diff --git a/common/v1/common.pb.go b/common/v1/common.pb.go
index 764dd8a81..63b2b17d4 100644
--- a/common/v1/common.pb.go
+++ b/common/v1/common.pb.go
@@ -1599,6 +1599,107 @@ func (x *GetGeometriesResponse) GetGeometries() []*Geometry {
 	return nil
 }
 
+type Get3DModelsRequest struct {
+	state         protoimpl.MessageState
+	sizeCache     protoimpl.SizeCache
+	unknownFields protoimpl.UnknownFields
+
+	// The component name
+	Name string `protobuf:"bytes,1,opt,name=name,proto3" json:"name,omitempty"`
+	// Additional arguments to the method
+	Extra *structpb.Struct `protobuf:"bytes,99,opt,name=extra,proto3" json:"extra,omitempty"`
+}
+
+func (x *Get3DModelsRequest) Reset() {
+	*x = Get3DModelsRequest{}
+	mi := &file_common_v1_common_proto_msgTypes[25]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *Get3DModelsRequest) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*Get3DModelsRequest) ProtoMessage() {}
+
+func (x *Get3DModelsRequest) ProtoReflect() protoreflect.Message {
+	mi := &file_common_v1_common_proto_msgTypes[25]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use Get3DModelsRequest.ProtoReflect.Descriptor instead.
+func (*Get3DModelsRequest) Descriptor() ([]byte, []int) {
+	return file_common_v1_common_proto_rawDescGZIP(), []int{25}
+}
+
+func (x *Get3DModelsRequest) GetName() string {
+	if x != nil {
+		return x.Name
+	}
+	return ""
+}
+
+func (x *Get3DModelsRequest) GetExtra() *structpb.Struct {
+	if x != nil {
+		return x.Extra
+	}
+	return nil
+}
+
+type Get3DModelsResponse struct {
+	state         protoimpl.MessageState
+	sizeCache     protoimpl.SizeCache
+	unknownFields protoimpl.UnknownFields
+
+	// the 3D models associated with the component
+	Models map[string]*Mesh `protobuf:"bytes,1,rep,name=models,proto3" json:"models,omitempty" protobuf_key:"bytes,1,opt,name=key,proto3" protobuf_val:"bytes,2,opt,name=value,proto3"`
+}
+
+func (x *Get3DModelsResponse) Reset() {
+	*x = Get3DModelsResponse{}
+	mi := &file_common_v1_common_proto_msgTypes[26]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *Get3DModelsResponse) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*Get3DModelsResponse) ProtoMessage() {}
+
+func (x *Get3DModelsResponse) ProtoReflect() protoreflect.Message {
+	mi := &file_common_v1_common_proto_msgTypes[26]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use Get3DModelsResponse.ProtoReflect.Descriptor instead.
+func (*Get3DModelsResponse) Descriptor() ([]byte, []int) {
+	return file_common_v1_common_proto_rawDescGZIP(), []int{26}
+}
+
+func (x *Get3DModelsResponse) GetModels() map[string]*Mesh {
+	if x != nil {
+		return x.Models
+	}
+	return nil
+}
+
 type GetReadingsRequest struct {
 	state         protoimpl.MessageState
 	sizeCache     protoimpl.SizeCache
@@ -1612,7 +1713,7 @@ type GetReadingsRequest struct {
 
 func (x *GetReadingsRequest) Reset() {
 	*x = GetReadingsRequest{}
-	mi := &file_common_v1_common_proto_msgTypes[25]
+	mi := &file_common_v1_common_proto_msgTypes[27]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -1624,7 +1725,7 @@ func (x *GetReadingsRequest) String() string {
 func (*GetReadingsRequest) ProtoMessage() {}
 
 func (x *GetReadingsRequest) ProtoReflect() protoreflect.Message {
-	mi := &file_common_v1_common_proto_msgTypes[25]
+	mi := &file_common_v1_common_proto_msgTypes[27]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -1637,7 +1738,7 @@ func (x *GetReadingsRequest) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use GetReadingsRequest.ProtoReflect.Descriptor instead.
 func (*GetReadingsRequest) Descriptor() ([]byte, []int) {
-	return file_common_v1_common_proto_rawDescGZIP(), []int{25}
+	return file_common_v1_common_proto_rawDescGZIP(), []int{27}
 }
 
 func (x *GetReadingsRequest) GetName() string {
@@ -1664,7 +1765,7 @@ type GetReadingsResponse struct {
 
 func (x *GetReadingsResponse) Reset() {
 	*x = GetReadingsResponse{}
-	mi := &file_common_v1_common_proto_msgTypes[26]
+	mi := &file_common_v1_common_proto_msgTypes[28]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -1676,7 +1777,7 @@ func (x *GetReadingsResponse) String() string {
 func (*GetReadingsResponse) ProtoMessage() {}
 
 func (x *GetReadingsResponse) ProtoReflect() protoreflect.Message {
-	mi := &file_common_v1_common_proto_msgTypes[26]
+	mi := &file_common_v1_common_proto_msgTypes[28]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -1689,7 +1790,7 @@ func (x *GetReadingsResponse) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use GetReadingsResponse.ProtoReflect.Descriptor instead.
 func (*GetReadingsResponse) Descriptor() ([]byte, []int) {
-	return file_common_v1_common_proto_rawDescGZIP(), []int{26}
+	return file_common_v1_common_proto_rawDescGZIP(), []int{28}
 }
 
 func (x *GetReadingsResponse) GetReadings() map[string]*structpb.Value {
@@ -1716,7 +1817,7 @@ type LogEntry struct {
 
 func (x *LogEntry) Reset() {
 	*x = LogEntry{}
-	mi := &file_common_v1_common_proto_msgTypes[27]
+	mi := &file_common_v1_common_proto_msgTypes[29]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -1728,7 +1829,7 @@ func (x *LogEntry) String() string {
 func (*LogEntry) ProtoMessage() {}
 
 func (x *LogEntry) ProtoReflect() protoreflect.Message {
-	mi := &file_common_v1_common_proto_msgTypes[27]
+	mi := &file_common_v1_common_proto_msgTypes[29]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -1741,7 +1842,7 @@ func (x *LogEntry) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use LogEntry.ProtoReflect.Descriptor instead.
 func (*LogEntry) Descriptor() ([]byte, []int) {
-	return file_common_v1_common_proto_rawDescGZIP(), []int{27}
+	return file_common_v1_common_proto_rawDescGZIP(), []int{29}
 }
 
 func (x *LogEntry) GetHost() string {
@@ -1816,7 +1917,7 @@ type AudioInfo struct {
 
 func (x *AudioInfo) Reset() {
 	*x = AudioInfo{}
-	mi := &file_common_v1_common_proto_msgTypes[28]
+	mi := &file_common_v1_common_proto_msgTypes[30]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -1828,7 +1929,7 @@ func (x *AudioInfo) String() string {
 func (*AudioInfo) ProtoMessage() {}
 
 func (x *AudioInfo) ProtoReflect() protoreflect.Message {
-	mi := &file_common_v1_common_proto_msgTypes[28]
+	mi := &file_common_v1_common_proto_msgTypes[30]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -1841,7 +1942,7 @@ func (x *AudioInfo) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use AudioInfo.ProtoReflect.Descriptor instead.
 func (*AudioInfo) Descriptor() ([]byte, []int) {
-	return file_common_v1_common_proto_rawDescGZIP(), []int{28}
+	return file_common_v1_common_proto_rawDescGZIP(), []int{30}
 }
 
 func (x *AudioInfo) GetCodec() string {
@@ -1877,7 +1978,7 @@ type GetPropertiesRequest struct {
 
 func (x *GetPropertiesRequest) Reset() {
 	*x = GetPropertiesRequest{}
-	mi := &file_common_v1_common_proto_msgTypes[29]
+	mi := &file_common_v1_common_proto_msgTypes[31]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -1889,7 +1990,7 @@ func (x *GetPropertiesRequest) String() string {
 func (*GetPropertiesRequest) ProtoMessage() {}
 
 func (x *GetPropertiesRequest) ProtoReflect() protoreflect.Message {
-	mi := &file_common_v1_common_proto_msgTypes[29]
+	mi := &file_common_v1_common_proto_msgTypes[31]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -1902,7 +2003,7 @@ func (x *GetPropertiesRequest) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use GetPropertiesRequest.ProtoReflect.Descriptor instead.
 func (*GetPropertiesRequest) Descriptor() ([]byte, []int) {
-	return file_common_v1_common_proto_rawDescGZIP(), []int{29}
+	return file_common_v1_common_proto_rawDescGZIP(), []int{31}
 }
 
 func (x *GetPropertiesRequest) GetName() string {
@@ -1934,7 +2035,7 @@ type GetPropertiesResponse struct {
 
