diff --git a/api_version.lock b/api_version.lock
index 2926c1580..2ffddd1d9 100644
--- a/api_version.lock
+++ b/api_version.lock
@@ -1 +1 @@
-v0.1.569
+v0.1.576
diff --git a/core/sdk/src/main/gen/com/viam/component/arm/v1/Arm.java b/core/sdk/src/main/gen/com/viam/component/arm/v1/Arm.java
index 17bf270cd..ed101c17e 100644
--- a/core/sdk/src/main/gen/com/viam/component/arm/v1/Arm.java
+++ b/core/sdk/src/main/gen/com/viam/component/arm/v1/Arm.java
@@ -1302,241 +1302,203 @@ public static com.google.protobuf.Parser<JointPositions> parser() {
     }
   }
 
-  public interface GetJointPositionsRequestOrBuilder extends
-      // @@protoc_insertion_point(interface_extends:viam.component.arm.v1.GetJointPositionsRequest)
+  public interface JointVelocitiesOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:viam.component.arm.v1.JointVelocities)
       com.google.protobuf.MessageLiteOrBuilder {
 
     /**
      * <pre>
-     * Name of an arm
-     * </pre>
-     *
-     * <code>string name = 1 [json_name = "name"];</code>
-     * @return The name.
-     */
-    java.lang.String getName();
-    /**
-     * <pre>
-     * Name of an arm
+     * A list of joint velocities. Rotational values are in degrees per second, translational values in mm per second.
+     * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector of the arm.
      * </pre>
      *
-     * <code>string name = 1 [json_name = "name"];</code>
-     * @return The bytes for name.
+     * <code>repeated double values = 1 [json_name = "values"];</code>
+     * @return A list containing the values.
      */
-    com.google.protobuf.ByteString
-        getNameBytes();
-
+    java.util.List<java.lang.Double> getValuesList();
     /**
      * <pre>
-     * Additional arguments to the method
+     * A list of joint velocities. Rotational values are in degrees per second, translational values in mm per second.
+     * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector of the arm.
      * </pre>
      *
-     * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
-     * @return Whether the extra field is set.
+     * <code>repeated double values = 1 [json_name = "values"];</code>
+     * @return The count of values.
      */
-    boolean hasExtra();
+    int getValuesCount();
     /**
      * <pre>
-     * Additional arguments to the method
+     * A list of joint velocities. Rotational values are in degrees per second, translational values in mm per second.
+     * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector of the arm.
      * </pre>
      *
-     * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
-     * @return The extra.
+     * <code>repeated double values = 1 [json_name = "values"];</code>
+     * @param index The index of the element to return.
+     * @return The values at the given index.
      */
-    com.google.protobuf.Struct getExtra();
+    double getValues(int index);
   }
   /**
-   * Protobuf type {@code viam.component.arm.v1.GetJointPositionsRequest}
+   * Protobuf type {@code viam.component.arm.v1.JointVelocities}
    */
-  public  static final class GetJointPositionsRequest extends
+  public  static final class JointVelocities extends
       com.google.protobuf.GeneratedMessageLite<
-          GetJointPositionsRequest, GetJointPositionsRequest.Builder> implements
-      // @@protoc_insertion_point(message_implements:viam.component.arm.v1.GetJointPositionsRequest)
-      GetJointPositionsRequestOrBuilder {
-    private GetJointPositionsRequest() {
-      name_ = "";
+          JointVelocities, JointVelocities.Builder> implements
+      // @@protoc_insertion_point(message_implements:viam.component.arm.v1.JointVelocities)
+      JointVelocitiesOrBuilder {
+    private JointVelocities() {
+      values_ = emptyDoubleList();
     }
-    private int bitField0_;
-    public static final int NAME_FIELD_NUMBER = 1;
-    private java.lang.String name_;
+    public static final int VALUES_FIELD_NUMBER = 1;
+    private com.google.protobuf.Internal.DoubleList values_;
     /**
      * <pre>
-     * Name of an arm
+     * A list of joint velocities. Rotational values are in degrees per second, translational values in mm per second.
+     * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector of the arm.
      * </pre>
      *
-     * <code>string name = 1 [json_name = "name"];</code>
-     * @return The name.
+     * <code>repeated double values = 1 [json_name = "values"];</code>
+     * @return A list containing the values.
      */
     @java.lang.Override
-    public java.lang.String getName() {
-      return name_;
+    public java.util.List<java.lang.Double>
+        getValuesList() {
+      return values_;
     }
     /**
      * <pre>
-     * Name of an arm
+     * A list of joint velocities. Rotational values are in degrees per second, translational values in mm per second.
+     * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector of the arm.
      * </pre>
      *
-     * <code>string name = 1 [json_name = "name"];</code>
-     * @return The bytes for name.
+     * <code>repeated double values = 1 [json_name = "values"];</code>
+     * @return The count of values.
      */
     @java.lang.Override
-    public com.google.protobuf.ByteString
-        getNameBytes() {
-      return com.google.protobuf.ByteString.copyFromUtf8(name_);
-    }
-    /**
-     * <pre>
-     * Name of an arm
-     * </pre>
-     *
-     * <code>string name = 1 [json_name = "name"];</code>
-     * @param value The name to set.
-     */
-    @java.lang.SuppressWarnings("ReturnValueIgnored")
-    private void setName(
-        java.lang.String value) {
-      value.getClass();  // minimal bytecode null check
-
-      name_ = value;
-    }
-    /**
-     * <pre>
-     * Name of an arm
-     * </pre>
-     *
-     * <code>string name = 1 [json_name = "name"];</code>
-     */
-    private void clearName() {
-
-      name_ = getDefaultInstance().getName();
-    }
-    /**
-     * <pre>
-     * Name of an arm
-     * </pre>
-     *
-     * <code>string name = 1 [json_name = "name"];</code>
-     * @param value The bytes for name to set.
-     */
-    private void setNameBytes(
-        com.google.protobuf.ByteString value) {
-      checkByteStringIsUtf8(value);
-      name_ = value.toStringUtf8();
-
+    public int getValuesCount() {
+      return values_.size();
     }
-
-    public static final int EXTRA_FIELD_NUMBER = 99;
-    private com.google.protobuf.Struct extra_;
     /**
      * <pre>
-     * Additional arguments to the method
+     * A list of joint velocities. Rotational values are in degrees per second, translational values in mm per second.
+     * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector of the arm.
      * </pre>
      *
-     * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+     * <code>repeated double values = 1 [json_name = "values"];</code>
+     * @param index The index of the element to return.
+     * @return The values at the given index.
      */
     @java.lang.Override
-    public boolean hasExtra() {
-      return ((bitField0_ & 0x00000001) != 0);
+    public double getValues(int index) {
+      return values_.getDouble(index);
+    }
+    private int valuesMemoizedSerializedSize = -1;
+    private void ensureValuesIsMutable() {
+      com.google.protobuf.Internal.DoubleList tmp = values_;
+      if (!tmp.isModifiable()) {
+        values_ =
+            com.google.protobuf.GeneratedMessageLite.mutableCopy(tmp);
+       }
     }
     /**
      * <pre>
-     * Additional arguments to the method
+     * A list of joint velocities. Rotational values are in degrees per second, translational values in mm per second.
+     * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector of the arm.
      * </pre>
      *
-     * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+     * <code>repeated double values = 1 [json_name = "values"];</code>
+     * @param index The index to set the value at.
+     * @param value The values to set.
      */
-    @java.lang.Override
-    public com.google.protobuf.Struct getExtra() {
-      return extra_ == null ? com.google.protobuf.Struct.getDefaultInstance() : extra_;
+    private void setValues(
+        int index, double value) {
+      ensureValuesIsMutable();
+      values_.setDouble(index, value);
     }
     /**
      * <pre>
-     * Additional arguments to the method
+     * A list of joint velocities. Rotational values are in degrees per second, translational values in mm per second.
+     * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector of the arm.
      * </pre>
      *
-     * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+     * <code>repeated double values = 1 [json_name = "values"];</code>
+     * @param value The values to add.
      */
-    @java.lang.SuppressWarnings("ReturnValueIgnored")
-    private void setExtra(com.google.protobuf.Struct value) {
-      value.getClass();  // minimal bytecode null check
-      extra_ = value;
-      bitField0_ |= 0x00000001;
+    private void addValues(double value) {
+      ensureValuesIsMutable();
+      values_.addDouble(value);
     }
     /**
      * <pre>
-     * Additional arguments to the method
+     * A list of joint velocities. Rotational values are in degrees per second, translational values in mm per second.
+     * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector of the arm.
      * </pre>
      *
-     * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+     * <code>repeated double values = 1 [json_name = "values"];</code>
+     * @param values The values to add.
      */
-    @java.lang.SuppressWarnings({"ReferenceEquality", "ReturnValueIgnored"})
-    private void mergeExtra(com.google.protobuf.Struct value) {
-      value.getClass();  // minimal bytecode null check
-      if (extra_ != null &&
-          extra_ != com.google.protobuf.Struct.getDefaultInstance()) {
-        extra_ =
-          com.google.protobuf.Struct.newBuilder(extra_).mergeFrom(value).buildPartial();
-      } else {
-        extra_ = value;
-      }
-      bitField0_ |= 0x00000001;
+    private void addAllValues(
+        java.lang.Iterable<? extends java.lang.Double> values) {
+      ensureValuesIsMutable();
+      com.google.protobuf.AbstractMessageLite.addAll(
+          values, values_);
     }
     /**
      * <pre>
-     * Additional arguments to the method
+     * A list of joint velocities. Rotational values are in degrees per second, translational values in mm per second.
+     * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector of the arm.
      * </pre>
      *
-     * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+     * <code>repeated double values = 1 [json_name = "values"];</code>
      */
-    private void clearExtra() {
-      extra_ = null;
-      bitField0_ = (bitField0_ & ~0x00000001);
+    private void clearValues() {
+      values_ = emptyDoubleList();
     }
 
-    public static com.viam.component.arm.v1.Arm.GetJointPositionsRequest parseFrom(
+    public static com.viam.component.arm.v1.Arm.JointVelocities parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.component.arm.v1.Arm.GetJointPositionsRequest parseFrom(
+    public static com.viam.component.arm.v1.Arm.JointVelocities parseFrom(
         java.nio.ByteBuffer data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.component.arm.v1.Arm.GetJointPositionsRequest parseFrom(
+    public static com.viam.component.arm.v1.Arm.JointVelocities parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.component.arm.v1.Arm.GetJointPositionsRequest parseFrom(
+    public static com.viam.component.arm.v1.Arm.JointVelocities parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.component.arm.v1.Arm.GetJointPositionsRequest parseFrom(byte[] data)
+    public static com.viam.component.arm.v1.Arm.JointVelocities parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.component.arm.v1.Arm.GetJointPositionsRequest parseFrom(
+    public static com.viam.component.arm.v1.Arm.JointVelocities parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.component.arm.v1.Arm.GetJointPositionsRequest parseFrom(java.io.InputStream input)
+    public static com.viam.component.arm.v1.Arm.JointVelocities parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, input);
     }
-    public static com.viam.component.arm.v1.Arm.GetJointPositionsRequest parseFrom(
+    public static com.viam.component.arm.v1.Arm.JointVelocities parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -1544,24 +1506,24 @@ public static com.viam.component.arm.v1.Arm.GetJointPositionsRequest parseFrom(
           DEFAULT_INSTANCE, input, extensionRegistry);
     }
 
-    public static com.viam.component.arm.v1.Arm.GetJointPositionsRequest parseDelimitedFrom(java.io.InputStream input)
+    public static com.viam.component.arm.v1.Arm.JointVelocities parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return parseDelimitedFrom(DEFAULT_INSTANCE, input);
     }
 
-    public static com.viam.component.arm.v1.Arm.GetJointPositionsRequest parseDelimitedFrom(
+    public static com.viam.component.arm.v1.Arm.JointVelocities parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
     }
-    public static com.viam.component.arm.v1.Arm.GetJointPositionsRequest parseFrom(
+    public static com.viam.component.arm.v1.Arm.JointVelocities parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, input);
     }
-    public static com.viam.component.arm.v1.Arm.GetJointPositionsRequest parseFrom(
+    public static com.viam.component.arm.v1.Arm.JointVelocities parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -1572,19 +1534,19 @@ public static com.viam.component.arm.v1.Arm.GetJointPositionsRequest parseFrom(
     public static Builder newBuilder() {
       return (Builder) DEFAULT_INSTANCE.createBuilder();
     }
-    public static Builder newBuilder(com.viam.component.arm.v1.Arm.GetJointPositionsRequest prototype) {
+    public static Builder newBuilder(com.viam.component.arm.v1.Arm.JointVelocities prototype) {
       return DEFAULT_INSTANCE.createBuilder(prototype);
     }
 
     /**
-     * Protobuf type {@code viam.component.arm.v1.GetJointPositionsRequest}
+     * Protobuf type {@code viam.component.arm.v1.JointVelocities}
      */
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageLite.Builder<
-          com.viam.component.arm.v1.Arm.GetJointPositionsRequest, Builder> implements
-        // @@protoc_insertion_point(builder_implements:viam.component.arm.v1.GetJointPositionsRequest)
-        com.viam.component.arm.v1.Arm.GetJointPositionsRequestOrBuilder {
-      // Construct using com.viam.component.arm.v1.Arm.GetJointPositionsRequest.newBuilder()
+          com.viam.component.arm.v1.Arm.JointVelocities, Builder> implements
+        // @@protoc_insertion_point(builder_implements:viam.component.arm.v1.JointVelocities)
+        com.viam.component.arm.v1.Arm.JointVelocitiesOrBuilder {
+      // Construct using com.viam.component.arm.v1.Arm.JointVelocities.newBuilder()
       private Builder() {
         super(DEFAULT_INSTANCE);
       }
@@ -1592,145 +1554,109 @@ private Builder() {
 
       /**
        * <pre>
-       * Name of an arm
+       * A list of joint velocities. Rotational values are in degrees per second, translational values in mm per second.
+       * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector of the arm.
        * </pre>
        *
-       * <code>string name = 1 [json_name = "name"];</code>
-       * @return The name.
+       * <code>repeated double values = 1 [json_name = "values"];</code>
+       * @return A list containing the values.
        */
       @java.lang.Override
-      public java.lang.String getName() {
-        return instance.getName();
+      public java.util.List<java.lang.Double>
+          getValuesList() {
+        return java.util.Collections.unmodifiableList(
+            instance.getValuesList());
       }
       /**
        * <pre>
-       * Name of an arm
+       * A list of joint velocities. Rotational values are in degrees per second, translational values in mm per second.
+       * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector of the arm.
        * </pre>
        *
-       * <code>string name = 1 [json_name = "name"];</code>
-       * @return The bytes for name.
+       * <code>repeated double values = 1 [json_name = "values"];</code>
+       * @return The count of values.
        */
       @java.lang.Override
-      public com.google.protobuf.ByteString
-          getNameBytes() {
-        return instance.getNameBytes();
+      public int getValuesCount() {
+        return instance.getValuesCount();
       }
       /**
        * <pre>
-       * Name of an arm
+       * A list of joint velocities. Rotational values are in degrees per second, translational values in mm per second.
+       * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector of the arm.
        * </pre>
        *
-       * <code>string name = 1 [json_name = "name"];</code>
-       * @param value The name to set.
-       * @return This builder for chaining.
+       * <code>repeated double values = 1 [json_name = "values"];</code>
+       * @param index The index of the element to return.
+       * @return The values at the given index.
        */
-      public Builder setName(
-          java.lang.String value) {
-        copyOnWrite();
-        instance.setName(value);
-        return this;
+      @java.lang.Override
+      public double getValues(int index) {
+        return instance.getValues(index);
       }
       /**
        * <pre>
-       * Name of an arm
+       * A list of joint velocities. Rotational values are in degrees per second, translational values in mm per second.
+       * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector of the arm.
        * </pre>
        *
-       * <code>string name = 1 [json_name = "name"];</code>
+       * <code>repeated double values = 1 [json_name = "values"];</code>
+       * @param value The values to set.
        * @return This builder for chaining.
        */
-      public Builder clearName() {
+      public Builder setValues(
+          int index, double value) {
         copyOnWrite();
-        instance.clearName();
+        instance.setValues(index, value);
         return this;
       }
       /**
        * <pre>
-       * Name of an arm
+       * A list of joint velocities. Rotational values are in degrees per second, translational values in mm per second.
+       * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector of the arm.
        * </pre>
        *
-       * <code>string name = 1 [json_name = "name"];</code>
-       * @param value The bytes for name to set.
+       * <code>repeated double values = 1 [json_name = "values"];</code>
+       * @param value The values to add.
        * @return This builder for chaining.
        */
-      public Builder setNameBytes(
-          com.google.protobuf.ByteString value) {
+      public Builder addValues(double value) {
         copyOnWrite();
-        instance.setNameBytes(value);
+        instance.addValues(value);
         return this;
       }
-
       /**
        * <pre>
-       * Additional arguments to the method
+       * A list of joint velocities. Rotational values are in degrees per second, translational values in mm per second.
+       * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector of the arm.
        * </pre>
        *
-       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
-       */
-      @java.lang.Override
-      public boolean hasExtra() {
-        return instance.hasExtra();
-      }
-      /**
-       * <pre>
-       * Additional arguments to the method
-       * </pre>
-       *
-       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
-       */
-      @java.lang.Override
-      public com.google.protobuf.Struct getExtra() {
-        return instance.getExtra();
-      }
-      /**
-       * <pre>
-       * Additional arguments to the method
-       * </pre>
-       *
-       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
-       */
-      public Builder setExtra(com.google.protobuf.Struct value) {
-        copyOnWrite();
-        instance.setExtra(value);
-        return this;
-        }
-      /**
-       * <pre>
-       * Additional arguments to the method
-       * </pre>
-       *
-       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+       * <code>repeated double values = 1 [json_name = "values"];</code>
+       * @param values The values to add.
+       * @return This builder for chaining.
        */
-      public Builder setExtra(
-          com.google.protobuf.Struct.Builder builderForValue) {
+      public Builder addAllValues(
+          java.lang.Iterable<? extends java.lang.Double> values) {
         copyOnWrite();
-        instance.setExtra(builderForValue.build());
+        instance.addAllValues(values);
         return this;
       }
       /**
        * <pre>
-       * Additional arguments to the method
+       * A list of joint velocities. Rotational values are in degrees per second, translational values in mm per second.
+       * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector of the arm.
        * </pre>
        *
-       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+       * <code>repeated double values = 1 [json_name = "values"];</code>
+       * @return This builder for chaining.
        */
-      public Builder mergeExtra(com.google.protobuf.Struct value) {
+      public Builder clearValues() {
         copyOnWrite();
-        instance.mergeExtra(value);
-        return this;
-      }
-      /**
-       * <pre>
-       * Additional arguments to the method
-       * </pre>
-       *
-       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
-       */
-      public Builder clearExtra() {  copyOnWrite();
-        instance.clearExtra();
+        instance.clearValues();
         return this;
       }
 
-      // @@protoc_insertion_point(builder_scope:viam.component.arm.v1.GetJointPositionsRequest)
+      // @@protoc_insertion_point(builder_scope:viam.component.arm.v1.JointVelocities)
     }
     @java.lang.Override
     @java.lang.SuppressWarnings({"ThrowNull"})
@@ -1739,33 +1665,30 @@ protected final java.lang.Object dynamicMethod(
         java.lang.Object arg0, java.lang.Object arg1) {
       switch (method) {
         case NEW_MUTABLE_INSTANCE: {
-          return new com.viam.component.arm.v1.Arm.GetJointPositionsRequest();
+          return new com.viam.component.arm.v1.Arm.JointVelocities();
         }
         case NEW_BUILDER: {
           return new Builder();
         }
         case BUILD_MESSAGE_INFO: {
             java.lang.Object[] objects = new java.lang.Object[] {
-              "bitField0_",
-              "name_",
-              "extra_",
+              "values_",
             };
             java.lang.String info =
-                "\u0000\u0002\u0000\u0001\u0001c\u0002\u0000\u0000\u0000\u0001\u0208c\u1009\u0000" +
-                "";
+                "\u0000\u0001\u0000\u0000\u0001\u0001\u0001\u0000\u0001\u0000\u0001#";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         case GET_DEFAULT_INSTANCE: {
           return DEFAULT_INSTANCE;
         }
         case GET_PARSER: {
-          com.google.protobuf.Parser<com.viam.component.arm.v1.Arm.GetJointPositionsRequest> parser = PARSER;
+          com.google.protobuf.Parser<com.viam.component.arm.v1.Arm.JointVelocities> parser = PARSER;
           if (parser == null) {
-            synchronized (com.viam.component.arm.v1.Arm.GetJointPositionsRequest.class) {
+            synchronized (com.viam.component.arm.v1.Arm.JointVelocities.class) {
               parser = PARSER;
               if (parser == null) {
                 parser =
-                    new DefaultInstanceBasedParser<com.viam.component.arm.v1.Arm.GetJointPositionsRequest>(
+                    new DefaultInstanceBasedParser<com.viam.component.arm.v1.Arm.JointVelocities>(
                         DEFAULT_INSTANCE);
                 PARSER = parser;
               }
@@ -1785,174 +1708,225 @@ protected final java.lang.Object dynamicMethod(
     }
 
 
-    // @@protoc_insertion_point(class_scope:viam.component.arm.v1.GetJointPositionsRequest)
-    private static final com.viam.component.arm.v1.Arm.GetJointPositionsRequest DEFAULT_INSTANCE;
+    // @@protoc_insertion_point(class_scope:viam.component.arm.v1.JointVelocities)
+    private static final com.viam.component.arm.v1.Arm.JointVelocities DEFAULT_INSTANCE;
     static {
-      GetJointPositionsRequest defaultInstance = new GetJointPositionsRequest();
+      JointVelocities defaultInstance = new JointVelocities();
       // New instances are implicitly immutable so no need to make
       // immutable.
       DEFAULT_INSTANCE = defaultInstance;
       com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
-        GetJointPositionsRequest.class, defaultInstance);
+        JointVelocities.class, defaultInstance);
     }
 
-    public static com.viam.component.arm.v1.Arm.GetJointPositionsRequest getDefaultInstance() {
+    public static com.viam.component.arm.v1.Arm.JointVelocities getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
-    private static volatile com.google.protobuf.Parser<GetJointPositionsRequest> PARSER;
+    private static volatile com.google.protobuf.Parser<JointVelocities> PARSER;
 
-    public static com.google.protobuf.Parser<GetJointPositionsRequest> parser() {
+    public static com.google.protobuf.Parser<JointVelocities> parser() {
       return DEFAULT_INSTANCE.getParserForType();
     }
   }
 
-  public interface GetJointPositionsResponseOrBuilder extends
-      // @@protoc_insertion_point(interface_extends:viam.component.arm.v1.GetJointPositionsResponse)
+  public interface JointAccelerationsOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:viam.component.arm.v1.JointAccelerations)
       com.google.protobuf.MessageLiteOrBuilder {
 
     /**
      * <pre>
-     * a list JointPositions
+     * A list of joint accelerations. Rotational values are in degrees per second squared, translational values in mm per second squared.
+     * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector of the arm.
      * </pre>
      *
-     * <code>.viam.component.arm.v1.JointPositions positions = 1 [json_name = "positions"];</code>
-     * @return Whether the positions field is set.
+     * <code>repeated double values = 1 [json_name = "values"];</code>
+     * @return A list containing the values.
      */
-    boolean hasPositions();
+    java.util.List<java.lang.Double> getValuesList();
     /**
      * <pre>
-     * a list JointPositions
+     * A list of joint accelerations. Rotational values are in degrees per second squared, translational values in mm per second squared.
+     * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector of the arm.
      * </pre>
      *
-     * <code>.viam.component.arm.v1.JointPositions positions = 1 [json_name = "positions"];</code>
-     * @return The positions.
+     * <code>repeated double values = 1 [json_name = "values"];</code>
+     * @return The count of values.
      */
-    com.viam.component.arm.v1.Arm.JointPositions getPositions();
+    int getValuesCount();
+    /**
+     * <pre>
+     * A list of joint accelerations. Rotational values are in degrees per second squared, translational values in mm per second squared.
+     * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector of the arm.
+     * </pre>
+     *
+     * <code>repeated double values = 1 [json_name = "values"];</code>
+     * @param index The index of the element to return.
+     * @return The values at the given index.
+     */
+    double getValues(int index);
   }
   /**
-   * Protobuf type {@code viam.component.arm.v1.GetJointPositionsResponse}
+   * Protobuf type {@code viam.component.arm.v1.JointAccelerations}
    */
-  public  static final class GetJointPositionsResponse extends
+  public  static final class JointAccelerations extends
       com.google.protobuf.GeneratedMessageLite<
-          GetJointPositionsResponse, GetJointPositionsResponse.Builder> implements
-      // @@protoc_insertion_point(message_implements:viam.component.arm.v1.GetJointPositionsResponse)
-      GetJointPositionsResponseOrBuilder {
-    private GetJointPositionsResponse() {
+          JointAccelerations, JointAccelerations.Builder> implements
+      // @@protoc_insertion_point(message_implements:viam.component.arm.v1.JointAccelerations)
+      JointAccelerationsOrBuilder {
+    private JointAccelerations() {
+      values_ = emptyDoubleList();
     }
-    private int bitField0_;
-    public static final int POSITIONS_FIELD_NUMBER = 1;
-    private com.viam.component.arm.v1.Arm.JointPositions positions_;
+    public static final int VALUES_FIELD_NUMBER = 1;
+    private com.google.protobuf.Internal.DoubleList values_;
     /**
      * <pre>
-     * a list JointPositions
+     * A list of joint accelerations. Rotational values are in degrees per second squared, translational values in mm per second squared.
+     * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector of the arm.
      * </pre>
      *
-     * <code>.viam.component.arm.v1.JointPositions positions = 1 [json_name = "positions"];</code>
+     * <code>repeated double values = 1 [json_name = "values"];</code>
+     * @return A list containing the values.
      */
     @java.lang.Override
-    public boolean hasPositions() {
-      return ((bitField0_ & 0x00000001) != 0);
+    public java.util.List<java.lang.Double>
+        getValuesList() {
+      return values_;
     }
     /**
      * <pre>
-     * a list JointPositions
+     * A list of joint accelerations. Rotational values are in degrees per second squared, translational values in mm per second squared.
+     * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector of the arm.
      * </pre>
      *
-     * <code>.viam.component.arm.v1.JointPositions positions = 1 [json_name = "positions"];</code>
+     * <code>repeated double values = 1 [json_name = "values"];</code>
+     * @return The count of values.
      */
     @java.lang.Override
-    public com.viam.component.arm.v1.Arm.JointPositions getPositions() {
-      return positions_ == null ? com.viam.component.arm.v1.Arm.JointPositions.getDefaultInstance() : positions_;
+    public int getValuesCount() {
+      return values_.size();
     }
     /**
      * <pre>
-     * a list JointPositions
+     * A list of joint accelerations. Rotational values are in degrees per second squared, translational values in mm per second squared.
+     * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector of the arm.
      * </pre>
      *
-     * <code>.viam.component.arm.v1.JointPositions positions = 1 [json_name = "positions"];</code>
+     * <code>repeated double values = 1 [json_name = "values"];</code>
+     * @param index The index of the element to return.
+     * @return The values at the given index.
      */
-    @java.lang.SuppressWarnings("ReturnValueIgnored")
-    private void setPositions(com.viam.component.arm.v1.Arm.JointPositions value) {
-      value.getClass();  // minimal bytecode null check
-      positions_ = value;
-      bitField0_ |= 0x00000001;
+    @java.lang.Override
+    public double getValues(int index) {
+      return values_.getDouble(index);
+    }
+    private int valuesMemoizedSerializedSize = -1;
+    private void ensureValuesIsMutable() {
+      com.google.protobuf.Internal.DoubleList tmp = values_;
+      if (!tmp.isModifiable()) {
+        values_ =
+            com.google.protobuf.GeneratedMessageLite.mutableCopy(tmp);
+       }
     }
     /**
      * <pre>
-     * a list JointPositions
+     * A list of joint accelerations. Rotational values are in degrees per second squared, translational values in mm per second squared.
+     * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector of the arm.
      * </pre>
      *
-     * <code>.viam.component.arm.v1.JointPositions positions = 1 [json_name = "positions"];</code>
+     * <code>repeated double values = 1 [json_name = "values"];</code>
+     * @param index The index to set the value at.
+     * @param value The values to set.
      */
-    @java.lang.SuppressWarnings({"ReferenceEquality", "ReturnValueIgnored"})
-    private void mergePositions(com.viam.component.arm.v1.Arm.JointPositions value) {
-      value.getClass();  // minimal bytecode null check
-      if (positions_ != null &&
-          positions_ != com.viam.component.arm.v1.Arm.JointPositions.getDefaultInstance()) {
-        positions_ =
-          com.viam.component.arm.v1.Arm.JointPositions.newBuilder(positions_).mergeFrom(value).buildPartial();
-      } else {
-        positions_ = value;
-      }
-      bitField0_ |= 0x00000001;
+    private void setValues(
+        int index, double value) {
+      ensureValuesIsMutable();
+      values_.setDouble(index, value);
     }
     /**
      * <pre>
-     * a list JointPositions
+     * A list of joint accelerations. Rotational values are in degrees per second squared, translational values in mm per second squared.
+     * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector of the arm.
      * </pre>
      *
-     * <code>.viam.component.arm.v1.JointPositions positions = 1 [json_name = "positions"];</code>
+     * <code>repeated double values = 1 [json_name = "values"];</code>
+     * @param value The values to add.
      */
-    private void clearPositions() {
-      positions_ = null;
-      bitField0_ = (bitField0_ & ~0x00000001);
+    private void addValues(double value) {
+      ensureValuesIsMutable();
+      values_.addDouble(value);
+    }
+    /**
+     * <pre>
+     * A list of joint accelerations. Rotational values are in degrees per second squared, translational values in mm per second squared.
+     * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector of the arm.
+     * </pre>
+     *
+     * <code>repeated double values = 1 [json_name = "values"];</code>
+     * @param values The values to add.
+     */
+    private void addAllValues(
+        java.lang.Iterable<? extends java.lang.Double> values) {
+      ensureValuesIsMutable();
+      com.google.protobuf.AbstractMessageLite.addAll(
+          values, values_);
+    }
+    /**
+     * <pre>
+     * A list of joint accelerations. Rotational values are in degrees per second squared, translational values in mm per second squared.
+     * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector of the arm.
+     * </pre>
+     *
+     * <code>repeated double values = 1 [json_name = "values"];</code>
+     */
+    private void clearValues() {
+      values_ = emptyDoubleList();
     }
 
-    public static com.viam.component.arm.v1.Arm.GetJointPositionsResponse parseFrom(
+    public static com.viam.component.arm.v1.Arm.JointAccelerations parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.component.arm.v1.Arm.GetJointPositionsResponse parseFrom(
+    public static com.viam.component.arm.v1.Arm.JointAccelerations parseFrom(
         java.nio.ByteBuffer data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.component.arm.v1.Arm.GetJointPositionsResponse parseFrom(
+    public static com.viam.component.arm.v1.Arm.JointAccelerations parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.component.arm.v1.Arm.GetJointPositionsResponse parseFrom(
+    public static com.viam.component.arm.v1.Arm.JointAccelerations parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.component.arm.v1.Arm.GetJointPositionsResponse parseFrom(byte[] data)
+    public static com.viam.component.arm.v1.Arm.JointAccelerations parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.component.arm.v1.Arm.GetJointPositionsResponse parseFrom(
+    public static com.viam.component.arm.v1.Arm.JointAccelerations parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.component.arm.v1.Arm.GetJointPositionsResponse parseFrom(java.io.InputStream input)
+    public static com.viam.component.arm.v1.Arm.JointAccelerations parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, input);
     }
-    public static com.viam.component.arm.v1.Arm.GetJointPositionsResponse parseFrom(
+    public static com.viam.component.arm.v1.Arm.JointAccelerations parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -1960,24 +1934,24 @@ public static com.viam.component.arm.v1.Arm.GetJointPositionsResponse parseFrom(
           DEFAULT_INSTANCE, input, extensionRegistry);
     }
 
-    public static com.viam.component.arm.v1.Arm.GetJointPositionsResponse parseDelimitedFrom(java.io.InputStream input)
+    public static com.viam.component.arm.v1.Arm.JointAccelerations parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return parseDelimitedFrom(DEFAULT_INSTANCE, input);
     }
 
-    public static com.viam.component.arm.v1.Arm.GetJointPositionsResponse parseDelimitedFrom(
+    public static com.viam.component.arm.v1.Arm.JointAccelerations parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
     }
-    public static com.viam.component.arm.v1.Arm.GetJointPositionsResponse parseFrom(
+    public static com.viam.component.arm.v1.Arm.JointAccelerations parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, input);
     }
-    public static com.viam.component.arm.v1.Arm.GetJointPositionsResponse parseFrom(
+    public static com.viam.component.arm.v1.Arm.JointAccelerations parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -1988,19 +1962,19 @@ public static com.viam.component.arm.v1.Arm.GetJointPositionsResponse parseFrom(
     public static Builder newBuilder() {
       return (Builder) DEFAULT_INSTANCE.createBuilder();
     }
-    public static Builder newBuilder(com.viam.component.arm.v1.Arm.GetJointPositionsResponse prototype) {
+    public static Builder newBuilder(com.viam.component.arm.v1.Arm.JointAccelerations prototype) {
       return DEFAULT_INSTANCE.createBuilder(prototype);
     }
 
     /**
-     * Protobuf type {@code viam.component.arm.v1.GetJointPositionsResponse}
+     * Protobuf type {@code viam.component.arm.v1.JointAccelerations}
      */
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageLite.Builder<
-          com.viam.component.arm.v1.Arm.GetJointPositionsResponse, Builder> implements
-        // @@protoc_insertion_point(builder_implements:viam.component.arm.v1.GetJointPositionsResponse)
-        com.viam.component.arm.v1.Arm.GetJointPositionsResponseOrBuilder {
-      // Construct using com.viam.component.arm.v1.Arm.GetJointPositionsResponse.newBuilder()
+          com.viam.component.arm.v1.Arm.JointAccelerations, Builder> implements
+        // @@protoc_insertion_point(builder_implements:viam.component.arm.v1.JointAccelerations)
+        com.viam.component.arm.v1.Arm.JointAccelerationsOrBuilder {
+      // Construct using com.viam.component.arm.v1.Arm.JointAccelerations.newBuilder()
       private Builder() {
         super(DEFAULT_INSTANCE);
       }
@@ -2008,76 +1982,109 @@ private Builder() {
 
       /**
        * <pre>
-       * a list JointPositions
+       * A list of joint accelerations. Rotational values are in degrees per second squared, translational values in mm per second squared.
+       * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector of the arm.
        * </pre>
        *
-       * <code>.viam.component.arm.v1.JointPositions positions = 1 [json_name = "positions"];</code>
+       * <code>repeated double values = 1 [json_name = "values"];</code>
+       * @return A list containing the values.
        */
       @java.lang.Override
-      public boolean hasPositions() {
-        return instance.hasPositions();
+      public java.util.List<java.lang.Double>
+          getValuesList() {
+        return java.util.Collections.unmodifiableList(
+            instance.getValuesList());
       }
       /**
        * <pre>
-       * a list JointPositions
+       * A list of joint accelerations. Rotational values are in degrees per second squared, translational values in mm per second squared.
+       * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector of the arm.
        * </pre>
        *
-       * <code>.viam.component.arm.v1.JointPositions positions = 1 [json_name = "positions"];</code>
+       * <code>repeated double values = 1 [json_name = "values"];</code>
+       * @return The count of values.
        */
       @java.lang.Override
-      public com.viam.component.arm.v1.Arm.JointPositions getPositions() {
-        return instance.getPositions();
+      public int getValuesCount() {
+        return instance.getValuesCount();
       }
       /**
        * <pre>
-       * a list JointPositions
+       * A list of joint accelerations. Rotational values are in degrees per second squared, translational values in mm per second squared.
+       * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector of the arm.
        * </pre>
        *
-       * <code>.viam.component.arm.v1.JointPositions positions = 1 [json_name = "positions"];</code>
+       * <code>repeated double values = 1 [json_name = "values"];</code>
+       * @param index The index of the element to return.
+       * @return The values at the given index.
        */
-      public Builder setPositions(com.viam.component.arm.v1.Arm.JointPositions value) {
-        copyOnWrite();
-        instance.setPositions(value);
-        return this;
-        }
-      /**
-       * <pre>
-       * a list JointPositions
+      @java.lang.Override
+      public double getValues(int index) {
+        return instance.getValues(index);
+      }
+      /**
+       * <pre>
+       * A list of joint accelerations. Rotational values are in degrees per second squared, translational values in mm per second squared.
+       * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector of the arm.
        * </pre>
        *
-       * <code>.viam.component.arm.v1.JointPositions positions = 1 [json_name = "positions"];</code>
+       * <code>repeated double values = 1 [json_name = "values"];</code>
+       * @param value The values to set.
+       * @return This builder for chaining.
        */
-      public Builder setPositions(
-          com.viam.component.arm.v1.Arm.JointPositions.Builder builderForValue) {
+      public Builder setValues(
+          int index, double value) {
         copyOnWrite();
-        instance.setPositions(builderForValue.build());
+        instance.setValues(index, value);
         return this;
       }
       /**
        * <pre>
-       * a list JointPositions
+       * A list of joint accelerations. Rotational values are in degrees per second squared, translational values in mm per second squared.
+       * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector of the arm.
        * </pre>
        *
-       * <code>.viam.component.arm.v1.JointPositions positions = 1 [json_name = "positions"];</code>
+       * <code>repeated double values = 1 [json_name = "values"];</code>
+       * @param value The values to add.
+       * @return This builder for chaining.
        */
-      public Builder mergePositions(com.viam.component.arm.v1.Arm.JointPositions value) {
+      public Builder addValues(double value) {
         copyOnWrite();
-        instance.mergePositions(value);
+        instance.addValues(value);
         return this;
       }
       /**
        * <pre>
-       * a list JointPositions
+       * A list of joint accelerations. Rotational values are in degrees per second squared, translational values in mm per second squared.
+       * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector of the arm.
        * </pre>
        *
-       * <code>.viam.component.arm.v1.JointPositions positions = 1 [json_name = "positions"];</code>
+       * <code>repeated double values = 1 [json_name = "values"];</code>
+       * @param values The values to add.
+       * @return This builder for chaining.
        */
-      public Builder clearPositions() {  copyOnWrite();
-        instance.clearPositions();
+      public Builder addAllValues(
+          java.lang.Iterable<? extends java.lang.Double> values) {
+        copyOnWrite();
+        instance.addAllValues(values);
+        return this;
+      }
+      /**
+       * <pre>
+       * A list of joint accelerations. Rotational values are in degrees per second squared, translational values in mm per second squared.
+       * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector of the arm.
+       * </pre>
+       *
+       * <code>repeated double values = 1 [json_name = "values"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearValues() {
+        copyOnWrite();
+        instance.clearValues();
         return this;
       }
 
-      // @@protoc_insertion_point(builder_scope:viam.component.arm.v1.GetJointPositionsResponse)
+      // @@protoc_insertion_point(builder_scope:viam.component.arm.v1.JointAccelerations)
     }
     @java.lang.Override
     @java.lang.SuppressWarnings({"ThrowNull"})
@@ -2086,31 +2093,30 @@ protected final java.lang.Object dynamicMethod(
         java.lang.Object arg0, java.lang.Object arg1) {
       switch (method) {
         case NEW_MUTABLE_INSTANCE: {
-          return new com.viam.component.arm.v1.Arm.GetJointPositionsResponse();
+          return new com.viam.component.arm.v1.Arm.JointAccelerations();
         }
         case NEW_BUILDER: {
           return new Builder();
         }
         case BUILD_MESSAGE_INFO: {
             java.lang.Object[] objects = new java.lang.Object[] {
-              "bitField0_",
-              "positions_",
+              "values_",
             };
             java.lang.String info =
-                "\u0000\u0001\u0000\u0001\u0001\u0001\u0001\u0000\u0000\u0000\u0001\u1009\u0000";
+                "\u0000\u0001\u0000\u0000\u0001\u0001\u0001\u0000\u0001\u0000\u0001#";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         case GET_DEFAULT_INSTANCE: {
           return DEFAULT_INSTANCE;
         }
         case GET_PARSER: {
-          com.google.protobuf.Parser<com.viam.component.arm.v1.Arm.GetJointPositionsResponse> parser = PARSER;
+          com.google.protobuf.Parser<com.viam.component.arm.v1.Arm.JointAccelerations> parser = PARSER;
           if (parser == null) {
-            synchronized (com.viam.component.arm.v1.Arm.GetJointPositionsResponse.class) {
+            synchronized (com.viam.component.arm.v1.Arm.JointAccelerations.class) {
               parser = PARSER;
               if (parser == null) {
                 parser =
-                    new DefaultInstanceBasedParser<com.viam.component.arm.v1.Arm.GetJointPositionsResponse>(
+                    new DefaultInstanceBasedParser<com.viam.component.arm.v1.Arm.JointAccelerations>(
                         DEFAULT_INSTANCE);
                 PARSER = parser;
               }
@@ -2130,30 +2136,30 @@ protected final java.lang.Object dynamicMethod(
     }
 
 
-    // @@protoc_insertion_point(class_scope:viam.component.arm.v1.GetJointPositionsResponse)
-    private static final com.viam.component.arm.v1.Arm.GetJointPositionsResponse DEFAULT_INSTANCE;
+    // @@protoc_insertion_point(class_scope:viam.component.arm.v1.JointAccelerations)
+    private static final com.viam.component.arm.v1.Arm.JointAccelerations DEFAULT_INSTANCE;
     static {
-      GetJointPositionsResponse defaultInstance = new GetJointPositionsResponse();
+      JointAccelerations defaultInstance = new JointAccelerations();
       // New instances are implicitly immutable so no need to make
       // immutable.
       DEFAULT_INSTANCE = defaultInstance;
       com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
-        GetJointPositionsResponse.class, defaultInstance);
+        JointAccelerations.class, defaultInstance);
     }
 
-    public static com.viam.component.arm.v1.Arm.GetJointPositionsResponse getDefaultInstance() {
+    public static com.viam.component.arm.v1.Arm.JointAccelerations getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
-    private static volatile com.google.protobuf.Parser<GetJointPositionsResponse> PARSER;
+    private static volatile com.google.protobuf.Parser<JointAccelerations> PARSER;
 
-    public static com.google.protobuf.Parser<GetJointPositionsResponse> parser() {
+    public static com.google.protobuf.Parser<JointAccelerations> parser() {
       return DEFAULT_INSTANCE.getParserForType();
     }
   }
 
-  public interface MoveToPositionRequestOrBuilder extends
-      // @@protoc_insertion_point(interface_extends:viam.component.arm.v1.MoveToPositionRequest)
+  public interface GetJointPositionsRequestOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:viam.component.arm.v1.GetJointPositionsRequest)
       com.google.protobuf.MessageLiteOrBuilder {
 
     /**
@@ -2176,25 +2182,6 @@ public interface MoveToPositionRequestOrBuilder extends
     com.google.protobuf.ByteString
         getNameBytes();
 
-    /**
-     * <pre>
-     * The destination to move the arm to; this is from the reference frame of the arm.
-     * </pre>
-     *
-     * <code>.viam.common.v1.Pose to = 2 [json_name = "to"];</code>
-     * @return Whether the to field is set.
-     */
-    boolean hasTo();
-    /**
-     * <pre>
-     * The destination to move the arm to; this is from the reference frame of the arm.
-     * </pre>
-     *
-     * <code>.viam.common.v1.Pose to = 2 [json_name = "to"];</code>
-     * @return The to.
-     */
-    com.viam.common.v1.Common.Pose getTo();
-
     /**
      * <pre>
      * Additional arguments to the method
@@ -2215,20 +2202,14 @@ public interface MoveToPositionRequestOrBuilder extends
     com.google.protobuf.Struct getExtra();
   }
   /**
-   * <pre>
-   * Moves an arm to the specified pose that is within the reference frame of the arm.
-   * Move request in Motion API has the same behavior except that it performs obstacle avoidance when a world_state
-   * message is specified.
-   * </pre>
-   *
-   * Protobuf type {@code viam.component.arm.v1.MoveToPositionRequest}
+   * Protobuf type {@code viam.component.arm.v1.GetJointPositionsRequest}
    */
-  public  static final class MoveToPositionRequest extends
+  public  static final class GetJointPositionsRequest extends
       com.google.protobuf.GeneratedMessageLite<
-          MoveToPositionRequest, MoveToPositionRequest.Builder> implements
-      // @@protoc_insertion_point(message_implements:viam.component.arm.v1.MoveToPositionRequest)
-      MoveToPositionRequestOrBuilder {
-    private MoveToPositionRequest() {
+          GetJointPositionsRequest, GetJointPositionsRequest.Builder> implements
+      // @@protoc_insertion_point(message_implements:viam.component.arm.v1.GetJointPositionsRequest)
+      GetJointPositionsRequestOrBuilder {
+    private GetJointPositionsRequest() {
       name_ = "";
     }
     private int bitField0_;
@@ -2300,74 +2281,6 @@ private void setNameBytes(
 
     }
 
-    public static final int TO_FIELD_NUMBER = 2;
-    private com.viam.common.v1.Common.Pose to_;
-    /**
-     * <pre>
-     * The destination to move the arm to; this is from the reference frame of the arm.
-     * </pre>
-     *
-     * <code>.viam.common.v1.Pose to = 2 [json_name = "to"];</code>
-     */
-    @java.lang.Override
-    public boolean hasTo() {
-      return ((bitField0_ & 0x00000001) != 0);
-    }
-    /**
-     * <pre>
-     * The destination to move the arm to; this is from the reference frame of the arm.
-     * </pre>
-     *
-     * <code>.viam.common.v1.Pose to = 2 [json_name = "to"];</code>
-     */
-    @java.lang.Override
-    public com.viam.common.v1.Common.Pose getTo() {
-      return to_ == null ? com.viam.common.v1.Common.Pose.getDefaultInstance() : to_;
-    }
-    /**
-     * <pre>
-     * The destination to move the arm to; this is from the reference frame of the arm.
-     * </pre>
-     *
-     * <code>.viam.common.v1.Pose to = 2 [json_name = "to"];</code>
-     */
-    @java.lang.SuppressWarnings("ReturnValueIgnored")
-    private void setTo(com.viam.common.v1.Common.Pose value) {
-      value.getClass();  // minimal bytecode null check
-      to_ = value;
-      bitField0_ |= 0x00000001;
-    }
-    /**
-     * <pre>
-     * The destination to move the arm to; this is from the reference frame of the arm.
-     * </pre>
-     *
-     * <code>.viam.common.v1.Pose to = 2 [json_name = "to"];</code>
-     */
-    @java.lang.SuppressWarnings({"ReferenceEquality", "ReturnValueIgnored"})
-    private void mergeTo(com.viam.common.v1.Common.Pose value) {
-      value.getClass();  // minimal bytecode null check
-      if (to_ != null &&
-          to_ != com.viam.common.v1.Common.Pose.getDefaultInstance()) {
-        to_ =
-          com.viam.common.v1.Common.Pose.newBuilder(to_).mergeFrom(value).buildPartial();
-      } else {
-        to_ = value;
-      }
-      bitField0_ |= 0x00000001;
-    }
-    /**
-     * <pre>
-     * The destination to move the arm to; this is from the reference frame of the arm.
-     * </pre>
-     *
-     * <code>.viam.common.v1.Pose to = 2 [json_name = "to"];</code>
-     */
-    private void clearTo() {
-      to_ = null;
-      bitField0_ = (bitField0_ & ~0x00000001);
-    }
-
     public static final int EXTRA_FIELD_NUMBER = 99;
     private com.google.protobuf.Struct extra_;
     /**
@@ -2379,7 +2292,7 @@ private void clearTo() {
      */
     @java.lang.Override
     public boolean hasExtra() {
-      return ((bitField0_ & 0x00000002) != 0);
+      return ((bitField0_ & 0x00000001) != 0);
     }
     /**
      * <pre>
@@ -2403,7 +2316,7 @@ public com.google.protobuf.Struct getExtra() {
     private void setExtra(com.google.protobuf.Struct value) {
       value.getClass();  // minimal bytecode null check
       extra_ = value;
-      bitField0_ |= 0x00000002;
+      bitField0_ |= 0x00000001;
     }
     /**
      * <pre>
@@ -2422,7 +2335,7 @@ private void mergeExtra(com.google.protobuf.Struct value) {
       } else {
         extra_ = value;
       }
-      bitField0_ |= 0x00000002;
+      bitField0_ |= 0x00000001;
     }
     /**
      * <pre>
@@ -2433,53 +2346,53 @@ private void mergeExtra(com.google.protobuf.Struct value) {
      */
     private void clearExtra() {
       extra_ = null;
-      bitField0_ = (bitField0_ & ~0x00000002);
+      bitField0_ = (bitField0_ & ~0x00000001);
     }
 
-    public static com.viam.component.arm.v1.Arm.MoveToPositionRequest parseFrom(
+    public static com.viam.component.arm.v1.Arm.GetJointPositionsRequest parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.component.arm.v1.Arm.MoveToPositionRequest parseFrom(
+    public static com.viam.component.arm.v1.Arm.GetJointPositionsRequest parseFrom(
         java.nio.ByteBuffer data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.component.arm.v1.Arm.MoveToPositionRequest parseFrom(
+    public static com.viam.component.arm.v1.Arm.GetJointPositionsRequest parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.component.arm.v1.Arm.MoveToPositionRequest parseFrom(
+    public static com.viam.component.arm.v1.Arm.GetJointPositionsRequest parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.component.arm.v1.Arm.MoveToPositionRequest parseFrom(byte[] data)
+    public static com.viam.component.arm.v1.Arm.GetJointPositionsRequest parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.component.arm.v1.Arm.MoveToPositionRequest parseFrom(
+    public static com.viam.component.arm.v1.Arm.GetJointPositionsRequest parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.component.arm.v1.Arm.MoveToPositionRequest parseFrom(java.io.InputStream input)
+    public static com.viam.component.arm.v1.Arm.GetJointPositionsRequest parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, input);
     }
-    public static com.viam.component.arm.v1.Arm.MoveToPositionRequest parseFrom(
+    public static com.viam.component.arm.v1.Arm.GetJointPositionsRequest parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -2487,24 +2400,24 @@ public static com.viam.component.arm.v1.Arm.MoveToPositionRequest parseFrom(
           DEFAULT_INSTANCE, input, extensionRegistry);
     }
 
-    public static com.viam.component.arm.v1.Arm.MoveToPositionRequest parseDelimitedFrom(java.io.InputStream input)
+    public static com.viam.component.arm.v1.Arm.GetJointPositionsRequest parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return parseDelimitedFrom(DEFAULT_INSTANCE, input);
     }
 
-    public static com.viam.component.arm.v1.Arm.MoveToPositionRequest parseDelimitedFrom(
+    public static com.viam.component.arm.v1.Arm.GetJointPositionsRequest parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
     }
-    public static com.viam.component.arm.v1.Arm.MoveToPositionRequest parseFrom(
+    public static com.viam.component.arm.v1.Arm.GetJointPositionsRequest parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, input);
     }
-    public static com.viam.component.arm.v1.Arm.MoveToPositionRequest parseFrom(
+    public static com.viam.component.arm.v1.Arm.GetJointPositionsRequest parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -2515,25 +2428,19 @@ public static com.viam.component.arm.v1.Arm.MoveToPositionRequest parseFrom(
     public static Builder newBuilder() {
       return (Builder) DEFAULT_INSTANCE.createBuilder();
     }
-    public static Builder newBuilder(com.viam.component.arm.v1.Arm.MoveToPositionRequest prototype) {
+    public static Builder newBuilder(com.viam.component.arm.v1.Arm.GetJointPositionsRequest prototype) {
       return DEFAULT_INSTANCE.createBuilder(prototype);
     }
 
     /**
-     * <pre>
-     * Moves an arm to the specified pose that is within the reference frame of the arm.
-     * Move request in Motion API has the same behavior except that it performs obstacle avoidance when a world_state
-     * message is specified.
-     * </pre>
-     *
-     * Protobuf type {@code viam.component.arm.v1.MoveToPositionRequest}
+     * Protobuf type {@code viam.component.arm.v1.GetJointPositionsRequest}
      */
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageLite.Builder<
-          com.viam.component.arm.v1.Arm.MoveToPositionRequest, Builder> implements
-        // @@protoc_insertion_point(builder_implements:viam.component.arm.v1.MoveToPositionRequest)
-        com.viam.component.arm.v1.Arm.MoveToPositionRequestOrBuilder {
-      // Construct using com.viam.component.arm.v1.Arm.MoveToPositionRequest.newBuilder()
+          com.viam.component.arm.v1.Arm.GetJointPositionsRequest, Builder> implements
+        // @@protoc_insertion_point(builder_implements:viam.component.arm.v1.GetJointPositionsRequest)
+        com.viam.component.arm.v1.Arm.GetJointPositionsRequestOrBuilder {
+      // Construct using com.viam.component.arm.v1.Arm.GetJointPositionsRequest.newBuilder()
       private Builder() {
         super(DEFAULT_INSTANCE);
       }
@@ -2610,115 +2517,44 @@ public Builder setNameBytes(
 
       /**
        * <pre>
-       * The destination to move the arm to; this is from the reference frame of the arm.
+       * Additional arguments to the method
        * </pre>
        *
-       * <code>.viam.common.v1.Pose to = 2 [json_name = "to"];</code>
+       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
        */
       @java.lang.Override
-      public boolean hasTo() {
-        return instance.hasTo();
+      public boolean hasExtra() {
+        return instance.hasExtra();
       }
       /**
        * <pre>
-       * The destination to move the arm to; this is from the reference frame of the arm.
+       * Additional arguments to the method
        * </pre>
        *
-       * <code>.viam.common.v1.Pose to = 2 [json_name = "to"];</code>
+       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
        */
       @java.lang.Override
-      public com.viam.common.v1.Common.Pose getTo() {
-        return instance.getTo();
+      public com.google.protobuf.Struct getExtra() {
+        return instance.getExtra();
       }
       /**
        * <pre>
-       * The destination to move the arm to; this is from the reference frame of the arm.
+       * Additional arguments to the method
        * </pre>
        *
-       * <code>.viam.common.v1.Pose to = 2 [json_name = "to"];</code>
+       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
        */
-      public Builder setTo(com.viam.common.v1.Common.Pose value) {
+      public Builder setExtra(com.google.protobuf.Struct value) {
         copyOnWrite();
-        instance.setTo(value);
+        instance.setExtra(value);
         return this;
         }
       /**
        * <pre>
-       * The destination to move the arm to; this is from the reference frame of the arm.
+       * Additional arguments to the method
        * </pre>
        *
-       * <code>.viam.common.v1.Pose to = 2 [json_name = "to"];</code>
-       */
-      public Builder setTo(
-          com.viam.common.v1.Common.Pose.Builder builderForValue) {
-        copyOnWrite();
-        instance.setTo(builderForValue.build());
-        return this;
-      }
-      /**
-       * <pre>
-       * The destination to move the arm to; this is from the reference frame of the arm.
-       * </pre>
-       *
-       * <code>.viam.common.v1.Pose to = 2 [json_name = "to"];</code>
-       */
-      public Builder mergeTo(com.viam.common.v1.Common.Pose value) {
-        copyOnWrite();
-        instance.mergeTo(value);
-        return this;
-      }
-      /**
-       * <pre>
-       * The destination to move the arm to; this is from the reference frame of the arm.
-       * </pre>
-       *
-       * <code>.viam.common.v1.Pose to = 2 [json_name = "to"];</code>
-       */
-      public Builder clearTo() {  copyOnWrite();
-        instance.clearTo();
-        return this;
-      }
-
-      /**
-       * <pre>
-       * Additional arguments to the method
-       * </pre>
-       *
-       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
-       */
-      @java.lang.Override
-      public boolean hasExtra() {
-        return instance.hasExtra();
-      }
-      /**
-       * <pre>
-       * Additional arguments to the method
-       * </pre>
-       *
-       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
-       */
-      @java.lang.Override
-      public com.google.protobuf.Struct getExtra() {
-        return instance.getExtra();
-      }
-      /**
-       * <pre>
-       * Additional arguments to the method
-       * </pre>
-       *
-       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
-       */
-      public Builder setExtra(com.google.protobuf.Struct value) {
-        copyOnWrite();
-        instance.setExtra(value);
-        return this;
-        }
-      /**
-       * <pre>
-       * Additional arguments to the method
-       * </pre>
-       *
-       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
        */
       public Builder setExtra(
           com.google.protobuf.Struct.Builder builderForValue) {
@@ -2750,7 +2586,7 @@ public Builder mergeExtra(com.google.protobuf.Struct value) {
         return this;
       }
 
