+    ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
+        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(constraints);
+    if (message_arena != submessage_arena) {
+      constraints = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
+          message_arena, constraints, submessage_arena);
+    }
+    _has_bits_[0] |= 0x00000002u;
+  } else {
+    _has_bits_[0] &= ~0x00000002u;
+  }
+  constraints_ = constraints;
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.MoveRequest.constraints)
+}
+
+// .google.protobuf.Struct extra = 99 [json_name = "extra"];
+inline bool MoveRequest::_internal_has_extra() const {
+  return this != internal_default_instance() && extra_ != nullptr;
+}
+inline bool MoveRequest::has_extra() const {
+  return _internal_has_extra();
+}
+inline const ::PROTOBUF_NAMESPACE_ID::Struct& MoveRequest::_internal_extra() const {
+  const ::PROTOBUF_NAMESPACE_ID::Struct* p = extra_;
+  return p != nullptr ? *p : reinterpret_cast<const ::PROTOBUF_NAMESPACE_ID::Struct&>(
+      ::PROTOBUF_NAMESPACE_ID::_Struct_default_instance_);
+}
+inline const ::PROTOBUF_NAMESPACE_ID::Struct& MoveRequest::extra() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveRequest.extra)
+  return _internal_extra();
+}
+inline void MoveRequest::unsafe_arena_set_allocated_extra(
+    ::PROTOBUF_NAMESPACE_ID::Struct* extra) {
+  if (GetArenaForAllocation() == nullptr) {
+    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(extra_);
+  }
+  extra_ = extra;
+  if (extra) {
+    
+  } else {
+    
+  }
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.MoveRequest.extra)
+}
+inline ::PROTOBUF_NAMESPACE_ID::Struct* MoveRequest::release_extra() {
+  
+  ::PROTOBUF_NAMESPACE_ID::Struct* temp = extra_;
+  extra_ = nullptr;
+#ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
+  auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
+  temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  if (GetArenaForAllocation() == nullptr) { delete old; }
+#else  // PROTOBUF_FORCE_COPY_IN_RELEASE
+  if (GetArenaForAllocation() != nullptr) {
+    temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  }
+#endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
+  return temp;
+}
+inline ::PROTOBUF_NAMESPACE_ID::Struct* MoveRequest::unsafe_arena_release_extra() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.MoveRequest.extra)
+  
+  ::PROTOBUF_NAMESPACE_ID::Struct* temp = extra_;
+  extra_ = nullptr;
+  return temp;
+}
+inline ::PROTOBUF_NAMESPACE_ID::Struct* MoveRequest::_internal_mutable_extra() {
+  
+  if (extra_ == nullptr) {
+    auto* p = CreateMaybeMessage<::PROTOBUF_NAMESPACE_ID::Struct>(GetArenaForAllocation());
+    extra_ = p;
+  }
+  return extra_;
+}
+inline ::PROTOBUF_NAMESPACE_ID::Struct* MoveRequest::mutable_extra() {
+  ::PROTOBUF_NAMESPACE_ID::Struct* _msg = _internal_mutable_extra();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveRequest.extra)
+  return _msg;
+}
+inline void MoveRequest::set_allocated_extra(::PROTOBUF_NAMESPACE_ID::Struct* extra) {
+  ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
+  if (message_arena == nullptr) {
+    delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(extra_);
+  }
+  if (extra) {
+    ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
+        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(
+                reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(extra));
+    if (message_arena != submessage_arena) {
+      extra = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
+          message_arena, extra, submessage_arena);
+    }
+    
+  } else {
+    
+  }
+  extra_ = extra;
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.MoveRequest.extra)
+}
+
+// -------------------------------------------------------------------
+
+// MoveResponse
+
+// bool success = 1 [json_name = "success"];
+inline void MoveResponse::clear_success() {
+  success_ = false;
+}
+inline bool MoveResponse::_internal_success() const {
+  return success_;
+}
+inline bool MoveResponse::success() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveResponse.success)
+  return _internal_success();
+}
+inline void MoveResponse::_internal_set_success(bool value) {
+  
+  success_ = value;
+}
+inline void MoveResponse::set_success(bool value) {
+  _internal_set_success(value);
+  // @@protoc_insertion_point(field_set:viam.service.motion.v1.MoveResponse.success)
+}
+
+// -------------------------------------------------------------------
+
+// MoveOnMapRequest
+
+// string name = 1 [json_name = "name"];
+inline void MoveOnMapRequest::clear_name() {
+  name_.ClearToEmpty();
+}
+inline const std::string& MoveOnMapRequest::name() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveOnMapRequest.name)
+  return _internal_name();
+}
+template <typename ArgT0, typename... ArgT>
+inline PROTOBUF_ALWAYS_INLINE
+void MoveOnMapRequest::set_name(ArgT0&& arg0, ArgT... args) {
+ 
+ name_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.service.motion.v1.MoveOnMapRequest.name)
+}
+inline std::string* MoveOnMapRequest::mutable_name() {
+  std::string* _s = _internal_mutable_name();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveOnMapRequest.name)
+  return _s;
+}
+inline const std::string& MoveOnMapRequest::_internal_name() const {
+  return name_.Get();
+}
+inline void MoveOnMapRequest::_internal_set_name(const std::string& value) {
+  
+  name_.Set(value, GetArenaForAllocation());
+}
+inline std::string* MoveOnMapRequest::_internal_mutable_name() {
+  
+  return name_.Mutable(GetArenaForAllocation());
+}
+inline std::string* MoveOnMapRequest::release_name() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.MoveOnMapRequest.name)
+  return name_.Release();
+}
+inline void MoveOnMapRequest::set_allocated_name(std::string* name) {
+  if (name != nullptr) {
+    
+  } else {
+    
+  }
+  name_.SetAllocated(name, GetArenaForAllocation());
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (name_.IsDefault()) {
+    name_.Set("", GetArenaForAllocation());
+  }
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.MoveOnMapRequest.name)
+}
+
+// .viam.common.v1.Pose destination = 2 [json_name = "destination"];
+inline bool MoveOnMapRequest::_internal_has_destination() const {
+  return this != internal_default_instance() && destination_ != nullptr;
+}
+inline bool MoveOnMapRequest::has_destination() const {
+  return _internal_has_destination();
+}
+inline const ::viam::common::v1::Pose& MoveOnMapRequest::_internal_destination() const {
+  const ::viam::common::v1::Pose* p = destination_;
+  return p != nullptr ? *p : reinterpret_cast<const ::viam::common::v1::Pose&>(
+      ::viam::common::v1::_Pose_default_instance_);
+}
+inline const ::viam::common::v1::Pose& MoveOnMapRequest::destination() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveOnMapRequest.destination)
+  return _internal_destination();
+}
+inline void MoveOnMapRequest::unsafe_arena_set_allocated_destination(
+    ::viam::common::v1::Pose* destination) {
+  if (GetArenaForAllocation() == nullptr) {
+    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(destination_);
+  }
+  destination_ = destination;
+  if (destination) {
+    
+  } else {
+    
+  }
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.MoveOnMapRequest.destination)
+}
+inline ::viam::common::v1::Pose* MoveOnMapRequest::release_destination() {
+  
+  ::viam::common::v1::Pose* temp = destination_;
+  destination_ = nullptr;
+#ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
+  auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
+  temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  if (GetArenaForAllocation() == nullptr) { delete old; }
+#else  // PROTOBUF_FORCE_COPY_IN_RELEASE
+  if (GetArenaForAllocation() != nullptr) {
+    temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  }
+#endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
+  return temp;
+}
+inline ::viam::common::v1::Pose* MoveOnMapRequest::unsafe_arena_release_destination() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.MoveOnMapRequest.destination)
+  
+  ::viam::common::v1::Pose* temp = destination_;
+  destination_ = nullptr;
+  return temp;
+}
+inline ::viam::common::v1::Pose* MoveOnMapRequest::_internal_mutable_destination() {
+  
+  if (destination_ == nullptr) {
+    auto* p = CreateMaybeMessage<::viam::common::v1::Pose>(GetArenaForAllocation());
+    destination_ = p;
+  }
+  return destination_;
+}
+inline ::viam::common::v1::Pose* MoveOnMapRequest::mutable_destination() {
+  ::viam::common::v1::Pose* _msg = _internal_mutable_destination();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveOnMapRequest.destination)
+  return _msg;
+}
+inline void MoveOnMapRequest::set_allocated_destination(::viam::common::v1::Pose* destination) {
+  ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
+  if (message_arena == nullptr) {
+    delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(destination_);
+  }
+  if (destination) {
+    ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
+        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(
+                reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(destination));
+    if (message_arena != submessage_arena) {
+      destination = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
+          message_arena, destination, submessage_arena);
+    }
+    
+  } else {
+    
+  }
+  destination_ = destination;
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.MoveOnMapRequest.destination)
+}
+
+// .viam.common.v1.ResourceName component_name = 3 [json_name = "componentName"];
+inline bool MoveOnMapRequest::_internal_has_component_name() const {
+  return this != internal_default_instance() && component_name_ != nullptr;
+}
+inline bool MoveOnMapRequest::has_component_name() const {
+  return _internal_has_component_name();
+}
+inline const ::viam::common::v1::ResourceName& MoveOnMapRequest::_internal_component_name() const {
+  const ::viam::common::v1::ResourceName* p = component_name_;
+  return p != nullptr ? *p : reinterpret_cast<const ::viam::common::v1::ResourceName&>(
+      ::viam::common::v1::_ResourceName_default_instance_);
+}
+inline const ::viam::common::v1::ResourceName& MoveOnMapRequest::component_name() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveOnMapRequest.component_name)
+  return _internal_component_name();
+}
+inline void MoveOnMapRequest::unsafe_arena_set_allocated_component_name(
+    ::viam::common::v1::ResourceName* component_name) {
+  if (GetArenaForAllocation() == nullptr) {
+    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(component_name_);
+  }
+  component_name_ = component_name;
+  if (component_name) {
+    
+  } else {
+    
+  }
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.MoveOnMapRequest.component_name)
+}
+inline ::viam::common::v1::ResourceName* MoveOnMapRequest::release_component_name() {
+  
+  ::viam::common::v1::ResourceName* temp = component_name_;
+  component_name_ = nullptr;
+#ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
+  auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
+  temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  if (GetArenaForAllocation() == nullptr) { delete old; }
+#else  // PROTOBUF_FORCE_COPY_IN_RELEASE
+  if (GetArenaForAllocation() != nullptr) {
+    temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  }
+#endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
+  return temp;
+}
+inline ::viam::common::v1::ResourceName* MoveOnMapRequest::unsafe_arena_release_component_name() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.MoveOnMapRequest.component_name)
+  
+  ::viam::common::v1::ResourceName* temp = component_name_;
+  component_name_ = nullptr;
+  return temp;
+}
+inline ::viam::common::v1::ResourceName* MoveOnMapRequest::_internal_mutable_component_name() {
+  
+  if (component_name_ == nullptr) {
+    auto* p = CreateMaybeMessage<::viam::common::v1::ResourceName>(GetArenaForAllocation());
+    component_name_ = p;
+  }
+  return component_name_;
+}
+inline ::viam::common::v1::ResourceName* MoveOnMapRequest::mutable_component_name() {
+  ::viam::common::v1::ResourceName* _msg = _internal_mutable_component_name();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveOnMapRequest.component_name)
+  return _msg;
+}
+inline void MoveOnMapRequest::set_allocated_component_name(::viam::common::v1::ResourceName* component_name) {
+  ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
+  if (message_arena == nullptr) {
+    delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(component_name_);
+  }
+  if (component_name) {
+    ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
+        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(
+                reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(component_name));
+    if (message_arena != submessage_arena) {
+      component_name = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
+          message_arena, component_name, submessage_arena);
+    }
+    
+  } else {
+    
+  }
+  component_name_ = component_name;
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.MoveOnMapRequest.component_name)
+}
+
+// .viam.common.v1.ResourceName slam_service_name = 4 [json_name = "slamServiceName"];
+inline bool MoveOnMapRequest::_internal_has_slam_service_name() const {
+  return this != internal_default_instance() && slam_service_name_ != nullptr;
+}
+inline bool MoveOnMapRequest::has_slam_service_name() const {
+  return _internal_has_slam_service_name();
+}
+inline const ::viam::common::v1::ResourceName& MoveOnMapRequest::_internal_slam_service_name() const {
+  const ::viam::common::v1::ResourceName* p = slam_service_name_;
+  return p != nullptr ? *p : reinterpret_cast<const ::viam::common::v1::ResourceName&>(
+      ::viam::common::v1::_ResourceName_default_instance_);
+}
+inline const ::viam::common::v1::ResourceName& MoveOnMapRequest::slam_service_name() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveOnMapRequest.slam_service_name)
+  return _internal_slam_service_name();
+}
+inline void MoveOnMapRequest::unsafe_arena_set_allocated_slam_service_name(
+    ::viam::common::v1::ResourceName* slam_service_name) {
+  if (GetArenaForAllocation() == nullptr) {
+    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(slam_service_name_);
+  }
+  slam_service_name_ = slam_service_name;
+  if (slam_service_name) {
+    
+  } else {
+    
+  }
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.MoveOnMapRequest.slam_service_name)
+}
+inline ::viam::common::v1::ResourceName* MoveOnMapRequest::release_slam_service_name() {
+  
+  ::viam::common::v1::ResourceName* temp = slam_service_name_;
+  slam_service_name_ = nullptr;
+#ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
+  auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
+  temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  if (GetArenaForAllocation() == nullptr) { delete old; }
+#else  // PROTOBUF_FORCE_COPY_IN_RELEASE
+  if (GetArenaForAllocation() != nullptr) {
+    temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  }
+#endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
+  return temp;
+}
+inline ::viam::common::v1::ResourceName* MoveOnMapRequest::unsafe_arena_release_slam_service_name() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.MoveOnMapRequest.slam_service_name)
+  
+  ::viam::common::v1::ResourceName* temp = slam_service_name_;
+  slam_service_name_ = nullptr;
+  return temp;
+}
+inline ::viam::common::v1::ResourceName* MoveOnMapRequest::_internal_mutable_slam_service_name() {
+  
+  if (slam_service_name_ == nullptr) {
+    auto* p = CreateMaybeMessage<::viam::common::v1::ResourceName>(GetArenaForAllocation());
+    slam_service_name_ = p;
+  }
+  return slam_service_name_;
+}
+inline ::viam::common::v1::ResourceName* MoveOnMapRequest::mutable_slam_service_name() {
+  ::viam::common::v1::ResourceName* _msg = _internal_mutable_slam_service_name();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveOnMapRequest.slam_service_name)
+  return _msg;
+}
+inline void MoveOnMapRequest::set_allocated_slam_service_name(::viam::common::v1::ResourceName* slam_service_name) {
+  ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
+  if (message_arena == nullptr) {
+    delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(slam_service_name_);
+  }
+  if (slam_service_name) {
+    ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
+        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(
+                reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(slam_service_name));
+    if (message_arena != submessage_arena) {
+      slam_service_name = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
+          message_arena, slam_service_name, submessage_arena);
+    }
+    
+  } else {
+    
+  }
+  slam_service_name_ = slam_service_name;
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.MoveOnMapRequest.slam_service_name)
+}
+
+// .google.protobuf.Struct extra = 99 [json_name = "extra"];
+inline bool MoveOnMapRequest::_internal_has_extra() const {
+  return this != internal_default_instance() && extra_ != nullptr;
+}
+inline bool MoveOnMapRequest::has_extra() const {
+  return _internal_has_extra();
+}
+inline const ::PROTOBUF_NAMESPACE_ID::Struct& MoveOnMapRequest::_internal_extra() const {
+  const ::PROTOBUF_NAMESPACE_ID::Struct* p = extra_;
+  return p != nullptr ? *p : reinterpret_cast<const ::PROTOBUF_NAMESPACE_ID::Struct&>(
+      ::PROTOBUF_NAMESPACE_ID::_Struct_default_instance_);
+}
+inline const ::PROTOBUF_NAMESPACE_ID::Struct& MoveOnMapRequest::extra() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveOnMapRequest.extra)
+  return _internal_extra();
+}
+inline void MoveOnMapRequest::unsafe_arena_set_allocated_extra(
+    ::PROTOBUF_NAMESPACE_ID::Struct* extra) {
+  if (GetArenaForAllocation() == nullptr) {
+    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(extra_);
+  }
+  extra_ = extra;
+  if (extra) {
+    
+  } else {
+    
+  }
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.MoveOnMapRequest.extra)
+}
+inline ::PROTOBUF_NAMESPACE_ID::Struct* MoveOnMapRequest::release_extra() {
+  
+  ::PROTOBUF_NAMESPACE_ID::Struct* temp = extra_;
+  extra_ = nullptr;
+#ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
+  auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
+  temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  if (GetArenaForAllocation() == nullptr) { delete old; }
+#else  // PROTOBUF_FORCE_COPY_IN_RELEASE
+  if (GetArenaForAllocation() != nullptr) {
+    temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  }
+#endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
+  return temp;
+}
+inline ::PROTOBUF_NAMESPACE_ID::Struct* MoveOnMapRequest::unsafe_arena_release_extra() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.MoveOnMapRequest.extra)
+  
+  ::PROTOBUF_NAMESPACE_ID::Struct* temp = extra_;
+  extra_ = nullptr;
+  return temp;
+}
+inline ::PROTOBUF_NAMESPACE_ID::Struct* MoveOnMapRequest::_internal_mutable_extra() {
+  
+  if (extra_ == nullptr) {
+    auto* p = CreateMaybeMessage<::PROTOBUF_NAMESPACE_ID::Struct>(GetArenaForAllocation());
+    extra_ = p;
+  }
+  return extra_;
+}
+inline ::PROTOBUF_NAMESPACE_ID::Struct* MoveOnMapRequest::mutable_extra() {
+  ::PROTOBUF_NAMESPACE_ID::Struct* _msg = _internal_mutable_extra();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveOnMapRequest.extra)
+  return _msg;
+}
+inline void MoveOnMapRequest::set_allocated_extra(::PROTOBUF_NAMESPACE_ID::Struct* extra) {
+  ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
+  if (message_arena == nullptr) {
+    delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(extra_);
+  }
+  if (extra) {
+    ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
+        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(
+                reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(extra));
+    if (message_arena != submessage_arena) {
+      extra = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
+          message_arena, extra, submessage_arena);
+    }
+    
+  } else {
+    
+  }
+  extra_ = extra;
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.MoveOnMapRequest.extra)
+}
+
+// -------------------------------------------------------------------
+
+// MoveOnMapResponse
+
+// bool success = 1 [json_name = "success"];
+inline void MoveOnMapResponse::clear_success() {
+  success_ = false;
+}
+inline bool MoveOnMapResponse::_internal_success() const {
+  return success_;
+}
+inline bool MoveOnMapResponse::success() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveOnMapResponse.success)
+  return _internal_success();
+}
+inline void MoveOnMapResponse::_internal_set_success(bool value) {
+  
+  success_ = value;
+}
+inline void MoveOnMapResponse::set_success(bool value) {
+  _internal_set_success(value);
+  // @@protoc_insertion_point(field_set:viam.service.motion.v1.MoveOnMapResponse.success)
+}
+
+// -------------------------------------------------------------------
+
+// MotionConfiguration
+
+// repeated .viam.common.v1.ResourceName vision_services = 1 [json_name = "visionServices"];
+inline int MotionConfiguration::_internal_vision_services_size() const {
+  return vision_services_.size();
+}
+inline int MotionConfiguration::vision_services_size() const {
+  return _internal_vision_services_size();
+}
+inline ::viam::common::v1::ResourceName* MotionConfiguration::mutable_vision_services(int index) {
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MotionConfiguration.vision_services)
+  return vision_services_.Mutable(index);
+}
+inline ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::common::v1::ResourceName >*
+MotionConfiguration::mutable_vision_services() {
+  // @@protoc_insertion_point(field_mutable_list:viam.service.motion.v1.MotionConfiguration.vision_services)
+  return &vision_services_;
+}
+inline const ::viam::common::v1::ResourceName& MotionConfiguration::_internal_vision_services(int index) const {
+  return vision_services_.Get(index);
+}
+inline const ::viam::common::v1::ResourceName& MotionConfiguration::vision_services(int index) const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MotionConfiguration.vision_services)
+  return _internal_vision_services(index);
+}
+inline ::viam::common::v1::ResourceName* MotionConfiguration::_internal_add_vision_services() {
+  return vision_services_.Add();
+}
+inline ::viam::common::v1::ResourceName* MotionConfiguration::add_vision_services() {
+  ::viam::common::v1::ResourceName* _add = _internal_add_vision_services();
+  // @@protoc_insertion_point(field_add:viam.service.motion.v1.MotionConfiguration.vision_services)
+  return _add;
+}
+inline const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::common::v1::ResourceName >&
+MotionConfiguration::vision_services() const {
+  // @@protoc_insertion_point(field_list:viam.service.motion.v1.MotionConfiguration.vision_services)
+  return vision_services_;
+}
+
+// optional double position_polling_frequency_hz = 2 [json_name = "positionPollingFrequencyHz"];
+inline bool MotionConfiguration::_internal_has_position_polling_frequency_hz() const {
+  bool value = (_has_bits_[0] & 0x00000001u) != 0;
+  return value;
+}
+inline bool MotionConfiguration::has_position_polling_frequency_hz() const {
+  return _internal_has_position_polling_frequency_hz();
+}
+inline void MotionConfiguration::clear_position_polling_frequency_hz() {
+  position_polling_frequency_hz_ = 0;
+  _has_bits_[0] &= ~0x00000001u;
+}
+inline double MotionConfiguration::_internal_position_polling_frequency_hz() const {
+  return position_polling_frequency_hz_;
+}
+inline double MotionConfiguration::position_polling_frequency_hz() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MotionConfiguration.position_polling_frequency_hz)
+  return _internal_position_polling_frequency_hz();
+}
+inline void MotionConfiguration::_internal_set_position_polling_frequency_hz(double value) {
+  _has_bits_[0] |= 0x00000001u;
+  position_polling_frequency_hz_ = value;
+}
+inline void MotionConfiguration::set_position_polling_frequency_hz(double value) {
+  _internal_set_position_polling_frequency_hz(value);
+  // @@protoc_insertion_point(field_set:viam.service.motion.v1.MotionConfiguration.position_polling_frequency_hz)
+}
+
+// optional double obstacle_polling_frequency_hz = 3 [json_name = "obstaclePollingFrequencyHz"];
+inline bool MotionConfiguration::_internal_has_obstacle_polling_frequency_hz() const {
+  bool value = (_has_bits_[0] & 0x00000002u) != 0;
+  return value;
+}
+inline bool MotionConfiguration::has_obstacle_polling_frequency_hz() const {
+  return _internal_has_obstacle_polling_frequency_hz();
+}
+inline void MotionConfiguration::clear_obstacle_polling_frequency_hz() {
+  obstacle_polling_frequency_hz_ = 0;
+  _has_bits_[0] &= ~0x00000002u;
+}
+inline double MotionConfiguration::_internal_obstacle_polling_frequency_hz() const {
+  return obstacle_polling_frequency_hz_;
+}
+inline double MotionConfiguration::obstacle_polling_frequency_hz() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MotionConfiguration.obstacle_polling_frequency_hz)
+  return _internal_obstacle_polling_frequency_hz();
+}
+inline void MotionConfiguration::_internal_set_obstacle_polling_frequency_hz(double value) {
+  _has_bits_[0] |= 0x00000002u;
+  obstacle_polling_frequency_hz_ = value;
+}
+inline void MotionConfiguration::set_obstacle_polling_frequency_hz(double value) {
+  _internal_set_obstacle_polling_frequency_hz(value);
+  // @@protoc_insertion_point(field_set:viam.service.motion.v1.MotionConfiguration.obstacle_polling_frequency_hz)
+}
+
+// optional double plan_deviation_m = 4 [json_name = "planDeviationM"];
+inline bool MotionConfiguration::_internal_has_plan_deviation_m() const {
+  bool value = (_has_bits_[0] & 0x00000004u) != 0;
+  return value;
+}
+inline bool MotionConfiguration::has_plan_deviation_m() const {
+  return _internal_has_plan_deviation_m();
+}
+inline void MotionConfiguration::clear_plan_deviation_m() {
+  plan_deviation_m_ = 0;
+  _has_bits_[0] &= ~0x00000004u;
+}
+inline double MotionConfiguration::_internal_plan_deviation_m() const {
+  return plan_deviation_m_;
+}
+inline double MotionConfiguration::plan_deviation_m() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MotionConfiguration.plan_deviation_m)
+  return _internal_plan_deviation_m();
+}
+inline void MotionConfiguration::_internal_set_plan_deviation_m(double value) {
+  _has_bits_[0] |= 0x00000004u;
+  plan_deviation_m_ = value;
+}
+inline void MotionConfiguration::set_plan_deviation_m(double value) {
+  _internal_set_plan_deviation_m(value);
+  // @@protoc_insertion_point(field_set:viam.service.motion.v1.MotionConfiguration.plan_deviation_m)
+}
+
+// optional double linear_m_per_sec = 5 [json_name = "linearMPerSec"];
+inline bool MotionConfiguration::_internal_has_linear_m_per_sec() const {
+  bool value = (_has_bits_[0] & 0x00000008u) != 0;
+  return value;
+}
+inline bool MotionConfiguration::has_linear_m_per_sec() const {
+  return _internal_has_linear_m_per_sec();
+}
+inline void MotionConfiguration::clear_linear_m_per_sec() {
+  linear_m_per_sec_ = 0;
+  _has_bits_[0] &= ~0x00000008u;
+}
+inline double MotionConfiguration::_internal_linear_m_per_sec() const {
+  return linear_m_per_sec_;
+}
+inline double MotionConfiguration::linear_m_per_sec() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MotionConfiguration.linear_m_per_sec)
+  return _internal_linear_m_per_sec();
+}
+inline void MotionConfiguration::_internal_set_linear_m_per_sec(double value) {
+  _has_bits_[0] |= 0x00000008u;
+  linear_m_per_sec_ = value;
+}
+inline void MotionConfiguration::set_linear_m_per_sec(double value) {
+  _internal_set_linear_m_per_sec(value);
+  // @@protoc_insertion_point(field_set:viam.service.motion.v1.MotionConfiguration.linear_m_per_sec)
+}
+
+// optional double angular_degs_per_sec = 6 [json_name = "angularDegsPerSec"];
+inline bool MotionConfiguration::_internal_has_angular_degs_per_sec() const {
+  bool value = (_has_bits_[0] & 0x00000010u) != 0;
+  return value;
+}
+inline bool MotionConfiguration::has_angular_degs_per_sec() const {
+  return _internal_has_angular_degs_per_sec();
+}
+inline void MotionConfiguration::clear_angular_degs_per_sec() {
+  angular_degs_per_sec_ = 0;
+  _has_bits_[0] &= ~0x00000010u;
+}
+inline double MotionConfiguration::_internal_angular_degs_per_sec() const {
+  return angular_degs_per_sec_;
+}
+inline double MotionConfiguration::angular_degs_per_sec() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MotionConfiguration.angular_degs_per_sec)
+  return _internal_angular_degs_per_sec();
+}
+inline void MotionConfiguration::_internal_set_angular_degs_per_sec(double value) {
+  _has_bits_[0] |= 0x00000010u;
+  angular_degs_per_sec_ = value;
+}
+inline void MotionConfiguration::set_angular_degs_per_sec(double value) {
+  _internal_set_angular_degs_per_sec(value);
+  // @@protoc_insertion_point(field_set:viam.service.motion.v1.MotionConfiguration.angular_degs_per_sec)
+}
+
+// -------------------------------------------------------------------
+
+// MoveOnGlobeRequest
+
+// string name = 1 [json_name = "name"];
+inline void MoveOnGlobeRequest::clear_name() {
+  name_.ClearToEmpty();
+}
+inline const std::string& MoveOnGlobeRequest::name() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveOnGlobeRequest.name)
+  return _internal_name();
+}
+template <typename ArgT0, typename... ArgT>
+inline PROTOBUF_ALWAYS_INLINE
+void MoveOnGlobeRequest::set_name(ArgT0&& arg0, ArgT... args) {
+ 
+ name_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.service.motion.v1.MoveOnGlobeRequest.name)
+}
+inline std::string* MoveOnGlobeRequest::mutable_name() {
+  std::string* _s = _internal_mutable_name();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveOnGlobeRequest.name)
+  return _s;
+}
+inline const std::string& MoveOnGlobeRequest::_internal_name() const {
+  return name_.Get();
+}
+inline void MoveOnGlobeRequest::_internal_set_name(const std::string& value) {
+  
+  name_.Set(value, GetArenaForAllocation());
+}
+inline std::string* MoveOnGlobeRequest::_internal_mutable_name() {
+  
+  return name_.Mutable(GetArenaForAllocation());
+}
+inline std::string* MoveOnGlobeRequest::release_name() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.MoveOnGlobeRequest.name)
+  return name_.Release();
+}
+inline void MoveOnGlobeRequest::set_allocated_name(std::string* name) {
+  if (name != nullptr) {
+    
+  } else {
+    
+  }
+  name_.SetAllocated(name, GetArenaForAllocation());
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (name_.IsDefault()) {
+    name_.Set("", GetArenaForAllocation());
+  }
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.MoveOnGlobeRequest.name)
+}
+
+// .viam.common.v1.GeoPoint destination = 2 [json_name = "destination"];
+inline bool MoveOnGlobeRequest::_internal_has_destination() const {
+  return this != internal_default_instance() && destination_ != nullptr;
+}
+inline bool MoveOnGlobeRequest::has_destination() const {
+  return _internal_has_destination();
+}
+inline const ::viam::common::v1::GeoPoint& MoveOnGlobeRequest::_internal_destination() const {
+  const ::viam::common::v1::GeoPoint* p = destination_;
+  return p != nullptr ? *p : reinterpret_cast<const ::viam::common::v1::GeoPoint&>(
+      ::viam::common::v1::_GeoPoint_default_instance_);
+}
+inline const ::viam::common::v1::GeoPoint& MoveOnGlobeRequest::destination() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveOnGlobeRequest.destination)
+  return _internal_destination();
+}
+inline void MoveOnGlobeRequest::unsafe_arena_set_allocated_destination(
+    ::viam::common::v1::GeoPoint* destination) {
+  if (GetArenaForAllocation() == nullptr) {
+    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(destination_);
+  }
+  destination_ = destination;
+  if (destination) {
+    
+  } else {
+    
+  }
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.MoveOnGlobeRequest.destination)
+}
+inline ::viam::common::v1::GeoPoint* MoveOnGlobeRequest::release_destination() {
+  
+  ::viam::common::v1::GeoPoint* temp = destination_;
+  destination_ = nullptr;
+#ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
+  auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
+  temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  if (GetArenaForAllocation() == nullptr) { delete old; }
+#else  // PROTOBUF_FORCE_COPY_IN_RELEASE
+  if (GetArenaForAllocation() != nullptr) {
+    temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  }
+#endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
+  return temp;
+}
+inline ::viam::common::v1::GeoPoint* MoveOnGlobeRequest::unsafe_arena_release_destination() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.MoveOnGlobeRequest.destination)
+  
+  ::viam::common::v1::GeoPoint* temp = destination_;
+  destination_ = nullptr;
+  return temp;
+}
+inline ::viam::common::v1::GeoPoint* MoveOnGlobeRequest::_internal_mutable_destination() {
+  
+  if (destination_ == nullptr) {
+    auto* p = CreateMaybeMessage<::viam::common::v1::GeoPoint>(GetArenaForAllocation());
+    destination_ = p;
+  }
+  return destination_;
+}
+inline ::viam::common::v1::GeoPoint* MoveOnGlobeRequest::mutable_destination() {
+  ::viam::common::v1::GeoPoint* _msg = _internal_mutable_destination();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveOnGlobeRequest.destination)
+  return _msg;
+}
+inline void MoveOnGlobeRequest::set_allocated_destination(::viam::common::v1::GeoPoint* destination) {
+  ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
+  if (message_arena == nullptr) {
+    delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(destination_);
+  }
+  if (destination) {
+    ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
+        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(
+                reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(destination));
+    if (message_arena != submessage_arena) {
+      destination = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
+          message_arena, destination, submessage_arena);
+    }
+    
+  } else {
+    
+  }
+  destination_ = destination;
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.MoveOnGlobeRequest.destination)
+}
+
+// optional double heading = 3 [json_name = "heading"];
+inline bool MoveOnGlobeRequest::_internal_has_heading() const {
+  bool value = (_has_bits_[0] & 0x00000002u) != 0;
+  return value;
+}
+inline bool MoveOnGlobeRequest::has_heading() const {
+  return _internal_has_heading();
+}
+inline void MoveOnGlobeRequest::clear_heading() {
+  heading_ = 0;
+  _has_bits_[0] &= ~0x00000002u;
+}
+inline double MoveOnGlobeRequest::_internal_heading() const {
+  return heading_;
+}
+inline double MoveOnGlobeRequest::heading() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveOnGlobeRequest.heading)
+  return _internal_heading();
+}
+inline void MoveOnGlobeRequest::_internal_set_heading(double value) {
+  _has_bits_[0] |= 0x00000002u;
+  heading_ = value;
+}
+inline void MoveOnGlobeRequest::set_heading(double value) {
+  _internal_set_heading(value);
+  // @@protoc_insertion_point(field_set:viam.service.motion.v1.MoveOnGlobeRequest.heading)
+}
+
+// .viam.common.v1.ResourceName component_name = 4 [json_name = "componentName"];
+inline bool MoveOnGlobeRequest::_internal_has_component_name() const {
+  return this != internal_default_instance() && component_name_ != nullptr;
+}
+inline bool MoveOnGlobeRequest::has_component_name() const {
+  return _internal_has_component_name();
+}
+inline const ::viam::common::v1::ResourceName& MoveOnGlobeRequest::_internal_component_name() const {
+  const ::viam::common::v1::ResourceName* p = component_name_;
+  return p != nullptr ? *p : reinterpret_cast<const ::viam::common::v1::ResourceName&>(
+      ::viam::common::v1::_ResourceName_default_instance_);
+}
+inline const ::viam::common::v1::ResourceName& MoveOnGlobeRequest::component_name() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveOnGlobeRequest.component_name)
+  return _internal_component_name();
+}
+inline void MoveOnGlobeRequest::unsafe_arena_set_allocated_component_name(
+    ::viam::common::v1::ResourceName* component_name) {
+  if (GetArenaForAllocation() == nullptr) {
+    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(component_name_);
+  }
+  component_name_ = component_name;
+  if (component_name) {
+    
+  } else {
+    
+  }
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.MoveOnGlobeRequest.component_name)
+}
+inline ::viam::common::v1::ResourceName* MoveOnGlobeRequest::release_component_name() {
+  
+  ::viam::common::v1::ResourceName* temp = component_name_;
+  component_name_ = nullptr;
+#ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
+  auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
+  temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  if (GetArenaForAllocation() == nullptr) { delete old; }
+#else  // PROTOBUF_FORCE_COPY_IN_RELEASE
+  if (GetArenaForAllocation() != nullptr) {
+    temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  }
+#endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
+  return temp;
+}
+inline ::viam::common::v1::ResourceName* MoveOnGlobeRequest::unsafe_arena_release_component_name() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.MoveOnGlobeRequest.component_name)
+  
+  ::viam::common::v1::ResourceName* temp = component_name_;
+  component_name_ = nullptr;
+  return temp;
+}
+inline ::viam::common::v1::ResourceName* MoveOnGlobeRequest::_internal_mutable_component_name() {
+  
+  if (component_name_ == nullptr) {
+    auto* p = CreateMaybeMessage<::viam::common::v1::ResourceName>(GetArenaForAllocation());
+    component_name_ = p;
+  }
+  return component_name_;
+}
+inline ::viam::common::v1::ResourceName* MoveOnGlobeRequest::mutable_component_name() {
+  ::viam::common::v1::ResourceName* _msg = _internal_mutable_component_name();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveOnGlobeRequest.component_name)
+  return _msg;
+}
+inline void MoveOnGlobeRequest::set_allocated_component_name(::viam::common::v1::ResourceName* component_name) {
+  ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
+  if (message_arena == nullptr) {
+    delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(component_name_);
+  }
+  if (component_name) {
+    ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
+        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(
+                reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(component_name));
+    if (message_arena != submessage_arena) {
+      component_name = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
+          message_arena, component_name, submessage_arena);
+    }
+    
+  } else {
+    
+  }
+  component_name_ = component_name;
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.MoveOnGlobeRequest.component_name)
+}
+
+// .viam.common.v1.ResourceName movement_sensor_name = 5 [json_name = "movementSensorName"];
+inline bool MoveOnGlobeRequest::_internal_has_movement_sensor_name() const {
+  return this != internal_default_instance() && movement_sensor_name_ != nullptr;
+}
+inline bool MoveOnGlobeRequest::has_movement_sensor_name() const {
+  return _internal_has_movement_sensor_name();
+}
+inline const ::viam::common::v1::ResourceName& MoveOnGlobeRequest::_internal_movement_sensor_name() const {
+  const ::viam::common::v1::ResourceName* p = movement_sensor_name_;
+  return p != nullptr ? *p : reinterpret_cast<const ::viam::common::v1::ResourceName&>(
+      ::viam::common::v1::_ResourceName_default_instance_);
+}
+inline const ::viam::common::v1::ResourceName& MoveOnGlobeRequest::movement_sensor_name() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveOnGlobeRequest.movement_sensor_name)
+  return _internal_movement_sensor_name();
+}
+inline void MoveOnGlobeRequest::unsafe_arena_set_allocated_movement_sensor_name(
+    ::viam::common::v1::ResourceName* movement_sensor_name) {
+  if (GetArenaForAllocation() == nullptr) {
+    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(movement_sensor_name_);
+  }
+  movement_sensor_name_ = movement_sensor_name;
+  if (movement_sensor_name) {
+    
+  } else {
+    
+  }
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.MoveOnGlobeRequest.movement_sensor_name)
+}
+inline ::viam::common::v1::ResourceName* MoveOnGlobeRequest::release_movement_sensor_name() {
+  
+  ::viam::common::v1::ResourceName* temp = movement_sensor_name_;
+  movement_sensor_name_ = nullptr;
+#ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
+  auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
+  temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  if (GetArenaForAllocation() == nullptr) { delete old; }
+#else  // PROTOBUF_FORCE_COPY_IN_RELEASE
+  if (GetArenaForAllocation() != nullptr) {
+    temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  }
+#endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
+  return temp;
+}
+inline ::viam::common::v1::ResourceName* MoveOnGlobeRequest::unsafe_arena_release_movement_sensor_name() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.MoveOnGlobeRequest.movement_sensor_name)
+  
+  ::viam::common::v1::ResourceName* temp = movement_sensor_name_;
+  movement_sensor_name_ = nullptr;
+  return temp;
+}
+inline ::viam::common::v1::ResourceName* MoveOnGlobeRequest::_internal_mutable_movement_sensor_name() {
+  
+  if (movement_sensor_name_ == nullptr) {
+    auto* p = CreateMaybeMessage<::viam::common::v1::ResourceName>(GetArenaForAllocation());
+    movement_sensor_name_ = p;
+  }
+  return movement_sensor_name_;
+}
+inline ::viam::common::v1::ResourceName* MoveOnGlobeRequest::mutable_movement_sensor_name() {
+  ::viam::common::v1::ResourceName* _msg = _internal_mutable_movement_sensor_name();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveOnGlobeRequest.movement_sensor_name)
+  return _msg;
+}
+inline void MoveOnGlobeRequest::set_allocated_movement_sensor_name(::viam::common::v1::ResourceName* movement_sensor_name) {
+  ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
+  if (message_arena == nullptr) {
+    delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(movement_sensor_name_);
+  }
+  if (movement_sensor_name) {
+    ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
+        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(
+                reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(movement_sensor_name));
+    if (message_arena != submessage_arena) {
+      movement_sensor_name = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
+          message_arena, movement_sensor_name, submessage_arena);
+    }
+    
+  } else {
+    
+  }
+  movement_sensor_name_ = movement_sensor_name;
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.MoveOnGlobeRequest.movement_sensor_name)
+}
+
+// repeated .viam.common.v1.GeoObstacle obstacles = 6 [json_name = "obstacles"];
+inline int MoveOnGlobeRequest::_internal_obstacles_size() const {
+  return obstacles_.size();
+}
+inline int MoveOnGlobeRequest::obstacles_size() const {
+  return _internal_obstacles_size();
+}
+inline ::viam::common::v1::GeoObstacle* MoveOnGlobeRequest::mutable_obstacles(int index) {
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveOnGlobeRequest.obstacles)
+  return obstacles_.Mutable(index);
+}
+inline ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::common::v1::GeoObstacle >*
+MoveOnGlobeRequest::mutable_obstacles() {
+  // @@protoc_insertion_point(field_mutable_list:viam.service.motion.v1.MoveOnGlobeRequest.obstacles)
+  return &obstacles_;
+}
+inline const ::viam::common::v1::GeoObstacle& MoveOnGlobeRequest::_internal_obstacles(int index) const {
+  return obstacles_.Get(index);
+}
+inline const ::viam::common::v1::GeoObstacle& MoveOnGlobeRequest::obstacles(int index) const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveOnGlobeRequest.obstacles)
+  return _internal_obstacles(index);
+}
+inline ::viam::common::v1::GeoObstacle* MoveOnGlobeRequest::_internal_add_obstacles() {
+  return obstacles_.Add();
+}
+inline ::viam::common::v1::GeoObstacle* MoveOnGlobeRequest::add_obstacles() {
+  ::viam::common::v1::GeoObstacle* _add = _internal_add_obstacles();
+  // @@protoc_insertion_point(field_add:viam.service.motion.v1.MoveOnGlobeRequest.obstacles)
+  return _add;
+}
+inline const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::common::v1::GeoObstacle >&
+MoveOnGlobeRequest::obstacles() const {
+  // @@protoc_insertion_point(field_list:viam.service.motion.v1.MoveOnGlobeRequest.obstacles)
+  return obstacles_;
+}
+
+// optional .viam.service.motion.v1.MotionConfiguration motion_configuration = 7 [json_name = "motionConfiguration"];
+inline bool MoveOnGlobeRequest::_internal_has_motion_configuration() const {
+  bool value = (_has_bits_[0] & 0x00000001u) != 0;
+  PROTOBUF_ASSUME(!value || motion_configuration_ != nullptr);
+  return value;
+}
+inline bool MoveOnGlobeRequest::has_motion_configuration() const {
+  return _internal_has_motion_configuration();
+}
+inline void MoveOnGlobeRequest::clear_motion_configuration() {
+  if (motion_configuration_ != nullptr) motion_configuration_->Clear();
+  _has_bits_[0] &= ~0x00000001u;
+}
+inline const ::viam::service::motion::v1::MotionConfiguration& MoveOnGlobeRequest::_internal_motion_configuration() const {
+  const ::viam::service::motion::v1::MotionConfiguration* p = motion_configuration_;
+  return p != nullptr ? *p : reinterpret_cast<const ::viam::service::motion::v1::MotionConfiguration&>(
+      ::viam::service::motion::v1::_MotionConfiguration_default_instance_);
+}
+inline const ::viam::service::motion::v1::MotionConfiguration& MoveOnGlobeRequest::motion_configuration() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveOnGlobeRequest.motion_configuration)
+  return _internal_motion_configuration();
+}
+inline void MoveOnGlobeRequest::unsafe_arena_set_allocated_motion_configuration(
+    ::viam::service::motion::v1::MotionConfiguration* motion_configuration) {
+  if (GetArenaForAllocation() == nullptr) {
+    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(motion_configuration_);
+  }
+  motion_configuration_ = motion_configuration;
+  if (motion_configuration) {
+    _has_bits_[0] |= 0x00000001u;
+  } else {
+    _has_bits_[0] &= ~0x00000001u;
+  }
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.MoveOnGlobeRequest.motion_configuration)
+}
+inline ::viam::service::motion::v1::MotionConfiguration* MoveOnGlobeRequest::release_motion_configuration() {
+  _has_bits_[0] &= ~0x00000001u;
+  ::viam::service::motion::v1::MotionConfiguration* temp = motion_configuration_;
+  motion_configuration_ = nullptr;
+#ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
+  auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
+  temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  if (GetArenaForAllocation() == nullptr) { delete old; }
+#else  // PROTOBUF_FORCE_COPY_IN_RELEASE
+  if (GetArenaForAllocation() != nullptr) {
+    temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  }
+#endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
+  return temp;
+}
+inline ::viam::service::motion::v1::MotionConfiguration* MoveOnGlobeRequest::unsafe_arena_release_motion_configuration() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.MoveOnGlobeRequest.motion_configuration)
+  _has_bits_[0] &= ~0x00000001u;
+  ::viam::service::motion::v1::MotionConfiguration* temp = motion_configuration_;
+  motion_configuration_ = nullptr;
+  return temp;
+}
+inline ::viam::service::motion::v1::MotionConfiguration* MoveOnGlobeRequest::_internal_mutable_motion_configuration() {
+  _has_bits_[0] |= 0x00000001u;
+  if (motion_configuration_ == nullptr) {
+    auto* p = CreateMaybeMessage<::viam::service::motion::v1::MotionConfiguration>(GetArenaForAllocation());
+    motion_configuration_ = p;
+  }
+  return motion_configuration_;
+}
+inline ::viam::service::motion::v1::MotionConfiguration* MoveOnGlobeRequest::mutable_motion_configuration() {
+  ::viam::service::motion::v1::MotionConfiguration* _msg = _internal_mutable_motion_configuration();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveOnGlobeRequest.motion_configuration)
+  return _msg;
+}
+inline void MoveOnGlobeRequest::set_allocated_motion_configuration(::viam::service::motion::v1::MotionConfiguration* motion_configuration) {
+  ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
+  if (message_arena == nullptr) {
+    delete motion_configuration_;
+  }
+  if (motion_configuration) {
+    ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
+        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(motion_configuration);
+    if (message_arena != submessage_arena) {
+      motion_configuration = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
+          message_arena, motion_configuration, submessage_arena);
+    }
+    _has_bits_[0] |= 0x00000001u;
+  } else {
+    _has_bits_[0] &= ~0x00000001u;
+  }
+  motion_configuration_ = motion_configuration;
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.MoveOnGlobeRequest.motion_configuration)
+}
+
+// .google.protobuf.Struct extra = 99 [json_name = "extra"];
+inline bool MoveOnGlobeRequest::_internal_has_extra() const {
+  return this != internal_default_instance() && extra_ != nullptr;
+}
+inline bool MoveOnGlobeRequest::has_extra() const {
+  return _internal_has_extra();
+}
+inline const ::PROTOBUF_NAMESPACE_ID::Struct& MoveOnGlobeRequest::_internal_extra() const {
+  const ::PROTOBUF_NAMESPACE_ID::Struct* p = extra_;
+  return p != nullptr ? *p : reinterpret_cast<const ::PROTOBUF_NAMESPACE_ID::Struct&>(
+      ::PROTOBUF_NAMESPACE_ID::_Struct_default_instance_);
+}
+inline const ::PROTOBUF_NAMESPACE_ID::Struct& MoveOnGlobeRequest::extra() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveOnGlobeRequest.extra)
+  return _internal_extra();
+}
+inline void MoveOnGlobeRequest::unsafe_arena_set_allocated_extra(
+    ::PROTOBUF_NAMESPACE_ID::Struct* extra) {
+  if (GetArenaForAllocation() == nullptr) {
+    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(extra_);
+  }
+  extra_ = extra;
+  if (extra) {
+    
+  } else {
+    
+  }
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.MoveOnGlobeRequest.extra)
+}
+inline ::PROTOBUF_NAMESPACE_ID::Struct* MoveOnGlobeRequest::release_extra() {
+  
+  ::PROTOBUF_NAMESPACE_ID::Struct* temp = extra_;
+  extra_ = nullptr;
+#ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
+  auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
+  temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  if (GetArenaForAllocation() == nullptr) { delete old; }
+#else  // PROTOBUF_FORCE_COPY_IN_RELEASE
+  if (GetArenaForAllocation() != nullptr) {
+    temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  }
+#endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
+  return temp;
+}
+inline ::PROTOBUF_NAMESPACE_ID::Struct* MoveOnGlobeRequest::unsafe_arena_release_extra() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.MoveOnGlobeRequest.extra)
+  
+  ::PROTOBUF_NAMESPACE_ID::Struct* temp = extra_;
+  extra_ = nullptr;
+  return temp;
+}
+inline ::PROTOBUF_NAMESPACE_ID::Struct* MoveOnGlobeRequest::_internal_mutable_extra() {
+  
+  if (extra_ == nullptr) {
+    auto* p = CreateMaybeMessage<::PROTOBUF_NAMESPACE_ID::Struct>(GetArenaForAllocation());
+    extra_ = p;
+  }
+  return extra_;
+}
+inline ::PROTOBUF_NAMESPACE_ID::Struct* MoveOnGlobeRequest::mutable_extra() {
+  ::PROTOBUF_NAMESPACE_ID::Struct* _msg = _internal_mutable_extra();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveOnGlobeRequest.extra)
+  return _msg;
+}
+inline void MoveOnGlobeRequest::set_allocated_extra(::PROTOBUF_NAMESPACE_ID::Struct* extra) {
+  ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
+  if (message_arena == nullptr) {
+    delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(extra_);
+  }
+  if (extra) {
+    ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
+        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(
+                reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(extra));
+    if (message_arena != submessage_arena) {
+      extra = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
+          message_arena, extra, submessage_arena);
+    }
+    
+  } else {
+    
+  }
+  extra_ = extra;
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.MoveOnGlobeRequest.extra)
+}
+
+// -------------------------------------------------------------------
+
+// MoveOnGlobeResponse
+
+// bool success = 1 [json_name = "success"];
+inline void MoveOnGlobeResponse::clear_success() {
+  success_ = false;
+}
+inline bool MoveOnGlobeResponse::_internal_success() const {
+  return success_;
+}
+inline bool MoveOnGlobeResponse::success() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveOnGlobeResponse.success)
+  return _internal_success();
+}
+inline void MoveOnGlobeResponse::_internal_set_success(bool value) {
+  
+  success_ = value;
+}
+inline void MoveOnGlobeResponse::set_success(bool value) {
+  _internal_set_success(value);
+  // @@protoc_insertion_point(field_set:viam.service.motion.v1.MoveOnGlobeResponse.success)
+}
+
+// -------------------------------------------------------------------
+
+// MoveOnGlobeNewRequest
+
+// string name = 1 [json_name = "name"];
+inline void MoveOnGlobeNewRequest::clear_name() {
+  name_.ClearToEmpty();
+}
+inline const std::string& MoveOnGlobeNewRequest::name() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveOnGlobeNewRequest.name)
+  return _internal_name();
+}
+template <typename ArgT0, typename... ArgT>
+inline PROTOBUF_ALWAYS_INLINE
+void MoveOnGlobeNewRequest::set_name(ArgT0&& arg0, ArgT... args) {
+ 
+ name_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.service.motion.v1.MoveOnGlobeNewRequest.name)
+}
+inline std::string* MoveOnGlobeNewRequest::mutable_name() {
+  std::string* _s = _internal_mutable_name();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveOnGlobeNewRequest.name)
+  return _s;
+}
+inline const std::string& MoveOnGlobeNewRequest::_internal_name() const {
+  return name_.Get();
+}
+inline void MoveOnGlobeNewRequest::_internal_set_name(const std::string& value) {
+  
+  name_.Set(value, GetArenaForAllocation());
+}
+inline std::string* MoveOnGlobeNewRequest::_internal_mutable_name() {
+  
+  return name_.Mutable(GetArenaForAllocation());
+}
+inline std::string* MoveOnGlobeNewRequest::release_name() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.MoveOnGlobeNewRequest.name)
+  return name_.Release();
+}
+inline void MoveOnGlobeNewRequest::set_allocated_name(std::string* name) {
+  if (name != nullptr) {
+    
+  } else {
+    
+  }
+  name_.SetAllocated(name, GetArenaForAllocation());
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (name_.IsDefault()) {
+    name_.Set("", GetArenaForAllocation());
+  }
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.MoveOnGlobeNewRequest.name)
+}
+
+// .viam.common.v1.GeoPoint destination = 2 [json_name = "destination"];
+inline bool MoveOnGlobeNewRequest::_internal_has_destination() const {
+  return this != internal_default_instance() && destination_ != nullptr;
+}
+inline bool MoveOnGlobeNewRequest::has_destination() const {
+  return _internal_has_destination();
+}
+inline const ::viam::common::v1::GeoPoint& MoveOnGlobeNewRequest::_internal_destination() const {
+  const ::viam::common::v1::GeoPoint* p = destination_;
+  return p != nullptr ? *p : reinterpret_cast<const ::viam::common::v1::GeoPoint&>(
+      ::viam::common::v1::_GeoPoint_default_instance_);
+}
+inline const ::viam::common::v1::GeoPoint& MoveOnGlobeNewRequest::destination() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveOnGlobeNewRequest.destination)
+  return _internal_destination();
+}
+inline void MoveOnGlobeNewRequest::unsafe_arena_set_allocated_destination(
+    ::viam::common::v1::GeoPoint* destination) {
+  if (GetArenaForAllocation() == nullptr) {
+    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(destination_);
+  }
+  destination_ = destination;
+  if (destination) {
+    
+  } else {
+    
+  }
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.MoveOnGlobeNewRequest.destination)
+}
+inline ::viam::common::v1::GeoPoint* MoveOnGlobeNewRequest::release_destination() {
+  
+  ::viam::common::v1::GeoPoint* temp = destination_;
+  destination_ = nullptr;
+#ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
+  auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
+  temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  if (GetArenaForAllocation() == nullptr) { delete old; }
+#else  // PROTOBUF_FORCE_COPY_IN_RELEASE
+  if (GetArenaForAllocation() != nullptr) {
+    temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  }
+#endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
+  return temp;
+}
+inline ::viam::common::v1::GeoPoint* MoveOnGlobeNewRequest::unsafe_arena_release_destination() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.MoveOnGlobeNewRequest.destination)
+  
+  ::viam::common::v1::GeoPoint* temp = destination_;
+  destination_ = nullptr;
+  return temp;
+}
+inline ::viam::common::v1::GeoPoint* MoveOnGlobeNewRequest::_internal_mutable_destination() {
+  
+  if (destination_ == nullptr) {
+    auto* p = CreateMaybeMessage<::viam::common::v1::GeoPoint>(GetArenaForAllocation());
+    destination_ = p;
+  }
+  return destination_;
+}
+inline ::viam::common::v1::GeoPoint* MoveOnGlobeNewRequest::mutable_destination() {
+  ::viam::common::v1::GeoPoint* _msg = _internal_mutable_destination();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveOnGlobeNewRequest.destination)
+  return _msg;
+}
+inline void MoveOnGlobeNewRequest::set_allocated_destination(::viam::common::v1::GeoPoint* destination) {
+  ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
+  if (message_arena == nullptr) {
+    delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(destination_);
+  }
+  if (destination) {
+    ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
+        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(
+                reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(destination));
+    if (message_arena != submessage_arena) {
+      destination = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
+          message_arena, destination, submessage_arena);
+    }
+    
+  } else {
+    
+  }
+  destination_ = destination;
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.MoveOnGlobeNewRequest.destination)
+}
+
+// optional double heading = 3 [json_name = "heading"];
+inline bool MoveOnGlobeNewRequest::_internal_has_heading() const {
+  bool value = (_has_bits_[0] & 0x00000002u) != 0;
+  return value;
+}
+inline bool MoveOnGlobeNewRequest::has_heading() const {
+  return _internal_has_heading();
+}
+inline void MoveOnGlobeNewRequest::clear_heading() {
+  heading_ = 0;
+  _has_bits_[0] &= ~0x00000002u;
+}
+inline double MoveOnGlobeNewRequest::_internal_heading() const {
+  return heading_;
+}
+inline double MoveOnGlobeNewRequest::heading() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveOnGlobeNewRequest.heading)
+  return _internal_heading();
+}
+inline void MoveOnGlobeNewRequest::_internal_set_heading(double value) {
+  _has_bits_[0] |= 0x00000002u;
+  heading_ = value;
+}
+inline void MoveOnGlobeNewRequest::set_heading(double value) {
+  _internal_set_heading(value);
+  // @@protoc_insertion_point(field_set:viam.service.motion.v1.MoveOnGlobeNewRequest.heading)
+}
+
+// .viam.common.v1.ResourceName component_name = 4 [json_name = "componentName"];
+inline bool MoveOnGlobeNewRequest::_internal_has_component_name() const {
+  return this != internal_default_instance() && component_name_ != nullptr;
+}
+inline bool MoveOnGlobeNewRequest::has_component_name() const {
+  return _internal_has_component_name();
+}
+inline const ::viam::common::v1::ResourceName& MoveOnGlobeNewRequest::_internal_component_name() const {
+  const ::viam::common::v1::ResourceName* p = component_name_;
+  return p != nullptr ? *p : reinterpret_cast<const ::viam::common::v1::ResourceName&>(
+      ::viam::common::v1::_ResourceName_default_instance_);
+}
+inline const ::viam::common::v1::ResourceName& MoveOnGlobeNewRequest::component_name() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveOnGlobeNewRequest.component_name)
+  return _internal_component_name();
+}
+inline void MoveOnGlobeNewRequest::unsafe_arena_set_allocated_component_name(
+    ::viam::common::v1::ResourceName* component_name) {
+  if (GetArenaForAllocation() == nullptr) {
+    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(component_name_);
+  }
+  component_name_ = component_name;
+  if (component_name) {
+    
+  } else {
+    
+  }
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.MoveOnGlobeNewRequest.component_name)
+}
+inline ::viam::common::v1::ResourceName* MoveOnGlobeNewRequest::release_component_name() {
+  
+  ::viam::common::v1::ResourceName* temp = component_name_;
+  component_name_ = nullptr;
+#ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
+  auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
+  temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  if (GetArenaForAllocation() == nullptr) { delete old; }
+#else  // PROTOBUF_FORCE_COPY_IN_RELEASE
+  if (GetArenaForAllocation() != nullptr) {
+    temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  }
+#endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
+  return temp;
+}
+inline ::viam::common::v1::ResourceName* MoveOnGlobeNewRequest::unsafe_arena_release_component_name() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.MoveOnGlobeNewRequest.component_name)
+  
+  ::viam::common::v1::ResourceName* temp = component_name_;
+  component_name_ = nullptr;
+  return temp;
+}
+inline ::viam::common::v1::ResourceName* MoveOnGlobeNewRequest::_internal_mutable_component_name() {
+  
+  if (component_name_ == nullptr) {
+    auto* p = CreateMaybeMessage<::viam::common::v1::ResourceName>(GetArenaForAllocation());
+    component_name_ = p;
+  }
+  return component_name_;
+}
+inline ::viam::common::v1::ResourceName* MoveOnGlobeNewRequest::mutable_component_name() {
+  ::viam::common::v1::ResourceName* _msg = _internal_mutable_component_name();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveOnGlobeNewRequest.component_name)
+  return _msg;
+}
+inline void MoveOnGlobeNewRequest::set_allocated_component_name(::viam::common::v1::ResourceName* component_name) {
+  ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
+  if (message_arena == nullptr) {
+    delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(component_name_);
+  }
+  if (component_name) {
+    ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
+        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(
+                reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(component_name));
+    if (message_arena != submessage_arena) {
+      component_name = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
+          message_arena, component_name, submessage_arena);
+    }
+    
+  } else {
+    
+  }
+  component_name_ = component_name;
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.MoveOnGlobeNewRequest.component_name)
+}
+
+// .viam.common.v1.ResourceName movement_sensor_name = 5 [json_name = "movementSensorName"];
+inline bool MoveOnGlobeNewRequest::_internal_has_movement_sensor_name() const {
+  return this != internal_default_instance() && movement_sensor_name_ != nullptr;
+}
+inline bool MoveOnGlobeNewRequest::has_movement_sensor_name() const {
+  return _internal_has_movement_sensor_name();
+}
+inline const ::viam::common::v1::ResourceName& MoveOnGlobeNewRequest::_internal_movement_sensor_name() const {
+  const ::viam::common::v1::ResourceName* p = movement_sensor_name_;
+  return p != nullptr ? *p : reinterpret_cast<const ::viam::common::v1::ResourceName&>(
+      ::viam::common::v1::_ResourceName_default_instance_);
+}
+inline const ::viam::common::v1::ResourceName& MoveOnGlobeNewRequest::movement_sensor_name() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveOnGlobeNewRequest.movement_sensor_name)
+  return _internal_movement_sensor_name();
+}
+inline void MoveOnGlobeNewRequest::unsafe_arena_set_allocated_movement_sensor_name(
+    ::viam::common::v1::ResourceName* movement_sensor_name) {
+  if (GetArenaForAllocation() == nullptr) {
+    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(movement_sensor_name_);
+  }
+  movement_sensor_name_ = movement_sensor_name;
+  if (movement_sensor_name) {
+    
+  } else {
+    
+  }
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.MoveOnGlobeNewRequest.movement_sensor_name)
+}
+inline ::viam::common::v1::ResourceName* MoveOnGlobeNewRequest::release_movement_sensor_name() {
+  
+  ::viam::common::v1::ResourceName* temp = movement_sensor_name_;
+  movement_sensor_name_ = nullptr;
+#ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
+  auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
+  temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  if (GetArenaForAllocation() == nullptr) { delete old; }
+#else  // PROTOBUF_FORCE_COPY_IN_RELEASE
+  if (GetArenaForAllocation() != nullptr) {
+    temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  }
+#endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
+  return temp;
+}
+inline ::viam::common::v1::ResourceName* MoveOnGlobeNewRequest::unsafe_arena_release_movement_sensor_name() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.MoveOnGlobeNewRequest.movement_sensor_name)
+  
+  ::viam::common::v1::ResourceName* temp = movement_sensor_name_;
+  movement_sensor_name_ = nullptr;
+  return temp;
+}
+inline ::viam::common::v1::ResourceName* MoveOnGlobeNewRequest::_internal_mutable_movement_sensor_name() {
+  
+  if (movement_sensor_name_ == nullptr) {
+    auto* p = CreateMaybeMessage<::viam::common::v1::ResourceName>(GetArenaForAllocation());
+    movement_sensor_name_ = p;
+  }
+  return movement_sensor_name_;
+}
+inline ::viam::common::v1::ResourceName* MoveOnGlobeNewRequest::mutable_movement_sensor_name() {
+  ::viam::common::v1::ResourceName* _msg = _internal_mutable_movement_sensor_name();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveOnGlobeNewRequest.movement_sensor_name)
+  return _msg;
+}
+inline void MoveOnGlobeNewRequest::set_allocated_movement_sensor_name(::viam::common::v1::ResourceName* movement_sensor_name) {
+  ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
+  if (message_arena == nullptr) {
+    delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(movement_sensor_name_);
+  }
+  if (movement_sensor_name) {
+    ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
+        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(
+                reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(movement_sensor_name));
+    if (message_arena != submessage_arena) {
+      movement_sensor_name = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
+          message_arena, movement_sensor_name, submessage_arena);
+    }
+    
+  } else {
+    
+  }
+  movement_sensor_name_ = movement_sensor_name;
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.MoveOnGlobeNewRequest.movement_sensor_name)
+}
+
+// repeated .viam.common.v1.GeoObstacle obstacles = 6 [json_name = "obstacles"];
+inline int MoveOnGlobeNewRequest::_internal_obstacles_size() const {
+  return obstacles_.size();
+}
+inline int MoveOnGlobeNewRequest::obstacles_size() const {
+  return _internal_obstacles_size();
+}
+inline ::viam::common::v1::GeoObstacle* MoveOnGlobeNewRequest::mutable_obstacles(int index) {
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveOnGlobeNewRequest.obstacles)
+  return obstacles_.Mutable(index);
+}
+inline ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::common::v1::GeoObstacle >*
+MoveOnGlobeNewRequest::mutable_obstacles() {
+  // @@protoc_insertion_point(field_mutable_list:viam.service.motion.v1.MoveOnGlobeNewRequest.obstacles)
+  return &obstacles_;
+}
+inline const ::viam::common::v1::GeoObstacle& MoveOnGlobeNewRequest::_internal_obstacles(int index) const {
+  return obstacles_.Get(index);
+}
+inline const ::viam::common::v1::GeoObstacle& MoveOnGlobeNewRequest::obstacles(int index) const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveOnGlobeNewRequest.obstacles)
+  return _internal_obstacles(index);
+}
+inline ::viam::common::v1::GeoObstacle* MoveOnGlobeNewRequest::_internal_add_obstacles() {
+  return obstacles_.Add();
+}
+inline ::viam::common::v1::GeoObstacle* MoveOnGlobeNewRequest::add_obstacles() {
+  ::viam::common::v1::GeoObstacle* _add = _internal_add_obstacles();
+  // @@protoc_insertion_point(field_add:viam.service.motion.v1.MoveOnGlobeNewRequest.obstacles)
+  return _add;
+}
+inline const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::common::v1::GeoObstacle >&
+MoveOnGlobeNewRequest::obstacles() const {
+  // @@protoc_insertion_point(field_list:viam.service.motion.v1.MoveOnGlobeNewRequest.obstacles)
+  return obstacles_;
+}
+
+// optional .viam.service.motion.v1.MotionConfiguration motion_configuration = 7 [json_name = "motionConfiguration"];
+inline bool MoveOnGlobeNewRequest::_internal_has_motion_configuration() const {
+  bool value = (_has_bits_[0] & 0x00000001u) != 0;
+  PROTOBUF_ASSUME(!value || motion_configuration_ != nullptr);
+  return value;
+}
+inline bool MoveOnGlobeNewRequest::has_motion_configuration() const {
+  return _internal_has_motion_configuration();
+}
+inline void MoveOnGlobeNewRequest::clear_motion_configuration() {
+  if (motion_configuration_ != nullptr) motion_configuration_->Clear();
+  _has_bits_[0] &= ~0x00000001u;
+}
+inline const ::viam::service::motion::v1::MotionConfiguration& MoveOnGlobeNewRequest::_internal_motion_configuration() const {
+  const ::viam::service::motion::v1::MotionConfiguration* p = motion_configuration_;
+  return p != nullptr ? *p : reinterpret_cast<const ::viam::service::motion::v1::MotionConfiguration&>(
+      ::viam::service::motion::v1::_MotionConfiguration_default_instance_);
+}
+inline const ::viam::service::motion::v1::MotionConfiguration& MoveOnGlobeNewRequest::motion_configuration() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveOnGlobeNewRequest.motion_configuration)
+  return _internal_motion_configuration();
+}
+inline void MoveOnGlobeNewRequest::unsafe_arena_set_allocated_motion_configuration(
+    ::viam::service::motion::v1::MotionConfiguration* motion_configuration) {
+  if (GetArenaForAllocation() == nullptr) {
+    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(motion_configuration_);
+  }
+  motion_configuration_ = motion_configuration;
+  if (motion_configuration) {
+    _has_bits_[0] |= 0x00000001u;
+  } else {
+    _has_bits_[0] &= ~0x00000001u;
+  }
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.MoveOnGlobeNewRequest.motion_configuration)
+}
+inline ::viam::service::motion::v1::MotionConfiguration* MoveOnGlobeNewRequest::release_motion_configuration() {
+  _has_bits_[0] &= ~0x00000001u;
+  ::viam::service::motion::v1::MotionConfiguration* temp = motion_configuration_;
+  motion_configuration_ = nullptr;
+#ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
+  auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
+  temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  if (GetArenaForAllocation() == nullptr) { delete old; }
+#else  // PROTOBUF_FORCE_COPY_IN_RELEASE
+  if (GetArenaForAllocation() != nullptr) {
+    temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  }
+#endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
+  return temp;
+}
+inline ::viam::service::motion::v1::MotionConfiguration* MoveOnGlobeNewRequest::unsafe_arena_release_motion_configuration() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.MoveOnGlobeNewRequest.motion_configuration)
+  _has_bits_[0] &= ~0x00000001u;
+  ::viam::service::motion::v1::MotionConfiguration* temp = motion_configuration_;
+  motion_configuration_ = nullptr;
+  return temp;
+}
+inline ::viam::service::motion::v1::MotionConfiguration* MoveOnGlobeNewRequest::_internal_mutable_motion_configuration() {
+  _has_bits_[0] |= 0x00000001u;
+  if (motion_configuration_ == nullptr) {
+    auto* p = CreateMaybeMessage<::viam::service::motion::v1::MotionConfiguration>(GetArenaForAllocation());
+    motion_configuration_ = p;
+  }
+  return motion_configuration_;
+}
+inline ::viam::service::motion::v1::MotionConfiguration* MoveOnGlobeNewRequest::mutable_motion_configuration() {
+  ::viam::service::motion::v1::MotionConfiguration* _msg = _internal_mutable_motion_configuration();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveOnGlobeNewRequest.motion_configuration)
+  return _msg;
+}
+inline void MoveOnGlobeNewRequest::set_allocated_motion_configuration(::viam::service::motion::v1::MotionConfiguration* motion_configuration) {
+  ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
+  if (message_arena == nullptr) {
+    delete motion_configuration_;
+  }
+  if (motion_configuration) {
+    ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
+        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(motion_configuration);
+    if (message_arena != submessage_arena) {
+      motion_configuration = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
+          message_arena, motion_configuration, submessage_arena);
+    }
+    _has_bits_[0] |= 0x00000001u;
+  } else {
+    _has_bits_[0] &= ~0x00000001u;
+  }
+  motion_configuration_ = motion_configuration;
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.MoveOnGlobeNewRequest.motion_configuration)
+}
 