 func (x *GetPropertiesResponse) Reset() {
 	*x = GetPropertiesResponse{}
-	mi := &file_common_v1_common_proto_msgTypes[30]
+	mi := &file_common_v1_common_proto_msgTypes[32]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -1946,7 +2047,7 @@ func (x *GetPropertiesResponse) String() string {
 func (*GetPropertiesResponse) ProtoMessage() {}
 
 func (x *GetPropertiesResponse) ProtoReflect() protoreflect.Message {
-	mi := &file_common_v1_common_proto_msgTypes[30]
+	mi := &file_common_v1_common_proto_msgTypes[32]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -1959,7 +2060,7 @@ func (x *GetPropertiesResponse) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use GetPropertiesResponse.ProtoReflect.Descriptor instead.
 func (*GetPropertiesResponse) Descriptor() ([]byte, []int) {
-	return file_common_v1_common_proto_rawDescGZIP(), []int{30}
+	return file_common_v1_common_proto_rawDescGZIP(), []int{32}
 }
 
 func (x *GetPropertiesResponse) GetSupportedCodecs() []string {
@@ -2186,80 +2287,97 @@ var file_common_v1_common_proto_rawDesc = []byte{
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 }
 
 var (
@@ -2275,7 +2393,7 @@ func file_common_v1_common_proto_rawDescGZIP() []byte {
 }
 
 var file_common_v1_common_proto_enumTypes = make([]protoimpl.EnumInfo, 1)
-var file_common_v1_common_proto_msgTypes = make([]protoimpl.MessageInfo, 32)
+var file_common_v1_common_proto_msgTypes = make([]protoimpl.MessageInfo, 35)
 var file_common_v1_common_proto_goTypes = []any{
 	(KinematicsFileFormat)(0),          // 0: viam.common.v1.KinematicsFileFormat
 	(*ResourceName)(nil),               // 1: viam.common.v1.ResourceName
@@ -2303,17 +2421,20 @@ var file_common_v1_common_proto_goTypes = []any{
 	(*GetKinematicsResponse)(nil),      // 23: viam.common.v1.GetKinematicsResponse
 	(*GetGeometriesRequest)(nil),       // 24: viam.common.v1.GetGeometriesRequest
 	(*GetGeometriesResponse)(nil),      // 25: viam.common.v1.GetGeometriesResponse
-	(*GetReadingsRequest)(nil),         // 26: viam.common.v1.GetReadingsRequest
-	(*GetReadingsResponse)(nil),        // 27: viam.common.v1.GetReadingsResponse
-	(*LogEntry)(nil),                   // 28: viam.common.v1.LogEntry
-	(*AudioInfo)(nil),                  // 29: viam.common.v1.AudioInfo
-	(*GetPropertiesRequest)(nil),       // 30: viam.common.v1.GetPropertiesRequest
-	(*GetPropertiesResponse)(nil),      // 31: viam.common.v1.GetPropertiesResponse
-	nil,                                // 32: viam.common.v1.GetReadingsResponse.ReadingsEntry
-	(*structpb.Struct)(nil),            // 33: google.protobuf.Struct
-	(*timestamppb.Timestamp)(nil),      // 34: google.protobuf.Timestamp
-	(*structpb.Value)(nil),             // 35: google.protobuf.Value
-	(*descriptorpb.MethodOptions)(nil), // 36: google.protobuf.MethodOptions
+	(*Get3DModelsRequest)(nil),         // 26: viam.common.v1.Get3DModelsRequest
+	(*Get3DModelsResponse)(nil),        // 27: viam.common.v1.Get3DModelsResponse
+	(*GetReadingsRequest)(nil),         // 28: viam.common.v1.GetReadingsRequest
+	(*GetReadingsResponse)(nil),        // 29: viam.common.v1.GetReadingsResponse
+	(*LogEntry)(nil),                   // 30: viam.common.v1.LogEntry
+	(*AudioInfo)(nil),                  // 31: viam.common.v1.AudioInfo
+	(*GetPropertiesRequest)(nil),       // 32: viam.common.v1.GetPropertiesRequest
+	(*GetPropertiesResponse)(nil),      // 33: viam.common.v1.GetPropertiesResponse
+	nil,                                // 34: viam.common.v1.Get3DModelsResponse.ModelsEntry
+	nil,                                // 35: viam.common.v1.GetReadingsResponse.ReadingsEntry
+	(*structpb.Struct)(nil),            // 36: google.protobuf.Struct
+	(*timestamppb.Timestamp)(nil),      // 37: google.protobuf.Timestamp
+	(*structpb.Value)(nil),             // 38: google.protobuf.Value
+	(*descriptorpb.MethodOptions)(nil), // 39: google.protobuf.MethodOptions
 }
 var file_common_v1_common_proto_depIdxs = []int32{
 	2,  // 0: viam.common.v1.PoseInFrame.pose:type_name -> viam.common.v1.Pose
@@ -2330,29 +2451,32 @@ var file_common_v1_common_proto_depIdxs = []int32{
 	11, // 11: viam.common.v1.GeoGeometry.geometries:type_name -> viam.common.v1.Geometry
 	4,  // 12: viam.common.v1.Transform.pose_in_observer_frame:type_name -> viam.common.v1.PoseInFrame
 	11, // 13: viam.common.v1.Transform.physical_object:type_name -> viam.common.v1.Geometry
-	33, // 14: viam.common.v1.Transform.metadata:type_name -> google.protobuf.Struct
+	36, // 14: viam.common.v1.Transform.metadata:type_name -> google.protobuf.Struct
 	12, // 15: viam.common.v1.WorldState.obstacles:type_name -> viam.common.v1.GeometriesInFrame
 	16, // 16: viam.common.v1.WorldState.transforms:type_name -> viam.common.v1.Transform
-	34, // 17: viam.common.v1.ResponseMetadata.captured_at:type_name -> google.protobuf.Timestamp
-	33, // 18: viam.common.v1.DoCommandRequest.command:type_name -> google.protobuf.Struct
-	33, // 19: viam.common.v1.DoCommandResponse.result:type_name -> google.protobuf.Struct
-	33, // 20: viam.common.v1.GetKinematicsRequest.extra:type_name -> google.protobuf.Struct
+	37, // 17: viam.common.v1.ResponseMetadata.captured_at:type_name -> google.protobuf.Timestamp
+	36, // 18: viam.common.v1.DoCommandRequest.command:type_name -> google.protobuf.Struct
+	36, // 19: viam.common.v1.DoCommandResponse.result:type_name -> google.protobuf.Struct
+	36, // 20: viam.common.v1.GetKinematicsRequest.extra:type_name -> google.protobuf.Struct
 	0,  // 21: viam.common.v1.GetKinematicsResponse.format:type_name -> viam.common.v1.KinematicsFileFormat
-	33, // 22: viam.common.v1.GetGeometriesRequest.extra:type_name -> google.protobuf.Struct
+	36, // 22: viam.common.v1.GetGeometriesRequest.extra:type_name -> google.protobuf.Struct
 	11, // 23: viam.common.v1.GetGeometriesResponse.geometries:type_name -> viam.common.v1.Geometry
-	33, // 24: viam.common.v1.GetReadingsRequest.extra:type_name -> google.protobuf.Struct
-	32, // 25: viam.common.v1.GetReadingsResponse.readings:type_name -> viam.common.v1.GetReadingsResponse.ReadingsEntry
-	34, // 26: viam.common.v1.LogEntry.time:type_name -> google.protobuf.Timestamp
-	33, // 27: viam.common.v1.LogEntry.caller:type_name -> google.protobuf.Struct
-	33, // 28: viam.common.v1.LogEntry.fields:type_name -> google.protobuf.Struct
-	33, // 29: viam.common.v1.GetPropertiesRequest.extra:type_name -> google.protobuf.Struct
-	35, // 30: viam.common.v1.GetReadingsResponse.ReadingsEntry.value:type_name -> google.protobuf.Value
-	36, // 31: viam.common.v1.safety_heartbeat_monitored:extendee -> google.protobuf.MethodOptions
-	32, // [32:32] is the sub-list for method output_type
-	32, // [32:32] is the sub-list for method input_type
-	32, // [32:32] is the sub-list for extension type_name
-	31, // [31:32] is the sub-list for extension extendee
-	0,  // [0:31] is the sub-list for field type_name
+	36, // 24: viam.common.v1.Get3DModelsRequest.extra:type_name -> google.protobuf.Struct
+	34, // 25: viam.common.v1.Get3DModelsResponse.models:type_name -> viam.common.v1.Get3DModelsResponse.ModelsEntry
+	36, // 26: viam.common.v1.GetReadingsRequest.extra:type_name -> google.protobuf.Struct
+	35, // 27: viam.common.v1.GetReadingsResponse.readings:type_name -> viam.common.v1.GetReadingsResponse.ReadingsEntry
+	37, // 28: viam.common.v1.LogEntry.time:type_name -> google.protobuf.Timestamp
+	36, // 29: viam.common.v1.LogEntry.caller:type_name -> google.protobuf.Struct
+	36, // 30: viam.common.v1.LogEntry.fields:type_name -> google.protobuf.Struct
+	36, // 31: viam.common.v1.GetPropertiesRequest.extra:type_name -> google.protobuf.Struct
+	9,  // 32: viam.common.v1.Get3DModelsResponse.ModelsEntry.value:type_name -> viam.common.v1.Mesh
+	38, // 33: viam.common.v1.GetReadingsResponse.ReadingsEntry.value:type_name -> google.protobuf.Value
+	39, // 34: viam.common.v1.safety_heartbeat_monitored:extendee -> google.protobuf.MethodOptions
+	35, // [35:35] is the sub-list for method output_type
+	35, // [35:35] is the sub-list for method input_type
+	35, // [35:35] is the sub-list for extension type_name
+	34, // [34:35] is the sub-list for extension extendee
+	0,  // [0:34] is the sub-list for field type_name
 }
 