-      // @@protoc_insertion_point(builder_scope:viam.component.arm.v1.MoveToPositionRequest)
+      // @@protoc_insertion_point(builder_scope:viam.component.arm.v1.GetJointPositionsRequest)
     }
     @java.lang.Override
     @java.lang.SuppressWarnings({"ThrowNull"})
@@ -2759,7 +2595,7 @@ protected final java.lang.Object dynamicMethod(
         java.lang.Object arg0, java.lang.Object arg1) {
       switch (method) {
         case NEW_MUTABLE_INSTANCE: {
-          return new com.viam.component.arm.v1.Arm.MoveToPositionRequest();
+          return new com.viam.component.arm.v1.Arm.GetJointPositionsRequest();
         }
         case NEW_BUILDER: {
           return new Builder();
@@ -2768,25 +2604,24 @@ protected final java.lang.Object dynamicMethod(
             java.lang.Object[] objects = new java.lang.Object[] {
               "bitField0_",
               "name_",
-              "to_",
               "extra_",
             };
             java.lang.String info =
-                "\u0000\u0003\u0000\u0001\u0001c\u0003\u0000\u0000\u0000\u0001\u0208\u0002\u1009\u0000" +
-                "c\u1009\u0001";
+                "\u0000\u0002\u0000\u0001\u0001c\u0002\u0000\u0000\u0000\u0001\u0208c\u1009\u0000" +
+                "";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         case GET_DEFAULT_INSTANCE: {
           return DEFAULT_INSTANCE;
         }
         case GET_PARSER: {
-          com.google.protobuf.Parser<com.viam.component.arm.v1.Arm.MoveToPositionRequest> parser = PARSER;
+          com.google.protobuf.Parser<com.viam.component.arm.v1.Arm.GetJointPositionsRequest> parser = PARSER;
           if (parser == null) {
-            synchronized (com.viam.component.arm.v1.Arm.MoveToPositionRequest.class) {
+            synchronized (com.viam.component.arm.v1.Arm.GetJointPositionsRequest.class) {
               parser = PARSER;
               if (parser == null) {
                 parser =
-                    new DefaultInstanceBasedParser<com.viam.component.arm.v1.Arm.MoveToPositionRequest>(
+                    new DefaultInstanceBasedParser<com.viam.component.arm.v1.Arm.GetJointPositionsRequest>(
                         DEFAULT_INSTANCE);
                 PARSER = parser;
               }
@@ -2806,86 +2641,174 @@ protected final java.lang.Object dynamicMethod(
     }
 
 
-    // @@protoc_insertion_point(class_scope:viam.component.arm.v1.MoveToPositionRequest)
-    private static final com.viam.component.arm.v1.Arm.MoveToPositionRequest DEFAULT_INSTANCE;
+    // @@protoc_insertion_point(class_scope:viam.component.arm.v1.GetJointPositionsRequest)
+    private static final com.viam.component.arm.v1.Arm.GetJointPositionsRequest DEFAULT_INSTANCE;
     static {
-      MoveToPositionRequest defaultInstance = new MoveToPositionRequest();
+      GetJointPositionsRequest defaultInstance = new GetJointPositionsRequest();
       // New instances are implicitly immutable so no need to make
       // immutable.
       DEFAULT_INSTANCE = defaultInstance;
       com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
-        MoveToPositionRequest.class, defaultInstance);
+        GetJointPositionsRequest.class, defaultInstance);
     }
 
-    public static com.viam.component.arm.v1.Arm.MoveToPositionRequest getDefaultInstance() {
+    public static com.viam.component.arm.v1.Arm.GetJointPositionsRequest getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
-    private static volatile com.google.protobuf.Parser<MoveToPositionRequest> PARSER;
+    private static volatile com.google.protobuf.Parser<GetJointPositionsRequest> PARSER;
 
-    public static com.google.protobuf.Parser<MoveToPositionRequest> parser() {
+    public static com.google.protobuf.Parser<GetJointPositionsRequest> parser() {
       return DEFAULT_INSTANCE.getParserForType();
     }
   }
 
-  public interface MoveToPositionResponseOrBuilder extends
-      // @@protoc_insertion_point(interface_extends:viam.component.arm.v1.MoveToPositionResponse)
+  public interface GetJointPositionsResponseOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:viam.component.arm.v1.GetJointPositionsResponse)
       com.google.protobuf.MessageLiteOrBuilder {
+
+    /**
+     * <pre>
+     * a list JointPositions
+     * </pre>
+     *
+     * <code>.viam.component.arm.v1.JointPositions positions = 1 [json_name = "positions"];</code>
+     * @return Whether the positions field is set.
+     */
+    boolean hasPositions();
+    /**
+     * <pre>
+     * a list JointPositions
+     * </pre>
+     *
+     * <code>.viam.component.arm.v1.JointPositions positions = 1 [json_name = "positions"];</code>
+     * @return The positions.
+     */
+    com.viam.component.arm.v1.Arm.JointPositions getPositions();
   }
   /**
-   * Protobuf type {@code viam.component.arm.v1.MoveToPositionResponse}
+   * Protobuf type {@code viam.component.arm.v1.GetJointPositionsResponse}
    */
-  public  static final class MoveToPositionResponse extends
+  public  static final class GetJointPositionsResponse extends
       com.google.protobuf.GeneratedMessageLite<
-          MoveToPositionResponse, MoveToPositionResponse.Builder> implements
-      // @@protoc_insertion_point(message_implements:viam.component.arm.v1.MoveToPositionResponse)
-      MoveToPositionResponseOrBuilder {
-    private MoveToPositionResponse() {
+          GetJointPositionsResponse, GetJointPositionsResponse.Builder> implements
+      // @@protoc_insertion_point(message_implements:viam.component.arm.v1.GetJointPositionsResponse)
+      GetJointPositionsResponseOrBuilder {
+    private GetJointPositionsResponse() {
     }
-    public static com.viam.component.arm.v1.Arm.MoveToPositionResponse parseFrom(
+    private int bitField0_;
+    public static final int POSITIONS_FIELD_NUMBER = 1;
+    private com.viam.component.arm.v1.Arm.JointPositions positions_;
+    /**
+     * <pre>
+     * a list JointPositions
+     * </pre>
+     *
+     * <code>.viam.component.arm.v1.JointPositions positions = 1 [json_name = "positions"];</code>
+     */
+    @java.lang.Override
+    public boolean hasPositions() {
+      return ((bitField0_ & 0x00000001) != 0);
+    }
+    /**
+     * <pre>
+     * a list JointPositions
+     * </pre>
+     *
+     * <code>.viam.component.arm.v1.JointPositions positions = 1 [json_name = "positions"];</code>
+     */
+    @java.lang.Override
+    public com.viam.component.arm.v1.Arm.JointPositions getPositions() {
+      return positions_ == null ? com.viam.component.arm.v1.Arm.JointPositions.getDefaultInstance() : positions_;
+    }
+    /**
+     * <pre>
+     * a list JointPositions
+     * </pre>
+     *
+     * <code>.viam.component.arm.v1.JointPositions positions = 1 [json_name = "positions"];</code>
+     */
+    @java.lang.SuppressWarnings("ReturnValueIgnored")
+    private void setPositions(com.viam.component.arm.v1.Arm.JointPositions value) {
+      value.getClass();  // minimal bytecode null check
+      positions_ = value;
+      bitField0_ |= 0x00000001;
+    }
+    /**
+     * <pre>
+     * a list JointPositions
+     * </pre>
+     *
+     * <code>.viam.component.arm.v1.JointPositions positions = 1 [json_name = "positions"];</code>
+     */
+    @java.lang.SuppressWarnings({"ReferenceEquality", "ReturnValueIgnored"})
+    private void mergePositions(com.viam.component.arm.v1.Arm.JointPositions value) {
+      value.getClass();  // minimal bytecode null check
+      if (positions_ != null &&
+          positions_ != com.viam.component.arm.v1.Arm.JointPositions.getDefaultInstance()) {
+        positions_ =
+          com.viam.component.arm.v1.Arm.JointPositions.newBuilder(positions_).mergeFrom(value).buildPartial();
+      } else {
+        positions_ = value;
+      }
+      bitField0_ |= 0x00000001;
+    }
+    /**
+     * <pre>
+     * a list JointPositions
+     * </pre>
+     *
+     * <code>.viam.component.arm.v1.JointPositions positions = 1 [json_name = "positions"];</code>
+     */
+    private void clearPositions() {
+      positions_ = null;
+      bitField0_ = (bitField0_ & ~0x00000001);
+    }
+
+    public static com.viam.component.arm.v1.Arm.GetJointPositionsResponse parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.component.arm.v1.Arm.MoveToPositionResponse parseFrom(
+    public static com.viam.component.arm.v1.Arm.GetJointPositionsResponse parseFrom(
         java.nio.ByteBuffer data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.component.arm.v1.Arm.MoveToPositionResponse parseFrom(
+    public static com.viam.component.arm.v1.Arm.GetJointPositionsResponse parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.component.arm.v1.Arm.MoveToPositionResponse parseFrom(
+    public static com.viam.component.arm.v1.Arm.GetJointPositionsResponse parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.component.arm.v1.Arm.MoveToPositionResponse parseFrom(byte[] data)
+    public static com.viam.component.arm.v1.Arm.GetJointPositionsResponse parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.component.arm.v1.Arm.MoveToPositionResponse parseFrom(
+    public static com.viam.component.arm.v1.Arm.GetJointPositionsResponse parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.component.arm.v1.Arm.MoveToPositionResponse parseFrom(java.io.InputStream input)
+    public static com.viam.component.arm.v1.Arm.GetJointPositionsResponse parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, input);
     }
-    public static com.viam.component.arm.v1.Arm.MoveToPositionResponse parseFrom(
+    public static com.viam.component.arm.v1.Arm.GetJointPositionsResponse parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -2893,24 +2816,24 @@ public static com.viam.component.arm.v1.Arm.MoveToPositionResponse parseFrom(
           DEFAULT_INSTANCE, input, extensionRegistry);
     }
 
-    public static com.viam.component.arm.v1.Arm.MoveToPositionResponse parseDelimitedFrom(java.io.InputStream input)
+    public static com.viam.component.arm.v1.Arm.GetJointPositionsResponse parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return parseDelimitedFrom(DEFAULT_INSTANCE, input);
     }
 
-    public static com.viam.component.arm.v1.Arm.MoveToPositionResponse parseDelimitedFrom(
+    public static com.viam.component.arm.v1.Arm.GetJointPositionsResponse parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
     }
-    public static com.viam.component.arm.v1.Arm.MoveToPositionResponse parseFrom(
+    public static com.viam.component.arm.v1.Arm.GetJointPositionsResponse parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, input);
     }
-    public static com.viam.component.arm.v1.Arm.MoveToPositionResponse parseFrom(
+    public static com.viam.component.arm.v1.Arm.GetJointPositionsResponse parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -2921,55 +2844,129 @@ public static com.viam.component.arm.v1.Arm.MoveToPositionResponse parseFrom(
     public static Builder newBuilder() {
       return (Builder) DEFAULT_INSTANCE.createBuilder();
     }
-    public static Builder newBuilder(com.viam.component.arm.v1.Arm.MoveToPositionResponse prototype) {
+    public static Builder newBuilder(com.viam.component.arm.v1.Arm.GetJointPositionsResponse prototype) {
       return DEFAULT_INSTANCE.createBuilder(prototype);
     }
 
     /**
-     * Protobuf type {@code viam.component.arm.v1.MoveToPositionResponse}
+     * Protobuf type {@code viam.component.arm.v1.GetJointPositionsResponse}
      */
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageLite.Builder<
-          com.viam.component.arm.v1.Arm.MoveToPositionResponse, Builder> implements
-        // @@protoc_insertion_point(builder_implements:viam.component.arm.v1.MoveToPositionResponse)
-        com.viam.component.arm.v1.Arm.MoveToPositionResponseOrBuilder {
-      // Construct using com.viam.component.arm.v1.Arm.MoveToPositionResponse.newBuilder()
+          com.viam.component.arm.v1.Arm.GetJointPositionsResponse, Builder> implements
+        // @@protoc_insertion_point(builder_implements:viam.component.arm.v1.GetJointPositionsResponse)
+        com.viam.component.arm.v1.Arm.GetJointPositionsResponseOrBuilder {
+      // Construct using com.viam.component.arm.v1.Arm.GetJointPositionsResponse.newBuilder()
       private Builder() {
         super(DEFAULT_INSTANCE);
       }
 
 
-      // @@protoc_insertion_point(builder_scope:viam.component.arm.v1.MoveToPositionResponse)
-    }
-    @java.lang.Override
-    @java.lang.SuppressWarnings({"ThrowNull"})
-    protected final java.lang.Object dynamicMethod(
-        com.google.protobuf.GeneratedMessageLite.MethodToInvoke method,
-        java.lang.Object arg0, java.lang.Object arg1) {
-      switch (method) {
-        case NEW_MUTABLE_INSTANCE: {
-          return new com.viam.component.arm.v1.Arm.MoveToPositionResponse();
-        }
-        case NEW_BUILDER: {
-          return new Builder();
-        }
-        case BUILD_MESSAGE_INFO: {
-            java.lang.Object[] objects = null;
-            java.lang.String info =
-                "\u0000\u0000";
-            return newMessageInfo(DEFAULT_INSTANCE, info, objects);
+      /**
+       * <pre>
+       * a list JointPositions
+       * </pre>
+       *
+       * <code>.viam.component.arm.v1.JointPositions positions = 1 [json_name = "positions"];</code>
+       */
+      @java.lang.Override
+      public boolean hasPositions() {
+        return instance.hasPositions();
+      }
+      /**
+       * <pre>
+       * a list JointPositions
+       * </pre>
+       *
+       * <code>.viam.component.arm.v1.JointPositions positions = 1 [json_name = "positions"];</code>
+       */
+      @java.lang.Override
+      public com.viam.component.arm.v1.Arm.JointPositions getPositions() {
+        return instance.getPositions();
+      }
+      /**
+       * <pre>
+       * a list JointPositions
+       * </pre>
+       *
+       * <code>.viam.component.arm.v1.JointPositions positions = 1 [json_name = "positions"];</code>
+       */
+      public Builder setPositions(com.viam.component.arm.v1.Arm.JointPositions value) {
+        copyOnWrite();
+        instance.setPositions(value);
+        return this;
+        }
+      /**
+       * <pre>
+       * a list JointPositions
+       * </pre>
+       *
+       * <code>.viam.component.arm.v1.JointPositions positions = 1 [json_name = "positions"];</code>
+       */
+      public Builder setPositions(
+          com.viam.component.arm.v1.Arm.JointPositions.Builder builderForValue) {
+        copyOnWrite();
+        instance.setPositions(builderForValue.build());
+        return this;
+      }
+      /**
+       * <pre>
+       * a list JointPositions
+       * </pre>
+       *
+       * <code>.viam.component.arm.v1.JointPositions positions = 1 [json_name = "positions"];</code>
+       */
+      public Builder mergePositions(com.viam.component.arm.v1.Arm.JointPositions value) {
+        copyOnWrite();
+        instance.mergePositions(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * a list JointPositions
+       * </pre>
+       *
+       * <code>.viam.component.arm.v1.JointPositions positions = 1 [json_name = "positions"];</code>
+       */
+      public Builder clearPositions() {  copyOnWrite();
+        instance.clearPositions();
+        return this;
+      }
+
+      // @@protoc_insertion_point(builder_scope:viam.component.arm.v1.GetJointPositionsResponse)
+    }
+    @java.lang.Override
+    @java.lang.SuppressWarnings({"ThrowNull"})
+    protected final java.lang.Object dynamicMethod(
+        com.google.protobuf.GeneratedMessageLite.MethodToInvoke method,
+        java.lang.Object arg0, java.lang.Object arg1) {
+      switch (method) {
+        case NEW_MUTABLE_INSTANCE: {
+          return new com.viam.component.arm.v1.Arm.GetJointPositionsResponse();
+        }
+        case NEW_BUILDER: {
+          return new Builder();
+        }
+        case BUILD_MESSAGE_INFO: {
+            java.lang.Object[] objects = new java.lang.Object[] {
+              "bitField0_",
+              "positions_",
+            };
+            java.lang.String info =
+                "\u0000\u0001\u0000\u0001\u0001\u0001\u0001\u0000\u0000\u0000\u0001\u1009\u0000";
+            return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         case GET_DEFAULT_INSTANCE: {
           return DEFAULT_INSTANCE;
         }
         case GET_PARSER: {
-          com.google.protobuf.Parser<com.viam.component.arm.v1.Arm.MoveToPositionResponse> parser = PARSER;
+          com.google.protobuf.Parser<com.viam.component.arm.v1.Arm.GetJointPositionsResponse> parser = PARSER;
           if (parser == null) {
-            synchronized (com.viam.component.arm.v1.Arm.MoveToPositionResponse.class) {
+            synchronized (com.viam.component.arm.v1.Arm.GetJointPositionsResponse.class) {
               parser = PARSER;
               if (parser == null) {
                 parser =
-                    new DefaultInstanceBasedParser<com.viam.component.arm.v1.Arm.MoveToPositionResponse>(
+                    new DefaultInstanceBasedParser<com.viam.component.arm.v1.Arm.GetJointPositionsResponse>(
                         DEFAULT_INSTANCE);
                 PARSER = parser;
               }
@@ -2989,30 +2986,30 @@ protected final java.lang.Object dynamicMethod(
     }
 
 
-    // @@protoc_insertion_point(class_scope:viam.component.arm.v1.MoveToPositionResponse)
-    private static final com.viam.component.arm.v1.Arm.MoveToPositionResponse DEFAULT_INSTANCE;
+    // @@protoc_insertion_point(class_scope:viam.component.arm.v1.GetJointPositionsResponse)
+    private static final com.viam.component.arm.v1.Arm.GetJointPositionsResponse DEFAULT_INSTANCE;
     static {
-      MoveToPositionResponse defaultInstance = new MoveToPositionResponse();
+      GetJointPositionsResponse defaultInstance = new GetJointPositionsResponse();
       // New instances are implicitly immutable so no need to make
       // immutable.
       DEFAULT_INSTANCE = defaultInstance;
       com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
-        MoveToPositionResponse.class, defaultInstance);
+        GetJointPositionsResponse.class, defaultInstance);
     }
 
-    public static com.viam.component.arm.v1.Arm.MoveToPositionResponse getDefaultInstance() {
+    public static com.viam.component.arm.v1.Arm.GetJointPositionsResponse getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
-    private static volatile com.google.protobuf.Parser<MoveToPositionResponse> PARSER;
+    private static volatile com.google.protobuf.Parser<GetJointPositionsResponse> PARSER;
 
-    public static com.google.protobuf.Parser<MoveToPositionResponse> parser() {
+    public static com.google.protobuf.Parser<GetJointPositionsResponse> parser() {
       return DEFAULT_INSTANCE.getParserForType();
     }
   }
 
-  public interface MoveToJointPositionsRequestOrBuilder extends
-      // @@protoc_insertion_point(interface_extends:viam.component.arm.v1.MoveToJointPositionsRequest)
+  public interface MoveToPositionRequestOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:viam.component.arm.v1.MoveToPositionRequest)
       com.google.protobuf.MessageLiteOrBuilder {
 
     /**
@@ -3037,24 +3034,22 @@ public interface MoveToJointPositionsRequestOrBuilder extends
 
     /**
      * <pre>
-     * A list of joint positions
-     * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector
+     * The destination to move the arm to; this is from the reference frame of the arm.
      * </pre>
      *
-     * <code>.viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
-     * @return Whether the positions field is set.
+     * <code>.viam.common.v1.Pose to = 2 [json_name = "to"];</code>
+     * @return Whether the to field is set.
      */
-    boolean hasPositions();
+    boolean hasTo();
     /**
      * <pre>
-     * A list of joint positions
-     * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector
+     * The destination to move the arm to; this is from the reference frame of the arm.
      * </pre>
      *
-     * <code>.viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
-     * @return The positions.
+     * <code>.viam.common.v1.Pose to = 2 [json_name = "to"];</code>
+     * @return The to.
      */
-    com.viam.component.arm.v1.Arm.JointPositions getPositions();
+    com.viam.common.v1.Common.Pose getTo();
 
     /**
      * <pre>
@@ -3076,14 +3071,20 @@ public interface MoveToJointPositionsRequestOrBuilder extends
     com.google.protobuf.Struct getExtra();
   }
   /**
-   * Protobuf type {@code viam.component.arm.v1.MoveToJointPositionsRequest}
+   * <pre>
+   * Moves an arm to the specified pose that is within the reference frame of the arm.
+   * Move request in Motion API has the same behavior except that it performs obstacle avoidance when a world_state
+   * message is specified.
+   * </pre>
+   *
+   * Protobuf type {@code viam.component.arm.v1.MoveToPositionRequest}
    */
-  public  static final class MoveToJointPositionsRequest extends
+  public  static final class MoveToPositionRequest extends
       com.google.protobuf.GeneratedMessageLite<
-          MoveToJointPositionsRequest, MoveToJointPositionsRequest.Builder> implements
-      // @@protoc_insertion_point(message_implements:viam.component.arm.v1.MoveToJointPositionsRequest)
-      MoveToJointPositionsRequestOrBuilder {
-    private MoveToJointPositionsRequest() {
+          MoveToPositionRequest, MoveToPositionRequest.Builder> implements
+      // @@protoc_insertion_point(message_implements:viam.component.arm.v1.MoveToPositionRequest)
+      MoveToPositionRequestOrBuilder {
+    private MoveToPositionRequest() {
       name_ = "";
     }
     private int bitField0_;
@@ -3155,76 +3156,71 @@ private void setNameBytes(
 
     }
 
-    public static final int POSITIONS_FIELD_NUMBER = 2;
-    private com.viam.component.arm.v1.Arm.JointPositions positions_;
+    public static final int TO_FIELD_NUMBER = 2;
+    private com.viam.common.v1.Common.Pose to_;
     /**
      * <pre>
-     * A list of joint positions
-     * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector
+     * The destination to move the arm to; this is from the reference frame of the arm.
      * </pre>
      *
-     * <code>.viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+     * <code>.viam.common.v1.Pose to = 2 [json_name = "to"];</code>
      */
     @java.lang.Override
-    public boolean hasPositions() {
+    public boolean hasTo() {
       return ((bitField0_ & 0x00000001) != 0);
     }
     /**
      * <pre>
-     * A list of joint positions
-     * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector
+     * The destination to move the arm to; this is from the reference frame of the arm.
      * </pre>
      *
-     * <code>.viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+     * <code>.viam.common.v1.Pose to = 2 [json_name = "to"];</code>
      */
     @java.lang.Override
-    public com.viam.component.arm.v1.Arm.JointPositions getPositions() {
-      return positions_ == null ? com.viam.component.arm.v1.Arm.JointPositions.getDefaultInstance() : positions_;
+    public com.viam.common.v1.Common.Pose getTo() {
+      return to_ == null ? com.viam.common.v1.Common.Pose.getDefaultInstance() : to_;
     }
     /**
      * <pre>
-     * A list of joint positions
-     * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector
+     * The destination to move the arm to; this is from the reference frame of the arm.
      * </pre>
      *
-     * <code>.viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+     * <code>.viam.common.v1.Pose to = 2 [json_name = "to"];</code>
      */
     @java.lang.SuppressWarnings("ReturnValueIgnored")
-    private void setPositions(com.viam.component.arm.v1.Arm.JointPositions value) {
+    private void setTo(com.viam.common.v1.Common.Pose value) {
       value.getClass();  // minimal bytecode null check
-      positions_ = value;
+      to_ = value;
       bitField0_ |= 0x00000001;
     }
     /**
      * <pre>
-     * A list of joint positions
-     * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector
+     * The destination to move the arm to; this is from the reference frame of the arm.
      * </pre>
      *
-     * <code>.viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+     * <code>.viam.common.v1.Pose to = 2 [json_name = "to"];</code>
      */
     @java.lang.SuppressWarnings({"ReferenceEquality", "ReturnValueIgnored"})
-    private void mergePositions(com.viam.component.arm.v1.Arm.JointPositions value) {
+    private void mergeTo(com.viam.common.v1.Common.Pose value) {
       value.getClass();  // minimal bytecode null check
-      if (positions_ != null &&
-          positions_ != com.viam.component.arm.v1.Arm.JointPositions.getDefaultInstance()) {
-        positions_ =
-          com.viam.component.arm.v1.Arm.JointPositions.newBuilder(positions_).mergeFrom(value).buildPartial();
+      if (to_ != null &&
+          to_ != com.viam.common.v1.Common.Pose.getDefaultInstance()) {
+        to_ =
+          com.viam.common.v1.Common.Pose.newBuilder(to_).mergeFrom(value).buildPartial();
       } else {
-        positions_ = value;
+        to_ = value;
       }
       bitField0_ |= 0x00000001;
     }
     /**
      * <pre>
-     * A list of joint positions
-     * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector
+     * The destination to move the arm to; this is from the reference frame of the arm.
      * </pre>
      *
-     * <code>.viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+     * <code>.viam.common.v1.Pose to = 2 [json_name = "to"];</code>
      */
-    private void clearPositions() {
-      positions_ = null;
+    private void clearTo() {
+      to_ = null;
       bitField0_ = (bitField0_ & ~0x00000001);
     }
 
@@ -3296,50 +3292,50 @@ private void clearExtra() {
       bitField0_ = (bitField0_ & ~0x00000002);
     }
 
-    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest parseFrom(
+    public static com.viam.component.arm.v1.Arm.MoveToPositionRequest parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest parseFrom(
+    public static com.viam.component.arm.v1.Arm.MoveToPositionRequest parseFrom(
         java.nio.ByteBuffer data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest parseFrom(
+    public static com.viam.component.arm.v1.Arm.MoveToPositionRequest parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest parseFrom(
+    public static com.viam.component.arm.v1.Arm.MoveToPositionRequest parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest parseFrom(byte[] data)
+    public static com.viam.component.arm.v1.Arm.MoveToPositionRequest parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest parseFrom(
+    public static com.viam.component.arm.v1.Arm.MoveToPositionRequest parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest parseFrom(java.io.InputStream input)
+    public static com.viam.component.arm.v1.Arm.MoveToPositionRequest parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, input);
     }
-    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest parseFrom(
+    public static com.viam.component.arm.v1.Arm.MoveToPositionRequest parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -3347,24 +3343,24 @@ public static com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest parseFro
           DEFAULT_INSTANCE, input, extensionRegistry);
     }
 
-    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest parseDelimitedFrom(java.io.InputStream input)
+    public static com.viam.component.arm.v1.Arm.MoveToPositionRequest parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return parseDelimitedFrom(DEFAULT_INSTANCE, input);
     }
 
-    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest parseDelimitedFrom(
+    public static com.viam.component.arm.v1.Arm.MoveToPositionRequest parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
     }
-    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest parseFrom(
+    public static com.viam.component.arm.v1.Arm.MoveToPositionRequest parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, input);
     }
-    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest parseFrom(
+    public static com.viam.component.arm.v1.Arm.MoveToPositionRequest parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -3375,19 +3371,25 @@ public static com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest parseFro
     public static Builder newBuilder() {
       return (Builder) DEFAULT_INSTANCE.createBuilder();
     }
-    public static Builder newBuilder(com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest prototype) {
+    public static Builder newBuilder(com.viam.component.arm.v1.Arm.MoveToPositionRequest prototype) {
       return DEFAULT_INSTANCE.createBuilder(prototype);
     }
 
     /**
-     * Protobuf type {@code viam.component.arm.v1.MoveToJointPositionsRequest}
+     * <pre>
+     * Moves an arm to the specified pose that is within the reference frame of the arm.
+     * Move request in Motion API has the same behavior except that it performs obstacle avoidance when a world_state
+     * message is specified.
+     * </pre>
+     *
+     * Protobuf type {@code viam.component.arm.v1.MoveToPositionRequest}
      */
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageLite.Builder<
-          com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest, Builder> implements
-        // @@protoc_insertion_point(builder_implements:viam.component.arm.v1.MoveToJointPositionsRequest)
-        com.viam.component.arm.v1.Arm.MoveToJointPositionsRequestOrBuilder {
-      // Construct using com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest.newBuilder()
+          com.viam.component.arm.v1.Arm.MoveToPositionRequest, Builder> implements
+        // @@protoc_insertion_point(builder_implements:viam.component.arm.v1.MoveToPositionRequest)
+        com.viam.component.arm.v1.Arm.MoveToPositionRequestOrBuilder {
+      // Construct using com.viam.component.arm.v1.Arm.MoveToPositionRequest.newBuilder()
       private Builder() {
         super(DEFAULT_INSTANCE);
       }
@@ -3464,78 +3466,72 @@ public Builder setNameBytes(
 
       /**
        * <pre>
-       * A list of joint positions
-       * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector
+       * The destination to move the arm to; this is from the reference frame of the arm.
        * </pre>
        *
-       * <code>.viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+       * <code>.viam.common.v1.Pose to = 2 [json_name = "to"];</code>
        */
       @java.lang.Override
-      public boolean hasPositions() {
-        return instance.hasPositions();
+      public boolean hasTo() {
+        return instance.hasTo();
       }
       /**
        * <pre>
-       * A list of joint positions
-       * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector
+       * The destination to move the arm to; this is from the reference frame of the arm.
        * </pre>
        *
-       * <code>.viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+       * <code>.viam.common.v1.Pose to = 2 [json_name = "to"];</code>
        */
       @java.lang.Override
-      public com.viam.component.arm.v1.Arm.JointPositions getPositions() {
-        return instance.getPositions();
+      public com.viam.common.v1.Common.Pose getTo() {
+        return instance.getTo();
       }
       /**
        * <pre>
-       * A list of joint positions
-       * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector
+       * The destination to move the arm to; this is from the reference frame of the arm.
        * </pre>
        *
-       * <code>.viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+       * <code>.viam.common.v1.Pose to = 2 [json_name = "to"];</code>
        */
-      public Builder setPositions(com.viam.component.arm.v1.Arm.JointPositions value) {
+      public Builder setTo(com.viam.common.v1.Common.Pose value) {
         copyOnWrite();
-        instance.setPositions(value);
+        instance.setTo(value);
         return this;
         }
       /**
        * <pre>
-       * A list of joint positions
-       * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector
+       * The destination to move the arm to; this is from the reference frame of the arm.
        * </pre>
        *
-       * <code>.viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+       * <code>.viam.common.v1.Pose to = 2 [json_name = "to"];</code>
        */
-      public Builder setPositions(
-          com.viam.component.arm.v1.Arm.JointPositions.Builder builderForValue) {
+      public Builder setTo(
+          com.viam.common.v1.Common.Pose.Builder builderForValue) {
         copyOnWrite();
-        instance.setPositions(builderForValue.build());
+        instance.setTo(builderForValue.build());
         return this;
       }
       /**
        * <pre>
-       * A list of joint positions
-       * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector
+       * The destination to move the arm to; this is from the reference frame of the arm.
        * </pre>
        *
-       * <code>.viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+       * <code>.viam.common.v1.Pose to = 2 [json_name = "to"];</code>
        */
-      public Builder mergePositions(com.viam.component.arm.v1.Arm.JointPositions value) {
+      public Builder mergeTo(com.viam.common.v1.Common.Pose value) {
         copyOnWrite();
-        instance.mergePositions(value);
+        instance.mergeTo(value);
         return this;
       }
       /**
        * <pre>
-       * A list of joint positions
-       * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector
+       * The destination to move the arm to; this is from the reference frame of the arm.
        * </pre>
        *
-       * <code>.viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+       * <code>.viam.common.v1.Pose to = 2 [json_name = "to"];</code>
        */
-      public Builder clearPositions() {  copyOnWrite();
-        instance.clearPositions();
+      public Builder clearTo() {  copyOnWrite();
+        instance.clearTo();
         return this;
       }
 
@@ -3610,7 +3606,7 @@ public Builder mergeExtra(com.google.protobuf.Struct value) {
         return this;
       }
 
-      // @@protoc_insertion_point(builder_scope:viam.component.arm.v1.MoveToJointPositionsRequest)
+      // @@protoc_insertion_point(builder_scope:viam.component.arm.v1.MoveToPositionRequest)
     }
     @java.lang.Override
     @java.lang.SuppressWarnings({"ThrowNull"})
@@ -3619,7 +3615,7 @@ protected final java.lang.Object dynamicMethod(
         java.lang.Object arg0, java.lang.Object arg1) {
       switch (method) {
         case NEW_MUTABLE_INSTANCE: {
-          return new com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest();
+          return new com.viam.component.arm.v1.Arm.MoveToPositionRequest();
         }
         case NEW_BUILDER: {
           return new Builder();
@@ -3628,7 +3624,7 @@ protected final java.lang.Object dynamicMethod(
             java.lang.Object[] objects = new java.lang.Object[] {
               "bitField0_",
               "name_",
-              "positions_",
+              "to_",
               "extra_",
             };
             java.lang.String info =
@@ -3640,13 +3636,13 @@ protected final java.lang.Object dynamicMethod(
           return DEFAULT_INSTANCE;
         }
         case GET_PARSER: {
-          com.google.protobuf.Parser<com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest> parser = PARSER;
+          com.google.protobuf.Parser<com.viam.component.arm.v1.Arm.MoveToPositionRequest> parser = PARSER;
           if (parser == null) {
-            synchronized (com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest.class) {
+            synchronized (com.viam.component.arm.v1.Arm.MoveToPositionRequest.class) {
               parser = PARSER;
               if (parser == null) {
                 parser =
-                    new DefaultInstanceBasedParser<com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest>(
+                    new DefaultInstanceBasedParser<com.viam.component.arm.v1.Arm.MoveToPositionRequest>(
                         DEFAULT_INSTANCE);
                 PARSER = parser;
               }
@@ -3666,86 +3662,86 @@ protected final java.lang.Object dynamicMethod(
     }
 
 
-    // @@protoc_insertion_point(class_scope:viam.component.arm.v1.MoveToJointPositionsRequest)
-    private static final com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest DEFAULT_INSTANCE;
+    // @@protoc_insertion_point(class_scope:viam.component.arm.v1.MoveToPositionRequest)
+    private static final com.viam.component.arm.v1.Arm.MoveToPositionRequest DEFAULT_INSTANCE;
     static {
-      MoveToJointPositionsRequest defaultInstance = new MoveToJointPositionsRequest();
+      MoveToPositionRequest defaultInstance = new MoveToPositionRequest();
       // New instances are implicitly immutable so no need to make
       // immutable.
       DEFAULT_INSTANCE = defaultInstance;
       com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
-        MoveToJointPositionsRequest.class, defaultInstance);
+        MoveToPositionRequest.class, defaultInstance);
     }
 
-    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest getDefaultInstance() {
+    public static com.viam.component.arm.v1.Arm.MoveToPositionRequest getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
-    private static volatile com.google.protobuf.Parser<MoveToJointPositionsRequest> PARSER;
+    private static volatile com.google.protobuf.Parser<MoveToPositionRequest> PARSER;
 
-    public static com.google.protobuf.Parser<MoveToJointPositionsRequest> parser() {
+    public static com.google.protobuf.Parser<MoveToPositionRequest> parser() {
       return DEFAULT_INSTANCE.getParserForType();
     }
   }
 
-  public interface MoveToJointPositionsResponseOrBuilder extends
-      // @@protoc_insertion_point(interface_extends:viam.component.arm.v1.MoveToJointPositionsResponse)
+  public interface MoveToPositionResponseOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:viam.component.arm.v1.MoveToPositionResponse)
       com.google.protobuf.MessageLiteOrBuilder {
   }
   /**
-   * Protobuf type {@code viam.component.arm.v1.MoveToJointPositionsResponse}
+   * Protobuf type {@code viam.component.arm.v1.MoveToPositionResponse}
    */
-  public  static final class MoveToJointPositionsResponse extends
+  public  static final class MoveToPositionResponse extends
       com.google.protobuf.GeneratedMessageLite<
-          MoveToJointPositionsResponse, MoveToJointPositionsResponse.Builder> implements
-      // @@protoc_insertion_point(message_implements:viam.component.arm.v1.MoveToJointPositionsResponse)
-      MoveToJointPositionsResponseOrBuilder {
-    private MoveToJointPositionsResponse() {
+          MoveToPositionResponse, MoveToPositionResponse.Builder> implements
+      // @@protoc_insertion_point(message_implements:viam.component.arm.v1.MoveToPositionResponse)
+      MoveToPositionResponseOrBuilder {
+    private MoveToPositionResponse() {
     }
-    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse parseFrom(
+    public static com.viam.component.arm.v1.Arm.MoveToPositionResponse parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse parseFrom(
+    public static com.viam.component.arm.v1.Arm.MoveToPositionResponse parseFrom(
         java.nio.ByteBuffer data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse parseFrom(
+    public static com.viam.component.arm.v1.Arm.MoveToPositionResponse parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse parseFrom(
+    public static com.viam.component.arm.v1.Arm.MoveToPositionResponse parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse parseFrom(byte[] data)
+    public static com.viam.component.arm.v1.Arm.MoveToPositionResponse parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse parseFrom(
+    public static com.viam.component.arm.v1.Arm.MoveToPositionResponse parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse parseFrom(java.io.InputStream input)
+    public static com.viam.component.arm.v1.Arm.MoveToPositionResponse parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, input);
     }
-    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse parseFrom(
+    public static com.viam.component.arm.v1.Arm.MoveToPositionResponse parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -3753,24 +3749,24 @@ public static com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse parseFr
           DEFAULT_INSTANCE, input, extensionRegistry);
     }
 
-    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse parseDelimitedFrom(java.io.InputStream input)
+    public static com.viam.component.arm.v1.Arm.MoveToPositionResponse parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return parseDelimitedFrom(DEFAULT_INSTANCE, input);
     }
 
-    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse parseDelimitedFrom(
+    public static com.viam.component.arm.v1.Arm.MoveToPositionResponse parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
     }
-    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse parseFrom(
+    public static com.viam.component.arm.v1.Arm.MoveToPositionResponse parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, input);
     }
-    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse parseFrom(
+    public static com.viam.component.arm.v1.Arm.MoveToPositionResponse parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -3781,25 +3777,25 @@ public static com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse parseFr
     public static Builder newBuilder() {
       return (Builder) DEFAULT_INSTANCE.createBuilder();
     }
-    public static Builder newBuilder(com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse prototype) {
+    public static Builder newBuilder(com.viam.component.arm.v1.Arm.MoveToPositionResponse prototype) {
       return DEFAULT_INSTANCE.createBuilder(prototype);
     }
 
     /**
-     * Protobuf type {@code viam.component.arm.v1.MoveToJointPositionsResponse}
+     * Protobuf type {@code viam.component.arm.v1.MoveToPositionResponse}
      */
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageLite.Builder<
-          com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse, Builder> implements
-        // @@protoc_insertion_point(builder_implements:viam.component.arm.v1.MoveToJointPositionsResponse)
-        com.viam.component.arm.v1.Arm.MoveToJointPositionsResponseOrBuilder {
-      // Construct using com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse.newBuilder()
+          com.viam.component.arm.v1.Arm.MoveToPositionResponse, Builder> implements
+        // @@protoc_insertion_point(builder_implements:viam.component.arm.v1.MoveToPositionResponse)
+        com.viam.component.arm.v1.Arm.MoveToPositionResponseOrBuilder {
+      // Construct using com.viam.component.arm.v1.Arm.MoveToPositionResponse.newBuilder()
       private Builder() {
         super(DEFAULT_INSTANCE);
       }
 
 
-      // @@protoc_insertion_point(builder_scope:viam.component.arm.v1.MoveToJointPositionsResponse)
+      // @@protoc_insertion_point(builder_scope:viam.component.arm.v1.MoveToPositionResponse)
     }
     @java.lang.Override
     @java.lang.SuppressWarnings({"ThrowNull"})
@@ -3808,7 +3804,7 @@ protected final java.lang.Object dynamicMethod(
         java.lang.Object arg0, java.lang.Object arg1) {
       switch (method) {
         case NEW_MUTABLE_INSTANCE: {
-          return new com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse();
+          return new com.viam.component.arm.v1.Arm.MoveToPositionResponse();
         }
         case NEW_BUILDER: {
           return new Builder();
@@ -3823,13 +3819,13 @@ protected final java.lang.Object dynamicMethod(
           return DEFAULT_INSTANCE;
         }
         case GET_PARSER: {
-          com.google.protobuf.Parser<com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse> parser = PARSER;
+          com.google.protobuf.Parser<com.viam.component.arm.v1.Arm.MoveToPositionResponse> parser = PARSER;
           if (parser == null) {
-            synchronized (com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse.class) {
+            synchronized (com.viam.component.arm.v1.Arm.MoveToPositionResponse.class) {
               parser = PARSER;
               if (parser == null) {
                 parser =
-                    new DefaultInstanceBasedParser<com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse>(
+                    new DefaultInstanceBasedParser<com.viam.component.arm.v1.Arm.MoveToPositionResponse>(
                         DEFAULT_INSTANCE);
                 PARSER = parser;
               }
@@ -3849,30 +3845,30 @@ protected final java.lang.Object dynamicMethod(
     }
 
 
-    // @@protoc_insertion_point(class_scope:viam.component.arm.v1.MoveToJointPositionsResponse)
-    private static final com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse DEFAULT_INSTANCE;
+    // @@protoc_insertion_point(class_scope:viam.component.arm.v1.MoveToPositionResponse)
+    private static final com.viam.component.arm.v1.Arm.MoveToPositionResponse DEFAULT_INSTANCE;
     static {
-      MoveToJointPositionsResponse defaultInstance = new MoveToJointPositionsResponse();
+      MoveToPositionResponse defaultInstance = new MoveToPositionResponse();
       // New instances are implicitly immutable so no need to make
       // immutable.
       DEFAULT_INSTANCE = defaultInstance;
       com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
-        MoveToJointPositionsResponse.class, defaultInstance);
+        MoveToPositionResponse.class, defaultInstance);
     }
 
-    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse getDefaultInstance() {
+    public static com.viam.component.arm.v1.Arm.MoveToPositionResponse getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
-    private static volatile com.google.protobuf.Parser<MoveToJointPositionsResponse> PARSER;
+    private static volatile com.google.protobuf.Parser<MoveToPositionResponse> PARSER;
 
-    public static com.google.protobuf.Parser<MoveToJointPositionsResponse> parser() {
+    public static com.google.protobuf.Parser<MoveToPositionResponse> parser() {
       return DEFAULT_INSTANCE.getParserForType();
     }
   }
 
-  public interface MoveThroughJointPositionsRequestOrBuilder extends
-      // @@protoc_insertion_point(interface_extends:viam.component.arm.v1.MoveThroughJointPositionsRequest)
+  public interface MoveToJointPositionsRequestOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:viam.component.arm.v1.MoveToJointPositionsRequest)
       com.google.protobuf.MessageLiteOrBuilder {
 
     /**
@@ -3897,48 +3893,24 @@ public interface MoveThroughJointPositionsRequestOrBuilder extends
 
     /**
      * <pre>
-     * A list of joint positions which will be moved to in the order they are specified
-     * </pre>
-     *
-     * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
-     */
-    java.util.List<com.viam.component.arm.v1.Arm.JointPositions> 
-        getPositionsList();
-    /**
-     * <pre>
-     * A list of joint positions which will be moved to in the order they are specified
-     * </pre>
-     *
-     * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
-     */
-    com.viam.component.arm.v1.Arm.JointPositions getPositions(int index);
-    /**
-     * <pre>
-     * A list of joint positions which will be moved to in the order they are specified
-     * </pre>
-     *
-     * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
-     */
-    int getPositionsCount();
-
-    /**
-     * <pre>
-     * optional specifications to be obeyed during the motion
+     * A list of joint positions
+     * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector
      * </pre>
      *
-     * <code>optional .viam.component.arm.v1.MoveOptions options = 3 [json_name = "options"];</code>
-     * @return Whether the options field is set.
+     * <code>.viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+     * @return Whether the positions field is set.
      */
-    boolean hasOptions();
+    boolean hasPositions();
     /**
      * <pre>
-     * optional specifications to be obeyed during the motion
+     * A list of joint positions
+     * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector
      * </pre>
      *
-     * <code>optional .viam.component.arm.v1.MoveOptions options = 3 [json_name = "options"];</code>
-     * @return The options.
+     * <code>.viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+     * @return The positions.
      */
-    com.viam.component.arm.v1.Arm.MoveOptions getOptions();
+    com.viam.component.arm.v1.Arm.JointPositions getPositions();
 
     /**
      * <pre>
@@ -3960,16 +3932,15 @@ public interface MoveThroughJointPositionsRequestOrBuilder extends
     com.google.protobuf.Struct getExtra();
   }
   /**
-   * Protobuf type {@code viam.component.arm.v1.MoveThroughJointPositionsRequest}
+   * Protobuf type {@code viam.component.arm.v1.MoveToJointPositionsRequest}
    */
-  public  static final class MoveThroughJointPositionsRequest extends
+  public  static final class MoveToJointPositionsRequest extends
       com.google.protobuf.GeneratedMessageLite<
-          MoveThroughJointPositionsRequest, MoveThroughJointPositionsRequest.Builder> implements
-      // @@protoc_insertion_point(message_implements:viam.component.arm.v1.MoveThroughJointPositionsRequest)
-      MoveThroughJointPositionsRequestOrBuilder {
-    private MoveThroughJointPositionsRequest() {
+          MoveToJointPositionsRequest, MoveToJointPositionsRequest.Builder> implements
+      // @@protoc_insertion_point(message_implements:viam.component.arm.v1.MoveToJointPositionsRequest)
+      MoveToJointPositionsRequestOrBuilder {
+    private MoveToJointPositionsRequest() {
       name_ = "";
-      positions_ = emptyProtobufList();
     }
     private int bitField0_;
     public static final int NAME_FIELD_NUMBER = 1;
@@ -4041,326 +4012,4354 @@ private void setNameBytes(
     }
 