-// ===================================================================
+// .google.protobuf.Struct extra = 99 [json_name = "extra"];
+inline bool MoveOnGlobeNewRequest::_internal_has_extra() const {
+  return this != internal_default_instance() && extra_ != nullptr;
+}
+inline bool MoveOnGlobeNewRequest::has_extra() const {
+  return _internal_has_extra();
+}
+inline const ::PROTOBUF_NAMESPACE_ID::Struct& MoveOnGlobeNewRequest::_internal_extra() const {
+  const ::PROTOBUF_NAMESPACE_ID::Struct* p = extra_;
+  return p != nullptr ? *p : reinterpret_cast<const ::PROTOBUF_NAMESPACE_ID::Struct&>(
+      ::PROTOBUF_NAMESPACE_ID::_Struct_default_instance_);
+}
+inline const ::PROTOBUF_NAMESPACE_ID::Struct& MoveOnGlobeNewRequest::extra() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveOnGlobeNewRequest.extra)
+  return _internal_extra();
+}
+inline void MoveOnGlobeNewRequest::unsafe_arena_set_allocated_extra(
+    ::PROTOBUF_NAMESPACE_ID::Struct* extra) {
+  if (GetArenaForAllocation() == nullptr) {
+    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(extra_);
+  }
+  extra_ = extra;
+  if (extra) {
+    
+  } else {
+    
+  }
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.MoveOnGlobeNewRequest.extra)
+}
+inline ::PROTOBUF_NAMESPACE_ID::Struct* MoveOnGlobeNewRequest::release_extra() {
+  
+  ::PROTOBUF_NAMESPACE_ID::Struct* temp = extra_;
+  extra_ = nullptr;
+#ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
+  auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
+  temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  if (GetArenaForAllocation() == nullptr) { delete old; }
+#else  // PROTOBUF_FORCE_COPY_IN_RELEASE
+  if (GetArenaForAllocation() != nullptr) {
+    temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  }
+#endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
+  return temp;
+}
+inline ::PROTOBUF_NAMESPACE_ID::Struct* MoveOnGlobeNewRequest::unsafe_arena_release_extra() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.MoveOnGlobeNewRequest.extra)
+  
+  ::PROTOBUF_NAMESPACE_ID::Struct* temp = extra_;
+  extra_ = nullptr;
+  return temp;
+}
+inline ::PROTOBUF_NAMESPACE_ID::Struct* MoveOnGlobeNewRequest::_internal_mutable_extra() {
+  
+  if (extra_ == nullptr) {
+    auto* p = CreateMaybeMessage<::PROTOBUF_NAMESPACE_ID::Struct>(GetArenaForAllocation());
+    extra_ = p;
+  }
+  return extra_;
+}
+inline ::PROTOBUF_NAMESPACE_ID::Struct* MoveOnGlobeNewRequest::mutable_extra() {
+  ::PROTOBUF_NAMESPACE_ID::Struct* _msg = _internal_mutable_extra();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveOnGlobeNewRequest.extra)
+  return _msg;
+}
+inline void MoveOnGlobeNewRequest::set_allocated_extra(::PROTOBUF_NAMESPACE_ID::Struct* extra) {
+  ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
+  if (message_arena == nullptr) {
+    delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(extra_);
+  }
+  if (extra) {
+    ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
+        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(
+                reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(extra));
+    if (message_arena != submessage_arena) {
+      extra = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
+          message_arena, extra, submessage_arena);
+    }
+    
+  } else {
+    
+  }
+  extra_ = extra;
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.MoveOnGlobeNewRequest.extra)
+}
 