 func init() { file_common_v1_common_proto_init() }
@@ -2375,7 +2499,7 @@ func file_common_v1_common_proto_init() {
 			GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
 			RawDescriptor: file_common_v1_common_proto_rawDesc,
 			NumEnums:      1,
-			NumMessages:   32,
+			NumMessages:   35,
 			NumExtensions: 1,
 			NumServices:   0,
 		},
diff --git a/component/arm/v1/arm.pb.go b/component/arm/v1/arm.pb.go
index 6b975b5e9..1093480d7 100644
--- a/component/arm/v1/arm.pb.go
+++ b/component/arm/v1/arm.pb.go
@@ -993,7 +993,7 @@ var file_component_arm_v1_arm_proto_rawDesc = []byte{
 	0x17, 0x0a, 0x15, 0x5f, 0x6d, 0x61, 0x78, 0x5f, 0x76, 0x65, 0x6c, 0x5f, 0x64, 0x65, 0x67, 0x73,
 	0x5f, 0x70, 0x65, 0x72, 0x5f, 0x73, 0x65, 0x63, 0x42, 0x18, 0x0a, 0x16, 0x5f, 0x6d, 0x61, 0x78,
 	0x5f, 0x61, 0x63, 0x63, 0x5f, 0x64, 0x65, 0x67, 0x73, 0x5f, 0x70, 0x65, 0x72, 0x5f, 0x73, 0x65,
-	0x63, 0x32, 0x32, 0xf1, 0x0c, 0x0a, 0x0a, 0x41, 0x72, 0x6d, 0x53, 0x65, 0x72, 0x76, 0x69, 0x63,
+	0x63, 0x32, 0x32, 0xff, 0x0d, 0x0a, 0x0a, 0x41, 0x72, 0x6d, 0x53, 0x65, 0x72, 0x76, 0x69, 0x63,
 	0x65, 0x12, 0xa1, 0x01, 0x0a, 0x0e, 0x47, 0x65, 0x74, 0x45, 0x6e, 0x64, 0x50, 0x6f, 0x73, 0x69,
 	0x74, 0x69, 0x6f, 0x6e, 0x12, 0x2c, 0x2e, 0x76, 0x69, 0x61, 0x6d, 0x2e, 0x63, 0x6f, 0x6d, 0x70,
 	0x6f, 0x6e, 0x65, 0x6e, 0x74, 0x2e, 0x61, 0x72, 0x6d, 0x2e, 0x76, 0x31, 0x2e, 0x47, 0x65, 0x74,
@@ -1096,11 +1096,20 @@ var file_component_arm_v1_arm_proto_rawDesc = []byte{
 	0x22, 0x34, 0x82, 0xd3, 0xe4, 0x93, 0x02, 0x2e, 0x12, 0x2c, 0x2f, 0x76, 0x69, 0x61, 0x6d, 0x2f,
 	0x61, 0x70, 0x69, 0x2f, 0x76, 0x31, 0x2f, 0x63, 0x6f, 0x6d, 0x70, 0x6f, 0x6e, 0x65, 0x6e, 0x74,
 	0x2f, 0x61, 0x72, 0x6d, 0x2f, 0x7b, 0x6e, 0x61, 0x6d, 0x65, 0x7d, 0x2f, 0x67, 0x65, 0x6f, 0x6d,
-	0x65, 0x74, 0x72, 0x69, 0x65, 0x73, 0x42, 0x3d, 0x0a, 0x19, 0x63, 0x6f, 0x6d, 0x2e, 0x76, 0x69,
-	0x61, 0x6d, 0x2e, 0x63, 0x6f, 0x6d, 0x70, 0x6f, 0x6e, 0x65, 0x6e, 0x74, 0x2e, 0x61, 0x72, 0x6d,
-	0x2e, 0x76, 0x31, 0x5a, 0x20, 0x67, 0x6f, 0x2e, 0x76, 0x69, 0x61, 0x6d, 0x2e, 0x63, 0x6f, 0x6d,
-	0x2f, 0x61, 0x70, 0x69, 0x2f, 0x63, 0x6f, 0x6d, 0x70, 0x6f, 0x6e, 0x65, 0x6e, 0x74, 0x2f, 0x61,
-	0x72, 0x6d, 0x2f, 0x76, 0x31, 0x62, 0x06, 0x70, 0x72, 0x6f, 0x74, 0x6f, 0x33,
+	0x65, 0x74, 0x72, 0x69, 0x65, 0x73, 0x12, 0x8b, 0x01, 0x0a, 0x0b, 0x47, 0x65, 0x74, 0x33, 0x44,
+	0x4d, 0x6f, 0x64, 0x65, 0x6c, 0x73, 0x12, 0x22, 0x2e, 0x76, 0x69, 0x61, 0x6d, 0x2e, 0x63, 0x6f,
+	0x6d, 0x6d, 0x6f, 0x6e, 0x2e, 0x76, 0x31, 0x2e, 0x47, 0x65, 0x74, 0x33, 0x44, 0x4d, 0x6f, 0x64,
+	0x65, 0x6c, 0x73, 0x52, 0x65, 0x71, 0x75, 0x65, 0x73, 0x74, 0x1a, 0x23, 0x2e, 0x76, 0x69, 0x61,
+	0x6d, 0x2e, 0x63, 0x6f, 0x6d, 0x6d, 0x6f, 0x6e, 0x2e, 0x76, 0x31, 0x2e, 0x47, 0x65, 0x74, 0x33,
+	0x44, 0x4d, 0x6f, 0x64, 0x65, 0x6c, 0x73, 0x52, 0x65, 0x73, 0x70, 0x6f, 0x6e, 0x73, 0x65, 0x22,
+	0x33, 0x82, 0xd3, 0xe4, 0x93, 0x02, 0x2d, 0x12, 0x2b, 0x2f, 0x76, 0x69, 0x61, 0x6d, 0x2f, 0x61,
+	0x70, 0x69, 0x2f, 0x76, 0x31, 0x2f, 0x63, 0x6f, 0x6d, 0x70, 0x6f, 0x6e, 0x65, 0x6e, 0x74, 0x2f,
+	0x61, 0x72, 0x6d, 0x2f, 0x7b, 0x6e, 0x61, 0x6d, 0x65, 0x7d, 0x2f, 0x33, 0x64, 0x5f, 0x6d, 0x6f,
+	0x64, 0x65, 0x6c, 0x73, 0x42, 0x3d, 0x0a, 0x19, 0x63, 0x6f, 0x6d, 0x2e, 0x76, 0x69, 0x61, 0x6d,
+	0x2e, 0x63, 0x6f, 0x6d, 0x70, 0x6f, 0x6e, 0x65, 0x6e, 0x74, 0x2e, 0x61, 0x72, 0x6d, 0x2e, 0x76,
+	0x31, 0x5a, 0x20, 0x67, 0x6f, 0x2e, 0x76, 0x69, 0x61, 0x6d, 0x2e, 0x63, 0x6f, 0x6d, 0x2f, 0x61,
+	0x70, 0x69, 0x2f, 0x63, 0x6f, 0x6d, 0x70, 0x6f, 0x6e, 0x65, 0x6e, 0x74, 0x2f, 0x61, 0x72, 0x6d,
+	0x2f, 0x76, 0x31, 0x62, 0x06, 0x70, 0x72, 0x6f, 0x74, 0x6f, 0x33,
 }
 
