diff --git a/core/sdk/src/main/gen/com/viam/common/v1/Common.java b/core/sdk/src/main/gen/com/viam/common/v1/Common.java
index 35c1af36e..41b00f347 100644
--- a/core/sdk/src/main/gen/com/viam/common/v1/Common.java
+++ b/core/sdk/src/main/gen/com/viam/common/v1/Common.java
@@ -6058,13 +6058,13 @@ public static com.google.protobuf.Parser<GeoPoint> parser() {
     }
   }
 
-  public interface GeoObstacleOrBuilder extends
-      // @@protoc_insertion_point(interface_extends:viam.common.v1.GeoObstacle)
+  public interface GeoGeometryOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:viam.common.v1.GeoGeometry)
       com.google.protobuf.MessageLiteOrBuilder {
 
     /**
      * <pre>
-     * Location of the obstacle
+     * Location of the geometry
      * </pre>
      *
      * <code>.viam.common.v1.GeoPoint location = 1 [json_name = "location"];</code>
@@ -6073,7 +6073,7 @@ public interface GeoObstacleOrBuilder extends
     boolean hasLocation();
     /**
      * <pre>
-     * Location of the obstacle
+     * Location of the geometry
      * </pre>
      *
      * <code>.viam.common.v1.GeoPoint location = 1 [json_name = "location"];</code>
@@ -6083,7 +6083,7 @@ public interface GeoObstacleOrBuilder extends
 
     /**
      * <pre>
-     * Geometries that describe the obstacle, where embedded Pose data is with respect to the specified location
+     * Geometries associated with the location, where embedded Pose data is with respect to the specified location
      * </pre>
      *
      * <code>repeated .viam.common.v1.Geometry geometries = 2 [json_name = "geometries"];</code>
@@ -6092,7 +6092,7 @@ public interface GeoObstacleOrBuilder extends
         getGeometriesList();
     /**
      * <pre>
-     * Geometries that describe the obstacle, where embedded Pose data is with respect to the specified location
+     * Geometries associated with the location, where embedded Pose data is with respect to the specified location
      * </pre>
      *
      * <code>repeated .viam.common.v1.Geometry geometries = 2 [json_name = "geometries"];</code>
@@ -6100,7 +6100,7 @@ public interface GeoObstacleOrBuilder extends
     com.viam.common.v1.Common.Geometry getGeometries(int index);
     /**
      * <pre>
-     * Geometries that describe the obstacle, where embedded Pose data is with respect to the specified location
+     * Geometries associated with the location, where embedded Pose data is with respect to the specified location
      * </pre>
      *
      * <code>repeated .viam.common.v1.Geometry geometries = 2 [json_name = "geometries"];</code>
@@ -6109,18 +6109,17 @@ public interface GeoObstacleOrBuilder extends
   }
   /**
    * <pre>
-   * GeoObstacle contains information about the geometric structure of an obstacle and the location of the obstacle,
-   * captured in latitude and longitude.
+   * GeoGeometry contains information describing Geometry(s) that is located at a GeoPoint
    * </pre>
    *
-   * Protobuf type {@code viam.common.v1.GeoObstacle}
+   * Protobuf type {@code viam.common.v1.GeoGeometry}
    */
-  public  static final class GeoObstacle extends
+  public  static final class GeoGeometry extends
       com.google.protobuf.GeneratedMessageLite<
-          GeoObstacle, GeoObstacle.Builder> implements
-      // @@protoc_insertion_point(message_implements:viam.common.v1.GeoObstacle)
-      GeoObstacleOrBuilder {
-    private GeoObstacle() {
+          GeoGeometry, GeoGeometry.Builder> implements
+      // @@protoc_insertion_point(message_implements:viam.common.v1.GeoGeometry)
+      GeoGeometryOrBuilder {
+    private GeoGeometry() {
       geometries_ = emptyProtobufList();
     }
     private int bitField0_;
@@ -6128,7 +6127,7 @@ private GeoObstacle() {
     private com.viam.common.v1.Common.GeoPoint location_;
     /**
      * <pre>
-     * Location of the obstacle
+     * Location of the geometry
      * </pre>
      *
      * <code>.viam.common.v1.GeoPoint location = 1 [json_name = "location"];</code>
@@ -6139,7 +6138,7 @@ public boolean hasLocation() {
     }
     /**
      * <pre>
-     * Location of the obstacle
+     * Location of the geometry
      * </pre>
      *
      * <code>.viam.common.v1.GeoPoint location = 1 [json_name = "location"];</code>
@@ -6150,7 +6149,7 @@ public com.viam.common.v1.Common.GeoPoint getLocation() {
     }
     /**
      * <pre>
-     * Location of the obstacle
+     * Location of the geometry
      * </pre>
      *
      * <code>.viam.common.v1.GeoPoint location = 1 [json_name = "location"];</code>
@@ -6162,7 +6161,7 @@ private void setLocation(com.viam.common.v1.Common.GeoPoint value) {
       }
     /**
      * <pre>
-     * Location of the obstacle
+     * Location of the geometry
      * </pre>
      *
      * <code>.viam.common.v1.GeoPoint location = 1 [json_name = "location"];</code>
@@ -6181,7 +6180,7 @@ private void mergeLocation(com.viam.common.v1.Common.GeoPoint value) {
     }
     /**
      * <pre>
-     * Location of the obstacle
+     * Location of the geometry
      * </pre>
      *
      * <code>.viam.common.v1.GeoPoint location = 1 [json_name = "location"];</code>
@@ -6194,7 +6193,7 @@ private void mergeLocation(com.viam.common.v1.Common.GeoPoint value) {
     private com.google.protobuf.Internal.ProtobufList<com.viam.common.v1.Common.Geometry> geometries_;
     /**
      * <pre>
-     * Geometries that describe the obstacle, where embedded Pose data is with respect to the specified location
+     * Geometries associated with the location, where embedded Pose data is with respect to the specified location
      * </pre>
      *
      * <code>repeated .viam.common.v1.Geometry geometries = 2 [json_name = "geometries"];</code>
@@ -6205,7 +6204,7 @@ public java.util.List<com.viam.common.v1.Common.Geometry> getGeometriesList() {
     }
     /**
      * <pre>
-     * Geometries that describe the obstacle, where embedded Pose data is with respect to the specified location
+     * Geometries associated with the location, where embedded Pose data is with respect to the specified location
      * </pre>
      *
      * <code>repeated .viam.common.v1.Geometry geometries = 2 [json_name = "geometries"];</code>
@@ -6216,7 +6215,7 @@ public java.util.List<com.viam.common.v1.Common.Geometry> getGeometriesList() {
     }
     /**
      * <pre>
-     * Geometries that describe the obstacle, where embedded Pose data is with respect to the specified location
+     * Geometries associated with the location, where embedded Pose data is with respect to the specified location
      * </pre>
      *
      * <code>repeated .viam.common.v1.Geometry geometries = 2 [json_name = "geometries"];</code>
@@ -6227,7 +6226,7 @@ public int getGeometriesCount() {
     }
     /**
      * <pre>
-     * Geometries that describe the obstacle, where embedded Pose data is with respect to the specified location
+     * Geometries associated with the location, where embedded Pose data is with respect to the specified location
      * </pre>
      *
      * <code>repeated .viam.common.v1.Geometry geometries = 2 [json_name = "geometries"];</code>
@@ -6238,7 +6237,7 @@ public com.viam.common.v1.Common.Geometry getGeometries(int index) {
     }
     /**
      * <pre>
-     * Geometries that describe the obstacle, where embedded Pose data is with respect to the specified location
+     * Geometries associated with the location, where embedded Pose data is with respect to the specified location
      * </pre>
      *
      * <code>repeated .viam.common.v1.Geometry geometries = 2 [json_name = "geometries"];</code>
@@ -6257,7 +6256,7 @@ private void ensureGeometriesIsMutable() {
 
     /**
      * <pre>
-     * Geometries that describe the obstacle, where embedded Pose data is with respect to the specified location
+     * Geometries associated with the location, where embedded Pose data is with respect to the specified location
      * </pre>
      *
      * <code>repeated .viam.common.v1.Geometry geometries = 2 [json_name = "geometries"];</code>
@@ -6270,7 +6269,7 @@ private void setGeometries(
     }
     /**
      * <pre>
-     * Geometries that describe the obstacle, where embedded Pose data is with respect to the specified location
+     * Geometries associated with the location, where embedded Pose data is with respect to the specified location
      * </pre>
      *
      * <code>repeated .viam.common.v1.Geometry geometries = 2 [json_name = "geometries"];</code>
@@ -6282,7 +6281,7 @@ private void addGeometries(com.viam.common.v1.Common.Geometry value) {
     }
     /**
      * <pre>
-     * Geometries that describe the obstacle, where embedded Pose data is with respect to the specified location
+     * Geometries associated with the location, where embedded Pose data is with respect to the specified location
      * </pre>
      *
      * <code>repeated .viam.common.v1.Geometry geometries = 2 [json_name = "geometries"];</code>
@@ -6295,7 +6294,7 @@ private void addGeometries(
     }
     /**
      * <pre>
-     * Geometries that describe the obstacle, where embedded Pose data is with respect to the specified location
+     * Geometries associated with the location, where embedded Pose data is with respect to the specified location
      * </pre>
      *
      * <code>repeated .viam.common.v1.Geometry geometries = 2 [json_name = "geometries"];</code>
@@ -6308,7 +6307,7 @@ private void addAllGeometries(
     }
     /**
      * <pre>
-     * Geometries that describe the obstacle, where embedded Pose data is with respect to the specified location
+     * Geometries associated with the location, where embedded Pose data is with respect to the specified location
      * </pre>
      *
      * <code>repeated .viam.common.v1.Geometry geometries = 2 [json_name = "geometries"];</code>
@@ -6318,7 +6317,7 @@ private void clearGeometries() {
     }
     /**
      * <pre>
-     * Geometries that describe the obstacle, where embedded Pose data is with respect to the specified location
+     * Geometries associated with the location, where embedded Pose data is with respect to the specified location
      * </pre>
      *
      * <code>repeated .viam.common.v1.Geometry geometries = 2 [json_name = "geometries"];</code>
@@ -6328,50 +6327,50 @@ private void removeGeometries(int index) {
       geometries_.remove(index);
     }
 