-#ifdef __GNUC__
-  #pragma GCC diagnostic push
-  #pragma GCC diagnostic ignored "-Wstrict-aliasing"
-#endif  // __GNUC__
-// MoveRequest
+// -------------------------------------------------------------------
+
+// MoveOnGlobeNewResponse
+
+// string execution_id = 1 [json_name = "executionId"];
+inline void MoveOnGlobeNewResponse::clear_execution_id() {
+  execution_id_.ClearToEmpty();
+}
+inline const std::string& MoveOnGlobeNewResponse::execution_id() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveOnGlobeNewResponse.execution_id)
+  return _internal_execution_id();
+}
+template <typename ArgT0, typename... ArgT>
+inline PROTOBUF_ALWAYS_INLINE
+void MoveOnGlobeNewResponse::set_execution_id(ArgT0&& arg0, ArgT... args) {
+ 
+ execution_id_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.service.motion.v1.MoveOnGlobeNewResponse.execution_id)
+}
+inline std::string* MoveOnGlobeNewResponse::mutable_execution_id() {
+  std::string* _s = _internal_mutable_execution_id();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveOnGlobeNewResponse.execution_id)
+  return _s;
+}
+inline const std::string& MoveOnGlobeNewResponse::_internal_execution_id() const {
+  return execution_id_.Get();
+}
+inline void MoveOnGlobeNewResponse::_internal_set_execution_id(const std::string& value) {
+  
+  execution_id_.Set(value, GetArenaForAllocation());
+}
+inline std::string* MoveOnGlobeNewResponse::_internal_mutable_execution_id() {
+  
+  return execution_id_.Mutable(GetArenaForAllocation());
+}
+inline std::string* MoveOnGlobeNewResponse::release_execution_id() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.MoveOnGlobeNewResponse.execution_id)
+  return execution_id_.Release();
+}
+inline void MoveOnGlobeNewResponse::set_allocated_execution_id(std::string* execution_id) {
+  if (execution_id != nullptr) {
+    
+  } else {
+    
+  }
+  execution_id_.SetAllocated(execution_id, GetArenaForAllocation());
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (execution_id_.IsDefault()) {
+    execution_id_.Set("", GetArenaForAllocation());
+  }
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.MoveOnGlobeNewResponse.execution_id)
+}
+
+// -------------------------------------------------------------------
+
+// GetPoseRequest
 
 // string name = 1 [json_name = "name"];
-inline void MoveRequest::clear_name() {
+inline void GetPoseRequest::clear_name() {
   name_.ClearToEmpty();
 }
-inline const std::string& MoveRequest::name() const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveRequest.name)
+inline const std::string& GetPoseRequest::name() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.GetPoseRequest.name)
   return _internal_name();
 }
 template <typename ArgT0, typename... ArgT>
 inline PROTOBUF_ALWAYS_INLINE
-void MoveRequest::set_name(ArgT0&& arg0, ArgT... args) {
+void GetPoseRequest::set_name(ArgT0&& arg0, ArgT... args) {
  
  name_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
-  // @@protoc_insertion_point(field_set:viam.service.motion.v1.MoveRequest.name)
+  // @@protoc_insertion_point(field_set:viam.service.motion.v1.GetPoseRequest.name)
 }
-inline std::string* MoveRequest::mutable_name() {
+inline std::string* GetPoseRequest::mutable_name() {
   std::string* _s = _internal_mutable_name();
-  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveRequest.name)
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.GetPoseRequest.name)
   return _s;
 }
-inline const std::string& MoveRequest::_internal_name() const {
+inline const std::string& GetPoseRequest::_internal_name() const {
   return name_.Get();
 }
-inline void MoveRequest::_internal_set_name(const std::string& value) {
+inline void GetPoseRequest::_internal_set_name(const std::string& value) {
   
   name_.Set(value, GetArenaForAllocation());
 }
-inline std::string* MoveRequest::_internal_mutable_name() {
+inline std::string* GetPoseRequest::_internal_mutable_name() {
   
   return name_.Mutable(GetArenaForAllocation());
 }
-inline std::string* MoveRequest::release_name() {
-  // @@protoc_insertion_point(field_release:viam.service.motion.v1.MoveRequest.name)
+inline std::string* GetPoseRequest::release_name() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.GetPoseRequest.name)
   return name_.Release();
 }
-inline void MoveRequest::set_allocated_name(std::string* name) {
+inline void GetPoseRequest::set_allocated_name(std::string* name) {
   if (name != nullptr) {
     
   } else {
@@ -2791,42 +7749,42 @@ inline void MoveRequest::set_allocated_name(std::string* name) {
     name_.Set("", GetArenaForAllocation());
   }
 #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.MoveRequest.name)
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.GetPoseRequest.name)
 }
 
-// .viam.common.v1.PoseInFrame destination = 2 [json_name = "destination"];
-inline bool MoveRequest::_internal_has_destination() const {
-  return this != internal_default_instance() && destination_ != nullptr;
+// .viam.common.v1.ResourceName component_name = 2 [json_name = "componentName"];
+inline bool GetPoseRequest::_internal_has_component_name() const {
+  return this != internal_default_instance() && component_name_ != nullptr;
 }
-inline bool MoveRequest::has_destination() const {
-  return _internal_has_destination();
+inline bool GetPoseRequest::has_component_name() const {
+  return _internal_has_component_name();
 }
-inline const ::viam::common::v1::PoseInFrame& MoveRequest::_internal_destination() const {
-  const ::viam::common::v1::PoseInFrame* p = destination_;
-  return p != nullptr ? *p : reinterpret_cast<const ::viam::common::v1::PoseInFrame&>(
-      ::viam::common::v1::_PoseInFrame_default_instance_);
+inline const ::viam::common::v1::ResourceName& GetPoseRequest::_internal_component_name() const {
+  const ::viam::common::v1::ResourceName* p = component_name_;
+  return p != nullptr ? *p : reinterpret_cast<const ::viam::common::v1::ResourceName&>(
+      ::viam::common::v1::_ResourceName_default_instance_);
 }
-inline const ::viam::common::v1::PoseInFrame& MoveRequest::destination() const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveRequest.destination)
-  return _internal_destination();
+inline const ::viam::common::v1::ResourceName& GetPoseRequest::component_name() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.GetPoseRequest.component_name)
+  return _internal_component_name();
 }
-inline void MoveRequest::unsafe_arena_set_allocated_destination(
-    ::viam::common::v1::PoseInFrame* destination) {
+inline void GetPoseRequest::unsafe_arena_set_allocated_component_name(
+    ::viam::common::v1::ResourceName* component_name) {
   if (GetArenaForAllocation() == nullptr) {
-    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(destination_);
+    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(component_name_);
   }
-  destination_ = destination;
-  if (destination) {
+  component_name_ = component_name;
+  if (component_name) {
     
   } else {
     
   }
-  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.MoveRequest.destination)
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.GetPoseRequest.component_name)
 }
-inline ::viam::common::v1::PoseInFrame* MoveRequest::release_destination() {
+inline ::viam::common::v1::ResourceName* GetPoseRequest::release_component_name() {
   
-  ::viam::common::v1::PoseInFrame* temp = destination_;
-  destination_ = nullptr;
+  ::viam::common::v1::ResourceName* temp = component_name_;
+  component_name_ = nullptr;
 #ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
   auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
   temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
@@ -2838,80 +7796,167 @@ inline ::viam::common::v1::PoseInFrame* MoveRequest::release_destination() {
 #endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
   return temp;
 }
-inline ::viam::common::v1::PoseInFrame* MoveRequest::unsafe_arena_release_destination() {
-  // @@protoc_insertion_point(field_release:viam.service.motion.v1.MoveRequest.destination)
+inline ::viam::common::v1::ResourceName* GetPoseRequest::unsafe_arena_release_component_name() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.GetPoseRequest.component_name)
   
-  ::viam::common::v1::PoseInFrame* temp = destination_;
-  destination_ = nullptr;
+  ::viam::common::v1::ResourceName* temp = component_name_;
+  component_name_ = nullptr;
   return temp;
 }
-inline ::viam::common::v1::PoseInFrame* MoveRequest::_internal_mutable_destination() {
+inline ::viam::common::v1::ResourceName* GetPoseRequest::_internal_mutable_component_name() {
   
-  if (destination_ == nullptr) {
-    auto* p = CreateMaybeMessage<::viam::common::v1::PoseInFrame>(GetArenaForAllocation());
-    destination_ = p;
+  if (component_name_ == nullptr) {
+    auto* p = CreateMaybeMessage<::viam::common::v1::ResourceName>(GetArenaForAllocation());
+    component_name_ = p;
   }
-  return destination_;
+  return component_name_;
 }
-inline ::viam::common::v1::PoseInFrame* MoveRequest::mutable_destination() {
-  ::viam::common::v1::PoseInFrame* _msg = _internal_mutable_destination();
-  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveRequest.destination)
+inline ::viam::common::v1::ResourceName* GetPoseRequest::mutable_component_name() {
+  ::viam::common::v1::ResourceName* _msg = _internal_mutable_component_name();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.GetPoseRequest.component_name)
   return _msg;
 }
-inline void MoveRequest::set_allocated_destination(::viam::common::v1::PoseInFrame* destination) {
+inline void GetPoseRequest::set_allocated_component_name(::viam::common::v1::ResourceName* component_name) {
   ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
   if (message_arena == nullptr) {
-    delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(destination_);
+    delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(component_name_);
   }
-  if (destination) {
+  if (component_name) {
     ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
         ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(
-                reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(destination));
+                reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(component_name));
     if (message_arena != submessage_arena) {
-      destination = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
-          message_arena, destination, submessage_arena);
+      component_name = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
+          message_arena, component_name, submessage_arena);
     }
     
   } else {
     
   }
-  destination_ = destination;
-  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.MoveRequest.destination)
+  component_name_ = component_name;
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.GetPoseRequest.component_name)
 }
 
-// .viam.common.v1.ResourceName component_name = 3 [json_name = "componentName"];
-inline bool MoveRequest::_internal_has_component_name() const {
-  return this != internal_default_instance() && component_name_ != nullptr;
+// string destination_frame = 3 [json_name = "destinationFrame"];
+inline void GetPoseRequest::clear_destination_frame() {
+  destination_frame_.ClearToEmpty();
 }
-inline bool MoveRequest::has_component_name() const {
-  return _internal_has_component_name();
+inline const std::string& GetPoseRequest::destination_frame() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.GetPoseRequest.destination_frame)
+  return _internal_destination_frame();
 }
-inline const ::viam::common::v1::ResourceName& MoveRequest::_internal_component_name() const {
-  const ::viam::common::v1::ResourceName* p = component_name_;
-  return p != nullptr ? *p : reinterpret_cast<const ::viam::common::v1::ResourceName&>(
-      ::viam::common::v1::_ResourceName_default_instance_);
+template <typename ArgT0, typename... ArgT>
+inline PROTOBUF_ALWAYS_INLINE
+void GetPoseRequest::set_destination_frame(ArgT0&& arg0, ArgT... args) {
+ 
+ destination_frame_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.service.motion.v1.GetPoseRequest.destination_frame)
 }
-inline const ::viam::common::v1::ResourceName& MoveRequest::component_name() const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveRequest.component_name)
-  return _internal_component_name();
+inline std::string* GetPoseRequest::mutable_destination_frame() {
+  std::string* _s = _internal_mutable_destination_frame();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.GetPoseRequest.destination_frame)
+  return _s;
 }
-inline void MoveRequest::unsafe_arena_set_allocated_component_name(
-    ::viam::common::v1::ResourceName* component_name) {
+inline const std::string& GetPoseRequest::_internal_destination_frame() const {
+  return destination_frame_.Get();
+}
+inline void GetPoseRequest::_internal_set_destination_frame(const std::string& value) {
+  
+  destination_frame_.Set(value, GetArenaForAllocation());
+}
+inline std::string* GetPoseRequest::_internal_mutable_destination_frame() {
+  
+  return destination_frame_.Mutable(GetArenaForAllocation());
+}
+inline std::string* GetPoseRequest::release_destination_frame() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.GetPoseRequest.destination_frame)
+  return destination_frame_.Release();
+}
+inline void GetPoseRequest::set_allocated_destination_frame(std::string* destination_frame) {
+  if (destination_frame != nullptr) {
+    
+  } else {
+    
+  }
+  destination_frame_.SetAllocated(destination_frame, GetArenaForAllocation());
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (destination_frame_.IsDefault()) {
+    destination_frame_.Set("", GetArenaForAllocation());
+  }
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.GetPoseRequest.destination_frame)
+}
+
+// repeated .viam.common.v1.Transform supplemental_transforms = 4 [json_name = "supplementalTransforms"];
+inline int GetPoseRequest::_internal_supplemental_transforms_size() const {
+  return supplemental_transforms_.size();
+}
+inline int GetPoseRequest::supplemental_transforms_size() const {
+  return _internal_supplemental_transforms_size();
+}
+inline ::viam::common::v1::Transform* GetPoseRequest::mutable_supplemental_transforms(int index) {
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.GetPoseRequest.supplemental_transforms)
+  return supplemental_transforms_.Mutable(index);
+}
+inline ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::common::v1::Transform >*
+GetPoseRequest::mutable_supplemental_transforms() {
+  // @@protoc_insertion_point(field_mutable_list:viam.service.motion.v1.GetPoseRequest.supplemental_transforms)
+  return &supplemental_transforms_;
+}
+inline const ::viam::common::v1::Transform& GetPoseRequest::_internal_supplemental_transforms(int index) const {
+  return supplemental_transforms_.Get(index);
+}
+inline const ::viam::common::v1::Transform& GetPoseRequest::supplemental_transforms(int index) const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.GetPoseRequest.supplemental_transforms)
+  return _internal_supplemental_transforms(index);
+}
+inline ::viam::common::v1::Transform* GetPoseRequest::_internal_add_supplemental_transforms() {
+  return supplemental_transforms_.Add();
+}
+inline ::viam::common::v1::Transform* GetPoseRequest::add_supplemental_transforms() {
+  ::viam::common::v1::Transform* _add = _internal_add_supplemental_transforms();
+  // @@protoc_insertion_point(field_add:viam.service.motion.v1.GetPoseRequest.supplemental_transforms)
+  return _add;
+}
+inline const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::common::v1::Transform >&
+GetPoseRequest::supplemental_transforms() const {
+  // @@protoc_insertion_point(field_list:viam.service.motion.v1.GetPoseRequest.supplemental_transforms)
+  return supplemental_transforms_;
+}
+
+// .google.protobuf.Struct extra = 99 [json_name = "extra"];
+inline bool GetPoseRequest::_internal_has_extra() const {
+  return this != internal_default_instance() && extra_ != nullptr;
+}
+inline bool GetPoseRequest::has_extra() const {
+  return _internal_has_extra();
+}
+inline const ::PROTOBUF_NAMESPACE_ID::Struct& GetPoseRequest::_internal_extra() const {
+  const ::PROTOBUF_NAMESPACE_ID::Struct* p = extra_;
+  return p != nullptr ? *p : reinterpret_cast<const ::PROTOBUF_NAMESPACE_ID::Struct&>(
+      ::PROTOBUF_NAMESPACE_ID::_Struct_default_instance_);
+}
+inline const ::PROTOBUF_NAMESPACE_ID::Struct& GetPoseRequest::extra() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.GetPoseRequest.extra)
+  return _internal_extra();
+}
+inline void GetPoseRequest::unsafe_arena_set_allocated_extra(
+    ::PROTOBUF_NAMESPACE_ID::Struct* extra) {
   if (GetArenaForAllocation() == nullptr) {
-    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(component_name_);
+    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(extra_);
   }
-  component_name_ = component_name;
-  if (component_name) {
+  extra_ = extra;
+  if (extra) {
     
   } else {
     
   }
-  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.MoveRequest.component_name)
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.GetPoseRequest.extra)
 }
-inline ::viam::common::v1::ResourceName* MoveRequest::release_component_name() {
+inline ::PROTOBUF_NAMESPACE_ID::Struct* GetPoseRequest::release_extra() {
   
-  ::viam::common::v1::ResourceName* temp = component_name_;
-  component_name_ = nullptr;
+  ::PROTOBUF_NAMESPACE_ID::Struct* temp = extra_;
+  extra_ = nullptr;
 #ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
   auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
   temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
@@ -2923,82 +7968,84 @@ inline ::viam::common::v1::ResourceName* MoveRequest::release_component_name() {
 #endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
   return temp;
 }
-inline ::viam::common::v1::ResourceName* MoveRequest::unsafe_arena_release_component_name() {
-  // @@protoc_insertion_point(field_release:viam.service.motion.v1.MoveRequest.component_name)
+inline ::PROTOBUF_NAMESPACE_ID::Struct* GetPoseRequest::unsafe_arena_release_extra() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.GetPoseRequest.extra)
   
-  ::viam::common::v1::ResourceName* temp = component_name_;
-  component_name_ = nullptr;
+  ::PROTOBUF_NAMESPACE_ID::Struct* temp = extra_;
+  extra_ = nullptr;
   return temp;
 }
-inline ::viam::common::v1::ResourceName* MoveRequest::_internal_mutable_component_name() {
+inline ::PROTOBUF_NAMESPACE_ID::Struct* GetPoseRequest::_internal_mutable_extra() {
   
-  if (component_name_ == nullptr) {
-    auto* p = CreateMaybeMessage<::viam::common::v1::ResourceName>(GetArenaForAllocation());
-    component_name_ = p;
+  if (extra_ == nullptr) {
+    auto* p = CreateMaybeMessage<::PROTOBUF_NAMESPACE_ID::Struct>(GetArenaForAllocation());
+    extra_ = p;
   }
-  return component_name_;
+  return extra_;
 }
-inline ::viam::common::v1::ResourceName* MoveRequest::mutable_component_name() {
-  ::viam::common::v1::ResourceName* _msg = _internal_mutable_component_name();
-  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveRequest.component_name)
+inline ::PROTOBUF_NAMESPACE_ID::Struct* GetPoseRequest::mutable_extra() {
+  ::PROTOBUF_NAMESPACE_ID::Struct* _msg = _internal_mutable_extra();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.GetPoseRequest.extra)
   return _msg;
 }
-inline void MoveRequest::set_allocated_component_name(::viam::common::v1::ResourceName* component_name) {
+inline void GetPoseRequest::set_allocated_extra(::PROTOBUF_NAMESPACE_ID::Struct* extra) {
   ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
   if (message_arena == nullptr) {
-    delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(component_name_);
+    delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(extra_);
   }
-  if (component_name) {
+  if (extra) {
     ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
         ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(
-                reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(component_name));
+                reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(extra));
     if (message_arena != submessage_arena) {
-      component_name = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
-          message_arena, component_name, submessage_arena);
+      extra = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
+          message_arena, extra, submessage_arena);
     }
     
   } else {
     
   }
-  component_name_ = component_name;
-  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.MoveRequest.component_name)
+  extra_ = extra;
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.GetPoseRequest.extra)
 }
 
-// optional .viam.common.v1.WorldState world_state = 4 [json_name = "worldState"];
-inline bool MoveRequest::_internal_has_world_state() const {
-  bool value = (_has_bits_[0] & 0x00000001u) != 0;
-  PROTOBUF_ASSUME(!value || world_state_ != nullptr);
-  return value;
+// -------------------------------------------------------------------
+
+// GetPoseResponse
+
+// .viam.common.v1.PoseInFrame pose = 1 [json_name = "pose"];
+inline bool GetPoseResponse::_internal_has_pose() const {
+  return this != internal_default_instance() && pose_ != nullptr;
 }
-inline bool MoveRequest::has_world_state() const {
-  return _internal_has_world_state();
+inline bool GetPoseResponse::has_pose() const {
+  return _internal_has_pose();
 }
-inline const ::viam::common::v1::WorldState& MoveRequest::_internal_world_state() const {
-  const ::viam::common::v1::WorldState* p = world_state_;
-  return p != nullptr ? *p : reinterpret_cast<const ::viam::common::v1::WorldState&>(
-      ::viam::common::v1::_WorldState_default_instance_);
+inline const ::viam::common::v1::PoseInFrame& GetPoseResponse::_internal_pose() const {
+  const ::viam::common::v1::PoseInFrame* p = pose_;
+  return p != nullptr ? *p : reinterpret_cast<const ::viam::common::v1::PoseInFrame&>(
+      ::viam::common::v1::_PoseInFrame_default_instance_);
 }
-inline const ::viam::common::v1::WorldState& MoveRequest::world_state() const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveRequest.world_state)
-  return _internal_world_state();
+inline const ::viam::common::v1::PoseInFrame& GetPoseResponse::pose() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.GetPoseResponse.pose)
+  return _internal_pose();
 }
-inline void MoveRequest::unsafe_arena_set_allocated_world_state(
-    ::viam::common::v1::WorldState* world_state) {
+inline void GetPoseResponse::unsafe_arena_set_allocated_pose(
+    ::viam::common::v1::PoseInFrame* pose) {
   if (GetArenaForAllocation() == nullptr) {
-    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(world_state_);
+    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(pose_);
   }
-  world_state_ = world_state;
-  if (world_state) {
-    _has_bits_[0] |= 0x00000001u;
+  pose_ = pose;
+  if (pose) {
+    
   } else {
-    _has_bits_[0] &= ~0x00000001u;
+    
   }
-  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.MoveRequest.world_state)
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.GetPoseResponse.pose)
 }
-inline ::viam::common::v1::WorldState* MoveRequest::release_world_state() {
-  _has_bits_[0] &= ~0x00000001u;
-  ::viam::common::v1::WorldState* temp = world_state_;
-  world_state_ = nullptr;
+inline ::viam::common::v1::PoseInFrame* GetPoseResponse::release_pose() {
+  
+  ::viam::common::v1::PoseInFrame* temp = pose_;
+  pose_ = nullptr;
 #ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
   auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
   temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
@@ -3010,86 +8057,134 @@ inline ::viam::common::v1::WorldState* MoveRequest::release_world_state() {
 #endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
   return temp;
 }
-inline ::viam::common::v1::WorldState* MoveRequest::unsafe_arena_release_world_state() {
-  // @@protoc_insertion_point(field_release:viam.service.motion.v1.MoveRequest.world_state)
-  _has_bits_[0] &= ~0x00000001u;
-  ::viam::common::v1::WorldState* temp = world_state_;
-  world_state_ = nullptr;
+inline ::viam::common::v1::PoseInFrame* GetPoseResponse::unsafe_arena_release_pose() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.GetPoseResponse.pose)
+  
+  ::viam::common::v1::PoseInFrame* temp = pose_;
+  pose_ = nullptr;
   return temp;
 }
-inline ::viam::common::v1::WorldState* MoveRequest::_internal_mutable_world_state() {
-  _has_bits_[0] |= 0x00000001u;
-  if (world_state_ == nullptr) {
-    auto* p = CreateMaybeMessage<::viam::common::v1::WorldState>(GetArenaForAllocation());
-    world_state_ = p;
+inline ::viam::common::v1::PoseInFrame* GetPoseResponse::_internal_mutable_pose() {
+  
+  if (pose_ == nullptr) {
+    auto* p = CreateMaybeMessage<::viam::common::v1::PoseInFrame>(GetArenaForAllocation());
+    pose_ = p;
   }
-  return world_state_;
+  return pose_;
 }
-inline ::viam::common::v1::WorldState* MoveRequest::mutable_world_state() {
-  ::viam::common::v1::WorldState* _msg = _internal_mutable_world_state();
-  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveRequest.world_state)
+inline ::viam::common::v1::PoseInFrame* GetPoseResponse::mutable_pose() {
+  ::viam::common::v1::PoseInFrame* _msg = _internal_mutable_pose();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.GetPoseResponse.pose)
   return _msg;
 }
-inline void MoveRequest::set_allocated_world_state(::viam::common::v1::WorldState* world_state) {
+inline void GetPoseResponse::set_allocated_pose(::viam::common::v1::PoseInFrame* pose) {
   ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
   if (message_arena == nullptr) {
-    delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(world_state_);
+    delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(pose_);
   }
-  if (world_state) {
+  if (pose) {
     ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
         ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(
-                reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(world_state));
+                reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(pose));
     if (message_arena != submessage_arena) {
-      world_state = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
-          message_arena, world_state, submessage_arena);
+      pose = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
+          message_arena, pose, submessage_arena);
     }
-    _has_bits_[0] |= 0x00000001u;
+    
   } else {
-    _has_bits_[0] &= ~0x00000001u;
+    
   }
-  world_state_ = world_state;
-  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.MoveRequest.world_state)
+  pose_ = pose;
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.GetPoseResponse.pose)
 }
 