 var (
@@ -1139,9 +1148,11 @@ var file_component_arm_v1_arm_proto_goTypes = []any{
 	(*v1.DoCommandRequest)(nil),               // 19: viam.common.v1.DoCommandRequest
 	(*v1.GetKinematicsRequest)(nil),           // 20: viam.common.v1.GetKinematicsRequest
 	(*v1.GetGeometriesRequest)(nil),           // 21: viam.common.v1.GetGeometriesRequest
-	(*v1.DoCommandResponse)(nil),              // 22: viam.common.v1.DoCommandResponse
-	(*v1.GetKinematicsResponse)(nil),          // 23: viam.common.v1.GetKinematicsResponse
-	(*v1.GetGeometriesResponse)(nil),          // 24: viam.common.v1.GetGeometriesResponse
+	(*v1.Get3DModelsRequest)(nil),             // 22: viam.common.v1.Get3DModelsRequest
+	(*v1.DoCommandResponse)(nil),              // 23: viam.common.v1.DoCommandResponse
+	(*v1.GetKinematicsResponse)(nil),          // 24: viam.common.v1.GetKinematicsResponse
+	(*v1.GetGeometriesResponse)(nil),          // 25: viam.common.v1.GetGeometriesResponse
+	(*v1.Get3DModelsResponse)(nil),            // 26: viam.common.v1.Get3DModelsResponse
 }
 var file_component_arm_v1_arm_proto_depIdxs = []int32{
 	17, // 0: viam.component.arm.v1.GetEndPositionRequest.extra:type_name -> google.protobuf.Struct
@@ -1168,18 +1179,20 @@ var file_component_arm_v1_arm_proto_depIdxs = []int32{
 	19, // 21: viam.component.arm.v1.ArmService.DoCommand:input_type -> viam.common.v1.DoCommandRequest
 	20, // 22: viam.component.arm.v1.ArmService.GetKinematics:input_type -> viam.common.v1.GetKinematicsRequest
 	21, // 23: viam.component.arm.v1.ArmService.GetGeometries:input_type -> viam.common.v1.GetGeometriesRequest
-	1,  // 24: viam.component.arm.v1.ArmService.GetEndPosition:output_type -> viam.component.arm.v1.GetEndPositionResponse
-	6,  // 25: viam.component.arm.v1.ArmService.MoveToPosition:output_type -> viam.component.arm.v1.MoveToPositionResponse
-	4,  // 26: viam.component.arm.v1.ArmService.GetJointPositions:output_type -> viam.component.arm.v1.GetJointPositionsResponse
-	8,  // 27: viam.component.arm.v1.ArmService.MoveToJointPositions:output_type -> viam.component.arm.v1.MoveToJointPositionsResponse
-	10, // 28: viam.component.arm.v1.ArmService.MoveThroughJointPositions:output_type -> viam.component.arm.v1.MoveThroughJointPositionsResponse
-	12, // 29: viam.component.arm.v1.ArmService.Stop:output_type -> viam.component.arm.v1.StopResponse
-	15, // 30: viam.component.arm.v1.ArmService.IsMoving:output_type -> viam.component.arm.v1.IsMovingResponse
-	22, // 31: viam.component.arm.v1.ArmService.DoCommand:output_type -> viam.common.v1.DoCommandResponse
-	23, // 32: viam.component.arm.v1.ArmService.GetKinematics:output_type -> viam.common.v1.GetKinematicsResponse
-	24, // 33: viam.component.arm.v1.ArmService.GetGeometries:output_type -> viam.common.v1.GetGeometriesResponse
-	24, // [24:34] is the sub-list for method output_type
-	14, // [14:24] is the sub-list for method input_type
+	22, // 24: viam.component.arm.v1.ArmService.Get3DModels:input_type -> viam.common.v1.Get3DModelsRequest
+	1,  // 25: viam.component.arm.v1.ArmService.GetEndPosition:output_type -> viam.component.arm.v1.GetEndPositionResponse
+	6,  // 26: viam.component.arm.v1.ArmService.MoveToPosition:output_type -> viam.component.arm.v1.MoveToPositionResponse
+	4,  // 27: viam.component.arm.v1.ArmService.GetJointPositions:output_type -> viam.component.arm.v1.GetJointPositionsResponse
+	8,  // 28: viam.component.arm.v1.ArmService.MoveToJointPositions:output_type -> viam.component.arm.v1.MoveToJointPositionsResponse
+	10, // 29: viam.component.arm.v1.ArmService.MoveThroughJointPositions:output_type -> viam.component.arm.v1.MoveThroughJointPositionsResponse
+	12, // 30: viam.component.arm.v1.ArmService.Stop:output_type -> viam.component.arm.v1.StopResponse
+	15, // 31: viam.component.arm.v1.ArmService.IsMoving:output_type -> viam.component.arm.v1.IsMovingResponse
+	23, // 32: viam.component.arm.v1.ArmService.DoCommand:output_type -> viam.common.v1.DoCommandResponse
+	24, // 33: viam.component.arm.v1.ArmService.GetKinematics:output_type -> viam.common.v1.GetKinematicsResponse
+	25, // 34: viam.component.arm.v1.ArmService.GetGeometries:output_type -> viam.common.v1.GetGeometriesResponse
+	26, // 35: viam.component.arm.v1.ArmService.Get3DModels:output_type -> viam.common.v1.Get3DModelsResponse
+	25, // [25:36] is the sub-list for method output_type
+	14, // [14:25] is the sub-list for method input_type
 	14, // [14:14] is the sub-list for extension type_name
 	14, // [14:14] is the sub-list for extension extendee
 	0,  // [0:14] is the sub-list for field type_name
diff --git a/component/arm/v1/arm.pb.gw.go b/component/arm/v1/arm.pb.gw.go
index afd930a7e..f971684bf 100644
--- a/component/arm/v1/arm.pb.gw.go
+++ b/component/arm/v1/arm.pb.gw.go
@@ -714,6 +714,76 @@ func local_request_ArmService_GetGeometries_0(ctx context.Context, marshaler run
 
 }
 
+var (
+	filter_ArmService_Get3DModels_0 = &utilities.DoubleArray{Encoding: map[string]int{"name": 0}, Base: []int{1, 1, 0}, Check: []int{0, 1, 2}}
+)
+
+func request_ArmService_Get3DModels_0(ctx context.Context, marshaler runtime.Marshaler, client ArmServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
+	var protoReq v1.Get3DModelsRequest
+	var metadata runtime.ServerMetadata
+
+	var (
+		val string
+		ok  bool
+		err error
+		_   = err
+	)
+
+	val, ok = pathParams["name"]
+	if !ok {
+		return nil, metadata, status.Errorf(codes.InvalidArgument, "missing parameter %s", "name")
+	}
+
+	protoReq.Name, err = runtime.String(val)
+	if err != nil {
+		return nil, metadata, status.Errorf(codes.InvalidArgument, "type mismatch, parameter: %s, error: %v", "name", err)
+	}
+
+	if err := req.ParseForm(); err != nil {
+		return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err)
+	}
+	if err := runtime.PopulateQueryParameters(&protoReq, req.Form, filter_ArmService_Get3DModels_0); err != nil {
+		return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err)
+	}
+
+	msg, err := client.Get3DModels(ctx, &protoReq, grpc.Header(&metadata.HeaderMD), grpc.Trailer(&metadata.TrailerMD))
+	return msg, metadata, err
+
+}
+
+func local_request_ArmService_Get3DModels_0(ctx context.Context, marshaler runtime.Marshaler, server ArmServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
+	var protoReq v1.Get3DModelsRequest
+	var metadata runtime.ServerMetadata
+
+	var (
+		val string
+		ok  bool
+		err error
+		_   = err
+	)
+
+	val, ok = pathParams["name"]
+	if !ok {
+		return nil, metadata, status.Errorf(codes.InvalidArgument, "missing parameter %s", "name")
+	}
+
+	protoReq.Name, err = runtime.String(val)
+	if err != nil {
+		return nil, metadata, status.Errorf(codes.InvalidArgument, "type mismatch, parameter: %s, error: %v", "name", err)
+	}
+
+	if err := req.ParseForm(); err != nil {
+		return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err)
+	}
+	if err := runtime.PopulateQueryParameters(&protoReq, req.Form, filter_ArmService_Get3DModels_0); err != nil {
+		return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err)
+	}
+
+	msg, err := server.Get3DModels(ctx, &protoReq)
+	return msg, metadata, err
+
+}
+
 // RegisterArmServiceHandlerServer registers the http handlers for service ArmService to "mux".
 // UnaryRPC     :call ArmServiceServer directly.
 // StreamingRPC :currently unsupported pending https://github.com/grpc/grpc-go/issues/906.
@@ -970,6 +1040,31 @@ func RegisterArmServiceHandlerServer(ctx context.Context, mux *runtime.ServeMux,
 
 	})
 