-    public static com.viam.common.v1.Common.GeoObstacle parseFrom(
+    public static com.viam.common.v1.Common.GeoGeometry parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.common.v1.Common.GeoObstacle parseFrom(
+    public static com.viam.common.v1.Common.GeoGeometry parseFrom(
         java.nio.ByteBuffer data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.GeoObstacle parseFrom(
+    public static com.viam.common.v1.Common.GeoGeometry parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.common.v1.Common.GeoObstacle parseFrom(
+    public static com.viam.common.v1.Common.GeoGeometry parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.GeoObstacle parseFrom(byte[] data)
+    public static com.viam.common.v1.Common.GeoGeometry parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data);
     }
-    public static com.viam.common.v1.Common.GeoObstacle parseFrom(
+    public static com.viam.common.v1.Common.GeoGeometry parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, data, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.GeoObstacle parseFrom(java.io.InputStream input)
+    public static com.viam.common.v1.Common.GeoGeometry parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, input);
     }
-    public static com.viam.common.v1.Common.GeoObstacle parseFrom(
+    public static com.viam.common.v1.Common.GeoGeometry parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -6379,24 +6378,24 @@ public static com.viam.common.v1.Common.GeoObstacle parseFrom(
           DEFAULT_INSTANCE, input, extensionRegistry);
     }
 
-    public static com.viam.common.v1.Common.GeoObstacle parseDelimitedFrom(java.io.InputStream input)
+    public static com.viam.common.v1.Common.GeoGeometry parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return parseDelimitedFrom(DEFAULT_INSTANCE, input);
     }
 
-    public static com.viam.common.v1.Common.GeoObstacle parseDelimitedFrom(
+    public static com.viam.common.v1.Common.GeoGeometry parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return parseDelimitedFrom(DEFAULT_INSTANCE, input, extensionRegistry);
     }
-    public static com.viam.common.v1.Common.GeoObstacle parseFrom(
+    public static com.viam.common.v1.Common.GeoGeometry parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageLite.parseFrom(
           DEFAULT_INSTANCE, input);
     }
-    public static com.viam.common.v1.Common.GeoObstacle parseFrom(
+    public static com.viam.common.v1.Common.GeoGeometry parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -6407,24 +6406,23 @@ public static com.viam.common.v1.Common.GeoObstacle parseFrom(
     public static Builder newBuilder() {
       return (Builder) DEFAULT_INSTANCE.createBuilder();
     }
-    public static Builder newBuilder(com.viam.common.v1.Common.GeoObstacle prototype) {
+    public static Builder newBuilder(com.viam.common.v1.Common.GeoGeometry prototype) {
       return DEFAULT_INSTANCE.createBuilder(prototype);
     }
 
     /**
      * <pre>
-     * GeoObstacle contains information about the geometric structure of an obstacle and the location of the obstacle,
-     * captured in latitude and longitude.
+     * GeoGeometry contains information describing Geometry(s) that is located at a GeoPoint
      * </pre>
      *
-     * Protobuf type {@code viam.common.v1.GeoObstacle}
+     * Protobuf type {@code viam.common.v1.GeoGeometry}
      */
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageLite.Builder<
-          com.viam.common.v1.Common.GeoObstacle, Builder> implements
-        // @@protoc_insertion_point(builder_implements:viam.common.v1.GeoObstacle)
-        com.viam.common.v1.Common.GeoObstacleOrBuilder {
-      // Construct using com.viam.common.v1.Common.GeoObstacle.newBuilder()
+          com.viam.common.v1.Common.GeoGeometry, Builder> implements
+        // @@protoc_insertion_point(builder_implements:viam.common.v1.GeoGeometry)
+        com.viam.common.v1.Common.GeoGeometryOrBuilder {
+      // Construct using com.viam.common.v1.Common.GeoGeometry.newBuilder()
       private Builder() {
         super(DEFAULT_INSTANCE);
       }
@@ -6432,7 +6430,7 @@ private Builder() {
 
       /**
        * <pre>
-       * Location of the obstacle
+       * Location of the geometry
        * </pre>
        *
        * <code>.viam.common.v1.GeoPoint location = 1 [json_name = "location"];</code>
@@ -6443,7 +6441,7 @@ public boolean hasLocation() {
       }
       /**
        * <pre>
-       * Location of the obstacle
+       * Location of the geometry
        * </pre>
        *
        * <code>.viam.common.v1.GeoPoint location = 1 [json_name = "location"];</code>
@@ -6454,7 +6452,7 @@ public com.viam.common.v1.Common.GeoPoint getLocation() {
       }
       /**
        * <pre>
-       * Location of the obstacle
+       * Location of the geometry
        * </pre>
        *
        * <code>.viam.common.v1.GeoPoint location = 1 [json_name = "location"];</code>
@@ -6466,7 +6464,7 @@ public Builder setLocation(com.viam.common.v1.Common.GeoPoint value) {
         }
       /**
        * <pre>
-       * Location of the obstacle
+       * Location of the geometry
        * </pre>
        *
        * <code>.viam.common.v1.GeoPoint location = 1 [json_name = "location"];</code>
@@ -6479,7 +6477,7 @@ public Builder setLocation(
       }
       /**
        * <pre>
-       * Location of the obstacle
+       * Location of the geometry
        * </pre>
        *
        * <code>.viam.common.v1.GeoPoint location = 1 [json_name = "location"];</code>
@@ -6491,7 +6489,7 @@ public Builder mergeLocation(com.viam.common.v1.Common.GeoPoint value) {
       }
       /**
        * <pre>
-       * Location of the obstacle
+       * Location of the geometry
        * </pre>
        *
        * <code>.viam.common.v1.GeoPoint location = 1 [json_name = "location"];</code>
@@ -6503,7 +6501,7 @@ public Builder mergeLocation(com.viam.common.v1.Common.GeoPoint value) {
 
       /**
        * <pre>
-       * Geometries that describe the obstacle, where embedded Pose data is with respect to the specified location
+       * Geometries associated with the location, where embedded Pose data is with respect to the specified location
        * </pre>
        *
        * <code>repeated .viam.common.v1.Geometry geometries = 2 [json_name = "geometries"];</code>
@@ -6515,7 +6513,7 @@ public java.util.List<com.viam.common.v1.Common.Geometry> getGeometriesList() {
       }
       /**
        * <pre>
-       * Geometries that describe the obstacle, where embedded Pose data is with respect to the specified location
+       * Geometries associated with the location, where embedded Pose data is with respect to the specified location
        * </pre>
        *
        * <code>repeated .viam.common.v1.Geometry geometries = 2 [json_name = "geometries"];</code>
@@ -6525,7 +6523,7 @@ public int getGeometriesCount() {
         return instance.getGeometriesCount();
       }/**
        * <pre>
-       * Geometries that describe the obstacle, where embedded Pose data is with respect to the specified location
+       * Geometries associated with the location, where embedded Pose data is with respect to the specified location
        * </pre>
        *
        * <code>repeated .viam.common.v1.Geometry geometries = 2 [json_name = "geometries"];</code>
@@ -6536,7 +6534,7 @@ public com.viam.common.v1.Common.Geometry getGeometries(int index) {
       }
       /**
        * <pre>
-       * Geometries that describe the obstacle, where embedded Pose data is with respect to the specified location
+       * Geometries associated with the location, where embedded Pose data is with respect to the specified location
        * </pre>
        *
        * <code>repeated .viam.common.v1.Geometry geometries = 2 [json_name = "geometries"];</code>
@@ -6549,7 +6547,7 @@ public Builder setGeometries(
       }
       /**
        * <pre>
-       * Geometries that describe the obstacle, where embedded Pose data is with respect to the specified location
+       * Geometries associated with the location, where embedded Pose data is with respect to the specified location
        * </pre>
        *
        * <code>repeated .viam.common.v1.Geometry geometries = 2 [json_name = "geometries"];</code>
@@ -6563,7 +6561,7 @@ public Builder setGeometries(
       }
       /**
        * <pre>
-       * Geometries that describe the obstacle, where embedded Pose data is with respect to the specified location
+       * Geometries associated with the location, where embedded Pose data is with respect to the specified location
        * </pre>
        *
        * <code>repeated .viam.common.v1.Geometry geometries = 2 [json_name = "geometries"];</code>
@@ -6575,7 +6573,7 @@ public Builder addGeometries(com.viam.common.v1.Common.Geometry value) {
       }
       /**
        * <pre>
-       * Geometries that describe the obstacle, where embedded Pose data is with respect to the specified location
+       * Geometries associated with the location, where embedded Pose data is with respect to the specified location
        * </pre>
        *
        * <code>repeated .viam.common.v1.Geometry geometries = 2 [json_name = "geometries"];</code>
@@ -6588,7 +6586,7 @@ public Builder addGeometries(
       }
       /**
        * <pre>
-       * Geometries that describe the obstacle, where embedded Pose data is with respect to the specified location
+       * Geometries associated with the location, where embedded Pose data is with respect to the specified location
        * </pre>
        *
        * <code>repeated .viam.common.v1.Geometry geometries = 2 [json_name = "geometries"];</code>
@@ -6601,7 +6599,7 @@ public Builder addGeometries(
       }
       /**
        * <pre>
-       * Geometries that describe the obstacle, where embedded Pose data is with respect to the specified location
+       * Geometries associated with the location, where embedded Pose data is with respect to the specified location
        * </pre>
        *
        * <code>repeated .viam.common.v1.Geometry geometries = 2 [json_name = "geometries"];</code>
@@ -6615,7 +6613,7 @@ public Builder addGeometries(
       }
       /**
        * <pre>
-       * Geometries that describe the obstacle, where embedded Pose data is with respect to the specified location
+       * Geometries associated with the location, where embedded Pose data is with respect to the specified location
        * </pre>
        *
        * <code>repeated .viam.common.v1.Geometry geometries = 2 [json_name = "geometries"];</code>
@@ -6628,7 +6626,7 @@ public Builder addAllGeometries(
       }
       /**
        * <pre>
-       * Geometries that describe the obstacle, where embedded Pose data is with respect to the specified location
+       * Geometries associated with the location, where embedded Pose data is with respect to the specified location
        * </pre>
        *
        * <code>repeated .viam.common.v1.Geometry geometries = 2 [json_name = "geometries"];</code>
@@ -6640,7 +6638,7 @@ public Builder clearGeometries() {
       }
       /**
        * <pre>
-       * Geometries that describe the obstacle, where embedded Pose data is with respect to the specified location
+       * Geometries associated with the location, where embedded Pose data is with respect to the specified location
        * </pre>
        *
        * <code>repeated .viam.common.v1.Geometry geometries = 2 [json_name = "geometries"];</code>
@@ -6651,7 +6649,7 @@ public Builder removeGeometries(int index) {
         return this;
       }
 