     public static final int POSITIONS_FIELD_NUMBER = 2;
-    private com.google.protobuf.Internal.ProtobufList<com.viam.component.arm.v1.Arm.JointPositions> positions_;
+    private com.viam.component.arm.v1.Arm.JointPositions positions_;
     /**
      * <pre>
-     * A list of joint positions which will be moved to in the order they are specified
+     * A list of joint positions
+     * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector
      * </pre>
      *
-     * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+     * <code>.viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
      */
     @java.lang.Override
-    public java.util.List<com.viam.component.arm.v1.Arm.JointPositions> getPositionsList() {
-      return positions_;
+    public boolean hasPositions() {
+      return ((bitField0_ & 0x00000001) != 0);
     }
     /**
      * <pre>
-     * A list of joint positions which will be moved to in the order they are specified
+     * A list of joint positions
+     * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector
      * </pre>
      *
-     * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+     * <code>.viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
      */
-    public java.util.List<? extends com.viam.component.arm.v1.Arm.JointPositionsOrBuilder> 
-        getPositionsOrBuilderList() {
-      return positions_;
+    @java.lang.Override
+    public com.viam.component.arm.v1.Arm.JointPositions getPositions() {
+      return positions_ == null ? com.viam.component.arm.v1.Arm.JointPositions.getDefaultInstance() : positions_;
     }
     /**
      * <pre>
-     * A list of joint positions which will be moved to in the order they are specified
+     * A list of joint positions
+     * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector
      * </pre>
      *
-     * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+     * <code>.viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
      */
-    @java.lang.Override
-    public int getPositionsCount() {
-      return positions_.size();
+    @java.lang.SuppressWarnings("ReturnValueIgnored")
+    private void setPositions(com.viam.component.arm.v1.Arm.JointPositions value) {
+      value.getClass();  // minimal bytecode null check
+      positions_ = value;
+      bitField0_ |= 0x00000001;
     }
     /**
      * <pre>
-     * A list of joint positions which will be moved to in the order they are specified
+     * A list of joint positions
+     * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector
      * </pre>
      *
-     * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+     * <code>.viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
      */
-    @java.lang.Override
-    public com.viam.component.arm.v1.Arm.JointPositions getPositions(int index) {
-      return positions_.get(index);
+    @java.lang.SuppressWarnings({"ReferenceEquality", "ReturnValueIgnored"})
+    private void mergePositions(com.viam.component.arm.v1.Arm.JointPositions value) {
+      value.getClass();  // minimal bytecode null check
+      if (positions_ != null &&
+          positions_ != com.viam.component.arm.v1.Arm.JointPositions.getDefaultInstance()) {
+        positions_ =
+          com.viam.component.arm.v1.Arm.JointPositions.newBuilder(positions_).mergeFrom(value).buildPartial();
+      } else {
+        positions_ = value;
+      }
+      bitField0_ |= 0x00000001;
+    }
+    /**
+     * <pre>
+     * A list of joint positions
+     * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector
+     * </pre>
+     *
+     * <code>.viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+     */
+    private void clearPositions() {
+      positions_ = null;
+      bitField0_ = (bitField0_ & ~0x00000001);
+    }
+
+    public static final int EXTRA_FIELD_NUMBER = 99;
+    private com.google.protobuf.Struct extra_;
+    /**
+     * <pre>
+     * Additional arguments to the method
+     * </pre>
+     *
+     * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+     */
+    @java.lang.Override
+    public boolean hasExtra() {
+      return ((bitField0_ & 0x00000002) != 0);
+    }
+    /**
+     * <pre>
+     * Additional arguments to the method
+     * </pre>
+     *
+     * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+     */
+    @java.lang.Override
+    public com.google.protobuf.Struct getExtra() {
+      return extra_ == null ? com.google.protobuf.Struct.getDefaultInstance() : extra_;
+    }
+    /**
+     * <pre>
+     * Additional arguments to the method
+     * </pre>
+     *
+     * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+     */
+    @java.lang.SuppressWarnings("ReturnValueIgnored")
+    private void setExtra(com.google.protobuf.Struct value) {
+      value.getClass();  // minimal bytecode null check
+      extra_ = value;
+      bitField0_ |= 0x00000002;
+    }
+    /**
+     * <pre>
+     * Additional arguments to the method
+     * </pre>
+     *
+     * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+     */
+    @java.lang.SuppressWarnings({"ReferenceEquality", "ReturnValueIgnored"})
+    private void mergeExtra(com.google.protobuf.Struct value) {
+      value.getClass();  // minimal bytecode null check
+      if (extra_ != null &&
+          extra_ != com.google.protobuf.Struct.getDefaultInstance()) {
+        extra_ =
+          com.google.protobuf.Struct.newBuilder(extra_).mergeFrom(value).buildPartial();
+      } else {
+        extra_ = value;
+      }
+      bitField0_ |= 0x00000002;
+    }
+    /**
+     * <pre>
+     * Additional arguments to the method
+     * </pre>
+     *
+     * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+     */
+    private void clearExtra() {
+      extra_ = null;
+      bitField0_ = (bitField0_ & ~0x00000002);
+    }
+
+    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input);
+    }
+
+    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static Builder newBuilder() {
+      return (Builder) DEFAULT_INSTANCE.createBuilder();
+    }
+    public static Builder newBuilder(com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest prototype) {
+      return DEFAULT_INSTANCE.createBuilder(prototype);
+    }
+
+    /**
+     * Protobuf type {@code viam.component.arm.v1.MoveToJointPositionsRequest}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageLite.Builder<
+          com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest, Builder> implements
+        // @@protoc_insertion_point(builder_implements:viam.component.arm.v1.MoveToJointPositionsRequest)
+        com.viam.component.arm.v1.Arm.MoveToJointPositionsRequestOrBuilder {
+      // Construct using com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest.newBuilder()
+      private Builder() {
+        super(DEFAULT_INSTANCE);
+      }
+
+
+      /**
+       * <pre>
+       * Name of an arm
+       * </pre>
+       *
+       * <code>string name = 1 [json_name = "name"];</code>
+       * @return The name.
+       */
+      @java.lang.Override
+      public java.lang.String getName() {
+        return instance.getName();
+      }
+      /**
+       * <pre>
+       * Name of an arm
+       * </pre>
+       *
+       * <code>string name = 1 [json_name = "name"];</code>
+       * @return The bytes for name.
+       */
+      @java.lang.Override
+      public com.google.protobuf.ByteString
+          getNameBytes() {
+        return instance.getNameBytes();
+      }
+      /**
+       * <pre>
+       * Name of an arm
+       * </pre>
+       *
+       * <code>string name = 1 [json_name = "name"];</code>
+       * @param value The name to set.
+       * @return This builder for chaining.
+       */
+      public Builder setName(
+          java.lang.String value) {
+        copyOnWrite();
+        instance.setName(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * Name of an arm
+       * </pre>
+       *
+       * <code>string name = 1 [json_name = "name"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearName() {
+        copyOnWrite();
+        instance.clearName();
+        return this;
+      }
+      /**
+       * <pre>
+       * Name of an arm
+       * </pre>
+       *
+       * <code>string name = 1 [json_name = "name"];</code>
+       * @param value The bytes for name to set.
+       * @return This builder for chaining.
+       */
+      public Builder setNameBytes(
+          com.google.protobuf.ByteString value) {
+        copyOnWrite();
+        instance.setNameBytes(value);
+        return this;
+      }
+
+      /**
+       * <pre>
+       * A list of joint positions
+       * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector
+       * </pre>
+       *
+       * <code>.viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+       */
+      @java.lang.Override
+      public boolean hasPositions() {
+        return instance.hasPositions();
+      }
+      /**
+       * <pre>
+       * A list of joint positions
+       * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector
+       * </pre>
+       *
+       * <code>.viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+       */
+      @java.lang.Override
+      public com.viam.component.arm.v1.Arm.JointPositions getPositions() {
+        return instance.getPositions();
+      }
+      /**
+       * <pre>
+       * A list of joint positions
+       * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector
+       * </pre>
+       *
+       * <code>.viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+       */
+      public Builder setPositions(com.viam.component.arm.v1.Arm.JointPositions value) {
+        copyOnWrite();
+        instance.setPositions(value);
+        return this;
+        }
+      /**
+       * <pre>
+       * A list of joint positions
+       * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector
+       * </pre>
+       *
+       * <code>.viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+       */
+      public Builder setPositions(
+          com.viam.component.arm.v1.Arm.JointPositions.Builder builderForValue) {
+        copyOnWrite();
+        instance.setPositions(builderForValue.build());
+        return this;
+      }
+      /**
+       * <pre>
+       * A list of joint positions
+       * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector
+       * </pre>
+       *
+       * <code>.viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+       */
+      public Builder mergePositions(com.viam.component.arm.v1.Arm.JointPositions value) {
+        copyOnWrite();
+        instance.mergePositions(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * A list of joint positions
+       * There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector
+       * </pre>
+       *
+       * <code>.viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+       */
+      public Builder clearPositions() {  copyOnWrite();
+        instance.clearPositions();
+        return this;
+      }
+
+      /**
+       * <pre>
+       * Additional arguments to the method
+       * </pre>
+       *
+       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+       */
+      @java.lang.Override
+      public boolean hasExtra() {
+        return instance.hasExtra();
+      }
+      /**
+       * <pre>
+       * Additional arguments to the method
+       * </pre>
+       *
+       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+       */
+      @java.lang.Override
+      public com.google.protobuf.Struct getExtra() {
+        return instance.getExtra();
+      }
+      /**
+       * <pre>
+       * Additional arguments to the method
+       * </pre>
+       *
+       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+       */
+      public Builder setExtra(com.google.protobuf.Struct value) {
+        copyOnWrite();
+        instance.setExtra(value);
+        return this;
+        }
+      /**
+       * <pre>
+       * Additional arguments to the method
+       * </pre>
+       *
+       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+       */
+      public Builder setExtra(
+          com.google.protobuf.Struct.Builder builderForValue) {
+        copyOnWrite();
+        instance.setExtra(builderForValue.build());
+        return this;
+      }
+      /**
+       * <pre>
+       * Additional arguments to the method
+       * </pre>
+       *
+       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+       */
+      public Builder mergeExtra(com.google.protobuf.Struct value) {
+        copyOnWrite();
+        instance.mergeExtra(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * Additional arguments to the method
+       * </pre>
+       *
+       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+       */
+      public Builder clearExtra() {  copyOnWrite();
+        instance.clearExtra();
+        return this;
+      }
+
+      // @@protoc_insertion_point(builder_scope:viam.component.arm.v1.MoveToJointPositionsRequest)
+    }
+    @java.lang.Override
+    @java.lang.SuppressWarnings({"ThrowNull"})
+    protected final java.lang.Object dynamicMethod(
+        com.google.protobuf.GeneratedMessageLite.MethodToInvoke method,
+        java.lang.Object arg0, java.lang.Object arg1) {
+      switch (method) {
+        case NEW_MUTABLE_INSTANCE: {
+          return new com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest();
+        }
+        case NEW_BUILDER: {
+          return new Builder();
+        }
+        case BUILD_MESSAGE_INFO: {
+            java.lang.Object[] objects = new java.lang.Object[] {
+              "bitField0_",
+              "name_",
+              "positions_",
+              "extra_",
+            };
+            java.lang.String info =
+                "\u0000\u0003\u0000\u0001\u0001c\u0003\u0000\u0000\u0000\u0001\u0208\u0002\u1009\u0000" +
+                "c\u1009\u0001";
+            return newMessageInfo(DEFAULT_INSTANCE, info, objects);
+        }
+        case GET_DEFAULT_INSTANCE: {
+          return DEFAULT_INSTANCE;
+        }
+        case GET_PARSER: {
+          com.google.protobuf.Parser<com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest> parser = PARSER;
+          if (parser == null) {
+            synchronized (com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest.class) {
+              parser = PARSER;
+              if (parser == null) {
+                parser =
+                    new DefaultInstanceBasedParser<com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest>(
+                        DEFAULT_INSTANCE);
+                PARSER = parser;
+              }
+            }
+          }
+          return parser;
+        }
+        case GET_MEMOIZED_IS_INITIALIZED: {
+          return (byte) 1;
+        }
+        // SET_MEMOIZED_IS_INITIALIZED is never called for this message.
+        // So it can do anything. Combine with default case for smaller codegen.
+        case SET_MEMOIZED_IS_INITIALIZED:
+      }
+      // Should never happen. Generates tight code to throw an exception.
+      throw null;
+    }
+
+
+    // @@protoc_insertion_point(class_scope:viam.component.arm.v1.MoveToJointPositionsRequest)
+    private static final com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest DEFAULT_INSTANCE;
+    static {
+      MoveToJointPositionsRequest defaultInstance = new MoveToJointPositionsRequest();
+      // New instances are implicitly immutable so no need to make
+      // immutable.
+      DEFAULT_INSTANCE = defaultInstance;
+      com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
+        MoveToJointPositionsRequest.class, defaultInstance);
+    }
+
+    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsRequest getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static volatile com.google.protobuf.Parser<MoveToJointPositionsRequest> PARSER;
+
+    public static com.google.protobuf.Parser<MoveToJointPositionsRequest> parser() {
+      return DEFAULT_INSTANCE.getParserForType();
+    }
+  }
+
+  public interface MoveToJointPositionsResponseOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:viam.component.arm.v1.MoveToJointPositionsResponse)
+      com.google.protobuf.MessageLiteOrBuilder {
+  }
+  /**
+   * Protobuf type {@code viam.component.arm.v1.MoveToJointPositionsResponse}
+   */
+  public  static final class MoveToJointPositionsResponse extends
+      com.google.protobuf.GeneratedMessageLite<
+          MoveToJointPositionsResponse, MoveToJointPositionsResponse.Builder> implements
+      // @@protoc_insertion_point(message_implements:viam.component.arm.v1.MoveToJointPositionsResponse)
+      MoveToJointPositionsResponseOrBuilder {
+    private MoveToJointPositionsResponse() {
+    }
+    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input);
+    }
+
+    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static Builder newBuilder() {
+      return (Builder) DEFAULT_INSTANCE.createBuilder();
+    }
+    public static Builder newBuilder(com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse prototype) {
+      return DEFAULT_INSTANCE.createBuilder(prototype);
+    }
+
+    /**
+     * Protobuf type {@code viam.component.arm.v1.MoveToJointPositionsResponse}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageLite.Builder<
+          com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse, Builder> implements
+        // @@protoc_insertion_point(builder_implements:viam.component.arm.v1.MoveToJointPositionsResponse)
+        com.viam.component.arm.v1.Arm.MoveToJointPositionsResponseOrBuilder {
+      // Construct using com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse.newBuilder()
+      private Builder() {
+        super(DEFAULT_INSTANCE);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:viam.component.arm.v1.MoveToJointPositionsResponse)
+    }
+    @java.lang.Override
+    @java.lang.SuppressWarnings({"ThrowNull"})
+    protected final java.lang.Object dynamicMethod(
+        com.google.protobuf.GeneratedMessageLite.MethodToInvoke method,
+        java.lang.Object arg0, java.lang.Object arg1) {
+      switch (method) {
+        case NEW_MUTABLE_INSTANCE: {
+          return new com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse();
+        }
+        case NEW_BUILDER: {
+          return new Builder();
+        }
+        case BUILD_MESSAGE_INFO: {
+            java.lang.Object[] objects = null;
+            java.lang.String info =
+                "\u0000\u0000";
+            return newMessageInfo(DEFAULT_INSTANCE, info, objects);
+        }
+        case GET_DEFAULT_INSTANCE: {
+          return DEFAULT_INSTANCE;
+        }
+        case GET_PARSER: {
+          com.google.protobuf.Parser<com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse> parser = PARSER;
+          if (parser == null) {
+            synchronized (com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse.class) {
+              parser = PARSER;
+              if (parser == null) {
+                parser =
+                    new DefaultInstanceBasedParser<com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse>(
+                        DEFAULT_INSTANCE);
+                PARSER = parser;
+              }
+            }
+          }
+          return parser;
+        }
+        case GET_MEMOIZED_IS_INITIALIZED: {
+          return (byte) 1;
+        }
+        // SET_MEMOIZED_IS_INITIALIZED is never called for this message.
+        // So it can do anything. Combine with default case for smaller codegen.
+        case SET_MEMOIZED_IS_INITIALIZED:
+      }
+      // Should never happen. Generates tight code to throw an exception.
+      throw null;
+    }
+
+
+    // @@protoc_insertion_point(class_scope:viam.component.arm.v1.MoveToJointPositionsResponse)
+    private static final com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse DEFAULT_INSTANCE;
+    static {
+      MoveToJointPositionsResponse defaultInstance = new MoveToJointPositionsResponse();
+      // New instances are implicitly immutable so no need to make
+      // immutable.
+      DEFAULT_INSTANCE = defaultInstance;
+      com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
+        MoveToJointPositionsResponse.class, defaultInstance);
+    }
+
+    public static com.viam.component.arm.v1.Arm.MoveToJointPositionsResponse getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static volatile com.google.protobuf.Parser<MoveToJointPositionsResponse> PARSER;
+
+    public static com.google.protobuf.Parser<MoveToJointPositionsResponse> parser() {
+      return DEFAULT_INSTANCE.getParserForType();
+    }
+  }
+
+  public interface MoveThroughJointPositionsRequestOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:viam.component.arm.v1.MoveThroughJointPositionsRequest)
+      com.google.protobuf.MessageLiteOrBuilder {
+
+    /**
+     * <pre>
+     * Name of an arm
+     * </pre>
+     *
+     * <code>string name = 1 [json_name = "name"];</code>
+     * @return The name.
+     */
+    java.lang.String getName();
+    /**
+     * <pre>
+     * Name of an arm
+     * </pre>
+     *
+     * <code>string name = 1 [json_name = "name"];</code>
+     * @return The bytes for name.
+     */
+    com.google.protobuf.ByteString
+        getNameBytes();
+
+    /**
+     * <pre>
+     * A list of joint positions which will be moved to in the order they are specified
+     * </pre>
+     *
+     * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+     */
+    java.util.List<com.viam.component.arm.v1.Arm.JointPositions> 
+        getPositionsList();
+    /**
+     * <pre>
+     * A list of joint positions which will be moved to in the order they are specified
+     * </pre>
+     *
+     * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+     */
+    com.viam.component.arm.v1.Arm.JointPositions getPositions(int index);
+    /**
+     * <pre>
+     * A list of joint positions which will be moved to in the order they are specified
+     * </pre>
+     *
+     * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+     */
+    int getPositionsCount();
+
+    /**
+     * <pre>
+     * optional specifications to be obeyed during the motion
+     * </pre>
+     *
+     * <code>optional .viam.component.arm.v1.MoveOptions options = 3 [json_name = "options"];</code>
+     * @return Whether the options field is set.
+     */
+    boolean hasOptions();
+    /**
+     * <pre>
+     * optional specifications to be obeyed during the motion
+     * </pre>
+     *
+     * <code>optional .viam.component.arm.v1.MoveOptions options = 3 [json_name = "options"];</code>
+     * @return The options.
+     */
+    com.viam.component.arm.v1.Arm.MoveOptions getOptions();
+
+    /**
+     * <pre>
+     * Additional arguments to the method
+     * </pre>
+     *
+     * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+     * @return Whether the extra field is set.
+     */
+    boolean hasExtra();
+    /**
+     * <pre>
+     * Additional arguments to the method
+     * </pre>
+     *
+     * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+     * @return The extra.
+     */
+    com.google.protobuf.Struct getExtra();
+  }
+  /**
+   * Protobuf type {@code viam.component.arm.v1.MoveThroughJointPositionsRequest}
+   */
+  public  static final class MoveThroughJointPositionsRequest extends
+      com.google.protobuf.GeneratedMessageLite<
+          MoveThroughJointPositionsRequest, MoveThroughJointPositionsRequest.Builder> implements
+      // @@protoc_insertion_point(message_implements:viam.component.arm.v1.MoveThroughJointPositionsRequest)
+      MoveThroughJointPositionsRequestOrBuilder {
+    private MoveThroughJointPositionsRequest() {
+      name_ = "";
+      positions_ = emptyProtobufList();
+    }
+    private int bitField0_;
+    public static final int NAME_FIELD_NUMBER = 1;
+    private java.lang.String name_;
+    /**
+     * <pre>
+     * Name of an arm
+     * </pre>
+     *
+     * <code>string name = 1 [json_name = "name"];</code>
+     * @return The name.
+     */
+    @java.lang.Override
+    public java.lang.String getName() {
+      return name_;
+    }
+    /**
+     * <pre>
+     * Name of an arm
+     * </pre>
+     *
+     * <code>string name = 1 [json_name = "name"];</code>
+     * @return The bytes for name.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getNameBytes() {
+      return com.google.protobuf.ByteString.copyFromUtf8(name_);
+    }
+    /**
+     * <pre>
+     * Name of an arm
+     * </pre>
+     *
+     * <code>string name = 1 [json_name = "name"];</code>
+     * @param value The name to set.
+     */
+    @java.lang.SuppressWarnings("ReturnValueIgnored")
+    private void setName(
+        java.lang.String value) {
+      value.getClass();  // minimal bytecode null check
+
+      name_ = value;
+    }
+    /**
+     * <pre>
+     * Name of an arm
+     * </pre>
+     *
+     * <code>string name = 1 [json_name = "name"];</code>
+     */
+    private void clearName() {
+
+      name_ = getDefaultInstance().getName();
+    }
+    /**
+     * <pre>
+     * Name of an arm
+     * </pre>
+     *
+     * <code>string name = 1 [json_name = "name"];</code>
+     * @param value The bytes for name to set.
+     */
+    private void setNameBytes(
+        com.google.protobuf.ByteString value) {
+      checkByteStringIsUtf8(value);
+      name_ = value.toStringUtf8();
+
+    }
+
+    public static final int POSITIONS_FIELD_NUMBER = 2;
+    private com.google.protobuf.Internal.ProtobufList<com.viam.component.arm.v1.Arm.JointPositions> positions_;
+    /**
+     * <pre>
+     * A list of joint positions which will be moved to in the order they are specified
+     * </pre>
+     *
+     * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+     */
+    @java.lang.Override
+    public java.util.List<com.viam.component.arm.v1.Arm.JointPositions> getPositionsList() {
+      return positions_;
+    }
+    /**
+     * <pre>
+     * A list of joint positions which will be moved to in the order they are specified
+     * </pre>
+     *
+     * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+     */
+    public java.util.List<? extends com.viam.component.arm.v1.Arm.JointPositionsOrBuilder> 
+        getPositionsOrBuilderList() {
+      return positions_;
+    }
+    /**
+     * <pre>
+     * A list of joint positions which will be moved to in the order they are specified
+     * </pre>
+     *
+     * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+     */
+    @java.lang.Override
+    public int getPositionsCount() {
+      return positions_.size();
+    }
+    /**
+     * <pre>
+     * A list of joint positions which will be moved to in the order they are specified
+     * </pre>
+     *
+     * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+     */
+    @java.lang.Override
+    public com.viam.component.arm.v1.Arm.JointPositions getPositions(int index) {
+      return positions_.get(index);
+    }
+    /**
+     * <pre>
+     * A list of joint positions which will be moved to in the order they are specified
+     * </pre>
+     *
+     * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+     */
+    public com.viam.component.arm.v1.Arm.JointPositionsOrBuilder getPositionsOrBuilder(
+        int index) {
+      return positions_.get(index);
+    }
+    private void ensurePositionsIsMutable() {
+      com.google.protobuf.Internal.ProtobufList<com.viam.component.arm.v1.Arm.JointPositions> tmp = positions_;
+      if (!tmp.isModifiable()) {
+        positions_ =
+            com.google.protobuf.GeneratedMessageLite.mutableCopy(tmp);
+       }
+    }
+
+    /**
+     * <pre>
+     * A list of joint positions which will be moved to in the order they are specified
+     * </pre>
+     *
+     * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+     */
+    @java.lang.SuppressWarnings("ReturnValueIgnored")
+    private void setPositions(
+        int index, com.viam.component.arm.v1.Arm.JointPositions value) {
+      value.getClass();  // minimal bytecode null check
+      ensurePositionsIsMutable();
+      positions_.set(index, value);
+    }
+    /**
+     * <pre>
+     * A list of joint positions which will be moved to in the order they are specified
+     * </pre>
+     *
+     * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+     */
+    @java.lang.SuppressWarnings("ReturnValueIgnored")
+    private void addPositions(com.viam.component.arm.v1.Arm.JointPositions value) {
+      value.getClass();  // minimal bytecode null check
+      ensurePositionsIsMutable();
+      positions_.add(value);
+    }
+    /**
+     * <pre>
+     * A list of joint positions which will be moved to in the order they are specified
+     * </pre>
+     *
+     * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+     */
+    @java.lang.SuppressWarnings("ReturnValueIgnored")
+    private void addPositions(
+        int index, com.viam.component.arm.v1.Arm.JointPositions value) {
+      value.getClass();  // minimal bytecode null check
+      ensurePositionsIsMutable();
+      positions_.add(index, value);
+    }
+    /**
+     * <pre>
+     * A list of joint positions which will be moved to in the order they are specified
+     * </pre>
+     *
+     * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+     */
+    private void addAllPositions(
+        java.lang.Iterable<? extends com.viam.component.arm.v1.Arm.JointPositions> values) {
+      ensurePositionsIsMutable();
+      com.google.protobuf.AbstractMessageLite.addAll(
+          values, positions_);
+    }
+    /**
+     * <pre>
+     * A list of joint positions which will be moved to in the order they are specified
+     * </pre>
+     *
+     * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+     */
+    private void clearPositions() {
+      positions_ = emptyProtobufList();
+    }
+    /**
+     * <pre>
+     * A list of joint positions which will be moved to in the order they are specified
+     * </pre>
+     *
+     * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+     */
+    private void removePositions(int index) {
+      ensurePositionsIsMutable();
+      positions_.remove(index);
+    }
+
+    public static final int OPTIONS_FIELD_NUMBER = 3;
+    private com.viam.component.arm.v1.Arm.MoveOptions options_;
+    /**
+     * <pre>
+     * optional specifications to be obeyed during the motion
+     * </pre>
+     *
+     * <code>optional .viam.component.arm.v1.MoveOptions options = 3 [json_name = "options"];</code>
+     */
+    @java.lang.Override
+    public boolean hasOptions() {
+      return ((bitField0_ & 0x00000001) != 0);
+    }
+    /**
+     * <pre>
+     * optional specifications to be obeyed during the motion
+     * </pre>
+     *
+     * <code>optional .viam.component.arm.v1.MoveOptions options = 3 [json_name = "options"];</code>
+     */
+    @java.lang.Override
+    public com.viam.component.arm.v1.Arm.MoveOptions getOptions() {
+      return options_ == null ? com.viam.component.arm.v1.Arm.MoveOptions.getDefaultInstance() : options_;
+    }
+    /**
+     * <pre>
+     * optional specifications to be obeyed during the motion
+     * </pre>
+     *
+     * <code>optional .viam.component.arm.v1.MoveOptions options = 3 [json_name = "options"];</code>
+     */
+    @java.lang.SuppressWarnings("ReturnValueIgnored")
+    private void setOptions(com.viam.component.arm.v1.Arm.MoveOptions value) {
+      value.getClass();  // minimal bytecode null check
+      options_ = value;
+      bitField0_ |= 0x00000001;
+    }
+    /**
+     * <pre>
+     * optional specifications to be obeyed during the motion
+     * </pre>
+     *
+     * <code>optional .viam.component.arm.v1.MoveOptions options = 3 [json_name = "options"];</code>
+     */
+    @java.lang.SuppressWarnings({"ReferenceEquality", "ReturnValueIgnored"})
+    private void mergeOptions(com.viam.component.arm.v1.Arm.MoveOptions value) {
+      value.getClass();  // minimal bytecode null check
+      if (options_ != null &&
+          options_ != com.viam.component.arm.v1.Arm.MoveOptions.getDefaultInstance()) {
+        options_ =
+          com.viam.component.arm.v1.Arm.MoveOptions.newBuilder(options_).mergeFrom(value).buildPartial();
+      } else {
+        options_ = value;
+      }
+      bitField0_ |= 0x00000001;
+    }
+    /**
+     * <pre>
+     * optional specifications to be obeyed during the motion
+     * </pre>
+     *
+     * <code>optional .viam.component.arm.v1.MoveOptions options = 3 [json_name = "options"];</code>
+     */
+    private void clearOptions() {
+      options_ = null;
+      bitField0_ = (bitField0_ & ~0x00000001);
+    }
+
+    public static final int EXTRA_FIELD_NUMBER = 99;
+    private com.google.protobuf.Struct extra_;
+    /**
+     * <pre>
+     * Additional arguments to the method
+     * </pre>
+     *
+     * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+     */
+    @java.lang.Override
+    public boolean hasExtra() {
+      return ((bitField0_ & 0x00000002) != 0);
+    }
+    /**
+     * <pre>
+     * Additional arguments to the method
+     * </pre>
+     *
+     * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+     */
+    @java.lang.Override
+    public com.google.protobuf.Struct getExtra() {
+      return extra_ == null ? com.google.protobuf.Struct.getDefaultInstance() : extra_;
+    }
+    /**
+     * <pre>
+     * Additional arguments to the method
+     * </pre>
+     *
+     * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+     */
+    @java.lang.SuppressWarnings("ReturnValueIgnored")
+    private void setExtra(com.google.protobuf.Struct value) {
+      value.getClass();  // minimal bytecode null check
+      extra_ = value;
+      bitField0_ |= 0x00000002;
+    }
+    /**
+     * <pre>
+     * Additional arguments to the method
+     * </pre>
+     *
+     * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+     */
+    @java.lang.SuppressWarnings({"ReferenceEquality", "ReturnValueIgnored"})
+    private void mergeExtra(com.google.protobuf.Struct value) {
+      value.getClass();  // minimal bytecode null check
+      if (extra_ != null &&
+          extra_ != com.google.protobuf.Struct.getDefaultInstance()) {
+        extra_ =
+          com.google.protobuf.Struct.newBuilder(extra_).mergeFrom(value).buildPartial();
+      } else {
+        extra_ = value;
+      }
+      bitField0_ |= 0x00000002;
+    }
+    /**
+     * <pre>
+     * Additional arguments to the method
+     * </pre>
+     *
+     * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+     */
+    private void clearExtra() {
+      extra_ = null;
+      bitField0_ = (bitField0_ & ~0x00000002);
+    }
+
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input);
+    }
+
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static Builder newBuilder() {
+      return (Builder) DEFAULT_INSTANCE.createBuilder();
+    }
+    public static Builder newBuilder(com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest prototype) {
+      return DEFAULT_INSTANCE.createBuilder(prototype);
+    }
+
+    /**
+     * Protobuf type {@code viam.component.arm.v1.MoveThroughJointPositionsRequest}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageLite.Builder<
+          com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest, Builder> implements
+        // @@protoc_insertion_point(builder_implements:viam.component.arm.v1.MoveThroughJointPositionsRequest)
+        com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequestOrBuilder {
+      // Construct using com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest.newBuilder()
+      private Builder() {
+        super(DEFAULT_INSTANCE);
+      }
+
+
+      /**
+       * <pre>
+       * Name of an arm
+       * </pre>
+       *
+       * <code>string name = 1 [json_name = "name"];</code>
+       * @return The name.
+       */
+      @java.lang.Override
+      public java.lang.String getName() {
+        return instance.getName();
+      }
+      /**
+       * <pre>
+       * Name of an arm
+       * </pre>
+       *
+       * <code>string name = 1 [json_name = "name"];</code>
+       * @return The bytes for name.
+       */
+      @java.lang.Override
+      public com.google.protobuf.ByteString
+          getNameBytes() {
+        return instance.getNameBytes();
+      }
+      /**
+       * <pre>
+       * Name of an arm
+       * </pre>
+       *
+       * <code>string name = 1 [json_name = "name"];</code>
+       * @param value The name to set.
+       * @return This builder for chaining.
+       */
+      public Builder setName(
+          java.lang.String value) {
+        copyOnWrite();
+        instance.setName(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * Name of an arm
+       * </pre>
+       *
+       * <code>string name = 1 [json_name = "name"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearName() {
+        copyOnWrite();
+        instance.clearName();
+        return this;
+      }
+      /**
+       * <pre>
+       * Name of an arm
+       * </pre>
+       *
+       * <code>string name = 1 [json_name = "name"];</code>
+       * @param value The bytes for name to set.
+       * @return This builder for chaining.
+       */
+      public Builder setNameBytes(
+          com.google.protobuf.ByteString value) {
+        copyOnWrite();
+        instance.setNameBytes(value);
+        return this;
+      }
+
+      /**
+       * <pre>
+       * A list of joint positions which will be moved to in the order they are specified
+       * </pre>
+       *
+       * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+       */
+      @java.lang.Override
+      public java.util.List<com.viam.component.arm.v1.Arm.JointPositions> getPositionsList() {
+        return java.util.Collections.unmodifiableList(
+            instance.getPositionsList());
+      }
+      /**
+       * <pre>
+       * A list of joint positions which will be moved to in the order they are specified
+       * </pre>
+       *
+       * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+       */
+      @java.lang.Override
+      public int getPositionsCount() {
+        return instance.getPositionsCount();
+      }/**
+       * <pre>
+       * A list of joint positions which will be moved to in the order they are specified
+       * </pre>
+       *
+       * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+       */
+      @java.lang.Override
+      public com.viam.component.arm.v1.Arm.JointPositions getPositions(int index) {
+        return instance.getPositions(index);
+      }
+      /**
+       * <pre>
+       * A list of joint positions which will be moved to in the order they are specified
+       * </pre>
+       *
+       * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+       */
+      public Builder setPositions(
+          int index, com.viam.component.arm.v1.Arm.JointPositions value) {
+        copyOnWrite();
+        instance.setPositions(index, value);
+        return this;
+      }
+      /**
+       * <pre>
+       * A list of joint positions which will be moved to in the order they are specified
+       * </pre>
+       *
+       * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+       */
+      public Builder setPositions(
+          int index, com.viam.component.arm.v1.Arm.JointPositions.Builder builderForValue) {
+        copyOnWrite();
+        instance.setPositions(index,
+            builderForValue.build());
+        return this;
+      }
+      /**
+       * <pre>
+       * A list of joint positions which will be moved to in the order they are specified
+       * </pre>
+       *
+       * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+       */
+      public Builder addPositions(com.viam.component.arm.v1.Arm.JointPositions value) {
+        copyOnWrite();
+        instance.addPositions(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * A list of joint positions which will be moved to in the order they are specified
+       * </pre>
+       *
+       * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+       */
+      public Builder addPositions(
+          int index, com.viam.component.arm.v1.Arm.JointPositions value) {
+        copyOnWrite();
+        instance.addPositions(index, value);
+        return this;
+      }
+      /**
+       * <pre>
+       * A list of joint positions which will be moved to in the order they are specified
+       * </pre>
+       *
+       * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+       */
+      public Builder addPositions(
+          com.viam.component.arm.v1.Arm.JointPositions.Builder builderForValue) {
+        copyOnWrite();
+        instance.addPositions(builderForValue.build());
+        return this;
+      }
+      /**
+       * <pre>
+       * A list of joint positions which will be moved to in the order they are specified
+       * </pre>
+       *
+       * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+       */
+      public Builder addPositions(
+          int index, com.viam.component.arm.v1.Arm.JointPositions.Builder builderForValue) {
+        copyOnWrite();
+        instance.addPositions(index,
+            builderForValue.build());
+        return this;
+      }
+      /**
+       * <pre>
+       * A list of joint positions which will be moved to in the order they are specified
+       * </pre>
+       *
+       * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+       */
+      public Builder addAllPositions(
+          java.lang.Iterable<? extends com.viam.component.arm.v1.Arm.JointPositions> values) {
+        copyOnWrite();
+        instance.addAllPositions(values);
+        return this;
+      }
+      /**
+       * <pre>
+       * A list of joint positions which will be moved to in the order they are specified
+       * </pre>
+       *
+       * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+       */
+      public Builder clearPositions() {
+        copyOnWrite();
+        instance.clearPositions();
+        return this;
+      }
+      /**
+       * <pre>
+       * A list of joint positions which will be moved to in the order they are specified
+       * </pre>
+       *
+       * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+       */
+      public Builder removePositions(int index) {
+        copyOnWrite();
+        instance.removePositions(index);
+        return this;
+      }
+
+      /**
+       * <pre>
+       * optional specifications to be obeyed during the motion
+       * </pre>
+       *
+       * <code>optional .viam.component.arm.v1.MoveOptions options = 3 [json_name = "options"];</code>
+       */
+      @java.lang.Override
+      public boolean hasOptions() {
+        return instance.hasOptions();
+      }
+      /**
+       * <pre>
+       * optional specifications to be obeyed during the motion
+       * </pre>
+       *
+       * <code>optional .viam.component.arm.v1.MoveOptions options = 3 [json_name = "options"];</code>
+       */
+      @java.lang.Override
+      public com.viam.component.arm.v1.Arm.MoveOptions getOptions() {
+        return instance.getOptions();
+      }
+      /**
+       * <pre>
+       * optional specifications to be obeyed during the motion
+       * </pre>
+       *
+       * <code>optional .viam.component.arm.v1.MoveOptions options = 3 [json_name = "options"];</code>
+       */
+      public Builder setOptions(com.viam.component.arm.v1.Arm.MoveOptions value) {
+        copyOnWrite();
+        instance.setOptions(value);
+        return this;
+        }
+      /**
+       * <pre>
+       * optional specifications to be obeyed during the motion
+       * </pre>
+       *
+       * <code>optional .viam.component.arm.v1.MoveOptions options = 3 [json_name = "options"];</code>
+       */
+      public Builder setOptions(
+          com.viam.component.arm.v1.Arm.MoveOptions.Builder builderForValue) {
+        copyOnWrite();
+        instance.setOptions(builderForValue.build());
+        return this;
+      }
+      /**
+       * <pre>
+       * optional specifications to be obeyed during the motion
+       * </pre>
+       *
+       * <code>optional .viam.component.arm.v1.MoveOptions options = 3 [json_name = "options"];</code>
+       */
+      public Builder mergeOptions(com.viam.component.arm.v1.Arm.MoveOptions value) {
+        copyOnWrite();
+        instance.mergeOptions(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * optional specifications to be obeyed during the motion
+       * </pre>
+       *
+       * <code>optional .viam.component.arm.v1.MoveOptions options = 3 [json_name = "options"];</code>
+       */
+      public Builder clearOptions() {  copyOnWrite();
+        instance.clearOptions();
+        return this;
+      }
+
+      /**
+       * <pre>
+       * Additional arguments to the method
+       * </pre>
+       *
+       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+       */
+      @java.lang.Override
+      public boolean hasExtra() {
+        return instance.hasExtra();
+      }
+      /**
+       * <pre>
+       * Additional arguments to the method
+       * </pre>
+       *
+       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+       */
+      @java.lang.Override
+      public com.google.protobuf.Struct getExtra() {
+        return instance.getExtra();
+      }
+      /**
+       * <pre>
+       * Additional arguments to the method
+       * </pre>
+       *
+       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+       */
+      public Builder setExtra(com.google.protobuf.Struct value) {
+        copyOnWrite();
+        instance.setExtra(value);
+        return this;
+        }
+      /**
+       * <pre>
+       * Additional arguments to the method
+       * </pre>
+       *
+       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+       */
+      public Builder setExtra(
+          com.google.protobuf.Struct.Builder builderForValue) {
+        copyOnWrite();
+        instance.setExtra(builderForValue.build());
+        return this;
+      }
+      /**
+       * <pre>
+       * Additional arguments to the method
+       * </pre>
+       *
+       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+       */
+      public Builder mergeExtra(com.google.protobuf.Struct value) {
+        copyOnWrite();
+        instance.mergeExtra(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * Additional arguments to the method
+       * </pre>
+       *
+       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+       */
+      public Builder clearExtra() {  copyOnWrite();
+        instance.clearExtra();
+        return this;
+      }
+
+      // @@protoc_insertion_point(builder_scope:viam.component.arm.v1.MoveThroughJointPositionsRequest)
+    }
+    @java.lang.Override
+    @java.lang.SuppressWarnings({"ThrowNull"})
+    protected final java.lang.Object dynamicMethod(
+        com.google.protobuf.GeneratedMessageLite.MethodToInvoke method,
+        java.lang.Object arg0, java.lang.Object arg1) {
+      switch (method) {
+        case NEW_MUTABLE_INSTANCE: {
+          return new com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest();
+        }
+        case NEW_BUILDER: {
+          return new Builder();
+        }
+        case BUILD_MESSAGE_INFO: {
+            java.lang.Object[] objects = new java.lang.Object[] {
+              "bitField0_",
+              "name_",
+              "positions_",
+              com.viam.component.arm.v1.Arm.JointPositions.class,
+              "options_",
+              "extra_",
+            };
+            java.lang.String info =
+                "\u0000\u0004\u0000\u0001\u0001c\u0004\u0000\u0001\u0000\u0001\u0208\u0002\u001b\u0003" +
+                "\u1009\u0000c\u1009\u0001";
+            return newMessageInfo(DEFAULT_INSTANCE, info, objects);
+        }
+        case GET_DEFAULT_INSTANCE: {
+          return DEFAULT_INSTANCE;
+        }
+        case GET_PARSER: {
+          com.google.protobuf.Parser<com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest> parser = PARSER;
+          if (parser == null) {
+            synchronized (com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest.class) {
+              parser = PARSER;
+              if (parser == null) {
+                parser =
+                    new DefaultInstanceBasedParser<com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest>(
+                        DEFAULT_INSTANCE);
+                PARSER = parser;
+              }
+            }
+          }
+          return parser;
+        }
+        case GET_MEMOIZED_IS_INITIALIZED: {
+          return (byte) 1;
+        }
+        // SET_MEMOIZED_IS_INITIALIZED is never called for this message.
+        // So it can do anything. Combine with default case for smaller codegen.
+        case SET_MEMOIZED_IS_INITIALIZED:
+      }
+      // Should never happen. Generates tight code to throw an exception.
+      throw null;
+    }
+
+
+    // @@protoc_insertion_point(class_scope:viam.component.arm.v1.MoveThroughJointPositionsRequest)
+    private static final com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest DEFAULT_INSTANCE;
+    static {
+      MoveThroughJointPositionsRequest defaultInstance = new MoveThroughJointPositionsRequest();
+      // New instances are implicitly immutable so no need to make
+      // immutable.
+      DEFAULT_INSTANCE = defaultInstance;
+      com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
+        MoveThroughJointPositionsRequest.class, defaultInstance);
+    }
+
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static volatile com.google.protobuf.Parser<MoveThroughJointPositionsRequest> PARSER;
+
+    public static com.google.protobuf.Parser<MoveThroughJointPositionsRequest> parser() {
+      return DEFAULT_INSTANCE.getParserForType();
+    }
+  }
+
+  public interface MoveThroughJointPositionsResponseOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:viam.component.arm.v1.MoveThroughJointPositionsResponse)
+      com.google.protobuf.MessageLiteOrBuilder {
+  }
+  /**
+   * Protobuf type {@code viam.component.arm.v1.MoveThroughJointPositionsResponse}
+   */
+  public  static final class MoveThroughJointPositionsResponse extends
+      com.google.protobuf.GeneratedMessageLite<
+          MoveThroughJointPositionsResponse, MoveThroughJointPositionsResponse.Builder> implements
+      // @@protoc_insertion_point(message_implements:viam.component.arm.v1.MoveThroughJointPositionsResponse)
+      MoveThroughJointPositionsResponseOrBuilder {
+    private MoveThroughJointPositionsResponse() {
+    }
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input);
+    }
+
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static Builder newBuilder() {
+      return (Builder) DEFAULT_INSTANCE.createBuilder();
+    }
+    public static Builder newBuilder(com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse prototype) {
+      return DEFAULT_INSTANCE.createBuilder(prototype);
+    }
+
+    /**
+     * Protobuf type {@code viam.component.arm.v1.MoveThroughJointPositionsResponse}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageLite.Builder<
+          com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse, Builder> implements
+        // @@protoc_insertion_point(builder_implements:viam.component.arm.v1.MoveThroughJointPositionsResponse)
+        com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponseOrBuilder {
+      // Construct using com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse.newBuilder()
+      private Builder() {
+        super(DEFAULT_INSTANCE);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:viam.component.arm.v1.MoveThroughJointPositionsResponse)
+    }
+    @java.lang.Override
+    @java.lang.SuppressWarnings({"ThrowNull"})
+    protected final java.lang.Object dynamicMethod(
+        com.google.protobuf.GeneratedMessageLite.MethodToInvoke method,
+        java.lang.Object arg0, java.lang.Object arg1) {
+      switch (method) {
+        case NEW_MUTABLE_INSTANCE: {
+          return new com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse();
+        }
+        case NEW_BUILDER: {
+          return new Builder();
+        }
+        case BUILD_MESSAGE_INFO: {
+            java.lang.Object[] objects = null;
+            java.lang.String info =
+                "\u0000\u0000";
+            return newMessageInfo(DEFAULT_INSTANCE, info, objects);
+        }
+        case GET_DEFAULT_INSTANCE: {
+          return DEFAULT_INSTANCE;
+        }
+        case GET_PARSER: {
+          com.google.protobuf.Parser<com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse> parser = PARSER;
+          if (parser == null) {
+            synchronized (com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse.class) {
+              parser = PARSER;
+              if (parser == null) {
+                parser =
+                    new DefaultInstanceBasedParser<com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse>(
+                        DEFAULT_INSTANCE);
+                PARSER = parser;
+              }
+            }
+          }
+          return parser;
+        }
+        case GET_MEMOIZED_IS_INITIALIZED: {
+          return (byte) 1;
+        }
+        // SET_MEMOIZED_IS_INITIALIZED is never called for this message.
+        // So it can do anything. Combine with default case for smaller codegen.
+        case SET_MEMOIZED_IS_INITIALIZED:
+      }
+      // Should never happen. Generates tight code to throw an exception.
+      throw null;
+    }
+
+
+    // @@protoc_insertion_point(class_scope:viam.component.arm.v1.MoveThroughJointPositionsResponse)
+    private static final com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse DEFAULT_INSTANCE;
+    static {
+      MoveThroughJointPositionsResponse defaultInstance = new MoveThroughJointPositionsResponse();
+      // New instances are implicitly immutable so no need to make
+      // immutable.
+      DEFAULT_INSTANCE = defaultInstance;
+      com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
+        MoveThroughJointPositionsResponse.class, defaultInstance);
+    }
+
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static volatile com.google.protobuf.Parser<MoveThroughJointPositionsResponse> PARSER;
+
+    public static com.google.protobuf.Parser<MoveThroughJointPositionsResponse> parser() {
+      return DEFAULT_INSTANCE.getParserForType();
+    }
+  }
+
+  public interface TrajectoryPointOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:viam.component.arm.v1.TrajectoryPoint)
+      com.google.protobuf.MessageLiteOrBuilder {
+
+    /**
+     * <pre>
+     * Time from the start of the motion at which this waypoint should be reached. Must be zero
+     * for the first point of the stream and strictly increasing thereafter. Server implementations
+     * should validate these constraints.
+     * </pre>
+     *
+     * <code>.google.protobuf.Duration time = 1 [json_name = "time"];</code>
+     * @return Whether the time field is set.
+     */
+    boolean hasTime();
+    /**
+     * <pre>
+     * Time from the start of the motion at which this waypoint should be reached. Must be zero
+     * for the first point of the stream and strictly increasing thereafter. Server implementations
+     * should validate these constraints.
+     * </pre>
+     *
+     * <code>.google.protobuf.Duration time = 1 [json_name = "time"];</code>
+     * @return The time.
+     */
+    com.google.protobuf.Duration getTime();
+
+    /**
+     * <pre>
+     * Joint positions at this waypoint.
+     * </pre>
+     *
+     * <code>.viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+     * @return Whether the positions field is set.
+     */
+    boolean hasPositions();
+    /**
+     * <pre>
+     * Joint positions at this waypoint.
+     * </pre>
+     *
+     * <code>.viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+     * @return The positions.
+     */
+    com.viam.component.arm.v1.Arm.JointPositions getPositions();
+
+    /**
+     * <pre>
+     * Optional target kinematic constraints at this waypoint.
+     * </pre>
+     *
+     * <code>optional .viam.component.arm.v1.TrajectoryPoint.KinematicConstraints constraints = 3 [json_name = "constraints"];</code>
+     * @return Whether the constraints field is set.
+     */
+    boolean hasConstraints();
+    /**
+     * <pre>
+     * Optional target kinematic constraints at this waypoint.
+     * </pre>
+     *
+     * <code>optional .viam.component.arm.v1.TrajectoryPoint.KinematicConstraints constraints = 3 [json_name = "constraints"];</code>
+     * @return The constraints.
+     */
+    com.viam.component.arm.v1.Arm.TrajectoryPoint.KinematicConstraints getConstraints();
+  }
+  /**
+   * <pre>
+   * One waypoint in a streamed joint-space trajectory.
+   * </pre>
+   *
+   * Protobuf type {@code viam.component.arm.v1.TrajectoryPoint}
+   */
+  public  static final class TrajectoryPoint extends
+      com.google.protobuf.GeneratedMessageLite<
+          TrajectoryPoint, TrajectoryPoint.Builder> implements
+      // @@protoc_insertion_point(message_implements:viam.component.arm.v1.TrajectoryPoint)
+      TrajectoryPointOrBuilder {
+    private TrajectoryPoint() {
+    }
+    public interface KinematicConstraintsOrBuilder extends
+        // @@protoc_insertion_point(interface_extends:viam.component.arm.v1.TrajectoryPoint.KinematicConstraints)
+        com.google.protobuf.MessageLiteOrBuilder {
+
+      /**
+       * <pre>
+       * Target joint velocities at this waypoint. If provided, the first point of the stream (the t=0 sample)
+       * must have zero velocity. Server implementations should validate this constraint.
+       * </pre>
+       *
+       * <code>.viam.component.arm.v1.JointVelocities velocities = 1 [json_name = "velocities"];</code>
+       * @return Whether the velocities field is set.
+       */
+      boolean hasVelocities();
+      /**
+       * <pre>
+       * Target joint velocities at this waypoint. If provided, the first point of the stream (the t=0 sample)
+       * must have zero velocity. Server implementations should validate this constraint.
+       * </pre>
+       *
+       * <code>.viam.component.arm.v1.JointVelocities velocities = 1 [json_name = "velocities"];</code>
+       * @return The velocities.
+       */
+      com.viam.component.arm.v1.Arm.JointVelocities getVelocities();
+
+      /**
+       * <pre>
+       * Optional target joint accelerations at this waypoint.
+       * </pre>
+       *
+       * <code>optional .viam.component.arm.v1.JointAccelerations accelerations = 2 [json_name = "accelerations"];</code>
+       * @return Whether the accelerations field is set.
+       */
+      boolean hasAccelerations();
+      /**
+       * <pre>
+       * Optional target joint accelerations at this waypoint.
+       * </pre>
+       *
+       * <code>optional .viam.component.arm.v1.JointAccelerations accelerations = 2 [json_name = "accelerations"];</code>
+       * @return The accelerations.
+       */
+      com.viam.component.arm.v1.Arm.JointAccelerations getAccelerations();
+    }
+    /**
+     * Protobuf type {@code viam.component.arm.v1.TrajectoryPoint.KinematicConstraints}
+     */
+    public  static final class KinematicConstraints extends
+        com.google.protobuf.GeneratedMessageLite<
+            KinematicConstraints, KinematicConstraints.Builder> implements
+        // @@protoc_insertion_point(message_implements:viam.component.arm.v1.TrajectoryPoint.KinematicConstraints)
+        KinematicConstraintsOrBuilder {
+      private KinematicConstraints() {
+      }
+      private int bitField0_;
+      public static final int VELOCITIES_FIELD_NUMBER = 1;
+      private com.viam.component.arm.v1.Arm.JointVelocities velocities_;
+      /**
+       * <pre>
+       * Target joint velocities at this waypoint. If provided, the first point of the stream (the t=0 sample)
+       * must have zero velocity. Server implementations should validate this constraint.
+       * </pre>
+       *
+       * <code>.viam.component.arm.v1.JointVelocities velocities = 1 [json_name = "velocities"];</code>
+       */
+      @java.lang.Override
+      public boolean hasVelocities() {
+        return ((bitField0_ & 0x00000001) != 0);
+      }
+      /**
+       * <pre>
+       * Target joint velocities at this waypoint. If provided, the first point of the stream (the t=0 sample)
+       * must have zero velocity. Server implementations should validate this constraint.
+       * </pre>
+       *
+       * <code>.viam.component.arm.v1.JointVelocities velocities = 1 [json_name = "velocities"];</code>
+       */
+      @java.lang.Override
+      public com.viam.component.arm.v1.Arm.JointVelocities getVelocities() {
+        return velocities_ == null ? com.viam.component.arm.v1.Arm.JointVelocities.getDefaultInstance() : velocities_;
+      }
+      /**
+       * <pre>
+       * Target joint velocities at this waypoint. If provided, the first point of the stream (the t=0 sample)
+       * must have zero velocity. Server implementations should validate this constraint.
+       * </pre>
+       *
+       * <code>.viam.component.arm.v1.JointVelocities velocities = 1 [json_name = "velocities"];</code>
+       */
+      @java.lang.SuppressWarnings("ReturnValueIgnored")
+      private void setVelocities(com.viam.component.arm.v1.Arm.JointVelocities value) {
+        value.getClass();  // minimal bytecode null check
+        velocities_ = value;
+        bitField0_ |= 0x00000001;
+      }
+      /**
+       * <pre>
+       * Target joint velocities at this waypoint. If provided, the first point of the stream (the t=0 sample)
+       * must have zero velocity. Server implementations should validate this constraint.
+       * </pre>
+       *
+       * <code>.viam.component.arm.v1.JointVelocities velocities = 1 [json_name = "velocities"];</code>
+       */
+      @java.lang.SuppressWarnings({"ReferenceEquality", "ReturnValueIgnored"})
+      private void mergeVelocities(com.viam.component.arm.v1.Arm.JointVelocities value) {
+        value.getClass();  // minimal bytecode null check
+        if (velocities_ != null &&
+            velocities_ != com.viam.component.arm.v1.Arm.JointVelocities.getDefaultInstance()) {
+          velocities_ =
+            com.viam.component.arm.v1.Arm.JointVelocities.newBuilder(velocities_).mergeFrom(value).buildPartial();
+        } else {
+          velocities_ = value;
+        }
+        bitField0_ |= 0x00000001;
+      }
+      /**
+       * <pre>
+       * Target joint velocities at this waypoint. If provided, the first point of the stream (the t=0 sample)
+       * must have zero velocity. Server implementations should validate this constraint.
+       * </pre>
+       *
+       * <code>.viam.component.arm.v1.JointVelocities velocities = 1 [json_name = "velocities"];</code>
+       */
+      private void clearVelocities() {
+        velocities_ = null;
+        bitField0_ = (bitField0_ & ~0x00000001);
+      }
+
+      public static final int ACCELERATIONS_FIELD_NUMBER = 2;
+      private com.viam.component.arm.v1.Arm.JointAccelerations accelerations_;
+      /**
+       * <pre>
+       * Optional target joint accelerations at this waypoint.
+       * </pre>
+       *
+       * <code>optional .viam.component.arm.v1.JointAccelerations accelerations = 2 [json_name = "accelerations"];</code>
+       */
+      @java.lang.Override
+      public boolean hasAccelerations() {
+        return ((bitField0_ & 0x00000002) != 0);
+      }
+      /**
+       * <pre>
+       * Optional target joint accelerations at this waypoint.
+       * </pre>
+       *
+       * <code>optional .viam.component.arm.v1.JointAccelerations accelerations = 2 [json_name = "accelerations"];</code>
+       */
+      @java.lang.Override
+      public com.viam.component.arm.v1.Arm.JointAccelerations getAccelerations() {
+        return accelerations_ == null ? com.viam.component.arm.v1.Arm.JointAccelerations.getDefaultInstance() : accelerations_;
+      }
+      /**
+       * <pre>
+       * Optional target joint accelerations at this waypoint.
+       * </pre>
+       *
+       * <code>optional .viam.component.arm.v1.JointAccelerations accelerations = 2 [json_name = "accelerations"];</code>
+       */
+      @java.lang.SuppressWarnings("ReturnValueIgnored")
+      private void setAccelerations(com.viam.component.arm.v1.Arm.JointAccelerations value) {
+        value.getClass();  // minimal bytecode null check
+        accelerations_ = value;
+        bitField0_ |= 0x00000002;
+      }
+      /**
+       * <pre>
+       * Optional target joint accelerations at this waypoint.
+       * </pre>
+       *
+       * <code>optional .viam.component.arm.v1.JointAccelerations accelerations = 2 [json_name = "accelerations"];</code>
+       */
+      @java.lang.SuppressWarnings({"ReferenceEquality", "ReturnValueIgnored"})
+      private void mergeAccelerations(com.viam.component.arm.v1.Arm.JointAccelerations value) {
+        value.getClass();  // minimal bytecode null check
+        if (accelerations_ != null &&
+            accelerations_ != com.viam.component.arm.v1.Arm.JointAccelerations.getDefaultInstance()) {
+          accelerations_ =
+            com.viam.component.arm.v1.Arm.JointAccelerations.newBuilder(accelerations_).mergeFrom(value).buildPartial();
+        } else {
+          accelerations_ = value;
+        }
+        bitField0_ |= 0x00000002;
+      }
+      /**
+       * <pre>
+       * Optional target joint accelerations at this waypoint.
+       * </pre>
+       *
+       * <code>optional .viam.component.arm.v1.JointAccelerations accelerations = 2 [json_name = "accelerations"];</code>
+       */
+      private void clearAccelerations() {
+        accelerations_ = null;
+        bitField0_ = (bitField0_ & ~0x00000002);
+      }
+
+      public static com.viam.component.arm.v1.Arm.TrajectoryPoint.KinematicConstraints parseFrom(
+          java.nio.ByteBuffer data)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return com.google.protobuf.GeneratedMessageLite.parseFrom(
+            DEFAULT_INSTANCE, data);
+      }
+      public static com.viam.component.arm.v1.Arm.TrajectoryPoint.KinematicConstraints parseFrom(
+          java.nio.ByteBuffer data,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return com.google.protobuf.GeneratedMessageLite.parseFrom(
+            DEFAULT_INSTANCE, data, extensionRegistry);
+      }
+      public static com.viam.component.arm.v1.Arm.TrajectoryPoint.KinematicConstraints parseFrom(
+          com.google.protobuf.ByteString data)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return com.google.protobuf.GeneratedMessageLite.parseFrom(
+            DEFAULT_INSTANCE, data);
+      }
+      public static com.viam.component.arm.v1.Arm.TrajectoryPoint.KinematicConstraints parseFrom(
+          com.google.protobuf.ByteString data,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return com.google.protobuf.GeneratedMessageLite.parseFrom(
+            DEFAULT_INSTANCE, data, extensionRegistry);
+      }
+      public static com.viam.component.arm.v1.Arm.TrajectoryPoint.KinematicConstraints parseFrom(byte[] data)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return com.google.protobuf.GeneratedMessageLite.parseFrom(
+            DEFAULT_INSTANCE, data);
+      }
+      public static com.viam.component.arm.v1.Arm.TrajectoryPoint.KinematicConstraints parseFrom(
+          byte[] data,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return com.google.protobuf.GeneratedMessageLite.parseFrom(
+            DEFAULT_INSTANCE, data, extensionRegistry);
+      }
+      public static com.viam.component.arm.v1.Arm.TrajectoryPoint.KinematicConstraints parseFrom(java.io.InputStream input)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageLite.parseFrom(
+            DEFAULT_INSTANCE, input);
+      }
+      public static com.viam.component.arm.v1.Arm.TrajectoryPoint.KinematicConstraints parseFrom(
+          java.io.InputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageLite.parseFrom(
+            DEFAULT_INSTANCE, input, extensionRegistry);
+      }
+
+      public static com.viam.component.arm.v1.Arm.TrajectoryPoint.KinematicConstraints parseDelimitedFrom(java.io.InputStream input)
+          throws java.io.IOException {
+        return parseDelimitedFrom(DEFAULT_INSTANCE, input);
+      }
+
+      public static com.viam.component.arm.v1.Arm.TrajectoryPoint.KinematicConstraints parseDelimitedFrom(
+          java.io.InputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
+      }
+      public static com.viam.component.arm.v1.Arm.TrajectoryPoint.KinematicConstraints parseFrom(
+          com.google.protobuf.CodedInputStream input)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageLite.parseFrom(
+            DEFAULT_INSTANCE, input);
+      }
+      public static com.viam.component.arm.v1.Arm.TrajectoryPoint.KinematicConstraints parseFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageLite.parseFrom(
+            DEFAULT_INSTANCE, input, extensionRegistry);
+      }
+
+      public static Builder newBuilder() {
+        return (Builder) DEFAULT_INSTANCE.createBuilder();
+      }
+      public static Builder newBuilder(com.viam.component.arm.v1.Arm.TrajectoryPoint.KinematicConstraints prototype) {
+        return DEFAULT_INSTANCE.createBuilder(prototype);
+      }
+
+      /**
+       * Protobuf type {@code viam.component.arm.v1.TrajectoryPoint.KinematicConstraints}
+       */
+      public static final class Builder extends
+          com.google.protobuf.GeneratedMessageLite.Builder<
+            com.viam.component.arm.v1.Arm.TrajectoryPoint.KinematicConstraints, Builder> implements
+          // @@protoc_insertion_point(builder_implements:viam.component.arm.v1.TrajectoryPoint.KinematicConstraints)
+          com.viam.component.arm.v1.Arm.TrajectoryPoint.KinematicConstraintsOrBuilder {
+        // Construct using com.viam.component.arm.v1.Arm.TrajectoryPoint.KinematicConstraints.newBuilder()
+        private Builder() {
+          super(DEFAULT_INSTANCE);
+        }
+
+
+        /**
+         * <pre>
+         * Target joint velocities at this waypoint. If provided, the first point of the stream (the t=0 sample)
+         * must have zero velocity. Server implementations should validate this constraint.
+         * </pre>
+         *
+         * <code>.viam.component.arm.v1.JointVelocities velocities = 1 [json_name = "velocities"];</code>
+         */
+        @java.lang.Override
+        public boolean hasVelocities() {
+          return instance.hasVelocities();
+        }
+        /**
+         * <pre>
+         * Target joint velocities at this waypoint. If provided, the first point of the stream (the t=0 sample)
+         * must have zero velocity. Server implementations should validate this constraint.
+         * </pre>
+         *
+         * <code>.viam.component.arm.v1.JointVelocities velocities = 1 [json_name = "velocities"];</code>
+         */
+        @java.lang.Override
+        public com.viam.component.arm.v1.Arm.JointVelocities getVelocities() {
+          return instance.getVelocities();
+        }
+        /**
+         * <pre>
+         * Target joint velocities at this waypoint. If provided, the first point of the stream (the t=0 sample)
+         * must have zero velocity. Server implementations should validate this constraint.
+         * </pre>
+         *
+         * <code>.viam.component.arm.v1.JointVelocities velocities = 1 [json_name = "velocities"];</code>
+         */
+        public Builder setVelocities(com.viam.component.arm.v1.Arm.JointVelocities value) {
+          copyOnWrite();
+          instance.setVelocities(value);
+          return this;
+          }
+        /**
+         * <pre>
+         * Target joint velocities at this waypoint. If provided, the first point of the stream (the t=0 sample)
+         * must have zero velocity. Server implementations should validate this constraint.
+         * </pre>
+         *
+         * <code>.viam.component.arm.v1.JointVelocities velocities = 1 [json_name = "velocities"];</code>
+         */
+        public Builder setVelocities(
+            com.viam.component.arm.v1.Arm.JointVelocities.Builder builderForValue) {
+          copyOnWrite();
+          instance.setVelocities(builderForValue.build());
+          return this;
+        }
+        /**
+         * <pre>
+         * Target joint velocities at this waypoint. If provided, the first point of the stream (the t=0 sample)
+         * must have zero velocity. Server implementations should validate this constraint.
+         * </pre>
+         *
+         * <code>.viam.component.arm.v1.JointVelocities velocities = 1 [json_name = "velocities"];</code>
+         */
+        public Builder mergeVelocities(com.viam.component.arm.v1.Arm.JointVelocities value) {
+          copyOnWrite();
+          instance.mergeVelocities(value);
+          return this;
+        }
+        /**
+         * <pre>
+         * Target joint velocities at this waypoint. If provided, the first point of the stream (the t=0 sample)
+         * must have zero velocity. Server implementations should validate this constraint.
+         * </pre>
+         *
+         * <code>.viam.component.arm.v1.JointVelocities velocities = 1 [json_name = "velocities"];</code>
+         */
+        public Builder clearVelocities() {  copyOnWrite();
+          instance.clearVelocities();
+          return this;
+        }
+
+        /**
+         * <pre>
+         * Optional target joint accelerations at this waypoint.
+         * </pre>
+         *
+         * <code>optional .viam.component.arm.v1.JointAccelerations accelerations = 2 [json_name = "accelerations"];</code>
+         */
+        @java.lang.Override
+        public boolean hasAccelerations() {
+          return instance.hasAccelerations();
+        }
+        /**
+         * <pre>
+         * Optional target joint accelerations at this waypoint.
+         * </pre>
+         *
+         * <code>optional .viam.component.arm.v1.JointAccelerations accelerations = 2 [json_name = "accelerations"];</code>
+         */
+        @java.lang.Override
+        public com.viam.component.arm.v1.Arm.JointAccelerations getAccelerations() {
+          return instance.getAccelerations();
+        }
+        /**
+         * <pre>
+         * Optional target joint accelerations at this waypoint.
+         * </pre>
+         *
+         * <code>optional .viam.component.arm.v1.JointAccelerations accelerations = 2 [json_name = "accelerations"];</code>
+         */
+        public Builder setAccelerations(com.viam.component.arm.v1.Arm.JointAccelerations value) {
+          copyOnWrite();
+          instance.setAccelerations(value);
+          return this;
+          }
+        /**
+         * <pre>
+         * Optional target joint accelerations at this waypoint.
+         * </pre>
+         *
+         * <code>optional .viam.component.arm.v1.JointAccelerations accelerations = 2 [json_name = "accelerations"];</code>
+         */
+        public Builder setAccelerations(
+            com.viam.component.arm.v1.Arm.JointAccelerations.Builder builderForValue) {
+          copyOnWrite();
+          instance.setAccelerations(builderForValue.build());
+          return this;
+        }
+        /**
+         * <pre>
+         * Optional target joint accelerations at this waypoint.
+         * </pre>
+         *
+         * <code>optional .viam.component.arm.v1.JointAccelerations accelerations = 2 [json_name = "accelerations"];</code>
+         */
+        public Builder mergeAccelerations(com.viam.component.arm.v1.Arm.JointAccelerations value) {
+          copyOnWrite();
+          instance.mergeAccelerations(value);
+          return this;
+        }
+        /**
+         * <pre>
+         * Optional target joint accelerations at this waypoint.
+         * </pre>
+         *
+         * <code>optional .viam.component.arm.v1.JointAccelerations accelerations = 2 [json_name = "accelerations"];</code>
+         */
+        public Builder clearAccelerations() {  copyOnWrite();
+          instance.clearAccelerations();
+          return this;
+        }
+
+        // @@protoc_insertion_point(builder_scope:viam.component.arm.v1.TrajectoryPoint.KinematicConstraints)
+      }
+      @java.lang.Override
+      @java.lang.SuppressWarnings({"ThrowNull"})
+      protected final java.lang.Object dynamicMethod(
+          com.google.protobuf.GeneratedMessageLite.MethodToInvoke method,
+          java.lang.Object arg0, java.lang.Object arg1) {
+        switch (method) {
+          case NEW_MUTABLE_INSTANCE: {
+            return new com.viam.component.arm.v1.Arm.TrajectoryPoint.KinematicConstraints();
+          }
+          case NEW_BUILDER: {
+            return new Builder();
+          }
+          case BUILD_MESSAGE_INFO: {
+              java.lang.Object[] objects = new java.lang.Object[] {
+                "bitField0_",
+                "velocities_",
+                "accelerations_",
+              };
+              java.lang.String info =
+                  "\u0000\u0002\u0000\u0001\u0001\u0002\u0002\u0000\u0000\u0000\u0001\u1009\u0000\u0002" +
+                  "\u1009\u0001";
+              return newMessageInfo(DEFAULT_INSTANCE, info, objects);
+          }
+          case GET_DEFAULT_INSTANCE: {
+            return DEFAULT_INSTANCE;
+          }
+          case GET_PARSER: {
+            com.google.protobuf.Parser<com.viam.component.arm.v1.Arm.TrajectoryPoint.KinematicConstraints> parser = PARSER;
+            if (parser == null) {
+              synchronized (com.viam.component.arm.v1.Arm.TrajectoryPoint.KinematicConstraints.class) {
+                parser = PARSER;
+                if (parser == null) {
+                  parser =
+                      new DefaultInstanceBasedParser<com.viam.component.arm.v1.Arm.TrajectoryPoint.KinematicConstraints>(
+                          DEFAULT_INSTANCE);
+                  PARSER = parser;
+                }
+              }
+            }
+            return parser;
+          }
+          case GET_MEMOIZED_IS_INITIALIZED: {
+            return (byte) 1;
+          }
+          // SET_MEMOIZED_IS_INITIALIZED is never called for this message.
+          // So it can do anything. Combine with default case for smaller codegen.
+          case SET_MEMOIZED_IS_INITIALIZED:
+        }
+        // Should never happen. Generates tight code to throw an exception.
+        throw null;
+      }
+
+
+      // @@protoc_insertion_point(class_scope:viam.component.arm.v1.TrajectoryPoint.KinematicConstraints)
+      private static final com.viam.component.arm.v1.Arm.TrajectoryPoint.KinematicConstraints DEFAULT_INSTANCE;
+      static {
+        KinematicConstraints defaultInstance = new KinematicConstraints();
+        // New instances are implicitly immutable so no need to make
+        // immutable.
+        DEFAULT_INSTANCE = defaultInstance;
+        com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
+          KinematicConstraints.class, defaultInstance);
+      }
+
+      public static com.viam.component.arm.v1.Arm.TrajectoryPoint.KinematicConstraints getDefaultInstance() {
+        return DEFAULT_INSTANCE;
+      }
+
+      private static volatile com.google.protobuf.Parser<KinematicConstraints> PARSER;
+
+      public static com.google.protobuf.Parser<KinematicConstraints> parser() {
+        return DEFAULT_INSTANCE.getParserForType();
+      }
+    }
+
+    private int bitField0_;
+    public static final int TIME_FIELD_NUMBER = 1;
+    private com.google.protobuf.Duration time_;
+    /**
+     * <pre>
+     * Time from the start of the motion at which this waypoint should be reached. Must be zero
+     * for the first point of the stream and strictly increasing thereafter. Server implementations
+     * should validate these constraints.
+     * </pre>
+     *
+     * <code>.google.protobuf.Duration time = 1 [json_name = "time"];</code>
+     */
+    @java.lang.Override
+    public boolean hasTime() {
+      return ((bitField0_ & 0x00000001) != 0);
+    }
+    /**
+     * <pre>
+     * Time from the start of the motion at which this waypoint should be reached. Must be zero
+     * for the first point of the stream and strictly increasing thereafter. Server implementations
+     * should validate these constraints.
+     * </pre>
+     *
+     * <code>.google.protobuf.Duration time = 1 [json_name = "time"];</code>
+     */
+    @java.lang.Override
+    public com.google.protobuf.Duration getTime() {
+      return time_ == null ? com.google.protobuf.Duration.getDefaultInstance() : time_;
+    }
+    /**
+     * <pre>
+     * Time from the start of the motion at which this waypoint should be reached. Must be zero
+     * for the first point of the stream and strictly increasing thereafter. Server implementations
+     * should validate these constraints.
+     * </pre>
+     *
+     * <code>.google.protobuf.Duration time = 1 [json_name = "time"];</code>
+     */
+    @java.lang.SuppressWarnings("ReturnValueIgnored")
+    private void setTime(com.google.protobuf.Duration value) {
+      value.getClass();  // minimal bytecode null check
+      time_ = value;
+      bitField0_ |= 0x00000001;
+    }
+    /**
+     * <pre>
+     * Time from the start of the motion at which this waypoint should be reached. Must be zero
+     * for the first point of the stream and strictly increasing thereafter. Server implementations
+     * should validate these constraints.
+     * </pre>
+     *
+     * <code>.google.protobuf.Duration time = 1 [json_name = "time"];</code>
+     */
+    @java.lang.SuppressWarnings({"ReferenceEquality", "ReturnValueIgnored"})
+    private void mergeTime(com.google.protobuf.Duration value) {
+      value.getClass();  // minimal bytecode null check
+      if (time_ != null &&
+          time_ != com.google.protobuf.Duration.getDefaultInstance()) {
+        time_ =
+          com.google.protobuf.Duration.newBuilder(time_).mergeFrom(value).buildPartial();
+      } else {
+        time_ = value;
+      }
+      bitField0_ |= 0x00000001;
+    }
+    /**
+     * <pre>
+     * Time from the start of the motion at which this waypoint should be reached. Must be zero
+     * for the first point of the stream and strictly increasing thereafter. Server implementations
+     * should validate these constraints.
+     * </pre>
+     *
+     * <code>.google.protobuf.Duration time = 1 [json_name = "time"];</code>
+     */
+    private void clearTime() {
+      time_ = null;
+      bitField0_ = (bitField0_ & ~0x00000001);
+    }
+
+    public static final int POSITIONS_FIELD_NUMBER = 2;
+    private com.viam.component.arm.v1.Arm.JointPositions positions_;
+    /**
+     * <pre>
+     * Joint positions at this waypoint.
+     * </pre>
+     *
+     * <code>.viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+     */
+    @java.lang.Override
+    public boolean hasPositions() {
+      return ((bitField0_ & 0x00000002) != 0);
+    }
+    /**
+     * <pre>
+     * Joint positions at this waypoint.
+     * </pre>
+     *
+     * <code>.viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+     */
+    @java.lang.Override
+    public com.viam.component.arm.v1.Arm.JointPositions getPositions() {
+      return positions_ == null ? com.viam.component.arm.v1.Arm.JointPositions.getDefaultInstance() : positions_;
+    }
+    /**
+     * <pre>
+     * Joint positions at this waypoint.
+     * </pre>
+     *
+     * <code>.viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+     */
+    @java.lang.SuppressWarnings("ReturnValueIgnored")
+    private void setPositions(com.viam.component.arm.v1.Arm.JointPositions value) {
+      value.getClass();  // minimal bytecode null check
+      positions_ = value;
+      bitField0_ |= 0x00000002;
+    }
+    /**
+     * <pre>
+     * Joint positions at this waypoint.
+     * </pre>
+     *
+     * <code>.viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+     */
+    @java.lang.SuppressWarnings({"ReferenceEquality", "ReturnValueIgnored"})
+    private void mergePositions(com.viam.component.arm.v1.Arm.JointPositions value) {
+      value.getClass();  // minimal bytecode null check
+      if (positions_ != null &&
+          positions_ != com.viam.component.arm.v1.Arm.JointPositions.getDefaultInstance()) {
+        positions_ =
+          com.viam.component.arm.v1.Arm.JointPositions.newBuilder(positions_).mergeFrom(value).buildPartial();
+      } else {
+        positions_ = value;
+      }
+      bitField0_ |= 0x00000002;
+    }
+    /**
+     * <pre>
+     * Joint positions at this waypoint.
+     * </pre>
+     *
+     * <code>.viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+     */
+    private void clearPositions() {
+      positions_ = null;
+      bitField0_ = (bitField0_ & ~0x00000002);
+    }
+
+    public static final int CONSTRAINTS_FIELD_NUMBER = 3;
+    private com.viam.component.arm.v1.Arm.TrajectoryPoint.KinematicConstraints constraints_;
+    /**
+     * <pre>
+     * Optional target kinematic constraints at this waypoint.
+     * </pre>
+     *
+     * <code>optional .viam.component.arm.v1.TrajectoryPoint.KinematicConstraints constraints = 3 [json_name = "constraints"];</code>
+     */
+    @java.lang.Override
+    public boolean hasConstraints() {
+      return ((bitField0_ & 0x00000004) != 0);
+    }
+    /**
+     * <pre>
+     * Optional target kinematic constraints at this waypoint.
+     * </pre>
+     *
+     * <code>optional .viam.component.arm.v1.TrajectoryPoint.KinematicConstraints constraints = 3 [json_name = "constraints"];</code>
+     */
+    @java.lang.Override
+    public com.viam.component.arm.v1.Arm.TrajectoryPoint.KinematicConstraints getConstraints() {
+      return constraints_ == null ? com.viam.component.arm.v1.Arm.TrajectoryPoint.KinematicConstraints.getDefaultInstance() : constraints_;
+    }
+    /**
+     * <pre>
+     * Optional target kinematic constraints at this waypoint.
+     * </pre>
+     *
+     * <code>optional .viam.component.arm.v1.TrajectoryPoint.KinematicConstraints constraints = 3 [json_name = "constraints"];</code>
+     */
+    @java.lang.SuppressWarnings("ReturnValueIgnored")
+    private void setConstraints(com.viam.component.arm.v1.Arm.TrajectoryPoint.KinematicConstraints value) {
+      value.getClass();  // minimal bytecode null check
+      constraints_ = value;
+      bitField0_ |= 0x00000004;
+    }
+    /**
+     * <pre>
+     * Optional target kinematic constraints at this waypoint.
+     * </pre>
+     *
+     * <code>optional .viam.component.arm.v1.TrajectoryPoint.KinematicConstraints constraints = 3 [json_name = "constraints"];</code>
+     */
+    @java.lang.SuppressWarnings({"ReferenceEquality", "ReturnValueIgnored"})
+    private void mergeConstraints(com.viam.component.arm.v1.Arm.TrajectoryPoint.KinematicConstraints value) {
+      value.getClass();  // minimal bytecode null check
+      if (constraints_ != null &&
+          constraints_ != com.viam.component.arm.v1.Arm.TrajectoryPoint.KinematicConstraints.getDefaultInstance()) {
+        constraints_ =
+          com.viam.component.arm.v1.Arm.TrajectoryPoint.KinematicConstraints.newBuilder(constraints_).mergeFrom(value).buildPartial();
+      } else {
+        constraints_ = value;
+      }
+      bitField0_ |= 0x00000004;
+    }
+    /**
+     * <pre>
+     * Optional target kinematic constraints at this waypoint.
+     * </pre>
+     *
+     * <code>optional .viam.component.arm.v1.TrajectoryPoint.KinematicConstraints constraints = 3 [json_name = "constraints"];</code>
+     */
+    private void clearConstraints() {
+      constraints_ = null;
+      bitField0_ = (bitField0_ & ~0x00000004);
+    }
+
+    public static com.viam.component.arm.v1.Arm.TrajectoryPoint parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static com.viam.component.arm.v1.Arm.TrajectoryPoint parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static com.viam.component.arm.v1.Arm.TrajectoryPoint parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static com.viam.component.arm.v1.Arm.TrajectoryPoint parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static com.viam.component.arm.v1.Arm.TrajectoryPoint parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static com.viam.component.arm.v1.Arm.TrajectoryPoint parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static com.viam.component.arm.v1.Arm.TrajectoryPoint parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static com.viam.component.arm.v1.Arm.TrajectoryPoint parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static com.viam.component.arm.v1.Arm.TrajectoryPoint parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input);
+    }
+
+    public static com.viam.component.arm.v1.Arm.TrajectoryPoint parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+    public static com.viam.component.arm.v1.Arm.TrajectoryPoint parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static com.viam.component.arm.v1.Arm.TrajectoryPoint parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static Builder newBuilder() {
+      return (Builder) DEFAULT_INSTANCE.createBuilder();
+    }
+    public static Builder newBuilder(com.viam.component.arm.v1.Arm.TrajectoryPoint prototype) {
+      return DEFAULT_INSTANCE.createBuilder(prototype);
+    }
+
+    /**
+     * <pre>
+     * One waypoint in a streamed joint-space trajectory.
+     * </pre>
+     *
+     * Protobuf type {@code viam.component.arm.v1.TrajectoryPoint}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageLite.Builder<
+          com.viam.component.arm.v1.Arm.TrajectoryPoint, Builder> implements
+        // @@protoc_insertion_point(builder_implements:viam.component.arm.v1.TrajectoryPoint)
+        com.viam.component.arm.v1.Arm.TrajectoryPointOrBuilder {
+      // Construct using com.viam.component.arm.v1.Arm.TrajectoryPoint.newBuilder()
+      private Builder() {
+        super(DEFAULT_INSTANCE);
+      }
+
+
+      /**
+       * <pre>
+       * Time from the start of the motion at which this waypoint should be reached. Must be zero
+       * for the first point of the stream and strictly increasing thereafter. Server implementations
+       * should validate these constraints.
+       * </pre>
+       *
+       * <code>.google.protobuf.Duration time = 1 [json_name = "time"];</code>
+       */
+      @java.lang.Override
+      public boolean hasTime() {
+        return instance.hasTime();
+      }
+      /**
+       * <pre>
+       * Time from the start of the motion at which this waypoint should be reached. Must be zero
+       * for the first point of the stream and strictly increasing thereafter. Server implementations
+       * should validate these constraints.
+       * </pre>
+       *
+       * <code>.google.protobuf.Duration time = 1 [json_name = "time"];</code>
+       */
+      @java.lang.Override
+      public com.google.protobuf.Duration getTime() {
+        return instance.getTime();
+      }
+      /**
+       * <pre>
+       * Time from the start of the motion at which this waypoint should be reached. Must be zero
+       * for the first point of the stream and strictly increasing thereafter. Server implementations
+       * should validate these constraints.
+       * </pre>
+       *
+       * <code>.google.protobuf.Duration time = 1 [json_name = "time"];</code>
+       */
+      public Builder setTime(com.google.protobuf.Duration value) {
+        copyOnWrite();
+        instance.setTime(value);
+        return this;
+        }
+      /**
+       * <pre>
+       * Time from the start of the motion at which this waypoint should be reached. Must be zero
+       * for the first point of the stream and strictly increasing thereafter. Server implementations
+       * should validate these constraints.
+       * </pre>
+       *
+       * <code>.google.protobuf.Duration time = 1 [json_name = "time"];</code>
+       */
+      public Builder setTime(
+          com.google.protobuf.Duration.Builder builderForValue) {
+        copyOnWrite();
+        instance.setTime(builderForValue.build());
+        return this;
+      }
+      /**
+       * <pre>
+       * Time from the start of the motion at which this waypoint should be reached. Must be zero
+       * for the first point of the stream and strictly increasing thereafter. Server implementations
+       * should validate these constraints.
+       * </pre>
+       *
+       * <code>.google.protobuf.Duration time = 1 [json_name = "time"];</code>
+       */
+      public Builder mergeTime(com.google.protobuf.Duration value) {
+        copyOnWrite();
+        instance.mergeTime(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * Time from the start of the motion at which this waypoint should be reached. Must be zero
+       * for the first point of the stream and strictly increasing thereafter. Server implementations
+       * should validate these constraints.
+       * </pre>
+       *
+       * <code>.google.protobuf.Duration time = 1 [json_name = "time"];</code>
+       */
+      public Builder clearTime() {  copyOnWrite();
+        instance.clearTime();
+        return this;
+      }
+
+      /**
+       * <pre>
+       * Joint positions at this waypoint.
+       * </pre>
+       *
+       * <code>.viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+       */
+      @java.lang.Override
+      public boolean hasPositions() {
+        return instance.hasPositions();
+      }
+      /**
+       * <pre>
+       * Joint positions at this waypoint.
+       * </pre>
+       *
+       * <code>.viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+       */
+      @java.lang.Override
+      public com.viam.component.arm.v1.Arm.JointPositions getPositions() {
+        return instance.getPositions();
+      }
+      /**
+       * <pre>
+       * Joint positions at this waypoint.
+       * </pre>
+       *
+       * <code>.viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+       */
+      public Builder setPositions(com.viam.component.arm.v1.Arm.JointPositions value) {
+        copyOnWrite();
+        instance.setPositions(value);
+        return this;
+        }
+      /**
+       * <pre>
+       * Joint positions at this waypoint.
+       * </pre>
+       *
+       * <code>.viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+       */
+      public Builder setPositions(
+          com.viam.component.arm.v1.Arm.JointPositions.Builder builderForValue) {
+        copyOnWrite();
+        instance.setPositions(builderForValue.build());
+        return this;
+      }
+      /**
+       * <pre>
+       * Joint positions at this waypoint.
+       * </pre>
+       *
+       * <code>.viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+       */
+      public Builder mergePositions(com.viam.component.arm.v1.Arm.JointPositions value) {
+        copyOnWrite();
+        instance.mergePositions(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * Joint positions at this waypoint.
+       * </pre>
+       *
+       * <code>.viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+       */
+      public Builder clearPositions() {  copyOnWrite();
+        instance.clearPositions();
+        return this;
+      }
+
+      /**
+       * <pre>
+       * Optional target kinematic constraints at this waypoint.
+       * </pre>
+       *
+       * <code>optional .viam.component.arm.v1.TrajectoryPoint.KinematicConstraints constraints = 3 [json_name = "constraints"];</code>
+       */
+      @java.lang.Override
+      public boolean hasConstraints() {
+        return instance.hasConstraints();
+      }
+      /**
+       * <pre>
+       * Optional target kinematic constraints at this waypoint.
+       * </pre>
+       *
+       * <code>optional .viam.component.arm.v1.TrajectoryPoint.KinematicConstraints constraints = 3 [json_name = "constraints"];</code>
+       */
+      @java.lang.Override
+      public com.viam.component.arm.v1.Arm.TrajectoryPoint.KinematicConstraints getConstraints() {
+        return instance.getConstraints();
+      }
+      /**
+       * <pre>
+       * Optional target kinematic constraints at this waypoint.
+       * </pre>
+       *
+       * <code>optional .viam.component.arm.v1.TrajectoryPoint.KinematicConstraints constraints = 3 [json_name = "constraints"];</code>
+       */
+      public Builder setConstraints(com.viam.component.arm.v1.Arm.TrajectoryPoint.KinematicConstraints value) {
+        copyOnWrite();
+        instance.setConstraints(value);
+        return this;
+        }
+      /**
+       * <pre>
+       * Optional target kinematic constraints at this waypoint.
+       * </pre>
+       *
+       * <code>optional .viam.component.arm.v1.TrajectoryPoint.KinematicConstraints constraints = 3 [json_name = "constraints"];</code>
+       */
+      public Builder setConstraints(
+          com.viam.component.arm.v1.Arm.TrajectoryPoint.KinematicConstraints.Builder builderForValue) {
+        copyOnWrite();
+        instance.setConstraints(builderForValue.build());
+        return this;
+      }
+      /**
+       * <pre>
+       * Optional target kinematic constraints at this waypoint.
+       * </pre>
+       *
+       * <code>optional .viam.component.arm.v1.TrajectoryPoint.KinematicConstraints constraints = 3 [json_name = "constraints"];</code>
+       */
+      public Builder mergeConstraints(com.viam.component.arm.v1.Arm.TrajectoryPoint.KinematicConstraints value) {
+        copyOnWrite();
+        instance.mergeConstraints(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * Optional target kinematic constraints at this waypoint.
+       * </pre>
+       *
+       * <code>optional .viam.component.arm.v1.TrajectoryPoint.KinematicConstraints constraints = 3 [json_name = "constraints"];</code>
+       */
+      public Builder clearConstraints() {  copyOnWrite();
+        instance.clearConstraints();
+        return this;
+      }
+
+      // @@protoc_insertion_point(builder_scope:viam.component.arm.v1.TrajectoryPoint)
+    }
+    @java.lang.Override
+    @java.lang.SuppressWarnings({"ThrowNull"})
+    protected final java.lang.Object dynamicMethod(
+        com.google.protobuf.GeneratedMessageLite.MethodToInvoke method,
+        java.lang.Object arg0, java.lang.Object arg1) {
+      switch (method) {
+        case NEW_MUTABLE_INSTANCE: {
+          return new com.viam.component.arm.v1.Arm.TrajectoryPoint();
+        }
+        case NEW_BUILDER: {
+          return new Builder();
+        }
+        case BUILD_MESSAGE_INFO: {
+            java.lang.Object[] objects = new java.lang.Object[] {
+              "bitField0_",
+              "time_",
+              "positions_",
+              "constraints_",
+            };
+            java.lang.String info =
+                "\u0000\u0003\u0000\u0001\u0001\u0003\u0003\u0000\u0000\u0000\u0001\u1009\u0000\u0002" +
+                "\u1009\u0001\u0003\u1009\u0002";
+            return newMessageInfo(DEFAULT_INSTANCE, info, objects);
+        }
+        case GET_DEFAULT_INSTANCE: {
+          return DEFAULT_INSTANCE;
+        }
+        case GET_PARSER: {
+          com.google.protobuf.Parser<com.viam.component.arm.v1.Arm.TrajectoryPoint> parser = PARSER;
+          if (parser == null) {
+            synchronized (com.viam.component.arm.v1.Arm.TrajectoryPoint.class) {
+              parser = PARSER;
+              if (parser == null) {
+                parser =
+                    new DefaultInstanceBasedParser<com.viam.component.arm.v1.Arm.TrajectoryPoint>(
+                        DEFAULT_INSTANCE);
+                PARSER = parser;
+              }
+            }
+          }
+          return parser;
+        }
+        case GET_MEMOIZED_IS_INITIALIZED: {
+          return (byte) 1;
+        }
+        // SET_MEMOIZED_IS_INITIALIZED is never called for this message.
+        // So it can do anything. Combine with default case for smaller codegen.
+        case SET_MEMOIZED_IS_INITIALIZED:
+      }
+      // Should never happen. Generates tight code to throw an exception.
+      throw null;
+    }
+
+
+    // @@protoc_insertion_point(class_scope:viam.component.arm.v1.TrajectoryPoint)
+    private static final com.viam.component.arm.v1.Arm.TrajectoryPoint DEFAULT_INSTANCE;
+    static {
+      TrajectoryPoint defaultInstance = new TrajectoryPoint();
+      // New instances are implicitly immutable so no need to make
+      // immutable.
+      DEFAULT_INSTANCE = defaultInstance;
+      com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
+        TrajectoryPoint.class, defaultInstance);
+    }
+
+    public static com.viam.component.arm.v1.Arm.TrajectoryPoint getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static volatile com.google.protobuf.Parser<TrajectoryPoint> PARSER;
+
+    public static com.google.protobuf.Parser<TrajectoryPoint> parser() {
+      return DEFAULT_INSTANCE.getParserForType();
+    }
+  }
+
+  public interface MoveThroughJointPositionsStreamedRequestOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest)
+      com.google.protobuf.MessageLiteOrBuilder {
+
+    /**
+     * <pre>
+     * Name of the arm to control.
+     * </pre>
+     *
+     * <code>string name = 1 [json_name = "name"];</code>
+     * @return The name.
+     */
+    java.lang.String getName();
+    /**
+     * <pre>
+     * Name of the arm to control.
+     * </pre>
+     *
+     * <code>string name = 1 [json_name = "name"];</code>
+     * @return The bytes for name.
+     */
+    com.google.protobuf.ByteString
+        getNameBytes();
+
+    /**
+     * <pre>
+     * Stream initiation. Sent exactly once and must be the first message on the stream.
+     * </pre>
+     *
+     * <code>.viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest.Init init = 2 [json_name = "init"];</code>
+     * @return Whether the init field is set.
+     */
+    boolean hasInit();
+    /**
+     * <pre>
+     * Stream initiation. Sent exactly once and must be the first message on the stream.
+     * </pre>
+     *
+     * <code>.viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest.Init init = 2 [json_name = "init"];</code>
+     * @return The init.
+     */
+    com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.Init getInit();
+
+    /**
+     * <pre>
+     * A batch of trajectory points to append to the running motion. Sent N times after init.
+     * </pre>
+     *
+     * <code>.viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch batch = 3 [json_name = "batch"];</code>
+     * @return Whether the batch field is set.
+     */
+    boolean hasBatch();
+    /**
+     * <pre>
+     * A batch of trajectory points to append to the running motion. Sent N times after init.
+     * </pre>
+     *
+     * <code>.viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch batch = 3 [json_name = "batch"];</code>
+     * @return The batch.
+     */
+    com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch getBatch();
+
+    public com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.MessageCase getMessageCase();
+  }
+  /**
+   * Protobuf type {@code viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest}
+   */
+  public  static final class MoveThroughJointPositionsStreamedRequest extends
+      com.google.protobuf.GeneratedMessageLite<
+          MoveThroughJointPositionsStreamedRequest, MoveThroughJointPositionsStreamedRequest.Builder> implements
+      // @@protoc_insertion_point(message_implements:viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest)
+      MoveThroughJointPositionsStreamedRequestOrBuilder {
+    private MoveThroughJointPositionsStreamedRequest() {
+      name_ = "";
+    }
+    public interface InitOrBuilder extends
+        // @@protoc_insertion_point(interface_extends:viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest.Init)
+        com.google.protobuf.MessageLiteOrBuilder {
+
+      /**
+       * <pre>
+       * Additional sticky arguments to the method.
+       * </pre>
+       *
+       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+       * @return Whether the extra field is set.
+       */
+      boolean hasExtra();
+      /**
+       * <pre>
+       * Additional sticky arguments to the method.
+       * </pre>
+       *
+       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+       * @return The extra.
+       */
+      com.google.protobuf.Struct getExtra();
+    }
+    /**
+     * Protobuf type {@code viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest.Init}
+     */
+    public  static final class Init extends
+        com.google.protobuf.GeneratedMessageLite<
+            Init, Init.Builder> implements
+        // @@protoc_insertion_point(message_implements:viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest.Init)
+        InitOrBuilder {
+      private Init() {
+      }
+      private int bitField0_;
+      public static final int EXTRA_FIELD_NUMBER = 99;
+      private com.google.protobuf.Struct extra_;
+      /**
+       * <pre>
+       * Additional sticky arguments to the method.
+       * </pre>
+       *
+       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+       */
+      @java.lang.Override
+      public boolean hasExtra() {
+        return ((bitField0_ & 0x00000001) != 0);
+      }
+      /**
+       * <pre>
+       * Additional sticky arguments to the method.
+       * </pre>
+       *
+       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+       */
+      @java.lang.Override
+      public com.google.protobuf.Struct getExtra() {
+        return extra_ == null ? com.google.protobuf.Struct.getDefaultInstance() : extra_;
+      }
+      /**
+       * <pre>
+       * Additional sticky arguments to the method.
+       * </pre>
+       *
+       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+       */
+      @java.lang.SuppressWarnings("ReturnValueIgnored")
+      private void setExtra(com.google.protobuf.Struct value) {
+        value.getClass();  // minimal bytecode null check
+        extra_ = value;
+        bitField0_ |= 0x00000001;
+      }
+      /**
+       * <pre>
+       * Additional sticky arguments to the method.
+       * </pre>
+       *
+       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+       */
+      @java.lang.SuppressWarnings({"ReferenceEquality", "ReturnValueIgnored"})
+      private void mergeExtra(com.google.protobuf.Struct value) {
+        value.getClass();  // minimal bytecode null check
+        if (extra_ != null &&
+            extra_ != com.google.protobuf.Struct.getDefaultInstance()) {
+          extra_ =
+            com.google.protobuf.Struct.newBuilder(extra_).mergeFrom(value).buildPartial();
+        } else {
+          extra_ = value;
+        }
+        bitField0_ |= 0x00000001;
+      }
+      /**
+       * <pre>
+       * Additional sticky arguments to the method.
+       * </pre>
+       *
+       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+       */
+      private void clearExtra() {
+        extra_ = null;
+        bitField0_ = (bitField0_ & ~0x00000001);
+      }
+
+      public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.Init parseFrom(
+          java.nio.ByteBuffer data)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return com.google.protobuf.GeneratedMessageLite.parseFrom(
+            DEFAULT_INSTANCE, data);
+      }
+      public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.Init parseFrom(
+          java.nio.ByteBuffer data,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return com.google.protobuf.GeneratedMessageLite.parseFrom(
+            DEFAULT_INSTANCE, data, extensionRegistry);
+      }
+      public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.Init parseFrom(
+          com.google.protobuf.ByteString data)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return com.google.protobuf.GeneratedMessageLite.parseFrom(
+            DEFAULT_INSTANCE, data);
+      }
+      public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.Init parseFrom(
+          com.google.protobuf.ByteString data,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return com.google.protobuf.GeneratedMessageLite.parseFrom(
+            DEFAULT_INSTANCE, data, extensionRegistry);
+      }
+      public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.Init parseFrom(byte[] data)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return com.google.protobuf.GeneratedMessageLite.parseFrom(
+            DEFAULT_INSTANCE, data);
+      }
+      public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.Init parseFrom(
+          byte[] data,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return com.google.protobuf.GeneratedMessageLite.parseFrom(
+            DEFAULT_INSTANCE, data, extensionRegistry);
+      }
+      public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.Init parseFrom(java.io.InputStream input)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageLite.parseFrom(
+            DEFAULT_INSTANCE, input);
+      }
+      public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.Init parseFrom(
+          java.io.InputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageLite.parseFrom(
+            DEFAULT_INSTANCE, input, extensionRegistry);
+      }
+
+      public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.Init parseDelimitedFrom(java.io.InputStream input)
+          throws java.io.IOException {
+        return parseDelimitedFrom(DEFAULT_INSTANCE, input);
+      }
+
+      public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.Init parseDelimitedFrom(
+          java.io.InputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
+      }
+      public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.Init parseFrom(
+          com.google.protobuf.CodedInputStream input)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageLite.parseFrom(
+            DEFAULT_INSTANCE, input);
+      }
+      public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.Init parseFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageLite.parseFrom(
+            DEFAULT_INSTANCE, input, extensionRegistry);
+      }
+
+      public static Builder newBuilder() {
+        return (Builder) DEFAULT_INSTANCE.createBuilder();
+      }
+      public static Builder newBuilder(com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.Init prototype) {
+        return DEFAULT_INSTANCE.createBuilder(prototype);
+      }
+
+      /**
+       * Protobuf type {@code viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest.Init}
+       */
+      public static final class Builder extends
+          com.google.protobuf.GeneratedMessageLite.Builder<
+            com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.Init, Builder> implements
+          // @@protoc_insertion_point(builder_implements:viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest.Init)
+          com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.InitOrBuilder {
+        // Construct using com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.Init.newBuilder()
+        private Builder() {
+          super(DEFAULT_INSTANCE);
+        }
+
+
+        /**
+         * <pre>
+         * Additional sticky arguments to the method.
+         * </pre>
+         *
+         * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+         */
+        @java.lang.Override
+        public boolean hasExtra() {
+          return instance.hasExtra();
+        }
+        /**
+         * <pre>
+         * Additional sticky arguments to the method.
+         * </pre>
+         *
+         * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+         */
+        @java.lang.Override
+        public com.google.protobuf.Struct getExtra() {
+          return instance.getExtra();
+        }
+        /**
+         * <pre>
+         * Additional sticky arguments to the method.
+         * </pre>
+         *
+         * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+         */
+        public Builder setExtra(com.google.protobuf.Struct value) {
+          copyOnWrite();
+          instance.setExtra(value);
+          return this;
+          }
+        /**
+         * <pre>
+         * Additional sticky arguments to the method.
+         * </pre>
+         *
+         * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+         */
+        public Builder setExtra(
+            com.google.protobuf.Struct.Builder builderForValue) {
+          copyOnWrite();
+          instance.setExtra(builderForValue.build());
+          return this;
+        }
+        /**
+         * <pre>
+         * Additional sticky arguments to the method.
+         * </pre>
+         *
+         * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+         */
+        public Builder mergeExtra(com.google.protobuf.Struct value) {
+          copyOnWrite();
+          instance.mergeExtra(value);
+          return this;
+        }
+        /**
+         * <pre>
+         * Additional sticky arguments to the method.
+         * </pre>
+         *
+         * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+         */
+        public Builder clearExtra() {  copyOnWrite();
+          instance.clearExtra();
+          return this;
+        }
+
+        // @@protoc_insertion_point(builder_scope:viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest.Init)
+      }
+      @java.lang.Override
+      @java.lang.SuppressWarnings({"ThrowNull"})
+      protected final java.lang.Object dynamicMethod(
+          com.google.protobuf.GeneratedMessageLite.MethodToInvoke method,
+          java.lang.Object arg0, java.lang.Object arg1) {
+        switch (method) {
+          case NEW_MUTABLE_INSTANCE: {
+            return new com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.Init();
+          }
+          case NEW_BUILDER: {
+            return new Builder();
+          }
+          case BUILD_MESSAGE_INFO: {
+              java.lang.Object[] objects = new java.lang.Object[] {
+                "bitField0_",
+                "extra_",
+              };
+              java.lang.String info =
+                  "\u0000\u0001\u0000\u0001cc\u0001\u0000\u0000\u0000c\u1009\u0000";
+              return newMessageInfo(DEFAULT_INSTANCE, info, objects);
+          }
+          case GET_DEFAULT_INSTANCE: {
+            return DEFAULT_INSTANCE;
+          }
+          case GET_PARSER: {
+            com.google.protobuf.Parser<com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.Init> parser = PARSER;
+            if (parser == null) {
+              synchronized (com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.Init.class) {
+                parser = PARSER;
+                if (parser == null) {
+                  parser =
+                      new DefaultInstanceBasedParser<com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.Init>(
+                          DEFAULT_INSTANCE);
+                  PARSER = parser;
+                }
+              }
+            }
+            return parser;
+          }
+          case GET_MEMOIZED_IS_INITIALIZED: {
+            return (byte) 1;
+          }
+          // SET_MEMOIZED_IS_INITIALIZED is never called for this message.
+          // So it can do anything. Combine with default case for smaller codegen.
+          case SET_MEMOIZED_IS_INITIALIZED:
+        }
+        // Should never happen. Generates tight code to throw an exception.
+        throw null;
+      }
+
+
+      // @@protoc_insertion_point(class_scope:viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest.Init)
+      private static final com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.Init DEFAULT_INSTANCE;
+      static {
+        Init defaultInstance = new Init();
+        // New instances are implicitly immutable so no need to make
+        // immutable.
+        DEFAULT_INSTANCE = defaultInstance;
+        com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
+          Init.class, defaultInstance);
+      }
+
+      public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.Init getDefaultInstance() {
+        return DEFAULT_INSTANCE;
+      }
+
+      private static volatile com.google.protobuf.Parser<Init> PARSER;
+
+      public static com.google.protobuf.Parser<Init> parser() {
+        return DEFAULT_INSTANCE.getParserForType();
+      }
+    }
+
+    public interface TrajectoryBatchOrBuilder extends
+        // @@protoc_insertion_point(interface_extends:viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch)
+        com.google.protobuf.MessageLiteOrBuilder {
+
+      /**
+       * <pre>
+       * Trajectory points to append to the motion, in order. Append-only; points cannot be
+       * replaced or revoked.
+       * </pre>
+       *
+       * <code>repeated .viam.component.arm.v1.TrajectoryPoint points = 1 [json_name = "points"];</code>
+       */
+      java.util.List<com.viam.component.arm.v1.Arm.TrajectoryPoint> 
+          getPointsList();
+      /**
+       * <pre>
+       * Trajectory points to append to the motion, in order. Append-only; points cannot be
+       * replaced or revoked.
+       * </pre>
+       *
+       * <code>repeated .viam.component.arm.v1.TrajectoryPoint points = 1 [json_name = "points"];</code>
+       */
+      com.viam.component.arm.v1.Arm.TrajectoryPoint getPoints(int index);
+      /**
+       * <pre>
+       * Trajectory points to append to the motion, in order. Append-only; points cannot be
+       * replaced or revoked.
+       * </pre>
+       *
+       * <code>repeated .viam.component.arm.v1.TrajectoryPoint points = 1 [json_name = "points"];</code>
+       */
+      int getPointsCount();
     }
     /**
-     * <pre>
-     * A list of joint positions which will be moved to in the order they are specified
-     * </pre>
-     *
-     * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+     * Protobuf type {@code viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch}
      */
-    public com.viam.component.arm.v1.Arm.JointPositionsOrBuilder getPositionsOrBuilder(
-        int index) {
-      return positions_.get(index);
+    public  static final class TrajectoryBatch extends
+        com.google.protobuf.GeneratedMessageLite<
+            TrajectoryBatch, TrajectoryBatch.Builder> implements
+        // @@protoc_insertion_point(message_implements:viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch)
+        TrajectoryBatchOrBuilder {
+      private TrajectoryBatch() {
+        points_ = emptyProtobufList();
+      }
+      public static final int POINTS_FIELD_NUMBER = 1;
+      private com.google.protobuf.Internal.ProtobufList<com.viam.component.arm.v1.Arm.TrajectoryPoint> points_;
+      /**
+       * <pre>
+       * Trajectory points to append to the motion, in order. Append-only; points cannot be
+       * replaced or revoked.
+       * </pre>
+       *
+       * <code>repeated .viam.component.arm.v1.TrajectoryPoint points = 1 [json_name = "points"];</code>
+       */
+      @java.lang.Override
+      public java.util.List<com.viam.component.arm.v1.Arm.TrajectoryPoint> getPointsList() {
+        return points_;
+      }
+      /**
+       * <pre>
+       * Trajectory points to append to the motion, in order. Append-only; points cannot be
+       * replaced or revoked.
+       * </pre>
+       *
+       * <code>repeated .viam.component.arm.v1.TrajectoryPoint points = 1 [json_name = "points"];</code>
+       */
+      public java.util.List<? extends com.viam.component.arm.v1.Arm.TrajectoryPointOrBuilder> 
+          getPointsOrBuilderList() {
+        return points_;
+      }
+      /**
+       * <pre>
+       * Trajectory points to append to the motion, in order. Append-only; points cannot be
+       * replaced or revoked.
+       * </pre>
+       *
+       * <code>repeated .viam.component.arm.v1.TrajectoryPoint points = 1 [json_name = "points"];</code>
+       */
+      @java.lang.Override
+      public int getPointsCount() {
+        return points_.size();
+      }
+      /**
+       * <pre>
+       * Trajectory points to append to the motion, in order. Append-only; points cannot be
+       * replaced or revoked.
+       * </pre>
+       *
+       * <code>repeated .viam.component.arm.v1.TrajectoryPoint points = 1 [json_name = "points"];</code>
+       */
+      @java.lang.Override
+      public com.viam.component.arm.v1.Arm.TrajectoryPoint getPoints(int index) {
+        return points_.get(index);
+      }
+      /**
+       * <pre>
+       * Trajectory points to append to the motion, in order. Append-only; points cannot be
+       * replaced or revoked.
+       * </pre>
+       *
+       * <code>repeated .viam.component.arm.v1.TrajectoryPoint points = 1 [json_name = "points"];</code>
+       */
+      public com.viam.component.arm.v1.Arm.TrajectoryPointOrBuilder getPointsOrBuilder(
+          int index) {
+        return points_.get(index);
+      }
+      private void ensurePointsIsMutable() {
+        com.google.protobuf.Internal.ProtobufList<com.viam.component.arm.v1.Arm.TrajectoryPoint> tmp = points_;
+        if (!tmp.isModifiable()) {
+          points_ =
+              com.google.protobuf.GeneratedMessageLite.mutableCopy(tmp);
+         }
+      }
+
+      /**
+       * <pre>
+       * Trajectory points to append to the motion, in order. Append-only; points cannot be
+       * replaced or revoked.
+       * </pre>
+       *
+       * <code>repeated .viam.component.arm.v1.TrajectoryPoint points = 1 [json_name = "points"];</code>
+       */
+      @java.lang.SuppressWarnings("ReturnValueIgnored")
+      private void setPoints(
+          int index, com.viam.component.arm.v1.Arm.TrajectoryPoint value) {
+        value.getClass();  // minimal bytecode null check
+        ensurePointsIsMutable();
+        points_.set(index, value);
+      }
+      /**
+       * <pre>
+       * Trajectory points to append to the motion, in order. Append-only; points cannot be
+       * replaced or revoked.
+       * </pre>
+       *
+       * <code>repeated .viam.component.arm.v1.TrajectoryPoint points = 1 [json_name = "points"];</code>
+       */
+      @java.lang.SuppressWarnings("ReturnValueIgnored")
+      private void addPoints(com.viam.component.arm.v1.Arm.TrajectoryPoint value) {
+        value.getClass();  // minimal bytecode null check
+        ensurePointsIsMutable();
+        points_.add(value);
+      }
+      /**
+       * <pre>
+       * Trajectory points to append to the motion, in order. Append-only; points cannot be
+       * replaced or revoked.
+       * </pre>
+       *
+       * <code>repeated .viam.component.arm.v1.TrajectoryPoint points = 1 [json_name = "points"];</code>
+       */
+      @java.lang.SuppressWarnings("ReturnValueIgnored")
+      private void addPoints(
+          int index, com.viam.component.arm.v1.Arm.TrajectoryPoint value) {
+        value.getClass();  // minimal bytecode null check
+        ensurePointsIsMutable();
+        points_.add(index, value);
+      }
+      /**
+       * <pre>
+       * Trajectory points to append to the motion, in order. Append-only; points cannot be
+       * replaced or revoked.
+       * </pre>
+       *
+       * <code>repeated .viam.component.arm.v1.TrajectoryPoint points = 1 [json_name = "points"];</code>
+       */
+      private void addAllPoints(
+          java.lang.Iterable<? extends com.viam.component.arm.v1.Arm.TrajectoryPoint> values) {
+        ensurePointsIsMutable();
+        com.google.protobuf.AbstractMessageLite.addAll(
+            values, points_);
+      }
+      /**
+       * <pre>
+       * Trajectory points to append to the motion, in order. Append-only; points cannot be
+       * replaced or revoked.
+       * </pre>
+       *
+       * <code>repeated .viam.component.arm.v1.TrajectoryPoint points = 1 [json_name = "points"];</code>
+       */
+      private void clearPoints() {
+        points_ = emptyProtobufList();
+      }
+      /**
+       * <pre>
+       * Trajectory points to append to the motion, in order. Append-only; points cannot be
+       * replaced or revoked.
+       * </pre>
+       *
+       * <code>repeated .viam.component.arm.v1.TrajectoryPoint points = 1 [json_name = "points"];</code>
+       */
+      private void removePoints(int index) {
+        ensurePointsIsMutable();
+        points_.remove(index);
+      }
+
+      public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch parseFrom(
+          java.nio.ByteBuffer data)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return com.google.protobuf.GeneratedMessageLite.parseFrom(
+            DEFAULT_INSTANCE, data);
+      }
+      public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch parseFrom(
+          java.nio.ByteBuffer data,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return com.google.protobuf.GeneratedMessageLite.parseFrom(
+            DEFAULT_INSTANCE, data, extensionRegistry);
+      }
+      public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch parseFrom(
+          com.google.protobuf.ByteString data)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return com.google.protobuf.GeneratedMessageLite.parseFrom(
+            DEFAULT_INSTANCE, data);
+      }
+      public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch parseFrom(
+          com.google.protobuf.ByteString data,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return com.google.protobuf.GeneratedMessageLite.parseFrom(
+            DEFAULT_INSTANCE, data, extensionRegistry);
+      }
+      public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch parseFrom(byte[] data)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return com.google.protobuf.GeneratedMessageLite.parseFrom(
+            DEFAULT_INSTANCE, data);
+      }
+      public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch parseFrom(
+          byte[] data,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return com.google.protobuf.GeneratedMessageLite.parseFrom(
+            DEFAULT_INSTANCE, data, extensionRegistry);
+      }
+      public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch parseFrom(java.io.InputStream input)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageLite.parseFrom(
+            DEFAULT_INSTANCE, input);
+      }
+      public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch parseFrom(
+          java.io.InputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageLite.parseFrom(
+            DEFAULT_INSTANCE, input, extensionRegistry);
+      }
+
+      public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch parseDelimitedFrom(java.io.InputStream input)
+          throws java.io.IOException {
+        return parseDelimitedFrom(DEFAULT_INSTANCE, input);
+      }
+
+      public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch parseDelimitedFrom(
+          java.io.InputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
+      }
+      public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch parseFrom(
+          com.google.protobuf.CodedInputStream input)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageLite.parseFrom(
+            DEFAULT_INSTANCE, input);
+      }
+      public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch parseFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageLite.parseFrom(
+            DEFAULT_INSTANCE, input, extensionRegistry);
+      }
+
+      public static Builder newBuilder() {
+        return (Builder) DEFAULT_INSTANCE.createBuilder();
+      }
+      public static Builder newBuilder(com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch prototype) {
+        return DEFAULT_INSTANCE.createBuilder(prototype);
+      }
+
+      /**
+       * Protobuf type {@code viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch}
+       */
+      public static final class Builder extends
+          com.google.protobuf.GeneratedMessageLite.Builder<
+            com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch, Builder> implements
+          // @@protoc_insertion_point(builder_implements:viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch)
+          com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.TrajectoryBatchOrBuilder {
+        // Construct using com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch.newBuilder()
+        private Builder() {
+          super(DEFAULT_INSTANCE);
+        }
+
+
+        /**
+         * <pre>
+         * Trajectory points to append to the motion, in order. Append-only; points cannot be
+         * replaced or revoked.
+         * </pre>
+         *
+         * <code>repeated .viam.component.arm.v1.TrajectoryPoint points = 1 [json_name = "points"];</code>
+         */
+        @java.lang.Override
+        public java.util.List<com.viam.component.arm.v1.Arm.TrajectoryPoint> getPointsList() {
+          return java.util.Collections.unmodifiableList(
+              instance.getPointsList());
+        }
+        /**
+         * <pre>
+         * Trajectory points to append to the motion, in order. Append-only; points cannot be
+         * replaced or revoked.
+         * </pre>
+         *
+         * <code>repeated .viam.component.arm.v1.TrajectoryPoint points = 1 [json_name = "points"];</code>
+         */
+        @java.lang.Override
+        public int getPointsCount() {
+          return instance.getPointsCount();
+        }/**
+         * <pre>
+         * Trajectory points to append to the motion, in order. Append-only; points cannot be
+         * replaced or revoked.
+         * </pre>
+         *
+         * <code>repeated .viam.component.arm.v1.TrajectoryPoint points = 1 [json_name = "points"];</code>
+         */
+        @java.lang.Override
+        public com.viam.component.arm.v1.Arm.TrajectoryPoint getPoints(int index) {
+          return instance.getPoints(index);
+        }
+        /**
+         * <pre>
+         * Trajectory points to append to the motion, in order. Append-only; points cannot be
+         * replaced or revoked.
+         * </pre>
+         *
+         * <code>repeated .viam.component.arm.v1.TrajectoryPoint points = 1 [json_name = "points"];</code>
+         */
+        public Builder setPoints(
+            int index, com.viam.component.arm.v1.Arm.TrajectoryPoint value) {
+          copyOnWrite();
+          instance.setPoints(index, value);
+          return this;
+        }
+        /**
+         * <pre>
+         * Trajectory points to append to the motion, in order. Append-only; points cannot be
+         * replaced or revoked.
+         * </pre>
+         *
+         * <code>repeated .viam.component.arm.v1.TrajectoryPoint points = 1 [json_name = "points"];</code>
+         */
+        public Builder setPoints(
+            int index, com.viam.component.arm.v1.Arm.TrajectoryPoint.Builder builderForValue) {
+          copyOnWrite();
+          instance.setPoints(index,
+              builderForValue.build());
+          return this;
+        }
+        /**
+         * <pre>
+         * Trajectory points to append to the motion, in order. Append-only; points cannot be
+         * replaced or revoked.
+         * </pre>
+         *
+         * <code>repeated .viam.component.arm.v1.TrajectoryPoint points = 1 [json_name = "points"];</code>
+         */
+        public Builder addPoints(com.viam.component.arm.v1.Arm.TrajectoryPoint value) {
+          copyOnWrite();
+          instance.addPoints(value);
+          return this;
+        }
+        /**
+         * <pre>
+         * Trajectory points to append to the motion, in order. Append-only; points cannot be
+         * replaced or revoked.
+         * </pre>
+         *
+         * <code>repeated .viam.component.arm.v1.TrajectoryPoint points = 1 [json_name = "points"];</code>
+         */
+        public Builder addPoints(
+            int index, com.viam.component.arm.v1.Arm.TrajectoryPoint value) {
+          copyOnWrite();
+          instance.addPoints(index, value);
+          return this;
+        }
+        /**
+         * <pre>
+         * Trajectory points to append to the motion, in order. Append-only; points cannot be
+         * replaced or revoked.
+         * </pre>
+         *
+         * <code>repeated .viam.component.arm.v1.TrajectoryPoint points = 1 [json_name = "points"];</code>
+         */
+        public Builder addPoints(
+            com.viam.component.arm.v1.Arm.TrajectoryPoint.Builder builderForValue) {
+          copyOnWrite();
+          instance.addPoints(builderForValue.build());
+          return this;
+        }
+        /**
+         * <pre>
+         * Trajectory points to append to the motion, in order. Append-only; points cannot be
+         * replaced or revoked.
+         * </pre>
+         *
+         * <code>repeated .viam.component.arm.v1.TrajectoryPoint points = 1 [json_name = "points"];</code>
+         */
+        public Builder addPoints(
+            int index, com.viam.component.arm.v1.Arm.TrajectoryPoint.Builder builderForValue) {
+          copyOnWrite();
+          instance.addPoints(index,
+              builderForValue.build());
+          return this;
+        }
+        /**
+         * <pre>
+         * Trajectory points to append to the motion, in order. Append-only; points cannot be
+         * replaced or revoked.
+         * </pre>
+         *
+         * <code>repeated .viam.component.arm.v1.TrajectoryPoint points = 1 [json_name = "points"];</code>
+         */
+        public Builder addAllPoints(
+            java.lang.Iterable<? extends com.viam.component.arm.v1.Arm.TrajectoryPoint> values) {
+          copyOnWrite();
+          instance.addAllPoints(values);
+          return this;
+        }
+        /**
+         * <pre>
+         * Trajectory points to append to the motion, in order. Append-only; points cannot be
+         * replaced or revoked.
+         * </pre>
+         *
+         * <code>repeated .viam.component.arm.v1.TrajectoryPoint points = 1 [json_name = "points"];</code>
+         */
+        public Builder clearPoints() {
+          copyOnWrite();
+          instance.clearPoints();
+          return this;
+        }
+        /**
+         * <pre>
+         * Trajectory points to append to the motion, in order. Append-only; points cannot be
+         * replaced or revoked.
+         * </pre>
+         *
+         * <code>repeated .viam.component.arm.v1.TrajectoryPoint points = 1 [json_name = "points"];</code>
+         */
+        public Builder removePoints(int index) {
+          copyOnWrite();
+          instance.removePoints(index);
+          return this;
+        }
+
+        // @@protoc_insertion_point(builder_scope:viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch)
+      }
+      @java.lang.Override
+      @java.lang.SuppressWarnings({"ThrowNull"})
+      protected final java.lang.Object dynamicMethod(
+          com.google.protobuf.GeneratedMessageLite.MethodToInvoke method,
+          java.lang.Object arg0, java.lang.Object arg1) {
+        switch (method) {
+          case NEW_MUTABLE_INSTANCE: {
+            return new com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch();
+          }
+          case NEW_BUILDER: {
+            return new Builder();
+          }
+          case BUILD_MESSAGE_INFO: {
+              java.lang.Object[] objects = new java.lang.Object[] {
+                "points_",
+                com.viam.component.arm.v1.Arm.TrajectoryPoint.class,
+              };
+              java.lang.String info =
+                  "\u0000\u0001\u0000\u0000\u0001\u0001\u0001\u0000\u0001\u0000\u0001\u001b";
+              return newMessageInfo(DEFAULT_INSTANCE, info, objects);
+          }
+          case GET_DEFAULT_INSTANCE: {
+            return DEFAULT_INSTANCE;
+          }
+          case GET_PARSER: {
+            com.google.protobuf.Parser<com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch> parser = PARSER;
+            if (parser == null) {
+              synchronized (com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch.class) {
+                parser = PARSER;
+                if (parser == null) {
+                  parser =
+                      new DefaultInstanceBasedParser<com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch>(
+                          DEFAULT_INSTANCE);
+                  PARSER = parser;
+                }
+              }
+            }
+            return parser;
+          }
+          case GET_MEMOIZED_IS_INITIALIZED: {
+            return (byte) 1;
+          }
+          // SET_MEMOIZED_IS_INITIALIZED is never called for this message.
+          // So it can do anything. Combine with default case for smaller codegen.
+          case SET_MEMOIZED_IS_INITIALIZED:
+        }
+        // Should never happen. Generates tight code to throw an exception.
+        throw null;
+      }
+
+
+      // @@protoc_insertion_point(class_scope:viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch)
+      private static final com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch DEFAULT_INSTANCE;
+      static {
+        TrajectoryBatch defaultInstance = new TrajectoryBatch();
+        // New instances are implicitly immutable so no need to make
+        // immutable.
+        DEFAULT_INSTANCE = defaultInstance;
+        com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
+          TrajectoryBatch.class, defaultInstance);
+      }
+
+      public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch getDefaultInstance() {
+        return DEFAULT_INSTANCE;
+      }
+
+      private static volatile com.google.protobuf.Parser<TrajectoryBatch> PARSER;
+
+      public static com.google.protobuf.Parser<TrajectoryBatch> parser() {
+        return DEFAULT_INSTANCE.getParserForType();
+      }
     }
-    private void ensurePositionsIsMutable() {
-      com.google.protobuf.Internal.ProtobufList<com.viam.component.arm.v1.Arm.JointPositions> tmp = positions_;
-      if (!tmp.isModifiable()) {
-        positions_ =
-            com.google.protobuf.GeneratedMessageLite.mutableCopy(tmp);
-       }
+
+    private int messageCase_ = 0;
+    private java.lang.Object message_;
+    public enum MessageCase
+        implements com.google.protobuf.AbstractMessageLite.InternalOneOfEnum {
+      INIT(2),
+      BATCH(3),
+      MESSAGE_NOT_SET(0);
+      private final int value;
+      private MessageCase(int value) {
+        this.value = value;
+      }
+      /**
+       * @deprecated Use {@link #forNumber(int)} instead.
+       */
+      @java.lang.Deprecated
+      public static MessageCase valueOf(int value) {
+        return forNumber(value);
+      }
+
+      public static MessageCase forNumber(int value) {
+        switch (value) {
+          case 2: return INIT;
+          case 3: return BATCH;
+          case 0: return MESSAGE_NOT_SET;
+          default: return null;
+        }
+      }
+      @java.lang.Override public int getNumber() {
+        return this.value;
+      }
+    };
+
+    @java.lang.Override
+    public MessageCase
+    getMessageCase() {
+      return MessageCase.forNumber(
+          messageCase_);
+    }
+
+    private void clearMessage() {
+      messageCase_ = 0;
+      message_ = null;
     }
 