+	mux.Handle("GET", pattern_ArmService_Get3DModels_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) {
+		ctx, cancel := context.WithCancel(req.Context())
+		defer cancel()
+		var stream runtime.ServerTransportStream
+		ctx = grpc.NewContextWithServerTransportStream(ctx, &stream)
+		inboundMarshaler, outboundMarshaler := runtime.MarshalerForRequest(mux, req)
+		var err error
+		var annotatedContext context.Context
+		annotatedContext, err = runtime.AnnotateIncomingContext(ctx, mux, req, "/viam.component.arm.v1.ArmService/Get3DModels", runtime.WithHTTPPathPattern("/viam/api/v1/component/arm/{name}/3d_models"))
+		if err != nil {
+			runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err)
+			return
+		}
+		resp, md, err := local_request_ArmService_Get3DModels_0(annotatedContext, inboundMarshaler, server, req, pathParams)
+		md.HeaderMD, md.TrailerMD = metadata.Join(md.HeaderMD, stream.Header()), metadata.Join(md.TrailerMD, stream.Trailer())
+		annotatedContext = runtime.NewServerMetadataContext(annotatedContext, md)
+		if err != nil {
+			runtime.HTTPError(annotatedContext, mux, outboundMarshaler, w, req, err)
+			return
+		}
+
+		forward_ArmService_Get3DModels_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...)
+
+	})
+
 	return nil
 }
 
@@ -1231,6 +1326,28 @@ func RegisterArmServiceHandlerClient(ctx context.Context, mux *runtime.ServeMux,
 
 	})
 
+	mux.Handle("GET", pattern_ArmService_Get3DModels_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) {
+		ctx, cancel := context.WithCancel(req.Context())
+		defer cancel()
+		inboundMarshaler, outboundMarshaler := runtime.MarshalerForRequest(mux, req)
+		var err error
+		var annotatedContext context.Context
+		annotatedContext, err = runtime.AnnotateContext(ctx, mux, req, "/viam.component.arm.v1.ArmService/Get3DModels", runtime.WithHTTPPathPattern("/viam/api/v1/component/arm/{name}/3d_models"))
+		if err != nil {
+			runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err)
+			return
+		}
+		resp, md, err := request_ArmService_Get3DModels_0(annotatedContext, inboundMarshaler, client, req, pathParams)
+		annotatedContext = runtime.NewServerMetadataContext(annotatedContext, md)
+		if err != nil {
+			runtime.HTTPError(annotatedContext, mux, outboundMarshaler, w, req, err)
+			return
+		}
+
+		forward_ArmService_Get3DModels_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...)
+
+	})
+
 	return nil
 }
 
@@ -1254,6 +1371,8 @@ var (
 	pattern_ArmService_GetKinematics_0 = runtime.MustPattern(runtime.NewPattern(1, []int{2, 0, 2, 1, 2, 2, 2, 3, 2, 4, 1, 0, 4, 1, 5, 5, 2, 6}, []string{"viam", "api", "v1", "component", "arm", "name", "kinematics"}, ""))
 
 	pattern_ArmService_GetGeometries_0 = runtime.MustPattern(runtime.NewPattern(1, []int{2, 0, 2, 1, 2, 2, 2, 3, 2, 4, 1, 0, 4, 1, 5, 5, 2, 6}, []string{"viam", "api", "v1", "component", "arm", "name", "geometries"}, ""))
+
+	pattern_ArmService_Get3DModels_0 = runtime.MustPattern(runtime.NewPattern(1, []int{2, 0, 2, 1, 2, 2, 2, 3, 2, 4, 1, 0, 4, 1, 5, 5, 2, 6}, []string{"viam", "api", "v1", "component", "arm", "name", "3d_models"}, ""))
 )
 
 var (
@@ -1276,4 +1395,6 @@ var (
 	forward_ArmService_GetKinematics_0 = runtime.ForwardResponseMessage
 
 	forward_ArmService_GetGeometries_0 = runtime.ForwardResponseMessage
+
+	forward_ArmService_Get3DModels_0 = runtime.ForwardResponseMessage
 )
diff --git a/component/arm/v1/arm_grpc.pb.go b/component/arm/v1/arm_grpc.pb.go
index 6e7945835..c6b5bfbad 100644
--- a/component/arm/v1/arm_grpc.pb.go
+++ b/component/arm/v1/arm_grpc.pb.go
@@ -47,6 +47,8 @@ type ArmServiceClient interface {
 	GetKinematics(ctx context.Context, in *v1.GetKinematicsRequest, opts ...grpc.CallOption) (*v1.GetKinematicsResponse, error)
 	// GetGeometries returns the geometries of the component in their current configuration
 	GetGeometries(ctx context.Context, in *v1.GetGeometriesRequest, opts ...grpc.CallOption) (*v1.GetGeometriesResponse, error)
+	// Get3DModels returns the 3D models of the component
+	Get3DModels(ctx context.Context, in *v1.Get3DModelsRequest, opts ...grpc.CallOption) (*v1.Get3DModelsResponse, error)
 }
 
 type armServiceClient struct {
@@ -147,6 +149,15 @@ func (c *armServiceClient) GetGeometries(ctx context.Context, in *v1.GetGeometri
 	return out, nil
 }
 
+func (c *armServiceClient) Get3DModels(ctx context.Context, in *v1.Get3DModelsRequest, opts ...grpc.CallOption) (*v1.Get3DModelsResponse, error) {
+	out := new(v1.Get3DModelsResponse)
+	err := c.cc.Invoke(ctx, "/viam.component.arm.v1.ArmService/Get3DModels", in, out, opts...)
+	if err != nil {
+		return nil, err
+	}
+	return out, nil
+}
+
 // ArmServiceServer is the server API for ArmService service.
 // All implementations must embed UnimplementedArmServiceServer
 // for forward compatibility
@@ -175,6 +186,8 @@ type ArmServiceServer interface {
 	GetKinematics(context.Context, *v1.GetKinematicsRequest) (*v1.GetKinematicsResponse, error)
 	// GetGeometries returns the geometries of the component in their current configuration
 	GetGeometries(context.Context, *v1.GetGeometriesRequest) (*v1.GetGeometriesResponse, error)
+	// Get3DModels returns the 3D models of the component
+	Get3DModels(context.Context, *v1.Get3DModelsRequest) (*v1.Get3DModelsResponse, error)
 	mustEmbedUnimplementedArmServiceServer()
 }
 
@@ -212,6 +225,9 @@ func (UnimplementedArmServiceServer) GetKinematics(context.Context, *v1.GetKinem
 func (UnimplementedArmServiceServer) GetGeometries(context.Context, *v1.GetGeometriesRequest) (*v1.GetGeometriesResponse, error) {
 	return nil, status.Errorf(codes.Unimplemented, "method GetGeometries not implemented")
 }
+func (UnimplementedArmServiceServer) Get3DModels(context.Context, *v1.Get3DModelsRequest) (*v1.Get3DModelsResponse, error) {
+	return nil, status.Errorf(codes.Unimplemented, "method Get3DModels not implemented")
+}
 func (UnimplementedArmServiceServer) mustEmbedUnimplementedArmServiceServer() {}
 
 // UnsafeArmServiceServer may be embedded to opt out of forward compatibility for this service.
@@ -405,6 +421,24 @@ func _ArmService_GetGeometries_Handler(srv interface{}, ctx context.Context, dec
 	return interceptor(ctx, in, info, handler)
 }
 
+func _ArmService_Get3DModels_Handler(srv interface{}, ctx context.Context, dec func(interface{}) error, interceptor grpc.UnaryServerInterceptor) (interface{}, error) {
+	in := new(v1.Get3DModelsRequest)
+	if err := dec(in); err != nil {
+		return nil, err
+	}
+	if interceptor == nil {
+		return srv.(ArmServiceServer).Get3DModels(ctx, in)
+	}
+	info := &grpc.UnaryServerInfo{
+		Server:     srv,
+		FullMethod: "/viam.component.arm.v1.ArmService/Get3DModels",
+	}
+	handler := func(ctx context.Context, req interface{}) (interface{}, error) {
+		return srv.(ArmServiceServer).Get3DModels(ctx, req.(*v1.Get3DModelsRequest))
+	}
+	return interceptor(ctx, in, info, handler)
+}
+
 // ArmService_ServiceDesc is the grpc.ServiceDesc for ArmService service.
 // It's only intended for direct use with grpc.RegisterService,
 // and not to be introspected or modified (even as a copy)
@@ -452,6 +486,10 @@ var ArmService_ServiceDesc = grpc.ServiceDesc{
 			MethodName: "GetGeometries",
 			Handler:    _ArmService_GetGeometries_Handler,
 		},
+		{
+			MethodName: "Get3DModels",
+			Handler:    _ArmService_Get3DModels_Handler,
+		},
 	},
 	Streams:  []grpc.StreamDesc{},
 	Metadata: "component/arm/v1/arm.proto",
diff --git a/gen/js/common/v1/common_pb.d.ts b/gen/js/common/v1/common_pb.d.ts
index eae25daa0..7b99b9bd2 100644
--- a/gen/js/common/v1/common_pb.d.ts
+++ b/gen/js/common/v1/common_pb.d.ts
@@ -716,6 +716,51 @@ export namespace GetGeometriesResponse {
   }
 }
 