-      // @@protoc_insertion_point(builder_scope:viam.common.v1.GeoObstacle)
+      // @@protoc_insertion_point(builder_scope:viam.common.v1.GeoGeometry)
     }
     @java.lang.Override
     @java.lang.SuppressWarnings({"unchecked", "fallthrough"})
@@ -6660,7 +6658,7 @@ protected final java.lang.Object dynamicMethod(
         java.lang.Object arg0, java.lang.Object arg1) {
       switch (method) {
         case NEW_MUTABLE_INSTANCE: {
-          return new com.viam.common.v1.Common.GeoObstacle();
+          return new com.viam.common.v1.Common.GeoGeometry();
         }
         case NEW_BUILDER: {
           return new Builder();
@@ -6682,13 +6680,13 @@ protected final java.lang.Object dynamicMethod(
           return DEFAULT_INSTANCE;
         }
         case GET_PARSER: {
-          com.google.protobuf.Parser<com.viam.common.v1.Common.GeoObstacle> parser = PARSER;
+          com.google.protobuf.Parser<com.viam.common.v1.Common.GeoGeometry> parser = PARSER;
           if (parser == null) {
-            synchronized (com.viam.common.v1.Common.GeoObstacle.class) {
+            synchronized (com.viam.common.v1.Common.GeoGeometry.class) {
               parser = PARSER;
               if (parser == null) {
                 parser =
-                    new DefaultInstanceBasedParser<com.viam.common.v1.Common.GeoObstacle>(
+                    new DefaultInstanceBasedParser<com.viam.common.v1.Common.GeoGeometry>(
                         DEFAULT_INSTANCE);
                 PARSER = parser;
               }
@@ -6707,24 +6705,24 @@ protected final java.lang.Object dynamicMethod(
     }
 
 
-    // @@protoc_insertion_point(class_scope:viam.common.v1.GeoObstacle)
-    private static final com.viam.common.v1.Common.GeoObstacle DEFAULT_INSTANCE;
+    // @@protoc_insertion_point(class_scope:viam.common.v1.GeoGeometry)
+    private static final com.viam.common.v1.Common.GeoGeometry DEFAULT_INSTANCE;
     static {
-      GeoObstacle defaultInstance = new GeoObstacle();
+      GeoGeometry defaultInstance = new GeoGeometry();
       // New instances are implicitly immutable so no need to make
       // immutable.
       DEFAULT_INSTANCE = defaultInstance;
       com.google.protobuf.GeneratedMessageLite.registerDefaultInstance(
-        GeoObstacle.class, defaultInstance);
+        GeoGeometry.class, defaultInstance);
     }
 
-    public static com.viam.common.v1.Common.GeoObstacle getDefaultInstance() {
+    public static com.viam.common.v1.Common.GeoGeometry getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
-    private static volatile com.google.protobuf.Parser<GeoObstacle> PARSER;
+    private static volatile com.google.protobuf.Parser<GeoGeometry> PARSER;
 
-    public static com.google.protobuf.Parser<GeoObstacle> parser() {
+    public static com.google.protobuf.Parser<GeoGeometry> parser() {
       return DEFAULT_INSTANCE.getParserForType();
     }
   }
@@ -7380,7 +7378,8 @@ public interface WorldStateOrBuilder extends
 
     /**
      * <pre>
-     * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to another, or to attach moving geometries to the frame system. This field is optional
+     * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
+     * another, or to attach moving geometries to the frame system. This field is optional
      * </pre>
      *
      * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
@@ -7389,7 +7388,8 @@ public interface WorldStateOrBuilder extends
         getTransformsList();
     /**
      * <pre>
-     * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to another, or to attach moving geometries to the frame system. This field is optional
+     * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
+     * another, or to attach moving geometries to the frame system. This field is optional
      * </pre>
      *
      * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
@@ -7397,7 +7397,8 @@ public interface WorldStateOrBuilder extends
     com.viam.common.v1.Common.Transform getTransforms(int index);
     /**
      * <pre>
-     * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to another, or to attach moving geometries to the frame system. This field is optional
+     * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
+     * another, or to attach moving geometries to the frame system. This field is optional
      * </pre>
      *
      * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
@@ -7564,7 +7565,8 @@ private void removeObstacles(int index) {
     private com.google.protobuf.Internal.ProtobufList<com.viam.common.v1.Common.Transform> transforms_;
     /**
      * <pre>
-     * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to another, or to attach moving geometries to the frame system. This field is optional
+     * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
+     * another, or to attach moving geometries to the frame system. This field is optional
      * </pre>
      *
      * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
@@ -7575,7 +7577,8 @@ public java.util.List<com.viam.common.v1.Common.Transform> getTransformsList() {
     }
     /**
      * <pre>
-     * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to another, or to attach moving geometries to the frame system. This field is optional
+     * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
+     * another, or to attach moving geometries to the frame system. This field is optional
      * </pre>
      *
      * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
@@ -7586,7 +7589,8 @@ public java.util.List<com.viam.common.v1.Common.Transform> getTransformsList() {
     }
     /**
      * <pre>
-     * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to another, or to attach moving geometries to the frame system. This field is optional
+     * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
+     * another, or to attach moving geometries to the frame system. This field is optional
      * </pre>
      *
      * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
@@ -7597,7 +7601,8 @@ public int getTransformsCount() {
     }
     /**
      * <pre>
-     * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to another, or to attach moving geometries to the frame system. This field is optional
+     * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
+     * another, or to attach moving geometries to the frame system. This field is optional
      * </pre>
      *
      * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
@@ -7608,7 +7613,8 @@ public com.viam.common.v1.Common.Transform getTransforms(int index) {
     }
     /**
      * <pre>
-     * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to another, or to attach moving geometries to the frame system. This field is optional
+     * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
+     * another, or to attach moving geometries to the frame system. This field is optional
      * </pre>
      *
      * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
@@ -7627,7 +7633,8 @@ private void ensureTransformsIsMutable() {
 
     /**
      * <pre>
-     * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to another, or to attach moving geometries to the frame system. This field is optional
+     * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
+     * another, or to attach moving geometries to the frame system. This field is optional
      * </pre>
      *
      * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
@@ -7640,7 +7647,8 @@ private void setTransforms(
     }
     /**
      * <pre>
-     * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to another, or to attach moving geometries to the frame system. This field is optional
+     * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
+     * another, or to attach moving geometries to the frame system. This field is optional
      * </pre>
      *
      * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
@@ -7652,7 +7660,8 @@ private void addTransforms(com.viam.common.v1.Common.Transform value) {
     }
     /**
      * <pre>
-     * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to another, or to attach moving geometries to the frame system. This field is optional
+     * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
+     * another, or to attach moving geometries to the frame system. This field is optional
      * </pre>
      *
      * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
@@ -7665,7 +7674,8 @@ private void addTransforms(
     }
     /**
      * <pre>
-     * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to another, or to attach moving geometries to the frame system. This field is optional
+     * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
+     * another, or to attach moving geometries to the frame system. This field is optional
      * </pre>
      *
      * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
@@ -7678,7 +7688,8 @@ private void addAllTransforms(
     }
     /**
      * <pre>
-     * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to another, or to attach moving geometries to the frame system. This field is optional
+     * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
+     * another, or to attach moving geometries to the frame system. This field is optional
      * </pre>
      *
      * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
@@ -7688,7 +7699,8 @@ private void clearTransforms() {
     }
     /**
      * <pre>
-     * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to another, or to attach moving geometries to the frame system. This field is optional
+     * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
+     * another, or to attach moving geometries to the frame system. This field is optional
      * </pre>
      *
      * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
@@ -7953,7 +7965,8 @@ public Builder removeObstacles(int index) {
 
       /**
        * <pre>
-       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to another, or to attach moving geometries to the frame system. This field is optional
+       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
+       * another, or to attach moving geometries to the frame system. This field is optional
        * </pre>
        *
        * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
@@ -7965,7 +7978,8 @@ public java.util.List<com.viam.common.v1.Common.Transform> getTransformsList() {
       }
       /**
        * <pre>
-       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to another, or to attach moving geometries to the frame system. This field is optional
+       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
+       * another, or to attach moving geometries to the frame system. This field is optional
        * </pre>
        *
        * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
@@ -7975,7 +7989,8 @@ public int getTransformsCount() {
         return instance.getTransformsCount();
       }/**
        * <pre>
-       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to another, or to attach moving geometries to the frame system. This field is optional
+       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
+       * another, or to attach moving geometries to the frame system. This field is optional
        * </pre>
        *
        * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
@@ -7986,7 +8001,8 @@ public com.viam.common.v1.Common.Transform getTransforms(int index) {
       }
       /**
        * <pre>
-       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to another, or to attach moving geometries to the frame system. This field is optional
+       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
+       * another, or to attach moving geometries to the frame system. This field is optional
        * </pre>
        *
        * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
@@ -7999,7 +8015,8 @@ public Builder setTransforms(
       }
       /**
        * <pre>
-       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to another, or to attach moving geometries to the frame system. This field is optional
+       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
+       * another, or to attach moving geometries to the frame system. This field is optional
        * </pre>
        *
        * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
@@ -8013,7 +8030,8 @@ public Builder setTransforms(
       }
       /**
        * <pre>
-       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to another, or to attach moving geometries to the frame system. This field is optional
+       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
+       * another, or to attach moving geometries to the frame system. This field is optional
        * </pre>
        *
        * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
@@ -8025,7 +8043,8 @@ public Builder addTransforms(com.viam.common.v1.Common.Transform value) {
       }
       /**
        * <pre>
-       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to another, or to attach moving geometries to the frame system. This field is optional
+       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
+       * another, or to attach moving geometries to the frame system. This field is optional
        * </pre>
        *
        * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
@@ -8038,7 +8057,8 @@ public Builder addTransforms(
       }
       /**
        * <pre>
-       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to another, or to attach moving geometries to the frame system. This field is optional
+       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
+       * another, or to attach moving geometries to the frame system. This field is optional
        * </pre>
        *
        * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
@@ -8051,7 +8071,8 @@ public Builder addTransforms(
       }
       /**
        * <pre>
-       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to another, or to attach moving geometries to the frame system. This field is optional
+       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
+       * another, or to attach moving geometries to the frame system. This field is optional
        * </pre>
        *
        * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
@@ -8065,7 +8086,8 @@ public Builder addTransforms(
       }
       /**
        * <pre>
-       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to another, or to attach moving geometries to the frame system. This field is optional
+       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
+       * another, or to attach moving geometries to the frame system. This field is optional
        * </pre>
        *
        * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
@@ -8078,7 +8100,8 @@ public Builder addAllTransforms(
       }
       /**
        * <pre>
-       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to another, or to attach moving geometries to the frame system. This field is optional
+       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
+       * another, or to attach moving geometries to the frame system. This field is optional
        * </pre>
        *
        * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
@@ -8090,7 +8113,8 @@ public Builder clearTransforms() {
       }
       /**
        * <pre>
-       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to another, or to attach moving geometries to the frame system. This field is optional
+       * a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
+       * another, or to attach moving geometries to the frame system. This field is optional
        * </pre>
        *
        * <code>repeated .viam.common.v1.Transform transforms = 3 [json_name = "transforms"];</code>
diff --git a/core/sdk/src/main/gen/com/viam/service/motion/v1/Motion.java b/core/sdk/src/main/gen/com/viam/service/motion/v1/Motion.java
index 5f71a59cf..84502995f 100644
--- a/core/sdk/src/main/gen/com/viam/service/motion/v1/Motion.java
+++ b/core/sdk/src/main/gen/com/viam/service/motion/v1/Motion.java
@@ -4966,24 +4966,24 @@ public interface MoveOnGlobeRequestOrBuilder extends
      * Obstacles to be considered for motion planning
      * </pre>
      *
-     * <code>repeated .viam.common.v1.GeoObstacle obstacles = 6 [json_name = "obstacles"];</code>
+     * <code>repeated .viam.common.v1.GeoGeometry obstacles = 6 [json_name = "obstacles"];</code>
      */
-    java.util.List<com.viam.common.v1.Common.GeoObstacle> 
+    java.util.List<com.viam.common.v1.Common.GeoGeometry> 
         getObstaclesList();
     /**
      * <pre>
      * Obstacles to be considered for motion planning
      * </pre>
      *
-     * <code>repeated .viam.common.v1.GeoObstacle obstacles = 6 [json_name = "obstacles"];</code>
+     * <code>repeated .viam.common.v1.GeoGeometry obstacles = 6 [json_name = "obstacles"];</code>
      */
-    com.viam.common.v1.Common.GeoObstacle getObstacles(int index);
+    com.viam.common.v1.Common.GeoGeometry getObstacles(int index);
     /**
      * <pre>
      * Obstacles to be considered for motion planning
      * </pre>
      *
-     * <code>repeated .viam.common.v1.GeoObstacle obstacles = 6 [json_name = "obstacles"];</code>
+     * <code>repeated .viam.common.v1.GeoGeometry obstacles = 6 [json_name = "obstacles"];</code>
      */
     int getObstaclesCount();
 