+    public static final int NAME_FIELD_NUMBER = 1;
+    private java.lang.String name_;
     /**
      * <pre>
-     * A list of joint positions which will be moved to in the order they are specified
+     * Name of the arm to control.
      * </pre>
      *
-     * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+     * <code>string name = 1 [json_name = "name"];</code>
+     * @return The name.
      */
-    @java.lang.SuppressWarnings("ReturnValueIgnored")
-    private void setPositions(
-        int index, com.viam.component.arm.v1.Arm.JointPositions value) {
-      value.getClass();  // minimal bytecode null check
-      ensurePositionsIsMutable();
-      positions_.set(index, value);
+    @java.lang.Override
+    public java.lang.String getName() {
+      return name_;
     }
     /**
      * <pre>
-     * A list of joint positions which will be moved to in the order they are specified
+     * Name of the arm to control.
      * </pre>
      *
-     * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+     * <code>string name = 1 [json_name = "name"];</code>
+     * @return The bytes for name.
      */
-    @java.lang.SuppressWarnings("ReturnValueIgnored")
-    private void addPositions(com.viam.component.arm.v1.Arm.JointPositions value) {
-      value.getClass();  // minimal bytecode null check
-      ensurePositionsIsMutable();
-      positions_.add(value);
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getNameBytes() {
+      return com.google.protobuf.ByteString.copyFromUtf8(name_);
     }
     /**
      * <pre>
-     * A list of joint positions which will be moved to in the order they are specified
+     * Name of the arm to control.
      * </pre>
      *
-     * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+     * <code>string name = 1 [json_name = "name"];</code>
+     * @param value The name to set.
      */
     @java.lang.SuppressWarnings("ReturnValueIgnored")
-    private void addPositions(
-        int index, com.viam.component.arm.v1.Arm.JointPositions value) {
+    private void setName(
+        java.lang.String value) {
       value.getClass();  // minimal bytecode null check
-      ensurePositionsIsMutable();
-      positions_.add(index, value);
-    }
-    /**
-     * <pre>
-     * A list of joint positions which will be moved to in the order they are specified
-     * </pre>
-     *
-     * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
-     */
-    private void addAllPositions(
-        java.lang.Iterable<? extends com.viam.component.arm.v1.Arm.JointPositions> values) {
-      ensurePositionsIsMutable();
-      com.google.protobuf.AbstractMessageLite.addAll(
-          values, positions_);
+
+      name_ = value;
     }
     /**
      * <pre>
-     * A list of joint positions which will be moved to in the order they are specified
+     * Name of the arm to control.
      * </pre>
      *
-     * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+     * <code>string name = 1 [json_name = "name"];</code>
      */
-    private void clearPositions() {
-      positions_ = emptyProtobufList();
+    private void clearName() {
+
+      name_ = getDefaultInstance().getName();
     }
     /**
      * <pre>
-     * A list of joint positions which will be moved to in the order they are specified
+     * Name of the arm to control.
      * </pre>
      *
-     * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+     * <code>string name = 1 [json_name = "name"];</code>
+     * @param value The bytes for name to set.
      */
-    private void removePositions(int index) {
-      ensurePositionsIsMutable();
-      positions_.remove(index);
+    private void setNameBytes(
+        com.google.protobuf.ByteString value) {
+      checkByteStringIsUtf8(value);
+      name_ = value.toStringUtf8();
+
     }
 