+export class Get3DModelsRequest extends jspb.Message {
+  getName(): string;
+  setName(value: string): void;
+
+  hasExtra(): boolean;
+  clearExtra(): void;
+  getExtra(): google_protobuf_struct_pb.Struct | undefined;
+  setExtra(value?: google_protobuf_struct_pb.Struct): void;
+
+  serializeBinary(): Uint8Array;
+  toObject(includeInstance?: boolean): Get3DModelsRequest.AsObject;
+  static toObject(includeInstance: boolean, msg: Get3DModelsRequest): Get3DModelsRequest.AsObject;
+  static extensions: {[key: number]: jspb.ExtensionFieldInfo<jspb.Message>};
+  static extensionsBinary: {[key: number]: jspb.ExtensionFieldBinaryInfo<jspb.Message>};
+  static serializeBinaryToWriter(message: Get3DModelsRequest, writer: jspb.BinaryWriter): void;
+  static deserializeBinary(bytes: Uint8Array): Get3DModelsRequest;
+  static deserializeBinaryFromReader(message: Get3DModelsRequest, reader: jspb.BinaryReader): Get3DModelsRequest;
+}
+
+export namespace Get3DModelsRequest {
+  export type AsObject = {
+    name: string,
+    extra?: google_protobuf_struct_pb.Struct.AsObject,
+  }
+}
+
+export class Get3DModelsResponse extends jspb.Message {
+  getModelsMap(): jspb.Map<string, Mesh>;
+  clearModelsMap(): void;
+  serializeBinary(): Uint8Array;
+  toObject(includeInstance?: boolean): Get3DModelsResponse.AsObject;
+  static toObject(includeInstance: boolean, msg: Get3DModelsResponse): Get3DModelsResponse.AsObject;
+  static extensions: {[key: number]: jspb.ExtensionFieldInfo<jspb.Message>};
+  static extensionsBinary: {[key: number]: jspb.ExtensionFieldBinaryInfo<jspb.Message>};
+  static serializeBinaryToWriter(message: Get3DModelsResponse, writer: jspb.BinaryWriter): void;
+  static deserializeBinary(bytes: Uint8Array): Get3DModelsResponse;
+  static deserializeBinaryFromReader(message: Get3DModelsResponse, reader: jspb.BinaryReader): Get3DModelsResponse;
+}
+
+export namespace Get3DModelsResponse {
+  export type AsObject = {
+    modelsMap: Array<[string, Mesh.AsObject]>,
+  }
+}
+
 export class GetReadingsRequest extends jspb.Message {
   getName(): string;
   setName(value: string): void;
diff --git a/gen/js/common/v1/common_pb.js b/gen/js/common/v1/common_pb.js
index 199a8187a..bb3c7fd48 100644
--- a/gen/js/common/v1/common_pb.js
+++ b/gen/js/common/v1/common_pb.js
@@ -31,6 +31,8 @@ goog.exportSymbol('proto.viam.common.v1.GeoPoint', null, global);
 goog.exportSymbol('proto.viam.common.v1.GeometriesInFrame', null, global);
 goog.exportSymbol('proto.viam.common.v1.Geometry', null, global);
 goog.exportSymbol('proto.viam.common.v1.Geometry.GeometryTypeCase', null, global);
+goog.exportSymbol('proto.viam.common.v1.Get3DModelsRequest', null, global);
+goog.exportSymbol('proto.viam.common.v1.Get3DModelsResponse', null, global);
 goog.exportSymbol('proto.viam.common.v1.GetGeometriesRequest', null, global);
 goog.exportSymbol('proto.viam.common.v1.GetGeometriesResponse', null, global);
 goog.exportSymbol('proto.viam.common.v1.GetKinematicsRequest', null, global);
@@ -580,6 +582,48 @@ if (goog.DEBUG && !COMPILED) {
    */
   proto.viam.common.v1.GetGeometriesResponse.displayName = 'proto.viam.common.v1.GetGeometriesResponse';
 }
+/**
+ * Generated by JsPbCodeGenerator.
+ * @param {Array=} opt_data Optional initial data array, typically from a
+ * server response, or constructed directly in Javascript. The array is used
+ * in place and becomes part of the constructed object. It is not cloned.
+ * If no data is provided, the constructed object will be empty, but still
+ * valid.
+ * @extends {jspb.Message}
+ * @constructor
+ */
+proto.viam.common.v1.Get3DModelsRequest = function(opt_data) {
+  jspb.Message.initialize(this, opt_data, 0, -1, null, null);
+};
+goog.inherits(proto.viam.common.v1.Get3DModelsRequest, jspb.Message);
+if (goog.DEBUG && !COMPILED) {
+  /**
+   * @public
+   * @override
+   */
+  proto.viam.common.v1.Get3DModelsRequest.displayName = 'proto.viam.common.v1.Get3DModelsRequest';
+}
+/**
+ * Generated by JsPbCodeGenerator.
+ * @param {Array=} opt_data Optional initial data array, typically from a
+ * server response, or constructed directly in Javascript. The array is used
+ * in place and becomes part of the constructed object. It is not cloned.
+ * If no data is provided, the constructed object will be empty, but still
+ * valid.
+ * @extends {jspb.Message}
+ * @constructor
+ */
+proto.viam.common.v1.Get3DModelsResponse = function(opt_data) {
+  jspb.Message.initialize(this, opt_data, 0, -1, null, null);
+};
+goog.inherits(proto.viam.common.v1.Get3DModelsResponse, jspb.Message);
+if (goog.DEBUG && !COMPILED) {
+  /**
+   * @public
+   * @override
+   */
+  proto.viam.common.v1.Get3DModelsResponse.displayName = 'proto.viam.common.v1.Get3DModelsResponse';
+}
 /**
  * Generated by JsPbCodeGenerator.
  * @param {Array=} opt_data Optional initial data array, typically from a
@@ -5709,6 +5753,320 @@ proto.viam.common.v1.GetGeometriesResponse.prototype.clearGeometriesList = funct
 
 
 