@@ -5006,6 +5006,32 @@ public interface MoveOnGlobeRequestOrBuilder extends
      */
     com.viam.service.motion.v1.Motion.MotionConfiguration getMotionConfiguration();
 
+    /**
+     * <pre>
+     * Set of obstacles which the robot must remain within while navigating
+     * </pre>
+     *
+     * <code>repeated .viam.common.v1.GeoGeometry bounding_regions = 8 [json_name = "boundingRegions"];</code>
+     */
+    java.util.List<com.viam.common.v1.Common.GeoGeometry> 
+        getBoundingRegionsList();
+    /**
+     * <pre>
+     * Set of obstacles which the robot must remain within while navigating
+     * </pre>
+     *
+     * <code>repeated .viam.common.v1.GeoGeometry bounding_regions = 8 [json_name = "boundingRegions"];</code>
+     */
+    com.viam.common.v1.Common.GeoGeometry getBoundingRegions(int index);
+    /**
+     * <pre>
+     * Set of obstacles which the robot must remain within while navigating
+     * </pre>
+     *
+     * <code>repeated .viam.common.v1.GeoGeometry bounding_regions = 8 [json_name = "boundingRegions"];</code>
+     */
+    int getBoundingRegionsCount();
+
     /**
      * <pre>
      * Additional arguments to the method
@@ -5036,6 +5062,7 @@ public  static final class MoveOnGlobeRequest extends
     private MoveOnGlobeRequest() {
       name_ = "";
       obstacles_ = emptyProtobufList();
+      boundingRegions_ = emptyProtobufList();
     }
     private int bitField0_;
     public static final int NAME_FIELD_NUMBER = 1;
@@ -5354,16 +5381,16 @@ private void mergeMovementSensorName(com.viam.common.v1.Common.ResourceName valu
     }
 
     public static final int OBSTACLES_FIELD_NUMBER = 6;
-    private com.google.protobuf.Internal.ProtobufList<com.viam.common.v1.Common.GeoObstacle> obstacles_;
+    private com.google.protobuf.Internal.ProtobufList<com.viam.common.v1.Common.GeoGeometry> obstacles_;
     /**
      * <pre>
      * Obstacles to be considered for motion planning
      * </pre>
      *
-     * <code>repeated .viam.common.v1.GeoObstacle obstacles = 6 [json_name = "obstacles"];</code>
+     * <code>repeated .viam.common.v1.GeoGeometry obstacles = 6 [json_name = "obstacles"];</code>
      */
     @java.lang.Override
-    public java.util.List<com.viam.common.v1.Common.GeoObstacle> getObstaclesList() {
+    public java.util.List<com.viam.common.v1.Common.GeoGeometry> getObstaclesList() {
       return obstacles_;
     }
     /**
@@ -5371,9 +5398,9 @@ public java.util.List<com.viam.common.v1.Common.GeoObstacle> getObstaclesList()
      * Obstacles to be considered for motion planning
      * </pre>
      *
-     * <code>repeated .viam.common.v1.GeoObstacle obstacles = 6 [json_name = "obstacles"];</code>
+     * <code>repeated .viam.common.v1.GeoGeometry obstacles = 6 [json_name = "obstacles"];</code>
      */
-    public java.util.List<? extends com.viam.common.v1.Common.GeoObstacleOrBuilder> 
+    public java.util.List<? extends com.viam.common.v1.Common.GeoGeometryOrBuilder> 
         getObstaclesOrBuilderList() {
       return obstacles_;
     }
@@ -5382,7 +5409,7 @@ public java.util.List<com.viam.common.v1.Common.GeoObstacle> getObstaclesList()
      * Obstacles to be considered for motion planning
      * </pre>
      *
-     * <code>repeated .viam.common.v1.GeoObstacle obstacles = 6 [json_name = "obstacles"];</code>
+     * <code>repeated .viam.common.v1.GeoGeometry obstacles = 6 [json_name = "obstacles"];</code>
      */
     @java.lang.Override
     public int getObstaclesCount() {
@@ -5393,10 +5420,10 @@ public int getObstaclesCount() {
      * Obstacles to be considered for motion planning
      * </pre>
      *
-     * <code>repeated .viam.common.v1.GeoObstacle obstacles = 6 [json_name = "obstacles"];</code>
+     * <code>repeated .viam.common.v1.GeoGeometry obstacles = 6 [json_name = "obstacles"];</code>
      */
     @java.lang.Override
-    public com.viam.common.v1.Common.GeoObstacle getObstacles(int index) {
+    public com.viam.common.v1.Common.GeoGeometry getObstacles(int index) {
       return obstacles_.get(index);
     }
     /**
@@ -5404,14 +5431,14 @@ public com.viam.common.v1.Common.GeoObstacle getObstacles(int index) {
      * Obstacles to be considered for motion planning
      * </pre>
      *
-     * <code>repeated .viam.common.v1.GeoObstacle obstacles = 6 [json_name = "obstacles"];</code>
+     * <code>repeated .viam.common.v1.GeoGeometry obstacles = 6 [json_name = "obstacles"];</code>
      */
-    public com.viam.common.v1.Common.GeoObstacleOrBuilder getObstaclesOrBuilder(
+    public com.viam.common.v1.Common.GeoGeometryOrBuilder getObstaclesOrBuilder(
         int index) {
       return obstacles_.get(index);
     }
     private void ensureObstaclesIsMutable() {
-      com.google.protobuf.Internal.ProtobufList<com.viam.common.v1.Common.GeoObstacle> tmp = obstacles_;
+      com.google.protobuf.Internal.ProtobufList<com.viam.common.v1.Common.GeoGeometry> tmp = obstacles_;
       if (!tmp.isModifiable()) {
         obstacles_ =
             com.google.protobuf.GeneratedMessageLite.mutableCopy(tmp);
@@ -5423,10 +5450,10 @@ private void ensureObstaclesIsMutable() {
      * Obstacles to be considered for motion planning
      * </pre>
      *
-     * <code>repeated .viam.common.v1.GeoObstacle obstacles = 6 [json_name = "obstacles"];</code>
+     * <code>repeated .viam.common.v1.GeoGeometry obstacles = 6 [json_name = "obstacles"];</code>
      */
     private void setObstacles(
-        int index, com.viam.common.v1.Common.GeoObstacle value) {
+        int index, com.viam.common.v1.Common.GeoGeometry value) {
       value.getClass();
   ensureObstaclesIsMutable();
       obstacles_.set(index, value);
@@ -5436,9 +5463,9 @@ private void setObstacles(
      * Obstacles to be considered for motion planning
      * </pre>
      *
-     * <code>repeated .viam.common.v1.GeoObstacle obstacles = 6 [json_name = "obstacles"];</code>
+     * <code>repeated .viam.common.v1.GeoGeometry obstacles = 6 [json_name = "obstacles"];</code>
      */
-    private void addObstacles(com.viam.common.v1.Common.GeoObstacle value) {
+    private void addObstacles(com.viam.common.v1.Common.GeoGeometry value) {
       value.getClass();
   ensureObstaclesIsMutable();
       obstacles_.add(value);
@@ -5448,10 +5475,10 @@ private void addObstacles(com.viam.common.v1.Common.GeoObstacle value) {
      * Obstacles to be considered for motion planning
      * </pre>
      *
-     * <code>repeated .viam.common.v1.GeoObstacle obstacles = 6 [json_name = "obstacles"];</code>
+     * <code>repeated .viam.common.v1.GeoGeometry obstacles = 6 [json_name = "obstacles"];</code>
      */
     private void addObstacles(
-        int index, com.viam.common.v1.Common.GeoObstacle value) {
+        int index, com.viam.common.v1.Common.GeoGeometry value) {
       value.getClass();
   ensureObstaclesIsMutable();
       obstacles_.add(index, value);
@@ -5461,10 +5488,10 @@ private void addObstacles(
      * Obstacles to be considered for motion planning
      * </pre>
      *
-     * <code>repeated .viam.common.v1.GeoObstacle obstacles = 6 [json_name = "obstacles"];</code>
+     * <code>repeated .viam.common.v1.GeoGeometry obstacles = 6 [json_name = "obstacles"];</code>
      */
     private void addAllObstacles(
-        java.lang.Iterable<? extends com.viam.common.v1.Common.GeoObstacle> values) {
+        java.lang.Iterable<? extends com.viam.common.v1.Common.GeoGeometry> values) {
       ensureObstaclesIsMutable();
       com.google.protobuf.AbstractMessageLite.addAll(
           values, obstacles_);
@@ -5474,7 +5501,7 @@ private void addAllObstacles(
      * Obstacles to be considered for motion planning
      * </pre>
      *
-     * <code>repeated .viam.common.v1.GeoObstacle obstacles = 6 [json_name = "obstacles"];</code>
+     * <code>repeated .viam.common.v1.GeoGeometry obstacles = 6 [json_name = "obstacles"];</code>
      */
     private void clearObstacles() {
       obstacles_ = emptyProtobufList();
@@ -5484,7 +5511,7 @@ private void clearObstacles() {
      * Obstacles to be considered for motion planning
      * </pre>
      *
-     * <code>repeated .viam.common.v1.GeoObstacle obstacles = 6 [json_name = "obstacles"];</code>
+     * <code>repeated .viam.common.v1.GeoGeometry obstacles = 6 [json_name = "obstacles"];</code>
      */
     private void removeObstacles(int index) {
       ensureObstaclesIsMutable();
@@ -5557,6 +5584,144 @@ private void mergeMotionConfiguration(com.viam.service.motion.v1.Motion.MotionCo
       bitField0_ = (bitField0_ & ~0x00000010);
     }
 