-    public static final int OPTIONS_FIELD_NUMBER = 3;
-    private com.viam.component.arm.v1.Arm.MoveOptions options_;
+    public static final int INIT_FIELD_NUMBER = 2;
     /**
      * <pre>
-     * optional specifications to be obeyed during the motion
+     * Stream initiation. Sent exactly once and must be the first message on the stream.
      * </pre>
      *
-     * <code>optional .viam.component.arm.v1.MoveOptions options = 3 [json_name = "options"];</code>
+     * <code>.viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest.Init init = 2 [json_name = "init"];</code>
      */
     @java.lang.Override
-    public boolean hasOptions() {
-      return ((bitField0_ & 0x00000001) != 0);
+    public boolean hasInit() {
+      return messageCase_ == 2;
     }
     /**
      * <pre>
-     * optional specifications to be obeyed during the motion
+     * Stream initiation. Sent exactly once and must be the first message on the stream.
      * </pre>
      *
-     * <code>optional .viam.component.arm.v1.MoveOptions options = 3 [json_name = "options"];</code>
+     * <code>.viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest.Init init = 2 [json_name = "init"];</code>
      */
     @java.lang.Override
-    public com.viam.component.arm.v1.Arm.MoveOptions getOptions() {
-      return options_ == null ? com.viam.component.arm.v1.Arm.MoveOptions.getDefaultInstance() : options_;
+    public com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.Init getInit() {
+      if (messageCase_ == 2) {
+         return (com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.Init) message_;
+      }
+      return com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.Init.getDefaultInstance();
     }
     /**
      * <pre>
-     * optional specifications to be obeyed during the motion
+     * Stream initiation. Sent exactly once and must be the first message on the stream.
      * </pre>
      *
-     * <code>optional .viam.component.arm.v1.MoveOptions options = 3 [json_name = "options"];</code>
+     * <code>.viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest.Init init = 2 [json_name = "init"];</code>
      */
     @java.lang.SuppressWarnings("ReturnValueIgnored")
-    private void setOptions(com.viam.component.arm.v1.Arm.MoveOptions value) {
+    private void setInit(com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.Init value) {
       value.getClass();  // minimal bytecode null check
-      options_ = value;
-      bitField0_ |= 0x00000001;
+      message_ = value;
+      messageCase_ = 2;
     }
     /**
      * <pre>
-     * optional specifications to be obeyed during the motion
+     * Stream initiation. Sent exactly once and must be the first message on the stream.
      * </pre>
      *
-     * <code>optional .viam.component.arm.v1.MoveOptions options = 3 [json_name = "options"];</code>
+     * <code>.viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest.Init init = 2 [json_name = "init"];</code>
      */
-    @java.lang.SuppressWarnings({"ReferenceEquality", "ReturnValueIgnored"})
-    private void mergeOptions(com.viam.component.arm.v1.Arm.MoveOptions value) {
+    @java.lang.SuppressWarnings("ReturnValueIgnored")
+    private void mergeInit(com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.Init value) {
       value.getClass();  // minimal bytecode null check
-      if (options_ != null &&
-          options_ != com.viam.component.arm.v1.Arm.MoveOptions.getDefaultInstance()) {
-        options_ =
-          com.viam.component.arm.v1.Arm.MoveOptions.newBuilder(options_).mergeFrom(value).buildPartial();
+      if (messageCase_ == 2 &&
+          message_ != com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.Init.getDefaultInstance()) {
+        message_ = com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.Init.newBuilder((com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.Init) message_)
+            .mergeFrom(value).buildPartial();
       } else {
-        options_ = value;
+        message_ = value;
       }
-      bitField0_ |= 0x00000001;
+      messageCase_ = 2;
     }
     /**
      * <pre>
-     * optional specifications to be obeyed during the motion
+     * Stream initiation. Sent exactly once and must be the first message on the stream.
      * </pre>
      *
-     * <code>optional .viam.component.arm.v1.MoveOptions options = 3 [json_name = "options"];</code>
+     * <code>.viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest.Init init = 2 [json_name = "init"];</code>
      */
-    private void clearOptions() {
-      options_ = null;
-      bitField0_ = (bitField0_ & ~0x00000001);
+    private void clearInit() {
+      if (messageCase_ == 2) {
+        messageCase_ = 0;
+        message_ = null;
+      }
     }
 
-    public static final int EXTRA_FIELD_NUMBER = 99;
-    private com.google.protobuf.Struct extra_;
+    public static final int BATCH_FIELD_NUMBER = 3;
     /**
      * <pre>
-     * Additional arguments to the method
+     * A batch of trajectory points to append to the running motion. Sent N times after init.
      * </pre>
      *
-     * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+     * <code>.viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch batch = 3 [json_name = "batch"];</code>
      */
     @java.lang.Override
-    public boolean hasExtra() {
-      return ((bitField0_ & 0x00000002) != 0);
+    public boolean hasBatch() {
+      return messageCase_ == 3;
     }
     /**
      * <pre>
-     * Additional arguments to the method
+     * A batch of trajectory points to append to the running motion. Sent N times after init.
      * </pre>
      *
-     * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+     * <code>.viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch batch = 3 [json_name = "batch"];</code>
      */
     @java.lang.Override
-    public com.google.protobuf.Struct getExtra() {
-      return extra_ == null ? com.google.protobuf.Struct.getDefaultInstance() : extra_;
+    public com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch getBatch() {
+      if (messageCase_ == 3) {
+         return (com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch) message_;
+      }
+      return com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch.getDefaultInstance();
     }
     /**
      * <pre>
-     * Additional arguments to the method
+     * A batch of trajectory points to append to the running motion. Sent N times after init.
      * </pre>
      *
-     * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+     * <code>.viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch batch = 3 [json_name = "batch"];</code>
      */
     @java.lang.SuppressWarnings("ReturnValueIgnored")
-    private void setExtra(com.google.protobuf.Struct value) {
+    private void setBatch(com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch value) {
       value.getClass();  // minimal bytecode null check
-      extra_ = value;
-      bitField0_ |= 0x00000002;
+      message_ = value;
+      messageCase_ = 3;
     }
     /**
      * <pre>
-     * Additional arguments to the method
+     * A batch of trajectory points to append to the running motion. Sent N times after init.
      * </pre>
      *
-     * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+     * <code>.viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch batch = 3 [json_name = "batch"];</code>
      */
-    @java.lang.SuppressWarnings({"ReferenceEquality", "ReturnValueIgnored"})
-    private void mergeExtra(com.google.protobuf.Struct value) {
+    @java.lang.SuppressWarnings("ReturnValueIgnored")
+    private void mergeBatch(com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch value) {
       value.getClass();  // minimal bytecode null check
-      if (extra_ != null &&
-          extra_ != com.google.protobuf.Struct.getDefaultInstance()) {
-        extra_ =
-          com.google.protobuf.Struct.newBuilder(extra_).mergeFrom(value).buildPartial();
+      if (messageCase_ == 3 &&
+          message_ != com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch.getDefaultInstance()) {
+        message_ = com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch.newBuilder((com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch) message_)
+            .mergeFrom(value).buildPartial();
       } else {
-        extra_ = value;
+        message_ = value;
       }
-      bitField0_ |= 0x00000002;
+      messageCase_ = 3;
     }
     /**
      * <pre>
-     * Additional arguments to the method
+     * A batch of trajectory points to append to the running motion. Sent N times after init.
      * </pre>
      *
-     * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+     * <code>.viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch batch = 3 [json_name = "batch"];</code>
      */
-    private void clearExtra() {
-      extra_ = null;
-      bitField0_ = (bitField0_ & ~0x00000002);
+    private void clearBatch() {
+      if (messageCase_ == 3) {
+        messageCase_ = 0;
+        message_ = null;
+      }
     }
 
-    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest parseFrom(
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest parseFrom(
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest parseFrom(
         java.nio.ByteBuffer data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest parseFrom(
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest parseFrom(
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest parseFrom(byte[] data)
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest parseFrom(
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest parseFrom(java.io.InputStream input)
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, input);
     }
-    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest parseFrom(
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -4368,24 +8367,24 @@ public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest par
           DEFAULT_INSTANCE, input, extensionRegistry);
     }
 
-    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest parseDelimitedFrom(java.io.InputStream input)
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return parseDelimitedFrom(DEFAULT_INSTANCE, input);
     }
 
-    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest parseDelimitedFrom(
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
     }
-    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest parseFrom(
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, input);
     }
-    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest parseFrom(
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -4396,27 +8395,39 @@ public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest par
     public static Builder newBuilder() {
       return (Builder) DEFAULT_INSTANCE.createBuilder();
     }
-    public static Builder newBuilder(com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest prototype) {
+    public static Builder newBuilder(com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest prototype) {
       return DEFAULT_INSTANCE.createBuilder(prototype);
     }
 
     /**
-     * Protobuf type {@code viam.component.arm.v1.MoveThroughJointPositionsRequest}
+     * Protobuf type {@code viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest}
      */
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageLite.Builder<
-          com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest, Builder> implements
-        // @@protoc_insertion_point(builder_implements:viam.component.arm.v1.MoveThroughJointPositionsRequest)
-        com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequestOrBuilder {
-      // Construct using com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest.newBuilder()
+          com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest, Builder> implements
+        // @@protoc_insertion_point(builder_implements:viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest)
+        com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequestOrBuilder {
+      // Construct using com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.newBuilder()
       private Builder() {
         super(DEFAULT_INSTANCE);
       }
 
+      @java.lang.Override
+      public MessageCase
+          getMessageCase() {
+        return instance.getMessageCase();
+      }
+
+      public Builder clearMessage() {
+        copyOnWrite();
+        instance.clearMessage();
+        return this;
+      }
+
 
       /**
        * <pre>
-       * Name of an arm
+       * Name of the arm to control.
        * </pre>
        *
        * <code>string name = 1 [json_name = "name"];</code>
@@ -4428,7 +8439,7 @@ public java.lang.String getName() {
       }
       /**
        * <pre>
-       * Name of an arm
+       * Name of the arm to control.
        * </pre>
        *
        * <code>string name = 1 [json_name = "name"];</code>
@@ -4441,7 +8452,7 @@ public java.lang.String getName() {
       }
       /**
        * <pre>
-       * Name of an arm
+       * Name of the arm to control.
        * </pre>
        *
        * <code>string name = 1 [json_name = "name"];</code>
@@ -4456,7 +8467,7 @@ public Builder setName(
       }
       /**
        * <pre>
-       * Name of an arm
+       * Name of the arm to control.
        * </pre>
        *
        * <code>string name = 1 [json_name = "name"];</code>
@@ -4469,7 +8480,7 @@ public Builder clearName() {
       }
       /**
        * <pre>
-       * Name of an arm
+       * Name of the arm to control.
        * </pre>
        *
        * <code>string name = 1 [json_name = "name"];</code>
@@ -4485,297 +8496,149 @@ public Builder setNameBytes(
 
       /**
        * <pre>
-       * A list of joint positions which will be moved to in the order they are specified
+       * Stream initiation. Sent exactly once and must be the first message on the stream.
        * </pre>
        *
-       * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+       * <code>.viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest.Init init = 2 [json_name = "init"];</code>
        */
       @java.lang.Override
-      public java.util.List<com.viam.component.arm.v1.Arm.JointPositions> getPositionsList() {
-        return java.util.Collections.unmodifiableList(
-            instance.getPositionsList());
+      public boolean hasInit() {
+        return instance.hasInit();
       }
       /**
        * <pre>
-       * A list of joint positions which will be moved to in the order they are specified
-       * </pre>
-       *
-       * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
-       */
-      @java.lang.Override
-      public int getPositionsCount() {
-        return instance.getPositionsCount();
-      }/**
-       * <pre>
-       * A list of joint positions which will be moved to in the order they are specified
+       * Stream initiation. Sent exactly once and must be the first message on the stream.
        * </pre>
        *
-       * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+       * <code>.viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest.Init init = 2 [json_name = "init"];</code>
        */
       @java.lang.Override
-      public com.viam.component.arm.v1.Arm.JointPositions getPositions(int index) {
-        return instance.getPositions(index);
-      }
-      /**
-       * <pre>
-       * A list of joint positions which will be moved to in the order they are specified
-       * </pre>
-       *
-       * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
-       */
-      public Builder setPositions(
-          int index, com.viam.component.arm.v1.Arm.JointPositions value) {
-        copyOnWrite();
-        instance.setPositions(index, value);
-        return this;
-      }
-      /**
-       * <pre>
-       * A list of joint positions which will be moved to in the order they are specified
-       * </pre>
-       *
-       * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
-       */
-      public Builder setPositions(
-          int index, com.viam.component.arm.v1.Arm.JointPositions.Builder builderForValue) {
-        copyOnWrite();
-        instance.setPositions(index,
-            builderForValue.build());
-        return this;
-      }
-      /**
-       * <pre>
-       * A list of joint positions which will be moved to in the order they are specified
-       * </pre>
-       *
-       * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
-       */
-      public Builder addPositions(com.viam.component.arm.v1.Arm.JointPositions value) {
-        copyOnWrite();
-        instance.addPositions(value);
-        return this;
-      }
-      /**
-       * <pre>
-       * A list of joint positions which will be moved to in the order they are specified
-       * </pre>
-       *
-       * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
-       */
-      public Builder addPositions(
-          int index, com.viam.component.arm.v1.Arm.JointPositions value) {
-        copyOnWrite();
-        instance.addPositions(index, value);
-        return this;
-      }
-      /**
-       * <pre>
-       * A list of joint positions which will be moved to in the order they are specified
-       * </pre>
-       *
-       * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
-       */
-      public Builder addPositions(
-          com.viam.component.arm.v1.Arm.JointPositions.Builder builderForValue) {
-        copyOnWrite();
-        instance.addPositions(builderForValue.build());
-        return this;
+      public com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.Init getInit() {
+        return instance.getInit();
       }
       /**
        * <pre>
-       * A list of joint positions which will be moved to in the order they are specified
+       * Stream initiation. Sent exactly once and must be the first message on the stream.
        * </pre>
        *
-       * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+       * <code>.viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest.Init init = 2 [json_name = "init"];</code>
        */
-      public Builder addPositions(
-          int index, com.viam.component.arm.v1.Arm.JointPositions.Builder builderForValue) {
+      public Builder setInit(com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.Init value) {
         copyOnWrite();
-        instance.addPositions(index,
-            builderForValue.build());
+        instance.setInit(value);
         return this;
       }
       /**
        * <pre>
-       * A list of joint positions which will be moved to in the order they are specified
+       * Stream initiation. Sent exactly once and must be the first message on the stream.
        * </pre>
        *
-       * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+       * <code>.viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest.Init init = 2 [json_name = "init"];</code>
        */
-      public Builder addAllPositions(
-          java.lang.Iterable<? extends com.viam.component.arm.v1.Arm.JointPositions> values) {
+      public Builder setInit(
+          com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.Init.Builder builderForValue) {
         copyOnWrite();
-        instance.addAllPositions(values);
+        instance.setInit(builderForValue.build());
         return this;
       }
       /**
        * <pre>
-       * A list of joint positions which will be moved to in the order they are specified
+       * Stream initiation. Sent exactly once and must be the first message on the stream.
        * </pre>
        *
-       * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+       * <code>.viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest.Init init = 2 [json_name = "init"];</code>
        */
-      public Builder clearPositions() {
+      public Builder mergeInit(com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.Init value) {
         copyOnWrite();
-        instance.clearPositions();
+        instance.mergeInit(value);
         return this;
       }
       /**
        * <pre>
-       * A list of joint positions which will be moved to in the order they are specified
+       * Stream initiation. Sent exactly once and must be the first message on the stream.
        * </pre>
        *
-       * <code>repeated .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];</code>
+       * <code>.viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest.Init init = 2 [json_name = "init"];</code>
        */
-      public Builder removePositions(int index) {
+      public Builder clearInit() {
         copyOnWrite();
-        instance.removePositions(index);
+        instance.clearInit();
         return this;
       }
 
       /**
        * <pre>
-       * optional specifications to be obeyed during the motion
+       * A batch of trajectory points to append to the running motion. Sent N times after init.
        * </pre>
        *
-       * <code>optional .viam.component.arm.v1.MoveOptions options = 3 [json_name = "options"];</code>
+       * <code>.viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch batch = 3 [json_name = "batch"];</code>
        */
       @java.lang.Override
-      public boolean hasOptions() {
-        return instance.hasOptions();
+      public boolean hasBatch() {
+        return instance.hasBatch();
       }
       /**
        * <pre>
-       * optional specifications to be obeyed during the motion
+       * A batch of trajectory points to append to the running motion. Sent N times after init.
        * </pre>
        *
-       * <code>optional .viam.component.arm.v1.MoveOptions options = 3 [json_name = "options"];</code>
+       * <code>.viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch batch = 3 [json_name = "batch"];</code>
        */
       @java.lang.Override
-      public com.viam.component.arm.v1.Arm.MoveOptions getOptions() {
-        return instance.getOptions();
-      }
-      /**
-       * <pre>
-       * optional specifications to be obeyed during the motion
-       * </pre>
-       *
-       * <code>optional .viam.component.arm.v1.MoveOptions options = 3 [json_name = "options"];</code>
-       */
-      public Builder setOptions(com.viam.component.arm.v1.Arm.MoveOptions value) {
-        copyOnWrite();
-        instance.setOptions(value);
-        return this;
-        }
-      /**
-       * <pre>
-       * optional specifications to be obeyed during the motion
-       * </pre>
-       *
-       * <code>optional .viam.component.arm.v1.MoveOptions options = 3 [json_name = "options"];</code>
-       */
-      public Builder setOptions(
-          com.viam.component.arm.v1.Arm.MoveOptions.Builder builderForValue) {
-        copyOnWrite();
-        instance.setOptions(builderForValue.build());
-        return this;
+      public com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch getBatch() {
+        return instance.getBatch();
       }
       /**
        * <pre>
-       * optional specifications to be obeyed during the motion
+       * A batch of trajectory points to append to the running motion. Sent N times after init.
        * </pre>
        *
-       * <code>optional .viam.component.arm.v1.MoveOptions options = 3 [json_name = "options"];</code>
+       * <code>.viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch batch = 3 [json_name = "batch"];</code>
        */
-      public Builder mergeOptions(com.viam.component.arm.v1.Arm.MoveOptions value) {
+      public Builder setBatch(com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch value) {
         copyOnWrite();
-        instance.mergeOptions(value);
-        return this;
-      }
-      /**
-       * <pre>
-       * optional specifications to be obeyed during the motion
-       * </pre>
-       *
-       * <code>optional .viam.component.arm.v1.MoveOptions options = 3 [json_name = "options"];</code>
-       */
-      public Builder clearOptions() {  copyOnWrite();
-        instance.clearOptions();
+        instance.setBatch(value);
         return this;
       }
-
-      /**
-       * <pre>
-       * Additional arguments to the method
-       * </pre>
-       *
-       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
-       */
-      @java.lang.Override
-      public boolean hasExtra() {
-        return instance.hasExtra();
-      }
-      /**
-       * <pre>
-       * Additional arguments to the method
-       * </pre>
-       *
-       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
-       */
-      @java.lang.Override
-      public com.google.protobuf.Struct getExtra() {
-        return instance.getExtra();
-      }
-      /**
-       * <pre>
-       * Additional arguments to the method
-       * </pre>
-       *
-       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
-       */
-      public Builder setExtra(com.google.protobuf.Struct value) {
-        copyOnWrite();
-        instance.setExtra(value);
-        return this;
-        }
       /**
        * <pre>
-       * Additional arguments to the method
+       * A batch of trajectory points to append to the running motion. Sent N times after init.
        * </pre>
        *
-       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+       * <code>.viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch batch = 3 [json_name = "batch"];</code>
        */
-      public Builder setExtra(
-          com.google.protobuf.Struct.Builder builderForValue) {
+      public Builder setBatch(
+          com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch.Builder builderForValue) {
         copyOnWrite();
-        instance.setExtra(builderForValue.build());
+        instance.setBatch(builderForValue.build());
         return this;
       }
       /**
        * <pre>
-       * Additional arguments to the method
+       * A batch of trajectory points to append to the running motion. Sent N times after init.
        * </pre>
        *
-       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+       * <code>.viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch batch = 3 [json_name = "batch"];</code>
        */
-      public Builder mergeExtra(com.google.protobuf.Struct value) {
+      public Builder mergeBatch(com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch value) {
         copyOnWrite();
-        instance.mergeExtra(value);
+        instance.mergeBatch(value);
         return this;
       }
       /**
        * <pre>
-       * Additional arguments to the method
+       * A batch of trajectory points to append to the running motion. Sent N times after init.
        * </pre>
        *
-       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+       * <code>.viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch batch = 3 [json_name = "batch"];</code>
        */
-      public Builder clearExtra() {  copyOnWrite();
-        instance.clearExtra();
+      public Builder clearBatch() {
+        copyOnWrite();
+        instance.clearBatch();
         return this;
       }
 
-      // @@protoc_insertion_point(builder_scope:viam.component.arm.v1.MoveThroughJointPositionsRequest)
+      // @@protoc_insertion_point(builder_scope:viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest)
     }
     @java.lang.Override
     @java.lang.SuppressWarnings({"ThrowNull"})
@@ -4784,36 +8647,35 @@ protected final java.lang.Object dynamicMethod(
         java.lang.Object arg0, java.lang.Object arg1) {
       switch (method) {
         case NEW_MUTABLE_INSTANCE: {
-          return new com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest();
+          return new com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest();
         }
         case NEW_BUILDER: {
           return new Builder();
         }
         case BUILD_MESSAGE_INFO: {
             java.lang.Object[] objects = new java.lang.Object[] {
-              "bitField0_",
+              "message_",
+              "messageCase_",
               "name_",
-              "positions_",
-              com.viam.component.arm.v1.Arm.JointPositions.class,
-              "options_",
-              "extra_",
+              com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.Init.class,
+              com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.TrajectoryBatch.class,
             };
             java.lang.String info =
-                "\u0000\u0004\u0000\u0001\u0001c\u0004\u0000\u0001\u0000\u0001\u0208\u0002\u001b\u0003" +
-                "\u1009\u0000c\u1009\u0001";
+                "\u0000\u0003\u0001\u0000\u0001\u0003\u0003\u0000\u0000\u0000\u0001\u0208\u0002<\u0000" +
+                "\u0003<\u0000";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         case GET_DEFAULT_INSTANCE: {
           return DEFAULT_INSTANCE;
         }
         case GET_PARSER: {
-          com.google.protobuf.Parser<com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest> parser = PARSER;
+          com.google.protobuf.Parser<com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest> parser = PARSER;
           if (parser == null) {
-            synchronized (com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest.class) {
+            synchronized (com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.class) {
               parser = PARSER;
               if (parser == null) {
                 parser =
-                    new DefaultInstanceBasedParser<com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest>(
+                    new DefaultInstanceBasedParser<com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest>(
                         DEFAULT_INSTANCE);
                 PARSER = parser;
               }
@@ -4833,86 +8695,568 @@ protected final java.lang.Object dynamicMethod(
     }
 
 
-    // @@protoc_insertion_point(class_scope:viam.component.arm.v1.MoveThroughJointPositionsRequest)
-    private static final com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest DEFAULT_INSTANCE;
+    // @@protoc_insertion_point(class_scope:viam.component.arm.v1.MoveThroughJointPositionsStreamedRequest)
+    private static final com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest DEFAULT_INSTANCE;
     static {
-      MoveThroughJointPositionsRequest defaultInstance = new MoveThroughJointPositionsRequest();
+      MoveThroughJointPositionsStreamedRequest defaultInstance = new MoveThroughJointPositionsStreamedRequest();
       // New instances are implicitly immutable so no need to make
       // immutable.
       DEFAULT_INSTANCE = defaultInstance;
       com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
-        MoveThroughJointPositionsRequest.class, defaultInstance);
+        MoveThroughJointPositionsStreamedRequest.class, defaultInstance);
     }
 
-    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest getDefaultInstance() {
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
-    private static volatile com.google.protobuf.Parser<MoveThroughJointPositionsRequest> PARSER;
+    private static volatile com.google.protobuf.Parser<MoveThroughJointPositionsStreamedRequest> PARSER;
 
-    public static com.google.protobuf.Parser<MoveThroughJointPositionsRequest> parser() {
+    public static com.google.protobuf.Parser<MoveThroughJointPositionsStreamedRequest> parser() {
       return DEFAULT_INSTANCE.getParserForType();
     }
   }
 
-  public interface MoveThroughJointPositionsResponseOrBuilder extends
-      // @@protoc_insertion_point(interface_extends:viam.component.arm.v1.MoveThroughJointPositionsResponse)
+  public interface MoveThroughJointPositionsStreamedResponseOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:viam.component.arm.v1.MoveThroughJointPositionsStreamedResponse)
       com.google.protobuf.MessageLiteOrBuilder {
+
+    /**
+     * <code>.viam.component.arm.v1.MoveThroughJointPositionsStreamedResponse.BatchAck ack = 1 [json_name = "ack"];</code>
+     * @return Whether the ack field is set.
+     */
+    boolean hasAck();
+    /**
+     * <code>.viam.component.arm.v1.MoveThroughJointPositionsStreamedResponse.BatchAck ack = 1 [json_name = "ack"];</code>
+     * @return The ack.
+     */
+    com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse.BatchAck getAck();
+
+    public com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse.MessageCase getMessageCase();
   }
   /**
-   * Protobuf type {@code viam.component.arm.v1.MoveThroughJointPositionsResponse}
+   * <pre>
+   * Streamed back to the client while an arm is performing a streaming move.
+   * </pre>
+   *
+   * Protobuf type {@code viam.component.arm.v1.MoveThroughJointPositionsStreamedResponse}
    */
-  public  static final class MoveThroughJointPositionsResponse extends
+  public  static final class MoveThroughJointPositionsStreamedResponse extends
       com.google.protobuf.GeneratedMessageLite<
-          MoveThroughJointPositionsResponse, MoveThroughJointPositionsResponse.Builder> implements
-      // @@protoc_insertion_point(message_implements:viam.component.arm.v1.MoveThroughJointPositionsResponse)
-      MoveThroughJointPositionsResponseOrBuilder {
-    private MoveThroughJointPositionsResponse() {
+          MoveThroughJointPositionsStreamedResponse, MoveThroughJointPositionsStreamedResponse.Builder> implements
+      // @@protoc_insertion_point(message_implements:viam.component.arm.v1.MoveThroughJointPositionsStreamedResponse)
+      MoveThroughJointPositionsStreamedResponseOrBuilder {
+    private MoveThroughJointPositionsStreamedResponse() {
     }
-    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse parseFrom(
+    public interface BatchAckOrBuilder extends
+        // @@protoc_insertion_point(interface_extends:viam.component.arm.v1.MoveThroughJointPositionsStreamedResponse.BatchAck)
+        com.google.protobuf.MessageLiteOrBuilder {
+
+      /**
+       * <pre>
+       * Additional reply data
+       * </pre>
+       *
+       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+       * @return Whether the extra field is set.
+       */
+      boolean hasExtra();
+      /**
+       * <pre>
+       * Additional reply data
+       * </pre>
+       *
+       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+       * @return The extra.
+       */
+      com.google.protobuf.Struct getExtra();
+    }
+    /**
+     * <pre>
+     * BatchAck is returned by arm implementations to ack a
+     * `TrajectoryBatch`. Due to the lack of actionable payload in
+     * `BatchAck`, Arm implementations are not currently obligated to
+     * ack every batch, or even any batch. It is currently unspecified
+     * whether ack'ing a batch indicates its acceptance, issue to the
+     * arm, or completion. These very relaxed requirements may become
+     * tighter if and when `BatchAck` messages begin carrying meaningful
+     * payloads back to the client. For now, the recommended practice
+     * for arm implementors is to ack each batch that has been
+     * successfully issued/enqueued to the arm.
+     * </pre>
+     *
+     * Protobuf type {@code viam.component.arm.v1.MoveThroughJointPositionsStreamedResponse.BatchAck}
+     */
+    public  static final class BatchAck extends
+        com.google.protobuf.GeneratedMessageLite<
+            BatchAck, BatchAck.Builder> implements
+        // @@protoc_insertion_point(message_implements:viam.component.arm.v1.MoveThroughJointPositionsStreamedResponse.BatchAck)
+        BatchAckOrBuilder {
+      private BatchAck() {
+      }
+      private int bitField0_;
+      public static final int EXTRA_FIELD_NUMBER = 99;
+      private com.google.protobuf.Struct extra_;
+      /**
+       * <pre>
+       * Additional reply data
+       * </pre>
+       *
+       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+       */
+      @java.lang.Override
+      public boolean hasExtra() {
+        return ((bitField0_ & 0x00000001) != 0);
+      }
+      /**
+       * <pre>
+       * Additional reply data
+       * </pre>
+       *
+       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+       */
+      @java.lang.Override
+      public com.google.protobuf.Struct getExtra() {
+        return extra_ == null ? com.google.protobuf.Struct.getDefaultInstance() : extra_;
+      }
+      /**
+       * <pre>
+       * Additional reply data
+       * </pre>
+       *
+       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+       */
+      @java.lang.SuppressWarnings("ReturnValueIgnored")
+      private void setExtra(com.google.protobuf.Struct value) {
+        value.getClass();  // minimal bytecode null check
+        extra_ = value;
+        bitField0_ |= 0x00000001;
+      }
+      /**
+       * <pre>
+       * Additional reply data
+       * </pre>
+       *
+       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+       */
+      @java.lang.SuppressWarnings({"ReferenceEquality", "ReturnValueIgnored"})
+      private void mergeExtra(com.google.protobuf.Struct value) {
+        value.getClass();  // minimal bytecode null check
+        if (extra_ != null &&
+            extra_ != com.google.protobuf.Struct.getDefaultInstance()) {
+          extra_ =
+            com.google.protobuf.Struct.newBuilder(extra_).mergeFrom(value).buildPartial();
+        } else {
+          extra_ = value;
+        }
+        bitField0_ |= 0x00000001;
+      }
+      /**
+       * <pre>
+       * Additional reply data
+       * </pre>
+       *
+       * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+       */
+      private void clearExtra() {
+        extra_ = null;
+        bitField0_ = (bitField0_ & ~0x00000001);
+      }
+
+      public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse.BatchAck parseFrom(
+          java.nio.ByteBuffer data)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return com.google.protobuf.GeneratedMessageLite.parseFrom(
+            DEFAULT_INSTANCE, data);
+      }
+      public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse.BatchAck parseFrom(
+          java.nio.ByteBuffer data,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return com.google.protobuf.GeneratedMessageLite.parseFrom(
+            DEFAULT_INSTANCE, data, extensionRegistry);
+      }
+      public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse.BatchAck parseFrom(
+          com.google.protobuf.ByteString data)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return com.google.protobuf.GeneratedMessageLite.parseFrom(
+            DEFAULT_INSTANCE, data);
+      }
+      public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse.BatchAck parseFrom(
+          com.google.protobuf.ByteString data,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return com.google.protobuf.GeneratedMessageLite.parseFrom(
+            DEFAULT_INSTANCE, data, extensionRegistry);
+      }
+      public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse.BatchAck parseFrom(byte[] data)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return com.google.protobuf.GeneratedMessageLite.parseFrom(
+            DEFAULT_INSTANCE, data);
+      }
+      public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse.BatchAck parseFrom(
+          byte[] data,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return com.google.protobuf.GeneratedMessageLite.parseFrom(
+            DEFAULT_INSTANCE, data, extensionRegistry);
+      }
+      public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse.BatchAck parseFrom(java.io.InputStream input)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageLite.parseFrom(
+            DEFAULT_INSTANCE, input);
+      }
+      public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse.BatchAck parseFrom(
+          java.io.InputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageLite.parseFrom(
+            DEFAULT_INSTANCE, input, extensionRegistry);
+      }
+
+      public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse.BatchAck parseDelimitedFrom(java.io.InputStream input)
+          throws java.io.IOException {
+        return parseDelimitedFrom(DEFAULT_INSTANCE, input);
+      }
+
+      public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse.BatchAck parseDelimitedFrom(
+          java.io.InputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
+      }
+      public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse.BatchAck parseFrom(
+          com.google.protobuf.CodedInputStream input)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageLite.parseFrom(
+            DEFAULT_INSTANCE, input);
+      }
+      public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse.BatchAck parseFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageLite.parseFrom(
+            DEFAULT_INSTANCE, input, extensionRegistry);
+      }
+
+      public static Builder newBuilder() {
+        return (Builder) DEFAULT_INSTANCE.createBuilder();
+      }
+      public static Builder newBuilder(com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse.BatchAck prototype) {
+        return DEFAULT_INSTANCE.createBuilder(prototype);
+      }
+
+      /**
+       * <pre>
+       * BatchAck is returned by arm implementations to ack a
+       * `TrajectoryBatch`. Due to the lack of actionable payload in
+       * `BatchAck`, Arm implementations are not currently obligated to
+       * ack every batch, or even any batch. It is currently unspecified
+       * whether ack'ing a batch indicates its acceptance, issue to the
+       * arm, or completion. These very relaxed requirements may become
+       * tighter if and when `BatchAck` messages begin carrying meaningful
+       * payloads back to the client. For now, the recommended practice
+       * for arm implementors is to ack each batch that has been
+       * successfully issued/enqueued to the arm.
+       * </pre>
+       *
+       * Protobuf type {@code viam.component.arm.v1.MoveThroughJointPositionsStreamedResponse.BatchAck}
+       */
+      public static final class Builder extends
+          com.google.protobuf.GeneratedMessageLite.Builder<
+            com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse.BatchAck, Builder> implements
+          // @@protoc_insertion_point(builder_implements:viam.component.arm.v1.MoveThroughJointPositionsStreamedResponse.BatchAck)
+          com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse.BatchAckOrBuilder {
+        // Construct using com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse.BatchAck.newBuilder()
+        private Builder() {
+          super(DEFAULT_INSTANCE);
+        }
+
+
+        /**
+         * <pre>
+         * Additional reply data
+         * </pre>
+         *
+         * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+         */
+        @java.lang.Override
+        public boolean hasExtra() {
+          return instance.hasExtra();
+        }
+        /**
+         * <pre>
+         * Additional reply data
+         * </pre>
+         *
+         * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+         */
+        @java.lang.Override
+        public com.google.protobuf.Struct getExtra() {
+          return instance.getExtra();
+        }
+        /**
+         * <pre>
+         * Additional reply data
+         * </pre>
+         *
+         * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+         */
+        public Builder setExtra(com.google.protobuf.Struct value) {
+          copyOnWrite();
+          instance.setExtra(value);
+          return this;
+          }
+        /**
+         * <pre>
+         * Additional reply data
+         * </pre>
+         *
+         * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+         */
+        public Builder setExtra(
+            com.google.protobuf.Struct.Builder builderForValue) {
+          copyOnWrite();
+          instance.setExtra(builderForValue.build());
+          return this;
+        }
+        /**
+         * <pre>
+         * Additional reply data
+         * </pre>
+         *
+         * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+         */
+        public Builder mergeExtra(com.google.protobuf.Struct value) {
+          copyOnWrite();
+          instance.mergeExtra(value);
+          return this;
+        }
+        /**
+         * <pre>
+         * Additional reply data
+         * </pre>
+         *
+         * <code>.google.protobuf.Struct extra = 99 [json_name = "extra"];</code>
+         */
+        public Builder clearExtra() {  copyOnWrite();
+          instance.clearExtra();
+          return this;
+        }
+
+        // @@protoc_insertion_point(builder_scope:viam.component.arm.v1.MoveThroughJointPositionsStreamedResponse.BatchAck)
+      }
+      @java.lang.Override
+      @java.lang.SuppressWarnings({"ThrowNull"})
+      protected final java.lang.Object dynamicMethod(
+          com.google.protobuf.GeneratedMessageLite.MethodToInvoke method,
+          java.lang.Object arg0, java.lang.Object arg1) {
+        switch (method) {
+          case NEW_MUTABLE_INSTANCE: {
+            return new com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse.BatchAck();
+          }
+          case NEW_BUILDER: {
+            return new Builder();
+          }
+          case BUILD_MESSAGE_INFO: {
+              java.lang.Object[] objects = new java.lang.Object[] {
+                "bitField0_",
+                "extra_",
+              };
+              java.lang.String info =
+                  "\u0000\u0001\u0000\u0001cc\u0001\u0000\u0000\u0000c\u1009\u0000";
+              return newMessageInfo(DEFAULT_INSTANCE, info, objects);
+          }
+          case GET_DEFAULT_INSTANCE: {
+            return DEFAULT_INSTANCE;
+          }
+          case GET_PARSER: {
+            com.google.protobuf.Parser<com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse.BatchAck> parser = PARSER;
+            if (parser == null) {
+              synchronized (com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse.BatchAck.class) {
+                parser = PARSER;
+                if (parser == null) {
+                  parser =
+                      new DefaultInstanceBasedParser<com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse.BatchAck>(
+                          DEFAULT_INSTANCE);
+                  PARSER = parser;
+                }
+              }
+            }
+            return parser;
+          }
+          case GET_MEMOIZED_IS_INITIALIZED: {
+            return (byte) 1;
+          }
+          // SET_MEMOIZED_IS_INITIALIZED is never called for this message.
+          // So it can do anything. Combine with default case for smaller codegen.
+          case SET_MEMOIZED_IS_INITIALIZED:
+        }
+        // Should never happen. Generates tight code to throw an exception.
+        throw null;
+      }
+
+
+      // @@protoc_insertion_point(class_scope:viam.component.arm.v1.MoveThroughJointPositionsStreamedResponse.BatchAck)
+      private static final com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse.BatchAck DEFAULT_INSTANCE;
+      static {
+        BatchAck defaultInstance = new BatchAck();
+        // New instances are implicitly immutable so no need to make
+        // immutable.
+        DEFAULT_INSTANCE = defaultInstance;
+        com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
+          BatchAck.class, defaultInstance);
+      }
+
+      public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse.BatchAck getDefaultInstance() {
+        return DEFAULT_INSTANCE;
+      }
+
+      private static volatile com.google.protobuf.Parser<BatchAck> PARSER;
+
+      public static com.google.protobuf.Parser<BatchAck> parser() {
+        return DEFAULT_INSTANCE.getParserForType();
+      }
+    }
+
+    private int messageCase_ = 0;
+    private java.lang.Object message_;
+    public enum MessageCase
+        implements com.google.protobuf.AbstractMessageLite.InternalOneOfEnum {
+      ACK(1),
+      MESSAGE_NOT_SET(0);
+      private final int value;
+      private MessageCase(int value) {
+        this.value = value;
+      }
+      /**
+       * @deprecated Use {@link #forNumber(int)} instead.
+       */
+      @java.lang.Deprecated
+      public static MessageCase valueOf(int value) {
+        return forNumber(value);
+      }
+
+      public static MessageCase forNumber(int value) {
+        switch (value) {
+          case 1: return ACK;
+          case 0: return MESSAGE_NOT_SET;
+          default: return null;
+        }
+      }
+      @java.lang.Override public int getNumber() {
+        return this.value;
+      }
+    };
+
+    @java.lang.Override
+    public MessageCase
+    getMessageCase() {
+      return MessageCase.forNumber(
+          messageCase_);
+    }
+
+    private void clearMessage() {
+      messageCase_ = 0;
+      message_ = null;
+    }
+
+    public static final int ACK_FIELD_NUMBER = 1;
+    /**
+     * <code>.viam.component.arm.v1.MoveThroughJointPositionsStreamedResponse.BatchAck ack = 1 [json_name = "ack"];</code>
+     */
+    @java.lang.Override
+    public boolean hasAck() {
+      return messageCase_ == 1;
+    }
+    /**
+     * <code>.viam.component.arm.v1.MoveThroughJointPositionsStreamedResponse.BatchAck ack = 1 [json_name = "ack"];</code>
+     */
+    @java.lang.Override
+    public com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse.BatchAck getAck() {
+      if (messageCase_ == 1) {
+         return (com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse.BatchAck) message_;
+      }
+      return com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse.BatchAck.getDefaultInstance();
+    }
+    /**
+     * <code>.viam.component.arm.v1.MoveThroughJointPositionsStreamedResponse.BatchAck ack = 1 [json_name = "ack"];</code>
+     */
+    @java.lang.SuppressWarnings("ReturnValueIgnored")
+    private void setAck(com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse.BatchAck value) {
+      value.getClass();  // minimal bytecode null check
+      message_ = value;
+      messageCase_ = 1;
+    }
+    /**
+     * <code>.viam.component.arm.v1.MoveThroughJointPositionsStreamedResponse.BatchAck ack = 1 [json_name = "ack"];</code>
+     */
+    @java.lang.SuppressWarnings("ReturnValueIgnored")
+    private void mergeAck(com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse.BatchAck value) {
+      value.getClass();  // minimal bytecode null check
+      if (messageCase_ == 1 &&
+          message_ != com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse.BatchAck.getDefaultInstance()) {
+        message_ = com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse.BatchAck.newBuilder((com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse.BatchAck) message_)
+            .mergeFrom(value).buildPartial();
+      } else {
+        message_ = value;
+      }
+      messageCase_ = 1;
+    }
+    /**
+     * <code>.viam.component.arm.v1.MoveThroughJointPositionsStreamedResponse.BatchAck ack = 1 [json_name = "ack"];</code>
+     */
+    private void clearAck() {
+      if (messageCase_ == 1) {
+        messageCase_ = 0;
+        message_ = null;
+      }
+    }
+
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse parseFrom(
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse parseFrom(
         java.nio.ByteBuffer data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse parseFrom(
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse parseFrom(
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse parseFrom(byte[] data)
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse parseFrom(
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse parseFrom(java.io.InputStream input)
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, input);
     }
-    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse parseFrom(
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -4920,24 +9264,24 @@ public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse pa
           DEFAULT_INSTANCE, input, extensionRegistry);
     }
 
-    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse parseDelimitedFrom(java.io.InputStream input)
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return parseDelimitedFrom(DEFAULT_INSTANCE, input);
     }
 
-    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse parseDelimitedFrom(
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
     }
-    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse parseFrom(
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, input);
     }
-    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse parseFrom(
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -4948,25 +9292,89 @@ public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse pa
     public static Builder newBuilder() {
       return (Builder) DEFAULT_INSTANCE.createBuilder();
     }
-    public static Builder newBuilder(com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse prototype) {
+    public static Builder newBuilder(com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse prototype) {
       return DEFAULT_INSTANCE.createBuilder(prototype);
     }
 
     /**
-     * Protobuf type {@code viam.component.arm.v1.MoveThroughJointPositionsResponse}
+     * <pre>
+     * Streamed back to the client while an arm is performing a streaming move.
+     * </pre>
+     *
+     * Protobuf type {@code viam.component.arm.v1.MoveThroughJointPositionsStreamedResponse}
      */
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageLite.Builder<
-          com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse, Builder> implements
-        // @@protoc_insertion_point(builder_implements:viam.component.arm.v1.MoveThroughJointPositionsResponse)
-        com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponseOrBuilder {
-      // Construct using com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse.newBuilder()
+          com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse, Builder> implements
+        // @@protoc_insertion_point(builder_implements:viam.component.arm.v1.MoveThroughJointPositionsStreamedResponse)
+        com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponseOrBuilder {
+      // Construct using com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse.newBuilder()
       private Builder() {
         super(DEFAULT_INSTANCE);
       }
 
+      @java.lang.Override
+      public MessageCase
+          getMessageCase() {
+        return instance.getMessageCase();
+      }
 
-      // @@protoc_insertion_point(builder_scope:viam.component.arm.v1.MoveThroughJointPositionsResponse)
+      public Builder clearMessage() {
+        copyOnWrite();
+        instance.clearMessage();
+        return this;
+      }
+
+
+      /**
+       * <code>.viam.component.arm.v1.MoveThroughJointPositionsStreamedResponse.BatchAck ack = 1 [json_name = "ack"];</code>
+       */
+      @java.lang.Override
+      public boolean hasAck() {
+        return instance.hasAck();
+      }
+      /**
+       * <code>.viam.component.arm.v1.MoveThroughJointPositionsStreamedResponse.BatchAck ack = 1 [json_name = "ack"];</code>
+       */
+      @java.lang.Override
+      public com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse.BatchAck getAck() {
+        return instance.getAck();
+      }
+      /**
+       * <code>.viam.component.arm.v1.MoveThroughJointPositionsStreamedResponse.BatchAck ack = 1 [json_name = "ack"];</code>
+       */
+      public Builder setAck(com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse.BatchAck value) {
+        copyOnWrite();
+        instance.setAck(value);
+        return this;
+      }
+      /**
+       * <code>.viam.component.arm.v1.MoveThroughJointPositionsStreamedResponse.BatchAck ack = 1 [json_name = "ack"];</code>
+       */
+      public Builder setAck(
+          com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse.BatchAck.Builder builderForValue) {
+        copyOnWrite();
+        instance.setAck(builderForValue.build());
+        return this;
+      }
+      /**
+       * <code>.viam.component.arm.v1.MoveThroughJointPositionsStreamedResponse.BatchAck ack = 1 [json_name = "ack"];</code>
+       */
+      public Builder mergeAck(com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse.BatchAck value) {
+        copyOnWrite();
+        instance.mergeAck(value);
+        return this;
+      }
+      /**
+       * <code>.viam.component.arm.v1.MoveThroughJointPositionsStreamedResponse.BatchAck ack = 1 [json_name = "ack"];</code>
+       */
+      public Builder clearAck() {
+        copyOnWrite();
+        instance.clearAck();
+        return this;
+      }
+
+      // @@protoc_insertion_point(builder_scope:viam.component.arm.v1.MoveThroughJointPositionsStreamedResponse)
     }
     @java.lang.Override
     @java.lang.SuppressWarnings({"ThrowNull"})
@@ -4975,28 +9383,32 @@ protected final java.lang.Object dynamicMethod(
         java.lang.Object arg0, java.lang.Object arg1) {
       switch (method) {
         case NEW_MUTABLE_INSTANCE: {
-          return new com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse();
+          return new com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse();
         }
         case NEW_BUILDER: {
           return new Builder();
         }
         case BUILD_MESSAGE_INFO: {
-            java.lang.Object[] objects = null;
+            java.lang.Object[] objects = new java.lang.Object[] {
+              "message_",
+              "messageCase_",
+              com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse.BatchAck.class,
+            };
             java.lang.String info =
-                "\u0000\u0000";
+                "\u0000\u0001\u0001\u0000\u0001\u0001\u0001\u0000\u0000\u0000\u0001<\u0000";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         case GET_DEFAULT_INSTANCE: {
           return DEFAULT_INSTANCE;
         }
         case GET_PARSER: {
-          com.google.protobuf.Parser<com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse> parser = PARSER;
+          com.google.protobuf.Parser<com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse> parser = PARSER;
           if (parser == null) {
-            synchronized (com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse.class) {
+            synchronized (com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse.class) {
               parser = PARSER;
               if (parser == null) {
                 parser =
-                    new DefaultInstanceBasedParser<com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse>(
+                    new DefaultInstanceBasedParser<com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse>(
                         DEFAULT_INSTANCE);
                 PARSER = parser;
               }
@@ -5016,24 +9428,24 @@ protected final java.lang.Object dynamicMethod(
     }
 
 
-    // @@protoc_insertion_point(class_scope:viam.component.arm.v1.MoveThroughJointPositionsResponse)
-    private static final com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse DEFAULT_INSTANCE;
+    // @@protoc_insertion_point(class_scope:viam.component.arm.v1.MoveThroughJointPositionsStreamedResponse)
+    private static final com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse DEFAULT_INSTANCE;
     static {
-      MoveThroughJointPositionsResponse defaultInstance = new MoveThroughJointPositionsResponse();
+      MoveThroughJointPositionsStreamedResponse defaultInstance = new MoveThroughJointPositionsStreamedResponse();
       // New instances are implicitly immutable so no need to make
       // immutable.
       DEFAULT_INSTANCE = defaultInstance;
       com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
-        MoveThroughJointPositionsResponse.class, defaultInstance);
+        MoveThroughJointPositionsStreamedResponse.class, defaultInstance);
     }
 
-    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse getDefaultInstance() {
+    public static com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
-    private static volatile com.google.protobuf.Parser<MoveThroughJointPositionsResponse> PARSER;
+    private static volatile com.google.protobuf.Parser<MoveThroughJointPositionsStreamedResponse> PARSER;
 
-    public static com.google.protobuf.Parser<MoveThroughJointPositionsResponse> parser() {
+    public static com.google.protobuf.Parser<MoveThroughJointPositionsStreamedResponse> parser() {
       return DEFAULT_INSTANCE.getParserForType();
     }
   }
diff --git a/core/sdk/src/main/gen/com/viam/component/arm/v1/ArmServiceGrpc.java b/core/sdk/src/main/gen/com/viam/component/arm/v1/ArmServiceGrpc.java
index 6681aa1ed..46d064d86 100644
--- a/core/sdk/src/main/gen/com/viam/component/arm/v1/ArmServiceGrpc.java
+++ b/core/sdk/src/main/gen/com/viam/component/arm/v1/ArmServiceGrpc.java
@@ -165,6 +165,36 @@ com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse> getMoveThroughJ
     return getMoveThroughJointPositionsMethod;
   }
 
+  private static volatile io.grpc.MethodDescriptor<com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest,
+      com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse> getMoveThroughJointPositionsStreamedMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "MoveThroughJointPositionsStreamed",
+      requestType = com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.class,
+      responseType = com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.BIDI_STREAMING)
+  public static io.grpc.MethodDescriptor<com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest,
+      com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse> getMoveThroughJointPositionsStreamedMethod() {
+    io.grpc.MethodDescriptor<com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest, com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse> getMoveThroughJointPositionsStreamedMethod;
+    if ((getMoveThroughJointPositionsStreamedMethod = ArmServiceGrpc.getMoveThroughJointPositionsStreamedMethod) == null) {
+      synchronized (ArmServiceGrpc.class) {
+        if ((getMoveThroughJointPositionsStreamedMethod = ArmServiceGrpc.getMoveThroughJointPositionsStreamedMethod) == null) {
+          ArmServiceGrpc.getMoveThroughJointPositionsStreamedMethod = getMoveThroughJointPositionsStreamedMethod =
+              io.grpc.MethodDescriptor.<com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest, com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.BIDI_STREAMING)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "MoveThroughJointPositionsStreamed"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse.getDefaultInstance()))
+              .build();
+        }
+      }
+    }
+    return getMoveThroughJointPositionsStreamedMethod;
+  }
+
   private static volatile io.grpc.MethodDescriptor<com.viam.component.arm.v1.Arm.StopRequest,
       com.viam.component.arm.v1.Arm.StopResponse> getStopMethod;
 
@@ -495,6 +525,13 @@ default void moveThroughJointPositions(com.viam.component.arm.v1.Arm.MoveThrough
       io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getMoveThroughJointPositionsMethod(), responseObserver);
     }
 
+    /**
+     */
+    default io.grpc.stub.StreamObserver<com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest> moveThroughJointPositionsStreamed(
+        io.grpc.stub.StreamObserver<com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse> responseObserver) {
+      return io.grpc.stub.ServerCalls.asyncUnimplementedStreamingCall(getMoveThroughJointPositionsStreamedMethod(), responseObserver);
+    }
+
     /**
      * <pre>
      * Stop stops a robot's arm
@@ -658,6 +695,14 @@ public void moveThroughJointPositions(com.viam.component.arm.v1.Arm.MoveThroughJ
           getChannel().newCall(getMoveThroughJointPositionsMethod(), getCallOptions()), request, responseObserver);
     }
 
+    /**
+     */
+    public io.grpc.stub.StreamObserver<com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest> moveThroughJointPositionsStreamed(
+        io.grpc.stub.StreamObserver<com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse> responseObserver) {
+      return io.grpc.stub.ClientCalls.asyncBidiStreamingCall(
+          getChannel().newCall(getMoveThroughJointPositionsStreamedMethod(), getCallOptions()), responseObserver);
+    }
+
     /**
      * <pre>
      * Stop stops a robot's arm
@@ -809,6 +854,15 @@ public com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse moveThrou
           getChannel(), getMoveThroughJointPositionsMethod(), getCallOptions(), request);
     }
 
+    /**
+     */
+    @io.grpc.ExperimentalApi("https://github.com/grpc/grpc-java/issues/10918")
+    public io.grpc.stub.BlockingClientCall<com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest, com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse>
+        moveThroughJointPositionsStreamed() {
+      return io.grpc.stub.ClientCalls.blockingBidiStreamingCall(
+          getChannel(), getMoveThroughJointPositionsStreamedMethod(), getCallOptions());
+    }
+
     /**
      * <pre>
      * Stop stops a robot's arm
@@ -1192,6 +1246,7 @@ public com.google.common.util.concurrent.ListenableFuture<com.viam.common.v1.Com
   private static final int METHODID_GET_KINEMATICS = 9;
   private static final int METHODID_GET_GEOMETRIES = 10;
   private static final int METHODID_GET3DMODELS = 11;
+  private static final int METHODID_MOVE_THROUGH_JOINT_POSITIONS_STREAMED = 12;
 
   private static final class MethodHandlers<Req, Resp> implements
       io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@@ -1268,6 +1323,9 @@ public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserv
     public io.grpc.stub.StreamObserver<Req> invoke(
         io.grpc.stub.StreamObserver<Resp> responseObserver) {
       switch (methodId) {
+        case METHODID_MOVE_THROUGH_JOINT_POSITIONS_STREAMED:
+          return (io.grpc.stub.StreamObserver<Req>) serviceImpl.moveThroughJointPositionsStreamed(
+              (io.grpc.stub.StreamObserver<com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse>) responseObserver);
         default:
           throw new AssertionError();
       }
@@ -1311,6 +1369,13 @@ public static final io.grpc.ServerServiceDefinition bindService(AsyncService ser
               com.viam.component.arm.v1.Arm.MoveThroughJointPositionsRequest,
               com.viam.component.arm.v1.Arm.MoveThroughJointPositionsResponse>(
                 service, METHODID_MOVE_THROUGH_JOINT_POSITIONS)))
+        .addMethod(
+          getMoveThroughJointPositionsStreamedMethod(),
+          io.grpc.stub.ServerCalls.asyncBidiStreamingCall(
+            new MethodHandlers<
+              com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedRequest,
+              com.viam.component.arm.v1.Arm.MoveThroughJointPositionsStreamedResponse>(
+                service, METHODID_MOVE_THROUGH_JOINT_POSITIONS_STREAMED)))
         .addMethod(
           getStopMethod(),
           io.grpc.stub.ServerCalls.asyncUnaryCall(
@@ -1377,6 +1442,7 @@ public static io.grpc.ServiceDescriptor getServiceDescriptor() {
               .addMethod(getGetJointPositionsMethod())
               .addMethod(getMoveToJointPositionsMethod())
               .addMethod(getMoveThroughJointPositionsMethod())
+              .addMethod(getMoveThroughJointPositionsStreamedMethod())
               .addMethod(getStopMethod())
               .addMethod(getIsMovingMethod())
               .addMethod(getDoCommandMethod())
diff --git a/core/sdk/src/main/gen/com/viam/robot/v1/Robot.java b/core/sdk/src/main/gen/com/viam/robot/v1/Robot.java
index f141f067c..122f962b5 100644
--- a/core/sdk/src/main/gen/com/viam/robot/v1/Robot.java
+++ b/core/sdk/src/main/gen/com/viam/robot/v1/Robot.java
@@ -20955,6 +20955,20 @@ public interface GetMachineStatusResponseOrBuilder extends
      * <code>repeated .viam.robot.v1.ModuleStatus modules = 5 [json_name = "modules"];</code>
      */
     int getModulesCount();
+
+    /**
+     * <code>repeated .viam.robot.v1.PackageStatus packages = 6 [json_name = "packages"];</code>
+     */
+    java.util.List<com.viam.robot.v1.Robot.PackageStatus> 
+        getPackagesList();
+    /**
+     * <code>repeated .viam.robot.v1.PackageStatus packages = 6 [json_name = "packages"];</code>
+     */
+    com.viam.robot.v1.Robot.PackageStatus getPackages(int index);
+    /**
+     * <code>repeated .viam.robot.v1.PackageStatus packages = 6 [json_name = "packages"];</code>
+     */
+    int getPackagesCount();
   }
   /**
    * Protobuf type {@code viam.robot.v1.GetMachineStatusResponse}
@@ -20968,6 +20982,7 @@ private GetMachineStatusResponse() {
       resources_ = emptyProtobufList();
       jobStatuses_ = emptyProtobufList();
       modules_ = emptyProtobufList();
+      packages_ = emptyProtobufList();
     }
     /**
      * Protobuf enum {@code viam.robot.v1.GetMachineStatusResponse.State}
@@ -21469,6 +21484,103 @@ private void removeModules(int index) {
       modules_.remove(index);
     }
 
+    public static final int PACKAGES_FIELD_NUMBER = 6;
+    private com.google.protobuf.Internal.ProtobufList<com.viam.robot.v1.Robot.PackageStatus> packages_;
+    /**
+     * <code>repeated .viam.robot.v1.PackageStatus packages = 6 [json_name = "packages"];</code>
+     */
+    @java.lang.Override
+    public java.util.List<com.viam.robot.v1.Robot.PackageStatus> getPackagesList() {
+      return packages_;
+    }
+    /**
+     * <code>repeated .viam.robot.v1.PackageStatus packages = 6 [json_name = "packages"];</code>
+     */
+    public java.util.List<? extends com.viam.robot.v1.Robot.PackageStatusOrBuilder> 
+        getPackagesOrBuilderList() {
+      return packages_;
+    }
+    /**
+     * <code>repeated .viam.robot.v1.PackageStatus packages = 6 [json_name = "packages"];</code>
+     */
+    @java.lang.Override
+    public int getPackagesCount() {
+      return packages_.size();
+    }
+    /**
+     * <code>repeated .viam.robot.v1.PackageStatus packages = 6 [json_name = "packages"];</code>
+     */
+    @java.lang.Override
+    public com.viam.robot.v1.Robot.PackageStatus getPackages(int index) {
+      return packages_.get(index);
+    }
+    /**
+     * <code>repeated .viam.robot.v1.PackageStatus packages = 6 [json_name = "packages"];</code>
+     */
+    public com.viam.robot.v1.Robot.PackageStatusOrBuilder getPackagesOrBuilder(
+        int index) {
+      return packages_.get(index);
+    }
+    private void ensurePackagesIsMutable() {
+      com.google.protobuf.Internal.ProtobufList<com.viam.robot.v1.Robot.PackageStatus> tmp = packages_;
+      if (!tmp.isModifiable()) {
+        packages_ =
+            com.google.protobuf.GeneratedMessageLite.mutableCopy(tmp);
+       }
+    }
+
+    /**
+     * <code>repeated .viam.robot.v1.PackageStatus packages = 6 [json_name = "packages"];</code>
+     */
+    @java.lang.SuppressWarnings("ReturnValueIgnored")
+    private void setPackages(
+        int index, com.viam.robot.v1.Robot.PackageStatus value) {
+      value.getClass();  // minimal bytecode null check
+      ensurePackagesIsMutable();
+      packages_.set(index, value);
+    }
+    /**
+     * <code>repeated .viam.robot.v1.PackageStatus packages = 6 [json_name = "packages"];</code>
+     */
+    @java.lang.SuppressWarnings("ReturnValueIgnored")
+    private void addPackages(com.viam.robot.v1.Robot.PackageStatus value) {
+      value.getClass();  // minimal bytecode null check
+      ensurePackagesIsMutable();
+      packages_.add(value);
+    }
+    /**
+     * <code>repeated .viam.robot.v1.PackageStatus packages = 6 [json_name = "packages"];</code>
+     */
+    @java.lang.SuppressWarnings("ReturnValueIgnored")
+    private void addPackages(
+        int index, com.viam.robot.v1.Robot.PackageStatus value) {
+      value.getClass();  // minimal bytecode null check
+      ensurePackagesIsMutable();
+      packages_.add(index, value);
+    }
+    /**
+     * <code>repeated .viam.robot.v1.PackageStatus packages = 6 [json_name = "packages"];</code>
+     */
+    private void addAllPackages(
+        java.lang.Iterable<? extends com.viam.robot.v1.Robot.PackageStatus> values) {
+      ensurePackagesIsMutable();
+      com.google.protobuf.AbstractMessageLite.addAll(
+          values, packages_);
+    }
+    /**
+     * <code>repeated .viam.robot.v1.PackageStatus packages = 6 [json_name = "packages"];</code>
+     */
+    private void clearPackages() {
+      packages_ = emptyProtobufList();
+    }
+    /**
+     * <code>repeated .viam.robot.v1.PackageStatus packages = 6 [json_name = "packages"];</code>
+     */
+    private void removePackages(int index) {
+      ensurePackagesIsMutable();
+      packages_.remove(index);
+    }
+
     public static com.viam.robot.v1.Robot.GetMachineStatusResponse parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
@@ -21966,6 +22078,108 @@ public Builder removeModules(int index) {
         return this;
       }
 