-// optional .viam.service.motion.v1.Constraints constraints = 5 [json_name = "constraints"];
-inline bool MoveRequest::_internal_has_constraints() const {
-  bool value = (_has_bits_[0] & 0x00000002u) != 0;
-  PROTOBUF_ASSUME(!value || constraints_ != nullptr);
-  return value;
+// -------------------------------------------------------------------
+
+// StopPlanRequest
+
+// string name = 1 [json_name = "name"];
+inline void StopPlanRequest::clear_name() {
+  name_.ClearToEmpty();
 }
-inline bool MoveRequest::has_constraints() const {
-  return _internal_has_constraints();
+inline const std::string& StopPlanRequest::name() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.StopPlanRequest.name)
+  return _internal_name();
 }
-inline void MoveRequest::clear_constraints() {
-  if (constraints_ != nullptr) constraints_->Clear();
-  _has_bits_[0] &= ~0x00000002u;
+template <typename ArgT0, typename... ArgT>
+inline PROTOBUF_ALWAYS_INLINE
+void StopPlanRequest::set_name(ArgT0&& arg0, ArgT... args) {
+ 
+ name_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.service.motion.v1.StopPlanRequest.name)
 }
-inline const ::viam::service::motion::v1::Constraints& MoveRequest::_internal_constraints() const {
-  const ::viam::service::motion::v1::Constraints* p = constraints_;
-  return p != nullptr ? *p : reinterpret_cast<const ::viam::service::motion::v1::Constraints&>(
-      ::viam::service::motion::v1::_Constraints_default_instance_);
+inline std::string* StopPlanRequest::mutable_name() {
+  std::string* _s = _internal_mutable_name();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.StopPlanRequest.name)
+  return _s;
 }
-inline const ::viam::service::motion::v1::Constraints& MoveRequest::constraints() const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveRequest.constraints)
-  return _internal_constraints();
+inline const std::string& StopPlanRequest::_internal_name() const {
+  return name_.Get();
 }
-inline void MoveRequest::unsafe_arena_set_allocated_constraints(
-    ::viam::service::motion::v1::Constraints* constraints) {
+inline void StopPlanRequest::_internal_set_name(const std::string& value) {
+  
+  name_.Set(value, GetArenaForAllocation());
+}
+inline std::string* StopPlanRequest::_internal_mutable_name() {
+  
+  return name_.Mutable(GetArenaForAllocation());
+}
+inline std::string* StopPlanRequest::release_name() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.StopPlanRequest.name)
+  return name_.Release();
+}
+inline void StopPlanRequest::set_allocated_name(std::string* name) {
+  if (name != nullptr) {
+    
+  } else {
+    
+  }
+  name_.SetAllocated(name, GetArenaForAllocation());
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (name_.IsDefault()) {
+    name_.Set("", GetArenaForAllocation());
+  }
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.StopPlanRequest.name)
+}
+
+// .viam.common.v1.ResourceName component_name = 2 [json_name = "componentName"];
+inline bool StopPlanRequest::_internal_has_component_name() const {
+  return this != internal_default_instance() && component_name_ != nullptr;
+}
+inline bool StopPlanRequest::has_component_name() const {
+  return _internal_has_component_name();
+}
+inline const ::viam::common::v1::ResourceName& StopPlanRequest::_internal_component_name() const {
+  const ::viam::common::v1::ResourceName* p = component_name_;
+  return p != nullptr ? *p : reinterpret_cast<const ::viam::common::v1::ResourceName&>(
+      ::viam::common::v1::_ResourceName_default_instance_);
+}
+inline const ::viam::common::v1::ResourceName& StopPlanRequest::component_name() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.StopPlanRequest.component_name)
+  return _internal_component_name();
+}
+inline void StopPlanRequest::unsafe_arena_set_allocated_component_name(
+    ::viam::common::v1::ResourceName* component_name) {
   if (GetArenaForAllocation() == nullptr) {
-    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(constraints_);
+    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(component_name_);
   }
-  constraints_ = constraints;
-  if (constraints) {
-    _has_bits_[0] |= 0x00000002u;
+  component_name_ = component_name;
+  if (component_name) {
+    
   } else {
-    _has_bits_[0] &= ~0x00000002u;
+    
   }
-  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.MoveRequest.constraints)
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.StopPlanRequest.component_name)
 }
-inline ::viam::service::motion::v1::Constraints* MoveRequest::release_constraints() {
-  _has_bits_[0] &= ~0x00000002u;
-  ::viam::service::motion::v1::Constraints* temp = constraints_;
-  constraints_ = nullptr;
+inline ::viam::common::v1::ResourceName* StopPlanRequest::release_component_name() {
+  
+  ::viam::common::v1::ResourceName* temp = component_name_;
+  component_name_ = nullptr;
 #ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
   auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
   temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
@@ -3101,63 +8196,64 @@ inline ::viam::service::motion::v1::Constraints* MoveRequest::release_constraint
 #endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
   return temp;
 }
-inline ::viam::service::motion::v1::Constraints* MoveRequest::unsafe_arena_release_constraints() {
-  // @@protoc_insertion_point(field_release:viam.service.motion.v1.MoveRequest.constraints)
-  _has_bits_[0] &= ~0x00000002u;
-  ::viam::service::motion::v1::Constraints* temp = constraints_;
-  constraints_ = nullptr;
+inline ::viam::common::v1::ResourceName* StopPlanRequest::unsafe_arena_release_component_name() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.StopPlanRequest.component_name)
+  
+  ::viam::common::v1::ResourceName* temp = component_name_;
+  component_name_ = nullptr;
   return temp;
 }
-inline ::viam::service::motion::v1::Constraints* MoveRequest::_internal_mutable_constraints() {
-  _has_bits_[0] |= 0x00000002u;
-  if (constraints_ == nullptr) {
-    auto* p = CreateMaybeMessage<::viam::service::motion::v1::Constraints>(GetArenaForAllocation());
-    constraints_ = p;
+inline ::viam::common::v1::ResourceName* StopPlanRequest::_internal_mutable_component_name() {
+  
+  if (component_name_ == nullptr) {
+    auto* p = CreateMaybeMessage<::viam::common::v1::ResourceName>(GetArenaForAllocation());
+    component_name_ = p;
   }
-  return constraints_;
+  return component_name_;
 }
-inline ::viam::service::motion::v1::Constraints* MoveRequest::mutable_constraints() {
-  ::viam::service::motion::v1::Constraints* _msg = _internal_mutable_constraints();
-  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveRequest.constraints)
+inline ::viam::common::v1::ResourceName* StopPlanRequest::mutable_component_name() {
+  ::viam::common::v1::ResourceName* _msg = _internal_mutable_component_name();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.StopPlanRequest.component_name)
   return _msg;
 }
-inline void MoveRequest::set_allocated_constraints(::viam::service::motion::v1::Constraints* constraints) {
+inline void StopPlanRequest::set_allocated_component_name(::viam::common::v1::ResourceName* component_name) {
   ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
   if (message_arena == nullptr) {
-    delete constraints_;
+    delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(component_name_);
   }
-  if (constraints) {
+  if (component_name) {
     ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
-        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(constraints);
+        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(
+                reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(component_name));
     if (message_arena != submessage_arena) {
-      constraints = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
-          message_arena, constraints, submessage_arena);
+      component_name = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
+          message_arena, component_name, submessage_arena);
     }
-    _has_bits_[0] |= 0x00000002u;
+    
   } else {
-    _has_bits_[0] &= ~0x00000002u;
+    
   }
-  constraints_ = constraints;
-  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.MoveRequest.constraints)
+  component_name_ = component_name;
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.StopPlanRequest.component_name)
 }
 
 // .google.protobuf.Struct extra = 99 [json_name = "extra"];
-inline bool MoveRequest::_internal_has_extra() const {
+inline bool StopPlanRequest::_internal_has_extra() const {
   return this != internal_default_instance() && extra_ != nullptr;
 }
-inline bool MoveRequest::has_extra() const {
+inline bool StopPlanRequest::has_extra() const {
   return _internal_has_extra();
 }
-inline const ::PROTOBUF_NAMESPACE_ID::Struct& MoveRequest::_internal_extra() const {
+inline const ::PROTOBUF_NAMESPACE_ID::Struct& StopPlanRequest::_internal_extra() const {
   const ::PROTOBUF_NAMESPACE_ID::Struct* p = extra_;
   return p != nullptr ? *p : reinterpret_cast<const ::PROTOBUF_NAMESPACE_ID::Struct&>(
       ::PROTOBUF_NAMESPACE_ID::_Struct_default_instance_);
 }
-inline const ::PROTOBUF_NAMESPACE_ID::Struct& MoveRequest::extra() const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveRequest.extra)
+inline const ::PROTOBUF_NAMESPACE_ID::Struct& StopPlanRequest::extra() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.StopPlanRequest.extra)
   return _internal_extra();
 }
-inline void MoveRequest::unsafe_arena_set_allocated_extra(
+inline void StopPlanRequest::unsafe_arena_set_allocated_extra(
     ::PROTOBUF_NAMESPACE_ID::Struct* extra) {
   if (GetArenaForAllocation() == nullptr) {
     delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(extra_);
@@ -3168,9 +8264,9 @@ inline void MoveRequest::unsafe_arena_set_allocated_extra(
   } else {
     
   }
-  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.MoveRequest.extra)
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.StopPlanRequest.extra)
 }
-inline ::PROTOBUF_NAMESPACE_ID::Struct* MoveRequest::release_extra() {
+inline ::PROTOBUF_NAMESPACE_ID::Struct* StopPlanRequest::release_extra() {
   
   ::PROTOBUF_NAMESPACE_ID::Struct* temp = extra_;
   extra_ = nullptr;
@@ -3185,14 +8281,14 @@ inline ::PROTOBUF_NAMESPACE_ID::Struct* MoveRequest::release_extra() {
 #endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
   return temp;
 }
-inline ::PROTOBUF_NAMESPACE_ID::Struct* MoveRequest::unsafe_arena_release_extra() {
-  // @@protoc_insertion_point(field_release:viam.service.motion.v1.MoveRequest.extra)
+inline ::PROTOBUF_NAMESPACE_ID::Struct* StopPlanRequest::unsafe_arena_release_extra() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.StopPlanRequest.extra)
   
   ::PROTOBUF_NAMESPACE_ID::Struct* temp = extra_;
   extra_ = nullptr;
   return temp;
 }
-inline ::PROTOBUF_NAMESPACE_ID::Struct* MoveRequest::_internal_mutable_extra() {
+inline ::PROTOBUF_NAMESPACE_ID::Struct* StopPlanRequest::_internal_mutable_extra() {
   
   if (extra_ == nullptr) {
     auto* p = CreateMaybeMessage<::PROTOBUF_NAMESPACE_ID::Struct>(GetArenaForAllocation());
@@ -3200,12 +8296,12 @@ inline ::PROTOBUF_NAMESPACE_ID::Struct* MoveRequest::_internal_mutable_extra() {
   }
   return extra_;
 }
-inline ::PROTOBUF_NAMESPACE_ID::Struct* MoveRequest::mutable_extra() {
+inline ::PROTOBUF_NAMESPACE_ID::Struct* StopPlanRequest::mutable_extra() {
   ::PROTOBUF_NAMESPACE_ID::Struct* _msg = _internal_mutable_extra();
-  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveRequest.extra)
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.StopPlanRequest.extra)
   return _msg;
 }
-inline void MoveRequest::set_allocated_extra(::PROTOBUF_NAMESPACE_ID::Struct* extra) {
+inline void StopPlanRequest::set_allocated_extra(::PROTOBUF_NAMESPACE_ID::Struct* extra) {
   ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
   if (message_arena == nullptr) {
     delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(extra_);
@@ -3223,73 +8319,53 @@ inline void MoveRequest::set_allocated_extra(::PROTOBUF_NAMESPACE_ID::Struct* ex
     
   }
   extra_ = extra;
-  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.MoveRequest.extra)
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.StopPlanRequest.extra)
 }
 
 // -------------------------------------------------------------------
 
-// MoveResponse
-
-// bool success = 1 [json_name = "success"];
-inline void MoveResponse::clear_success() {
-  success_ = false;
-}
-inline bool MoveResponse::_internal_success() const {
-  return success_;
-}
-inline bool MoveResponse::success() const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveResponse.success)
-  return _internal_success();
-}
-inline void MoveResponse::_internal_set_success(bool value) {
-  
-  success_ = value;
-}
-inline void MoveResponse::set_success(bool value) {
-  _internal_set_success(value);
-  // @@protoc_insertion_point(field_set:viam.service.motion.v1.MoveResponse.success)
-}
+// StopPlanResponse
 
 // -------------------------------------------------------------------
 
-// MoveOnMapRequest
+// ListPlanStatusesRequest
 
 // string name = 1 [json_name = "name"];
-inline void MoveOnMapRequest::clear_name() {
+inline void ListPlanStatusesRequest::clear_name() {
   name_.ClearToEmpty();
 }
-inline const std::string& MoveOnMapRequest::name() const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveOnMapRequest.name)
+inline const std::string& ListPlanStatusesRequest::name() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.ListPlanStatusesRequest.name)
   return _internal_name();
 }
 template <typename ArgT0, typename... ArgT>
 inline PROTOBUF_ALWAYS_INLINE
-void MoveOnMapRequest::set_name(ArgT0&& arg0, ArgT... args) {
+void ListPlanStatusesRequest::set_name(ArgT0&& arg0, ArgT... args) {
  
  name_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
-  // @@protoc_insertion_point(field_set:viam.service.motion.v1.MoveOnMapRequest.name)
+  // @@protoc_insertion_point(field_set:viam.service.motion.v1.ListPlanStatusesRequest.name)
 }
-inline std::string* MoveOnMapRequest::mutable_name() {
+inline std::string* ListPlanStatusesRequest::mutable_name() {
   std::string* _s = _internal_mutable_name();
-  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveOnMapRequest.name)
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.ListPlanStatusesRequest.name)
   return _s;
 }
-inline const std::string& MoveOnMapRequest::_internal_name() const {
+inline const std::string& ListPlanStatusesRequest::_internal_name() const {
   return name_.Get();
 }
-inline void MoveOnMapRequest::_internal_set_name(const std::string& value) {
+inline void ListPlanStatusesRequest::_internal_set_name(const std::string& value) {
   
   name_.Set(value, GetArenaForAllocation());
 }
-inline std::string* MoveOnMapRequest::_internal_mutable_name() {
+inline std::string* ListPlanStatusesRequest::_internal_mutable_name() {
   
   return name_.Mutable(GetArenaForAllocation());
 }
-inline std::string* MoveOnMapRequest::release_name() {
-  // @@protoc_insertion_point(field_release:viam.service.motion.v1.MoveOnMapRequest.name)
+inline std::string* ListPlanStatusesRequest::release_name() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.ListPlanStatusesRequest.name)
   return name_.Release();
 }
-inline void MoveOnMapRequest::set_allocated_name(std::string* name) {
+inline void ListPlanStatusesRequest::set_allocated_name(std::string* name) {
   if (name != nullptr) {
     
   } else {
@@ -3301,42 +8377,62 @@ inline void MoveOnMapRequest::set_allocated_name(std::string* name) {
     name_.Set("", GetArenaForAllocation());
   }
 #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.MoveOnMapRequest.name)
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.ListPlanStatusesRequest.name)
 }
 
-// .viam.common.v1.Pose destination = 2 [json_name = "destination"];
-inline bool MoveOnMapRequest::_internal_has_destination() const {
-  return this != internal_default_instance() && destination_ != nullptr;
+// bool only_active_plans = 2 [json_name = "onlyActivePlans"];
+inline void ListPlanStatusesRequest::clear_only_active_plans() {
+  only_active_plans_ = false;
 }
-inline bool MoveOnMapRequest::has_destination() const {
-  return _internal_has_destination();
+inline bool ListPlanStatusesRequest::_internal_only_active_plans() const {
+  return only_active_plans_;
 }
-inline const ::viam::common::v1::Pose& MoveOnMapRequest::_internal_destination() const {
-  const ::viam::common::v1::Pose* p = destination_;
-  return p != nullptr ? *p : reinterpret_cast<const ::viam::common::v1::Pose&>(
-      ::viam::common::v1::_Pose_default_instance_);
+inline bool ListPlanStatusesRequest::only_active_plans() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.ListPlanStatusesRequest.only_active_plans)
+  return _internal_only_active_plans();
 }
-inline const ::viam::common::v1::Pose& MoveOnMapRequest::destination() const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveOnMapRequest.destination)
-  return _internal_destination();
+inline void ListPlanStatusesRequest::_internal_set_only_active_plans(bool value) {
+  
+  only_active_plans_ = value;
 }
-inline void MoveOnMapRequest::unsafe_arena_set_allocated_destination(
-    ::viam::common::v1::Pose* destination) {
+inline void ListPlanStatusesRequest::set_only_active_plans(bool value) {
+  _internal_set_only_active_plans(value);
+  // @@protoc_insertion_point(field_set:viam.service.motion.v1.ListPlanStatusesRequest.only_active_plans)
+}
+
+// .google.protobuf.Struct extra = 99 [json_name = "extra"];
+inline bool ListPlanStatusesRequest::_internal_has_extra() const {
+  return this != internal_default_instance() && extra_ != nullptr;
+}
+inline bool ListPlanStatusesRequest::has_extra() const {
+  return _internal_has_extra();
+}
+inline const ::PROTOBUF_NAMESPACE_ID::Struct& ListPlanStatusesRequest::_internal_extra() const {
+  const ::PROTOBUF_NAMESPACE_ID::Struct* p = extra_;
+  return p != nullptr ? *p : reinterpret_cast<const ::PROTOBUF_NAMESPACE_ID::Struct&>(
+      ::PROTOBUF_NAMESPACE_ID::_Struct_default_instance_);
+}
+inline const ::PROTOBUF_NAMESPACE_ID::Struct& ListPlanStatusesRequest::extra() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.ListPlanStatusesRequest.extra)
+  return _internal_extra();
+}
+inline void ListPlanStatusesRequest::unsafe_arena_set_allocated_extra(
+    ::PROTOBUF_NAMESPACE_ID::Struct* extra) {
   if (GetArenaForAllocation() == nullptr) {
-    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(destination_);
+    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(extra_);
   }
-  destination_ = destination;
-  if (destination) {
+  extra_ = extra;
+  if (extra) {
     
   } else {
     
   }
-  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.MoveOnMapRequest.destination)
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.ListPlanStatusesRequest.extra)
 }
-inline ::viam::common::v1::Pose* MoveOnMapRequest::release_destination() {
+inline ::PROTOBUF_NAMESPACE_ID::Struct* ListPlanStatusesRequest::release_extra() {
   
-  ::viam::common::v1::Pose* temp = destination_;
-  destination_ = nullptr;
+  ::PROTOBUF_NAMESPACE_ID::Struct* temp = extra_;
+  extra_ = nullptr;
 #ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
   auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
   temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
@@ -3348,64 +8444,162 @@ inline ::viam::common::v1::Pose* MoveOnMapRequest::release_destination() {
 #endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
   return temp;
 }
-inline ::viam::common::v1::Pose* MoveOnMapRequest::unsafe_arena_release_destination() {
-  // @@protoc_insertion_point(field_release:viam.service.motion.v1.MoveOnMapRequest.destination)
+inline ::PROTOBUF_NAMESPACE_ID::Struct* ListPlanStatusesRequest::unsafe_arena_release_extra() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.ListPlanStatusesRequest.extra)
   
-  ::viam::common::v1::Pose* temp = destination_;
-  destination_ = nullptr;
+  ::PROTOBUF_NAMESPACE_ID::Struct* temp = extra_;
+  extra_ = nullptr;
   return temp;
 }
-inline ::viam::common::v1::Pose* MoveOnMapRequest::_internal_mutable_destination() {
+inline ::PROTOBUF_NAMESPACE_ID::Struct* ListPlanStatusesRequest::_internal_mutable_extra() {
   
-  if (destination_ == nullptr) {
-    auto* p = CreateMaybeMessage<::viam::common::v1::Pose>(GetArenaForAllocation());
-    destination_ = p;
+  if (extra_ == nullptr) {
+    auto* p = CreateMaybeMessage<::PROTOBUF_NAMESPACE_ID::Struct>(GetArenaForAllocation());
+    extra_ = p;
   }
-  return destination_;
+  return extra_;
 }
-inline ::viam::common::v1::Pose* MoveOnMapRequest::mutable_destination() {
-  ::viam::common::v1::Pose* _msg = _internal_mutable_destination();
-  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveOnMapRequest.destination)
+inline ::PROTOBUF_NAMESPACE_ID::Struct* ListPlanStatusesRequest::mutable_extra() {
+  ::PROTOBUF_NAMESPACE_ID::Struct* _msg = _internal_mutable_extra();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.ListPlanStatusesRequest.extra)
   return _msg;
 }
-inline void MoveOnMapRequest::set_allocated_destination(::viam::common::v1::Pose* destination) {
+inline void ListPlanStatusesRequest::set_allocated_extra(::PROTOBUF_NAMESPACE_ID::Struct* extra) {
   ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
   if (message_arena == nullptr) {
-    delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(destination_);
+    delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(extra_);
   }
-  if (destination) {
+  if (extra) {
     ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
         ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(
-                reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(destination));
+                reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(extra));
     if (message_arena != submessage_arena) {
-      destination = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
-          message_arena, destination, submessage_arena);
+      extra = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
+          message_arena, extra, submessage_arena);
     }
     
   } else {
     
   }
-  destination_ = destination;
-  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.MoveOnMapRequest.destination)
+  extra_ = extra;
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.ListPlanStatusesRequest.extra)
 }
 
-// .viam.common.v1.ResourceName component_name = 3 [json_name = "componentName"];
-inline bool MoveOnMapRequest::_internal_has_component_name() const {
+// -------------------------------------------------------------------
+
+// ListPlanStatusesResponse
+
+// repeated .viam.service.motion.v1.PlanStatusWithID plan_statuses_with_ids = 1 [json_name = "planStatusesWithIds"];
+inline int ListPlanStatusesResponse::_internal_plan_statuses_with_ids_size() const {
+  return plan_statuses_with_ids_.size();
+}
+inline int ListPlanStatusesResponse::plan_statuses_with_ids_size() const {
+  return _internal_plan_statuses_with_ids_size();
+}
+inline void ListPlanStatusesResponse::clear_plan_statuses_with_ids() {
+  plan_statuses_with_ids_.Clear();
+}
+inline ::viam::service::motion::v1::PlanStatusWithID* ListPlanStatusesResponse::mutable_plan_statuses_with_ids(int index) {
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.ListPlanStatusesResponse.plan_statuses_with_ids)
+  return plan_statuses_with_ids_.Mutable(index);
+}
+inline ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::PlanStatusWithID >*
+ListPlanStatusesResponse::mutable_plan_statuses_with_ids() {
+  // @@protoc_insertion_point(field_mutable_list:viam.service.motion.v1.ListPlanStatusesResponse.plan_statuses_with_ids)
+  return &plan_statuses_with_ids_;
+}
+inline const ::viam::service::motion::v1::PlanStatusWithID& ListPlanStatusesResponse::_internal_plan_statuses_with_ids(int index) const {
+  return plan_statuses_with_ids_.Get(index);
+}
+inline const ::viam::service::motion::v1::PlanStatusWithID& ListPlanStatusesResponse::plan_statuses_with_ids(int index) const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.ListPlanStatusesResponse.plan_statuses_with_ids)
+  return _internal_plan_statuses_with_ids(index);
+}
+inline ::viam::service::motion::v1::PlanStatusWithID* ListPlanStatusesResponse::_internal_add_plan_statuses_with_ids() {
+  return plan_statuses_with_ids_.Add();
+}
+inline ::viam::service::motion::v1::PlanStatusWithID* ListPlanStatusesResponse::add_plan_statuses_with_ids() {
+  ::viam::service::motion::v1::PlanStatusWithID* _add = _internal_add_plan_statuses_with_ids();
+  // @@protoc_insertion_point(field_add:viam.service.motion.v1.ListPlanStatusesResponse.plan_statuses_with_ids)
+  return _add;
+}
+inline const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::PlanStatusWithID >&
+ListPlanStatusesResponse::plan_statuses_with_ids() const {
+  // @@protoc_insertion_point(field_list:viam.service.motion.v1.ListPlanStatusesResponse.plan_statuses_with_ids)
+  return plan_statuses_with_ids_;
+}
+
+// -------------------------------------------------------------------
+
+// GetPlanRequest
+
+// string name = 1 [json_name = "name"];
+inline void GetPlanRequest::clear_name() {
+  name_.ClearToEmpty();
+}
+inline const std::string& GetPlanRequest::name() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.GetPlanRequest.name)
+  return _internal_name();
+}
+template <typename ArgT0, typename... ArgT>
+inline PROTOBUF_ALWAYS_INLINE
+void GetPlanRequest::set_name(ArgT0&& arg0, ArgT... args) {
+ 
+ name_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.service.motion.v1.GetPlanRequest.name)
+}
+inline std::string* GetPlanRequest::mutable_name() {
+  std::string* _s = _internal_mutable_name();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.GetPlanRequest.name)
+  return _s;
+}
+inline const std::string& GetPlanRequest::_internal_name() const {
+  return name_.Get();
+}
+inline void GetPlanRequest::_internal_set_name(const std::string& value) {
+  
+  name_.Set(value, GetArenaForAllocation());
+}
+inline std::string* GetPlanRequest::_internal_mutable_name() {
+  
+  return name_.Mutable(GetArenaForAllocation());
+}
+inline std::string* GetPlanRequest::release_name() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.GetPlanRequest.name)
+  return name_.Release();
+}
+inline void GetPlanRequest::set_allocated_name(std::string* name) {
+  if (name != nullptr) {
+    
+  } else {
+    
+  }
+  name_.SetAllocated(name, GetArenaForAllocation());
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (name_.IsDefault()) {
+    name_.Set("", GetArenaForAllocation());
+  }
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.GetPlanRequest.name)
+}
+
+// .viam.common.v1.ResourceName component_name = 2 [json_name = "componentName"];
+inline bool GetPlanRequest::_internal_has_component_name() const {
   return this != internal_default_instance() && component_name_ != nullptr;
 }
-inline bool MoveOnMapRequest::has_component_name() const {
+inline bool GetPlanRequest::has_component_name() const {
   return _internal_has_component_name();
 }
-inline const ::viam::common::v1::ResourceName& MoveOnMapRequest::_internal_component_name() const {
+inline const ::viam::common::v1::ResourceName& GetPlanRequest::_internal_component_name() const {
   const ::viam::common::v1::ResourceName* p = component_name_;
   return p != nullptr ? *p : reinterpret_cast<const ::viam::common::v1::ResourceName&>(
       ::viam::common::v1::_ResourceName_default_instance_);
 }
-inline const ::viam::common::v1::ResourceName& MoveOnMapRequest::component_name() const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveOnMapRequest.component_name)
+inline const ::viam::common::v1::ResourceName& GetPlanRequest::component_name() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.GetPlanRequest.component_name)
   return _internal_component_name();
 }
-inline void MoveOnMapRequest::unsafe_arena_set_allocated_component_name(
+inline void GetPlanRequest::unsafe_arena_set_allocated_component_name(
     ::viam::common::v1::ResourceName* component_name) {
   if (GetArenaForAllocation() == nullptr) {
     delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(component_name_);
@@ -3416,9 +8610,9 @@ inline void MoveOnMapRequest::unsafe_arena_set_allocated_component_name(
   } else {
     
   }
-  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.MoveOnMapRequest.component_name)
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.GetPlanRequest.component_name)
 }
-inline ::viam::common::v1::ResourceName* MoveOnMapRequest::release_component_name() {
+inline ::viam::common::v1::ResourceName* GetPlanRequest::release_component_name() {
   
   ::viam::common::v1::ResourceName* temp = component_name_;
   component_name_ = nullptr;
@@ -3433,14 +8627,14 @@ inline ::viam::common::v1::ResourceName* MoveOnMapRequest::release_component_nam
 #endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
   return temp;
 }
-inline ::viam::common::v1::ResourceName* MoveOnMapRequest::unsafe_arena_release_component_name() {
-  // @@protoc_insertion_point(field_release:viam.service.motion.v1.MoveOnMapRequest.component_name)
+inline ::viam::common::v1::ResourceName* GetPlanRequest::unsafe_arena_release_component_name() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.GetPlanRequest.component_name)
   
   ::viam::common::v1::ResourceName* temp = component_name_;
   component_name_ = nullptr;
   return temp;
 }
-inline ::viam::common::v1::ResourceName* MoveOnMapRequest::_internal_mutable_component_name() {
+inline ::viam::common::v1::ResourceName* GetPlanRequest::_internal_mutable_component_name() {
   
   if (component_name_ == nullptr) {
     auto* p = CreateMaybeMessage<::viam::common::v1::ResourceName>(GetArenaForAllocation());
@@ -3448,12 +8642,12 @@ inline ::viam::common::v1::ResourceName* MoveOnMapRequest::_internal_mutable_com
   }
   return component_name_;
 }
-inline ::viam::common::v1::ResourceName* MoveOnMapRequest::mutable_component_name() {
+inline ::viam::common::v1::ResourceName* GetPlanRequest::mutable_component_name() {
   ::viam::common::v1::ResourceName* _msg = _internal_mutable_component_name();
-  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveOnMapRequest.component_name)
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.GetPlanRequest.component_name)
   return _msg;
 }
-inline void MoveOnMapRequest::set_allocated_component_name(::viam::common::v1::ResourceName* component_name) {
+inline void GetPlanRequest::set_allocated_component_name(::viam::common::v1::ResourceName* component_name) {
   ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
   if (message_arena == nullptr) {
     delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(component_name_);
@@ -3471,111 +8665,114 @@ inline void MoveOnMapRequest::set_allocated_component_name(::viam::common::v1::R
     
   }
   component_name_ = component_name;
-  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.MoveOnMapRequest.component_name)
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.GetPlanRequest.component_name)
 }
 
-// .viam.common.v1.ResourceName slam_service_name = 4 [json_name = "slamServiceName"];
-inline bool MoveOnMapRequest::_internal_has_slam_service_name() const {
-  return this != internal_default_instance() && slam_service_name_ != nullptr;
+// bool last_plan_only = 3 [json_name = "lastPlanOnly"];
+inline void GetPlanRequest::clear_last_plan_only() {
+  last_plan_only_ = false;
 }
-inline bool MoveOnMapRequest::has_slam_service_name() const {
-  return _internal_has_slam_service_name();
+inline bool GetPlanRequest::_internal_last_plan_only() const {
+  return last_plan_only_;
 }
-inline const ::viam::common::v1::ResourceName& MoveOnMapRequest::_internal_slam_service_name() const {
-  const ::viam::common::v1::ResourceName* p = slam_service_name_;
-  return p != nullptr ? *p : reinterpret_cast<const ::viam::common::v1::ResourceName&>(
-      ::viam::common::v1::_ResourceName_default_instance_);
+inline bool GetPlanRequest::last_plan_only() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.GetPlanRequest.last_plan_only)
+  return _internal_last_plan_only();
 }
-inline const ::viam::common::v1::ResourceName& MoveOnMapRequest::slam_service_name() const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveOnMapRequest.slam_service_name)
-  return _internal_slam_service_name();
+inline void GetPlanRequest::_internal_set_last_plan_only(bool value) {
+  
+  last_plan_only_ = value;
 }
-inline void MoveOnMapRequest::unsafe_arena_set_allocated_slam_service_name(
-    ::viam::common::v1::ResourceName* slam_service_name) {
-  if (GetArenaForAllocation() == nullptr) {
-    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(slam_service_name_);
-  }
-  slam_service_name_ = slam_service_name;
-  if (slam_service_name) {
-    
-  } else {
-    
-  }
-  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.MoveOnMapRequest.slam_service_name)
+inline void GetPlanRequest::set_last_plan_only(bool value) {
+  _internal_set_last_plan_only(value);
+  // @@protoc_insertion_point(field_set:viam.service.motion.v1.GetPlanRequest.last_plan_only)
 }
-inline ::viam::common::v1::ResourceName* MoveOnMapRequest::release_slam_service_name() {
-  
-  ::viam::common::v1::ResourceName* temp = slam_service_name_;
-  slam_service_name_ = nullptr;
-#ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
-  auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
-  temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
-  if (GetArenaForAllocation() == nullptr) { delete old; }
-#else  // PROTOBUF_FORCE_COPY_IN_RELEASE
-  if (GetArenaForAllocation() != nullptr) {
-    temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
-  }
-#endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
-  return temp;
+
+// optional string execution_id = 4 [json_name = "executionId"];
+inline bool GetPlanRequest::_internal_has_execution_id() const {
+  bool value = (_has_bits_[0] & 0x00000001u) != 0;
+  return value;
 }
-inline ::viam::common::v1::ResourceName* MoveOnMapRequest::unsafe_arena_release_slam_service_name() {
-  // @@protoc_insertion_point(field_release:viam.service.motion.v1.MoveOnMapRequest.slam_service_name)
-  
-  ::viam::common::v1::ResourceName* temp = slam_service_name_;
-  slam_service_name_ = nullptr;
-  return temp;
+inline bool GetPlanRequest::has_execution_id() const {
+  return _internal_has_execution_id();
 }
-inline ::viam::common::v1::ResourceName* MoveOnMapRequest::_internal_mutable_slam_service_name() {
-  
-  if (slam_service_name_ == nullptr) {
-    auto* p = CreateMaybeMessage<::viam::common::v1::ResourceName>(GetArenaForAllocation());
-    slam_service_name_ = p;
-  }
-  return slam_service_name_;
+inline void GetPlanRequest::clear_execution_id() {
+  execution_id_.ClearToEmpty();
+  _has_bits_[0] &= ~0x00000001u;
 }
-inline ::viam::common::v1::ResourceName* MoveOnMapRequest::mutable_slam_service_name() {
-  ::viam::common::v1::ResourceName* _msg = _internal_mutable_slam_service_name();
-  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveOnMapRequest.slam_service_name)
-  return _msg;
+inline const std::string& GetPlanRequest::execution_id() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.GetPlanRequest.execution_id)
+  return _internal_execution_id();
 }
-inline void MoveOnMapRequest::set_allocated_slam_service_name(::viam::common::v1::ResourceName* slam_service_name) {
-  ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
-  if (message_arena == nullptr) {
-    delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(slam_service_name_);
+template <typename ArgT0, typename... ArgT>
+inline PROTOBUF_ALWAYS_INLINE
+void GetPlanRequest::set_execution_id(ArgT0&& arg0, ArgT... args) {
+ _has_bits_[0] |= 0x00000001u;
+ execution_id_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.service.motion.v1.GetPlanRequest.execution_id)
+}
+inline std::string* GetPlanRequest::mutable_execution_id() {
+  std::string* _s = _internal_mutable_execution_id();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.GetPlanRequest.execution_id)
+  return _s;
+}
+inline const std::string& GetPlanRequest::_internal_execution_id() const {
+  return execution_id_.Get();
+}
+inline void GetPlanRequest::_internal_set_execution_id(const std::string& value) {
+  _has_bits_[0] |= 0x00000001u;
+  execution_id_.Set(value, GetArenaForAllocation());
+}
+inline std::string* GetPlanRequest::_internal_mutable_execution_id() {
+  _has_bits_[0] |= 0x00000001u;
+  return execution_id_.Mutable(GetArenaForAllocation());
+}
+inline std::string* GetPlanRequest::release_execution_id() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.GetPlanRequest.execution_id)
+  if (!_internal_has_execution_id()) {
+    return nullptr;
   }
-  if (slam_service_name) {
-    ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
-        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(
-                reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(slam_service_name));
-    if (message_arena != submessage_arena) {
-      slam_service_name = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
-          message_arena, slam_service_name, submessage_arena);
-    }
-    
+  _has_bits_[0] &= ~0x00000001u;
+  auto* p = execution_id_.Release();
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (execution_id_.IsDefault()) {
+    execution_id_.Set("", GetArenaForAllocation());
+  }
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  return p;
+}
+inline void GetPlanRequest::set_allocated_execution_id(std::string* execution_id) {
+  if (execution_id != nullptr) {
+    _has_bits_[0] |= 0x00000001u;
   } else {
-    
+    _has_bits_[0] &= ~0x00000001u;
   }
-  slam_service_name_ = slam_service_name;
-  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.MoveOnMapRequest.slam_service_name)
+  execution_id_.SetAllocated(execution_id, GetArenaForAllocation());
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (execution_id_.IsDefault()) {
+    execution_id_.Set("", GetArenaForAllocation());
+  }
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.GetPlanRequest.execution_id)
 }
 