+    public static final int BOUNDING_REGIONS_FIELD_NUMBER = 8;
+    private com.google.protobuf.Internal.ProtobufList<com.viam.common.v1.Common.GeoGeometry> boundingRegions_;
+    /**
+     * <pre>
+     * Set of obstacles which the robot must remain within while navigating
+     * </pre>
+     *
+     * <code>repeated .viam.common.v1.GeoGeometry bounding_regions = 8 [json_name = "boundingRegions"];</code>
+     */
+    @java.lang.Override
+    public java.util.List<com.viam.common.v1.Common.GeoGeometry> getBoundingRegionsList() {
+      return boundingRegions_;
+    }
+    /**
+     * <pre>
+     * Set of obstacles which the robot must remain within while navigating
+     * </pre>
+     *
+     * <code>repeated .viam.common.v1.GeoGeometry bounding_regions = 8 [json_name = "boundingRegions"];</code>
+     */
+    public java.util.List<? extends com.viam.common.v1.Common.GeoGeometryOrBuilder> 
+        getBoundingRegionsOrBuilderList() {
+      return boundingRegions_;
+    }
+    /**
+     * <pre>
+     * Set of obstacles which the robot must remain within while navigating
+     * </pre>
+     *
+     * <code>repeated .viam.common.v1.GeoGeometry bounding_regions = 8 [json_name = "boundingRegions"];</code>
+     */
+    @java.lang.Override
+    public int getBoundingRegionsCount() {
+      return boundingRegions_.size();
+    }
+    /**
+     * <pre>
+     * Set of obstacles which the robot must remain within while navigating
+     * </pre>
+     *
+     * <code>repeated .viam.common.v1.GeoGeometry bounding_regions = 8 [json_name = "boundingRegions"];</code>
+     */
+    @java.lang.Override
+    public com.viam.common.v1.Common.GeoGeometry getBoundingRegions(int index) {
+      return boundingRegions_.get(index);
+    }
+    /**
+     * <pre>
+     * Set of obstacles which the robot must remain within while navigating
+     * </pre>
+     *
+     * <code>repeated .viam.common.v1.GeoGeometry bounding_regions = 8 [json_name = "boundingRegions"];</code>
+     */
+    public com.viam.common.v1.Common.GeoGeometryOrBuilder getBoundingRegionsOrBuilder(
+        int index) {
+      return boundingRegions_.get(index);
+    }
+    private void ensureBoundingRegionsIsMutable() {
+      com.google.protobuf.Internal.ProtobufList<com.viam.common.v1.Common.GeoGeometry> tmp = boundingRegions_;
+      if (!tmp.isModifiable()) {
+        boundingRegions_ =
+            com.google.protobuf.GeneratedMessageLite.mutableCopy(tmp);
+       }
+    }
+
+    /**
+     * <pre>
+     * Set of obstacles which the robot must remain within while navigating
+     * </pre>
+     *
+     * <code>repeated .viam.common.v1.GeoGeometry bounding_regions = 8 [json_name = "boundingRegions"];</code>
+     */
+    private void setBoundingRegions(
+        int index, com.viam.common.v1.Common.GeoGeometry value) {
+      value.getClass();
+  ensureBoundingRegionsIsMutable();
+      boundingRegions_.set(index, value);
+    }
+    /**
+     * <pre>
+     * Set of obstacles which the robot must remain within while navigating
+     * </pre>
+     *
+     * <code>repeated .viam.common.v1.GeoGeometry bounding_regions = 8 [json_name = "boundingRegions"];</code>
+     */
+    private void addBoundingRegions(com.viam.common.v1.Common.GeoGeometry value) {
+      value.getClass();
+  ensureBoundingRegionsIsMutable();
+      boundingRegions_.add(value);
+    }
+    /**
+     * <pre>
+     * Set of obstacles which the robot must remain within while navigating
+     * </pre>
+     *
+     * <code>repeated .viam.common.v1.GeoGeometry bounding_regions = 8 [json_name = "boundingRegions"];</code>
+     */
+    private void addBoundingRegions(
+        int index, com.viam.common.v1.Common.GeoGeometry value) {
+      value.getClass();
+  ensureBoundingRegionsIsMutable();
+      boundingRegions_.add(index, value);
+    }
+    /**
+     * <pre>
+     * Set of obstacles which the robot must remain within while navigating
+     * </pre>
+     *
+     * <code>repeated .viam.common.v1.GeoGeometry bounding_regions = 8 [json_name = "boundingRegions"];</code>
+     */
+    private void addAllBoundingRegions(
+        java.lang.Iterable<? extends com.viam.common.v1.Common.GeoGeometry> values) {
+      ensureBoundingRegionsIsMutable();
+      com.google.protobuf.AbstractMessageLite.addAll(
+          values, boundingRegions_);
+    }
+    /**
+     * <pre>
+     * Set of obstacles which the robot must remain within while navigating
+     * </pre>
+     *
+     * <code>repeated .viam.common.v1.GeoGeometry bounding_regions = 8 [json_name = "boundingRegions"];</code>
+     */
+    private void clearBoundingRegions() {
+      boundingRegions_ = emptyProtobufList();
+    }
+    /**
+     * <pre>
+     * Set of obstacles which the robot must remain within while navigating
+     * </pre>
+     *
+     * <code>repeated .viam.common.v1.GeoGeometry bounding_regions = 8 [json_name = "boundingRegions"];</code>
+     */
+    private void removeBoundingRegions(int index) {
+      ensureBoundingRegionsIsMutable();
+      boundingRegions_.remove(index);
+    }
+
     public static final int EXTRA_FIELD_NUMBER = 99;
     private com.google.protobuf.Struct extra_;
     /**
@@ -6059,10 +6224,10 @@ public Builder mergeMovementSensorName(com.viam.common.v1.Common.ResourceName va
        * Obstacles to be considered for motion planning
        * </pre>
        *
-       * <code>repeated .viam.common.v1.GeoObstacle obstacles = 6 [json_name = "obstacles"];</code>
+       * <code>repeated .viam.common.v1.GeoGeometry obstacles = 6 [json_name = "obstacles"];</code>
        */
       @java.lang.Override
-      public java.util.List<com.viam.common.v1.Common.GeoObstacle> getObstaclesList() {
+      public java.util.List<com.viam.common.v1.Common.GeoGeometry> getObstaclesList() {
         return java.util.Collections.unmodifiableList(
             instance.getObstaclesList());
       }
@@ -6071,7 +6236,7 @@ public java.util.List<com.viam.common.v1.Common.GeoObstacle> getObstaclesList()
        * Obstacles to be considered for motion planning
        * </pre>
        *
-       * <code>repeated .viam.common.v1.GeoObstacle obstacles = 6 [json_name = "obstacles"];</code>
+       * <code>repeated .viam.common.v1.GeoGeometry obstacles = 6 [json_name = "obstacles"];</code>
        */
       @java.lang.Override
       public int getObstaclesCount() {
@@ -6081,10 +6246,10 @@ public int getObstaclesCount() {
        * Obstacles to be considered for motion planning
        * </pre>
        *
-       * <code>repeated .viam.common.v1.GeoObstacle obstacles = 6 [json_name = "obstacles"];</code>
+       * <code>repeated .viam.common.v1.GeoGeometry obstacles = 6 [json_name = "obstacles"];</code>
        */
       @java.lang.Override
-      public com.viam.common.v1.Common.GeoObstacle getObstacles(int index) {
+      public com.viam.common.v1.Common.GeoGeometry getObstacles(int index) {
         return instance.getObstacles(index);
       }
       /**
@@ -6092,10 +6257,10 @@ public com.viam.common.v1.Common.GeoObstacle getObstacles(int index) {
        * Obstacles to be considered for motion planning
        * </pre>
        *
-       * <code>repeated .viam.common.v1.GeoObstacle obstacles = 6 [json_name = "obstacles"];</code>
+       * <code>repeated .viam.common.v1.GeoGeometry obstacles = 6 [json_name = "obstacles"];</code>
        */
       public Builder setObstacles(
-          int index, com.viam.common.v1.Common.GeoObstacle value) {
+          int index, com.viam.common.v1.Common.GeoGeometry value) {
         copyOnWrite();
         instance.setObstacles(index, value);
         return this;
@@ -6105,10 +6270,10 @@ public Builder setObstacles(
        * Obstacles to be considered for motion planning
        * </pre>
        *
-       * <code>repeated .viam.common.v1.GeoObstacle obstacles = 6 [json_name = "obstacles"];</code>
+       * <code>repeated .viam.common.v1.GeoGeometry obstacles = 6 [json_name = "obstacles"];</code>
        */
       public Builder setObstacles(
-          int index, com.viam.common.v1.Common.GeoObstacle.Builder builderForValue) {
+          int index, com.viam.common.v1.Common.GeoGeometry.Builder builderForValue) {
         copyOnWrite();
         instance.setObstacles(index,
             builderForValue.build());
@@ -6119,9 +6284,9 @@ public Builder setObstacles(
        * Obstacles to be considered for motion planning
        * </pre>
        *
-       * <code>repeated .viam.common.v1.GeoObstacle obstacles = 6 [json_name = "obstacles"];</code>
+       * <code>repeated .viam.common.v1.GeoGeometry obstacles = 6 [json_name = "obstacles"];</code>
        */
-      public Builder addObstacles(com.viam.common.v1.Common.GeoObstacle value) {
+      public Builder addObstacles(com.viam.common.v1.Common.GeoGeometry value) {
         copyOnWrite();
         instance.addObstacles(value);
         return this;
@@ -6131,10 +6296,10 @@ public Builder addObstacles(com.viam.common.v1.Common.GeoObstacle value) {
        * Obstacles to be considered for motion planning
        * </pre>
        *
-       * <code>repeated .viam.common.v1.GeoObstacle obstacles = 6 [json_name = "obstacles"];</code>
+       * <code>repeated .viam.common.v1.GeoGeometry obstacles = 6 [json_name = "obstacles"];</code>
        */
       public Builder addObstacles(
-          int index, com.viam.common.v1.Common.GeoObstacle value) {
+          int index, com.viam.common.v1.Common.GeoGeometry value) {
         copyOnWrite();
         instance.addObstacles(index, value);
         return this;
@@ -6144,10 +6309,10 @@ public Builder addObstacles(
        * Obstacles to be considered for motion planning
        * </pre>
        *
-       * <code>repeated .viam.common.v1.GeoObstacle obstacles = 6 [json_name = "obstacles"];</code>
+       * <code>repeated .viam.common.v1.GeoGeometry obstacles = 6 [json_name = "obstacles"];</code>
        */
       public Builder addObstacles(
-          com.viam.common.v1.Common.GeoObstacle.Builder builderForValue) {
+          com.viam.common.v1.Common.GeoGeometry.Builder builderForValue) {
         copyOnWrite();
         instance.addObstacles(builderForValue.build());
         return this;
@@ -6157,10 +6322,10 @@ public Builder addObstacles(
        * Obstacles to be considered for motion planning
        * </pre>
        *
-       * <code>repeated .viam.common.v1.GeoObstacle obstacles = 6 [json_name = "obstacles"];</code>
+       * <code>repeated .viam.common.v1.GeoGeometry obstacles = 6 [json_name = "obstacles"];</code>
        */
       public Builder addObstacles(
-          int index, com.viam.common.v1.Common.GeoObstacle.Builder builderForValue) {
+          int index, com.viam.common.v1.Common.GeoGeometry.Builder builderForValue) {
         copyOnWrite();
         instance.addObstacles(index,
             builderForValue.build());
@@ -6171,10 +6336,10 @@ public Builder addObstacles(
        * Obstacles to be considered for motion planning
        * </pre>
        *
-       * <code>repeated .viam.common.v1.GeoObstacle obstacles = 6 [json_name = "obstacles"];</code>
+       * <code>repeated .viam.common.v1.GeoGeometry obstacles = 6 [json_name = "obstacles"];</code>
        */
       public Builder addAllObstacles(
-          java.lang.Iterable<? extends com.viam.common.v1.Common.GeoObstacle> values) {
+          java.lang.Iterable<? extends com.viam.common.v1.Common.GeoGeometry> values) {
         copyOnWrite();
         instance.addAllObstacles(values);
         return this;
@@ -6184,7 +6349,7 @@ public Builder addAllObstacles(
        * Obstacles to be considered for motion planning
        * </pre>
        *
-       * <code>repeated .viam.common.v1.GeoObstacle obstacles = 6 [json_name = "obstacles"];</code>
+       * <code>repeated .viam.common.v1.GeoGeometry obstacles = 6 [json_name = "obstacles"];</code>
        */
       public Builder clearObstacles() {
         copyOnWrite();
@@ -6196,7 +6361,7 @@ public Builder clearObstacles() {
        * Obstacles to be considered for motion planning
        * </pre>
        *
-       * <code>repeated .viam.common.v1.GeoObstacle obstacles = 6 [json_name = "obstacles"];</code>
+       * <code>repeated .viam.common.v1.GeoGeometry obstacles = 6 [json_name = "obstacles"];</code>
        */
       public Builder removeObstacles(int index) {
         copyOnWrite();
@@ -6275,6 +6440,156 @@ public Builder mergeMotionConfiguration(com.viam.service.motion.v1.Motion.Motion
         return this;
       }
 