+      /**
+       * <code>repeated .viam.robot.v1.PackageStatus packages = 6 [json_name = "packages"];</code>
+       */
+      @java.lang.Override
+      public java.util.List<com.viam.robot.v1.Robot.PackageStatus> getPackagesList() {
+        return java.util.Collections.unmodifiableList(
+            instance.getPackagesList());
+      }
+      /**
+       * <code>repeated .viam.robot.v1.PackageStatus packages = 6 [json_name = "packages"];</code>
+       */
+      @java.lang.Override
+      public int getPackagesCount() {
+        return instance.getPackagesCount();
+      }/**
+       * <code>repeated .viam.robot.v1.PackageStatus packages = 6 [json_name = "packages"];</code>
+       */
+      @java.lang.Override
+      public com.viam.robot.v1.Robot.PackageStatus getPackages(int index) {
+        return instance.getPackages(index);
+      }
+      /**
+       * <code>repeated .viam.robot.v1.PackageStatus packages = 6 [json_name = "packages"];</code>
+       */
+      public Builder setPackages(
+          int index, com.viam.robot.v1.Robot.PackageStatus value) {
+        copyOnWrite();
+        instance.setPackages(index, value);
+        return this;
+      }
+      /**
+       * <code>repeated .viam.robot.v1.PackageStatus packages = 6 [json_name = "packages"];</code>
+       */
+      public Builder setPackages(
+          int index, com.viam.robot.v1.Robot.PackageStatus.Builder builderForValue) {
+        copyOnWrite();
+        instance.setPackages(index,
+            builderForValue.build());
+        return this;
+      }
+      /**
+       * <code>repeated .viam.robot.v1.PackageStatus packages = 6 [json_name = "packages"];</code>
+       */
+      public Builder addPackages(com.viam.robot.v1.Robot.PackageStatus value) {
+        copyOnWrite();
+        instance.addPackages(value);
+        return this;
+      }
+      /**
+       * <code>repeated .viam.robot.v1.PackageStatus packages = 6 [json_name = "packages"];</code>
+       */
+      public Builder addPackages(
+          int index, com.viam.robot.v1.Robot.PackageStatus value) {
+        copyOnWrite();
+        instance.addPackages(index, value);
+        return this;
+      }
+      /**
+       * <code>repeated .viam.robot.v1.PackageStatus packages = 6 [json_name = "packages"];</code>
+       */
+      public Builder addPackages(
+          com.viam.robot.v1.Robot.PackageStatus.Builder builderForValue) {
+        copyOnWrite();
+        instance.addPackages(builderForValue.build());
+        return this;
+      }
+      /**
+       * <code>repeated .viam.robot.v1.PackageStatus packages = 6 [json_name = "packages"];</code>
+       */
+      public Builder addPackages(
+          int index, com.viam.robot.v1.Robot.PackageStatus.Builder builderForValue) {
+        copyOnWrite();
+        instance.addPackages(index,
+            builderForValue.build());
+        return this;
+      }
+      /**
+       * <code>repeated .viam.robot.v1.PackageStatus packages = 6 [json_name = "packages"];</code>
+       */
+      public Builder addAllPackages(
+          java.lang.Iterable<? extends com.viam.robot.v1.Robot.PackageStatus> values) {
+        copyOnWrite();
+        instance.addAllPackages(values);
+        return this;
+      }
+      /**
+       * <code>repeated .viam.robot.v1.PackageStatus packages = 6 [json_name = "packages"];</code>
+       */
+      public Builder clearPackages() {
+        copyOnWrite();
+        instance.clearPackages();
+        return this;
+      }
+      /**
+       * <code>repeated .viam.robot.v1.PackageStatus packages = 6 [json_name = "packages"];</code>
+       */
+      public Builder removePackages(int index) {
+        copyOnWrite();
+        instance.removePackages(index);
+        return this;
+      }
+
       // @@protoc_insertion_point(builder_scope:viam.robot.v1.GetMachineStatusResponse)
     }
     @java.lang.Override
@@ -21991,10 +22205,12 @@ protected final java.lang.Object dynamicMethod(
               com.viam.robot.v1.Robot.JobStatus.class,
               "modules_",
               com.viam.robot.v1.Robot.ModuleStatus.class,
+              "packages_",
+              com.viam.robot.v1.Robot.PackageStatus.class,
             };
             java.lang.String info =
-                "\u0000\u0005\u0000\u0001\u0001\u0005\u0005\u0000\u0003\u0000\u0001\u001b\u0002\u1009" +
-                "\u0000\u0003\f\u0004\u001b\u0005\u001b";
+                "\u0000\u0006\u0000\u0001\u0001\u0006\u0006\u0000\u0004\u0000\u0001\u001b\u0002\u1009" +
+                "\u0000\u0003\f\u0004\u001b\u0005\u001b\u0006\u001b";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         case GET_DEFAULT_INSTANCE: {
@@ -25121,6 +25337,1488 @@ public static com.google.protobuf.Parser<ModuleStatus> parser() {
     }
   }
 
+  public interface PackageStatusOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:viam.robot.v1.PackageStatus)
+      com.google.protobuf.MessageLiteOrBuilder {
+
+    /**
+     * <pre>
+     * the package name as declared in the robot config (PackageConfig.Name)
+     * </pre>
+     *
+     * <code>string name = 1 [json_name = "name"];</code>
+     * @return The name.
+     */
+    java.lang.String getName();
+    /**
+     * <pre>
+     * the package name as declared in the robot config (PackageConfig.Name)
+     * </pre>
+     *
+     * <code>string name = 1 [json_name = "name"];</code>
+     * @return The bytes for name.
+     */
+    com.google.protobuf.ByteString
+        getNameBytes();
+
+    /**
+     * <pre>
+     * the package type (module, ml_model, slam_map, etc.)
+     * </pre>
+     *
+     * <code>.viam.app.packages.v1.PackageType type = 2 [json_name = "type"];</code>
+     * @return The enum numeric value on the wire for type.
+     */
+    int getTypeValue();
+    /**
+     * <pre>
+     * the package type (module, ml_model, slam_map, etc.)
+     * </pre>
+     *
+     * <code>.viam.app.packages.v1.PackageType type = 2 [json_name = "type"];</code>
+     * @return The type.
+     */
+    viam.app.packages.v1.Packages.PackageType getType();
+
+    /**
+     * <pre>
+     * current lifecycle state
+     * </pre>
+     *
+     * <code>.viam.robot.v1.PackageStatus.State state = 3 [json_name = "state"];</code>
+     * @return The enum numeric value on the wire for state.
+     */
+    int getStateValue();
+    /**
+     * <pre>
+     * current lifecycle state
+     * </pre>
+     *
+     * <code>.viam.robot.v1.PackageStatus.State state = 3 [json_name = "state"];</code>
+     * @return The state.
+     */
+    com.viam.robot.v1.Robot.PackageStatus.State getState();
+
+    /**
+     * <pre>
+     * human-readable error detail when state == STATE_FAILED
+     * </pre>
+     *
+     * <code>string error = 4 [json_name = "error"];</code>
+     * @return The error.
+     */
+    java.lang.String getError();
+    /**
+     * <pre>
+     * human-readable error detail when state == STATE_FAILED
+     * </pre>
+     *
+     * <code>string error = 4 [json_name = "error"];</code>
+     * @return The bytes for error.
+     */
+    com.google.protobuf.ByteString
+        getErrorBytes();
+
+    /**
+     * <pre>
+     * when this status was last updated
+     * </pre>
+     *
+     * <code>.google.protobuf.Timestamp last_updated = 5 [json_name = "lastUpdated"];</code>
+     * @return Whether the lastUpdated field is set.
+     */
+    boolean hasLastUpdated();
+    /**
+     * <pre>
+     * when this status was last updated
+     * </pre>
+     *
+     * <code>.google.protobuf.Timestamp last_updated = 5 [json_name = "lastUpdated"];</code>
+     * @return The lastUpdated.
+     */
+    com.google.protobuf.Timestamp getLastUpdated();
+
+    /**
+     * <pre>
+     * the version string from PackageConfig
+     * </pre>
+     *
+     * <code>string version = 6 [json_name = "version"];</code>
+     * @return The version.
+     */
+    java.lang.String getVersion();
+    /**
+     * <pre>
+     * the version string from PackageConfig
+     * </pre>
+     *
+     * <code>string version = 6 [json_name = "version"];</code>
+     * @return The bytes for version.
+     */
+    com.google.protobuf.ByteString
+        getVersionBytes();
+
+    /**
+     * <pre>
+     * number of bytes of the package tarball downloaded so far. Only populated
+     * while state == STATE_DOWNLOADING; equals total_bytes once the download completes.
+     * </pre>
+     *
+     * <code>uint64 bytes_downloaded = 7 [json_name = "bytesDownloaded"];</code>
+     * @return The bytesDownloaded.
+     */
+    long getBytesDownloaded();
+
+    /**
+     * <pre>
+     * total size of the package tarball in bytes. Zero if the size is unknown.
+     * </pre>
+     *
+     * <code>uint64 total_bytes = 8 [json_name = "totalBytes"];</code>
+     * @return The totalBytes.
+     */
+    long getTotalBytes();
+  }
+  /**
+   * Protobuf type {@code viam.robot.v1.PackageStatus}
+   */
+  public  static final class PackageStatus extends
+      com.google.protobuf.GeneratedMessageLite<
+          PackageStatus, PackageStatus.Builder> implements
+      // @@protoc_insertion_point(message_implements:viam.robot.v1.PackageStatus)
+      PackageStatusOrBuilder {
+    private PackageStatus() {
+      name_ = "";
+      error_ = "";
+      version_ = "";
+    }
+    /**
+     * Protobuf enum {@code viam.robot.v1.PackageStatus.State}
+     */
+    public enum State
+        implements com.google.protobuf.Internal.EnumLite {
+      /**
+       * <pre>
+       * state is unknown or has not been set yet
+       * </pre>
+       *
+       * <code>STATE_UNSPECIFIED = 0;</code>
+       */
+      STATE_UNSPECIFIED(0),
+      /**
+       * <pre>
+       * package tarball is actively being fetched from the cloud
+       * </pre>
+       *
+       * <code>STATE_DOWNLOADING = 1;</code>
+       */
+      STATE_DOWNLOADING(1),
+      /**
+       * <pre>
+       * tarball has been downloaded and is being extracted/verified
+       * </pre>
+       *
+       * <code>STATE_LOADING = 2;</code>
+       */
+      STATE_LOADING(2),
+      /**
+       * <pre>
+       * first_run.sh script is executing (module packages only)
+       * </pre>
+       *
+       * <code>STATE_FIRST_RUN = 3;</code>
+       */
+      STATE_FIRST_RUN(3),
+      /**
+       * <pre>
+       * package is fully installed and available for use
+       * </pre>
+       *
+       * <code>STATE_READY = 4;</code>
+       */
+      STATE_READY(4),
+      /**
+       * <pre>
+       * package failed to download, extract, or complete first run
+       * </pre>
+       *
+       * <code>STATE_FAILED = 5;</code>
+       */
+      STATE_FAILED(5),
+      UNRECOGNIZED(-1),
+      ;
+
+      /**
+       * <pre>
+       * state is unknown or has not been set yet
+       * </pre>
+       *
+       * <code>STATE_UNSPECIFIED = 0;</code>
+       */
+      public static final int STATE_UNSPECIFIED_VALUE = 0;
+      /**
+       * <pre>
+       * package tarball is actively being fetched from the cloud
+       * </pre>
+       *
+       * <code>STATE_DOWNLOADING = 1;</code>
+       */
+      public static final int STATE_DOWNLOADING_VALUE = 1;
+      /**
+       * <pre>
+       * tarball has been downloaded and is being extracted/verified
+       * </pre>
+       *
+       * <code>STATE_LOADING = 2;</code>
+       */
+      public static final int STATE_LOADING_VALUE = 2;
+      /**
+       * <pre>
+       * first_run.sh script is executing (module packages only)
+       * </pre>
+       *
+       * <code>STATE_FIRST_RUN = 3;</code>
+       */
+      public static final int STATE_FIRST_RUN_VALUE = 3;
+      /**
+       * <pre>
+       * package is fully installed and available for use
+       * </pre>
+       *
+       * <code>STATE_READY = 4;</code>
+       */
+      public static final int STATE_READY_VALUE = 4;
+      /**
+       * <pre>
+       * package failed to download, extract, or complete first run
+       * </pre>
+       *
+       * <code>STATE_FAILED = 5;</code>
+       */
+      public static final int STATE_FAILED_VALUE = 5;
+
+
+      @java.lang.Override
+      public final int getNumber() {
+        if (this == UNRECOGNIZED) {
+          throw new java.lang.IllegalArgumentException(
+              "Can't get the number of an unknown enum value.");
+        }
+        return value;
+      }
+
+      /**
+       * @param value The number of the enum to look for.
+       * @return The enum associated with the given number.
+       * @deprecated Use {@link #forNumber(int)} instead.
+       */
+      @java.lang.Deprecated
+      public static State valueOf(int value) {
+        return forNumber(value);
+      }
+
+      public static State forNumber(int value) {
+        switch (value) {
+          case 0: return STATE_UNSPECIFIED;
+          case 1: return STATE_DOWNLOADING;
+          case 2: return STATE_LOADING;
+          case 3: return STATE_FIRST_RUN;
+          case 4: return STATE_READY;
+          case 5: return STATE_FAILED;
+          default: return null;
+        }
+      }
+
+      public static com.google.protobuf.Internal.EnumLiteMap<State>
+          internalGetValueMap() {
+        return internalValueMap;
+      }
+      private static final com.google.protobuf.Internal.EnumLiteMap<
+          State> internalValueMap =
+            new com.google.protobuf.Internal.EnumLiteMap<State>() {
+              @java.lang.Override
+              public State findValueByNumber(int number) {
+                return State.forNumber(number);
+              }
+            };
+
+      public static com.google.protobuf.Internal.EnumVerifier 
+          internalGetVerifier() {
+        return StateVerifier.INSTANCE;
+      }
+
+      private static final class StateVerifier implements 
+           com.google.protobuf.Internal.EnumVerifier { 
+              static final com.google.protobuf.Internal.EnumVerifier
+                  INSTANCE = new StateVerifier();
+              @java.lang.Override
+              public boolean isInRange(int number) {
+                return State.forNumber(number) != null;
+              }
+            };
+
+      private final int value;
+
+      private State(int value) {
+        this.value = value;
+      }
+
+      // @@protoc_insertion_point(enum_scope:viam.robot.v1.PackageStatus.State)
+    }
+
+    private int bitField0_;
+    public static final int NAME_FIELD_NUMBER = 1;
+    private java.lang.String name_;
+    /**
+     * <pre>
+     * the package name as declared in the robot config (PackageConfig.Name)
+     * </pre>
+     *
+     * <code>string name = 1 [json_name = "name"];</code>
+     * @return The name.
+     */
+    @java.lang.Override
+    public java.lang.String getName() {
+      return name_;
+    }
+    /**
+     * <pre>
+     * the package name as declared in the robot config (PackageConfig.Name)
+     * </pre>
+     *
+     * <code>string name = 1 [json_name = "name"];</code>
+     * @return The bytes for name.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getNameBytes() {
+      return com.google.protobuf.ByteString.copyFromUtf8(name_);
+    }
+    /**
+     * <pre>
+     * the package name as declared in the robot config (PackageConfig.Name)
+     * </pre>
+     *
+     * <code>string name = 1 [json_name = "name"];</code>
+     * @param value The name to set.
+     */
+    @java.lang.SuppressWarnings("ReturnValueIgnored")
+    private void setName(
+        java.lang.String value) {
+      value.getClass();  // minimal bytecode null check
+
+      name_ = value;
+    }
+    /**
+     * <pre>
+     * the package name as declared in the robot config (PackageConfig.Name)
+     * </pre>
+     *
+     * <code>string name = 1 [json_name = "name"];</code>
+     */
+    private void clearName() {
+
+      name_ = getDefaultInstance().getName();
+    }
+    /**
+     * <pre>
+     * the package name as declared in the robot config (PackageConfig.Name)
+     * </pre>
+     *
+     * <code>string name = 1 [json_name = "name"];</code>
+     * @param value The bytes for name to set.
+     */
+    private void setNameBytes(
+        com.google.protobuf.ByteString value) {
+      checkByteStringIsUtf8(value);
+      name_ = value.toStringUtf8();
+
+    }
+
+    public static final int TYPE_FIELD_NUMBER = 2;
+    private int type_;
+    /**
+     * <pre>
+     * the package type (module, ml_model, slam_map, etc.)
+     * </pre>
+     *
+     * <code>.viam.app.packages.v1.PackageType type = 2 [json_name = "type"];</code>
+     * @return The enum numeric value on the wire for type.
+     */
+    @java.lang.Override
+    public int getTypeValue() {
+      return type_;
+    }
+    /**
+     * <pre>
+     * the package type (module, ml_model, slam_map, etc.)
+     * </pre>
+     *
+     * <code>.viam.app.packages.v1.PackageType type = 2 [json_name = "type"];</code>
+     * @return The type.
+     */
+    @java.lang.Override
+    public viam.app.packages.v1.Packages.PackageType getType() {
+      viam.app.packages.v1.Packages.PackageType result = viam.app.packages.v1.Packages.PackageType.forNumber(type_);
+      return result == null ? viam.app.packages.v1.Packages.PackageType.UNRECOGNIZED : result;
+    }
+    /**
+     * <pre>
+     * the package type (module, ml_model, slam_map, etc.)
+     * </pre>
+     *
+     * <code>.viam.app.packages.v1.PackageType type = 2 [json_name = "type"];</code>
+     * @param value The enum numeric value on the wire for type to set.
+     * @throws IllegalArgumentException if UNRECOGNIZED is provided.
+     */
+    private void setTypeValue(int value) {
+        type_ = value;
+    }
+    /**
+     * <pre>
+     * the package type (module, ml_model, slam_map, etc.)
+     * </pre>
+     *
+     * <code>.viam.app.packages.v1.PackageType type = 2 [json_name = "type"];</code>
+     * @param value The type to set.
+     */
+    private void setType(viam.app.packages.v1.Packages.PackageType value) {
+      type_ = value.getNumber();
+
+    }
+    /**
+     * <pre>
+     * the package type (module, ml_model, slam_map, etc.)
+     * </pre>
+     *
+     * <code>.viam.app.packages.v1.PackageType type = 2 [json_name = "type"];</code>
+     */
+    private void clearType() {
+
+      type_ = 0;
+    }
+
+    public static final int STATE_FIELD_NUMBER = 3;
+    private int state_;
+    /**
+     * <pre>
+     * current lifecycle state
+     * </pre>
+     *
+     * <code>.viam.robot.v1.PackageStatus.State state = 3 [json_name = "state"];</code>
+     * @return The enum numeric value on the wire for state.
+     */
+    @java.lang.Override
+    public int getStateValue() {
+      return state_;
+    }
+    /**
+     * <pre>
+     * current lifecycle state
+     * </pre>
+     *
+     * <code>.viam.robot.v1.PackageStatus.State state = 3 [json_name = "state"];</code>
+     * @return The state.
+     */
+    @java.lang.Override
+    public com.viam.robot.v1.Robot.PackageStatus.State getState() {
+      com.viam.robot.v1.Robot.PackageStatus.State result = com.viam.robot.v1.Robot.PackageStatus.State.forNumber(state_);
+      return result == null ? com.viam.robot.v1.Robot.PackageStatus.State.UNRECOGNIZED : result;
+    }
+    /**
+     * <pre>
+     * current lifecycle state
+     * </pre>
+     *
+     * <code>.viam.robot.v1.PackageStatus.State state = 3 [json_name = "state"];</code>
+     * @param value The enum numeric value on the wire for state to set.
+     * @throws IllegalArgumentException if UNRECOGNIZED is provided.
+     */
+    private void setStateValue(int value) {
+        state_ = value;
+    }
+    /**
+     * <pre>
+     * current lifecycle state
+     * </pre>
+     *
+     * <code>.viam.robot.v1.PackageStatus.State state = 3 [json_name = "state"];</code>
+     * @param value The state to set.
+     */
+    private void setState(com.viam.robot.v1.Robot.PackageStatus.State value) {
+      state_ = value.getNumber();
+
+    }
+    /**
+     * <pre>
+     * current lifecycle state
+     * </pre>
+     *
+     * <code>.viam.robot.v1.PackageStatus.State state = 3 [json_name = "state"];</code>
+     */
+    private void clearState() {
+
+      state_ = 0;
+    }
+
+    public static final int ERROR_FIELD_NUMBER = 4;
+    private java.lang.String error_;
+    /**
+     * <pre>
+     * human-readable error detail when state == STATE_FAILED
+     * </pre>
+     *
+     * <code>string error = 4 [json_name = "error"];</code>
+     * @return The error.
+     */
+    @java.lang.Override
+    public java.lang.String getError() {
+      return error_;
+    }
+    /**
+     * <pre>
+     * human-readable error detail when state == STATE_FAILED
+     * </pre>
+     *
+     * <code>string error = 4 [json_name = "error"];</code>
+     * @return The bytes for error.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getErrorBytes() {
+      return com.google.protobuf.ByteString.copyFromUtf8(error_);
+    }
+    /**
+     * <pre>
+     * human-readable error detail when state == STATE_FAILED
+     * </pre>
+     *
+     * <code>string error = 4 [json_name = "error"];</code>
+     * @param value The error to set.
+     */
+    @java.lang.SuppressWarnings("ReturnValueIgnored")
+    private void setError(
+        java.lang.String value) {
+      value.getClass();  // minimal bytecode null check
+
+      error_ = value;
+    }
+    /**
+     * <pre>
+     * human-readable error detail when state == STATE_FAILED
+     * </pre>
+     *
+     * <code>string error = 4 [json_name = "error"];</code>
+     */
+    private void clearError() {
+
+      error_ = getDefaultInstance().getError();
+    }
+    /**
+     * <pre>
+     * human-readable error detail when state == STATE_FAILED
+     * </pre>
+     *
+     * <code>string error = 4 [json_name = "error"];</code>
+     * @param value The bytes for error to set.
+     */
+    private void setErrorBytes(
+        com.google.protobuf.ByteString value) {
+      checkByteStringIsUtf8(value);
+      error_ = value.toStringUtf8();
+
+    }
+
+    public static final int LAST_UPDATED_FIELD_NUMBER = 5;
+    private com.google.protobuf.Timestamp lastUpdated_;
+    /**
+     * <pre>
+     * when this status was last updated
+     * </pre>
+     *
+     * <code>.google.protobuf.Timestamp last_updated = 5 [json_name = "lastUpdated"];</code>
+     */
+    @java.lang.Override
+    public boolean hasLastUpdated() {
+      return ((bitField0_ & 0x00000001) != 0);
+    }
+    /**
+     * <pre>
+     * when this status was last updated
+     * </pre>
+     *
+     * <code>.google.protobuf.Timestamp last_updated = 5 [json_name = "lastUpdated"];</code>
+     */
+    @java.lang.Override
+    public com.google.protobuf.Timestamp getLastUpdated() {
+      return lastUpdated_ == null ? com.google.protobuf.Timestamp.getDefaultInstance() : lastUpdated_;
+    }
+    /**
+     * <pre>
+     * when this status was last updated
+     * </pre>
+     *
+     * <code>.google.protobuf.Timestamp last_updated = 5 [json_name = "lastUpdated"];</code>
+     */
+    @java.lang.SuppressWarnings("ReturnValueIgnored")
+    private void setLastUpdated(com.google.protobuf.Timestamp value) {
+      value.getClass();  // minimal bytecode null check
+      lastUpdated_ = value;
+      bitField0_ |= 0x00000001;
+    }
+    /**
+     * <pre>
+     * when this status was last updated
+     * </pre>
+     *
+     * <code>.google.protobuf.Timestamp last_updated = 5 [json_name = "lastUpdated"];</code>
+     */
+    @java.lang.SuppressWarnings({"ReferenceEquality", "ReturnValueIgnored"})
+    private void mergeLastUpdated(com.google.protobuf.Timestamp value) {
+      value.getClass();  // minimal bytecode null check
+      if (lastUpdated_ != null &&
+          lastUpdated_ != com.google.protobuf.Timestamp.getDefaultInstance()) {
+        lastUpdated_ =
+          com.google.protobuf.Timestamp.newBuilder(lastUpdated_).mergeFrom(value).buildPartial();
+      } else {
+        lastUpdated_ = value;
+      }
+      bitField0_ |= 0x00000001;
+    }
+    /**
+     * <pre>
+     * when this status was last updated
+     * </pre>
+     *
+     * <code>.google.protobuf.Timestamp last_updated = 5 [json_name = "lastUpdated"];</code>
+     */
+    private void clearLastUpdated() {
+      lastUpdated_ = null;
+      bitField0_ = (bitField0_ & ~0x00000001);
+    }
+
+    public static final int VERSION_FIELD_NUMBER = 6;
+    private java.lang.String version_;
+    /**
+     * <pre>
+     * the version string from PackageConfig
+     * </pre>
+     *
+     * <code>string version = 6 [json_name = "version"];</code>
+     * @return The version.
+     */
+    @java.lang.Override
+    public java.lang.String getVersion() {
+      return version_;
+    }
+    /**
+     * <pre>
+     * the version string from PackageConfig
+     * </pre>
+     *
+     * <code>string version = 6 [json_name = "version"];</code>
+     * @return The bytes for version.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getVersionBytes() {
+      return com.google.protobuf.ByteString.copyFromUtf8(version_);
+    }
+    /**
+     * <pre>
+     * the version string from PackageConfig
+     * </pre>
+     *
+     * <code>string version = 6 [json_name = "version"];</code>
+     * @param value The version to set.
+     */
+    @java.lang.SuppressWarnings("ReturnValueIgnored")
+    private void setVersion(
+        java.lang.String value) {
+      value.getClass();  // minimal bytecode null check
+
+      version_ = value;
+    }
+    /**
+     * <pre>
+     * the version string from PackageConfig
+     * </pre>
+     *
+     * <code>string version = 6 [json_name = "version"];</code>
+     */
+    private void clearVersion() {
+
+      version_ = getDefaultInstance().getVersion();
+    }
+    /**
+     * <pre>
+     * the version string from PackageConfig
+     * </pre>
+     *
+     * <code>string version = 6 [json_name = "version"];</code>
+     * @param value The bytes for version to set.
+     */
+    private void setVersionBytes(
+        com.google.protobuf.ByteString value) {
+      checkByteStringIsUtf8(value);
+      version_ = value.toStringUtf8();
+
+    }
+
+    public static final int BYTES_DOWNLOADED_FIELD_NUMBER = 7;
+    private long bytesDownloaded_;
+    /**
+     * <pre>
+     * number of bytes of the package tarball downloaded so far. Only populated
+     * while state == STATE_DOWNLOADING; equals total_bytes once the download completes.
+     * </pre>
+     *
+     * <code>uint64 bytes_downloaded = 7 [json_name = "bytesDownloaded"];</code>
+     * @return The bytesDownloaded.
+     */
+    @java.lang.Override
+    public long getBytesDownloaded() {
+      return bytesDownloaded_;
+    }
+    /**
+     * <pre>
+     * number of bytes of the package tarball downloaded so far. Only populated
+     * while state == STATE_DOWNLOADING; equals total_bytes once the download completes.
+     * </pre>
+     *
+     * <code>uint64 bytes_downloaded = 7 [json_name = "bytesDownloaded"];</code>
+     * @param value The bytesDownloaded to set.
+     */
+    private void setBytesDownloaded(long value) {
+      
+      bytesDownloaded_ = value;
+    }
+    /**
+     * <pre>
+     * number of bytes of the package tarball downloaded so far. Only populated
+     * while state == STATE_DOWNLOADING; equals total_bytes once the download completes.
+     * </pre>
+     *
+     * <code>uint64 bytes_downloaded = 7 [json_name = "bytesDownloaded"];</code>
+     */
+    private void clearBytesDownloaded() {
+
+      bytesDownloaded_ = 0L;
+    }
+
+    public static final int TOTAL_BYTES_FIELD_NUMBER = 8;
+    private long totalBytes_;
+    /**
+     * <pre>
+     * total size of the package tarball in bytes. Zero if the size is unknown.
+     * </pre>
+     *
+     * <code>uint64 total_bytes = 8 [json_name = "totalBytes"];</code>
+     * @return The totalBytes.
+     */
+    @java.lang.Override
+    public long getTotalBytes() {
+      return totalBytes_;
+    }
+    /**
+     * <pre>
+     * total size of the package tarball in bytes. Zero if the size is unknown.
+     * </pre>
+     *
+     * <code>uint64 total_bytes = 8 [json_name = "totalBytes"];</code>
+     * @param value The totalBytes to set.
+     */
+    private void setTotalBytes(long value) {
+      
+      totalBytes_ = value;
+    }
+    /**
+     * <pre>
+     * total size of the package tarball in bytes. Zero if the size is unknown.
+     * </pre>
+     *
+     * <code>uint64 total_bytes = 8 [json_name = "totalBytes"];</code>
+     */
+    private void clearTotalBytes() {
+
+      totalBytes_ = 0L;
+    }
+
+    public static com.viam.robot.v1.Robot.PackageStatus parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static com.viam.robot.v1.Robot.PackageStatus parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static com.viam.robot.v1.Robot.PackageStatus parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static com.viam.robot.v1.Robot.PackageStatus parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static com.viam.robot.v1.Robot.PackageStatus parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static com.viam.robot.v1.Robot.PackageStatus parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static com.viam.robot.v1.Robot.PackageStatus parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static com.viam.robot.v1.Robot.PackageStatus parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static com.viam.robot.v1.Robot.PackageStatus parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input);
+    }
+
+    public static com.viam.robot.v1.Robot.PackageStatus parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+    public static com.viam.robot.v1.Robot.PackageStatus parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static com.viam.robot.v1.Robot.PackageStatus parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static Builder newBuilder() {
+      return (Builder) DEFAULT_INSTANCE.createBuilder();
+    }
+    public static Builder newBuilder(com.viam.robot.v1.Robot.PackageStatus prototype) {
+      return DEFAULT_INSTANCE.createBuilder(prototype);
+    }
+
+    /**
+     * Protobuf type {@code viam.robot.v1.PackageStatus}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageLite.Builder<
+          com.viam.robot.v1.Robot.PackageStatus, Builder> implements
+        // @@protoc_insertion_point(builder_implements:viam.robot.v1.PackageStatus)
+        com.viam.robot.v1.Robot.PackageStatusOrBuilder {
+      // Construct using com.viam.robot.v1.Robot.PackageStatus.newBuilder()
+      private Builder() {
+        super(DEFAULT_INSTANCE);
+      }
+
+
+      /**
+       * <pre>
+       * the package name as declared in the robot config (PackageConfig.Name)
+       * </pre>
+       *
+       * <code>string name = 1 [json_name = "name"];</code>
+       * @return The name.
+       */
+      @java.lang.Override
+      public java.lang.String getName() {
+        return instance.getName();
+      }
+      /**
+       * <pre>
+       * the package name as declared in the robot config (PackageConfig.Name)
+       * </pre>
+       *
+       * <code>string name = 1 [json_name = "name"];</code>
+       * @return The bytes for name.
+       */
+      @java.lang.Override
+      public com.google.protobuf.ByteString
+          getNameBytes() {
+        return instance.getNameBytes();
+      }
+      /**
+       * <pre>
+       * the package name as declared in the robot config (PackageConfig.Name)
+       * </pre>
+       *
+       * <code>string name = 1 [json_name = "name"];</code>
+       * @param value The name to set.
+       * @return This builder for chaining.
+       */
+      public Builder setName(
+          java.lang.String value) {
+        copyOnWrite();
+        instance.setName(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * the package name as declared in the robot config (PackageConfig.Name)
+       * </pre>
+       *
+       * <code>string name = 1 [json_name = "name"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearName() {
+        copyOnWrite();
+        instance.clearName();
+        return this;
+      }
+      /**
+       * <pre>
+       * the package name as declared in the robot config (PackageConfig.Name)
+       * </pre>
+       *
+       * <code>string name = 1 [json_name = "name"];</code>
+       * @param value The bytes for name to set.
+       * @return This builder for chaining.
+       */
+      public Builder setNameBytes(
+          com.google.protobuf.ByteString value) {
+        copyOnWrite();
+        instance.setNameBytes(value);
+        return this;
+      }
+
+      /**
+       * <pre>
+       * the package type (module, ml_model, slam_map, etc.)
+       * </pre>
+       *
+       * <code>.viam.app.packages.v1.PackageType type = 2 [json_name = "type"];</code>
+       * @return The enum numeric value on the wire for type.
+       */
+      @java.lang.Override
+      public int getTypeValue() {
+        return instance.getTypeValue();
+      }
+      /**
+       * <pre>
+       * the package type (module, ml_model, slam_map, etc.)
+       * </pre>
+       *
+       * <code>.viam.app.packages.v1.PackageType type = 2 [json_name = "type"];</code>
+       * @param value The type to set.
+       * @return This builder for chaining.
+       */
+      public Builder setTypeValue(int value) {
+        copyOnWrite();
+        instance.setTypeValue(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * the package type (module, ml_model, slam_map, etc.)
+       * </pre>
+       *
+       * <code>.viam.app.packages.v1.PackageType type = 2 [json_name = "type"];</code>
+       * @return The type.
+       */
+      @java.lang.Override
+      public viam.app.packages.v1.Packages.PackageType getType() {
+        return instance.getType();
+      }
+      /**
+       * <pre>
+       * the package type (module, ml_model, slam_map, etc.)
+       * </pre>
+       *
+       * <code>.viam.app.packages.v1.PackageType type = 2 [json_name = "type"];</code>
+       * @param value The enum numeric value on the wire for type to set.
+       * @throws IllegalArgumentException if UNRECOGNIZED is provided.
+       * @return This builder for chaining.
+       */
+      public Builder setType(viam.app.packages.v1.Packages.PackageType value) {
+        copyOnWrite();
+        instance.setType(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * the package type (module, ml_model, slam_map, etc.)
+       * </pre>
+       *
+       * <code>.viam.app.packages.v1.PackageType type = 2 [json_name = "type"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearType() {
+        copyOnWrite();
+        instance.clearType();
+        return this;
+      }
+
+      /**
+       * <pre>
+       * current lifecycle state
+       * </pre>
+       *
+       * <code>.viam.robot.v1.PackageStatus.State state = 3 [json_name = "state"];</code>
+       * @return The enum numeric value on the wire for state.
+       */
+      @java.lang.Override
+      public int getStateValue() {
+        return instance.getStateValue();
+      }
+      /**
+       * <pre>
+       * current lifecycle state
+       * </pre>
+       *
+       * <code>.viam.robot.v1.PackageStatus.State state = 3 [json_name = "state"];</code>
+       * @param value The state to set.
+       * @return This builder for chaining.
+       */
+      public Builder setStateValue(int value) {
+        copyOnWrite();
+        instance.setStateValue(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * current lifecycle state
+       * </pre>
+       *
+       * <code>.viam.robot.v1.PackageStatus.State state = 3 [json_name = "state"];</code>
+       * @return The state.
+       */
+      @java.lang.Override
+      public com.viam.robot.v1.Robot.PackageStatus.State getState() {
+        return instance.getState();
+      }
+      /**
+       * <pre>
+       * current lifecycle state
+       * </pre>
+       *
+       * <code>.viam.robot.v1.PackageStatus.State state = 3 [json_name = "state"];</code>
+       * @param value The enum numeric value on the wire for state to set.
+       * @throws IllegalArgumentException if UNRECOGNIZED is provided.
+       * @return This builder for chaining.
+       */
+      public Builder setState(com.viam.robot.v1.Robot.PackageStatus.State value) {
+        copyOnWrite();
+        instance.setState(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * current lifecycle state
+       * </pre>
+       *
+       * <code>.viam.robot.v1.PackageStatus.State state = 3 [json_name = "state"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearState() {
+        copyOnWrite();
+        instance.clearState();
+        return this;
+      }
+
+      /**
+       * <pre>
+       * human-readable error detail when state == STATE_FAILED
+       * </pre>
+       *
+       * <code>string error = 4 [json_name = "error"];</code>
+       * @return The error.
+       */
+      @java.lang.Override
+      public java.lang.String getError() {
+        return instance.getError();
+      }
+      /**
+       * <pre>
+       * human-readable error detail when state == STATE_FAILED
+       * </pre>
+       *
+       * <code>string error = 4 [json_name = "error"];</code>
+       * @return The bytes for error.
+       */
+      @java.lang.Override
+      public com.google.protobuf.ByteString
+          getErrorBytes() {
+        return instance.getErrorBytes();
+      }
+      /**
+       * <pre>
+       * human-readable error detail when state == STATE_FAILED
+       * </pre>
+       *
+       * <code>string error = 4 [json_name = "error"];</code>
+       * @param value The error to set.
+       * @return This builder for chaining.
+       */
+      public Builder setError(
+          java.lang.String value) {
+        copyOnWrite();
+        instance.setError(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * human-readable error detail when state == STATE_FAILED
+       * </pre>
+       *
+       * <code>string error = 4 [json_name = "error"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearError() {
+        copyOnWrite();
+        instance.clearError();
+        return this;
+      }
+      /**
+       * <pre>
+       * human-readable error detail when state == STATE_FAILED
+       * </pre>
+       *
+       * <code>string error = 4 [json_name = "error"];</code>
+       * @param value The bytes for error to set.
+       * @return This builder for chaining.
+       */
+      public Builder setErrorBytes(
+          com.google.protobuf.ByteString value) {
+        copyOnWrite();
+        instance.setErrorBytes(value);
+        return this;
+      }
+
+      /**
+       * <pre>
+       * when this status was last updated
+       * </pre>
+       *
+       * <code>.google.protobuf.Timestamp last_updated = 5 [json_name = "lastUpdated"];</code>
+       */
+      @java.lang.Override
+      public boolean hasLastUpdated() {
+        return instance.hasLastUpdated();
+      }
+      /**
+       * <pre>
+       * when this status was last updated
+       * </pre>
+       *
+       * <code>.google.protobuf.Timestamp last_updated = 5 [json_name = "lastUpdated"];</code>
+       */
+      @java.lang.Override
+      public com.google.protobuf.Timestamp getLastUpdated() {
+        return instance.getLastUpdated();
+      }
+      /**
+       * <pre>
+       * when this status was last updated
+       * </pre>
+       *
+       * <code>.google.protobuf.Timestamp last_updated = 5 [json_name = "lastUpdated"];</code>
+       */
+      public Builder setLastUpdated(com.google.protobuf.Timestamp value) {
+        copyOnWrite();
+        instance.setLastUpdated(value);
+        return this;
+        }
+      /**
+       * <pre>
+       * when this status was last updated
+       * </pre>
+       *
+       * <code>.google.protobuf.Timestamp last_updated = 5 [json_name = "lastUpdated"];</code>
+       */
+      public Builder setLastUpdated(
+          com.google.protobuf.Timestamp.Builder builderForValue) {
+        copyOnWrite();
+        instance.setLastUpdated(builderForValue.build());
+        return this;
+      }
+      /**
+       * <pre>
+       * when this status was last updated
+       * </pre>
+       *
+       * <code>.google.protobuf.Timestamp last_updated = 5 [json_name = "lastUpdated"];</code>
+       */
+      public Builder mergeLastUpdated(com.google.protobuf.Timestamp value) {
+        copyOnWrite();
+        instance.mergeLastUpdated(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * when this status was last updated
+       * </pre>
+       *
+       * <code>.google.protobuf.Timestamp last_updated = 5 [json_name = "lastUpdated"];</code>
+       */
+      public Builder clearLastUpdated() {  copyOnWrite();
+        instance.clearLastUpdated();
+        return this;
+      }
+
+      /**
+       * <pre>
+       * the version string from PackageConfig
+       * </pre>
+       *
+       * <code>string version = 6 [json_name = "version"];</code>
+       * @return The version.
+       */
+      @java.lang.Override
+      public java.lang.String getVersion() {
+        return instance.getVersion();
+      }
+      /**
+       * <pre>
+       * the version string from PackageConfig
+       * </pre>
+       *
+       * <code>string version = 6 [json_name = "version"];</code>
+       * @return The bytes for version.
+       */
+      @java.lang.Override
+      public com.google.protobuf.ByteString
+          getVersionBytes() {
+        return instance.getVersionBytes();
+      }
+      /**
+       * <pre>
+       * the version string from PackageConfig
+       * </pre>
+       *
+       * <code>string version = 6 [json_name = "version"];</code>
+       * @param value The version to set.
+       * @return This builder for chaining.
+       */
+      public Builder setVersion(
+          java.lang.String value) {
+        copyOnWrite();
+        instance.setVersion(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * the version string from PackageConfig
+       * </pre>
+       *
+       * <code>string version = 6 [json_name = "version"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearVersion() {
+        copyOnWrite();
+        instance.clearVersion();
+        return this;
+      }
+      /**
+       * <pre>
+       * the version string from PackageConfig
+       * </pre>
+       *
+       * <code>string version = 6 [json_name = "version"];</code>
+       * @param value The bytes for version to set.
+       * @return This builder for chaining.
+       */
+      public Builder setVersionBytes(
+          com.google.protobuf.ByteString value) {
+        copyOnWrite();
+        instance.setVersionBytes(value);
+        return this;
+      }
+
+      /**
+       * <pre>
+       * number of bytes of the package tarball downloaded so far. Only populated
+       * while state == STATE_DOWNLOADING; equals total_bytes once the download completes.
+       * </pre>
+       *
+       * <code>uint64 bytes_downloaded = 7 [json_name = "bytesDownloaded"];</code>
+       * @return The bytesDownloaded.
+       */
+      @java.lang.Override
+      public long getBytesDownloaded() {
+        return instance.getBytesDownloaded();
+      }
+      /**
+       * <pre>
+       * number of bytes of the package tarball downloaded so far. Only populated
+       * while state == STATE_DOWNLOADING; equals total_bytes once the download completes.
+       * </pre>
+       *
+       * <code>uint64 bytes_downloaded = 7 [json_name = "bytesDownloaded"];</code>
+       * @param value The bytesDownloaded to set.
+       * @return This builder for chaining.
+       */
+      public Builder setBytesDownloaded(long value) {
+        copyOnWrite();
+        instance.setBytesDownloaded(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * number of bytes of the package tarball downloaded so far. Only populated
+       * while state == STATE_DOWNLOADING; equals total_bytes once the download completes.
+       * </pre>
+       *
+       * <code>uint64 bytes_downloaded = 7 [json_name = "bytesDownloaded"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearBytesDownloaded() {
+        copyOnWrite();
+        instance.clearBytesDownloaded();
+        return this;
+      }
+
+      /**
+       * <pre>
+       * total size of the package tarball in bytes. Zero if the size is unknown.
+       * </pre>
+       *
+       * <code>uint64 total_bytes = 8 [json_name = "totalBytes"];</code>
+       * @return The totalBytes.
+       */
+      @java.lang.Override
+      public long getTotalBytes() {
+        return instance.getTotalBytes();
+      }
+      /**
+       * <pre>
+       * total size of the package tarball in bytes. Zero if the size is unknown.
+       * </pre>
+       *
+       * <code>uint64 total_bytes = 8 [json_name = "totalBytes"];</code>
+       * @param value The totalBytes to set.
+       * @return This builder for chaining.
+       */
+      public Builder setTotalBytes(long value) {
+        copyOnWrite();
+        instance.setTotalBytes(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * total size of the package tarball in bytes. Zero if the size is unknown.
+       * </pre>
+       *
+       * <code>uint64 total_bytes = 8 [json_name = "totalBytes"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearTotalBytes() {
+        copyOnWrite();
+        instance.clearTotalBytes();
+        return this;
+      }
+
+      // @@protoc_insertion_point(builder_scope:viam.robot.v1.PackageStatus)
+    }
+    @java.lang.Override
+    @java.lang.SuppressWarnings({"ThrowNull"})
+    protected final java.lang.Object dynamicMethod(
+        com.google.protobuf.GeneratedMessageLite.MethodToInvoke method,
+        java.lang.Object arg0, java.lang.Object arg1) {
+      switch (method) {
+        case NEW_MUTABLE_INSTANCE: {
+          return new com.viam.robot.v1.Robot.PackageStatus();
+        }
+        case NEW_BUILDER: {
+          return new Builder();
+        }
+        case BUILD_MESSAGE_INFO: {
+            java.lang.Object[] objects = new java.lang.Object[] {
+              "bitField0_",
+              "name_",
+              "type_",
+              "state_",
+              "error_",
+              "lastUpdated_",
+              "version_",
+              "bytesDownloaded_",
+              "totalBytes_",
+            };
+            java.lang.String info =
+                "\u0000\b\u0000\u0001\u0001\b\b\u0000\u0000\u0000\u0001\u0208\u0002\f\u0003\f\u0004" +
+                "\u0208\u0005\u1009\u0000\u0006\u0208\u0007\u0003\b\u0003";
+            return newMessageInfo(DEFAULT_INSTANCE, info, objects);
+        }
+        case GET_DEFAULT_INSTANCE: {
+          return DEFAULT_INSTANCE;
+        }
+        case GET_PARSER: {
+          com.google.protobuf.Parser<com.viam.robot.v1.Robot.PackageStatus> parser = PARSER;
+          if (parser == null) {
+            synchronized (com.viam.robot.v1.Robot.PackageStatus.class) {
+              parser = PARSER;
+              if (parser == null) {
+                parser =
+                    new DefaultInstanceBasedParser<com.viam.robot.v1.Robot.PackageStatus>(
+                        DEFAULT_INSTANCE);
+                PARSER = parser;
+              }
+            }
+          }
+          return parser;
+        }
+        case GET_MEMOIZED_IS_INITIALIZED: {
+          return (byte) 1;
+        }
+        // SET_MEMOIZED_IS_INITIALIZED is never called for this message.
+        // So it can do anything. Combine with default case for smaller codegen.
+        case SET_MEMOIZED_IS_INITIALIZED:
+      }
+      // Should never happen. Generates tight code to throw an exception.
+      throw null;
+    }
+
+
+    // @@protoc_insertion_point(class_scope:viam.robot.v1.PackageStatus)
+    private static final com.viam.robot.v1.Robot.PackageStatus DEFAULT_INSTANCE;
+    static {
+      PackageStatus defaultInstance = new PackageStatus();
+      // New instances are implicitly immutable so no need to make
+      // immutable.
+      DEFAULT_INSTANCE = defaultInstance;
+      com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
+        PackageStatus.class, defaultInstance);
+    }
+
+    public static com.viam.robot.v1.Robot.PackageStatus getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static volatile com.google.protobuf.Parser<PackageStatus> PARSER;
+
+    public static com.google.protobuf.Parser<PackageStatus> parser() {
+      return DEFAULT_INSTANCE.getParserForType();
+    }
+  }
+
   public interface ConfigStatusOrBuilder extends
       // @@protoc_insertion_point(interface_extends:viam.robot.v1.ConfigStatus)
       com.google.protobuf.MessageLiteOrBuilder {
diff --git a/core/sdk/src/main/gen/proto/rpc/webrtc/v1/Signaling.java b/core/sdk/src/main/gen/proto/rpc/webrtc/v1/Signaling.java
index c384a8140..d29617d7b 100644
--- a/core/sdk/src/main/gen/proto/rpc/webrtc/v1/Signaling.java
+++ b/core/sdk/src/main/gen/proto/rpc/webrtc/v1/Signaling.java
@@ -11,6 +11,488 @@ private Signaling() {}
   public static void registerAllExtensions(
       com.google.protobuf.ExtensionRegistryLite registry) {
   }
+  /**
+   * <pre>
+   * ICECandidateType represents the type of ICE candidate selected for a WebRTC connection.
+   * The signaling server further classifies RELAY by relay server specific provider from the address.
+   * </pre>
+   *
+   * Protobuf enum {@code proto.rpc.webrtc.v1.ICECandidateType}
+   */
+  public enum ICECandidateType
+      implements com.google.protobuf.Internal.EnumLite {
+    /**
+     * <code>ICE_CANDIDATE_TYPE_UNSPECIFIED = 0;</code>
+     */
+    ICE_CANDIDATE_TYPE_UNSPECIFIED(0),
+    /**
+     * <pre>
+     * ICE_CANDIDATE_TYPE_HOST indicates a direct connection was established.
+     * </pre>
+     *
+     * <code>ICE_CANDIDATE_TYPE_HOST = 1;</code>
+     */
+    ICE_CANDIDATE_TYPE_HOST(1),
+    /**
+     * <pre>
+     * ICE_CANDIDATE_TYPE_STUN indicates a STUN-assisted connection was established.
+     * </pre>
+     *
+     * <code>ICE_CANDIDATE_TYPE_STUN = 2;</code>
+     */
+    ICE_CANDIDATE_TYPE_STUN(2),
+    /**
+     * <pre>
+     * ICE_CANDIDATE_TYPE_RELAY indicates a TURN relay candidate was selected.
+     * </pre>
+     *
+     * <code>ICE_CANDIDATE_TYPE_RELAY = 3;</code>
+     */
+    ICE_CANDIDATE_TYPE_RELAY(3),
+    UNRECOGNIZED(-1),
+    ;
+
+    /**
+     * <code>ICE_CANDIDATE_TYPE_UNSPECIFIED = 0;</code>
+     */
+    public static final int ICE_CANDIDATE_TYPE_UNSPECIFIED_VALUE = 0;
+    /**
+     * <pre>
+     * ICE_CANDIDATE_TYPE_HOST indicates a direct connection was established.
+     * </pre>
+     *
+     * <code>ICE_CANDIDATE_TYPE_HOST = 1;</code>
+     */
+    public static final int ICE_CANDIDATE_TYPE_HOST_VALUE = 1;
+    /**
+     * <pre>
+     * ICE_CANDIDATE_TYPE_STUN indicates a STUN-assisted connection was established.
+     * </pre>
+     *
+     * <code>ICE_CANDIDATE_TYPE_STUN = 2;</code>
+     */
+    public static final int ICE_CANDIDATE_TYPE_STUN_VALUE = 2;
+    /**
+     * <pre>
+     * ICE_CANDIDATE_TYPE_RELAY indicates a TURN relay candidate was selected.
+     * </pre>
+     *
+     * <code>ICE_CANDIDATE_TYPE_RELAY = 3;</code>
+     */
+    public static final int ICE_CANDIDATE_TYPE_RELAY_VALUE = 3;
+
+
+    @java.lang.Override
+    public final int getNumber() {
+      if (this == UNRECOGNIZED) {
+        throw new java.lang.IllegalArgumentException(
+            "Can't get the number of an unknown enum value.");
+      }
+      return value;
+    }
+
+    /**
+     * @param value The number of the enum to look for.
+     * @return The enum associated with the given number.
+     * @deprecated Use {@link #forNumber(int)} instead.
+     */
+    @java.lang.Deprecated
+    public static ICECandidateType valueOf(int value) {
+      return forNumber(value);
+    }
+
+    public static ICECandidateType forNumber(int value) {
+      switch (value) {
+        case 0: return ICE_CANDIDATE_TYPE_UNSPECIFIED;
+        case 1: return ICE_CANDIDATE_TYPE_HOST;
+        case 2: return ICE_CANDIDATE_TYPE_STUN;
+        case 3: return ICE_CANDIDATE_TYPE_RELAY;
+        default: return null;
+      }
+    }
+
+    public static com.google.protobuf.Internal.EnumLiteMap<ICECandidateType>
+        internalGetValueMap() {
+      return internalValueMap;
+    }
+    private static final com.google.protobuf.Internal.EnumLiteMap<
+        ICECandidateType> internalValueMap =
+          new com.google.protobuf.Internal.EnumLiteMap<ICECandidateType>() {
+            @java.lang.Override
+            public ICECandidateType findValueByNumber(int number) {
+              return ICECandidateType.forNumber(number);
+            }
+          };
+
+    public static com.google.protobuf.Internal.EnumVerifier 
+        internalGetVerifier() {
+      return ICECandidateTypeVerifier.INSTANCE;
+    }
+
+    private static final class ICECandidateTypeVerifier implements 
+         com.google.protobuf.Internal.EnumVerifier { 
+            static final com.google.protobuf.Internal.EnumVerifier
+                INSTANCE = new ICECandidateTypeVerifier();
+            @java.lang.Override
+            public boolean isInRange(int number) {
+              return ICECandidateType.forNumber(number) != null;
+            }
+          };
+
+    private final int value;
+
+    private ICECandidateType(int value) {
+      this.value = value;
+    }
+
+    // @@protoc_insertion_point(enum_scope:proto.rpc.webrtc.v1.ICECandidateType)
+  }
+
+  /**
+   * <pre>
+   * DialStage is the furthest checkpoint a WebRTC dial reached. READY means the dial succeeded; any
+   * earlier value is the stage at which a failed dial stopped.
+   * </pre>
+   *
+   * Protobuf enum {@code proto.rpc.webrtc.v1.DialStage}
+   */
+  public enum DialStage
+      implements com.google.protobuf.Internal.EnumLite {
+    /**
+     * <code>DIAL_STAGE_UNSPECIFIED = 0;</code>
+     */
+    DIAL_STAGE_UNSPECIFIED(0),
+    /**
+     * <pre>
+     * DIAL_STAGE_SIGNALING_CONNECTED: the signaling channel was established.
+     * </pre>
+     *
+     * <code>DIAL_STAGE_SIGNALING_CONNECTED = 1;</code>
+     */
+    DIAL_STAGE_SIGNALING_CONNECTED(1),
+    /**
+     * <pre>
+     * DIAL_STAGE_CONFIG_FETCHED: ICE/TURN configuration was fetched from the signaling server.
+     * </pre>
+     *
+     * <code>DIAL_STAGE_CONFIG_FETCHED = 2;</code>
+     */
+    DIAL_STAGE_CONFIG_FETCHED(2),
+    /**
+     * <pre>
+     * DIAL_STAGE_OFFER_SENT: the SDP offer was sent to the signaling server (the Call was accepted).
+     * </pre>
+     *
+     * <code>DIAL_STAGE_OFFER_SENT = 3;</code>
+     */
+    DIAL_STAGE_OFFER_SENT(3),
+    /**
+     * <pre>
+     * DIAL_STAGE_ANSWER_RECEIVED: the answerer's SDP answer was received and applied.
+     * </pre>
+     *
+     * <code>DIAL_STAGE_ANSWER_RECEIVED = 4;</code>
+     */
+    DIAL_STAGE_ANSWER_RECEIVED(4),
+    /**
+     * <pre>
+     * DIAL_STAGE_ICE_CONNECTED: ICE connectivity was established (a candidate pair connected).
+     * </pre>
+     *
+     * <code>DIAL_STAGE_ICE_CONNECTED = 5;</code>
+     */
+    DIAL_STAGE_ICE_CONNECTED(5),
+    /**
+     * <pre>
+     * DIAL_STAGE_DTLS_CONNECTED: the DTLS handshake completed (peer connection connected) but the
+     * data channel is not yet open.
+     * </pre>
+     *
+     * <code>DIAL_STAGE_DTLS_CONNECTED = 6;</code>
+     */
+    DIAL_STAGE_DTLS_CONNECTED(6),
+    /**
+     * <pre>
+     * DIAL_STAGE_READY: the connection is fully ready (data channel open). This is success.
+     * </pre>
+     *
+     * <code>DIAL_STAGE_READY = 7;</code>
+     */
+    DIAL_STAGE_READY(7),
+    UNRECOGNIZED(-1),
+    ;
+
+    /**
+     * <code>DIAL_STAGE_UNSPECIFIED = 0;</code>
+     */
+    public static final int DIAL_STAGE_UNSPECIFIED_VALUE = 0;
+    /**
+     * <pre>
+     * DIAL_STAGE_SIGNALING_CONNECTED: the signaling channel was established.
+     * </pre>
+     *
+     * <code>DIAL_STAGE_SIGNALING_CONNECTED = 1;</code>
+     */
+    public static final int DIAL_STAGE_SIGNALING_CONNECTED_VALUE = 1;
+    /**
+     * <pre>
+     * DIAL_STAGE_CONFIG_FETCHED: ICE/TURN configuration was fetched from the signaling server.
+     * </pre>
+     *
+     * <code>DIAL_STAGE_CONFIG_FETCHED = 2;</code>
+     */
+    public static final int DIAL_STAGE_CONFIG_FETCHED_VALUE = 2;
+    /**
+     * <pre>
+     * DIAL_STAGE_OFFER_SENT: the SDP offer was sent to the signaling server (the Call was accepted).
+     * </pre>
+     *
+     * <code>DIAL_STAGE_OFFER_SENT = 3;</code>
+     */
+    public static final int DIAL_STAGE_OFFER_SENT_VALUE = 3;
+    /**
+     * <pre>
+     * DIAL_STAGE_ANSWER_RECEIVED: the answerer's SDP answer was received and applied.
+     * </pre>
+     *
+     * <code>DIAL_STAGE_ANSWER_RECEIVED = 4;</code>
+     */
+    public static final int DIAL_STAGE_ANSWER_RECEIVED_VALUE = 4;
+    /**
+     * <pre>
+     * DIAL_STAGE_ICE_CONNECTED: ICE connectivity was established (a candidate pair connected).
+     * </pre>
+     *
+     * <code>DIAL_STAGE_ICE_CONNECTED = 5;</code>
+     */
+    public static final int DIAL_STAGE_ICE_CONNECTED_VALUE = 5;
+    /**
+     * <pre>
+     * DIAL_STAGE_DTLS_CONNECTED: the DTLS handshake completed (peer connection connected) but the
+     * data channel is not yet open.
+     * </pre>
+     *
+     * <code>DIAL_STAGE_DTLS_CONNECTED = 6;</code>
+     */
+    public static final int DIAL_STAGE_DTLS_CONNECTED_VALUE = 6;
+    /**
+     * <pre>
+     * DIAL_STAGE_READY: the connection is fully ready (data channel open). This is success.
+     * </pre>
+     *
+     * <code>DIAL_STAGE_READY = 7;</code>
+     */
+    public static final int DIAL_STAGE_READY_VALUE = 7;
+
+
+    @java.lang.Override
+    public final int getNumber() {
+      if (this == UNRECOGNIZED) {
+        throw new java.lang.IllegalArgumentException(
+            "Can't get the number of an unknown enum value.");
+      }
+      return value;
+    }
+
+    /**
+     * @param value The number of the enum to look for.
+     * @return The enum associated with the given number.
+     * @deprecated Use {@link #forNumber(int)} instead.
+     */
+    @java.lang.Deprecated
+    public static DialStage valueOf(int value) {
+      return forNumber(value);
+    }
+
+    public static DialStage forNumber(int value) {
+      switch (value) {
+        case 0: return DIAL_STAGE_UNSPECIFIED;
+        case 1: return DIAL_STAGE_SIGNALING_CONNECTED;
+        case 2: return DIAL_STAGE_CONFIG_FETCHED;
+        case 3: return DIAL_STAGE_OFFER_SENT;
+        case 4: return DIAL_STAGE_ANSWER_RECEIVED;
+        case 5: return DIAL_STAGE_ICE_CONNECTED;
+        case 6: return DIAL_STAGE_DTLS_CONNECTED;
+        case 7: return DIAL_STAGE_READY;
+        default: return null;
+      }
+    }
+
+    public static com.google.protobuf.Internal.EnumLiteMap<DialStage>
+        internalGetValueMap() {
+      return internalValueMap;
+    }
+    private static final com.google.protobuf.Internal.EnumLiteMap<
+        DialStage> internalValueMap =
+          new com.google.protobuf.Internal.EnumLiteMap<DialStage>() {
+            @java.lang.Override
+            public DialStage findValueByNumber(int number) {
+              return DialStage.forNumber(number);
+            }
+          };
+
+    public static com.google.protobuf.Internal.EnumVerifier 
+        internalGetVerifier() {
+      return DialStageVerifier.INSTANCE;
+    }
+
+    private static final class DialStageVerifier implements 
+         com.google.protobuf.Internal.EnumVerifier { 
+            static final com.google.protobuf.Internal.EnumVerifier
+                INSTANCE = new DialStageVerifier();
+            @java.lang.Override
+            public boolean isInRange(int number) {
+              return DialStage.forNumber(number) != null;
+            }
+          };
+
+    private final int value;
+
+    private DialStage(int value) {
+      this.value = value;
+    }
+
+    // @@protoc_insertion_point(enum_scope:proto.rpc.webrtc.v1.DialStage)
+  }
+
+  /**
+   * <pre>
+   * ConnectionSignalingPath is how a WebRTC dial was signaled, derived from the signaling address.
+   * </pre>
+   *
+   * Protobuf enum {@code proto.rpc.webrtc.v1.ConnectionSignalingPath}
+   */
+  public enum ConnectionSignalingPath
+      implements com.google.protobuf.Internal.EnumLite {
+    /**
+     * <code>CONNECTION_SIGNALING_PATH_UNSPECIFIED = 0;</code>
+     */
+    CONNECTION_SIGNALING_PATH_UNSPECIFIED(0),
+    /**
+     * <pre>
+     * CONNECTION_SIGNALING_PATH_CLOUD_SIGNALED: signaled through app's signaling server.
+     * </pre>
+     *
+     * <code>CONNECTION_SIGNALING_PATH_CLOUD_SIGNALED = 1;</code>
+     */
+    CONNECTION_SIGNALING_PATH_CLOUD_SIGNALED(1),
+    /**
+     * <pre>
+     * CONNECTION_SIGNALING_PATH_MDNS_LOCAL: signaled over an mDNS-discovered local-network path.
+     * </pre>
+     *
+     * <code>CONNECTION_SIGNALING_PATH_MDNS_LOCAL = 2;</code>
+     */
+    CONNECTION_SIGNALING_PATH_MDNS_LOCAL(2),
+    /**
+     * <pre>
+     * CONNECTION_SIGNALING_PATH_LOCAL: signaled through a loopback/private-address signaling server
+     * (e.g. a machine's own signaling server) without mDNS discovery.
+     * </pre>
+     *
+     * <code>CONNECTION_SIGNALING_PATH_LOCAL = 3;</code>
+     */
+    CONNECTION_SIGNALING_PATH_LOCAL(3),
+    UNRECOGNIZED(-1),
+    ;
+
+    /**
+     * <code>CONNECTION_SIGNALING_PATH_UNSPECIFIED = 0;</code>
+     */
+    public static final int CONNECTION_SIGNALING_PATH_UNSPECIFIED_VALUE = 0;
+    /**
+     * <pre>
+     * CONNECTION_SIGNALING_PATH_CLOUD_SIGNALED: signaled through app's signaling server.
+     * </pre>
+     *
+     * <code>CONNECTION_SIGNALING_PATH_CLOUD_SIGNALED = 1;</code>
+     */
+    public static final int CONNECTION_SIGNALING_PATH_CLOUD_SIGNALED_VALUE = 1;
+    /**
+     * <pre>
+     * CONNECTION_SIGNALING_PATH_MDNS_LOCAL: signaled over an mDNS-discovered local-network path.
+     * </pre>
+     *
+     * <code>CONNECTION_SIGNALING_PATH_MDNS_LOCAL = 2;</code>
+     */
+    public static final int CONNECTION_SIGNALING_PATH_MDNS_LOCAL_VALUE = 2;
+    /**
+     * <pre>
+     * CONNECTION_SIGNALING_PATH_LOCAL: signaled through a loopback/private-address signaling server
+     * (e.g. a machine's own signaling server) without mDNS discovery.
+     * </pre>
+     *
+     * <code>CONNECTION_SIGNALING_PATH_LOCAL = 3;</code>
+     */
+    public static final int CONNECTION_SIGNALING_PATH_LOCAL_VALUE = 3;
+
+
+    @java.lang.Override
+    public final int getNumber() {
+      if (this == UNRECOGNIZED) {
+        throw new java.lang.IllegalArgumentException(
+            "Can't get the number of an unknown enum value.");
+      }
+      return value;
+    }
+
+    /**
+     * @param value The number of the enum to look for.
+     * @return The enum associated with the given number.
+     * @deprecated Use {@link #forNumber(int)} instead.
+     */
+    @java.lang.Deprecated
+    public static ConnectionSignalingPath valueOf(int value) {
+      return forNumber(value);
+    }
+
+    public static ConnectionSignalingPath forNumber(int value) {
+      switch (value) {
+        case 0: return CONNECTION_SIGNALING_PATH_UNSPECIFIED;
+        case 1: return CONNECTION_SIGNALING_PATH_CLOUD_SIGNALED;
+        case 2: return CONNECTION_SIGNALING_PATH_MDNS_LOCAL;
+        case 3: return CONNECTION_SIGNALING_PATH_LOCAL;
+        default: return null;
+      }
+    }
+
+    public static com.google.protobuf.Internal.EnumLiteMap<ConnectionSignalingPath>
+        internalGetValueMap() {
+      return internalValueMap;
+    }
+    private static final com.google.protobuf.Internal.EnumLiteMap<
+        ConnectionSignalingPath> internalValueMap =
+          new com.google.protobuf.Internal.EnumLiteMap<ConnectionSignalingPath>() {
+            @java.lang.Override
+            public ConnectionSignalingPath findValueByNumber(int number) {
+              return ConnectionSignalingPath.forNumber(number);
+            }
+          };
+
+    public static com.google.protobuf.Internal.EnumVerifier 
+        internalGetVerifier() {
+      return ConnectionSignalingPathVerifier.INSTANCE;
+    }
+
+    private static final class ConnectionSignalingPathVerifier implements 
+         com.google.protobuf.Internal.EnumVerifier { 
+            static final com.google.protobuf.Internal.EnumVerifier
+                INSTANCE = new ConnectionSignalingPathVerifier();
+            @java.lang.Override
+            public boolean isInRange(int number) {
+              return ConnectionSignalingPath.forNumber(number) != null;
+            }
+          };
+
+    private final int value;
+
+    private ConnectionSignalingPath(int value) {
+      this.value = value;
+    }
+
+    // @@protoc_insertion_point(enum_scope:proto.rpc.webrtc.v1.ConnectionSignalingPath)
+  }
+
   public interface ICECandidateOrBuilder extends
       // @@protoc_insertion_point(interface_extends:proto.rpc.webrtc.v1.ICECandidate)
       com.google.protobuf.MessageLiteOrBuilder {
@@ -9380,6 +9862,1576 @@ public static com.google.protobuf.Parser<OptionalWebRTCConfigResponse> parser()
     }
   }
 