 // .google.protobuf.Struct extra = 99 [json_name = "extra"];
-inline bool MoveOnMapRequest::_internal_has_extra() const {
+inline bool GetPlanRequest::_internal_has_extra() const {
   return this != internal_default_instance() && extra_ != nullptr;
 }
-inline bool MoveOnMapRequest::has_extra() const {
+inline bool GetPlanRequest::has_extra() const {
   return _internal_has_extra();
 }
-inline const ::PROTOBUF_NAMESPACE_ID::Struct& MoveOnMapRequest::_internal_extra() const {
+inline const ::PROTOBUF_NAMESPACE_ID::Struct& GetPlanRequest::_internal_extra() const {
   const ::PROTOBUF_NAMESPACE_ID::Struct* p = extra_;
   return p != nullptr ? *p : reinterpret_cast<const ::PROTOBUF_NAMESPACE_ID::Struct&>(
       ::PROTOBUF_NAMESPACE_ID::_Struct_default_instance_);
 }
-inline const ::PROTOBUF_NAMESPACE_ID::Struct& MoveOnMapRequest::extra() const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveOnMapRequest.extra)
+inline const ::PROTOBUF_NAMESPACE_ID::Struct& GetPlanRequest::extra() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.GetPlanRequest.extra)
   return _internal_extra();
 }
-inline void MoveOnMapRequest::unsafe_arena_set_allocated_extra(
+inline void GetPlanRequest::unsafe_arena_set_allocated_extra(
     ::PROTOBUF_NAMESPACE_ID::Struct* extra) {
   if (GetArenaForAllocation() == nullptr) {
     delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(extra_);
@@ -3586,9 +8783,9 @@ inline void MoveOnMapRequest::unsafe_arena_set_allocated_extra(
   } else {
     
   }
-  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.MoveOnMapRequest.extra)
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.GetPlanRequest.extra)
 }
-inline ::PROTOBUF_NAMESPACE_ID::Struct* MoveOnMapRequest::release_extra() {
+inline ::PROTOBUF_NAMESPACE_ID::Struct* GetPlanRequest::release_extra() {
   
   ::PROTOBUF_NAMESPACE_ID::Struct* temp = extra_;
   extra_ = nullptr;
@@ -3603,14 +8800,14 @@ inline ::PROTOBUF_NAMESPACE_ID::Struct* MoveOnMapRequest::release_extra() {
 #endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
   return temp;
 }
-inline ::PROTOBUF_NAMESPACE_ID::Struct* MoveOnMapRequest::unsafe_arena_release_extra() {
-  // @@protoc_insertion_point(field_release:viam.service.motion.v1.MoveOnMapRequest.extra)
+inline ::PROTOBUF_NAMESPACE_ID::Struct* GetPlanRequest::unsafe_arena_release_extra() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.GetPlanRequest.extra)
   
   ::PROTOBUF_NAMESPACE_ID::Struct* temp = extra_;
   extra_ = nullptr;
   return temp;
 }
-inline ::PROTOBUF_NAMESPACE_ID::Struct* MoveOnMapRequest::_internal_mutable_extra() {
+inline ::PROTOBUF_NAMESPACE_ID::Struct* GetPlanRequest::_internal_mutable_extra() {
   
   if (extra_ == nullptr) {
     auto* p = CreateMaybeMessage<::PROTOBUF_NAMESPACE_ID::Struct>(GetArenaForAllocation());
@@ -3618,12 +8815,12 @@ inline ::PROTOBUF_NAMESPACE_ID::Struct* MoveOnMapRequest::_internal_mutable_extr
   }
   return extra_;
 }
-inline ::PROTOBUF_NAMESPACE_ID::Struct* MoveOnMapRequest::mutable_extra() {
+inline ::PROTOBUF_NAMESPACE_ID::Struct* GetPlanRequest::mutable_extra() {
   ::PROTOBUF_NAMESPACE_ID::Struct* _msg = _internal_mutable_extra();
-  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveOnMapRequest.extra)
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.GetPlanRequest.extra)
   return _msg;
 }
-inline void MoveOnMapRequest::set_allocated_extra(::PROTOBUF_NAMESPACE_ID::Struct* extra) {
+inline void GetPlanRequest::set_allocated_extra(::PROTOBUF_NAMESPACE_ID::Struct* extra) {
   ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
   if (message_arena == nullptr) {
     delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(extra_);
@@ -3641,627 +8838,550 @@ inline void MoveOnMapRequest::set_allocated_extra(::PROTOBUF_NAMESPACE_ID::Struc
     
   }
   extra_ = extra;
-  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.MoveOnMapRequest.extra)
-}
-
-// -------------------------------------------------------------------
-
-// MoveOnMapResponse
-
-// bool success = 1 [json_name = "success"];
-inline void MoveOnMapResponse::clear_success() {
-  success_ = false;
-}
-inline bool MoveOnMapResponse::_internal_success() const {
-  return success_;
-}
-inline bool MoveOnMapResponse::success() const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveOnMapResponse.success)
-  return _internal_success();
-}
-inline void MoveOnMapResponse::_internal_set_success(bool value) {
-  
-  success_ = value;
-}
-inline void MoveOnMapResponse::set_success(bool value) {
-  _internal_set_success(value);
-  // @@protoc_insertion_point(field_set:viam.service.motion.v1.MoveOnMapResponse.success)
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.GetPlanRequest.extra)
 }
 
 // -------------------------------------------------------------------
-
-// MotionConfiguration
-
-// repeated .viam.common.v1.ResourceName vision_services = 1 [json_name = "visionServices"];
-inline int MotionConfiguration::_internal_vision_services_size() const {
-  return vision_services_.size();
-}
-inline int MotionConfiguration::vision_services_size() const {
-  return _internal_vision_services_size();
-}
-inline ::viam::common::v1::ResourceName* MotionConfiguration::mutable_vision_services(int index) {
-  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MotionConfiguration.vision_services)
-  return vision_services_.Mutable(index);
-}
-inline ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::common::v1::ResourceName >*
-MotionConfiguration::mutable_vision_services() {
-  // @@protoc_insertion_point(field_mutable_list:viam.service.motion.v1.MotionConfiguration.vision_services)
-  return &vision_services_;
-}
-inline const ::viam::common::v1::ResourceName& MotionConfiguration::_internal_vision_services(int index) const {
-  return vision_services_.Get(index);
-}
-inline const ::viam::common::v1::ResourceName& MotionConfiguration::vision_services(int index) const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MotionConfiguration.vision_services)
-  return _internal_vision_services(index);
+
+// GetPlanResponse
+
+// .viam.service.motion.v1.PlanWithStatus current_plan_with_status = 1 [json_name = "currentPlanWithStatus"];
+inline bool GetPlanResponse::_internal_has_current_plan_with_status() const {
+  return this != internal_default_instance() && current_plan_with_status_ != nullptr;
 }
-inline ::viam::common::v1::ResourceName* MotionConfiguration::_internal_add_vision_services() {
-  return vision_services_.Add();
+inline bool GetPlanResponse::has_current_plan_with_status() const {
+  return _internal_has_current_plan_with_status();
 }
-inline ::viam::common::v1::ResourceName* MotionConfiguration::add_vision_services() {
-  ::viam::common::v1::ResourceName* _add = _internal_add_vision_services();
-  // @@protoc_insertion_point(field_add:viam.service.motion.v1.MotionConfiguration.vision_services)
-  return _add;
+inline void GetPlanResponse::clear_current_plan_with_status() {
+  if (GetArenaForAllocation() == nullptr && current_plan_with_status_ != nullptr) {
+    delete current_plan_with_status_;
+  }
+  current_plan_with_status_ = nullptr;
 }
-inline const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::common::v1::ResourceName >&
-MotionConfiguration::vision_services() const {
-  // @@protoc_insertion_point(field_list:viam.service.motion.v1.MotionConfiguration.vision_services)
-  return vision_services_;
+inline const ::viam::service::motion::v1::PlanWithStatus& GetPlanResponse::_internal_current_plan_with_status() const {
+  const ::viam::service::motion::v1::PlanWithStatus* p = current_plan_with_status_;
+  return p != nullptr ? *p : reinterpret_cast<const ::viam::service::motion::v1::PlanWithStatus&>(
+      ::viam::service::motion::v1::_PlanWithStatus_default_instance_);
 }
-
-// optional double position_polling_frequency_hz = 2 [json_name = "positionPollingFrequencyHz"];
-inline bool MotionConfiguration::_internal_has_position_polling_frequency_hz() const {
-  bool value = (_has_bits_[0] & 0x00000001u) != 0;
-  return value;
+inline const ::viam::service::motion::v1::PlanWithStatus& GetPlanResponse::current_plan_with_status() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.GetPlanResponse.current_plan_with_status)
+  return _internal_current_plan_with_status();
 }
-inline bool MotionConfiguration::has_position_polling_frequency_hz() const {
-  return _internal_has_position_polling_frequency_hz();
+inline void GetPlanResponse::unsafe_arena_set_allocated_current_plan_with_status(
+    ::viam::service::motion::v1::PlanWithStatus* current_plan_with_status) {
+  if (GetArenaForAllocation() == nullptr) {
+    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(current_plan_with_status_);
+  }
+  current_plan_with_status_ = current_plan_with_status;
+  if (current_plan_with_status) {
+    
+  } else {
+    
+  }
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.GetPlanResponse.current_plan_with_status)
 }
-inline void MotionConfiguration::clear_position_polling_frequency_hz() {
-  position_polling_frequency_hz_ = 0;
-  _has_bits_[0] &= ~0x00000001u;
+inline ::viam::service::motion::v1::PlanWithStatus* GetPlanResponse::release_current_plan_with_status() {
+  
+  ::viam::service::motion::v1::PlanWithStatus* temp = current_plan_with_status_;
+  current_plan_with_status_ = nullptr;
+#ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
+  auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
+  temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  if (GetArenaForAllocation() == nullptr) { delete old; }
+#else  // PROTOBUF_FORCE_COPY_IN_RELEASE
+  if (GetArenaForAllocation() != nullptr) {
+    temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  }
+#endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
+  return temp;
 }
-inline double MotionConfiguration::_internal_position_polling_frequency_hz() const {
-  return position_polling_frequency_hz_;
+inline ::viam::service::motion::v1::PlanWithStatus* GetPlanResponse::unsafe_arena_release_current_plan_with_status() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.GetPlanResponse.current_plan_with_status)
+  
+  ::viam::service::motion::v1::PlanWithStatus* temp = current_plan_with_status_;
+  current_plan_with_status_ = nullptr;
+  return temp;
 }
-inline double MotionConfiguration::position_polling_frequency_hz() const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MotionConfiguration.position_polling_frequency_hz)
-  return _internal_position_polling_frequency_hz();
+inline ::viam::service::motion::v1::PlanWithStatus* GetPlanResponse::_internal_mutable_current_plan_with_status() {
+  
+  if (current_plan_with_status_ == nullptr) {
+    auto* p = CreateMaybeMessage<::viam::service::motion::v1::PlanWithStatus>(GetArenaForAllocation());
+    current_plan_with_status_ = p;
+  }
+  return current_plan_with_status_;
 }
-inline void MotionConfiguration::_internal_set_position_polling_frequency_hz(double value) {
-  _has_bits_[0] |= 0x00000001u;
-  position_polling_frequency_hz_ = value;
+inline ::viam::service::motion::v1::PlanWithStatus* GetPlanResponse::mutable_current_plan_with_status() {
+  ::viam::service::motion::v1::PlanWithStatus* _msg = _internal_mutable_current_plan_with_status();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.GetPlanResponse.current_plan_with_status)
+  return _msg;
 }
-inline void MotionConfiguration::set_position_polling_frequency_hz(double value) {
-  _internal_set_position_polling_frequency_hz(value);
-  // @@protoc_insertion_point(field_set:viam.service.motion.v1.MotionConfiguration.position_polling_frequency_hz)
+inline void GetPlanResponse::set_allocated_current_plan_with_status(::viam::service::motion::v1::PlanWithStatus* current_plan_with_status) {
+  ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
+  if (message_arena == nullptr) {
+    delete current_plan_with_status_;
+  }
+  if (current_plan_with_status) {
+    ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
+        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(current_plan_with_status);
+    if (message_arena != submessage_arena) {
+      current_plan_with_status = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
+          message_arena, current_plan_with_status, submessage_arena);
+    }
+    
+  } else {
+    
+  }
+  current_plan_with_status_ = current_plan_with_status;
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.GetPlanResponse.current_plan_with_status)
 }
 
-// optional double obstacle_polling_frequency_hz = 3 [json_name = "obstaclePollingFrequencyHz"];
-inline bool MotionConfiguration::_internal_has_obstacle_polling_frequency_hz() const {
-  bool value = (_has_bits_[0] & 0x00000002u) != 0;
-  return value;
-}
-inline bool MotionConfiguration::has_obstacle_polling_frequency_hz() const {
-  return _internal_has_obstacle_polling_frequency_hz();
+// repeated .viam.service.motion.v1.PlanWithStatus replan_history = 2 [json_name = "replanHistory"];
+inline int GetPlanResponse::_internal_replan_history_size() const {
+  return replan_history_.size();
 }
-inline void MotionConfiguration::clear_obstacle_polling_frequency_hz() {
-  obstacle_polling_frequency_hz_ = 0;
-  _has_bits_[0] &= ~0x00000002u;
+inline int GetPlanResponse::replan_history_size() const {
+  return _internal_replan_history_size();
 }
-inline double MotionConfiguration::_internal_obstacle_polling_frequency_hz() const {
-  return obstacle_polling_frequency_hz_;
+inline void GetPlanResponse::clear_replan_history() {
+  replan_history_.Clear();
 }
-inline double MotionConfiguration::obstacle_polling_frequency_hz() const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MotionConfiguration.obstacle_polling_frequency_hz)
-  return _internal_obstacle_polling_frequency_hz();
+inline ::viam::service::motion::v1::PlanWithStatus* GetPlanResponse::mutable_replan_history(int index) {
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.GetPlanResponse.replan_history)
+  return replan_history_.Mutable(index);
 }
-inline void MotionConfiguration::_internal_set_obstacle_polling_frequency_hz(double value) {
-  _has_bits_[0] |= 0x00000002u;
-  obstacle_polling_frequency_hz_ = value;
+inline ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::PlanWithStatus >*
+GetPlanResponse::mutable_replan_history() {
+  // @@protoc_insertion_point(field_mutable_list:viam.service.motion.v1.GetPlanResponse.replan_history)
+  return &replan_history_;
 }
-inline void MotionConfiguration::set_obstacle_polling_frequency_hz(double value) {
-  _internal_set_obstacle_polling_frequency_hz(value);
-  // @@protoc_insertion_point(field_set:viam.service.motion.v1.MotionConfiguration.obstacle_polling_frequency_hz)
+inline const ::viam::service::motion::v1::PlanWithStatus& GetPlanResponse::_internal_replan_history(int index) const {
+  return replan_history_.Get(index);
 }
-
-// optional double plan_deviation_m = 4 [json_name = "planDeviationM"];
-inline bool MotionConfiguration::_internal_has_plan_deviation_m() const {
-  bool value = (_has_bits_[0] & 0x00000004u) != 0;
-  return value;
+inline const ::viam::service::motion::v1::PlanWithStatus& GetPlanResponse::replan_history(int index) const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.GetPlanResponse.replan_history)
+  return _internal_replan_history(index);
 }
-inline bool MotionConfiguration::has_plan_deviation_m() const {
-  return _internal_has_plan_deviation_m();
+inline ::viam::service::motion::v1::PlanWithStatus* GetPlanResponse::_internal_add_replan_history() {
+  return replan_history_.Add();
 }
-inline void MotionConfiguration::clear_plan_deviation_m() {
-  plan_deviation_m_ = 0;
-  _has_bits_[0] &= ~0x00000004u;
+inline ::viam::service::motion::v1::PlanWithStatus* GetPlanResponse::add_replan_history() {
+  ::viam::service::motion::v1::PlanWithStatus* _add = _internal_add_replan_history();
+  // @@protoc_insertion_point(field_add:viam.service.motion.v1.GetPlanResponse.replan_history)
+  return _add;
 }
-inline double MotionConfiguration::_internal_plan_deviation_m() const {
-  return plan_deviation_m_;
+inline const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::PlanWithStatus >&
+GetPlanResponse::replan_history() const {
+  // @@protoc_insertion_point(field_list:viam.service.motion.v1.GetPlanResponse.replan_history)
+  return replan_history_;
 }
-inline double MotionConfiguration::plan_deviation_m() const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MotionConfiguration.plan_deviation_m)
-  return _internal_plan_deviation_m();
+
+// -------------------------------------------------------------------
+
+// Constraints
+
+// repeated .viam.service.motion.v1.LinearConstraint linear_constraint = 1 [json_name = "linearConstraint"];
+inline int Constraints::_internal_linear_constraint_size() const {
+  return linear_constraint_.size();
 }
-inline void MotionConfiguration::_internal_set_plan_deviation_m(double value) {
-  _has_bits_[0] |= 0x00000004u;
-  plan_deviation_m_ = value;
+inline int Constraints::linear_constraint_size() const {
+  return _internal_linear_constraint_size();
 }
-inline void MotionConfiguration::set_plan_deviation_m(double value) {
-  _internal_set_plan_deviation_m(value);
-  // @@protoc_insertion_point(field_set:viam.service.motion.v1.MotionConfiguration.plan_deviation_m)
+inline void Constraints::clear_linear_constraint() {
+  linear_constraint_.Clear();
 }
-
-// optional double linear_m_per_sec = 5 [json_name = "linearMPerSec"];
-inline bool MotionConfiguration::_internal_has_linear_m_per_sec() const {
-  bool value = (_has_bits_[0] & 0x00000008u) != 0;
-  return value;
+inline ::viam::service::motion::v1::LinearConstraint* Constraints::mutable_linear_constraint(int index) {
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.Constraints.linear_constraint)
+  return linear_constraint_.Mutable(index);
 }
-inline bool MotionConfiguration::has_linear_m_per_sec() const {
-  return _internal_has_linear_m_per_sec();
+inline ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::LinearConstraint >*
+Constraints::mutable_linear_constraint() {
+  // @@protoc_insertion_point(field_mutable_list:viam.service.motion.v1.Constraints.linear_constraint)
+  return &linear_constraint_;
 }
-inline void MotionConfiguration::clear_linear_m_per_sec() {
-  linear_m_per_sec_ = 0;
-  _has_bits_[0] &= ~0x00000008u;
+inline const ::viam::service::motion::v1::LinearConstraint& Constraints::_internal_linear_constraint(int index) const {
+  return linear_constraint_.Get(index);
 }
-inline double MotionConfiguration::_internal_linear_m_per_sec() const {
-  return linear_m_per_sec_;
+inline const ::viam::service::motion::v1::LinearConstraint& Constraints::linear_constraint(int index) const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.Constraints.linear_constraint)
+  return _internal_linear_constraint(index);
 }
-inline double MotionConfiguration::linear_m_per_sec() const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MotionConfiguration.linear_m_per_sec)
-  return _internal_linear_m_per_sec();
+inline ::viam::service::motion::v1::LinearConstraint* Constraints::_internal_add_linear_constraint() {
+  return linear_constraint_.Add();
 }
-inline void MotionConfiguration::_internal_set_linear_m_per_sec(double value) {
-  _has_bits_[0] |= 0x00000008u;
-  linear_m_per_sec_ = value;
+inline ::viam::service::motion::v1::LinearConstraint* Constraints::add_linear_constraint() {
+  ::viam::service::motion::v1::LinearConstraint* _add = _internal_add_linear_constraint();
+  // @@protoc_insertion_point(field_add:viam.service.motion.v1.Constraints.linear_constraint)
+  return _add;
 }
-inline void MotionConfiguration::set_linear_m_per_sec(double value) {
-  _internal_set_linear_m_per_sec(value);
-  // @@protoc_insertion_point(field_set:viam.service.motion.v1.MotionConfiguration.linear_m_per_sec)
+inline const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::LinearConstraint >&
+Constraints::linear_constraint() const {
+  // @@protoc_insertion_point(field_list:viam.service.motion.v1.Constraints.linear_constraint)
+  return linear_constraint_;
 }
 
-// optional double angular_degs_per_sec = 6 [json_name = "angularDegsPerSec"];
-inline bool MotionConfiguration::_internal_has_angular_degs_per_sec() const {
-  bool value = (_has_bits_[0] & 0x00000010u) != 0;
-  return value;
+// repeated .viam.service.motion.v1.OrientationConstraint orientation_constraint = 2 [json_name = "orientationConstraint"];
+inline int Constraints::_internal_orientation_constraint_size() const {
+  return orientation_constraint_.size();
 }
-inline bool MotionConfiguration::has_angular_degs_per_sec() const {
-  return _internal_has_angular_degs_per_sec();
+inline int Constraints::orientation_constraint_size() const {
+  return _internal_orientation_constraint_size();
 }
-inline void MotionConfiguration::clear_angular_degs_per_sec() {
-  angular_degs_per_sec_ = 0;
-  _has_bits_[0] &= ~0x00000010u;
+inline void Constraints::clear_orientation_constraint() {
+  orientation_constraint_.Clear();
 }
-inline double MotionConfiguration::_internal_angular_degs_per_sec() const {
-  return angular_degs_per_sec_;
+inline ::viam::service::motion::v1::OrientationConstraint* Constraints::mutable_orientation_constraint(int index) {
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.Constraints.orientation_constraint)
+  return orientation_constraint_.Mutable(index);
 }
-inline double MotionConfiguration::angular_degs_per_sec() const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MotionConfiguration.angular_degs_per_sec)
-  return _internal_angular_degs_per_sec();
+inline ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::OrientationConstraint >*
+Constraints::mutable_orientation_constraint() {
+  // @@protoc_insertion_point(field_mutable_list:viam.service.motion.v1.Constraints.orientation_constraint)
+  return &orientation_constraint_;
 }
-inline void MotionConfiguration::_internal_set_angular_degs_per_sec(double value) {
-  _has_bits_[0] |= 0x00000010u;
-  angular_degs_per_sec_ = value;
+inline const ::viam::service::motion::v1::OrientationConstraint& Constraints::_internal_orientation_constraint(int index) const {
+  return orientation_constraint_.Get(index);
 }
-inline void MotionConfiguration::set_angular_degs_per_sec(double value) {
-  _internal_set_angular_degs_per_sec(value);
-  // @@protoc_insertion_point(field_set:viam.service.motion.v1.MotionConfiguration.angular_degs_per_sec)
+inline const ::viam::service::motion::v1::OrientationConstraint& Constraints::orientation_constraint(int index) const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.Constraints.orientation_constraint)
+  return _internal_orientation_constraint(index);
 }
-
-// -------------------------------------------------------------------
-
-// MoveOnGlobeRequest
-
-// string name = 1 [json_name = "name"];
-inline void MoveOnGlobeRequest::clear_name() {
-  name_.ClearToEmpty();
+inline ::viam::service::motion::v1::OrientationConstraint* Constraints::_internal_add_orientation_constraint() {
+  return orientation_constraint_.Add();
 }
-inline const std::string& MoveOnGlobeRequest::name() const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveOnGlobeRequest.name)
-  return _internal_name();
+inline ::viam::service::motion::v1::OrientationConstraint* Constraints::add_orientation_constraint() {
+  ::viam::service::motion::v1::OrientationConstraint* _add = _internal_add_orientation_constraint();
+  // @@protoc_insertion_point(field_add:viam.service.motion.v1.Constraints.orientation_constraint)
+  return _add;
 }
-template <typename ArgT0, typename... ArgT>
-inline PROTOBUF_ALWAYS_INLINE
-void MoveOnGlobeRequest::set_name(ArgT0&& arg0, ArgT... args) {
- 
- name_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
-  // @@protoc_insertion_point(field_set:viam.service.motion.v1.MoveOnGlobeRequest.name)
+inline const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::OrientationConstraint >&
+Constraints::orientation_constraint() const {
+  // @@protoc_insertion_point(field_list:viam.service.motion.v1.Constraints.orientation_constraint)
+  return orientation_constraint_;
 }
-inline std::string* MoveOnGlobeRequest::mutable_name() {
-  std::string* _s = _internal_mutable_name();
-  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveOnGlobeRequest.name)
-  return _s;
+
+// repeated .viam.service.motion.v1.CollisionSpecification collision_specification = 3 [json_name = "collisionSpecification"];
+inline int Constraints::_internal_collision_specification_size() const {
+  return collision_specification_.size();
 }
-inline const std::string& MoveOnGlobeRequest::_internal_name() const {
-  return name_.Get();
+inline int Constraints::collision_specification_size() const {
+  return _internal_collision_specification_size();
 }
-inline void MoveOnGlobeRequest::_internal_set_name(const std::string& value) {
-  
-  name_.Set(value, GetArenaForAllocation());
+inline void Constraints::clear_collision_specification() {
+  collision_specification_.Clear();
 }
-inline std::string* MoveOnGlobeRequest::_internal_mutable_name() {
-  
-  return name_.Mutable(GetArenaForAllocation());
+inline ::viam::service::motion::v1::CollisionSpecification* Constraints::mutable_collision_specification(int index) {
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.Constraints.collision_specification)
+  return collision_specification_.Mutable(index);
+}
+inline ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::CollisionSpecification >*
+Constraints::mutable_collision_specification() {
+  // @@protoc_insertion_point(field_mutable_list:viam.service.motion.v1.Constraints.collision_specification)
+  return &collision_specification_;
 }
-inline std::string* MoveOnGlobeRequest::release_name() {
-  // @@protoc_insertion_point(field_release:viam.service.motion.v1.MoveOnGlobeRequest.name)
-  return name_.Release();
+inline const ::viam::service::motion::v1::CollisionSpecification& Constraints::_internal_collision_specification(int index) const {
+  return collision_specification_.Get(index);
 }
-inline void MoveOnGlobeRequest::set_allocated_name(std::string* name) {
-  if (name != nullptr) {
-    
-  } else {
-    
-  }
-  name_.SetAllocated(name, GetArenaForAllocation());
-#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  if (name_.IsDefault()) {
-    name_.Set("", GetArenaForAllocation());
-  }
-#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.MoveOnGlobeRequest.name)
+inline const ::viam::service::motion::v1::CollisionSpecification& Constraints::collision_specification(int index) const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.Constraints.collision_specification)
+  return _internal_collision_specification(index);
 }
-
-// .viam.common.v1.GeoPoint destination = 2 [json_name = "destination"];
-inline bool MoveOnGlobeRequest::_internal_has_destination() const {
-  return this != internal_default_instance() && destination_ != nullptr;
+inline ::viam::service::motion::v1::CollisionSpecification* Constraints::_internal_add_collision_specification() {
+  return collision_specification_.Add();
 }
-inline bool MoveOnGlobeRequest::has_destination() const {
-  return _internal_has_destination();
+inline ::viam::service::motion::v1::CollisionSpecification* Constraints::add_collision_specification() {
+  ::viam::service::motion::v1::CollisionSpecification* _add = _internal_add_collision_specification();
+  // @@protoc_insertion_point(field_add:viam.service.motion.v1.Constraints.collision_specification)
+  return _add;
 }
-inline const ::viam::common::v1::GeoPoint& MoveOnGlobeRequest::_internal_destination() const {
-  const ::viam::common::v1::GeoPoint* p = destination_;
-  return p != nullptr ? *p : reinterpret_cast<const ::viam::common::v1::GeoPoint&>(
-      ::viam::common::v1::_GeoPoint_default_instance_);
+inline const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::CollisionSpecification >&
+Constraints::collision_specification() const {
+  // @@protoc_insertion_point(field_list:viam.service.motion.v1.Constraints.collision_specification)
+  return collision_specification_;
 }
-inline const ::viam::common::v1::GeoPoint& MoveOnGlobeRequest::destination() const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveOnGlobeRequest.destination)
-  return _internal_destination();
+
+// -------------------------------------------------------------------
+
+// LinearConstraint
+
+// optional float line_tolerance_mm = 1 [json_name = "lineToleranceMm"];
+inline bool LinearConstraint::_internal_has_line_tolerance_mm() const {
+  bool value = (_has_bits_[0] & 0x00000001u) != 0;
+  return value;
 }
-inline void MoveOnGlobeRequest::unsafe_arena_set_allocated_destination(
-    ::viam::common::v1::GeoPoint* destination) {
-  if (GetArenaForAllocation() == nullptr) {
-    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(destination_);
-  }
-  destination_ = destination;
-  if (destination) {
-    
-  } else {
-    
-  }
-  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.MoveOnGlobeRequest.destination)
+inline bool LinearConstraint::has_line_tolerance_mm() const {
+  return _internal_has_line_tolerance_mm();
 }
-inline ::viam::common::v1::GeoPoint* MoveOnGlobeRequest::release_destination() {
-  
-  ::viam::common::v1::GeoPoint* temp = destination_;
-  destination_ = nullptr;
-#ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
-  auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
-  temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
-  if (GetArenaForAllocation() == nullptr) { delete old; }
-#else  // PROTOBUF_FORCE_COPY_IN_RELEASE
-  if (GetArenaForAllocation() != nullptr) {
-    temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
-  }
-#endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
-  return temp;
+inline void LinearConstraint::clear_line_tolerance_mm() {
+  line_tolerance_mm_ = 0;
+  _has_bits_[0] &= ~0x00000001u;
 }
-inline ::viam::common::v1::GeoPoint* MoveOnGlobeRequest::unsafe_arena_release_destination() {
-  // @@protoc_insertion_point(field_release:viam.service.motion.v1.MoveOnGlobeRequest.destination)
-  
-  ::viam::common::v1::GeoPoint* temp = destination_;
-  destination_ = nullptr;
-  return temp;
+inline float LinearConstraint::_internal_line_tolerance_mm() const {
+  return line_tolerance_mm_;
 }
-inline ::viam::common::v1::GeoPoint* MoveOnGlobeRequest::_internal_mutable_destination() {
-  
-  if (destination_ == nullptr) {
-    auto* p = CreateMaybeMessage<::viam::common::v1::GeoPoint>(GetArenaForAllocation());
-    destination_ = p;
-  }
-  return destination_;
+inline float LinearConstraint::line_tolerance_mm() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.LinearConstraint.line_tolerance_mm)
+  return _internal_line_tolerance_mm();
 }
-inline ::viam::common::v1::GeoPoint* MoveOnGlobeRequest::mutable_destination() {
-  ::viam::common::v1::GeoPoint* _msg = _internal_mutable_destination();
-  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveOnGlobeRequest.destination)
-  return _msg;
+inline void LinearConstraint::_internal_set_line_tolerance_mm(float value) {
+  _has_bits_[0] |= 0x00000001u;
+  line_tolerance_mm_ = value;
 }
-inline void MoveOnGlobeRequest::set_allocated_destination(::viam::common::v1::GeoPoint* destination) {
-  ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
-  if (message_arena == nullptr) {
-    delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(destination_);
-  }
-  if (destination) {
-    ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
-        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(
-                reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(destination));
-    if (message_arena != submessage_arena) {
-      destination = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
-          message_arena, destination, submessage_arena);
-    }
-    
-  } else {
-    
-  }
-  destination_ = destination;
-  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.MoveOnGlobeRequest.destination)
+inline void LinearConstraint::set_line_tolerance_mm(float value) {
+  _internal_set_line_tolerance_mm(value);
+  // @@protoc_insertion_point(field_set:viam.service.motion.v1.LinearConstraint.line_tolerance_mm)
 }
 