+      /**
+       * <pre>
+       * Set of obstacles which the robot must remain within while navigating
+       * </pre>
+       *
+       * <code>repeated .viam.common.v1.GeoGeometry bounding_regions = 8 [json_name = "boundingRegions"];</code>
+       */
+      @java.lang.Override
+      public java.util.List<com.viam.common.v1.Common.GeoGeometry> getBoundingRegionsList() {
+        return java.util.Collections.unmodifiableList(
+            instance.getBoundingRegionsList());
+      }
+      /**
+       * <pre>
+       * Set of obstacles which the robot must remain within while navigating
+       * </pre>
+       *
+       * <code>repeated .viam.common.v1.GeoGeometry bounding_regions = 8 [json_name = "boundingRegions"];</code>
+       */
+      @java.lang.Override
+      public int getBoundingRegionsCount() {
+        return instance.getBoundingRegionsCount();
+      }/**
+       * <pre>
+       * Set of obstacles which the robot must remain within while navigating
+       * </pre>
+       *
+       * <code>repeated .viam.common.v1.GeoGeometry bounding_regions = 8 [json_name = "boundingRegions"];</code>
+       */
+      @java.lang.Override
+      public com.viam.common.v1.Common.GeoGeometry getBoundingRegions(int index) {
+        return instance.getBoundingRegions(index);
+      }
+      /**
+       * <pre>
+       * Set of obstacles which the robot must remain within while navigating
+       * </pre>
+       *
+       * <code>repeated .viam.common.v1.GeoGeometry bounding_regions = 8 [json_name = "boundingRegions"];</code>
+       */
+      public Builder setBoundingRegions(
+          int index, com.viam.common.v1.Common.GeoGeometry value) {
+        copyOnWrite();
+        instance.setBoundingRegions(index, value);
+        return this;
+      }
+      /**
+       * <pre>
+       * Set of obstacles which the robot must remain within while navigating
+       * </pre>
+       *
+       * <code>repeated .viam.common.v1.GeoGeometry bounding_regions = 8 [json_name = "boundingRegions"];</code>
+       */
+      public Builder setBoundingRegions(
+          int index, com.viam.common.v1.Common.GeoGeometry.Builder builderForValue) {
+        copyOnWrite();
+        instance.setBoundingRegions(index,
+            builderForValue.build());
+        return this;
+      }
+      /**
+       * <pre>
+       * Set of obstacles which the robot must remain within while navigating
+       * </pre>
+       *
+       * <code>repeated .viam.common.v1.GeoGeometry bounding_regions = 8 [json_name = "boundingRegions"];</code>
+       */
+      public Builder addBoundingRegions(com.viam.common.v1.Common.GeoGeometry value) {
+        copyOnWrite();
+        instance.addBoundingRegions(value);
+        return this;
+      }
+      /**
+       * <pre>
+       * Set of obstacles which the robot must remain within while navigating
+       * </pre>
+       *
+       * <code>repeated .viam.common.v1.GeoGeometry bounding_regions = 8 [json_name = "boundingRegions"];</code>
+       */
+      public Builder addBoundingRegions(
+          int index, com.viam.common.v1.Common.GeoGeometry value) {
+        copyOnWrite();
+        instance.addBoundingRegions(index, value);
+        return this;
+      }
+      /**
+       * <pre>
+       * Set of obstacles which the robot must remain within while navigating
+       * </pre>
+       *
+       * <code>repeated .viam.common.v1.GeoGeometry bounding_regions = 8 [json_name = "boundingRegions"];</code>
+       */
+      public Builder addBoundingRegions(
+          com.viam.common.v1.Common.GeoGeometry.Builder builderForValue) {
+        copyOnWrite();
+        instance.addBoundingRegions(builderForValue.build());
+        return this;
+      }
+      /**
+       * <pre>
+       * Set of obstacles which the robot must remain within while navigating
+       * </pre>
+       *
+       * <code>repeated .viam.common.v1.GeoGeometry bounding_regions = 8 [json_name = "boundingRegions"];</code>
+       */
+      public Builder addBoundingRegions(
+          int index, com.viam.common.v1.Common.GeoGeometry.Builder builderForValue) {
+        copyOnWrite();
+        instance.addBoundingRegions(index,
+            builderForValue.build());
+        return this;
+      }
+      /**
+       * <pre>
+       * Set of obstacles which the robot must remain within while navigating
+       * </pre>
+       *
+       * <code>repeated .viam.common.v1.GeoGeometry bounding_regions = 8 [json_name = "boundingRegions"];</code>
+       */
+      public Builder addAllBoundingRegions(
+          java.lang.Iterable<? extends com.viam.common.v1.Common.GeoGeometry> values) {
+        copyOnWrite();
+        instance.addAllBoundingRegions(values);
+        return this;
+      }
+      /**
+       * <pre>
+       * Set of obstacles which the robot must remain within while navigating
+       * </pre>
+       *
+       * <code>repeated .viam.common.v1.GeoGeometry bounding_regions = 8 [json_name = "boundingRegions"];</code>
+       */
+      public Builder clearBoundingRegions() {
+        copyOnWrite();
+        instance.clearBoundingRegions();
+        return this;
+      }
+      /**
+       * <pre>
+       * Set of obstacles which the robot must remain within while navigating
+       * </pre>
+       *
+       * <code>repeated .viam.common.v1.GeoGeometry bounding_regions = 8 [json_name = "boundingRegions"];</code>
+       */
+      public Builder removeBoundingRegions(int index) {
+        copyOnWrite();
+        instance.removeBoundingRegions(index);
+        return this;
+      }
+
       /**
        * <pre>
        * Additional arguments to the method
@@ -6369,14 +6684,16 @@ protected final java.lang.Object dynamicMethod(
               "componentName_",
               "movementSensorName_",
               "obstacles_",
-              com.viam.common.v1.Common.GeoObstacle.class,
+              com.viam.common.v1.Common.GeoGeometry.class,
               "motionConfiguration_",
+              "boundingRegions_",
+              com.viam.common.v1.Common.GeoGeometry.class,
               "extra_",
             };
             java.lang.String info =
-                "\u0000\b\u0000\u0001\u0001c\b\u0000\u0001\u0000\u0001\u0208\u0002\u1009\u0000\u0003" +
-                "\u1000\u0001\u0004\u1009\u0002\u0005\u1009\u0003\u0006\u001b\u0007\u1009\u0004c\u1009" +
-                "\u0005";
+                "\u0000\t\u0000\u0001\u0001c\t\u0000\u0002\u0000\u0001\u0208\u0002\u1009\u0000\u0003" +
+                "\u1000\u0001\u0004\u1009\u0002\u0005\u1009\u0003\u0006\u001b\u0007\u1009\u0004\b" +
+                "\u001bc\u1009\u0005";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         // fall through
diff --git a/core/sdk/src/main/gen/com/viam/service/navigation/v1/Navigation.java b/core/sdk/src/main/gen/com/viam/service/navigation/v1/Navigation.java
index 9ac74310b..1039a2058 100644
--- a/core/sdk/src/main/gen/com/viam/service/navigation/v1/Navigation.java
+++ b/core/sdk/src/main/gen/com/viam/service/navigation/v1/Navigation.java
@@ -5751,24 +5751,24 @@ public interface GetObstaclesResponseOrBuilder extends
      * List of all known geometries
      * </pre>
      *
-     * <code>repeated .viam.common.v1.GeoObstacle obstacles = 1 [json_name = "obstacles"];</code>
+     * <code>repeated .viam.common.v1.GeoGeometry obstacles = 1 [json_name = "obstacles"];</code>
      */
-    java.util.List<com.viam.common.v1.Common.GeoObstacle> 
+    java.util.List<com.viam.common.v1.Common.GeoGeometry> 
         getObstaclesList();
     /**
      * <pre>
      * List of all known geometries
      * </pre>
      *
-     * <code>repeated .viam.common.v1.GeoObstacle obstacles = 1 [json_name = "obstacles"];</code>
+     * <code>repeated .viam.common.v1.GeoGeometry obstacles = 1 [json_name = "obstacles"];</code>
      */
-    com.viam.common.v1.Common.GeoObstacle getObstacles(int index);
+    com.viam.common.v1.Common.GeoGeometry getObstacles(int index);
     /**
      * <pre>
      * List of all known geometries
      * </pre>
      *
-     * <code>repeated .viam.common.v1.GeoObstacle obstacles = 1 [json_name = "obstacles"];</code>
+     * <code>repeated .viam.common.v1.GeoGeometry obstacles = 1 [json_name = "obstacles"];</code>
      */
     int getObstaclesCount();
   }
@@ -5784,16 +5784,16 @@ private GetObstaclesResponse() {
       obstacles_ = emptyProtobufList();
     }
     public static final int OBSTACLES_FIELD_NUMBER = 1;
-    private com.google.protobuf.Internal.ProtobufList<com.viam.common.v1.Common.GeoObstacle> obstacles_;
+    private com.google.protobuf.Internal.ProtobufList<com.viam.common.v1.Common.GeoGeometry> obstacles_;
     /**
      * <pre>
      * List of all known geometries
      * </pre>
      *
-     * <code>repeated .viam.common.v1.GeoObstacle obstacles = 1 [json_name = "obstacles"];</code>
+     * <code>repeated .viam.common.v1.GeoGeometry obstacles = 1 [json_name = "obstacles"];</code>
      */
     @java.lang.Override
-    public java.util.List<com.viam.common.v1.Common.GeoObstacle> getObstaclesList() {
+    public java.util.List<com.viam.common.v1.Common.GeoGeometry> getObstaclesList() {
       return obstacles_;
     }
     /**
@@ -5801,9 +5801,9 @@ public java.util.List<com.viam.common.v1.Common.GeoObstacle> getObstaclesList()
      * List of all known geometries
      * </pre>
      *
-     * <code>repeated .viam.common.v1.GeoObstacle obstacles = 1 [json_name = "obstacles"];</code>
+     * <code>repeated .viam.common.v1.GeoGeometry obstacles = 1 [json_name = "obstacles"];</code>
      */
-    public java.util.List<? extends com.viam.common.v1.Common.GeoObstacleOrBuilder> 
+    public java.util.List<? extends com.viam.common.v1.Common.GeoGeometryOrBuilder> 
         getObstaclesOrBuilderList() {
       return obstacles_;
     }
@@ -5812,7 +5812,7 @@ public java.util.List<com.viam.common.v1.Common.GeoObstacle> getObstaclesList()
      * List of all known geometries
      * </pre>
      *
-     * <code>repeated .viam.common.v1.GeoObstacle obstacles = 1 [json_name = "obstacles"];</code>
+     * <code>repeated .viam.common.v1.GeoGeometry obstacles = 1 [json_name = "obstacles"];</code>
      */
     @java.lang.Override
     public int getObstaclesCount() {
@@ -5823,10 +5823,10 @@ public int getObstaclesCount() {
      * List of all known geometries
      * </pre>
      *
-     * <code>repeated .viam.common.v1.GeoObstacle obstacles = 1 [json_name = "obstacles"];</code>
+     * <code>repeated .viam.common.v1.GeoGeometry obstacles = 1 [json_name = "obstacles"];</code>
      */
     @java.lang.Override
-    public com.viam.common.v1.Common.GeoObstacle getObstacles(int index) {
+    public com.viam.common.v1.Common.GeoGeometry getObstacles(int index) {
       return obstacles_.get(index);
     }
     /**
@@ -5834,14 +5834,14 @@ public com.viam.common.v1.Common.GeoObstacle getObstacles(int index) {
      * List of all known geometries
      * </pre>
      *
-     * <code>repeated .viam.common.v1.GeoObstacle obstacles = 1 [json_name = "obstacles"];</code>
+     * <code>repeated .viam.common.v1.GeoGeometry obstacles = 1 [json_name = "obstacles"];</code>
      */
-    public com.viam.common.v1.Common.GeoObstacleOrBuilder getObstaclesOrBuilder(
+    public com.viam.common.v1.Common.GeoGeometryOrBuilder getObstaclesOrBuilder(
         int index) {
       return obstacles_.get(index);
     }
     private void ensureObstaclesIsMutable() {
-      com.google.protobuf.Internal.ProtobufList<com.viam.common.v1.Common.GeoObstacle> tmp = obstacles_;
+      com.google.protobuf.Internal.ProtobufList<com.viam.common.v1.Common.GeoGeometry> tmp = obstacles_;
       if (!tmp.isModifiable()) {
         obstacles_ =
             com.google.protobuf.GeneratedMessageLite.mutableCopy(tmp);
@@ -5853,10 +5853,10 @@ private void ensureObstaclesIsMutable() {
      * List of all known geometries
      * </pre>
      *
-     * <code>repeated .viam.common.v1.GeoObstacle obstacles = 1 [json_name = "obstacles"];</code>
+     * <code>repeated .viam.common.v1.GeoGeometry obstacles = 1 [json_name = "obstacles"];</code>
      */
     private void setObstacles(
-        int index, com.viam.common.v1.Common.GeoObstacle value) {
+        int index, com.viam.common.v1.Common.GeoGeometry value) {
       value.getClass();
   ensureObstaclesIsMutable();
       obstacles_.set(index, value);
@@ -5866,9 +5866,9 @@ private void setObstacles(
      * List of all known geometries
      * </pre>
      *
-     * <code>repeated .viam.common.v1.GeoObstacle obstacles = 1 [json_name = "obstacles"];</code>
+     * <code>repeated .viam.common.v1.GeoGeometry obstacles = 1 [json_name = "obstacles"];</code>
      */
-    private void addObstacles(com.viam.common.v1.Common.GeoObstacle value) {
+    private void addObstacles(com.viam.common.v1.Common.GeoGeometry value) {
       value.getClass();
   ensureObstaclesIsMutable();
       obstacles_.add(value);
@@ -5878,10 +5878,10 @@ private void addObstacles(com.viam.common.v1.Common.GeoObstacle value) {
      * List of all known geometries
      * </pre>
      *
-     * <code>repeated .viam.common.v1.GeoObstacle obstacles = 1 [json_name = "obstacles"];</code>
+     * <code>repeated .viam.common.v1.GeoGeometry obstacles = 1 [json_name = "obstacles"];</code>
      */
     private void addObstacles(
-        int index, com.viam.common.v1.Common.GeoObstacle value) {
+        int index, com.viam.common.v1.Common.GeoGeometry value) {
       value.getClass();
   ensureObstaclesIsMutable();
       obstacles_.add(index, value);
@@ -5891,10 +5891,10 @@ private void addObstacles(
      * List of all known geometries
      * </pre>
      *
-     * <code>repeated .viam.common.v1.GeoObstacle obstacles = 1 [json_name = "obstacles"];</code>
+     * <code>repeated .viam.common.v1.GeoGeometry obstacles = 1 [json_name = "obstacles"];</code>
      */
     private void addAllObstacles(
-        java.lang.Iterable<? extends com.viam.common.v1.Common.GeoObstacle> values) {
+        java.lang.Iterable<? extends com.viam.common.v1.Common.GeoGeometry> values) {
       ensureObstaclesIsMutable();
       com.google.protobuf.AbstractMessageLite.addAll(
           values, obstacles_);
@@ -5904,7 +5904,7 @@ private void addAllObstacles(
      * List of all known geometries
      * </pre>
      *
-     * <code>repeated .viam.common.v1.GeoObstacle obstacles = 1 [json_name = "obstacles"];</code>
+     * <code>repeated .viam.common.v1.GeoGeometry obstacles = 1 [json_name = "obstacles"];</code>
      */
     private void clearObstacles() {
       obstacles_ = emptyProtobufList();
@@ -5914,7 +5914,7 @@ private void clearObstacles() {
      * List of all known geometries
      * </pre>
      *
-     * <code>repeated .viam.common.v1.GeoObstacle obstacles = 1 [json_name = "obstacles"];</code>
+     * <code>repeated .viam.common.v1.GeoGeometry obstacles = 1 [json_name = "obstacles"];</code>
      */
     private void removeObstacles(int index) {
       ensureObstaclesIsMutable();
@@ -6023,10 +6023,10 @@ private Builder() {
        * List of all known geometries
        * </pre>
        *
-       * <code>repeated .viam.common.v1.GeoObstacle obstacles = 1 [json_name = "obstacles"];</code>
+       * <code>repeated .viam.common.v1.GeoGeometry obstacles = 1 [json_name = "obstacles"];</code>
        */
       @java.lang.Override
-      public java.util.List<com.viam.common.v1.Common.GeoObstacle> getObstaclesList() {
+      public java.util.List<com.viam.common.v1.Common.GeoGeometry> getObstaclesList() {
         return java.util.Collections.unmodifiableList(
             instance.getObstaclesList());
       }
@@ -6035,7 +6035,7 @@ public java.util.List<com.viam.common.v1.Common.GeoObstacle> getObstaclesList()
        * List of all known geometries
        * </pre>
        *
-       * <code>repeated .viam.common.v1.GeoObstacle obstacles = 1 [json_name = "obstacles"];</code>
+       * <code>repeated .viam.common.v1.GeoGeometry obstacles = 1 [json_name = "obstacles"];</code>
        */
       @java.lang.Override
       public int getObstaclesCount() {
@@ -6045,10 +6045,10 @@ public int getObstaclesCount() {
        * List of all known geometries
        * </pre>
        *
-       * <code>repeated .viam.common.v1.GeoObstacle obstacles = 1 [json_name = "obstacles"];</code>
+       * <code>repeated .viam.common.v1.GeoGeometry obstacles = 1 [json_name = "obstacles"];</code>
        */
       @java.lang.Override
-      public com.viam.common.v1.Common.GeoObstacle getObstacles(int index) {
+      public com.viam.common.v1.Common.GeoGeometry getObstacles(int index) {
         return instance.getObstacles(index);
       }
       /**
@@ -6056,10 +6056,10 @@ public com.viam.common.v1.Common.GeoObstacle getObstacles(int index) {
        * List of all known geometries
        * </pre>
        *
-       * <code>repeated .viam.common.v1.GeoObstacle obstacles = 1 [json_name = "obstacles"];</code>
+       * <code>repeated .viam.common.v1.GeoGeometry obstacles = 1 [json_name = "obstacles"];</code>
        */
       public Builder setObstacles(
-          int index, com.viam.common.v1.Common.GeoObstacle value) {
+          int index, com.viam.common.v1.Common.GeoGeometry value) {
         copyOnWrite();
         instance.setObstacles(index, value);
         return this;
@@ -6069,10 +6069,10 @@ public Builder setObstacles(
        * List of all known geometries
        * </pre>
        *
-       * <code>repeated .viam.common.v1.GeoObstacle obstacles = 1 [json_name = "obstacles"];</code>
+       * <code>repeated .viam.common.v1.GeoGeometry obstacles = 1 [json_name = "obstacles"];</code>
        */
       public Builder setObstacles(
-          int index, com.viam.common.v1.Common.GeoObstacle.Builder builderForValue) {
+          int index, com.viam.common.v1.Common.GeoGeometry.Builder builderForValue) {
         copyOnWrite();
         instance.setObstacles(index,
             builderForValue.build());
@@ -6083,9 +6083,9 @@ public Builder setObstacles(
        * List of all known geometries
        * </pre>
        *
-       * <code>repeated .viam.common.v1.GeoObstacle obstacles = 1 [json_name = "obstacles"];</code>
+       * <code>repeated .viam.common.v1.GeoGeometry obstacles = 1 [json_name = "obstacles"];</code>
        */
-      public Builder addObstacles(com.viam.common.v1.Common.GeoObstacle value) {
+      public Builder addObstacles(com.viam.common.v1.Common.GeoGeometry value) {
         copyOnWrite();
         instance.addObstacles(value);
         return this;
@@ -6095,10 +6095,10 @@ public Builder addObstacles(com.viam.common.v1.Common.GeoObstacle value) {
        * List of all known geometries
        * </pre>
        *
-       * <code>repeated .viam.common.v1.GeoObstacle obstacles = 1 [json_name = "obstacles"];</code>
+       * <code>repeated .viam.common.v1.GeoGeometry obstacles = 1 [json_name = "obstacles"];</code>
        */
       public Builder addObstacles(
-          int index, com.viam.common.v1.Common.GeoObstacle value) {
+          int index, com.viam.common.v1.Common.GeoGeometry value) {
         copyOnWrite();
         instance.addObstacles(index, value);
         return this;
@@ -6108,10 +6108,10 @@ public Builder addObstacles(
        * List of all known geometries
        * </pre>
        *
-       * <code>repeated .viam.common.v1.GeoObstacle obstacles = 1 [json_name = "obstacles"];</code>
+       * <code>repeated .viam.common.v1.GeoGeometry obstacles = 1 [json_name = "obstacles"];</code>
        */
       public Builder addObstacles(
-          com.viam.common.v1.Common.GeoObstacle.Builder builderForValue) {
+          com.viam.common.v1.Common.GeoGeometry.Builder builderForValue) {
         copyOnWrite();
         instance.addObstacles(builderForValue.build());
         return this;
@@ -6121,10 +6121,10 @@ public Builder addObstacles(
        * List of all known geometries
        * </pre>
        *
-       * <code>repeated .viam.common.v1.GeoObstacle obstacles = 1 [json_name = "obstacles"];</code>
+       * <code>repeated .viam.common.v1.GeoGeometry obstacles = 1 [json_name = "obstacles"];</code>
        */
       public Builder addObstacles(
-          int index, com.viam.common.v1.Common.GeoObstacle.Builder builderForValue) {
+          int index, com.viam.common.v1.Common.GeoGeometry.Builder builderForValue) {
         copyOnWrite();
         instance.addObstacles(index,
             builderForValue.build());
@@ -6135,10 +6135,10 @@ public Builder addObstacles(
        * List of all known geometries
        * </pre>
        *
-       * <code>repeated .viam.common.v1.GeoObstacle obstacles = 1 [json_name = "obstacles"];</code>
+       * <code>repeated .viam.common.v1.GeoGeometry obstacles = 1 [json_name = "obstacles"];</code>
        */
       public Builder addAllObstacles(
-          java.lang.Iterable<? extends com.viam.common.v1.Common.GeoObstacle> values) {
+          java.lang.Iterable<? extends com.viam.common.v1.Common.GeoGeometry> values) {
         copyOnWrite();
         instance.addAllObstacles(values);
         return this;
@@ -6148,7 +6148,7 @@ public Builder addAllObstacles(
        * List of all known geometries
        * </pre>
        *
-       * <code>repeated .viam.common.v1.GeoObstacle obstacles = 1 [json_name = "obstacles"];</code>
+       * <code>repeated .viam.common.v1.GeoGeometry obstacles = 1 [json_name = "obstacles"];</code>
        */
       public Builder clearObstacles() {
         copyOnWrite();
@@ -6160,7 +6160,7 @@ public Builder clearObstacles() {
        * List of all known geometries
        * </pre>
        *
-       * <code>repeated .viam.common.v1.GeoObstacle obstacles = 1 [json_name = "obstacles"];</code>
+       * <code>repeated .viam.common.v1.GeoGeometry obstacles = 1 [json_name = "obstacles"];</code>
        */
       public Builder removeObstacles(int index) {
         copyOnWrite();
@@ -6185,7 +6185,7 @@ protected final java.lang.Object dynamicMethod(
         case BUILD_MESSAGE_INFO: {
             java.lang.Object[] objects = new java.lang.Object[] {
               "obstacles_",
-              com.viam.common.v1.Common.GeoObstacle.class,
+              com.viam.common.v1.Common.GeoGeometry.class,
             };
             java.lang.String info =
                 "\u0000\u0001\u0000\u0000\u0001\u0001\u0001\u0000\u0001\u0000\u0001\u001b";
diff --git a/core/sdk/src/main/gen/viam/app/packages/v1/Packages.java b/core/sdk/src/main/gen/viam/app/packages/v1/Packages.java
index c6fec1a3a..ae6a508fd 100644
--- a/core/sdk/src/main/gen/viam/app/packages/v1/Packages.java
+++ b/core/sdk/src/main/gen/viam/app/packages/v1/Packages.java
@@ -155,6 +155,17 @@ public interface FileInfoOrBuilder extends
      * @return The size.
      */
     long getSize();
+
+    /**
+     * <code>optional bool is_directory = 3 [json_name = "isDirectory"];</code>
+     * @return Whether the isDirectory field is set.
+     */
+    boolean hasIsDirectory();
+    /**
+     * <code>optional bool is_directory = 3 [json_name = "isDirectory"];</code>
+     * @return The isDirectory.
+     */
+    boolean getIsDirectory();
   }
   /**
    * Protobuf type {@code viam.app.packages.v1.FileInfo}
@@ -167,6 +178,7 @@ public  static final class FileInfo extends
     private FileInfo() {
       name_ = "";
     }
+    private int bitField0_;
     public static final int NAME_FIELD_NUMBER = 1;
     private java.lang.String name_;
     /**
@@ -240,6 +252,40 @@ private void clearSize() {
       size_ = 0L;
     }
 