+  public interface ConnectionCandidateOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:proto.rpc.webrtc.v1.ConnectionCandidate)
+      com.google.protobuf.MessageLiteOrBuilder {
+
+    /**
+     * <code>.proto.rpc.webrtc.v1.ICECandidateType type = 1 [json_name = "type"];</code>
+     * @return The enum numeric value on the wire for type.
+     */
+    int getTypeValue();
+    /**
+     * <code>.proto.rpc.webrtc.v1.ICECandidateType type = 1 [json_name = "type"];</code>
+     * @return The type.
+     */
+    proto.rpc.webrtc.v1.Signaling.ICECandidateType getType();
+
+    /**
+     * <pre>
+     * relay_address is the relay server address of this candidate; set only when type is
+     * RELAY, so the signaling server can classify the provider by matching against known
+     * coturn addresses.
+     * </pre>
+     *
+     * <code>string relay_address = 2 [json_name = "relayAddress"];</code>
+     * @return The relayAddress.
+     */
+    java.lang.String getRelayAddress();
+    /**
+     * <pre>
+     * relay_address is the relay server address of this candidate; set only when type is
+     * RELAY, so the signaling server can classify the provider by matching against known
+     * coturn addresses.
+     * </pre>
+     *
+     * <code>string relay_address = 2 [json_name = "relayAddress"];</code>
+     * @return The bytes for relayAddress.
+     */
+    com.google.protobuf.ByteString
+        getRelayAddressBytes();
+  }
+  /**
+   * <pre>
+   * ConnectionCandidate describes the selected ICE candidate for one side of a WebRTC connection.
+   * </pre>
+   *
+   * Protobuf type {@code proto.rpc.webrtc.v1.ConnectionCandidate}
+   */
+  public  static final class ConnectionCandidate extends
+      com.google.protobuf.GeneratedMessageLite<
+          ConnectionCandidate, ConnectionCandidate.Builder> implements
+      // @@protoc_insertion_point(message_implements:proto.rpc.webrtc.v1.ConnectionCandidate)
+      ConnectionCandidateOrBuilder {
+    private ConnectionCandidate() {
+      relayAddress_ = "";
+    }
+    public static final int TYPE_FIELD_NUMBER = 1;
+    private int type_;
+    /**
+     * <code>.proto.rpc.webrtc.v1.ICECandidateType type = 1 [json_name = "type"];</code>
+     * @return The enum numeric value on the wire for type.
+     */
+    @java.lang.Override
+    public int getTypeValue() {
+      return type_;
+    }
+    /**
+     * <code>.proto.rpc.webrtc.v1.ICECandidateType type = 1 [json_name = "type"];</code>
+     * @return The type.
+     */
+    @java.lang.Override
+    public proto.rpc.webrtc.v1.Signaling.ICECandidateType getType() {
+      proto.rpc.webrtc.v1.Signaling.ICECandidateType result = proto.rpc.webrtc.v1.Signaling.ICECandidateType.forNumber(type_);
+      return result == null ? proto.rpc.webrtc.v1.Signaling.ICECandidateType.UNRECOGNIZED : result;
+    }
+    /**
+     * <code>.proto.rpc.webrtc.v1.ICECandidateType type = 1 [json_name = "type"];</code>
+     * @param value The enum numeric value on the wire for type to set.
+     * @throws IllegalArgumentException if UNRECOGNIZED is provided.
+     */
+    private void setTypeValue(int value) {
+        type_ = value;
+    }
+    /**
+     * <code>.proto.rpc.webrtc.v1.ICECandidateType type = 1 [json_name = "type"];</code>
+     * @param value The type to set.
+     */
+    private void setType(proto.rpc.webrtc.v1.Signaling.ICECandidateType value) {
+      type_ = value.getNumber();
+
+    }
+    /**
+     * <code>.proto.rpc.webrtc.v1.ICECandidateType type = 1 [json_name = "type"];</code>
+     */
+    private void clearType() {
+
+      type_ = 0;
+    }
+
+    public static final int RELAY_ADDRESS_FIELD_NUMBER = 2;
+    private java.lang.String relayAddress_;
+    /**
+     * <pre>
+     * relay_address is the relay server address of this candidate; set only when type is
+     * RELAY, so the signaling server can classify the provider by matching against known
+     * coturn addresses.
+     * </pre>
+     *
+     * <code>string relay_address = 2 [json_name = "relayAddress"];</code>
+     * @return The relayAddress.
+     */
+    @java.lang.Override
+    public java.lang.String getRelayAddress() {
+      return relayAddress_;
+    }
+    /**
+     * <pre>
+     * relay_address is the relay server address of this candidate; set only when type is
+     * RELAY, so the signaling server can classify the provider by matching against known
+     * coturn addresses.
+     * </pre>
+     *
+     * <code>string relay_address = 2 [json_name = "relayAddress"];</code>
+     * @return The bytes for relayAddress.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getRelayAddressBytes() {
+      return com.google.protobuf.ByteString.copyFromUtf8(relayAddress_);
+    }
+    /**
+     * <pre>
+     * relay_address is the relay server address of this candidate; set only when type is
+     * RELAY, so the signaling server can classify the provider by matching against known
+     * coturn addresses.
+     * </pre>
+     *
+     * <code>string relay_address = 2 [json_name = "relayAddress"];</code>
+     * @param value The relayAddress to set.
+     */
+    @java.lang.SuppressWarnings("ReturnValueIgnored")
+    private void setRelayAddress(
+        java.lang.String value) {
+      value.getClass();  // minimal bytecode null check
+
+      relayAddress_ = value;
+    }
+    /**
+     * <pre>
+     * relay_address is the relay server address of this candidate; set only when type is
+     * RELAY, so the signaling server can classify the provider by matching against known
+     * coturn addresses.
+     * </pre>
+     *
+     * <code>string relay_address = 2 [json_name = "relayAddress"];</code>
+     */
+    private void clearRelayAddress() {
+
+      relayAddress_ = getDefaultInstance().getRelayAddress();
+    }
+    /**
+     * <pre>
+     * relay_address is the relay server address of this candidate; set only when type is
+     * RELAY, so the signaling server can classify the provider by matching against known
+     * coturn addresses.
+     * </pre>
+     *
+     * <code>string relay_address = 2 [json_name = "relayAddress"];</code>
+     * @param value The bytes for relayAddress to set.
+     */
+    private void setRelayAddressBytes(
+        com.google.protobuf.ByteString value) {
+      checkByteStringIsUtf8(value);
+      relayAddress_ = value.toStringUtf8();
+
+    }
+
+    public static proto.rpc.webrtc.v1.Signaling.ConnectionCandidate parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static proto.rpc.webrtc.v1.Signaling.ConnectionCandidate parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static proto.rpc.webrtc.v1.Signaling.ConnectionCandidate parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static proto.rpc.webrtc.v1.Signaling.ConnectionCandidate parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static proto.rpc.webrtc.v1.Signaling.ConnectionCandidate parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static proto.rpc.webrtc.v1.Signaling.ConnectionCandidate parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static proto.rpc.webrtc.v1.Signaling.ConnectionCandidate parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static proto.rpc.webrtc.v1.Signaling.ConnectionCandidate parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static proto.rpc.webrtc.v1.Signaling.ConnectionCandidate parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input);
+    }
+
+    public static proto.rpc.webrtc.v1.Signaling.ConnectionCandidate parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+    public static proto.rpc.webrtc.v1.Signaling.ConnectionCandidate parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static proto.rpc.webrtc.v1.Signaling.ConnectionCandidate parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static Builder newBuilder() {
+      return (Builder) DEFAULT_INSTANCE.createBuilder();
+    }
+    public static Builder newBuilder(proto.rpc.webrtc.v1.Signaling.ConnectionCandidate prototype) {
+      return DEFAULT_INSTANCE.createBuilder(prototype);
+    }
+
+    /**
+     * <pre>
+     * ConnectionCandidate describes the selected ICE candidate for one side of a WebRTC connection.
+     * </pre>
+     *
+     * Protobuf type {@code proto.rpc.webrtc.v1.ConnectionCandidate}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageLite.Builder<
+          proto.rpc.webrtc.v1.Signaling.ConnectionCandidate, Builder> implements
+        // @@protoc_insertion_point(builder_implements:proto.rpc.webrtc.v1.ConnectionCandidate)
+        proto.rpc.webrtc.v1.Signaling.ConnectionCandidateOrBuilder {
+      // Construct using proto.rpc.webrtc.v1.Signaling.ConnectionCandidate.newBuilder()
+      private Builder() {
+        super(DEFAULT_INSTANCE);
+      }
+
+
+      /**
+       * <code>.proto.rpc.webrtc.v1.ICECandidateType type = 1 [json_name = "type"];</code>
+       * @return The enum numeric value on the wire for type.
+       */
+      @java.lang.Override
+      public int getTypeValue() {
+        return instance.getTypeValue();
+      }
+      /**
+       * <code>.proto.rpc.webrtc.v1.ICECandidateType type = 1 [json_name = "type"];</code>
+       * @param value The type to set.
+       * @return This builder for chaining.
+       */
+      public Builder setTypeValue(int value) {
+        copyOnWrite();
+        instance.setTypeValue(value);
+        return this;
+      }
+      /**
+       * <code>.proto.rpc.webrtc.v1.ICECandidateType type = 1 [json_name = "type"];</code>
+       * @return The type.
+       */
+      @java.lang.Override
+      public proto.rpc.webrtc.v1.Signaling.ICECandidateType getType() {
+        return instance.getType();
+      }
+      /**
+       * <code>.proto.rpc.webrtc.v1.ICECandidateType type = 1 [json_name = "type"];</code>
+       * @param value The enum numeric value on the wire for type to set.
+       * @throws IllegalArgumentException if UNRECOGNIZED is provided.
+       * @return This builder for chaining.
+       */
+      public Builder setType(proto.rpc.webrtc.v1.Signaling.ICECandidateType value) {
+        copyOnWrite();
+        instance.setType(value);
+        return this;
+      }
+      /**
+       * <code>.proto.rpc.webrtc.v1.ICECandidateType type = 1 [json_name = "type"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearType() {
+        copyOnWrite();
+        instance.clearType();
+        return this;
+      }
+
+      /**
+       * <pre>
+       * relay_address is the relay server address of this candidate; set only when type is
+       * RELAY, so the signaling server can classify the provider by matching against known
+       * coturn addresses.
+       * </pre>
+       *
+       * <code>string relay_address = 2 [json_name = "relayAddress"];</code>
+       * @return The relayAddress.
+       */
+      @java.lang.Override
+      public java.lang.String getRelayAddress() {
+        return instance.getRelayAddress();
+      }
+      /**
+       * <pre>
+       * relay_address is the relay server address of this candidate; set only when type is
+       * RELAY, so the signaling server can classify the provider by matching against known
+       * coturn addresses.
+       * </pre>
+       *
+       * <code>string relay_address = 2 [json_name = "relayAddress"];</code>
+       * @return The bytes for relayAddress.
+       */
+      @java.lang.Override
+      public com.google.protobuf.ByteString
+          getRelayAddressBytes() {
+        return instance.getRelayAddressBytes();
+      }
+      /**
+       * <pre>
+       * relay_address is the relay server address of this candidate; set only when type is
+       * RELAY, so the signaling server can classify the provider by matching against known
+       * coturn addresses.
+       * </pre>
+       *
+       * <code>string relay_address = 2 [json_name = "relayAddress"];</code>
+       * @param value The relayAddress to set.
+       * @return This builder for chaining.
+       */
+      public Builder setRelayAddress(
+          java.lang.String value) {
+        copyOnWrite();
+        instance.setRelayAddress(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * relay_address is the relay server address of this candidate; set only when type is
+       * RELAY, so the signaling server can classify the provider by matching against known
+       * coturn addresses.
+       * </pre>
+       *
+       * <code>string relay_address = 2 [json_name = "relayAddress"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearRelayAddress() {
+        copyOnWrite();
+        instance.clearRelayAddress();
+        return this;
+      }
+      /**
+       * <pre>
+       * relay_address is the relay server address of this candidate; set only when type is
+       * RELAY, so the signaling server can classify the provider by matching against known
+       * coturn addresses.
+       * </pre>
+       *
+       * <code>string relay_address = 2 [json_name = "relayAddress"];</code>
+       * @param value The bytes for relayAddress to set.
+       * @return This builder for chaining.
+       */
+      public Builder setRelayAddressBytes(
+          com.google.protobuf.ByteString value) {
+        copyOnWrite();
+        instance.setRelayAddressBytes(value);
+        return this;
+      }
+
+      // @@protoc_insertion_point(builder_scope:proto.rpc.webrtc.v1.ConnectionCandidate)
+    }
+    @java.lang.Override
+    @java.lang.SuppressWarnings({"ThrowNull"})
+    protected final java.lang.Object dynamicMethod(
+        com.google.protobuf.GeneratedMessageLite.MethodToInvoke method,
+        java.lang.Object arg0, java.lang.Object arg1) {
+      switch (method) {
+        case NEW_MUTABLE_INSTANCE: {
+          return new proto.rpc.webrtc.v1.Signaling.ConnectionCandidate();
+        }
+        case NEW_BUILDER: {
+          return new Builder();
+        }
+        case BUILD_MESSAGE_INFO: {
+            java.lang.Object[] objects = new java.lang.Object[] {
+              "type_",
+              "relayAddress_",
+            };
+            java.lang.String info =
+                "\u0000\u0002\u0000\u0000\u0001\u0002\u0002\u0000\u0000\u0000\u0001\f\u0002\u0208" +
+                "";
+            return newMessageInfo(DEFAULT_INSTANCE, info, objects);
+        }
+        case GET_DEFAULT_INSTANCE: {
+          return DEFAULT_INSTANCE;
+        }
+        case GET_PARSER: {
+          com.google.protobuf.Parser<proto.rpc.webrtc.v1.Signaling.ConnectionCandidate> parser = PARSER;
+          if (parser == null) {
+            synchronized (proto.rpc.webrtc.v1.Signaling.ConnectionCandidate.class) {
+              parser = PARSER;
+              if (parser == null) {
+                parser =
+                    new DefaultInstanceBasedParser<proto.rpc.webrtc.v1.Signaling.ConnectionCandidate>(
+                        DEFAULT_INSTANCE);
+                PARSER = parser;
+              }
+            }
+          }
+          return parser;
+        }
+        case GET_MEMOIZED_IS_INITIALIZED: {
+          return (byte) 1;
+        }
+        // SET_MEMOIZED_IS_INITIALIZED is never called for this message.
+        // So it can do anything. Combine with default case for smaller codegen.
+        case SET_MEMOIZED_IS_INITIALIZED:
+      }
+      // Should never happen. Generates tight code to throw an exception.
+      throw null;
+    }
+
+
+    // @@protoc_insertion_point(class_scope:proto.rpc.webrtc.v1.ConnectionCandidate)
+    private static final proto.rpc.webrtc.v1.Signaling.ConnectionCandidate DEFAULT_INSTANCE;
+    static {
+      ConnectionCandidate defaultInstance = new ConnectionCandidate();
+      // New instances are implicitly immutable so no need to make
+      // immutable.
+      DEFAULT_INSTANCE = defaultInstance;
+      com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
+        ConnectionCandidate.class, defaultInstance);
+    }
+
+    public static proto.rpc.webrtc.v1.Signaling.ConnectionCandidate getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static volatile com.google.protobuf.Parser<ConnectionCandidate> PARSER;
+
+    public static com.google.protobuf.Parser<ConnectionCandidate> parser() {
+      return DEFAULT_INSTANCE.getParserForType();
+    }
+  }
+
+  public interface ReportConnectionMetadataRequestOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:proto.rpc.webrtc.v1.ReportConnectionMetadataRequest)
+      com.google.protobuf.MessageLiteOrBuilder {
+
+    /**
+     * <code>.proto.rpc.webrtc.v1.ConnectionCandidate local = 1 [json_name = "local"];</code>
+     * @return Whether the local field is set.
+     */
+    boolean hasLocal();
+    /**
+     * <code>.proto.rpc.webrtc.v1.ConnectionCandidate local = 1 [json_name = "local"];</code>
+     * @return The local.
+     */
+    proto.rpc.webrtc.v1.Signaling.ConnectionCandidate getLocal();
+
+    /**
+     * <code>.proto.rpc.webrtc.v1.ConnectionCandidate remote = 2 [json_name = "remote"];</code>
+     * @return Whether the remote field is set.
+     */
+    boolean hasRemote();
+    /**
+     * <code>.proto.rpc.webrtc.v1.ConnectionCandidate remote = 2 [json_name = "remote"];</code>
+     * @return The remote.
+     */
+    proto.rpc.webrtc.v1.Signaling.ConnectionCandidate getRemote();
+
+    /**
+     * <pre>
+     * reached_stage is the furthest dial checkpoint reached. READY indicates success; any earlier
+     * value is where a failed dial stopped.
+     * </pre>
+     *
+     * <code>.proto.rpc.webrtc.v1.DialStage reached_stage = 3 [json_name = "reachedStage"];</code>
+     * @return The enum numeric value on the wire for reachedStage.
+     */
+    int getReachedStageValue();
+    /**
+     * <pre>
+     * reached_stage is the furthest dial checkpoint reached. READY indicates success; any earlier
+     * value is where a failed dial stopped.
+     * </pre>
+     *
+     * <code>.proto.rpc.webrtc.v1.DialStage reached_stage = 3 [json_name = "reachedStage"];</code>
+     * @return The reachedStage.
+     */
+    proto.rpc.webrtc.v1.Signaling.DialStage getReachedStage();
+
+    /**
+     * <pre>
+     * duration_ms is the wall-clock time from dial start to connection ready or to the failure.
+     * </pre>
+     *
+     * <code>uint32 duration_ms = 4 [json_name = "durationMs"];</code>
+     * @return The durationMs.
+     */
+    int getDurationMs();
+
+    /**
+     * <pre>
+     * signaling_path is how the dial was signaled (cloud / local / mDNS); reported regardless of outcome.
+     * </pre>
+     *
+     * <code>.proto.rpc.webrtc.v1.ConnectionSignalingPath signaling_path = 5 [json_name = "signalingPath"];</code>
+     * @return The enum numeric value on the wire for signalingPath.
+     */
+    int getSignalingPathValue();
+    /**
+     * <pre>
+     * signaling_path is how the dial was signaled (cloud / local / mDNS); reported regardless of outcome.
+     * </pre>
+     *
+     * <code>.proto.rpc.webrtc.v1.ConnectionSignalingPath signaling_path = 5 [json_name = "signalingPath"];</code>
+     * @return The signalingPath.
+     */
+    proto.rpc.webrtc.v1.Signaling.ConnectionSignalingPath getSignalingPath();
+
+    /**
+     * <pre>
+     * failure_code is the gRPC status code of a failed dial
+     * </pre>
+     *
+     * <code>int32 failure_code = 6 [json_name = "failureCode"];</code>
+     * @return The failureCode.
+     */
+    int getFailureCode();
+  }
+  /**
+   * <pre>
+   * ReportConnectionMetadataRequest reports metadata about a WebRTC dial, per side: local is the
+   * dialing SDK and remote is the robot.
+   * </pre>
+   *
+   * Protobuf type {@code proto.rpc.webrtc.v1.ReportConnectionMetadataRequest}
+   */
+  public  static final class ReportConnectionMetadataRequest extends
+      com.google.protobuf.GeneratedMessageLite<
+          ReportConnectionMetadataRequest, ReportConnectionMetadataRequest.Builder> implements
+      // @@protoc_insertion_point(message_implements:proto.rpc.webrtc.v1.ReportConnectionMetadataRequest)
+      ReportConnectionMetadataRequestOrBuilder {
+    private ReportConnectionMetadataRequest() {
+    }
+    private int bitField0_;
+    public static final int LOCAL_FIELD_NUMBER = 1;
+    private proto.rpc.webrtc.v1.Signaling.ConnectionCandidate local_;
+    /**
+     * <code>.proto.rpc.webrtc.v1.ConnectionCandidate local = 1 [json_name = "local"];</code>
+     */
+    @java.lang.Override
+    public boolean hasLocal() {
+      return ((bitField0_ & 0x00000001) != 0);
+    }
+    /**
+     * <code>.proto.rpc.webrtc.v1.ConnectionCandidate local = 1 [json_name = "local"];</code>
+     */
+    @java.lang.Override
+    public proto.rpc.webrtc.v1.Signaling.ConnectionCandidate getLocal() {
+      return local_ == null ? proto.rpc.webrtc.v1.Signaling.ConnectionCandidate.getDefaultInstance() : local_;
+    }
+    /**
+     * <code>.proto.rpc.webrtc.v1.ConnectionCandidate local = 1 [json_name = "local"];</code>
+     */
+    @java.lang.SuppressWarnings("ReturnValueIgnored")
+    private void setLocal(proto.rpc.webrtc.v1.Signaling.ConnectionCandidate value) {
+      value.getClass();  // minimal bytecode null check
+      local_ = value;
+      bitField0_ |= 0x00000001;
+    }
+    /**
+     * <code>.proto.rpc.webrtc.v1.ConnectionCandidate local = 1 [json_name = "local"];</code>
+     */
+    @java.lang.SuppressWarnings({"ReferenceEquality", "ReturnValueIgnored"})
+    private void mergeLocal(proto.rpc.webrtc.v1.Signaling.ConnectionCandidate value) {
+      value.getClass();  // minimal bytecode null check
+      if (local_ != null &&
+          local_ != proto.rpc.webrtc.v1.Signaling.ConnectionCandidate.getDefaultInstance()) {
+        local_ =
+          proto.rpc.webrtc.v1.Signaling.ConnectionCandidate.newBuilder(local_).mergeFrom(value).buildPartial();
+      } else {
+        local_ = value;
+      }
+      bitField0_ |= 0x00000001;
+    }
+    /**
+     * <code>.proto.rpc.webrtc.v1.ConnectionCandidate local = 1 [json_name = "local"];</code>
+     */
+    private void clearLocal() {
+      local_ = null;
+      bitField0_ = (bitField0_ & ~0x00000001);
+    }
+
+    public static final int REMOTE_FIELD_NUMBER = 2;
+    private proto.rpc.webrtc.v1.Signaling.ConnectionCandidate remote_;
+    /**
+     * <code>.proto.rpc.webrtc.v1.ConnectionCandidate remote = 2 [json_name = "remote"];</code>
+     */
+    @java.lang.Override
+    public boolean hasRemote() {
+      return ((bitField0_ & 0x00000002) != 0);
+    }
+    /**
+     * <code>.proto.rpc.webrtc.v1.ConnectionCandidate remote = 2 [json_name = "remote"];</code>
+     */
+    @java.lang.Override
+    public proto.rpc.webrtc.v1.Signaling.ConnectionCandidate getRemote() {
+      return remote_ == null ? proto.rpc.webrtc.v1.Signaling.ConnectionCandidate.getDefaultInstance() : remote_;
+    }
+    /**
+     * <code>.proto.rpc.webrtc.v1.ConnectionCandidate remote = 2 [json_name = "remote"];</code>
+     */
+    @java.lang.SuppressWarnings("ReturnValueIgnored")
+    private void setRemote(proto.rpc.webrtc.v1.Signaling.ConnectionCandidate value) {
+      value.getClass();  // minimal bytecode null check
+      remote_ = value;
+      bitField0_ |= 0x00000002;
+    }
+    /**
+     * <code>.proto.rpc.webrtc.v1.ConnectionCandidate remote = 2 [json_name = "remote"];</code>
+     */
+    @java.lang.SuppressWarnings({"ReferenceEquality", "ReturnValueIgnored"})
+    private void mergeRemote(proto.rpc.webrtc.v1.Signaling.ConnectionCandidate value) {
+      value.getClass();  // minimal bytecode null check
+      if (remote_ != null &&
+          remote_ != proto.rpc.webrtc.v1.Signaling.ConnectionCandidate.getDefaultInstance()) {
+        remote_ =
+          proto.rpc.webrtc.v1.Signaling.ConnectionCandidate.newBuilder(remote_).mergeFrom(value).buildPartial();
+      } else {
+        remote_ = value;
+      }
+      bitField0_ |= 0x00000002;
+    }
+    /**
+     * <code>.proto.rpc.webrtc.v1.ConnectionCandidate remote = 2 [json_name = "remote"];</code>
+     */
+    private void clearRemote() {
+      remote_ = null;
+      bitField0_ = (bitField0_ & ~0x00000002);
+    }
+
+    public static final int REACHED_STAGE_FIELD_NUMBER = 3;
+    private int reachedStage_;
+    /**
+     * <pre>
+     * reached_stage is the furthest dial checkpoint reached. READY indicates success; any earlier
+     * value is where a failed dial stopped.
+     * </pre>
+     *
+     * <code>.proto.rpc.webrtc.v1.DialStage reached_stage = 3 [json_name = "reachedStage"];</code>
+     * @return The enum numeric value on the wire for reachedStage.
+     */
+    @java.lang.Override
+    public int getReachedStageValue() {
+      return reachedStage_;
+    }
+    /**
+     * <pre>
+     * reached_stage is the furthest dial checkpoint reached. READY indicates success; any earlier
+     * value is where a failed dial stopped.
+     * </pre>
+     *
+     * <code>.proto.rpc.webrtc.v1.DialStage reached_stage = 3 [json_name = "reachedStage"];</code>
+     * @return The reachedStage.
+     */
+    @java.lang.Override
+    public proto.rpc.webrtc.v1.Signaling.DialStage getReachedStage() {
+      proto.rpc.webrtc.v1.Signaling.DialStage result = proto.rpc.webrtc.v1.Signaling.DialStage.forNumber(reachedStage_);
+      return result == null ? proto.rpc.webrtc.v1.Signaling.DialStage.UNRECOGNIZED : result;
+    }
+    /**
+     * <pre>
+     * reached_stage is the furthest dial checkpoint reached. READY indicates success; any earlier
+     * value is where a failed dial stopped.
+     * </pre>
+     *
+     * <code>.proto.rpc.webrtc.v1.DialStage reached_stage = 3 [json_name = "reachedStage"];</code>
+     * @param value The enum numeric value on the wire for reachedStage to set.
+     * @throws IllegalArgumentException if UNRECOGNIZED is provided.
+     */
+    private void setReachedStageValue(int value) {
+        reachedStage_ = value;
+    }
+    /**
+     * <pre>
+     * reached_stage is the furthest dial checkpoint reached. READY indicates success; any earlier
+     * value is where a failed dial stopped.
+     * </pre>
+     *
+     * <code>.proto.rpc.webrtc.v1.DialStage reached_stage = 3 [json_name = "reachedStage"];</code>
+     * @param value The reachedStage to set.
+     */
+    private void setReachedStage(proto.rpc.webrtc.v1.Signaling.DialStage value) {
+      reachedStage_ = value.getNumber();
+
+    }
+    /**
+     * <pre>
+     * reached_stage is the furthest dial checkpoint reached. READY indicates success; any earlier
+     * value is where a failed dial stopped.
+     * </pre>
+     *
+     * <code>.proto.rpc.webrtc.v1.DialStage reached_stage = 3 [json_name = "reachedStage"];</code>
+     */
+    private void clearReachedStage() {
+
+      reachedStage_ = 0;
+    }
+
+    public static final int DURATION_MS_FIELD_NUMBER = 4;
+    private int durationMs_;
+    /**
+     * <pre>
+     * duration_ms is the wall-clock time from dial start to connection ready or to the failure.
+     * </pre>
+     *
+     * <code>uint32 duration_ms = 4 [json_name = "durationMs"];</code>
+     * @return The durationMs.
+     */
+    @java.lang.Override
+    public int getDurationMs() {
+      return durationMs_;
+    }
+    /**
+     * <pre>
+     * duration_ms is the wall-clock time from dial start to connection ready or to the failure.
+     * </pre>
+     *
+     * <code>uint32 duration_ms = 4 [json_name = "durationMs"];</code>
+     * @param value The durationMs to set.
+     */
+    private void setDurationMs(int value) {
+      
+      durationMs_ = value;
+    }
+    /**
+     * <pre>
+     * duration_ms is the wall-clock time from dial start to connection ready or to the failure.
+     * </pre>
+     *
+     * <code>uint32 duration_ms = 4 [json_name = "durationMs"];</code>
+     */
+    private void clearDurationMs() {
+
+      durationMs_ = 0;
+    }
+
+    public static final int SIGNALING_PATH_FIELD_NUMBER = 5;
+    private int signalingPath_;
+    /**
+     * <pre>
+     * signaling_path is how the dial was signaled (cloud / local / mDNS); reported regardless of outcome.
+     * </pre>
+     *
+     * <code>.proto.rpc.webrtc.v1.ConnectionSignalingPath signaling_path = 5 [json_name = "signalingPath"];</code>
+     * @return The enum numeric value on the wire for signalingPath.
+     */
+    @java.lang.Override
+    public int getSignalingPathValue() {
+      return signalingPath_;
+    }
+    /**
+     * <pre>
+     * signaling_path is how the dial was signaled (cloud / local / mDNS); reported regardless of outcome.
+     * </pre>
+     *
+     * <code>.proto.rpc.webrtc.v1.ConnectionSignalingPath signaling_path = 5 [json_name = "signalingPath"];</code>
+     * @return The signalingPath.
+     */
+    @java.lang.Override
+    public proto.rpc.webrtc.v1.Signaling.ConnectionSignalingPath getSignalingPath() {
+      proto.rpc.webrtc.v1.Signaling.ConnectionSignalingPath result = proto.rpc.webrtc.v1.Signaling.ConnectionSignalingPath.forNumber(signalingPath_);
+      return result == null ? proto.rpc.webrtc.v1.Signaling.ConnectionSignalingPath.UNRECOGNIZED : result;
+    }
+    /**
+     * <pre>
+     * signaling_path is how the dial was signaled (cloud / local / mDNS); reported regardless of outcome.
+     * </pre>
+     *
+     * <code>.proto.rpc.webrtc.v1.ConnectionSignalingPath signaling_path = 5 [json_name = "signalingPath"];</code>
+     * @param value The enum numeric value on the wire for signalingPath to set.
+     * @throws IllegalArgumentException if UNRECOGNIZED is provided.
+     */
+    private void setSignalingPathValue(int value) {
+        signalingPath_ = value;
+    }
+    /**
+     * <pre>
+     * signaling_path is how the dial was signaled (cloud / local / mDNS); reported regardless of outcome.
+     * </pre>
+     *
+     * <code>.proto.rpc.webrtc.v1.ConnectionSignalingPath signaling_path = 5 [json_name = "signalingPath"];</code>
+     * @param value The signalingPath to set.
+     */
+    private void setSignalingPath(proto.rpc.webrtc.v1.Signaling.ConnectionSignalingPath value) {
+      signalingPath_ = value.getNumber();
+
+    }
+    /**
+     * <pre>
+     * signaling_path is how the dial was signaled (cloud / local / mDNS); reported regardless of outcome.
+     * </pre>
+     *
+     * <code>.proto.rpc.webrtc.v1.ConnectionSignalingPath signaling_path = 5 [json_name = "signalingPath"];</code>
+     */
+    private void clearSignalingPath() {
+
+      signalingPath_ = 0;
+    }
+
+    public static final int FAILURE_CODE_FIELD_NUMBER = 6;
+    private int failureCode_;
+    /**
+     * <pre>
+     * failure_code is the gRPC status code of a failed dial
+     * </pre>
+     *
+     * <code>int32 failure_code = 6 [json_name = "failureCode"];</code>
+     * @return The failureCode.
+     */
+    @java.lang.Override
+    public int getFailureCode() {
+      return failureCode_;
+    }
+    /**
+     * <pre>
+     * failure_code is the gRPC status code of a failed dial
+     * </pre>
+     *
+     * <code>int32 failure_code = 6 [json_name = "failureCode"];</code>
+     * @param value The failureCode to set.
+     */
+    private void setFailureCode(int value) {
+      
+      failureCode_ = value;
+    }
+    /**
+     * <pre>
+     * failure_code is the gRPC status code of a failed dial
+     * </pre>
+     *
+     * <code>int32 failure_code = 6 [json_name = "failureCode"];</code>
+     */
+    private void clearFailureCode() {
+
+      failureCode_ = 0;
+    }
+
+    public static proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataRequest parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataRequest parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataRequest parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataRequest parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataRequest parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataRequest parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataRequest parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataRequest parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataRequest parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input);
+    }
+
+    public static proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataRequest parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+    public static proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataRequest parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataRequest parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static Builder newBuilder() {
+      return (Builder) DEFAULT_INSTANCE.createBuilder();
+    }
+    public static Builder newBuilder(proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataRequest prototype) {
+      return DEFAULT_INSTANCE.createBuilder(prototype);
+    }
+
+    /**
+     * <pre>
+     * ReportConnectionMetadataRequest reports metadata about a WebRTC dial, per side: local is the
+     * dialing SDK and remote is the robot.
+     * </pre>
+     *
+     * Protobuf type {@code proto.rpc.webrtc.v1.ReportConnectionMetadataRequest}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageLite.Builder<
+          proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataRequest, Builder> implements
+        // @@protoc_insertion_point(builder_implements:proto.rpc.webrtc.v1.ReportConnectionMetadataRequest)
+        proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataRequestOrBuilder {
+      // Construct using proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataRequest.newBuilder()
+      private Builder() {
+        super(DEFAULT_INSTANCE);
+      }
+
+
+      /**
+       * <code>.proto.rpc.webrtc.v1.ConnectionCandidate local = 1 [json_name = "local"];</code>
+       */
+      @java.lang.Override
+      public boolean hasLocal() {
+        return instance.hasLocal();
+      }
+      /**
+       * <code>.proto.rpc.webrtc.v1.ConnectionCandidate local = 1 [json_name = "local"];</code>
+       */
+      @java.lang.Override
+      public proto.rpc.webrtc.v1.Signaling.ConnectionCandidate getLocal() {
+        return instance.getLocal();
+      }
+      /**
+       * <code>.proto.rpc.webrtc.v1.ConnectionCandidate local = 1 [json_name = "local"];</code>
+       */
+      public Builder setLocal(proto.rpc.webrtc.v1.Signaling.ConnectionCandidate value) {
+        copyOnWrite();
+        instance.setLocal(value);
+        return this;
+        }
+      /**
+       * <code>.proto.rpc.webrtc.v1.ConnectionCandidate local = 1 [json_name = "local"];</code>
+       */
+      public Builder setLocal(
+          proto.rpc.webrtc.v1.Signaling.ConnectionCandidate.Builder builderForValue) {
+        copyOnWrite();
+        instance.setLocal(builderForValue.build());
+        return this;
+      }
+      /**
+       * <code>.proto.rpc.webrtc.v1.ConnectionCandidate local = 1 [json_name = "local"];</code>
+       */
+      public Builder mergeLocal(proto.rpc.webrtc.v1.Signaling.ConnectionCandidate value) {
+        copyOnWrite();
+        instance.mergeLocal(value);
+        return this;
+      }
+      /**
+       * <code>.proto.rpc.webrtc.v1.ConnectionCandidate local = 1 [json_name = "local"];</code>
+       */
+      public Builder clearLocal() {  copyOnWrite();
+        instance.clearLocal();
+        return this;
+      }
+
+      /**
+       * <code>.proto.rpc.webrtc.v1.ConnectionCandidate remote = 2 [json_name = "remote"];</code>
+       */
+      @java.lang.Override
+      public boolean hasRemote() {
+        return instance.hasRemote();
+      }
+      /**
+       * <code>.proto.rpc.webrtc.v1.ConnectionCandidate remote = 2 [json_name = "remote"];</code>
+       */
+      @java.lang.Override
+      public proto.rpc.webrtc.v1.Signaling.ConnectionCandidate getRemote() {
+        return instance.getRemote();
+      }
+      /**
+       * <code>.proto.rpc.webrtc.v1.ConnectionCandidate remote = 2 [json_name = "remote"];</code>
+       */
+      public Builder setRemote(proto.rpc.webrtc.v1.Signaling.ConnectionCandidate value) {
+        copyOnWrite();
+        instance.setRemote(value);
+        return this;
+        }
+      /**
+       * <code>.proto.rpc.webrtc.v1.ConnectionCandidate remote = 2 [json_name = "remote"];</code>
+       */
+      public Builder setRemote(
+          proto.rpc.webrtc.v1.Signaling.ConnectionCandidate.Builder builderForValue) {
+        copyOnWrite();
+        instance.setRemote(builderForValue.build());
+        return this;
+      }
+      /**
+       * <code>.proto.rpc.webrtc.v1.ConnectionCandidate remote = 2 [json_name = "remote"];</code>
+       */
+      public Builder mergeRemote(proto.rpc.webrtc.v1.Signaling.ConnectionCandidate value) {
+        copyOnWrite();
+        instance.mergeRemote(value);
+        return this;
+      }
+      /**
+       * <code>.proto.rpc.webrtc.v1.ConnectionCandidate remote = 2 [json_name = "remote"];</code>
+       */
+      public Builder clearRemote() {  copyOnWrite();
+        instance.clearRemote();
+        return this;
+      }
+
+      /**
+       * <pre>
+       * reached_stage is the furthest dial checkpoint reached. READY indicates success; any earlier
+       * value is where a failed dial stopped.
+       * </pre>
+       *
+       * <code>.proto.rpc.webrtc.v1.DialStage reached_stage = 3 [json_name = "reachedStage"];</code>
+       * @return The enum numeric value on the wire for reachedStage.
+       */
+      @java.lang.Override
+      public int getReachedStageValue() {
+        return instance.getReachedStageValue();
+      }
+      /**
+       * <pre>
+       * reached_stage is the furthest dial checkpoint reached. READY indicates success; any earlier
+       * value is where a failed dial stopped.
+       * </pre>
+       *
+       * <code>.proto.rpc.webrtc.v1.DialStage reached_stage = 3 [json_name = "reachedStage"];</code>
+       * @param value The reachedStage to set.
+       * @return This builder for chaining.
+       */
+      public Builder setReachedStageValue(int value) {
+        copyOnWrite();
+        instance.setReachedStageValue(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * reached_stage is the furthest dial checkpoint reached. READY indicates success; any earlier
+       * value is where a failed dial stopped.
+       * </pre>
+       *
+       * <code>.proto.rpc.webrtc.v1.DialStage reached_stage = 3 [json_name = "reachedStage"];</code>
+       * @return The reachedStage.
+       */
+      @java.lang.Override
+      public proto.rpc.webrtc.v1.Signaling.DialStage getReachedStage() {
+        return instance.getReachedStage();
+      }
+      /**
+       * <pre>
+       * reached_stage is the furthest dial checkpoint reached. READY indicates success; any earlier
+       * value is where a failed dial stopped.
+       * </pre>
+       *
+       * <code>.proto.rpc.webrtc.v1.DialStage reached_stage = 3 [json_name = "reachedStage"];</code>
+       * @param value The enum numeric value on the wire for reachedStage to set.
+       * @throws IllegalArgumentException if UNRECOGNIZED is provided.
+       * @return This builder for chaining.
+       */
+      public Builder setReachedStage(proto.rpc.webrtc.v1.Signaling.DialStage value) {
+        copyOnWrite();
+        instance.setReachedStage(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * reached_stage is the furthest dial checkpoint reached. READY indicates success; any earlier
+       * value is where a failed dial stopped.
+       * </pre>
+       *
+       * <code>.proto.rpc.webrtc.v1.DialStage reached_stage = 3 [json_name = "reachedStage"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearReachedStage() {
+        copyOnWrite();
+        instance.clearReachedStage();
+        return this;
+      }
+
+      /**
+       * <pre>
+       * duration_ms is the wall-clock time from dial start to connection ready or to the failure.
+       * </pre>
+       *
+       * <code>uint32 duration_ms = 4 [json_name = "durationMs"];</code>
+       * @return The durationMs.
+       */
+      @java.lang.Override
+      public int getDurationMs() {
+        return instance.getDurationMs();
+      }
+      /**
+       * <pre>
+       * duration_ms is the wall-clock time from dial start to connection ready or to the failure.
+       * </pre>
+       *
+       * <code>uint32 duration_ms = 4 [json_name = "durationMs"];</code>
+       * @param value The durationMs to set.
+       * @return This builder for chaining.
+       */
+      public Builder setDurationMs(int value) {
+        copyOnWrite();
+        instance.setDurationMs(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * duration_ms is the wall-clock time from dial start to connection ready or to the failure.
+       * </pre>
+       *
+       * <code>uint32 duration_ms = 4 [json_name = "durationMs"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearDurationMs() {
+        copyOnWrite();
+        instance.clearDurationMs();
+        return this;
+      }
+
+      /**
+       * <pre>
+       * signaling_path is how the dial was signaled (cloud / local / mDNS); reported regardless of outcome.
+       * </pre>
+       *
+       * <code>.proto.rpc.webrtc.v1.ConnectionSignalingPath signaling_path = 5 [json_name = "signalingPath"];</code>
+       * @return The enum numeric value on the wire for signalingPath.
+       */
+      @java.lang.Override
+      public int getSignalingPathValue() {
+        return instance.getSignalingPathValue();
+      }
+      /**
+       * <pre>
+       * signaling_path is how the dial was signaled (cloud / local / mDNS); reported regardless of outcome.
+       * </pre>
+       *
+       * <code>.proto.rpc.webrtc.v1.ConnectionSignalingPath signaling_path = 5 [json_name = "signalingPath"];</code>
+       * @param value The signalingPath to set.
+       * @return This builder for chaining.
+       */
+      public Builder setSignalingPathValue(int value) {
+        copyOnWrite();
+        instance.setSignalingPathValue(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * signaling_path is how the dial was signaled (cloud / local / mDNS); reported regardless of outcome.
+       * </pre>
+       *
+       * <code>.proto.rpc.webrtc.v1.ConnectionSignalingPath signaling_path = 5 [json_name = "signalingPath"];</code>
+       * @return The signalingPath.
+       */
+      @java.lang.Override
+      public proto.rpc.webrtc.v1.Signaling.ConnectionSignalingPath getSignalingPath() {
+        return instance.getSignalingPath();
+      }
+      /**
+       * <pre>
+       * signaling_path is how the dial was signaled (cloud / local / mDNS); reported regardless of outcome.
+       * </pre>
+       *
+       * <code>.proto.rpc.webrtc.v1.ConnectionSignalingPath signaling_path = 5 [json_name = "signalingPath"];</code>
+       * @param value The enum numeric value on the wire for signalingPath to set.
+       * @throws IllegalArgumentException if UNRECOGNIZED is provided.
+       * @return This builder for chaining.
+       */
+      public Builder setSignalingPath(proto.rpc.webrtc.v1.Signaling.ConnectionSignalingPath value) {
+        copyOnWrite();
+        instance.setSignalingPath(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * signaling_path is how the dial was signaled (cloud / local / mDNS); reported regardless of outcome.
+       * </pre>
+       *
+       * <code>.proto.rpc.webrtc.v1.ConnectionSignalingPath signaling_path = 5 [json_name = "signalingPath"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearSignalingPath() {
+        copyOnWrite();
+        instance.clearSignalingPath();
+        return this;
+      }
+
+      /**
+       * <pre>
+       * failure_code is the gRPC status code of a failed dial
+       * </pre>
+       *
+       * <code>int32 failure_code = 6 [json_name = "failureCode"];</code>
+       * @return The failureCode.
+       */
+      @java.lang.Override
+      public int getFailureCode() {
+        return instance.getFailureCode();
+      }
+      /**
+       * <pre>
+       * failure_code is the gRPC status code of a failed dial
+       * </pre>
+       *
+       * <code>int32 failure_code = 6 [json_name = "failureCode"];</code>
+       * @param value The failureCode to set.
+       * @return This builder for chaining.
+       */
+      public Builder setFailureCode(int value) {
+        copyOnWrite();
+        instance.setFailureCode(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * failure_code is the gRPC status code of a failed dial
+       * </pre>
+       *
+       * <code>int32 failure_code = 6 [json_name = "failureCode"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearFailureCode() {
+        copyOnWrite();
+        instance.clearFailureCode();
+        return this;
+      }
+
+      // @@protoc_insertion_point(builder_scope:proto.rpc.webrtc.v1.ReportConnectionMetadataRequest)
+    }
+    @java.lang.Override
+    @java.lang.SuppressWarnings({"ThrowNull"})
+    protected final java.lang.Object dynamicMethod(
+        com.google.protobuf.GeneratedMessageLite.MethodToInvoke method,
+        java.lang.Object arg0, java.lang.Object arg1) {
+      switch (method) {
+        case NEW_MUTABLE_INSTANCE: {
+          return new proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataRequest();
+        }
+        case NEW_BUILDER: {
+          return new Builder();
+        }
+        case BUILD_MESSAGE_INFO: {
+            java.lang.Object[] objects = new java.lang.Object[] {
+              "bitField0_",
+              "local_",
+              "remote_",
+              "reachedStage_",
+              "durationMs_",
+              "signalingPath_",
+              "failureCode_",
+            };
+            java.lang.String info =
+                "\u0000\u0006\u0000\u0001\u0001\u0006\u0006\u0000\u0000\u0000\u0001\u1009\u0000\u0002" +
+                "\u1009\u0001\u0003\f\u0004\u000b\u0005\f\u0006\u0004";
+            return newMessageInfo(DEFAULT_INSTANCE, info, objects);
+        }
+        case GET_DEFAULT_INSTANCE: {
+          return DEFAULT_INSTANCE;
+        }
+        case GET_PARSER: {
+          com.google.protobuf.Parser<proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataRequest> parser = PARSER;
+          if (parser == null) {
+            synchronized (proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataRequest.class) {
+              parser = PARSER;
+              if (parser == null) {
+                parser =
+                    new DefaultInstanceBasedParser<proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataRequest>(
+                        DEFAULT_INSTANCE);
+                PARSER = parser;
+              }
+            }
+          }
+          return parser;
+        }
+        case GET_MEMOIZED_IS_INITIALIZED: {
+          return (byte) 1;
+        }
+        // SET_MEMOIZED_IS_INITIALIZED is never called for this message.
+        // So it can do anything. Combine with default case for smaller codegen.
+        case SET_MEMOIZED_IS_INITIALIZED:
+      }
+      // Should never happen. Generates tight code to throw an exception.
+      throw null;
+    }
+
+
+    // @@protoc_insertion_point(class_scope:proto.rpc.webrtc.v1.ReportConnectionMetadataRequest)
+    private static final proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataRequest DEFAULT_INSTANCE;
+    static {
+      ReportConnectionMetadataRequest defaultInstance = new ReportConnectionMetadataRequest();
+      // New instances are implicitly immutable so no need to make
+      // immutable.
+      DEFAULT_INSTANCE = defaultInstance;
+      com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
+        ReportConnectionMetadataRequest.class, defaultInstance);
+    }
+
+    public static proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataRequest getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static volatile com.google.protobuf.Parser<ReportConnectionMetadataRequest> PARSER;
+
+    public static com.google.protobuf.Parser<ReportConnectionMetadataRequest> parser() {
+      return DEFAULT_INSTANCE.getParserForType();
+    }
+  }
+
+  public interface ReportConnectionMetadataResponseOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:proto.rpc.webrtc.v1.ReportConnectionMetadataResponse)
+      com.google.protobuf.MessageLiteOrBuilder {
+  }
+  /**
+   * <pre>
+   * ReportConnectionMetadataResponse is empty.
+   * </pre>
+   *
+   * Protobuf type {@code proto.rpc.webrtc.v1.ReportConnectionMetadataResponse}
+   */
+  public  static final class ReportConnectionMetadataResponse extends
+      com.google.protobuf.GeneratedMessageLite<
+          ReportConnectionMetadataResponse, ReportConnectionMetadataResponse.Builder> implements
+      // @@protoc_insertion_point(message_implements:proto.rpc.webrtc.v1.ReportConnectionMetadataResponse)
+      ReportConnectionMetadataResponseOrBuilder {
+    private ReportConnectionMetadataResponse() {
+    }
+    public static proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataResponse parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataResponse parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataResponse parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataResponse parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataResponse parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data);
+    }
+    public static proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataResponse parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, data, extensionRegistry);
+    }
+    public static proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataResponse parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataResponse parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataResponse parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input);
+    }
+
+    public static proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataResponse parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+    public static proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataResponse parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input);
+    }
+    public static proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataResponse parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageLite.parseFrom(
+          DEFAULT_INSTANCE, input, extensionRegistry);
+    }
+
+    public static Builder newBuilder() {
+      return (Builder) DEFAULT_INSTANCE.createBuilder();
+    }
+    public static Builder newBuilder(proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataResponse prototype) {
+      return DEFAULT_INSTANCE.createBuilder(prototype);
+    }
+
+    /**
+     * <pre>
+     * ReportConnectionMetadataResponse is empty.
+     * </pre>
+     *
+     * Protobuf type {@code proto.rpc.webrtc.v1.ReportConnectionMetadataResponse}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageLite.Builder<
+          proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataResponse, Builder> implements
+        // @@protoc_insertion_point(builder_implements:proto.rpc.webrtc.v1.ReportConnectionMetadataResponse)
+        proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataResponseOrBuilder {
+      // Construct using proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataResponse.newBuilder()
+      private Builder() {
+        super(DEFAULT_INSTANCE);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:proto.rpc.webrtc.v1.ReportConnectionMetadataResponse)
+    }
+    @java.lang.Override
+    @java.lang.SuppressWarnings({"ThrowNull"})
+    protected final java.lang.Object dynamicMethod(
+        com.google.protobuf.GeneratedMessageLite.MethodToInvoke method,
+        java.lang.Object arg0, java.lang.Object arg1) {
+      switch (method) {
+        case NEW_MUTABLE_INSTANCE: {
+          return new proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataResponse();
+        }
+        case NEW_BUILDER: {
+          return new Builder();
+        }
+        case BUILD_MESSAGE_INFO: {
+            java.lang.Object[] objects = null;
+            java.lang.String info =
+                "\u0000\u0000";
+            return newMessageInfo(DEFAULT_INSTANCE, info, objects);
+        }
+        case GET_DEFAULT_INSTANCE: {
+          return DEFAULT_INSTANCE;
+        }
+        case GET_PARSER: {
+          com.google.protobuf.Parser<proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataResponse> parser = PARSER;
+          if (parser == null) {
+            synchronized (proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataResponse.class) {
+              parser = PARSER;
+              if (parser == null) {
+                parser =
+                    new DefaultInstanceBasedParser<proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataResponse>(
+                        DEFAULT_INSTANCE);
+                PARSER = parser;
+              }
+            }
+          }
+          return parser;
+        }
+        case GET_MEMOIZED_IS_INITIALIZED: {
+          return (byte) 1;
+        }
+        // SET_MEMOIZED_IS_INITIALIZED is never called for this message.
+        // So it can do anything. Combine with default case for smaller codegen.
+        case SET_MEMOIZED_IS_INITIALIZED:
+      }
+      // Should never happen. Generates tight code to throw an exception.
+      throw null;
+    }
+
+
+    // @@protoc_insertion_point(class_scope:proto.rpc.webrtc.v1.ReportConnectionMetadataResponse)
+    private static final proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataResponse DEFAULT_INSTANCE;
+    static {
+      ReportConnectionMetadataResponse defaultInstance = new ReportConnectionMetadataResponse();
+      // New instances are implicitly immutable so no need to make
+      // immutable.
+      DEFAULT_INSTANCE = defaultInstance;
+      com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
+        ReportConnectionMetadataResponse.class, defaultInstance);
+    }
+
+    public static proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataResponse getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static volatile com.google.protobuf.Parser<ReportConnectionMetadataResponse> PARSER;
+
+    public static com.google.protobuf.Parser<ReportConnectionMetadataResponse> parser() {
+      return DEFAULT_INSTANCE.getParserForType();
+    }
+  }
+
 
   static {
   }
diff --git a/core/sdk/src/main/gen/proto/rpc/webrtc/v1/SignalingServiceGrpc.java b/core/sdk/src/main/gen/proto/rpc/webrtc/v1/SignalingServiceGrpc.java
index 72b0738d5..bd59c1a12 100644
--- a/core/sdk/src/main/gen/proto/rpc/webrtc/v1/SignalingServiceGrpc.java
+++ b/core/sdk/src/main/gen/proto/rpc/webrtc/v1/SignalingServiceGrpc.java
@@ -136,6 +136,36 @@ proto.rpc.webrtc.v1.Signaling.OptionalWebRTCConfigResponse> getOptionalWebRTCCon
     return getOptionalWebRTCConfigMethod;
   }
 