-// optional double heading = 3 [json_name = "heading"];
-inline bool MoveOnGlobeRequest::_internal_has_heading() const {
+// optional float orientation_tolerance_degs = 2 [json_name = "orientationToleranceDegs"];
+inline bool LinearConstraint::_internal_has_orientation_tolerance_degs() const {
   bool value = (_has_bits_[0] & 0x00000002u) != 0;
   return value;
 }
-inline bool MoveOnGlobeRequest::has_heading() const {
-  return _internal_has_heading();
+inline bool LinearConstraint::has_orientation_tolerance_degs() const {
+  return _internal_has_orientation_tolerance_degs();
 }
-inline void MoveOnGlobeRequest::clear_heading() {
-  heading_ = 0;
+inline void LinearConstraint::clear_orientation_tolerance_degs() {
+  orientation_tolerance_degs_ = 0;
   _has_bits_[0] &= ~0x00000002u;
 }
-inline double MoveOnGlobeRequest::_internal_heading() const {
-  return heading_;
+inline float LinearConstraint::_internal_orientation_tolerance_degs() const {
+  return orientation_tolerance_degs_;
 }
-inline double MoveOnGlobeRequest::heading() const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveOnGlobeRequest.heading)
-  return _internal_heading();
+inline float LinearConstraint::orientation_tolerance_degs() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.LinearConstraint.orientation_tolerance_degs)
+  return _internal_orientation_tolerance_degs();
 }
-inline void MoveOnGlobeRequest::_internal_set_heading(double value) {
+inline void LinearConstraint::_internal_set_orientation_tolerance_degs(float value) {
   _has_bits_[0] |= 0x00000002u;
-  heading_ = value;
+  orientation_tolerance_degs_ = value;
 }
-inline void MoveOnGlobeRequest::set_heading(double value) {
-  _internal_set_heading(value);
-  // @@protoc_insertion_point(field_set:viam.service.motion.v1.MoveOnGlobeRequest.heading)
+inline void LinearConstraint::set_orientation_tolerance_degs(float value) {
+  _internal_set_orientation_tolerance_degs(value);
+  // @@protoc_insertion_point(field_set:viam.service.motion.v1.LinearConstraint.orientation_tolerance_degs)
 }
 
-// .viam.common.v1.ResourceName component_name = 4 [json_name = "componentName"];
-inline bool MoveOnGlobeRequest::_internal_has_component_name() const {
-  return this != internal_default_instance() && component_name_ != nullptr;
+// -------------------------------------------------------------------
+
+// OrientationConstraint
+
+// optional float orientation_tolerance_degs = 1 [json_name = "orientationToleranceDegs"];
+inline bool OrientationConstraint::_internal_has_orientation_tolerance_degs() const {
+  bool value = (_has_bits_[0] & 0x00000001u) != 0;
+  return value;
 }
-inline bool MoveOnGlobeRequest::has_component_name() const {
-  return _internal_has_component_name();
+inline bool OrientationConstraint::has_orientation_tolerance_degs() const {
+  return _internal_has_orientation_tolerance_degs();
 }
-inline const ::viam::common::v1::ResourceName& MoveOnGlobeRequest::_internal_component_name() const {
-  const ::viam::common::v1::ResourceName* p = component_name_;
-  return p != nullptr ? *p : reinterpret_cast<const ::viam::common::v1::ResourceName&>(
-      ::viam::common::v1::_ResourceName_default_instance_);
+inline void OrientationConstraint::clear_orientation_tolerance_degs() {
+  orientation_tolerance_degs_ = 0;
+  _has_bits_[0] &= ~0x00000001u;
 }
-inline const ::viam::common::v1::ResourceName& MoveOnGlobeRequest::component_name() const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveOnGlobeRequest.component_name)
-  return _internal_component_name();
+inline float OrientationConstraint::_internal_orientation_tolerance_degs() const {
+  return orientation_tolerance_degs_;
 }
-inline void MoveOnGlobeRequest::unsafe_arena_set_allocated_component_name(
-    ::viam::common::v1::ResourceName* component_name) {
-  if (GetArenaForAllocation() == nullptr) {
-    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(component_name_);
-  }
-  component_name_ = component_name;
-  if (component_name) {
-    
-  } else {
-    
-  }
-  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.MoveOnGlobeRequest.component_name)
+inline float OrientationConstraint::orientation_tolerance_degs() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.OrientationConstraint.orientation_tolerance_degs)
+  return _internal_orientation_tolerance_degs();
 }
-inline ::viam::common::v1::ResourceName* MoveOnGlobeRequest::release_component_name() {
-  
-  ::viam::common::v1::ResourceName* temp = component_name_;
-  component_name_ = nullptr;
-#ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
-  auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
-  temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
-  if (GetArenaForAllocation() == nullptr) { delete old; }
-#else  // PROTOBUF_FORCE_COPY_IN_RELEASE
-  if (GetArenaForAllocation() != nullptr) {
-    temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
-  }
-#endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
-  return temp;
+inline void OrientationConstraint::_internal_set_orientation_tolerance_degs(float value) {
+  _has_bits_[0] |= 0x00000001u;
+  orientation_tolerance_degs_ = value;
+}
+inline void OrientationConstraint::set_orientation_tolerance_degs(float value) {
+  _internal_set_orientation_tolerance_degs(value);
+  // @@protoc_insertion_point(field_set:viam.service.motion.v1.OrientationConstraint.orientation_tolerance_degs)
+}
+
+// -------------------------------------------------------------------
+
+// CollisionSpecification_AllowedFrameCollisions
+
+// string frame1 = 1 [json_name = "frame1"];
+inline void CollisionSpecification_AllowedFrameCollisions::clear_frame1() {
+  frame1_.ClearToEmpty();
+}
+inline const std::string& CollisionSpecification_AllowedFrameCollisions::frame1() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions.frame1)
+  return _internal_frame1();
+}
+template <typename ArgT0, typename... ArgT>
+inline PROTOBUF_ALWAYS_INLINE
+void CollisionSpecification_AllowedFrameCollisions::set_frame1(ArgT0&& arg0, ArgT... args) {
+ 
+ frame1_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions.frame1)
+}
+inline std::string* CollisionSpecification_AllowedFrameCollisions::mutable_frame1() {
+  std::string* _s = _internal_mutable_frame1();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions.frame1)
+  return _s;
+}
+inline const std::string& CollisionSpecification_AllowedFrameCollisions::_internal_frame1() const {
+  return frame1_.Get();
 }
-inline ::viam::common::v1::ResourceName* MoveOnGlobeRequest::unsafe_arena_release_component_name() {
-  // @@protoc_insertion_point(field_release:viam.service.motion.v1.MoveOnGlobeRequest.component_name)
+inline void CollisionSpecification_AllowedFrameCollisions::_internal_set_frame1(const std::string& value) {
   
-  ::viam::common::v1::ResourceName* temp = component_name_;
-  component_name_ = nullptr;
-  return temp;
+  frame1_.Set(value, GetArenaForAllocation());
 }
-inline ::viam::common::v1::ResourceName* MoveOnGlobeRequest::_internal_mutable_component_name() {
+inline std::string* CollisionSpecification_AllowedFrameCollisions::_internal_mutable_frame1() {
   
-  if (component_name_ == nullptr) {
-    auto* p = CreateMaybeMessage<::viam::common::v1::ResourceName>(GetArenaForAllocation());
-    component_name_ = p;
-  }
-  return component_name_;
+  return frame1_.Mutable(GetArenaForAllocation());
 }
-inline ::viam::common::v1::ResourceName* MoveOnGlobeRequest::mutable_component_name() {
-  ::viam::common::v1::ResourceName* _msg = _internal_mutable_component_name();
-  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveOnGlobeRequest.component_name)
-  return _msg;
+inline std::string* CollisionSpecification_AllowedFrameCollisions::release_frame1() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions.frame1)
+  return frame1_.Release();
 }
-inline void MoveOnGlobeRequest::set_allocated_component_name(::viam::common::v1::ResourceName* component_name) {
-  ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
-  if (message_arena == nullptr) {
-    delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(component_name_);
-  }
-  if (component_name) {
-    ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
-        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(
-                reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(component_name));
-    if (message_arena != submessage_arena) {
-      component_name = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
-          message_arena, component_name, submessage_arena);
-    }
+inline void CollisionSpecification_AllowedFrameCollisions::set_allocated_frame1(std::string* frame1) {
+  if (frame1 != nullptr) {
     
   } else {
     
   }
-  component_name_ = component_name;
-  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.MoveOnGlobeRequest.component_name)
+  frame1_.SetAllocated(frame1, GetArenaForAllocation());
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (frame1_.IsDefault()) {
+    frame1_.Set("", GetArenaForAllocation());
+  }
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions.frame1)
 }
 
-// .viam.common.v1.ResourceName movement_sensor_name = 5 [json_name = "movementSensorName"];
-inline bool MoveOnGlobeRequest::_internal_has_movement_sensor_name() const {
-  return this != internal_default_instance() && movement_sensor_name_ != nullptr;
-}
-inline bool MoveOnGlobeRequest::has_movement_sensor_name() const {
-  return _internal_has_movement_sensor_name();
+// string frame2 = 2 [json_name = "frame2"];
+inline void CollisionSpecification_AllowedFrameCollisions::clear_frame2() {
+  frame2_.ClearToEmpty();
 }
-inline const ::viam::common::v1::ResourceName& MoveOnGlobeRequest::_internal_movement_sensor_name() const {
-  const ::viam::common::v1::ResourceName* p = movement_sensor_name_;
-  return p != nullptr ? *p : reinterpret_cast<const ::viam::common::v1::ResourceName&>(
-      ::viam::common::v1::_ResourceName_default_instance_);
+inline const std::string& CollisionSpecification_AllowedFrameCollisions::frame2() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions.frame2)
+  return _internal_frame2();
 }
-inline const ::viam::common::v1::ResourceName& MoveOnGlobeRequest::movement_sensor_name() const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveOnGlobeRequest.movement_sensor_name)
-  return _internal_movement_sensor_name();
+template <typename ArgT0, typename... ArgT>
+inline PROTOBUF_ALWAYS_INLINE
+void CollisionSpecification_AllowedFrameCollisions::set_frame2(ArgT0&& arg0, ArgT... args) {
+ 
+ frame2_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions.frame2)
 }
-inline void MoveOnGlobeRequest::unsafe_arena_set_allocated_movement_sensor_name(
-    ::viam::common::v1::ResourceName* movement_sensor_name) {
-  if (GetArenaForAllocation() == nullptr) {
-    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(movement_sensor_name_);
-  }
-  movement_sensor_name_ = movement_sensor_name;
-  if (movement_sensor_name) {
-    
-  } else {
-    
-  }
-  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.MoveOnGlobeRequest.movement_sensor_name)
+inline std::string* CollisionSpecification_AllowedFrameCollisions::mutable_frame2() {
+  std::string* _s = _internal_mutable_frame2();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions.frame2)
+  return _s;
 }
-inline ::viam::common::v1::ResourceName* MoveOnGlobeRequest::release_movement_sensor_name() {
-  
-  ::viam::common::v1::ResourceName* temp = movement_sensor_name_;
-  movement_sensor_name_ = nullptr;
-#ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
-  auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
-  temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
-  if (GetArenaForAllocation() == nullptr) { delete old; }
-#else  // PROTOBUF_FORCE_COPY_IN_RELEASE
-  if (GetArenaForAllocation() != nullptr) {
-    temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
-  }
-#endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
-  return temp;
+inline const std::string& CollisionSpecification_AllowedFrameCollisions::_internal_frame2() const {
+  return frame2_.Get();
 }
-inline ::viam::common::v1::ResourceName* MoveOnGlobeRequest::unsafe_arena_release_movement_sensor_name() {
-  // @@protoc_insertion_point(field_release:viam.service.motion.v1.MoveOnGlobeRequest.movement_sensor_name)
+inline void CollisionSpecification_AllowedFrameCollisions::_internal_set_frame2(const std::string& value) {
   
-  ::viam::common::v1::ResourceName* temp = movement_sensor_name_;
-  movement_sensor_name_ = nullptr;
-  return temp;
+  frame2_.Set(value, GetArenaForAllocation());
 }
-inline ::viam::common::v1::ResourceName* MoveOnGlobeRequest::_internal_mutable_movement_sensor_name() {
+inline std::string* CollisionSpecification_AllowedFrameCollisions::_internal_mutable_frame2() {
   
-  if (movement_sensor_name_ == nullptr) {
-    auto* p = CreateMaybeMessage<::viam::common::v1::ResourceName>(GetArenaForAllocation());
-    movement_sensor_name_ = p;
-  }
-  return movement_sensor_name_;
+  return frame2_.Mutable(GetArenaForAllocation());
 }
-inline ::viam::common::v1::ResourceName* MoveOnGlobeRequest::mutable_movement_sensor_name() {
-  ::viam::common::v1::ResourceName* _msg = _internal_mutable_movement_sensor_name();
-  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveOnGlobeRequest.movement_sensor_name)
-  return _msg;
+inline std::string* CollisionSpecification_AllowedFrameCollisions::release_frame2() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions.frame2)
+  return frame2_.Release();
 }
-inline void MoveOnGlobeRequest::set_allocated_movement_sensor_name(::viam::common::v1::ResourceName* movement_sensor_name) {
-  ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
-  if (message_arena == nullptr) {
-    delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(movement_sensor_name_);
-  }
-  if (movement_sensor_name) {
-    ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
-        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(
-                reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(movement_sensor_name));
-    if (message_arena != submessage_arena) {
-      movement_sensor_name = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
-          message_arena, movement_sensor_name, submessage_arena);
-    }
+inline void CollisionSpecification_AllowedFrameCollisions::set_allocated_frame2(std::string* frame2) {
+  if (frame2 != nullptr) {
     
   } else {
     
   }
-  movement_sensor_name_ = movement_sensor_name;
-  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.MoveOnGlobeRequest.movement_sensor_name)
+  frame2_.SetAllocated(frame2, GetArenaForAllocation());
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (frame2_.IsDefault()) {
+    frame2_.Set("", GetArenaForAllocation());
+  }
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions.frame2)
 }
 
-// repeated .viam.common.v1.GeoObstacle obstacles = 6 [json_name = "obstacles"];
-inline int MoveOnGlobeRequest::_internal_obstacles_size() const {
-  return obstacles_.size();
+// -------------------------------------------------------------------
+
+// CollisionSpecification
+
+// repeated .viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions allows = 1 [json_name = "allows"];
+inline int CollisionSpecification::_internal_allows_size() const {
+  return allows_.size();
 }
-inline int MoveOnGlobeRequest::obstacles_size() const {
-  return _internal_obstacles_size();
+inline int CollisionSpecification::allows_size() const {
+  return _internal_allows_size();
 }
-inline ::viam::common::v1::GeoObstacle* MoveOnGlobeRequest::mutable_obstacles(int index) {
-  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveOnGlobeRequest.obstacles)
-  return obstacles_.Mutable(index);
+inline void CollisionSpecification::clear_allows() {
+  allows_.Clear();
 }
-inline ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::common::v1::GeoObstacle >*
-MoveOnGlobeRequest::mutable_obstacles() {
-  // @@protoc_insertion_point(field_mutable_list:viam.service.motion.v1.MoveOnGlobeRequest.obstacles)
-  return &obstacles_;
+inline ::viam::service::motion::v1::CollisionSpecification_AllowedFrameCollisions* CollisionSpecification::mutable_allows(int index) {
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.CollisionSpecification.allows)
+  return allows_.Mutable(index);
 }
-inline const ::viam::common::v1::GeoObstacle& MoveOnGlobeRequest::_internal_obstacles(int index) const {
-  return obstacles_.Get(index);
+inline ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::CollisionSpecification_AllowedFrameCollisions >*
+CollisionSpecification::mutable_allows() {
+  // @@protoc_insertion_point(field_mutable_list:viam.service.motion.v1.CollisionSpecification.allows)
+  return &allows_;
 }
-inline const ::viam::common::v1::GeoObstacle& MoveOnGlobeRequest::obstacles(int index) const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveOnGlobeRequest.obstacles)
-  return _internal_obstacles(index);
+inline const ::viam::service::motion::v1::CollisionSpecification_AllowedFrameCollisions& CollisionSpecification::_internal_allows(int index) const {
+  return allows_.Get(index);
 }
-inline ::viam::common::v1::GeoObstacle* MoveOnGlobeRequest::_internal_add_obstacles() {
-  return obstacles_.Add();
+inline const ::viam::service::motion::v1::CollisionSpecification_AllowedFrameCollisions& CollisionSpecification::allows(int index) const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.CollisionSpecification.allows)
+  return _internal_allows(index);
 }
-inline ::viam::common::v1::GeoObstacle* MoveOnGlobeRequest::add_obstacles() {
-  ::viam::common::v1::GeoObstacle* _add = _internal_add_obstacles();
-  // @@protoc_insertion_point(field_add:viam.service.motion.v1.MoveOnGlobeRequest.obstacles)
+inline ::viam::service::motion::v1::CollisionSpecification_AllowedFrameCollisions* CollisionSpecification::_internal_add_allows() {
+  return allows_.Add();
+}
+inline ::viam::service::motion::v1::CollisionSpecification_AllowedFrameCollisions* CollisionSpecification::add_allows() {
+  ::viam::service::motion::v1::CollisionSpecification_AllowedFrameCollisions* _add = _internal_add_allows();
+  // @@protoc_insertion_point(field_add:viam.service.motion.v1.CollisionSpecification.allows)
   return _add;
 }
-inline const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::common::v1::GeoObstacle >&
-MoveOnGlobeRequest::obstacles() const {
-  // @@protoc_insertion_point(field_list:viam.service.motion.v1.MoveOnGlobeRequest.obstacles)
-  return obstacles_;
+inline const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::CollisionSpecification_AllowedFrameCollisions >&
+CollisionSpecification::allows() const {
+  // @@protoc_insertion_point(field_list:viam.service.motion.v1.CollisionSpecification.allows)
+  return allows_;
 }
 
-// optional .viam.service.motion.v1.MotionConfiguration motion_configuration = 7 [json_name = "motionConfiguration"];
-inline bool MoveOnGlobeRequest::_internal_has_motion_configuration() const {
-  bool value = (_has_bits_[0] & 0x00000001u) != 0;
-  PROTOBUF_ASSUME(!value || motion_configuration_ != nullptr);
-  return value;
+// -------------------------------------------------------------------
+
+// PlanWithStatus
+
+// .viam.service.motion.v1.Plan plan = 1 [json_name = "plan"];
+inline bool PlanWithStatus::_internal_has_plan() const {
+  return this != internal_default_instance() && plan_ != nullptr;
 }
-inline bool MoveOnGlobeRequest::has_motion_configuration() const {
-  return _internal_has_motion_configuration();
+inline bool PlanWithStatus::has_plan() const {
+  return _internal_has_plan();
 }
-inline void MoveOnGlobeRequest::clear_motion_configuration() {
-  if (motion_configuration_ != nullptr) motion_configuration_->Clear();
-  _has_bits_[0] &= ~0x00000001u;
+inline void PlanWithStatus::clear_plan() {
+  if (GetArenaForAllocation() == nullptr && plan_ != nullptr) {
+    delete plan_;
+  }
+  plan_ = nullptr;
 }
-inline const ::viam::service::motion::v1::MotionConfiguration& MoveOnGlobeRequest::_internal_motion_configuration() const {
-  const ::viam::service::motion::v1::MotionConfiguration* p = motion_configuration_;
-  return p != nullptr ? *p : reinterpret_cast<const ::viam::service::motion::v1::MotionConfiguration&>(
-      ::viam::service::motion::v1::_MotionConfiguration_default_instance_);
+inline const ::viam::service::motion::v1::Plan& PlanWithStatus::_internal_plan() const {
+  const ::viam::service::motion::v1::Plan* p = plan_;
+  return p != nullptr ? *p : reinterpret_cast<const ::viam::service::motion::v1::Plan&>(
+      ::viam::service::motion::v1::_Plan_default_instance_);
 }
-inline const ::viam::service::motion::v1::MotionConfiguration& MoveOnGlobeRequest::motion_configuration() const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveOnGlobeRequest.motion_configuration)
-  return _internal_motion_configuration();
+inline const ::viam::service::motion::v1::Plan& PlanWithStatus::plan() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.PlanWithStatus.plan)
+  return _internal_plan();
 }
-inline void MoveOnGlobeRequest::unsafe_arena_set_allocated_motion_configuration(
-    ::viam::service::motion::v1::MotionConfiguration* motion_configuration) {
+inline void PlanWithStatus::unsafe_arena_set_allocated_plan(
+    ::viam::service::motion::v1::Plan* plan) {
   if (GetArenaForAllocation() == nullptr) {
-    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(motion_configuration_);
+    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(plan_);
   }
-  motion_configuration_ = motion_configuration;
-  if (motion_configuration) {
-    _has_bits_[0] |= 0x00000001u;
+  plan_ = plan;
+  if (plan) {
+    
   } else {
-    _has_bits_[0] &= ~0x00000001u;
+    
   }
-  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.MoveOnGlobeRequest.motion_configuration)
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.PlanWithStatus.plan)
 }
-inline ::viam::service::motion::v1::MotionConfiguration* MoveOnGlobeRequest::release_motion_configuration() {
-  _has_bits_[0] &= ~0x00000001u;
-  ::viam::service::motion::v1::MotionConfiguration* temp = motion_configuration_;
-  motion_configuration_ = nullptr;
+inline ::viam::service::motion::v1::Plan* PlanWithStatus::release_plan() {
+  
+  ::viam::service::motion::v1::Plan* temp = plan_;
+  plan_ = nullptr;
 #ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
   auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
   temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
@@ -4273,79 +9393,85 @@ inline ::viam::service::motion::v1::MotionConfiguration* MoveOnGlobeRequest::rel
 #endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
   return temp;
 }
-inline ::viam::service::motion::v1::MotionConfiguration* MoveOnGlobeRequest::unsafe_arena_release_motion_configuration() {
-  // @@protoc_insertion_point(field_release:viam.service.motion.v1.MoveOnGlobeRequest.motion_configuration)
-  _has_bits_[0] &= ~0x00000001u;
-  ::viam::service::motion::v1::MotionConfiguration* temp = motion_configuration_;
-  motion_configuration_ = nullptr;
+inline ::viam::service::motion::v1::Plan* PlanWithStatus::unsafe_arena_release_plan() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.PlanWithStatus.plan)
+  
+  ::viam::service::motion::v1::Plan* temp = plan_;
+  plan_ = nullptr;
   return temp;
 }
-inline ::viam::service::motion::v1::MotionConfiguration* MoveOnGlobeRequest::_internal_mutable_motion_configuration() {
-  _has_bits_[0] |= 0x00000001u;
-  if (motion_configuration_ == nullptr) {
-    auto* p = CreateMaybeMessage<::viam::service::motion::v1::MotionConfiguration>(GetArenaForAllocation());
-    motion_configuration_ = p;
+inline ::viam::service::motion::v1::Plan* PlanWithStatus::_internal_mutable_plan() {
+  
+  if (plan_ == nullptr) {
+    auto* p = CreateMaybeMessage<::viam::service::motion::v1::Plan>(GetArenaForAllocation());
+    plan_ = p;
   }
-  return motion_configuration_;
+  return plan_;
 }
-inline ::viam::service::motion::v1::MotionConfiguration* MoveOnGlobeRequest::mutable_motion_configuration() {
-  ::viam::service::motion::v1::MotionConfiguration* _msg = _internal_mutable_motion_configuration();
-  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveOnGlobeRequest.motion_configuration)
+inline ::viam::service::motion::v1::Plan* PlanWithStatus::mutable_plan() {
+  ::viam::service::motion::v1::Plan* _msg = _internal_mutable_plan();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.PlanWithStatus.plan)
   return _msg;
 }
-inline void MoveOnGlobeRequest::set_allocated_motion_configuration(::viam::service::motion::v1::MotionConfiguration* motion_configuration) {
+inline void PlanWithStatus::set_allocated_plan(::viam::service::motion::v1::Plan* plan) {
   ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
   if (message_arena == nullptr) {
-    delete motion_configuration_;
+    delete plan_;
   }
-  if (motion_configuration) {
+  if (plan) {
     ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
-        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(motion_configuration);
+        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(plan);
     if (message_arena != submessage_arena) {
-      motion_configuration = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
-          message_arena, motion_configuration, submessage_arena);
+      plan = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
+          message_arena, plan, submessage_arena);
     }
-    _has_bits_[0] |= 0x00000001u;
+    
   } else {
-    _has_bits_[0] &= ~0x00000001u;
+    
   }
-  motion_configuration_ = motion_configuration;
-  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.MoveOnGlobeRequest.motion_configuration)
+  plan_ = plan;
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.PlanWithStatus.plan)
 }
 
-// .google.protobuf.Struct extra = 99 [json_name = "extra"];
-inline bool MoveOnGlobeRequest::_internal_has_extra() const {
-  return this != internal_default_instance() && extra_ != nullptr;
+// .viam.service.motion.v1.PlanStatus status = 2 [json_name = "status"];
+inline bool PlanWithStatus::_internal_has_status() const {
+  return this != internal_default_instance() && status_ != nullptr;
 }
-inline bool MoveOnGlobeRequest::has_extra() const {
-  return _internal_has_extra();
+inline bool PlanWithStatus::has_status() const {
+  return _internal_has_status();
 }
-inline const ::PROTOBUF_NAMESPACE_ID::Struct& MoveOnGlobeRequest::_internal_extra() const {
-  const ::PROTOBUF_NAMESPACE_ID::Struct* p = extra_;
-  return p != nullptr ? *p : reinterpret_cast<const ::PROTOBUF_NAMESPACE_ID::Struct&>(
-      ::PROTOBUF_NAMESPACE_ID::_Struct_default_instance_);
+inline void PlanWithStatus::clear_status() {
+  if (GetArenaForAllocation() == nullptr && status_ != nullptr) {
+    delete status_;
+  }
+  status_ = nullptr;
 }
-inline const ::PROTOBUF_NAMESPACE_ID::Struct& MoveOnGlobeRequest::extra() const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveOnGlobeRequest.extra)
-  return _internal_extra();
+inline const ::viam::service::motion::v1::PlanStatus& PlanWithStatus::_internal_status() const {
+  const ::viam::service::motion::v1::PlanStatus* p = status_;
+  return p != nullptr ? *p : reinterpret_cast<const ::viam::service::motion::v1::PlanStatus&>(
+      ::viam::service::motion::v1::_PlanStatus_default_instance_);
 }
-inline void MoveOnGlobeRequest::unsafe_arena_set_allocated_extra(
-    ::PROTOBUF_NAMESPACE_ID::Struct* extra) {
+inline const ::viam::service::motion::v1::PlanStatus& PlanWithStatus::status() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.PlanWithStatus.status)
+  return _internal_status();
+}
+inline void PlanWithStatus::unsafe_arena_set_allocated_status(
+    ::viam::service::motion::v1::PlanStatus* status) {
   if (GetArenaForAllocation() == nullptr) {
-    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(extra_);
+    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(status_);
   }
-  extra_ = extra;
-  if (extra) {
+  status_ = status;
+  if (status) {
     
   } else {
     
   }
-  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.MoveOnGlobeRequest.extra)
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.PlanWithStatus.status)
 }
-inline ::PROTOBUF_NAMESPACE_ID::Struct* MoveOnGlobeRequest::release_extra() {
+inline ::viam::service::motion::v1::PlanStatus* PlanWithStatus::release_status() {
   
-  ::PROTOBUF_NAMESPACE_ID::Struct* temp = extra_;
-  extra_ = nullptr;
+  ::viam::service::motion::v1::PlanStatus* temp = status_;
+  status_ = nullptr;
 #ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
   auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
   temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
@@ -4357,142 +9483,157 @@ inline ::PROTOBUF_NAMESPACE_ID::Struct* MoveOnGlobeRequest::release_extra() {
 #endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
   return temp;
 }
-inline ::PROTOBUF_NAMESPACE_ID::Struct* MoveOnGlobeRequest::unsafe_arena_release_extra() {
-  // @@protoc_insertion_point(field_release:viam.service.motion.v1.MoveOnGlobeRequest.extra)
+inline ::viam::service::motion::v1::PlanStatus* PlanWithStatus::unsafe_arena_release_status() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.PlanWithStatus.status)
   
-  ::PROTOBUF_NAMESPACE_ID::Struct* temp = extra_;
-  extra_ = nullptr;
+  ::viam::service::motion::v1::PlanStatus* temp = status_;
+  status_ = nullptr;
   return temp;
 }
-inline ::PROTOBUF_NAMESPACE_ID::Struct* MoveOnGlobeRequest::_internal_mutable_extra() {
+inline ::viam::service::motion::v1::PlanStatus* PlanWithStatus::_internal_mutable_status() {
   
-  if (extra_ == nullptr) {
-    auto* p = CreateMaybeMessage<::PROTOBUF_NAMESPACE_ID::Struct>(GetArenaForAllocation());
-    extra_ = p;
+  if (status_ == nullptr) {
+    auto* p = CreateMaybeMessage<::viam::service::motion::v1::PlanStatus>(GetArenaForAllocation());
+    status_ = p;
   }
-  return extra_;
+  return status_;
 }
-inline ::PROTOBUF_NAMESPACE_ID::Struct* MoveOnGlobeRequest::mutable_extra() {
-  ::PROTOBUF_NAMESPACE_ID::Struct* _msg = _internal_mutable_extra();
-  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.MoveOnGlobeRequest.extra)
+inline ::viam::service::motion::v1::PlanStatus* PlanWithStatus::mutable_status() {
+  ::viam::service::motion::v1::PlanStatus* _msg = _internal_mutable_status();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.PlanWithStatus.status)
   return _msg;
 }
-inline void MoveOnGlobeRequest::set_allocated_extra(::PROTOBUF_NAMESPACE_ID::Struct* extra) {
+inline void PlanWithStatus::set_allocated_status(::viam::service::motion::v1::PlanStatus* status) {
   ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
   if (message_arena == nullptr) {
-    delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(extra_);
+    delete status_;
   }
-  if (extra) {
+  if (status) {
     ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
-        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(
-                reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(extra));
+        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(status);
     if (message_arena != submessage_arena) {
-      extra = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
-          message_arena, extra, submessage_arena);
+      status = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
+          message_arena, status, submessage_arena);
     }
     
   } else {
     
   }
-  extra_ = extra;
-  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.MoveOnGlobeRequest.extra)
+  status_ = status;
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.PlanWithStatus.status)
 }
 
-// -------------------------------------------------------------------
-
-// MoveOnGlobeResponse
-
-// bool success = 1 [json_name = "success"];
-inline void MoveOnGlobeResponse::clear_success() {
-  success_ = false;
+// repeated .viam.service.motion.v1.PlanStatus status_history = 3 [json_name = "statusHistory"];
+inline int PlanWithStatus::_internal_status_history_size() const {
+  return status_history_.size();
 }
-inline bool MoveOnGlobeResponse::_internal_success() const {
-  return success_;
+inline int PlanWithStatus::status_history_size() const {
+  return _internal_status_history_size();
 }
-inline bool MoveOnGlobeResponse::success() const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.MoveOnGlobeResponse.success)
-  return _internal_success();
+inline void PlanWithStatus::clear_status_history() {
+  status_history_.Clear();
 }
-inline void MoveOnGlobeResponse::_internal_set_success(bool value) {
-  
-  success_ = value;
+inline ::viam::service::motion::v1::PlanStatus* PlanWithStatus::mutable_status_history(int index) {
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.PlanWithStatus.status_history)
+  return status_history_.Mutable(index);
 }
-inline void MoveOnGlobeResponse::set_success(bool value) {
-  _internal_set_success(value);
-  // @@protoc_insertion_point(field_set:viam.service.motion.v1.MoveOnGlobeResponse.success)
+inline ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::PlanStatus >*
+PlanWithStatus::mutable_status_history() {
+  // @@protoc_insertion_point(field_mutable_list:viam.service.motion.v1.PlanWithStatus.status_history)
+  return &status_history_;
+}
+inline const ::viam::service::motion::v1::PlanStatus& PlanWithStatus::_internal_status_history(int index) const {
+  return status_history_.Get(index);
+}
+inline const ::viam::service::motion::v1::PlanStatus& PlanWithStatus::status_history(int index) const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.PlanWithStatus.status_history)
+  return _internal_status_history(index);
+}
+inline ::viam::service::motion::v1::PlanStatus* PlanWithStatus::_internal_add_status_history() {
+  return status_history_.Add();
+}
+inline ::viam::service::motion::v1::PlanStatus* PlanWithStatus::add_status_history() {
+  ::viam::service::motion::v1::PlanStatus* _add = _internal_add_status_history();
+  // @@protoc_insertion_point(field_add:viam.service.motion.v1.PlanWithStatus.status_history)
+  return _add;
+}
+inline const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::PlanStatus >&
+PlanWithStatus::status_history() const {
+  // @@protoc_insertion_point(field_list:viam.service.motion.v1.PlanWithStatus.status_history)
+  return status_history_;
 }
 