+    public static final int IS_DIRECTORY_FIELD_NUMBER = 3;
+    private boolean isDirectory_;
+    /**
+     * <code>optional bool is_directory = 3 [json_name = "isDirectory"];</code>
+     * @return Whether the isDirectory field is set.
+     */
+    @java.lang.Override
+    public boolean hasIsDirectory() {
+      return ((bitField0_ & 0x00000001) != 0);
+    }
+    /**
+     * <code>optional bool is_directory = 3 [json_name = "isDirectory"];</code>
+     * @return The isDirectory.
+     */
+    @java.lang.Override
+    public boolean getIsDirectory() {
+      return isDirectory_;
+    }
+    /**
+     * <code>optional bool is_directory = 3 [json_name = "isDirectory"];</code>
+     * @param value The isDirectory to set.
+     */
+    private void setIsDirectory(boolean value) {
+      bitField0_ |= 0x00000001;
+      isDirectory_ = value;
+    }
+    /**
+     * <code>optional bool is_directory = 3 [json_name = "isDirectory"];</code>
+     */
+    private void clearIsDirectory() {
+      bitField0_ = (bitField0_ & ~0x00000001);
+      isDirectory_ = false;
+    }
+
     public static viam.app.packages.v1.Packages.FileInfo parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
@@ -414,6 +460,42 @@ public Builder clearSize() {
         return this;
       }
 