+if (jspb.Message.GENERATE_TO_OBJECT) {
+/**
+ * Creates an object representation of this proto.
+ * Field names that are reserved in JavaScript and will be renamed to pb_name.
+ * Optional fields that are not set will be set to undefined.
+ * To access a reserved field use, foo.pb_<name>, eg, foo.pb_default.
+ * For the list of reserved names please see:
+ *     net/proto2/compiler/js/internal/generator.cc#kKeyword.
+ * @param {boolean=} opt_includeInstance Deprecated. whether to include the
+ *     JSPB instance for transitional soy proto support:
+ *     http://goto/soy-param-migration
+ * @return {!Object}
+ */
+proto.viam.common.v1.Get3DModelsRequest.prototype.toObject = function(opt_includeInstance) {
+  return proto.viam.common.v1.Get3DModelsRequest.toObject(opt_includeInstance, this);
+};
+
+
+/**
+ * Static version of the {@see toObject} method.
+ * @param {boolean|undefined} includeInstance Deprecated. Whether to include
+ *     the JSPB instance for transitional soy proto support:
+ *     http://goto/soy-param-migration
+ * @param {!proto.viam.common.v1.Get3DModelsRequest} msg The msg instance to transform.
+ * @return {!Object}
+ * @suppress {unusedLocalVariables} f is only used for nested messages
+ */
+proto.viam.common.v1.Get3DModelsRequest.toObject = function(includeInstance, msg) {
+  var f, obj = {
+    name: jspb.Message.getFieldWithDefault(msg, 1, ""),
+    extra: (f = msg.getExtra()) && google_protobuf_struct_pb.Struct.toObject(includeInstance, f)
+  };
+
+  if (includeInstance) {
+    obj.$jspbMessageInstance = msg;
+  }
+  return obj;
+};
+}
+
+
+/**
+ * Deserializes binary data (in protobuf wire format).
+ * @param {jspb.ByteSource} bytes The bytes to deserialize.
+ * @return {!proto.viam.common.v1.Get3DModelsRequest}
+ */
+proto.viam.common.v1.Get3DModelsRequest.deserializeBinary = function(bytes) {
+  var reader = new jspb.BinaryReader(bytes);
+  var msg = new proto.viam.common.v1.Get3DModelsRequest;
+  return proto.viam.common.v1.Get3DModelsRequest.deserializeBinaryFromReader(msg, reader);
+};
+
+
+/**
+ * Deserializes binary data (in protobuf wire format) from the
+ * given reader into the given message object.
+ * @param {!proto.viam.common.v1.Get3DModelsRequest} msg The message object to deserialize into.
+ * @param {!jspb.BinaryReader} reader The BinaryReader to use.
+ * @return {!proto.viam.common.v1.Get3DModelsRequest}
+ */
+proto.viam.common.v1.Get3DModelsRequest.deserializeBinaryFromReader = function(msg, reader) {
+  while (reader.nextField()) {
+    if (reader.isEndGroup()) {
+      break;
+    }
+    var field = reader.getFieldNumber();
+    switch (field) {
+    case 1:
+      var value = /** @type {string} */ (reader.readString());
+      msg.setName(value);
+      break;
+    case 99:
+      var value = new google_protobuf_struct_pb.Struct;
+      reader.readMessage(value,google_protobuf_struct_pb.Struct.deserializeBinaryFromReader);
+      msg.setExtra(value);
+      break;
+    default:
+      reader.skipField();
+      break;
+    }
+  }
+  return msg;
+};
+
+
+/**
+ * Serializes the message to binary data (in protobuf wire format).
+ * @return {!Uint8Array}
+ */
+proto.viam.common.v1.Get3DModelsRequest.prototype.serializeBinary = function() {
+  var writer = new jspb.BinaryWriter();
+  proto.viam.common.v1.Get3DModelsRequest.serializeBinaryToWriter(this, writer);
+  return writer.getResultBuffer();
+};
+
+
+/**
+ * Serializes the given message to binary data (in protobuf wire
+ * format), writing to the given BinaryWriter.
+ * @param {!proto.viam.common.v1.Get3DModelsRequest} message
+ * @param {!jspb.BinaryWriter} writer
+ * @suppress {unusedLocalVariables} f is only used for nested messages
+ */
+proto.viam.common.v1.Get3DModelsRequest.serializeBinaryToWriter = function(message, writer) {
+  var f = undefined;
+  f = message.getName();
+  if (f.length > 0) {
+    writer.writeString(
+      1,
+      f
+    );
+  }
+  f = message.getExtra();
+  if (f != null) {
+    writer.writeMessage(
+      99,
+      f,
+      google_protobuf_struct_pb.Struct.serializeBinaryToWriter
+    );
+  }
+};
+
+
+/**
+ * optional string name = 1;
+ * @return {string}
+ */
+proto.viam.common.v1.Get3DModelsRequest.prototype.getName = function() {
+  return /** @type {string} */ (jspb.Message.getFieldWithDefault(this, 1, ""));
+};
+
+
+/**
+ * @param {string} value
+ * @return {!proto.viam.common.v1.Get3DModelsRequest} returns this
+ */
+proto.viam.common.v1.Get3DModelsRequest.prototype.setName = function(value) {
+  return jspb.Message.setProto3StringField(this, 1, value);
+};
+
+
+/**
+ * optional google.protobuf.Struct extra = 99;
+ * @return {?proto.google.protobuf.Struct}
+ */
+proto.viam.common.v1.Get3DModelsRequest.prototype.getExtra = function() {
+  return /** @type{?proto.google.protobuf.Struct} */ (
+    jspb.Message.getWrapperField(this, google_protobuf_struct_pb.Struct, 99));
+};
+
+
+/**
+ * @param {?proto.google.protobuf.Struct|undefined} value
+ * @return {!proto.viam.common.v1.Get3DModelsRequest} returns this
+*/
+proto.viam.common.v1.Get3DModelsRequest.prototype.setExtra = function(value) {
+  return jspb.Message.setWrapperField(this, 99, value);
+};
+
+
+/**
+ * Clears the message field making it undefined.
+ * @return {!proto.viam.common.v1.Get3DModelsRequest} returns this
+ */
+proto.viam.common.v1.Get3DModelsRequest.prototype.clearExtra = function() {
+  return this.setExtra(undefined);
+};
+
+
+/**
+ * Returns whether this field is set.
+ * @return {boolean}
+ */
+proto.viam.common.v1.Get3DModelsRequest.prototype.hasExtra = function() {
+  return jspb.Message.getField(this, 99) != null;
+};
+
+
+
+
+
+if (jspb.Message.GENERATE_TO_OBJECT) {
+/**
+ * Creates an object representation of this proto.
+ * Field names that are reserved in JavaScript and will be renamed to pb_name.
+ * Optional fields that are not set will be set to undefined.
+ * To access a reserved field use, foo.pb_<name>, eg, foo.pb_default.
+ * For the list of reserved names please see:
+ *     net/proto2/compiler/js/internal/generator.cc#kKeyword.
+ * @param {boolean=} opt_includeInstance Deprecated. whether to include the
+ *     JSPB instance for transitional soy proto support:
+ *     http://goto/soy-param-migration
+ * @return {!Object}
+ */
+proto.viam.common.v1.Get3DModelsResponse.prototype.toObject = function(opt_includeInstance) {
+  return proto.viam.common.v1.Get3DModelsResponse.toObject(opt_includeInstance, this);
+};
+
+
+/**
+ * Static version of the {@see toObject} method.
+ * @param {boolean|undefined} includeInstance Deprecated. Whether to include
+ *     the JSPB instance for transitional soy proto support:
+ *     http://goto/soy-param-migration
+ * @param {!proto.viam.common.v1.Get3DModelsResponse} msg The msg instance to transform.
+ * @return {!Object}
+ * @suppress {unusedLocalVariables} f is only used for nested messages
+ */
+proto.viam.common.v1.Get3DModelsResponse.toObject = function(includeInstance, msg) {
+  var f, obj = {
+    modelsMap: (f = msg.getModelsMap()) ? f.toObject(includeInstance, proto.viam.common.v1.Mesh.toObject) : []
+  };
+
+  if (includeInstance) {
+    obj.$jspbMessageInstance = msg;
+  }
+  return obj;
+};
+}
+
+
+/**
+ * Deserializes binary data (in protobuf wire format).
+ * @param {jspb.ByteSource} bytes The bytes to deserialize.
+ * @return {!proto.viam.common.v1.Get3DModelsResponse}
+ */
+proto.viam.common.v1.Get3DModelsResponse.deserializeBinary = function(bytes) {
+  var reader = new jspb.BinaryReader(bytes);
+  var msg = new proto.viam.common.v1.Get3DModelsResponse;
+  return proto.viam.common.v1.Get3DModelsResponse.deserializeBinaryFromReader(msg, reader);
+};
+
+
+/**
+ * Deserializes binary data (in protobuf wire format) from the
+ * given reader into the given message object.
+ * @param {!proto.viam.common.v1.Get3DModelsResponse} msg The message object to deserialize into.
+ * @param {!jspb.BinaryReader} reader The BinaryReader to use.
+ * @return {!proto.viam.common.v1.Get3DModelsResponse}
+ */
+proto.viam.common.v1.Get3DModelsResponse.deserializeBinaryFromReader = function(msg, reader) {
+  while (reader.nextField()) {
+    if (reader.isEndGroup()) {
+      break;
+    }
+    var field = reader.getFieldNumber();
+    switch (field) {
+    case 1:
+      var value = msg.getModelsMap();
+      reader.readMessage(value, function(message, reader) {
+        jspb.Map.deserializeBinary(message, reader, jspb.BinaryReader.prototype.readString, jspb.BinaryReader.prototype.readMessage, proto.viam.common.v1.Mesh.deserializeBinaryFromReader, "", new proto.viam.common.v1.Mesh());
+         });
+      break;
+    default:
+      reader.skipField();
+      break;
+    }
+  }
+  return msg;
+};
+
+
+/**
+ * Serializes the message to binary data (in protobuf wire format).
+ * @return {!Uint8Array}
+ */
+proto.viam.common.v1.Get3DModelsResponse.prototype.serializeBinary = function() {
+  var writer = new jspb.BinaryWriter();
+  proto.viam.common.v1.Get3DModelsResponse.serializeBinaryToWriter(this, writer);
+  return writer.getResultBuffer();
+};
+
+
+/**
+ * Serializes the given message to binary data (in protobuf wire
+ * format), writing to the given BinaryWriter.
+ * @param {!proto.viam.common.v1.Get3DModelsResponse} message
+ * @param {!jspb.BinaryWriter} writer
+ * @suppress {unusedLocalVariables} f is only used for nested messages
+ */
+proto.viam.common.v1.Get3DModelsResponse.serializeBinaryToWriter = function(message, writer) {
+  var f = undefined;
+  f = message.getModelsMap(true);
+  if (f && f.getLength() > 0) {
+    f.serializeBinary(1, writer, jspb.BinaryWriter.prototype.writeString, jspb.BinaryWriter.prototype.writeMessage, proto.viam.common.v1.Mesh.serializeBinaryToWriter);
+  }
+};
+
+
+/**
+ * map<string, Mesh> models = 1;
+ * @param {boolean=} opt_noLazyCreate Do not create the map if
+ * empty, instead returning `undefined`
+ * @return {!jspb.Map<string,!proto.viam.common.v1.Mesh>}
+ */
+proto.viam.common.v1.Get3DModelsResponse.prototype.getModelsMap = function(opt_noLazyCreate) {
+  return /** @type {!jspb.Map<string,!proto.viam.common.v1.Mesh>} */ (
+      jspb.Message.getMapField(this, 1, opt_noLazyCreate,
+      proto.viam.common.v1.Mesh));
+};
+
+
+/**
+ * Clears values from the map. The map will be non-null.
+ * @return {!proto.viam.common.v1.Get3DModelsResponse} returns this
+ */
+proto.viam.common.v1.Get3DModelsResponse.prototype.clearModelsMap = function() {
+  this.getModelsMap().clear();
+  return this;};
+
+
+
+
+
 if (jspb.Message.GENERATE_TO_OBJECT) {
 /**
  * Creates an object representation of this proto.
diff --git a/gen/js/component/arm/v1/arm_grpc_web_pb.js b/gen/js/component/arm/v1/arm_grpc_web_pb.js
index b0f1d0577..8ad2bf1c9 100644
--- a/gen/js/component/arm/v1/arm_grpc_web_pb.js
+++ b/gen/js/component/arm/v1/arm_grpc_web_pb.js
@@ -693,5 +693,66 @@ proto.viam.component.arm.v1.ArmServicePromiseClient.prototype.getGeometries =
 };
 