+  private static volatile io.grpc.MethodDescriptor<proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataRequest,
+      proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataResponse> getReportConnectionMetadataMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "ReportConnectionMetadata",
+      requestType = proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataRequest.class,
+      responseType = proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataRequest,
+      proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataResponse> getReportConnectionMetadataMethod() {
+    io.grpc.MethodDescriptor<proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataRequest, proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataResponse> getReportConnectionMetadataMethod;
+    if ((getReportConnectionMetadataMethod = SignalingServiceGrpc.getReportConnectionMetadataMethod) == null) {
+      synchronized (SignalingServiceGrpc.class) {
+        if ((getReportConnectionMetadataMethod = SignalingServiceGrpc.getReportConnectionMetadataMethod) == null) {
+          SignalingServiceGrpc.getReportConnectionMetadataMethod = getReportConnectionMetadataMethod =
+              io.grpc.MethodDescriptor.<proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataRequest, proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataResponse>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "ReportConnectionMetadata"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.lite.ProtoLiteUtils.marshaller(
+                  proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataResponse.getDefaultInstance()))
+              .build();
+        }
+      }
+    }
+    return getReportConnectionMetadataMethod;
+  }
+
   /**
    * Creates a new async stub that supports all call types for the service
    */
@@ -256,6 +286,17 @@ default void optionalWebRTCConfig(proto.rpc.webrtc.v1.Signaling.OptionalWebRTCCo
         io.grpc.stub.StreamObserver<proto.rpc.webrtc.v1.Signaling.OptionalWebRTCConfigResponse> responseObserver) {
       io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getOptionalWebRTCConfigMethod(), responseObserver);
     }
+
+    /**
+     * <pre>
+     * ReportConnectionMetadata reports metadata about a WebRTC connection attempt.
+     * The host must be in the rpc-host metadata field.
+     * </pre>
+     */
+    default void reportConnectionMetadata(proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataRequest request,
+        io.grpc.stub.StreamObserver<proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataResponse> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getReportConnectionMetadataMethod(), responseObserver);
+    }
   }
 
   /**
@@ -350,6 +391,18 @@ public void optionalWebRTCConfig(proto.rpc.webrtc.v1.Signaling.OptionalWebRTCCon
       io.grpc.stub.ClientCalls.asyncUnaryCall(
           getChannel().newCall(getOptionalWebRTCConfigMethod(), getCallOptions()), request, responseObserver);
     }
+
+    /**
+     * <pre>
+     * ReportConnectionMetadata reports metadata about a WebRTC connection attempt.
+     * The host must be in the rpc-host metadata field.
+     * </pre>
+     */
+    public void reportConnectionMetadata(proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataRequest request,
+        io.grpc.stub.StreamObserver<proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataResponse> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getReportConnectionMetadataMethod(), getCallOptions()), request, responseObserver);
+    }
   }
 
   /**
@@ -429,6 +482,17 @@ public proto.rpc.webrtc.v1.Signaling.OptionalWebRTCConfigResponse optionalWebRTC
       return io.grpc.stub.ClientCalls.blockingV2UnaryCall(
           getChannel(), getOptionalWebRTCConfigMethod(), getCallOptions(), request);
     }
+
+    /**
+     * <pre>
+     * ReportConnectionMetadata reports metadata about a WebRTC connection attempt.
+     * The host must be in the rpc-host metadata field.
+     * </pre>
+     */
+    public proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataResponse reportConnectionMetadata(proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataRequest request) throws io.grpc.StatusException {
+      return io.grpc.stub.ClientCalls.blockingV2UnaryCall(
+          getChannel(), getReportConnectionMetadataMethod(), getCallOptions(), request);
+    }
   }
 
   /**
@@ -493,6 +557,17 @@ public proto.rpc.webrtc.v1.Signaling.OptionalWebRTCConfigResponse optionalWebRTC
       return io.grpc.stub.ClientCalls.blockingUnaryCall(
           getChannel(), getOptionalWebRTCConfigMethod(), getCallOptions(), request);
     }
+
+    /**
+     * <pre>
+     * ReportConnectionMetadata reports metadata about a WebRTC connection attempt.
+     * The host must be in the rpc-host metadata field.
+     * </pre>
+     */
+    public proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataResponse reportConnectionMetadata(proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getReportConnectionMetadataMethod(), getCallOptions(), request);
+    }
   }
 
   /**
@@ -541,12 +616,25 @@ public com.google.common.util.concurrent.ListenableFuture<proto.rpc.webrtc.v1.Si
       return io.grpc.stub.ClientCalls.futureUnaryCall(
           getChannel().newCall(getOptionalWebRTCConfigMethod(), getCallOptions()), request);
     }
+
+    /**
+     * <pre>
+     * ReportConnectionMetadata reports metadata about a WebRTC connection attempt.
+     * The host must be in the rpc-host metadata field.
+     * </pre>
+     */
+    public com.google.common.util.concurrent.ListenableFuture<proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataResponse> reportConnectionMetadata(
+        proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getReportConnectionMetadataMethod(), getCallOptions()), request);
+    }
   }
 
   private static final int METHODID_CALL = 0;
   private static final int METHODID_CALL_UPDATE = 1;
   private static final int METHODID_OPTIONAL_WEB_RTCCONFIG = 2;
-  private static final int METHODID_ANSWER = 3;
+  private static final int METHODID_REPORT_CONNECTION_METADATA = 3;
+  private static final int METHODID_ANSWER = 4;
 
   private static final class MethodHandlers<Req, Resp> implements
       io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@@ -577,6 +665,10 @@ public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserv
           serviceImpl.optionalWebRTCConfig((proto.rpc.webrtc.v1.Signaling.OptionalWebRTCConfigRequest) request,
               (io.grpc.stub.StreamObserver<proto.rpc.webrtc.v1.Signaling.OptionalWebRTCConfigResponse>) responseObserver);
           break;
+        case METHODID_REPORT_CONNECTION_METADATA:
+          serviceImpl.reportConnectionMetadata((proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataRequest) request,
+              (io.grpc.stub.StreamObserver<proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataResponse>) responseObserver);
+          break;
         default:
           throw new AssertionError();
       }
@@ -626,6 +718,13 @@ public static final io.grpc.ServerServiceDefinition bindService(AsyncService ser
               proto.rpc.webrtc.v1.Signaling.OptionalWebRTCConfigRequest,
               proto.rpc.webrtc.v1.Signaling.OptionalWebRTCConfigResponse>(
                 service, METHODID_OPTIONAL_WEB_RTCCONFIG)))
+        .addMethod(
+          getReportConnectionMetadataMethod(),
+          io.grpc.stub.ServerCalls.asyncUnaryCall(
+            new MethodHandlers<
+              proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataRequest,
+              proto.rpc.webrtc.v1.Signaling.ReportConnectionMetadataResponse>(
+                service, METHODID_REPORT_CONNECTION_METADATA)))
         .build();
   }
 
@@ -642,6 +741,7 @@ public static io.grpc.ServiceDescriptor getServiceDescriptor() {
               .addMethod(getCallUpdateMethod())
               .addMethod(getAnswerMethod())
               .addMethod(getOptionalWebRTCConfigMethod())
+              .addMethod(getReportConnectionMetadataMethod())
               .build();
         }
       }
diff --git a/core/sdk/src/main/gen/viam/app/data/v1/Data.java b/core/sdk/src/main/gen/viam/app/data/v1/Data.java
index 5e4a51005..41889821a 100644
--- a/core/sdk/src/main/gen/viam/app/data/v1/Data.java
+++ b/core/sdk/src/main/gen/viam/app/data/v1/Data.java
@@ -52992,6 +52992,12 @@ public interface SequencesByDatasetIDRequestOrBuilder extends
      * @return The pageSize.
      */
     int getPageSize();
+
+    /**
+     * <code>bool count_only = 4 [json_name = "countOnly"];</code>
+     * @return The countOnly.
+     */
+    boolean getCountOnly();
   }
   /**
    * Protobuf type {@code viam.app.data.v1.SequencesByDatasetIDRequest}
@@ -53127,6 +53133,32 @@ private void clearPageSize() {
       pageSize_ = 0;
     }
 
+    public static final int COUNT_ONLY_FIELD_NUMBER = 4;
+    private boolean countOnly_;
+    /**
+     * <code>bool count_only = 4 [json_name = "countOnly"];</code>
+     * @return The countOnly.
+     */
+    @java.lang.Override
+    public boolean getCountOnly() {
+      return countOnly_;
+    }
+    /**
+     * <code>bool count_only = 4 [json_name = "countOnly"];</code>
+     * @param value The countOnly to set.
+     */
+    private void setCountOnly(boolean value) {
+      
+      countOnly_ = value;
+    }
+    /**
+     * <code>bool count_only = 4 [json_name = "countOnly"];</code>
+     */
+    private void clearCountOnly() {
+
+      countOnly_ = false;
+    }
+
     public static viam.app.data.v1.Data.SequencesByDatasetIDRequest parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
@@ -53350,6 +53382,34 @@ public Builder clearPageSize() {
         return this;
       }
 
+      /**
+       * <code>bool count_only = 4 [json_name = "countOnly"];</code>
+       * @return The countOnly.
+       */
+      @java.lang.Override
+      public boolean getCountOnly() {
+        return instance.getCountOnly();
+      }
+      /**
+       * <code>bool count_only = 4 [json_name = "countOnly"];</code>
+       * @param value The countOnly to set.
+       * @return This builder for chaining.
+       */
+      public Builder setCountOnly(boolean value) {
+        copyOnWrite();
+        instance.setCountOnly(value);
+        return this;
+      }
+      /**
+       * <code>bool count_only = 4 [json_name = "countOnly"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearCountOnly() {
+        copyOnWrite();
+        instance.clearCountOnly();
+        return this;
+      }
+
       // @@protoc_insertion_point(builder_scope:viam.app.data.v1.SequencesByDatasetIDRequest)
     }
     @java.lang.Override
@@ -53369,10 +53429,11 @@ protected final java.lang.Object dynamicMethod(
               "datasetId_",
               "pageToken_",
               "pageSize_",
+              "countOnly_",
             };
             java.lang.String info =
-                "\u0000\u0003\u0000\u0000\u0001\u0003\u0003\u0000\u0000\u0000\u0001\u0208\u0002\u0208" +
-                "\u0003\u000b";
+                "\u0000\u0004\u0000\u0000\u0001\u0004\u0004\u0000\u0000\u0000\u0001\u0208\u0002\u0208" +
+                "\u0003\u000b\u0004\u0007";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         case GET_DEFAULT_INSTANCE: {
@@ -53456,6 +53517,12 @@ public interface SequencesByDatasetIDResponseOrBuilder extends
      */
     com.google.protobuf.ByteString
         getNextPageTokenBytes();
+
+    /**
+     * <code>uint64 count = 3 [json_name = "count"];</code>
+     * @return The count.
+     */
+    long getCount();
   }
   /**
    * Protobuf type {@code viam.app.data.v1.SequencesByDatasetIDResponse}
@@ -53614,6 +53681,32 @@ private void setNextPageTokenBytes(
 
     }
 
+    public static final int COUNT_FIELD_NUMBER = 3;
+    private long count_;
+    /**
+     * <code>uint64 count = 3 [json_name = "count"];</code>
+     * @return The count.
+     */
+    @java.lang.Override
+    public long getCount() {
+      return count_;
+    }
+    /**
+     * <code>uint64 count = 3 [json_name = "count"];</code>
+     * @param value The count to set.
+     */
+    private void setCount(long value) {
+      
+      count_ = value;
+    }
+    /**
+     * <code>uint64 count = 3 [json_name = "count"];</code>
+     */
+    private void clearCount() {
+
+      count_ = 0L;
+    }
+
     public static viam.app.data.v1.Data.SequencesByDatasetIDResponse parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
@@ -53862,6 +53955,34 @@ public Builder setNextPageTokenBytes(
         return this;
       }
 
+      /**
+       * <code>uint64 count = 3 [json_name = "count"];</code>
+       * @return The count.
+       */
+      @java.lang.Override
+      public long getCount() {
+        return instance.getCount();
+      }
+      /**
+       * <code>uint64 count = 3 [json_name = "count"];</code>
+       * @param value The count to set.
+       * @return This builder for chaining.
+       */
+      public Builder setCount(long value) {
+        copyOnWrite();
+        instance.setCount(value);
+        return this;
+      }
+      /**
+       * <code>uint64 count = 3 [json_name = "count"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearCount() {
+        copyOnWrite();
+        instance.clearCount();
+        return this;
+      }
+
       // @@protoc_insertion_point(builder_scope:viam.app.data.v1.SequencesByDatasetIDResponse)
     }
     @java.lang.Override
@@ -53881,10 +54002,11 @@ protected final java.lang.Object dynamicMethod(
               "sequences_",
               viam.app.data.v1.Data.Sequence.class,
               "nextPageToken_",
+              "count_",
             };
             java.lang.String info =
-                "\u0000\u0002\u0000\u0000\u0001\u0002\u0002\u0000\u0001\u0000\u0001\u001b\u0002\u0208" +
-                "";
+                "\u0000\u0003\u0000\u0000\u0001\u0003\u0003\u0000\u0001\u0000\u0001\u001b\u0002\u0208" +
+                "\u0003\u0003";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         case GET_DEFAULT_INSTANCE: {
diff --git a/core/sdk/src/main/gen/viam/app/datapipelines/v1/DataPipelines.java b/core/sdk/src/main/gen/viam/app/datapipelines/v1/DataPipelines.java
index 50df07dd3..e5dba8b03 100644
--- a/core/sdk/src/main/gen/viam/app/datapipelines/v1/DataPipelines.java
+++ b/core/sdk/src/main/gen/viam/app/datapipelines/v1/DataPipelines.java
@@ -8468,6 +8468,27 @@ public interface DataPipelineRunOrBuilder extends
      */
     com.google.protobuf.ByteString
         getErrorMessageBytes();
+
+    /**
+     * <pre>
+     * The data source type the run executed against. Runs that predate this field
+     * report the pipeline's configured data source type.
+     * </pre>
+     *
+     * <code>.viam.app.data.v1.TabularDataSourceType data_source_type = 8 [json_name = "dataSourceType"];</code>
+     * @return The enum numeric value on the wire for dataSourceType.
+     */
+    int getDataSourceTypeValue();
+    /**
+     * <pre>
+     * The data source type the run executed against. Runs that predate this field
+     * report the pipeline's configured data source type.
+     * </pre>
+     *
+     * <code>.viam.app.data.v1.TabularDataSourceType data_source_type = 8 [json_name = "dataSourceType"];</code>
+     * @return The dataSourceType.
+     */
+    viam.app.data.v1.Data.TabularDataSourceType getDataSourceType();
   }
   /**
    * Protobuf type {@code viam.app.datapipelines.v1.DataPipelineRun}
@@ -8953,6 +8974,74 @@ private void setErrorMessageBytes(
 
     }
 
+    public static final int DATA_SOURCE_TYPE_FIELD_NUMBER = 8;
+    private int dataSourceType_;
+    /**
+     * <pre>
+     * The data source type the run executed against. Runs that predate this field
+     * report the pipeline's configured data source type.
+     * </pre>
+     *
+     * <code>.viam.app.data.v1.TabularDataSourceType data_source_type = 8 [json_name = "dataSourceType"];</code>
+     * @return The enum numeric value on the wire for dataSourceType.
+     */
+    @java.lang.Override
+    public int getDataSourceTypeValue() {
+      return dataSourceType_;
+    }
+    /**
+     * <pre>
+     * The data source type the run executed against. Runs that predate this field
+     * report the pipeline's configured data source type.
+     * </pre>
+     *
+     * <code>.viam.app.data.v1.TabularDataSourceType data_source_type = 8 [json_name = "dataSourceType"];</code>
+     * @return The dataSourceType.
+     */
+    @java.lang.Override
+    public viam.app.data.v1.Data.TabularDataSourceType getDataSourceType() {
+      viam.app.data.v1.Data.TabularDataSourceType result = viam.app.data.v1.Data.TabularDataSourceType.forNumber(dataSourceType_);
+      return result == null ? viam.app.data.v1.Data.TabularDataSourceType.UNRECOGNIZED : result;
+    }
+    /**
+     * <pre>
+     * The data source type the run executed against. Runs that predate this field
+     * report the pipeline's configured data source type.
+     * </pre>
+     *
+     * <code>.viam.app.data.v1.TabularDataSourceType data_source_type = 8 [json_name = "dataSourceType"];</code>
+     * @param value The enum numeric value on the wire for dataSourceType to set.
+     * @throws IllegalArgumentException if UNRECOGNIZED is provided.
+     */
+    private void setDataSourceTypeValue(int value) {
+        dataSourceType_ = value;
+    }
+    /**
+     * <pre>
+     * The data source type the run executed against. Runs that predate this field
+     * report the pipeline's configured data source type.
+     * </pre>
+     *
+     * <code>.viam.app.data.v1.TabularDataSourceType data_source_type = 8 [json_name = "dataSourceType"];</code>
+     * @param value The dataSourceType to set.
+     */
+    private void setDataSourceType(viam.app.data.v1.Data.TabularDataSourceType value) {
+      dataSourceType_ = value.getNumber();
+
+    }
+    /**
+     * <pre>
+     * The data source type the run executed against. Runs that predate this field
+     * report the pipeline's configured data source type.
+     * </pre>
+     *
+     * <code>.viam.app.data.v1.TabularDataSourceType data_source_type = 8 [json_name = "dataSourceType"];</code>
+     */
+    private void clearDataSourceType() {
+
+      dataSourceType_ = 0;
+    }
+
     public static viam.app.datapipelines.v1.DataPipelines.DataPipelineRun parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
@@ -9539,6 +9628,78 @@ public Builder setErrorMessageBytes(
         return this;
       }
 
+      /**
+       * <pre>
+       * The data source type the run executed against. Runs that predate this field
+       * report the pipeline's configured data source type.
+       * </pre>
+       *
+       * <code>.viam.app.data.v1.TabularDataSourceType data_source_type = 8 [json_name = "dataSourceType"];</code>
+       * @return The enum numeric value on the wire for dataSourceType.
+       */
+      @java.lang.Override
+      public int getDataSourceTypeValue() {
+        return instance.getDataSourceTypeValue();
+      }
+      /**
+       * <pre>
+       * The data source type the run executed against. Runs that predate this field
+       * report the pipeline's configured data source type.
+       * </pre>
+       *
+       * <code>.viam.app.data.v1.TabularDataSourceType data_source_type = 8 [json_name = "dataSourceType"];</code>
+       * @param value The dataSourceType to set.
+       * @return This builder for chaining.
+       */
+      public Builder setDataSourceTypeValue(int value) {
+        copyOnWrite();
+        instance.setDataSourceTypeValue(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * The data source type the run executed against. Runs that predate this field
+       * report the pipeline's configured data source type.
+       * </pre>
+       *
+       * <code>.viam.app.data.v1.TabularDataSourceType data_source_type = 8 [json_name = "dataSourceType"];</code>
+       * @return The dataSourceType.
+       */
+      @java.lang.Override
+      public viam.app.data.v1.Data.TabularDataSourceType getDataSourceType() {
+        return instance.getDataSourceType();
+      }
+      /**
+       * <pre>
+       * The data source type the run executed against. Runs that predate this field
+       * report the pipeline's configured data source type.
+       * </pre>
+       *
+       * <code>.viam.app.data.v1.TabularDataSourceType data_source_type = 8 [json_name = "dataSourceType"];</code>
+       * @param value The enum numeric value on the wire for dataSourceType to set.
+       * @throws IllegalArgumentException if UNRECOGNIZED is provided.
+       * @return This builder for chaining.
+       */
+      public Builder setDataSourceType(viam.app.data.v1.Data.TabularDataSourceType value) {
+        copyOnWrite();
+        instance.setDataSourceType(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * The data source type the run executed against. Runs that predate this field
+       * report the pipeline's configured data source type.
+       * </pre>
+       *
+       * <code>.viam.app.data.v1.TabularDataSourceType data_source_type = 8 [json_name = "dataSourceType"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearDataSourceType() {
+        copyOnWrite();
+        instance.clearDataSourceType();
+        return this;
+      }
+
       // @@protoc_insertion_point(builder_scope:viam.app.datapipelines.v1.DataPipelineRun)
     }
     @java.lang.Override
@@ -9563,11 +9724,11 @@ protected final java.lang.Object dynamicMethod(
               "dataEndTime_",
               "status_",
               "errorMessage_",
+              "dataSourceType_",
             };
             java.lang.String info =
-                "\u0000\u0007\u0000\u0001\u0001\u0007\u0007\u0000\u0000\u0000\u0001\u0208\u0002\u1009" +
-                "\u0000\u0003\u1009\u0001\u0004\u1009\u0002\u0005\u1009\u0003\u0006\f\u0007\u0208" +
-                "";
+                "\u0000\b\u0000\u0001\u0001\b\b\u0000\u0000\u0000\u0001\u0208\u0002\u1009\u0000\u0003" +
+                "\u1009\u0001\u0004\u1009\u0002\u0005\u1009\u0003\u0006\f\u0007\u0208\b\f";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         case GET_DEFAULT_INSTANCE: {
diff --git a/core/sdk/src/main/gen/viam/app/v1/AppOuterClass.java b/core/sdk/src/main/gen/viam/app/v1/AppOuterClass.java
index b8589a69f..b112961ba 100644
--- a/core/sdk/src/main/gen/viam/app/v1/AppOuterClass.java
+++ b/core/sdk/src/main/gen/viam/app/v1/AppOuterClass.java
@@ -89603,6 +89603,35 @@ public interface ModuleVersionOrBuilder extends
      * @return The deprecatedStatus.
      */
     viam.app.v1.AppOuterClass.DeprecatedStatus getDeprecatedStatus();
+
+    /**
+     * <pre>
+     * The minimum version of viam-server required to run this version of the module.
+     * </pre>
+     *
+     * <code>optional string min_viam_server_version = 9 [json_name = "minViamServerVersion"];</code>
+     * @return Whether the minViamServerVersion field is set.
+     */
+    boolean hasMinViamServerVersion();
+    /**
+     * <pre>
+     * The minimum version of viam-server required to run this version of the module.
+     * </pre>
+     *
+     * <code>optional string min_viam_server_version = 9 [json_name = "minViamServerVersion"];</code>
+     * @return The minViamServerVersion.
+     */
+    java.lang.String getMinViamServerVersion();
+    /**
+     * <pre>
+     * The minimum version of viam-server required to run this version of the module.
+     * </pre>
+     *
+     * <code>optional string min_viam_server_version = 9 [json_name = "minViamServerVersion"];</code>
+     * @return The bytes for minViamServerVersion.
+     */
+    com.google.protobuf.ByteString
+        getMinViamServerVersionBytes();
   }
   /**
    * Protobuf type {@code viam.app.v1.ModuleVersion}
@@ -89620,6 +89649,7 @@ private ModuleVersion() {
       firstRun_ = "";
       markdownDescription_ = "";
       apps_ = emptyProtobufList();
+      minViamServerVersion_ = "";
     }
     private int bitField0_;
     public static final int VERSION_FIELD_NUMBER = 1;
@@ -90409,6 +90439,86 @@ private void clearDeprecatedStatus() {
       bitField0_ = (bitField0_ & ~0x00000004);
     }
 
+    public static final int MIN_VIAM_SERVER_VERSION_FIELD_NUMBER = 9;
+    private java.lang.String minViamServerVersion_;
+    /**
+     * <pre>
+     * The minimum version of viam-server required to run this version of the module.
+     * </pre>
+     *
+     * <code>optional string min_viam_server_version = 9 [json_name = "minViamServerVersion"];</code>
+     * @return Whether the minViamServerVersion field is set.
+     */
+    @java.lang.Override
+    public boolean hasMinViamServerVersion() {
+      return ((bitField0_ & 0x00000008) != 0);
+    }
+    /**
+     * <pre>
+     * The minimum version of viam-server required to run this version of the module.
+     * </pre>
+     *
+     * <code>optional string min_viam_server_version = 9 [json_name = "minViamServerVersion"];</code>
+     * @return The minViamServerVersion.
+     */
+    @java.lang.Override
+    public java.lang.String getMinViamServerVersion() {
+      return minViamServerVersion_;
+    }
+    /**
+     * <pre>
+     * The minimum version of viam-server required to run this version of the module.
+     * </pre>
+     *
+     * <code>optional string min_viam_server_version = 9 [json_name = "minViamServerVersion"];</code>
+     * @return The bytes for minViamServerVersion.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getMinViamServerVersionBytes() {
+      return com.google.protobuf.ByteString.copyFromUtf8(minViamServerVersion_);
+    }
+    /**
+     * <pre>
+     * The minimum version of viam-server required to run this version of the module.
+     * </pre>
+     *
+     * <code>optional string min_viam_server_version = 9 [json_name = "minViamServerVersion"];</code>
+     * @param value The minViamServerVersion to set.
+     */
+    @java.lang.SuppressWarnings("ReturnValueIgnored")
+    private void setMinViamServerVersion(
+        java.lang.String value) {
+      value.getClass();  // minimal bytecode null check
+      bitField0_ |= 0x00000008;
+      minViamServerVersion_ = value;
+    }
+    /**
+     * <pre>
+     * The minimum version of viam-server required to run this version of the module.
+     * </pre>
+     *
+     * <code>optional string min_viam_server_version = 9 [json_name = "minViamServerVersion"];</code>
+     */
+    private void clearMinViamServerVersion() {
+      bitField0_ = (bitField0_ & ~0x00000008);
+      minViamServerVersion_ = getDefaultInstance().getMinViamServerVersion();
+    }
+    /**
+     * <pre>
+     * The minimum version of viam-server required to run this version of the module.
+     * </pre>
+     *
+     * <code>optional string min_viam_server_version = 9 [json_name = "minViamServerVersion"];</code>
+     * @param value The bytes for minViamServerVersion to set.
+     */
+    private void setMinViamServerVersionBytes(
+        com.google.protobuf.ByteString value) {
+      checkByteStringIsUtf8(value);
+      minViamServerVersion_ = value.toStringUtf8();
+      bitField0_ |= 0x00000008;
+    }
+
     public static viam.app.v1.AppOuterClass.ModuleVersion parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
@@ -91327,6 +91437,87 @@ public Builder mergeDeprecatedStatus(viam.app.v1.AppOuterClass.DeprecatedStatus
         return this;
       }
 
+      /**
+       * <pre>
+       * The minimum version of viam-server required to run this version of the module.
+       * </pre>
+       *
+       * <code>optional string min_viam_server_version = 9 [json_name = "minViamServerVersion"];</code>
+       * @return Whether the minViamServerVersion field is set.
+       */
+      @java.lang.Override
+      public boolean hasMinViamServerVersion() {
+        return instance.hasMinViamServerVersion();
+      }
+      /**
+       * <pre>
+       * The minimum version of viam-server required to run this version of the module.
+       * </pre>
+       *
+       * <code>optional string min_viam_server_version = 9 [json_name = "minViamServerVersion"];</code>
+       * @return The minViamServerVersion.
+       */
+      @java.lang.Override
+      public java.lang.String getMinViamServerVersion() {
+        return instance.getMinViamServerVersion();
+      }
+      /**
+       * <pre>
+       * The minimum version of viam-server required to run this version of the module.
+       * </pre>
+       *
+       * <code>optional string min_viam_server_version = 9 [json_name = "minViamServerVersion"];</code>
+       * @return The bytes for minViamServerVersion.
+       */
+      @java.lang.Override
+      public com.google.protobuf.ByteString
+          getMinViamServerVersionBytes() {
+        return instance.getMinViamServerVersionBytes();
+      }
+      /**
+       * <pre>
+       * The minimum version of viam-server required to run this version of the module.
+       * </pre>
+       *
+       * <code>optional string min_viam_server_version = 9 [json_name = "minViamServerVersion"];</code>
+       * @param value The minViamServerVersion to set.
+       * @return This builder for chaining.
+       */
+      public Builder setMinViamServerVersion(
+          java.lang.String value) {
+        copyOnWrite();
+        instance.setMinViamServerVersion(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * The minimum version of viam-server required to run this version of the module.
+       * </pre>
+       *
+       * <code>optional string min_viam_server_version = 9 [json_name = "minViamServerVersion"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearMinViamServerVersion() {
+        copyOnWrite();
+        instance.clearMinViamServerVersion();
+        return this;
+      }
+      /**
+       * <pre>
+       * The minimum version of viam-server required to run this version of the module.
+       * </pre>
+       *
+       * <code>optional string min_viam_server_version = 9 [json_name = "minViamServerVersion"];</code>
+       * @param value The bytes for minViamServerVersion to set.
+       * @return This builder for chaining.
+       */
+      public Builder setMinViamServerVersionBytes(
+          com.google.protobuf.ByteString value) {
+        copyOnWrite();
+        instance.setMinViamServerVersionBytes(value);
+        return this;
+      }
+
       // @@protoc_insertion_point(builder_scope:viam.app.v1.ModuleVersion)
     }
     @java.lang.Override
@@ -91355,10 +91546,12 @@ protected final java.lang.Object dynamicMethod(
               "apps_",
               viam.app.v1.AppOuterClass.App.class,
               "deprecatedStatus_",
+              "minViamServerVersion_",
             };
             java.lang.String info =
-                "\u0000\b\u0000\u0001\u0001\b\b\u0000\u0003\u0000\u0001\u0208\u0002\u001b\u0003\u001b" +
-                "\u0004\u0208\u0005\u1208\u0000\u0006\u1208\u0001\u0007\u001b\b\u1009\u0002";
+                "\u0000\t\u0000\u0001\u0001\t\t\u0000\u0003\u0000\u0001\u0208\u0002\u001b\u0003\u001b" +
+                "\u0004\u0208\u0005\u1208\u0000\u0006\u1208\u0001\u0007\u001b\b\u1009\u0002\t\u1208" +
+                "\u0003";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         case GET_DEFAULT_INSTANCE: {
@@ -91631,6 +91824,35 @@ public interface ModuleMetadataOrBuilder extends
      * @return The language.
      */
     viam.app.v1.AppOuterClass.ModuleLanguage getLanguage();
+
+    /**
+     * <pre>
+     * The minimum version of viam-server required to run the module.
+     * </pre>
+     *
+     * <code>optional string min_viam_server_version = 9 [json_name = "minViamServerVersion"];</code>
+     * @return Whether the minViamServerVersion field is set.
+     */
+    boolean hasMinViamServerVersion();
+    /**
+     * <pre>
+     * The minimum version of viam-server required to run the module.
+     * </pre>
+     *
+     * <code>optional string min_viam_server_version = 9 [json_name = "minViamServerVersion"];</code>
+     * @return The minViamServerVersion.
+     */
+    java.lang.String getMinViamServerVersion();
+    /**
+     * <pre>
+     * The minimum version of viam-server required to run the module.
+     * </pre>
+     *
+     * <code>optional string min_viam_server_version = 9 [json_name = "minViamServerVersion"];</code>
+     * @return The bytes for minViamServerVersion.
+     */
+    com.google.protobuf.ByteString
+        getMinViamServerVersionBytes();
   }
   /**
    * Protobuf type {@code viam.app.v1.ModuleMetadata}
@@ -91647,6 +91869,7 @@ private ModuleMetadata() {
       firstRun_ = "";
       markdownDescription_ = "";
       apps_ = emptyProtobufList();
+      minViamServerVersion_ = "";
     }
     private int bitField0_;
     public static final int MODELS_FIELD_NUMBER = 1;
@@ -92461,6 +92684,86 @@ private void clearLanguage() {
       language_ = 0;
     }
 
+    public static final int MIN_VIAM_SERVER_VERSION_FIELD_NUMBER = 9;
+    private java.lang.String minViamServerVersion_;
+    /**
+     * <pre>
+     * The minimum version of viam-server required to run the module.
+     * </pre>
+     *
+     * <code>optional string min_viam_server_version = 9 [json_name = "minViamServerVersion"];</code>
+     * @return Whether the minViamServerVersion field is set.
+     */
+    @java.lang.Override
+    public boolean hasMinViamServerVersion() {
+      return ((bitField0_ & 0x00000010) != 0);
+    }
+    /**
+     * <pre>
+     * The minimum version of viam-server required to run the module.
+     * </pre>
+     *
+     * <code>optional string min_viam_server_version = 9 [json_name = "minViamServerVersion"];</code>
+     * @return The minViamServerVersion.
+     */
+    @java.lang.Override
+    public java.lang.String getMinViamServerVersion() {
+      return minViamServerVersion_;
+    }
+    /**
+     * <pre>
+     * The minimum version of viam-server required to run the module.
+     * </pre>
+     *
+     * <code>optional string min_viam_server_version = 9 [json_name = "minViamServerVersion"];</code>
+     * @return The bytes for minViamServerVersion.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getMinViamServerVersionBytes() {
+      return com.google.protobuf.ByteString.copyFromUtf8(minViamServerVersion_);
+    }
+    /**
+     * <pre>
+     * The minimum version of viam-server required to run the module.
+     * </pre>
+     *
+     * <code>optional string min_viam_server_version = 9 [json_name = "minViamServerVersion"];</code>
+     * @param value The minViamServerVersion to set.
+     */
+    @java.lang.SuppressWarnings("ReturnValueIgnored")
+    private void setMinViamServerVersion(
+        java.lang.String value) {
+      value.getClass();  // minimal bytecode null check
+      bitField0_ |= 0x00000010;
+      minViamServerVersion_ = value;
+    }
+    /**
+     * <pre>
+     * The minimum version of viam-server required to run the module.
+     * </pre>
+     *
+     * <code>optional string min_viam_server_version = 9 [json_name = "minViamServerVersion"];</code>
+     */
+    private void clearMinViamServerVersion() {
+      bitField0_ = (bitField0_ & ~0x00000010);
+      minViamServerVersion_ = getDefaultInstance().getMinViamServerVersion();
+    }
+    /**
+     * <pre>
+     * The minimum version of viam-server required to run the module.
+     * </pre>
+     *
+     * <code>optional string min_viam_server_version = 9 [json_name = "minViamServerVersion"];</code>
+     * @param value The bytes for minViamServerVersion to set.
+     */
+    private void setMinViamServerVersionBytes(
+        com.google.protobuf.ByteString value) {
+      checkByteStringIsUtf8(value);
+      minViamServerVersion_ = value.toStringUtf8();
+      bitField0_ |= 0x00000010;
+    }
+
     public static viam.app.v1.AppOuterClass.ModuleMetadata parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
@@ -93409,6 +93712,87 @@ public Builder clearLanguage() {
         return this;
       }
 
+      /**
+       * <pre>
+       * The minimum version of viam-server required to run the module.
+       * </pre>
+       *
+       * <code>optional string min_viam_server_version = 9 [json_name = "minViamServerVersion"];</code>
+       * @return Whether the minViamServerVersion field is set.
+       */
+      @java.lang.Override
+      public boolean hasMinViamServerVersion() {
+        return instance.hasMinViamServerVersion();
+      }
+      /**
+       * <pre>
+       * The minimum version of viam-server required to run the module.
+       * </pre>
+       *
+       * <code>optional string min_viam_server_version = 9 [json_name = "minViamServerVersion"];</code>
+       * @return The minViamServerVersion.
+       */
+      @java.lang.Override
+      public java.lang.String getMinViamServerVersion() {
+        return instance.getMinViamServerVersion();
+      }
+      /**
+       * <pre>
+       * The minimum version of viam-server required to run the module.
+       * </pre>
+       *
+       * <code>optional string min_viam_server_version = 9 [json_name = "minViamServerVersion"];</code>
+       * @return The bytes for minViamServerVersion.
+       */
+      @java.lang.Override
+      public com.google.protobuf.ByteString
+          getMinViamServerVersionBytes() {
+        return instance.getMinViamServerVersionBytes();
+      }
+      /**
+       * <pre>
+       * The minimum version of viam-server required to run the module.
+       * </pre>
+       *
+       * <code>optional string min_viam_server_version = 9 [json_name = "minViamServerVersion"];</code>
+       * @param value The minViamServerVersion to set.
+       * @return This builder for chaining.
+       */
+      public Builder setMinViamServerVersion(
+          java.lang.String value) {
+        copyOnWrite();
+        instance.setMinViamServerVersion(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * The minimum version of viam-server required to run the module.
+       * </pre>
+       *
+       * <code>optional string min_viam_server_version = 9 [json_name = "minViamServerVersion"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearMinViamServerVersion() {
+        copyOnWrite();
+        instance.clearMinViamServerVersion();
+        return this;
+      }
+      /**
+       * <pre>
+       * The minimum version of viam-server required to run the module.
+       * </pre>
+       *
+       * <code>optional string min_viam_server_version = 9 [json_name = "minViamServerVersion"];</code>
+       * @param value The bytes for minViamServerVersion to set.
+       * @return This builder for chaining.
+       */
+      public Builder setMinViamServerVersionBytes(
+          com.google.protobuf.ByteString value) {
+        copyOnWrite();
+        instance.setMinViamServerVersionBytes(value);
+        return this;
+      }
+
       // @@protoc_insertion_point(builder_scope:viam.app.v1.ModuleMetadata)
     }
     @java.lang.Override
@@ -93437,11 +93821,12 @@ protected final java.lang.Object dynamicMethod(
               viam.app.v1.AppOuterClass.App.class,
               "sourceType_",
               "language_",
+              "minViamServerVersion_",
             };
             java.lang.String info =
-                "\u0000\b\u0000\u0001\u0001\b\b\u0000\u0003\u0000\u0001\u001b\u0002\u001b\u0003\u0208" +
+                "\u0000\t\u0000\u0001\u0001\t\t\u0000\u0003\u0000\u0001\u001b\u0002\u001b\u0003\u0208" +
                 "\u0004\u1208\u0000\u0005\u1208\u0001\u0006\u001b\u0007\u100c\u0002\b\u100c\u0003" +
-                "";
+                "\t\u1208\u0004";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         case GET_DEFAULT_INSTANCE: {
@@ -93912,7 +94297,7 @@ public interface MLModelMetadataOrBuilder extends
      *
      * <code>repeated string versions = 1 [json_name = "versions", deprecated = true];</code>
      * @deprecated viam.app.v1.MLModelMetadata.versions is deprecated.
-     *     See app/v1/app.proto;l=1463
+     *     See app/v1/app.proto;l=1467
      * @return A list containing the versions.
      */
     @java.lang.Deprecated java.util.List<java.lang.String>
@@ -93924,7 +94309,7 @@ public interface MLModelMetadataOrBuilder extends
      *
      * <code>repeated string versions = 1 [json_name = "versions", deprecated = true];</code>
      * @deprecated viam.app.v1.MLModelMetadata.versions is deprecated.
-     *     See app/v1/app.proto;l=1463
+     *     See app/v1/app.proto;l=1467
      * @return The count of versions.
      */
     @java.lang.Deprecated int getVersionsCount();
@@ -93935,7 +94320,7 @@ public interface MLModelMetadataOrBuilder extends
      *
      * <code>repeated string versions = 1 [json_name = "versions", deprecated = true];</code>
      * @deprecated viam.app.v1.MLModelMetadata.versions is deprecated.
-     *     See app/v1/app.proto;l=1463
+     *     See app/v1/app.proto;l=1467
      * @param index The index of the element to return.
      * @return The versions at the given index.
      */
@@ -93947,7 +94332,7 @@ public interface MLModelMetadataOrBuilder extends
      *
      * <code>repeated string versions = 1 [json_name = "versions", deprecated = true];</code>
      * @deprecated viam.app.v1.MLModelMetadata.versions is deprecated.
-     *     See app/v1/app.proto;l=1463
+     *     See app/v1/app.proto;l=1467
      * @param index The index of the element to return.
      * @return The versions at the given index.
      */
@@ -94011,7 +94396,7 @@ private MLModelMetadata() {
      *
      * <code>repeated string versions = 1 [json_name = "versions", deprecated = true];</code>
      * @deprecated viam.app.v1.MLModelMetadata.versions is deprecated.
-     *     See app/v1/app.proto;l=1463
+     *     See app/v1/app.proto;l=1467
      * @return A list containing the versions.
      */
     @java.lang.Override
@@ -94025,7 +94410,7 @@ private MLModelMetadata() {
      *
      * <code>repeated string versions = 1 [json_name = "versions", deprecated = true];</code>
      * @deprecated viam.app.v1.MLModelMetadata.versions is deprecated.
-     *     See app/v1/app.proto;l=1463
+     *     See app/v1/app.proto;l=1467
      * @return The count of versions.
      */
     @java.lang.Override
@@ -94039,7 +94424,7 @@ private MLModelMetadata() {
      *
      * <code>repeated string versions = 1 [json_name = "versions", deprecated = true];</code>
      * @deprecated viam.app.v1.MLModelMetadata.versions is deprecated.
-     *     See app/v1/app.proto;l=1463
+     *     See app/v1/app.proto;l=1467
      * @param index The index of the element to return.
      * @return The versions at the given index.
      */
@@ -94054,7 +94439,7 @@ private MLModelMetadata() {
      *
      * <code>repeated string versions = 1 [json_name = "versions", deprecated = true];</code>
      * @deprecated viam.app.v1.MLModelMetadata.versions is deprecated.
-     *     See app/v1/app.proto;l=1463
+     *     See app/v1/app.proto;l=1467
      * @param index The index of the value to return.
      * @return The bytes of the versions at the given index.
      */
@@ -94428,7 +94813,7 @@ private Builder() {
        *
        * <code>repeated string versions = 1 [json_name = "versions", deprecated = true];</code>
        * @deprecated viam.app.v1.MLModelMetadata.versions is deprecated.
-       *     See app/v1/app.proto;l=1463
+       *     See app/v1/app.proto;l=1467
        * @return A list containing the versions.
        */
       @java.lang.Override
@@ -94444,7 +94829,7 @@ private Builder() {
        *
        * <code>repeated string versions = 1 [json_name = "versions", deprecated = true];</code>
        * @deprecated viam.app.v1.MLModelMetadata.versions is deprecated.
-       *     See app/v1/app.proto;l=1463
+       *     See app/v1/app.proto;l=1467
        * @return The count of versions.
        */
       @java.lang.Override
@@ -94458,7 +94843,7 @@ private Builder() {
        *
        * <code>repeated string versions = 1 [json_name = "versions", deprecated = true];</code>
        * @deprecated viam.app.v1.MLModelMetadata.versions is deprecated.
-       *     See app/v1/app.proto;l=1463
+       *     See app/v1/app.proto;l=1467
        * @param index The index of the element to return.
        * @return The versions at the given index.
        */
@@ -94473,7 +94858,7 @@ private Builder() {
        *
        * <code>repeated string versions = 1 [json_name = "versions", deprecated = true];</code>
        * @deprecated viam.app.v1.MLModelMetadata.versions is deprecated.
-       *     See app/v1/app.proto;l=1463
+       *     See app/v1/app.proto;l=1467
        * @param index The index of the value to return.
        * @return The bytes of the versions at the given index.
        */
@@ -94489,7 +94874,7 @@ private Builder() {
        *
        * <code>repeated string versions = 1 [json_name = "versions", deprecated = true];</code>
        * @deprecated viam.app.v1.MLModelMetadata.versions is deprecated.
-       *     See app/v1/app.proto;l=1463
+       *     See app/v1/app.proto;l=1467
        * @param index The index to set the value at.
        * @param value The versions to set.
        * @return This builder for chaining.
@@ -94507,7 +94892,7 @@ private Builder() {
        *
        * <code>repeated string versions = 1 [json_name = "versions", deprecated = true];</code>
        * @deprecated viam.app.v1.MLModelMetadata.versions is deprecated.
-       *     See app/v1/app.proto;l=1463
+       *     See app/v1/app.proto;l=1467
        * @param value The versions to add.
        * @return This builder for chaining.
        */
@@ -94524,7 +94909,7 @@ private Builder() {
        *
        * <code>repeated string versions = 1 [json_name = "versions", deprecated = true];</code>
        * @deprecated viam.app.v1.MLModelMetadata.versions is deprecated.
-       *     See app/v1/app.proto;l=1463
+       *     See app/v1/app.proto;l=1467
        * @param values The versions to add.
        * @return This builder for chaining.
        */
@@ -94541,7 +94926,7 @@ private Builder() {
        *
        * <code>repeated string versions = 1 [json_name = "versions", deprecated = true];</code>
        * @deprecated viam.app.v1.MLModelMetadata.versions is deprecated.
-       *     See app/v1/app.proto;l=1463
+       *     See app/v1/app.proto;l=1467
        * @return This builder for chaining.
        */
       @java.lang.Deprecated public Builder clearVersions() {
@@ -94556,7 +94941,7 @@ private Builder() {
        *
        * <code>repeated string versions = 1 [json_name = "versions", deprecated = true];</code>
        * @deprecated viam.app.v1.MLModelMetadata.versions is deprecated.
-       *     See app/v1/app.proto;l=1463
+       *     See app/v1/app.proto;l=1467
        * @param value The bytes of the versions to add.
        * @return This builder for chaining.
        */
@@ -114831,6 +115216,35 @@ public interface UpdateModuleMetadataOrBuilder extends
      * @return The language.
      */
     viam.app.v1.AppOuterClass.ModuleLanguage getLanguage();
+
+    /**
+     * <pre>
+     * The minimum version of viam-server required to run the module.
+     * </pre>
+     *
+     * <code>optional string min_viam_server_version = 6 [json_name = "minViamServerVersion"];</code>
+     * @return Whether the minViamServerVersion field is set.
+     */
+    boolean hasMinViamServerVersion();
+    /**
+     * <pre>
+     * The minimum version of viam-server required to run the module.
+     * </pre>
+     *
+     * <code>optional string min_viam_server_version = 6 [json_name = "minViamServerVersion"];</code>
+     * @return The minViamServerVersion.
+     */
+    java.lang.String getMinViamServerVersion();
+    /**
+     * <pre>
+     * The minimum version of viam-server required to run the module.
+     * </pre>
+     *
+     * <code>optional string min_viam_server_version = 6 [json_name = "minViamServerVersion"];</code>
+     * @return The bytes for minViamServerVersion.
+     */
+    com.google.protobuf.ByteString
+        getMinViamServerVersionBytes();
   }
   /**
    * Protobuf type {@code viam.app.v1.UpdateModuleMetadata}
@@ -114844,6 +115258,7 @@ private UpdateModuleMetadata() {
       models_ = emptyProtobufList();
       entrypoint_ = "";
       apps_ = emptyProtobufList();
+      minViamServerVersion_ = "";
     }
     private int bitField0_;
     public static final int MODELS_FIELD_NUMBER = 1;
@@ -115346,6 +115761,86 @@ private void clearLanguage() {
       language_ = 0;
     }
 
+    public static final int MIN_VIAM_SERVER_VERSION_FIELD_NUMBER = 6;
+    private java.lang.String minViamServerVersion_;
+    /**
+     * <pre>
+     * The minimum version of viam-server required to run the module.
+     * </pre>
+     *
+     * <code>optional string min_viam_server_version = 6 [json_name = "minViamServerVersion"];</code>
+     * @return Whether the minViamServerVersion field is set.
+     */
+    @java.lang.Override
+    public boolean hasMinViamServerVersion() {
+      return ((bitField0_ & 0x00000004) != 0);
+    }
+    /**
+     * <pre>
+     * The minimum version of viam-server required to run the module.
+     * </pre>
+     *
+     * <code>optional string min_viam_server_version = 6 [json_name = "minViamServerVersion"];</code>
+     * @return The minViamServerVersion.
+     */
+    @java.lang.Override
+    public java.lang.String getMinViamServerVersion() {
+      return minViamServerVersion_;
+    }
+    /**
+     * <pre>
+     * The minimum version of viam-server required to run the module.
+     * </pre>
+     *
+     * <code>optional string min_viam_server_version = 6 [json_name = "minViamServerVersion"];</code>
+     * @return The bytes for minViamServerVersion.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getMinViamServerVersionBytes() {
+      return com.google.protobuf.ByteString.copyFromUtf8(minViamServerVersion_);
+    }
+    /**
+     * <pre>
+     * The minimum version of viam-server required to run the module.
+     * </pre>
+     *
+     * <code>optional string min_viam_server_version = 6 [json_name = "minViamServerVersion"];</code>
+     * @param value The minViamServerVersion to set.
+     */
+    @java.lang.SuppressWarnings("ReturnValueIgnored")
+    private void setMinViamServerVersion(
+        java.lang.String value) {
+      value.getClass();  // minimal bytecode null check
+      bitField0_ |= 0x00000004;
+      minViamServerVersion_ = value;
+    }
+    /**
+     * <pre>
+     * The minimum version of viam-server required to run the module.
+     * </pre>
+     *
+     * <code>optional string min_viam_server_version = 6 [json_name = "minViamServerVersion"];</code>
+     */
+    private void clearMinViamServerVersion() {
+      bitField0_ = (bitField0_ & ~0x00000004);
+      minViamServerVersion_ = getDefaultInstance().getMinViamServerVersion();
+    }
+    /**
+     * <pre>
+     * The minimum version of viam-server required to run the module.
+     * </pre>
+     *
+     * <code>optional string min_viam_server_version = 6 [json_name = "minViamServerVersion"];</code>
+     * @param value The bytes for minViamServerVersion to set.
+     */
+    private void setMinViamServerVersionBytes(
+        com.google.protobuf.ByteString value) {
+      checkByteStringIsUtf8(value);
+      minViamServerVersion_ = value.toStringUtf8();
+      bitField0_ |= 0x00000004;
+    }
+
     public static viam.app.v1.AppOuterClass.UpdateModuleMetadata parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
@@ -115970,6 +116465,87 @@ public Builder clearLanguage() {
         return this;
       }
 
+      /**
+       * <pre>
+       * The minimum version of viam-server required to run the module.
+       * </pre>
+       *
+       * <code>optional string min_viam_server_version = 6 [json_name = "minViamServerVersion"];</code>
+       * @return Whether the minViamServerVersion field is set.
+       */
+      @java.lang.Override
+      public boolean hasMinViamServerVersion() {
+        return instance.hasMinViamServerVersion();
+      }
+      /**
+       * <pre>
+       * The minimum version of viam-server required to run the module.
+       * </pre>
+       *
+       * <code>optional string min_viam_server_version = 6 [json_name = "minViamServerVersion"];</code>
+       * @return The minViamServerVersion.
+       */
+      @java.lang.Override
+      public java.lang.String getMinViamServerVersion() {
+        return instance.getMinViamServerVersion();
+      }
+      /**
+       * <pre>
+       * The minimum version of viam-server required to run the module.
+       * </pre>
+       *
+       * <code>optional string min_viam_server_version = 6 [json_name = "minViamServerVersion"];</code>
+       * @return The bytes for minViamServerVersion.
+       */
+      @java.lang.Override
+      public com.google.protobuf.ByteString
+          getMinViamServerVersionBytes() {
+        return instance.getMinViamServerVersionBytes();
+      }
+      /**
+       * <pre>
+       * The minimum version of viam-server required to run the module.
+       * </pre>
+       *
+       * <code>optional string min_viam_server_version = 6 [json_name = "minViamServerVersion"];</code>
+       * @param value The minViamServerVersion to set.
+       * @return This builder for chaining.
+       */
+      public Builder setMinViamServerVersion(
+          java.lang.String value) {
+        copyOnWrite();
+        instance.setMinViamServerVersion(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * The minimum version of viam-server required to run the module.
+       * </pre>
+       *
+       * <code>optional string min_viam_server_version = 6 [json_name = "minViamServerVersion"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearMinViamServerVersion() {
+        copyOnWrite();
+        instance.clearMinViamServerVersion();
+        return this;
+      }
+      /**
+       * <pre>
+       * The minimum version of viam-server required to run the module.
+       * </pre>
+       *
+       * <code>optional string min_viam_server_version = 6 [json_name = "minViamServerVersion"];</code>
+       * @param value The bytes for minViamServerVersion to set.
+       * @return This builder for chaining.
+       */
+      public Builder setMinViamServerVersionBytes(
+          com.google.protobuf.ByteString value) {
+        copyOnWrite();
+        instance.setMinViamServerVersionBytes(value);
+        return this;
+      }
+
       // @@protoc_insertion_point(builder_scope:viam.app.v1.UpdateModuleMetadata)
     }
     @java.lang.Override
@@ -115994,10 +116570,11 @@ protected final java.lang.Object dynamicMethod(
               viam.app.v1.AppOuterClass.App.class,
               "sourceType_",
               "language_",
+              "minViamServerVersion_",
             };
             java.lang.String info =
-                "\u0000\u0005\u0000\u0001\u0001\u0005\u0005\u0000\u0002\u0000\u0001\u001b\u0002\u0208" +
-                "\u0003\u001b\u0004\u100c\u0000\u0005\u100c\u0001";
+                "\u0000\u0006\u0000\u0001\u0001\u0006\u0006\u0000\u0002\u0000\u0001\u001b\u0002\u0208" +
+                "\u0003\u001b\u0004\u100c\u0000\u0005\u100c\u0001\u0006\u1208\u0002";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         case GET_DEFAULT_INSTANCE: {
diff --git a/core/sdk/src/main/resources/protofds/viam.api b/core/sdk/src/main/resources/protofds/viam.api
index 3a4e6fa3e..bc26695be 100644
Binary files a/core/sdk/src/main/resources/protofds/viam.api and b/core/sdk/src/main/resources/protofds/viam.api differ