+      /**
+       * <code>optional bool is_directory = 3 [json_name = "isDirectory"];</code>
+       * @return Whether the isDirectory field is set.
+       */
+      @java.lang.Override
+      public boolean hasIsDirectory() {
+        return instance.hasIsDirectory();
+      }
+      /**
+       * <code>optional bool is_directory = 3 [json_name = "isDirectory"];</code>
+       * @return The isDirectory.
+       */
+      @java.lang.Override
+      public boolean getIsDirectory() {
+        return instance.getIsDirectory();
+      }
+      /**
+       * <code>optional bool is_directory = 3 [json_name = "isDirectory"];</code>
+       * @param value The isDirectory to set.
+       * @return This builder for chaining.
+       */
+      public Builder setIsDirectory(boolean value) {
+        copyOnWrite();
+        instance.setIsDirectory(value);
+        return this;
+      }
+      /**
+       * <code>optional bool is_directory = 3 [json_name = "isDirectory"];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearIsDirectory() {
+        copyOnWrite();
+        instance.clearIsDirectory();
+        return this;
+      }
+
       // @@protoc_insertion_point(builder_scope:viam.app.packages.v1.FileInfo)
     }
     @java.lang.Override
@@ -430,12 +512,14 @@ protected final java.lang.Object dynamicMethod(
         }
         case BUILD_MESSAGE_INFO: {
             java.lang.Object[] objects = new java.lang.Object[] {
+              "bitField0_",
               "name_",
               "size_",
+              "isDirectory_",
             };
             java.lang.String info =
-                "\u0000\u0002\u0000\u0000\u0001\u0002\u0002\u0000\u0000\u0000\u0001\u0208\u0002\u0003" +
-                "";
+                "\u0000\u0003\u0000\u0001\u0001\u0003\u0003\u0000\u0000\u0000\u0001\u0208\u0002\u0003" +
+                "\u0003\u1007\u0000";
             return newMessageInfo(DEFAULT_INSTANCE, info, objects);
         }
         // fall through
diff --git a/core/sdk/src/main/resources/protofds/viam.api b/core/sdk/src/main/resources/protofds/viam.api
index 163ed9585..0d51928f6 100644
Binary files a/core/sdk/src/main/resources/protofds/viam.api and b/core/sdk/src/main/resources/protofds/viam.api differ