 // -------------------------------------------------------------------
 
-// GetPoseRequest
+// PlanStatusWithID
 
-// string name = 1 [json_name = "name"];
-inline void GetPoseRequest::clear_name() {
-  name_.ClearToEmpty();
+// string plan_id = 1 [json_name = "planId"];
+inline void PlanStatusWithID::clear_plan_id() {
+  plan_id_.ClearToEmpty();
 }
-inline const std::string& GetPoseRequest::name() const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.GetPoseRequest.name)
-  return _internal_name();
+inline const std::string& PlanStatusWithID::plan_id() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.PlanStatusWithID.plan_id)
+  return _internal_plan_id();
 }
 template <typename ArgT0, typename... ArgT>
 inline PROTOBUF_ALWAYS_INLINE
-void GetPoseRequest::set_name(ArgT0&& arg0, ArgT... args) {
+void PlanStatusWithID::set_plan_id(ArgT0&& arg0, ArgT... args) {
  
- name_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
-  // @@protoc_insertion_point(field_set:viam.service.motion.v1.GetPoseRequest.name)
+ plan_id_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.service.motion.v1.PlanStatusWithID.plan_id)
 }
-inline std::string* GetPoseRequest::mutable_name() {
-  std::string* _s = _internal_mutable_name();
-  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.GetPoseRequest.name)
+inline std::string* PlanStatusWithID::mutable_plan_id() {
+  std::string* _s = _internal_mutable_plan_id();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.PlanStatusWithID.plan_id)
   return _s;
 }
-inline const std::string& GetPoseRequest::_internal_name() const {
-  return name_.Get();
+inline const std::string& PlanStatusWithID::_internal_plan_id() const {
+  return plan_id_.Get();
 }
-inline void GetPoseRequest::_internal_set_name(const std::string& value) {
+inline void PlanStatusWithID::_internal_set_plan_id(const std::string& value) {
   
-  name_.Set(value, GetArenaForAllocation());
+  plan_id_.Set(value, GetArenaForAllocation());
 }
-inline std::string* GetPoseRequest::_internal_mutable_name() {
+inline std::string* PlanStatusWithID::_internal_mutable_plan_id() {
   
-  return name_.Mutable(GetArenaForAllocation());
+  return plan_id_.Mutable(GetArenaForAllocation());
 }
-inline std::string* GetPoseRequest::release_name() {
-  // @@protoc_insertion_point(field_release:viam.service.motion.v1.GetPoseRequest.name)
-  return name_.Release();
+inline std::string* PlanStatusWithID::release_plan_id() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.PlanStatusWithID.plan_id)
+  return plan_id_.Release();
 }
-inline void GetPoseRequest::set_allocated_name(std::string* name) {
-  if (name != nullptr) {
+inline void PlanStatusWithID::set_allocated_plan_id(std::string* plan_id) {
+  if (plan_id != nullptr) {
     
   } else {
     
   }
-  name_.SetAllocated(name, GetArenaForAllocation());
+  plan_id_.SetAllocated(plan_id, GetArenaForAllocation());
 #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  if (name_.IsDefault()) {
-    name_.Set("", GetArenaForAllocation());
+  if (plan_id_.IsDefault()) {
+    plan_id_.Set("", GetArenaForAllocation());
   }
 #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.GetPoseRequest.name)
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.PlanStatusWithID.plan_id)
 }
 
 // .viam.common.v1.ResourceName component_name = 2 [json_name = "componentName"];
-inline bool GetPoseRequest::_internal_has_component_name() const {
+inline bool PlanStatusWithID::_internal_has_component_name() const {
   return this != internal_default_instance() && component_name_ != nullptr;
 }
-inline bool GetPoseRequest::has_component_name() const {
+inline bool PlanStatusWithID::has_component_name() const {
   return _internal_has_component_name();
 }
-inline const ::viam::common::v1::ResourceName& GetPoseRequest::_internal_component_name() const {
+inline const ::viam::common::v1::ResourceName& PlanStatusWithID::_internal_component_name() const {
   const ::viam::common::v1::ResourceName* p = component_name_;
   return p != nullptr ? *p : reinterpret_cast<const ::viam::common::v1::ResourceName&>(
       ::viam::common::v1::_ResourceName_default_instance_);
 }
-inline const ::viam::common::v1::ResourceName& GetPoseRequest::component_name() const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.GetPoseRequest.component_name)
+inline const ::viam::common::v1::ResourceName& PlanStatusWithID::component_name() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.PlanStatusWithID.component_name)
   return _internal_component_name();
 }
-inline void GetPoseRequest::unsafe_arena_set_allocated_component_name(
+inline void PlanStatusWithID::unsafe_arena_set_allocated_component_name(
     ::viam::common::v1::ResourceName* component_name) {
   if (GetArenaForAllocation() == nullptr) {
     delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(component_name_);
@@ -4503,9 +9644,9 @@ inline void GetPoseRequest::unsafe_arena_set_allocated_component_name(
   } else {
     
   }
-  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.GetPoseRequest.component_name)
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.PlanStatusWithID.component_name)
 }
-inline ::viam::common::v1::ResourceName* GetPoseRequest::release_component_name() {
+inline ::viam::common::v1::ResourceName* PlanStatusWithID::release_component_name() {
   
   ::viam::common::v1::ResourceName* temp = component_name_;
   component_name_ = nullptr;
@@ -4520,14 +9661,14 @@ inline ::viam::common::v1::ResourceName* GetPoseRequest::release_component_name(
 #endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
   return temp;
 }
-inline ::viam::common::v1::ResourceName* GetPoseRequest::unsafe_arena_release_component_name() {
-  // @@protoc_insertion_point(field_release:viam.service.motion.v1.GetPoseRequest.component_name)
+inline ::viam::common::v1::ResourceName* PlanStatusWithID::unsafe_arena_release_component_name() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.PlanStatusWithID.component_name)
   
   ::viam::common::v1::ResourceName* temp = component_name_;
   component_name_ = nullptr;
   return temp;
 }
-inline ::viam::common::v1::ResourceName* GetPoseRequest::_internal_mutable_component_name() {
+inline ::viam::common::v1::ResourceName* PlanStatusWithID::_internal_mutable_component_name() {
   
   if (component_name_ == nullptr) {
     auto* p = CreateMaybeMessage<::viam::common::v1::ResourceName>(GetArenaForAllocation());
@@ -4535,12 +9676,12 @@ inline ::viam::common::v1::ResourceName* GetPoseRequest::_internal_mutable_compo
   }
   return component_name_;
 }
-inline ::viam::common::v1::ResourceName* GetPoseRequest::mutable_component_name() {
+inline ::viam::common::v1::ResourceName* PlanStatusWithID::mutable_component_name() {
   ::viam::common::v1::ResourceName* _msg = _internal_mutable_component_name();
-  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.GetPoseRequest.component_name)
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.PlanStatusWithID.component_name)
   return _msg;
 }
-inline void GetPoseRequest::set_allocated_component_name(::viam::common::v1::ResourceName* component_name) {
+inline void PlanStatusWithID::set_allocated_component_name(::viam::common::v1::ResourceName* component_name) {
   ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
   if (message_arena == nullptr) {
     delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(component_name_);
@@ -4558,129 +9699,98 @@ inline void GetPoseRequest::set_allocated_component_name(::viam::common::v1::Res
     
   }
   component_name_ = component_name;
-  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.GetPoseRequest.component_name)
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.PlanStatusWithID.component_name)
 }
 
-// string destination_frame = 3 [json_name = "destinationFrame"];
-inline void GetPoseRequest::clear_destination_frame() {
-  destination_frame_.ClearToEmpty();
+// string execution_id = 3 [json_name = "executionId"];
+inline void PlanStatusWithID::clear_execution_id() {
+  execution_id_.ClearToEmpty();
 }
-inline const std::string& GetPoseRequest::destination_frame() const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.GetPoseRequest.destination_frame)
-  return _internal_destination_frame();
+inline const std::string& PlanStatusWithID::execution_id() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.PlanStatusWithID.execution_id)
+  return _internal_execution_id();
 }
 template <typename ArgT0, typename... ArgT>
 inline PROTOBUF_ALWAYS_INLINE
-void GetPoseRequest::set_destination_frame(ArgT0&& arg0, ArgT... args) {
+void PlanStatusWithID::set_execution_id(ArgT0&& arg0, ArgT... args) {
  
- destination_frame_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
-  // @@protoc_insertion_point(field_set:viam.service.motion.v1.GetPoseRequest.destination_frame)
+ execution_id_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.service.motion.v1.PlanStatusWithID.execution_id)
 }
-inline std::string* GetPoseRequest::mutable_destination_frame() {
-  std::string* _s = _internal_mutable_destination_frame();
-  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.GetPoseRequest.destination_frame)
+inline std::string* PlanStatusWithID::mutable_execution_id() {
+  std::string* _s = _internal_mutable_execution_id();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.PlanStatusWithID.execution_id)
   return _s;
 }
-inline const std::string& GetPoseRequest::_internal_destination_frame() const {
-  return destination_frame_.Get();
+inline const std::string& PlanStatusWithID::_internal_execution_id() const {
+  return execution_id_.Get();
 }
-inline void GetPoseRequest::_internal_set_destination_frame(const std::string& value) {
+inline void PlanStatusWithID::_internal_set_execution_id(const std::string& value) {
   
-  destination_frame_.Set(value, GetArenaForAllocation());
+  execution_id_.Set(value, GetArenaForAllocation());
 }
-inline std::string* GetPoseRequest::_internal_mutable_destination_frame() {
+inline std::string* PlanStatusWithID::_internal_mutable_execution_id() {
   
-  return destination_frame_.Mutable(GetArenaForAllocation());
+  return execution_id_.Mutable(GetArenaForAllocation());
 }
-inline std::string* GetPoseRequest::release_destination_frame() {
-  // @@protoc_insertion_point(field_release:viam.service.motion.v1.GetPoseRequest.destination_frame)
-  return destination_frame_.Release();
+inline std::string* PlanStatusWithID::release_execution_id() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.PlanStatusWithID.execution_id)
+  return execution_id_.Release();
 }
-inline void GetPoseRequest::set_allocated_destination_frame(std::string* destination_frame) {
-  if (destination_frame != nullptr) {
+inline void PlanStatusWithID::set_allocated_execution_id(std::string* execution_id) {
+  if (execution_id != nullptr) {
     
   } else {
     
   }
-  destination_frame_.SetAllocated(destination_frame, GetArenaForAllocation());
+  execution_id_.SetAllocated(execution_id, GetArenaForAllocation());
 #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  if (destination_frame_.IsDefault()) {
-    destination_frame_.Set("", GetArenaForAllocation());
+  if (execution_id_.IsDefault()) {
+    execution_id_.Set("", GetArenaForAllocation());
   }
 #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.GetPoseRequest.destination_frame)
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.PlanStatusWithID.execution_id)
 }
 
-// repeated .viam.common.v1.Transform supplemental_transforms = 4 [json_name = "supplementalTransforms"];
-inline int GetPoseRequest::_internal_supplemental_transforms_size() const {
-  return supplemental_transforms_.size();
-}
-inline int GetPoseRequest::supplemental_transforms_size() const {
-  return _internal_supplemental_transforms_size();
+// .viam.service.motion.v1.PlanStatus status = 4 [json_name = "status"];
+inline bool PlanStatusWithID::_internal_has_status() const {
+  return this != internal_default_instance() && status_ != nullptr;
 }
-inline ::viam::common::v1::Transform* GetPoseRequest::mutable_supplemental_transforms(int index) {
-  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.GetPoseRequest.supplemental_transforms)
-  return supplemental_transforms_.Mutable(index);
-}
-inline ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::common::v1::Transform >*
-GetPoseRequest::mutable_supplemental_transforms() {
-  // @@protoc_insertion_point(field_mutable_list:viam.service.motion.v1.GetPoseRequest.supplemental_transforms)
-  return &supplemental_transforms_;
-}
-inline const ::viam::common::v1::Transform& GetPoseRequest::_internal_supplemental_transforms(int index) const {
-  return supplemental_transforms_.Get(index);
-}
-inline const ::viam::common::v1::Transform& GetPoseRequest::supplemental_transforms(int index) const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.GetPoseRequest.supplemental_transforms)
-  return _internal_supplemental_transforms(index);
-}
-inline ::viam::common::v1::Transform* GetPoseRequest::_internal_add_supplemental_transforms() {
-  return supplemental_transforms_.Add();
-}
-inline ::viam::common::v1::Transform* GetPoseRequest::add_supplemental_transforms() {
-  ::viam::common::v1::Transform* _add = _internal_add_supplemental_transforms();
-  // @@protoc_insertion_point(field_add:viam.service.motion.v1.GetPoseRequest.supplemental_transforms)
-  return _add;
-}
-inline const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::common::v1::Transform >&
-GetPoseRequest::supplemental_transforms() const {
-  // @@protoc_insertion_point(field_list:viam.service.motion.v1.GetPoseRequest.supplemental_transforms)
-  return supplemental_transforms_;
-}
-
-// .google.protobuf.Struct extra = 99 [json_name = "extra"];
-inline bool GetPoseRequest::_internal_has_extra() const {
-  return this != internal_default_instance() && extra_ != nullptr;
+inline bool PlanStatusWithID::has_status() const {
+  return _internal_has_status();
 }
-inline bool GetPoseRequest::has_extra() const {
-  return _internal_has_extra();
+inline void PlanStatusWithID::clear_status() {
+  if (GetArenaForAllocation() == nullptr && status_ != nullptr) {
+    delete status_;
+  }
+  status_ = nullptr;
 }
-inline const ::PROTOBUF_NAMESPACE_ID::Struct& GetPoseRequest::_internal_extra() const {
-  const ::PROTOBUF_NAMESPACE_ID::Struct* p = extra_;
-  return p != nullptr ? *p : reinterpret_cast<const ::PROTOBUF_NAMESPACE_ID::Struct&>(
-      ::PROTOBUF_NAMESPACE_ID::_Struct_default_instance_);
+inline const ::viam::service::motion::v1::PlanStatus& PlanStatusWithID::_internal_status() const {
+  const ::viam::service::motion::v1::PlanStatus* p = status_;
+  return p != nullptr ? *p : reinterpret_cast<const ::viam::service::motion::v1::PlanStatus&>(
+      ::viam::service::motion::v1::_PlanStatus_default_instance_);
 }
-inline const ::PROTOBUF_NAMESPACE_ID::Struct& GetPoseRequest::extra() const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.GetPoseRequest.extra)
-  return _internal_extra();
+inline const ::viam::service::motion::v1::PlanStatus& PlanStatusWithID::status() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.PlanStatusWithID.status)
+  return _internal_status();
 }
-inline void GetPoseRequest::unsafe_arena_set_allocated_extra(
-    ::PROTOBUF_NAMESPACE_ID::Struct* extra) {
+inline void PlanStatusWithID::unsafe_arena_set_allocated_status(
+    ::viam::service::motion::v1::PlanStatus* status) {
   if (GetArenaForAllocation() == nullptr) {
-    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(extra_);
+    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(status_);
   }
-  extra_ = extra;
-  if (extra) {
+  status_ = status;
+  if (status) {
     
   } else {
     
   }
-  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.GetPoseRequest.extra)
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.PlanStatusWithID.status)
 }
-inline ::PROTOBUF_NAMESPACE_ID::Struct* GetPoseRequest::release_extra() {
+inline ::viam::service::motion::v1::PlanStatus* PlanStatusWithID::release_status() {
   
-  ::PROTOBUF_NAMESPACE_ID::Struct* temp = extra_;
-  extra_ = nullptr;
+  ::viam::service::motion::v1::PlanStatus* temp = status_;
+  status_ = nullptr;
 #ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
   auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
   temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
@@ -4692,84 +9802,103 @@ inline ::PROTOBUF_NAMESPACE_ID::Struct* GetPoseRequest::release_extra() {
 #endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
   return temp;
 }
-inline ::PROTOBUF_NAMESPACE_ID::Struct* GetPoseRequest::unsafe_arena_release_extra() {
-  // @@protoc_insertion_point(field_release:viam.service.motion.v1.GetPoseRequest.extra)
+inline ::viam::service::motion::v1::PlanStatus* PlanStatusWithID::unsafe_arena_release_status() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.PlanStatusWithID.status)
   
-  ::PROTOBUF_NAMESPACE_ID::Struct* temp = extra_;
-  extra_ = nullptr;
+  ::viam::service::motion::v1::PlanStatus* temp = status_;
+  status_ = nullptr;
   return temp;
 }
-inline ::PROTOBUF_NAMESPACE_ID::Struct* GetPoseRequest::_internal_mutable_extra() {
+inline ::viam::service::motion::v1::PlanStatus* PlanStatusWithID::_internal_mutable_status() {
   
-  if (extra_ == nullptr) {
-    auto* p = CreateMaybeMessage<::PROTOBUF_NAMESPACE_ID::Struct>(GetArenaForAllocation());
-    extra_ = p;
+  if (status_ == nullptr) {
+    auto* p = CreateMaybeMessage<::viam::service::motion::v1::PlanStatus>(GetArenaForAllocation());
+    status_ = p;
   }
-  return extra_;
+  return status_;
 }
-inline ::PROTOBUF_NAMESPACE_ID::Struct* GetPoseRequest::mutable_extra() {
-  ::PROTOBUF_NAMESPACE_ID::Struct* _msg = _internal_mutable_extra();
-  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.GetPoseRequest.extra)
+inline ::viam::service::motion::v1::PlanStatus* PlanStatusWithID::mutable_status() {
+  ::viam::service::motion::v1::PlanStatus* _msg = _internal_mutable_status();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.PlanStatusWithID.status)
   return _msg;
 }
-inline void GetPoseRequest::set_allocated_extra(::PROTOBUF_NAMESPACE_ID::Struct* extra) {
+inline void PlanStatusWithID::set_allocated_status(::viam::service::motion::v1::PlanStatus* status) {
   ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
   if (message_arena == nullptr) {
-    delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(extra_);
+    delete status_;
   }
-  if (extra) {
+  if (status) {
     ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
-        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(
-                reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(extra));
+        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(status);
     if (message_arena != submessage_arena) {
-      extra = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
-          message_arena, extra, submessage_arena);
+      status = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
+          message_arena, status, submessage_arena);
     }
     
   } else {
     
   }
-  extra_ = extra;
-  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.GetPoseRequest.extra)
+  status_ = status;
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.PlanStatusWithID.status)
 }
 
 // -------------------------------------------------------------------
 
-// GetPoseResponse
+// PlanStatus
 
-// .viam.common.v1.PoseInFrame pose = 1 [json_name = "pose"];
-inline bool GetPoseResponse::_internal_has_pose() const {
-  return this != internal_default_instance() && pose_ != nullptr;
+// .viam.service.motion.v1.PlanState state = 1 [json_name = "state"];
+inline void PlanStatus::clear_state() {
+  state_ = 0;
 }
-inline bool GetPoseResponse::has_pose() const {
-  return _internal_has_pose();
+inline ::viam::service::motion::v1::PlanState PlanStatus::_internal_state() const {
+  return static_cast< ::viam::service::motion::v1::PlanState >(state_);
 }
-inline const ::viam::common::v1::PoseInFrame& GetPoseResponse::_internal_pose() const {
-  const ::viam::common::v1::PoseInFrame* p = pose_;
-  return p != nullptr ? *p : reinterpret_cast<const ::viam::common::v1::PoseInFrame&>(
-      ::viam::common::v1::_PoseInFrame_default_instance_);
+inline ::viam::service::motion::v1::PlanState PlanStatus::state() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.PlanStatus.state)
+  return _internal_state();
 }
-inline const ::viam::common::v1::PoseInFrame& GetPoseResponse::pose() const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.GetPoseResponse.pose)
-  return _internal_pose();
+inline void PlanStatus::_internal_set_state(::viam::service::motion::v1::PlanState value) {
+  
+  state_ = value;
 }
-inline void GetPoseResponse::unsafe_arena_set_allocated_pose(
-    ::viam::common::v1::PoseInFrame* pose) {
+inline void PlanStatus::set_state(::viam::service::motion::v1::PlanState value) {
+  _internal_set_state(value);
+  // @@protoc_insertion_point(field_set:viam.service.motion.v1.PlanStatus.state)
+}
+
+// .google.protobuf.Timestamp timestamp = 2 [json_name = "timestamp"];
+inline bool PlanStatus::_internal_has_timestamp() const {
+  return this != internal_default_instance() && timestamp_ != nullptr;
+}
+inline bool PlanStatus::has_timestamp() const {
+  return _internal_has_timestamp();
+}
+inline const ::PROTOBUF_NAMESPACE_ID::Timestamp& PlanStatus::_internal_timestamp() const {
+  const ::PROTOBUF_NAMESPACE_ID::Timestamp* p = timestamp_;
+  return p != nullptr ? *p : reinterpret_cast<const ::PROTOBUF_NAMESPACE_ID::Timestamp&>(
+      ::PROTOBUF_NAMESPACE_ID::_Timestamp_default_instance_);
+}
+inline const ::PROTOBUF_NAMESPACE_ID::Timestamp& PlanStatus::timestamp() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.PlanStatus.timestamp)
+  return _internal_timestamp();
+}
+inline void PlanStatus::unsafe_arena_set_allocated_timestamp(
+    ::PROTOBUF_NAMESPACE_ID::Timestamp* timestamp) {
   if (GetArenaForAllocation() == nullptr) {
-    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(pose_);
+    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(timestamp_);
   }
-  pose_ = pose;
-  if (pose) {
+  timestamp_ = timestamp;
+  if (timestamp) {
     
   } else {
     
   }
-  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.GetPoseResponse.pose)
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.PlanStatus.timestamp)
 }
-inline ::viam::common::v1::PoseInFrame* GetPoseResponse::release_pose() {
+inline ::PROTOBUF_NAMESPACE_ID::Timestamp* PlanStatus::release_timestamp() {
   
-  ::viam::common::v1::PoseInFrame* temp = pose_;
-  pose_ = nullptr;
+  ::PROTOBUF_NAMESPACE_ID::Timestamp* temp = timestamp_;
+  timestamp_ = nullptr;
 #ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
   auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
   temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
@@ -4781,409 +9910,466 @@ inline ::viam::common::v1::PoseInFrame* GetPoseResponse::release_pose() {
 #endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
   return temp;
 }
-inline ::viam::common::v1::PoseInFrame* GetPoseResponse::unsafe_arena_release_pose() {
-  // @@protoc_insertion_point(field_release:viam.service.motion.v1.GetPoseResponse.pose)
+inline ::PROTOBUF_NAMESPACE_ID::Timestamp* PlanStatus::unsafe_arena_release_timestamp() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.PlanStatus.timestamp)
   
-  ::viam::common::v1::PoseInFrame* temp = pose_;
-  pose_ = nullptr;
+  ::PROTOBUF_NAMESPACE_ID::Timestamp* temp = timestamp_;
+  timestamp_ = nullptr;
   return temp;
 }
-inline ::viam::common::v1::PoseInFrame* GetPoseResponse::_internal_mutable_pose() {
+inline ::PROTOBUF_NAMESPACE_ID::Timestamp* PlanStatus::_internal_mutable_timestamp() {
   
-  if (pose_ == nullptr) {
-    auto* p = CreateMaybeMessage<::viam::common::v1::PoseInFrame>(GetArenaForAllocation());
-    pose_ = p;
+  if (timestamp_ == nullptr) {
+    auto* p = CreateMaybeMessage<::PROTOBUF_NAMESPACE_ID::Timestamp>(GetArenaForAllocation());
+    timestamp_ = p;
   }
-  return pose_;
+  return timestamp_;
 }
-inline ::viam::common::v1::PoseInFrame* GetPoseResponse::mutable_pose() {
-  ::viam::common::v1::PoseInFrame* _msg = _internal_mutable_pose();
-  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.GetPoseResponse.pose)
+inline ::PROTOBUF_NAMESPACE_ID::Timestamp* PlanStatus::mutable_timestamp() {
+  ::PROTOBUF_NAMESPACE_ID::Timestamp* _msg = _internal_mutable_timestamp();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.PlanStatus.timestamp)
   return _msg;
 }
-inline void GetPoseResponse::set_allocated_pose(::viam::common::v1::PoseInFrame* pose) {
+inline void PlanStatus::set_allocated_timestamp(::PROTOBUF_NAMESPACE_ID::Timestamp* timestamp) {
   ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
   if (message_arena == nullptr) {
-    delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(pose_);
+    delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(timestamp_);
   }
-  if (pose) {
+  if (timestamp) {
     ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
         ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(
-                reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(pose));
+                reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(timestamp));
     if (message_arena != submessage_arena) {
-      pose = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
-          message_arena, pose, submessage_arena);
+      timestamp = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
+          message_arena, timestamp, submessage_arena);
     }
     
   } else {
     
   }
-  pose_ = pose;
-  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.GetPoseResponse.pose)
-}
-
-// -------------------------------------------------------------------
-
-// Constraints
-
-// repeated .viam.service.motion.v1.LinearConstraint linear_constraint = 1 [json_name = "linearConstraint"];
-inline int Constraints::_internal_linear_constraint_size() const {
-  return linear_constraint_.size();
-}
-inline int Constraints::linear_constraint_size() const {
-  return _internal_linear_constraint_size();
-}
-inline void Constraints::clear_linear_constraint() {
-  linear_constraint_.Clear();
-}
-inline ::viam::service::motion::v1::LinearConstraint* Constraints::mutable_linear_constraint(int index) {
-  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.Constraints.linear_constraint)
-  return linear_constraint_.Mutable(index);
-}
-inline ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::LinearConstraint >*
-Constraints::mutable_linear_constraint() {
-  // @@protoc_insertion_point(field_mutable_list:viam.service.motion.v1.Constraints.linear_constraint)
-  return &linear_constraint_;
-}
-inline const ::viam::service::motion::v1::LinearConstraint& Constraints::_internal_linear_constraint(int index) const {
-  return linear_constraint_.Get(index);
-}
-inline const ::viam::service::motion::v1::LinearConstraint& Constraints::linear_constraint(int index) const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.Constraints.linear_constraint)
-  return _internal_linear_constraint(index);
-}
-inline ::viam::service::motion::v1::LinearConstraint* Constraints::_internal_add_linear_constraint() {
-  return linear_constraint_.Add();
-}
-inline ::viam::service::motion::v1::LinearConstraint* Constraints::add_linear_constraint() {
-  ::viam::service::motion::v1::LinearConstraint* _add = _internal_add_linear_constraint();
-  // @@protoc_insertion_point(field_add:viam.service.motion.v1.Constraints.linear_constraint)
-  return _add;
-}
-inline const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::LinearConstraint >&
-Constraints::linear_constraint() const {
-  // @@protoc_insertion_point(field_list:viam.service.motion.v1.Constraints.linear_constraint)
-  return linear_constraint_;
-}
-
-// repeated .viam.service.motion.v1.OrientationConstraint orientation_constraint = 2 [json_name = "orientationConstraint"];
-inline int Constraints::_internal_orientation_constraint_size() const {
-  return orientation_constraint_.size();
-}
-inline int Constraints::orientation_constraint_size() const {
-  return _internal_orientation_constraint_size();
-}
-inline void Constraints::clear_orientation_constraint() {
-  orientation_constraint_.Clear();
-}
-inline ::viam::service::motion::v1::OrientationConstraint* Constraints::mutable_orientation_constraint(int index) {
-  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.Constraints.orientation_constraint)
-  return orientation_constraint_.Mutable(index);
-}
-inline ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::OrientationConstraint >*
-Constraints::mutable_orientation_constraint() {
-  // @@protoc_insertion_point(field_mutable_list:viam.service.motion.v1.Constraints.orientation_constraint)
-  return &orientation_constraint_;
-}
-inline const ::viam::service::motion::v1::OrientationConstraint& Constraints::_internal_orientation_constraint(int index) const {
-  return orientation_constraint_.Get(index);
-}
-inline const ::viam::service::motion::v1::OrientationConstraint& Constraints::orientation_constraint(int index) const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.Constraints.orientation_constraint)
-  return _internal_orientation_constraint(index);
-}
-inline ::viam::service::motion::v1::OrientationConstraint* Constraints::_internal_add_orientation_constraint() {
-  return orientation_constraint_.Add();
-}
-inline ::viam::service::motion::v1::OrientationConstraint* Constraints::add_orientation_constraint() {
-  ::viam::service::motion::v1::OrientationConstraint* _add = _internal_add_orientation_constraint();
-  // @@protoc_insertion_point(field_add:viam.service.motion.v1.Constraints.orientation_constraint)
-  return _add;
-}
-inline const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::OrientationConstraint >&
-Constraints::orientation_constraint() const {
-  // @@protoc_insertion_point(field_list:viam.service.motion.v1.Constraints.orientation_constraint)
-  return orientation_constraint_;
-}
-
-// repeated .viam.service.motion.v1.CollisionSpecification collision_specification = 3 [json_name = "collisionSpecification"];
-inline int Constraints::_internal_collision_specification_size() const {
-  return collision_specification_.size();
-}
-inline int Constraints::collision_specification_size() const {
-  return _internal_collision_specification_size();
-}
-inline void Constraints::clear_collision_specification() {
-  collision_specification_.Clear();
-}
-inline ::viam::service::motion::v1::CollisionSpecification* Constraints::mutable_collision_specification(int index) {
-  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.Constraints.collision_specification)
-  return collision_specification_.Mutable(index);
-}
-inline ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::CollisionSpecification >*
-Constraints::mutable_collision_specification() {
-  // @@protoc_insertion_point(field_mutable_list:viam.service.motion.v1.Constraints.collision_specification)
-  return &collision_specification_;
-}
-inline const ::viam::service::motion::v1::CollisionSpecification& Constraints::_internal_collision_specification(int index) const {
-  return collision_specification_.Get(index);
-}
-inline const ::viam::service::motion::v1::CollisionSpecification& Constraints::collision_specification(int index) const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.Constraints.collision_specification)
-  return _internal_collision_specification(index);
-}
-inline ::viam::service::motion::v1::CollisionSpecification* Constraints::_internal_add_collision_specification() {
-  return collision_specification_.Add();
-}
-inline ::viam::service::motion::v1::CollisionSpecification* Constraints::add_collision_specification() {
-  ::viam::service::motion::v1::CollisionSpecification* _add = _internal_add_collision_specification();
-  // @@protoc_insertion_point(field_add:viam.service.motion.v1.Constraints.collision_specification)
-  return _add;
-}
-inline const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::CollisionSpecification >&
-Constraints::collision_specification() const {
-  // @@protoc_insertion_point(field_list:viam.service.motion.v1.Constraints.collision_specification)
-  return collision_specification_;
+  timestamp_ = timestamp;
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.PlanStatus.timestamp)
 }
 