 
+/**
+ * @const
+ * @type {!grpc.web.MethodDescriptor<
+ *   !proto.viam.common.v1.Get3DModelsRequest,
+ *   !proto.viam.common.v1.Get3DModelsResponse>}
+ */
+const methodDescriptor_ArmService_Get3DModels = new grpc.web.MethodDescriptor(
+  '/viam.component.arm.v1.ArmService/Get3DModels',
+  grpc.web.MethodType.UNARY,
+  common_v1_common_pb.Get3DModelsRequest,
+  common_v1_common_pb.Get3DModelsResponse,
+  /**
+   * @param {!proto.viam.common.v1.Get3DModelsRequest} request
+   * @return {!Uint8Array}
+   */
+  function(request) {
+    return request.serializeBinary();
+  },
+  common_v1_common_pb.Get3DModelsResponse.deserializeBinary
+);
+
+
+/**
+ * @param {!proto.viam.common.v1.Get3DModelsRequest} request The
+ *     request proto
+ * @param {?Object<string, string>} metadata User defined
+ *     call metadata
+ * @param {function(?grpc.web.RpcError, ?proto.viam.common.v1.Get3DModelsResponse)}
+ *     callback The callback function(error, response)
+ * @return {!grpc.web.ClientReadableStream<!proto.viam.common.v1.Get3DModelsResponse>|undefined}
+ *     The XHR Node Readable Stream
+ */
+proto.viam.component.arm.v1.ArmServiceClient.prototype.get3DModels =
+    function(request, metadata, callback) {
+  return this.client_.rpcCall(this.hostname_ +
+      '/viam.component.arm.v1.ArmService/Get3DModels',
+      request,
+      metadata || {},
+      methodDescriptor_ArmService_Get3DModels,
+      callback);
+};
+
+
+/**
+ * @param {!proto.viam.common.v1.Get3DModelsRequest} request The
+ *     request proto
+ * @param {?Object<string, string>=} metadata User defined
+ *     call metadata
+ * @return {!Promise<!proto.viam.common.v1.Get3DModelsResponse>}
+ *     Promise that resolves to the response
+ */
+proto.viam.component.arm.v1.ArmServicePromiseClient.prototype.get3DModels =
+    function(request, metadata) {
+  return this.client_.unaryCall(this.hostname_ +
+      '/viam.component.arm.v1.ArmService/Get3DModels',
+      request,
+      metadata || {},
+      methodDescriptor_ArmService_Get3DModels);
+};
+
+
 module.exports = proto.viam.component.arm.v1;
 
diff --git a/gen/js/component/arm/v1/arm_pb_service.d.ts b/gen/js/component/arm/v1/arm_pb_service.d.ts
index 08cc19f88..7e66b5aab 100644
--- a/gen/js/component/arm/v1/arm_pb_service.d.ts
+++ b/gen/js/component/arm/v1/arm_pb_service.d.ts
@@ -95,6 +95,15 @@ type ArmServiceGetGeometries = {
   readonly responseType: typeof common_v1_common_pb.GetGeometriesResponse;
 };
 
+type ArmServiceGet3DModels = {
+  readonly methodName: string;
+  readonly service: typeof ArmService;
+  readonly requestStream: false;
+  readonly responseStream: false;
+  readonly requestType: typeof common_v1_common_pb.Get3DModelsRequest;
+  readonly responseType: typeof common_v1_common_pb.Get3DModelsResponse;
+};
+
 export class ArmService {
   static readonly serviceName: string;
   static readonly GetEndPosition: ArmServiceGetEndPosition;
@@ -107,6 +116,7 @@ export class ArmService {
   static readonly DoCommand: ArmServiceDoCommand;
   static readonly GetKinematics: ArmServiceGetKinematics;
   static readonly GetGeometries: ArmServiceGetGeometries;
+  static readonly Get3DModels: ArmServiceGet3DModels;
 }
 
 export type ServiceError = { message: string, code: number; metadata: grpc.Metadata }
@@ -231,5 +241,14 @@ export class ArmServiceClient {
     requestMessage: common_v1_common_pb.GetGeometriesRequest,
     callback: (error: ServiceError|null, responseMessage: common_v1_common_pb.GetGeometriesResponse|null) => void
   ): UnaryResponse;
+  get3DModels(
+    requestMessage: common_v1_common_pb.Get3DModelsRequest,
+    metadata: grpc.Metadata,
+    callback: (error: ServiceError|null, responseMessage: common_v1_common_pb.Get3DModelsResponse|null) => void
+  ): UnaryResponse;
+  get3DModels(
+    requestMessage: common_v1_common_pb.Get3DModelsRequest,
+    callback: (error: ServiceError|null, responseMessage: common_v1_common_pb.Get3DModelsResponse|null) => void
+  ): UnaryResponse;
 }
 
diff --git a/gen/js/component/arm/v1/arm_pb_service.js b/gen/js/component/arm/v1/arm_pb_service.js
index e67462234..b64f9b26c 100644
--- a/gen/js/component/arm/v1/arm_pb_service.js
+++ b/gen/js/component/arm/v1/arm_pb_service.js
@@ -101,6 +101,15 @@ ArmService.GetGeometries = {
   responseType: common_v1_common_pb.GetGeometriesResponse
 };
 
+ArmService.Get3DModels = {
+  methodName: "Get3DModels",
+  service: ArmService,
+  requestStream: false,
+  responseStream: false,
+  requestType: common_v1_common_pb.Get3DModelsRequest,
+  responseType: common_v1_common_pb.Get3DModelsResponse
+};
+
 exports.ArmService = ArmService;
 
 function ArmServiceClient(serviceHost, options) {
@@ -418,5 +427,36 @@ ArmServiceClient.prototype.getGeometries = function getGeometries(requestMessage
   };
 };
 
+ArmServiceClient.prototype.get3DModels = function get3DModels(requestMessage, metadata, callback) {
+  if (arguments.length === 2) {
+    callback = arguments[1];
+  }
+  var client = grpc.unary(ArmService.Get3DModels, {
+    request: requestMessage,
+    host: this.serviceHost,
+    metadata: metadata,
+    transport: this.options.transport,
+    debug: this.options.debug,
+    onEnd: function (response) {
+      if (callback) {
+        if (response.status !== grpc.Code.OK) {
+          var err = new Error(response.statusMessage);
+          err.code = response.status;
+          err.metadata = response.trailers;
+          callback(err, null);
+        } else {
+          callback(null, response.message);
+        }
+      }
+    }
+  });
+  return {
+    cancel: function () {
+      callback = null;
+      client.close();
+    }
+  };
+};
+
 exports.ArmServiceClient = ArmServiceClient;
 
diff --git a/proto/viam/common/v1/common.proto b/proto/viam/common/v1/common.proto
index 4be07f276..430bb98fc 100644
--- a/proto/viam/common/v1/common.proto
+++ b/proto/viam/common/v1/common.proto
@@ -228,6 +228,18 @@ message GetGeometriesResponse {
   repeated Geometry geometries = 1;
 }
 
+message Get3DModelsRequest {
+  // The component name
+  string name = 1;
+  // Additional arguments to the method
+  google.protobuf.Struct extra = 99;
+}
+
+message Get3DModelsResponse {
+  // the 3D models associated with the component
+  map<string, Mesh> models = 1;
+}
+
 message GetReadingsRequest {
   // Name of a sensor
   string name = 1;
diff --git a/proto/viam/component/arm/v1/arm.proto b/proto/viam/component/arm/v1/arm.proto
index 7bf9070c6..bf9304098 100644
--- a/proto/viam/component/arm/v1/arm.proto
+++ b/proto/viam/component/arm/v1/arm.proto
@@ -67,6 +67,11 @@ service ArmService {
   rpc GetGeometries(common.v1.GetGeometriesRequest) returns (common.v1.GetGeometriesResponse) {
     option (google.api.http) = {get: "/viam/api/v1/component/arm/{name}/geometries"};
   }
+
+  // Get3DModels returns the 3D models of the component
+  rpc Get3DModels(common.v1.Get3DModelsRequest) returns (common.v1.Get3DModelsResponse) {
+    option (google.api.http) = {get: "/viam/api/v1/component/arm/{name}/3d_models"};
+  }
 }
 
 message GetEndPositionRequest {