-// -------------------------------------------------------------------
-
-// LinearConstraint
-
-// optional float line_tolerance_mm = 1 [json_name = "lineToleranceMm"];
-inline bool LinearConstraint::_internal_has_line_tolerance_mm() const {
+// optional string reason = 3 [json_name = "reason"];
+inline bool PlanStatus::_internal_has_reason() const {
   bool value = (_has_bits_[0] & 0x00000001u) != 0;
   return value;
 }
-inline bool LinearConstraint::has_line_tolerance_mm() const {
-  return _internal_has_line_tolerance_mm();
+inline bool PlanStatus::has_reason() const {
+  return _internal_has_reason();
 }
-inline void LinearConstraint::clear_line_tolerance_mm() {
-  line_tolerance_mm_ = 0;
+inline void PlanStatus::clear_reason() {
+  reason_.ClearToEmpty();
   _has_bits_[0] &= ~0x00000001u;
 }
-inline float LinearConstraint::_internal_line_tolerance_mm() const {
-  return line_tolerance_mm_;
-}
-inline float LinearConstraint::line_tolerance_mm() const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.LinearConstraint.line_tolerance_mm)
-  return _internal_line_tolerance_mm();
-}
-inline void LinearConstraint::_internal_set_line_tolerance_mm(float value) {
-  _has_bits_[0] |= 0x00000001u;
-  line_tolerance_mm_ = value;
-}
-inline void LinearConstraint::set_line_tolerance_mm(float value) {
-  _internal_set_line_tolerance_mm(value);
-  // @@protoc_insertion_point(field_set:viam.service.motion.v1.LinearConstraint.line_tolerance_mm)
-}
-
-// optional float orientation_tolerance_degs = 2 [json_name = "orientationToleranceDegs"];
-inline bool LinearConstraint::_internal_has_orientation_tolerance_degs() const {
-  bool value = (_has_bits_[0] & 0x00000002u) != 0;
-  return value;
-}
-inline bool LinearConstraint::has_orientation_tolerance_degs() const {
-  return _internal_has_orientation_tolerance_degs();
-}
-inline void LinearConstraint::clear_orientation_tolerance_degs() {
-  orientation_tolerance_degs_ = 0;
-  _has_bits_[0] &= ~0x00000002u;
-}
-inline float LinearConstraint::_internal_orientation_tolerance_degs() const {
-  return orientation_tolerance_degs_;
-}
-inline float LinearConstraint::orientation_tolerance_degs() const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.LinearConstraint.orientation_tolerance_degs)
-  return _internal_orientation_tolerance_degs();
+inline const std::string& PlanStatus::reason() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.PlanStatus.reason)
+  return _internal_reason();
 }
-inline void LinearConstraint::_internal_set_orientation_tolerance_degs(float value) {
-  _has_bits_[0] |= 0x00000002u;
-  orientation_tolerance_degs_ = value;
+template <typename ArgT0, typename... ArgT>
+inline PROTOBUF_ALWAYS_INLINE
+void PlanStatus::set_reason(ArgT0&& arg0, ArgT... args) {
+ _has_bits_[0] |= 0x00000001u;
+ reason_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.service.motion.v1.PlanStatus.reason)
+}
+inline std::string* PlanStatus::mutable_reason() {
+  std::string* _s = _internal_mutable_reason();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.PlanStatus.reason)
+  return _s;
 }
-inline void LinearConstraint::set_orientation_tolerance_degs(float value) {
-  _internal_set_orientation_tolerance_degs(value);
-  // @@protoc_insertion_point(field_set:viam.service.motion.v1.LinearConstraint.orientation_tolerance_degs)
+inline const std::string& PlanStatus::_internal_reason() const {
+  return reason_.Get();
 }
-
-// -------------------------------------------------------------------
-
-// OrientationConstraint
-
-// optional float orientation_tolerance_degs = 1 [json_name = "orientationToleranceDegs"];
-inline bool OrientationConstraint::_internal_has_orientation_tolerance_degs() const {
-  bool value = (_has_bits_[0] & 0x00000001u) != 0;
-  return value;
+inline void PlanStatus::_internal_set_reason(const std::string& value) {
+  _has_bits_[0] |= 0x00000001u;
+  reason_.Set(value, GetArenaForAllocation());
 }
-inline bool OrientationConstraint::has_orientation_tolerance_degs() const {
-  return _internal_has_orientation_tolerance_degs();
+inline std::string* PlanStatus::_internal_mutable_reason() {
+  _has_bits_[0] |= 0x00000001u;
+  return reason_.Mutable(GetArenaForAllocation());
 }
-inline void OrientationConstraint::clear_orientation_tolerance_degs() {
-  orientation_tolerance_degs_ = 0;
+inline std::string* PlanStatus::release_reason() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.PlanStatus.reason)
+  if (!_internal_has_reason()) {
+    return nullptr;
+  }
   _has_bits_[0] &= ~0x00000001u;
+  auto* p = reason_.Release();
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (reason_.IsDefault()) {
+    reason_.Set("", GetArenaForAllocation());
+  }
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  return p;
 }
-inline float OrientationConstraint::_internal_orientation_tolerance_degs() const {
-  return orientation_tolerance_degs_;
-}
-inline float OrientationConstraint::orientation_tolerance_degs() const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.OrientationConstraint.orientation_tolerance_degs)
-  return _internal_orientation_tolerance_degs();
-}
-inline void OrientationConstraint::_internal_set_orientation_tolerance_degs(float value) {
-  _has_bits_[0] |= 0x00000001u;
-  orientation_tolerance_degs_ = value;
-}
-inline void OrientationConstraint::set_orientation_tolerance_degs(float value) {
-  _internal_set_orientation_tolerance_degs(value);
-  // @@protoc_insertion_point(field_set:viam.service.motion.v1.OrientationConstraint.orientation_tolerance_degs)
+inline void PlanStatus::set_allocated_reason(std::string* reason) {
+  if (reason != nullptr) {
+    _has_bits_[0] |= 0x00000001u;
+  } else {
+    _has_bits_[0] &= ~0x00000001u;
+  }
+  reason_.SetAllocated(reason, GetArenaForAllocation());
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (reason_.IsDefault()) {
+    reason_.Set("", GetArenaForAllocation());
+  }
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.PlanStatus.reason)
 }
 
 // -------------------------------------------------------------------
 
-// CollisionSpecification_AllowedFrameCollisions
+// Plan
 
-// string frame1 = 1 [json_name = "frame1"];
-inline void CollisionSpecification_AllowedFrameCollisions::clear_frame1() {
-  frame1_.ClearToEmpty();
+// string id = 1 [json_name = "id"];
+inline void Plan::clear_id() {
+  id_.ClearToEmpty();
 }
-inline const std::string& CollisionSpecification_AllowedFrameCollisions::frame1() const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions.frame1)
-  return _internal_frame1();
+inline const std::string& Plan::id() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.Plan.id)
+  return _internal_id();
 }
 template <typename ArgT0, typename... ArgT>
 inline PROTOBUF_ALWAYS_INLINE
-void CollisionSpecification_AllowedFrameCollisions::set_frame1(ArgT0&& arg0, ArgT... args) {
+void Plan::set_id(ArgT0&& arg0, ArgT... args) {
  
- frame1_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
-  // @@protoc_insertion_point(field_set:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions.frame1)
+ id_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.service.motion.v1.Plan.id)
 }
-inline std::string* CollisionSpecification_AllowedFrameCollisions::mutable_frame1() {
-  std::string* _s = _internal_mutable_frame1();
-  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions.frame1)
+inline std::string* Plan::mutable_id() {
+  std::string* _s = _internal_mutable_id();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.Plan.id)
   return _s;
 }
-inline const std::string& CollisionSpecification_AllowedFrameCollisions::_internal_frame1() const {
-  return frame1_.Get();
+inline const std::string& Plan::_internal_id() const {
+  return id_.Get();
 }
-inline void CollisionSpecification_AllowedFrameCollisions::_internal_set_frame1(const std::string& value) {
+inline void Plan::_internal_set_id(const std::string& value) {
   
-  frame1_.Set(value, GetArenaForAllocation());
+  id_.Set(value, GetArenaForAllocation());
 }
-inline std::string* CollisionSpecification_AllowedFrameCollisions::_internal_mutable_frame1() {
+inline std::string* Plan::_internal_mutable_id() {
   
-  return frame1_.Mutable(GetArenaForAllocation());
+  return id_.Mutable(GetArenaForAllocation());
 }
-inline std::string* CollisionSpecification_AllowedFrameCollisions::release_frame1() {
-  // @@protoc_insertion_point(field_release:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions.frame1)
-  return frame1_.Release();
+inline std::string* Plan::release_id() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.Plan.id)
+  return id_.Release();
 }
-inline void CollisionSpecification_AllowedFrameCollisions::set_allocated_frame1(std::string* frame1) {
-  if (frame1 != nullptr) {
+inline void Plan::set_allocated_id(std::string* id) {
+  if (id != nullptr) {
     
   } else {
     
   }
-  frame1_.SetAllocated(frame1, GetArenaForAllocation());
+  id_.SetAllocated(id, GetArenaForAllocation());
 #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  if (frame1_.IsDefault()) {
-    frame1_.Set("", GetArenaForAllocation());
+  if (id_.IsDefault()) {
+    id_.Set("", GetArenaForAllocation());
   }
 #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions.frame1)
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.Plan.id)
 }
 
-// string frame2 = 2 [json_name = "frame2"];
-inline void CollisionSpecification_AllowedFrameCollisions::clear_frame2() {
-  frame2_.ClearToEmpty();
+// .viam.common.v1.ResourceName component_name = 2 [json_name = "componentName"];
+inline bool Plan::_internal_has_component_name() const {
+  return this != internal_default_instance() && component_name_ != nullptr;
 }
-inline const std::string& CollisionSpecification_AllowedFrameCollisions::frame2() const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions.frame2)
-  return _internal_frame2();
+inline bool Plan::has_component_name() const {
+  return _internal_has_component_name();
+}
+inline const ::viam::common::v1::ResourceName& Plan::_internal_component_name() const {
+  const ::viam::common::v1::ResourceName* p = component_name_;
+  return p != nullptr ? *p : reinterpret_cast<const ::viam::common::v1::ResourceName&>(
+      ::viam::common::v1::_ResourceName_default_instance_);
+}
+inline const ::viam::common::v1::ResourceName& Plan::component_name() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.Plan.component_name)
+  return _internal_component_name();
+}
+inline void Plan::unsafe_arena_set_allocated_component_name(
+    ::viam::common::v1::ResourceName* component_name) {
+  if (GetArenaForAllocation() == nullptr) {
+    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(component_name_);
+  }
+  component_name_ = component_name;
+  if (component_name) {
+    
+  } else {
+    
+  }
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.Plan.component_name)
+}
+inline ::viam::common::v1::ResourceName* Plan::release_component_name() {
+  
+  ::viam::common::v1::ResourceName* temp = component_name_;
+  component_name_ = nullptr;
+#ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
+  auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
+  temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  if (GetArenaForAllocation() == nullptr) { delete old; }
+#else  // PROTOBUF_FORCE_COPY_IN_RELEASE
+  if (GetArenaForAllocation() != nullptr) {
+    temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  }
+#endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
+  return temp;
+}
+inline ::viam::common::v1::ResourceName* Plan::unsafe_arena_release_component_name() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.Plan.component_name)
+  
+  ::viam::common::v1::ResourceName* temp = component_name_;
+  component_name_ = nullptr;
+  return temp;
+}
+inline ::viam::common::v1::ResourceName* Plan::_internal_mutable_component_name() {
+  
+  if (component_name_ == nullptr) {
+    auto* p = CreateMaybeMessage<::viam::common::v1::ResourceName>(GetArenaForAllocation());
+    component_name_ = p;
+  }
+  return component_name_;
+}
+inline ::viam::common::v1::ResourceName* Plan::mutable_component_name() {
+  ::viam::common::v1::ResourceName* _msg = _internal_mutable_component_name();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.Plan.component_name)
+  return _msg;
+}
+inline void Plan::set_allocated_component_name(::viam::common::v1::ResourceName* component_name) {
+  ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
+  if (message_arena == nullptr) {
+    delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(component_name_);
+  }
+  if (component_name) {
+    ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
+        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(
+                reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(component_name));
+    if (message_arena != submessage_arena) {
+      component_name = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
+          message_arena, component_name, submessage_arena);
+    }
+    
+  } else {
+    
+  }
+  component_name_ = component_name;
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.Plan.component_name)
+}
+
+// string execution_id = 3 [json_name = "executionId"];
+inline void Plan::clear_execution_id() {
+  execution_id_.ClearToEmpty();
+}
+inline const std::string& Plan::execution_id() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.Plan.execution_id)
+  return _internal_execution_id();
 }
 template <typename ArgT0, typename... ArgT>
 inline PROTOBUF_ALWAYS_INLINE
-void CollisionSpecification_AllowedFrameCollisions::set_frame2(ArgT0&& arg0, ArgT... args) {
+void Plan::set_execution_id(ArgT0&& arg0, ArgT... args) {
  
- frame2_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
-  // @@protoc_insertion_point(field_set:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions.frame2)
+ execution_id_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.service.motion.v1.Plan.execution_id)
 }
-inline std::string* CollisionSpecification_AllowedFrameCollisions::mutable_frame2() {
-  std::string* _s = _internal_mutable_frame2();
-  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions.frame2)
+inline std::string* Plan::mutable_execution_id() {
+  std::string* _s = _internal_mutable_execution_id();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.Plan.execution_id)
   return _s;
 }
-inline const std::string& CollisionSpecification_AllowedFrameCollisions::_internal_frame2() const {
-  return frame2_.Get();
+inline const std::string& Plan::_internal_execution_id() const {
+  return execution_id_.Get();
 }
-inline void CollisionSpecification_AllowedFrameCollisions::_internal_set_frame2(const std::string& value) {
+inline void Plan::_internal_set_execution_id(const std::string& value) {
   
-  frame2_.Set(value, GetArenaForAllocation());
+  execution_id_.Set(value, GetArenaForAllocation());
 }
-inline std::string* CollisionSpecification_AllowedFrameCollisions::_internal_mutable_frame2() {
+inline std::string* Plan::_internal_mutable_execution_id() {
   
-  return frame2_.Mutable(GetArenaForAllocation());
+  return execution_id_.Mutable(GetArenaForAllocation());
 }
-inline std::string* CollisionSpecification_AllowedFrameCollisions::release_frame2() {
-  // @@protoc_insertion_point(field_release:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions.frame2)
-  return frame2_.Release();
+inline std::string* Plan::release_execution_id() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.Plan.execution_id)
+  return execution_id_.Release();
 }
-inline void CollisionSpecification_AllowedFrameCollisions::set_allocated_frame2(std::string* frame2) {
-  if (frame2 != nullptr) {
+inline void Plan::set_allocated_execution_id(std::string* execution_id) {
+  if (execution_id != nullptr) {
     
   } else {
     
   }
-  frame2_.SetAllocated(frame2, GetArenaForAllocation());
+  execution_id_.SetAllocated(execution_id, GetArenaForAllocation());
 #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  if (frame2_.IsDefault()) {
-    frame2_.Set("", GetArenaForAllocation());
+  if (execution_id_.IsDefault()) {
+    execution_id_.Set("", GetArenaForAllocation());
   }
 #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
-  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions.frame2)
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.Plan.execution_id)
+}
+
+// repeated .viam.service.motion.v1.PlanStep steps = 4 [json_name = "steps"];
+inline int Plan::_internal_steps_size() const {
+  return steps_.size();
+}
+inline int Plan::steps_size() const {
+  return _internal_steps_size();
+}
+inline void Plan::clear_steps() {
+  steps_.Clear();
+}
+inline ::viam::service::motion::v1::PlanStep* Plan::mutable_steps(int index) {
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.Plan.steps)
+  return steps_.Mutable(index);
+}
+inline ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::PlanStep >*
+Plan::mutable_steps() {
+  // @@protoc_insertion_point(field_mutable_list:viam.service.motion.v1.Plan.steps)
+  return &steps_;
+}
+inline const ::viam::service::motion::v1::PlanStep& Plan::_internal_steps(int index) const {
+  return steps_.Get(index);
+}
+inline const ::viam::service::motion::v1::PlanStep& Plan::steps(int index) const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.Plan.steps)
+  return _internal_steps(index);
+}
+inline ::viam::service::motion::v1::PlanStep* Plan::_internal_add_steps() {
+  return steps_.Add();
+}
+inline ::viam::service::motion::v1::PlanStep* Plan::add_steps() {
+  ::viam::service::motion::v1::PlanStep* _add = _internal_add_steps();
+  // @@protoc_insertion_point(field_add:viam.service.motion.v1.Plan.steps)
+  return _add;
+}
+inline const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::PlanStep >&
+Plan::steps() const {
+  // @@protoc_insertion_point(field_list:viam.service.motion.v1.Plan.steps)
+  return steps_;
 }
 
 // -------------------------------------------------------------------
 
-// CollisionSpecification
+// -------------------------------------------------------------------
 
-// repeated .viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions allows = 1 [json_name = "allows"];
-inline int CollisionSpecification::_internal_allows_size() const {
-  return allows_.size();
+// PlanStep
+
+// map<string, .viam.service.motion.v1.ComponentState> step = 1 [json_name = "step"];
+inline int PlanStep::_internal_step_size() const {
+  return step_.size();
 }
-inline int CollisionSpecification::allows_size() const {
-  return _internal_allows_size();
+inline int PlanStep::step_size() const {
+  return _internal_step_size();
 }
-inline void CollisionSpecification::clear_allows() {
-  allows_.Clear();
+inline void PlanStep::clear_step() {
+  step_.Clear();
 }
-inline ::viam::service::motion::v1::CollisionSpecification_AllowedFrameCollisions* CollisionSpecification::mutable_allows(int index) {
-  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.CollisionSpecification.allows)
-  return allows_.Mutable(index);
+inline const ::PROTOBUF_NAMESPACE_ID::Map< std::string, ::viam::service::motion::v1::ComponentState >&
+PlanStep::_internal_step() const {
+  return step_.GetMap();
 }
-inline ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::CollisionSpecification_AllowedFrameCollisions >*
-CollisionSpecification::mutable_allows() {
-  // @@protoc_insertion_point(field_mutable_list:viam.service.motion.v1.CollisionSpecification.allows)
-  return &allows_;
+inline const ::PROTOBUF_NAMESPACE_ID::Map< std::string, ::viam::service::motion::v1::ComponentState >&
+PlanStep::step() const {
+  // @@protoc_insertion_point(field_map:viam.service.motion.v1.PlanStep.step)
+  return _internal_step();
 }
-inline const ::viam::service::motion::v1::CollisionSpecification_AllowedFrameCollisions& CollisionSpecification::_internal_allows(int index) const {
-  return allows_.Get(index);
+inline ::PROTOBUF_NAMESPACE_ID::Map< std::string, ::viam::service::motion::v1::ComponentState >*
+PlanStep::_internal_mutable_step() {
+  return step_.MutableMap();
 }
-inline const ::viam::service::motion::v1::CollisionSpecification_AllowedFrameCollisions& CollisionSpecification::allows(int index) const {
-  // @@protoc_insertion_point(field_get:viam.service.motion.v1.CollisionSpecification.allows)
-  return _internal_allows(index);
+inline ::PROTOBUF_NAMESPACE_ID::Map< std::string, ::viam::service::motion::v1::ComponentState >*
+PlanStep::mutable_step() {
+  // @@protoc_insertion_point(field_mutable_map:viam.service.motion.v1.PlanStep.step)
+  return _internal_mutable_step();
 }
-inline ::viam::service::motion::v1::CollisionSpecification_AllowedFrameCollisions* CollisionSpecification::_internal_add_allows() {
-  return allows_.Add();
+
+// -------------------------------------------------------------------
+
+// ComponentState
+
+// .viam.common.v1.Pose pose = 1 [json_name = "pose"];
+inline bool ComponentState::_internal_has_pose() const {
+  return this != internal_default_instance() && pose_ != nullptr;
 }
-inline ::viam::service::motion::v1::CollisionSpecification_AllowedFrameCollisions* CollisionSpecification::add_allows() {
-  ::viam::service::motion::v1::CollisionSpecification_AllowedFrameCollisions* _add = _internal_add_allows();
-  // @@protoc_insertion_point(field_add:viam.service.motion.v1.CollisionSpecification.allows)
-  return _add;
+inline bool ComponentState::has_pose() const {
+  return _internal_has_pose();
 }
-inline const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::viam::service::motion::v1::CollisionSpecification_AllowedFrameCollisions >&
-CollisionSpecification::allows() const {
-  // @@protoc_insertion_point(field_list:viam.service.motion.v1.CollisionSpecification.allows)
-  return allows_;
+inline const ::viam::common::v1::Pose& ComponentState::_internal_pose() const {
+  const ::viam::common::v1::Pose* p = pose_;
+  return p != nullptr ? *p : reinterpret_cast<const ::viam::common::v1::Pose&>(
+      ::viam::common::v1::_Pose_default_instance_);
+}
+inline const ::viam::common::v1::Pose& ComponentState::pose() const {
+  // @@protoc_insertion_point(field_get:viam.service.motion.v1.ComponentState.pose)
+  return _internal_pose();
+}
+inline void ComponentState::unsafe_arena_set_allocated_pose(
+    ::viam::common::v1::Pose* pose) {
+  if (GetArenaForAllocation() == nullptr) {
+    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(pose_);
+  }
+  pose_ = pose;
+  if (pose) {
+    
+  } else {
+    
+  }
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.service.motion.v1.ComponentState.pose)
+}
+inline ::viam::common::v1::Pose* ComponentState::release_pose() {
+  
+  ::viam::common::v1::Pose* temp = pose_;
+  pose_ = nullptr;
+#ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
+  auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
+  temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  if (GetArenaForAllocation() == nullptr) { delete old; }
+#else  // PROTOBUF_FORCE_COPY_IN_RELEASE
+  if (GetArenaForAllocation() != nullptr) {
+    temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  }
+#endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
+  return temp;
+}
+inline ::viam::common::v1::Pose* ComponentState::unsafe_arena_release_pose() {
+  // @@protoc_insertion_point(field_release:viam.service.motion.v1.ComponentState.pose)
+  
+  ::viam::common::v1::Pose* temp = pose_;
+  pose_ = nullptr;
+  return temp;
+}
+inline ::viam::common::v1::Pose* ComponentState::_internal_mutable_pose() {
+  
+  if (pose_ == nullptr) {
+    auto* p = CreateMaybeMessage<::viam::common::v1::Pose>(GetArenaForAllocation());
+    pose_ = p;
+  }
+  return pose_;
+}
+inline ::viam::common::v1::Pose* ComponentState::mutable_pose() {
+  ::viam::common::v1::Pose* _msg = _internal_mutable_pose();
+  // @@protoc_insertion_point(field_mutable:viam.service.motion.v1.ComponentState.pose)
+  return _msg;
+}
+inline void ComponentState::set_allocated_pose(::viam::common::v1::Pose* pose) {
+  ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
+  if (message_arena == nullptr) {
+    delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(pose_);
+  }
+  if (pose) {
+    ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
+        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(
+                reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(pose));
+    if (message_arena != submessage_arena) {
+      pose = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
+          message_arena, pose, submessage_arena);
+    }
+    
+  } else {
+    
+  }
+  pose_ = pose;
+  // @@protoc_insertion_point(field_set_allocated:viam.service.motion.v1.ComponentState.pose)
 }
 
 #ifdef __GNUC__
@@ -5215,6 +10401,36 @@ CollisionSpecification::allows() const {
 
 // -------------------------------------------------------------------
 
+// -------------------------------------------------------------------
+
+// -------------------------------------------------------------------
+
+// -------------------------------------------------------------------
+
+// -------------------------------------------------------------------
+
+// -------------------------------------------------------------------
+
+// -------------------------------------------------------------------
+
+// -------------------------------------------------------------------
+
+// -------------------------------------------------------------------
+
+// -------------------------------------------------------------------
+
+// -------------------------------------------------------------------
+
+// -------------------------------------------------------------------
+
+// -------------------------------------------------------------------
+
+// -------------------------------------------------------------------
+
+// -------------------------------------------------------------------
+
+// -------------------------------------------------------------------
+
 
 // @@protoc_insertion_point(namespace_scope)
 
@@ -5223,6 +10439,16 @@ CollisionSpecification::allows() const {
 }  // namespace service
 }  // namespace viam
 
+PROTOBUF_NAMESPACE_OPEN
+
+template <> struct is_proto_enum< ::viam::service::motion::v1::PlanState> : ::std::true_type {};
+template <>
+inline const EnumDescriptor* GetEnumDescriptor< ::viam::service::motion::v1::PlanState>() {
+  return ::viam::service::motion::v1::PlanState_descriptor();
+}
+
+PROTOBUF_NAMESPACE_CLOSE
+
 // @@protoc_insertion_point(global_scope)
 
 #include <google/protobuf/port_undef.inc>
diff --git a/src/viam/api/service/navigation/v1/navigation.pb.cc b/src/viam/api/service/navigation/v1/navigation.pb.cc
index 389c832bf..555edd4b8 100644
--- a/src/viam/api/service/navigation/v1/navigation.pb.cc
+++ b/src/viam/api/service/navigation/v1/navigation.pb.cc
@@ -411,44 +411,45 @@ const char descriptor_table_protodef_service_2fnavigation_2fv1_2fnavigation_2epr
   "name\022-\n\005extra\030c \001(\0132\027.google.protobuf.St"
   "ructR\005extra\"Q\n\024GetObstaclesResponse\0229\n\to"
   "bstacles\030\001 \003(\0132\033.viam.common.v1.GeoObsta"
-  "cleR\tobstacles*@\n\004Mode\022\024\n\020MODE_UNSPECIFI"
+  "cleR\tobstacles*R\n\004Mode\022\024\n\020MODE_UNSPECIFI"
   "ED\020\000\022\017\n\013MODE_MANUAL\020\001\022\021\n\rMODE_WAYPOINT\020\002"
-  "2\303\n\n\021NavigationService\022\227\001\n\007GetMode\022*.via"
-  "m.service.navigation.v1.GetModeRequest\032+"
-  ".viam.service.navigation.v1.GetModeRespo"
-  "nse\"3\202\323\344\223\002-\022+/viam/api/v1/service/naviga"
-  "tion/{name}/mode\022\227\001\n\007SetMode\022*.viam.serv"
-  "ice.navigation.v1.SetModeRequest\032+.viam."
-  "service.navigation.v1.SetModeResponse\"3\202"
-  "\323\344\223\002-\032+/viam/api/v1/service/navigation/{"
-  "name}/mode\022\247\001\n\013GetLocation\022..viam.servic"
-  "e.navigation.v1.GetLocationRequest\032/.via"
-  "m.service.navigation.v1.GetLocationRespo"
-  "nse\"7\202\323\344\223\0021\022//viam/api/v1/service/naviga"
-  "tion/{name}/location\022\253\001\n\014GetWaypoints\022/."
-  "viam.service.navigation.v1.GetWaypointsR"
-  "equest\0320.viam.service.navigation.v1.GetW"
-  "aypointsResponse\"8\202\323\344\223\0022\0220/viam/api/v1/s"
-  "ervice/navigation/{name}/waypoints\022\250\001\n\013A"
-  "ddWaypoint\022..viam.service.navigation.v1."
-  "AddWaypointRequest\032/.viam.service.naviga"
-  "tion.v1.AddWaypointResponse\"8\202\323\344\223\0022\"0/vi"
-  "am/api/v1/service/navigation/{name}/wayp"
-  "oints\022\266\001\n\016RemoveWaypoint\0221.viam.service."
-  "navigation.v1.RemoveWaypointRequest\0322.vi"
-  "am.service.navigation.v1.RemoveWaypointR"
-  "esponse\"=\202\323\344\223\0027*5/viam/api/v1/service/na"
-  "vigation/{name}/waypoints/{id}\022\257\001\n\014GetOb"
-  "stacles\022/.viam.service.navigation.v1.Get"
-  "ObstaclesRequest\0320.viam.service.navigati"
-  "on.v1.GetObstaclesResponse\"<\202\323\344\223\0026\0224/via"
-  "m/api/v1/service/navigation/{name}/get_o"
-  "bstacles\022\213\001\n\tDoCommand\022 .viam.common.v1."
-  "DoCommandRequest\032!.viam.common.v1.DoComm"
-  "andResponse\"9\202\323\344\223\0023\"1/viam/api/v1/servic"
-  "e/navigation/{name}/do_commandBG\n\036com.vi"
-  "am.service.navigation.v1Z%go.viam.com/ap"
-  "i/service/navigation/v1b\006proto3"
+  "\022\020\n\014MODE_EXPLORE\020\0032\303\n\n\021NavigationService"
+  "\022\227\001\n\007GetMode\022*.viam.service.navigation.v"
+  "1.GetModeRequest\032+.viam.service.navigati"
+  "on.v1.GetModeResponse\"3\202\323\344\223\002-\022+/viam/api"
+  "/v1/service/navigation/{name}/mode\022\227\001\n\007S"
+  "etMode\022*.viam.service.navigation.v1.SetM"
+  "odeRequest\032+.viam.service.navigation.v1."
+  "SetModeResponse\"3\202\323\344\223\002-\032+/viam/api/v1/se"
+  "rvice/navigation/{name}/mode\022\247\001\n\013GetLoca"
+  "tion\022..viam.service.navigation.v1.GetLoc"
+  "ationRequest\032/.viam.service.navigation.v"
+  "1.GetLocationResponse\"7\202\323\344\223\0021\022//viam/api"
+  "/v1/service/navigation/{name}/location\022\253"
+  "\001\n\014GetWaypoints\022/.viam.service.navigatio"
+  "n.v1.GetWaypointsRequest\0320.viam.service."
+  "navigation.v1.GetWaypointsResponse\"8\202\323\344\223"
+  "\0022\0220/viam/api/v1/service/navigation/{nam"
+  "e}/waypoints\022\250\001\n\013AddWaypoint\022..viam.serv"
+  "ice.navigation.v1.AddWaypointRequest\032/.v"
+  "iam.service.navigation.v1.AddWaypointRes"
+  "ponse\"8\202\323\344\223\0022\"0/viam/api/v1/service/navi"
+  "gation/{name}/waypoints\022\266\001\n\016RemoveWaypoi"
+  "nt\0221.viam.service.navigation.v1.RemoveWa"
+  "ypointRequest\0322.viam.service.navigation."
+  "v1.RemoveWaypointResponse\"=\202\323\344\223\0027*5/viam"
+  "/api/v1/service/navigation/{name}/waypoi"
+  "nts/{id}\022\257\001\n\014GetObstacles\022/.viam.service"
+  ".navigation.v1.GetObstaclesRequest\0320.via"
+  "m.service.navigation.v1.GetObstaclesResp"
+  "onse\"<\202\323\344\223\0026\0224/viam/api/v1/service/navig"
+  "ation/{name}/get_obstacles\022\213\001\n\tDoCommand"
+  "\022 .viam.common.v1.DoCommandRequest\032!.via"
+  "m.common.v1.DoCommandResponse\"9\202\323\344\223\0023\"1/"
+  "viam/api/v1/service/navigation/{name}/do"
+  "_commandBG\n\036com.viam.service.navigation."
+  "v1Z%go.viam.com/api/service/navigation/v"
+  "1b\006proto3"
   ;
 static const ::_pbi::DescriptorTable* const descriptor_table_service_2fnavigation_2fv1_2fnavigation_2eproto_deps[3] = {
   &::descriptor_table_common_2fv1_2fcommon_2eproto,
@@ -457,7 +458,7 @@ static const ::_pbi::DescriptorTable* const descriptor_table_service_2fnavigatio
 };
 static ::_pbi::once_flag descriptor_table_service_2fnavigation_2fv1_2fnavigation_2eproto_once;
 const ::_pbi::DescriptorTable descriptor_table_service_2fnavigation_2fv1_2fnavigation_2eproto = {
-    false, false, 2911, descriptor_table_protodef_service_2fnavigation_2fv1_2fnavigation_2eproto,
+    false, false, 2929, descriptor_table_protodef_service_2fnavigation_2fv1_2fnavigation_2eproto,
     "service/navigation/v1/navigation.proto",
     &descriptor_table_service_2fnavigation_2fv1_2fnavigation_2eproto_once, descriptor_table_service_2fnavigation_2fv1_2fnavigation_2eproto_deps, 3, 15,
     schemas, file_default_instances, TableStruct_service_2fnavigation_2fv1_2fnavigation_2eproto::offsets,
@@ -483,6 +484,7 @@ bool Mode_IsValid(int value) {
     case 0:
     case 1:
     case 2:
+    case 3:
       return true;
     default:
       return false;
diff --git a/src/viam/api/service/navigation/v1/navigation.pb.h b/src/viam/api/service/navigation/v1/navigation.pb.h
index 2e6cef2b0..128f05c2c 100644
--- a/src/viam/api/service/navigation/v1/navigation.pb.h
+++ b/src/viam/api/service/navigation/v1/navigation.pb.h
@@ -128,12 +128,13 @@ enum Mode : int {
   MODE_UNSPECIFIED = 0,
   MODE_MANUAL = 1,
   MODE_WAYPOINT = 2,
+  MODE_EXPLORE = 3,
   Mode_INT_MIN_SENTINEL_DO_NOT_USE_ = std::numeric_limits<int32_t>::min(),
   Mode_INT_MAX_SENTINEL_DO_NOT_USE_ = std::numeric_limits<int32_t>::max()
 };
 bool Mode_IsValid(int value);
 constexpr Mode Mode_MIN = MODE_UNSPECIFIED;
-constexpr Mode Mode_MAX = MODE_WAYPOINT;
+constexpr Mode Mode_MAX = MODE_EXPLORE;
 constexpr int Mode_ARRAYSIZE = Mode_MAX + 1;
 
 const ::PROTOBUF_NAMESPACE_ID::EnumDescriptor* Mode_descriptor();