From 55838ecd0f2da1cffe4e069e2084804fa6fdae77 Mon Sep 17 00:00:00 2001
From: Naveed Jooma <naveed@viam.com>
Date: Wed, 10 Jul 2024 12:12:10 -0400
Subject: [PATCH] Add motion service (#676)

---
 docs/conf.py                               |   2 +-
 poetry.lock                                | 612 +++++++++++----------
 pyproject.toml                             |   3 +-
 src/viam/components/arm/arm.py             |   2 +-
 src/viam/components/audio_input/service.py |   2 +-
 src/viam/components/camera/service.py      |   2 +-
 src/viam/gen/app/data/v1/data_pb2.pyi      |   9 +-
 src/viam/gen/app/v1/app_grpc.py            |  10 +-
 src/viam/gen/app/v1/app_pb2.py             | 396 ++++++-------
 src/viam/gen/app/v1/app_pb2.pyi            |  77 +++
 src/viam/gen/app/v1/robot_pb2.py           | 170 +++---
 src/viam/gen/app/v1/robot_pb2.pyi          |  27 +-
 src/viam/gen/robot/v1/robot_grpc.py        |  12 +-
 src/viam/gen/robot/v1/robot_pb2.py         |  20 +-
 src/viam/gen/robot/v1/robot_pb2.pyi        |  81 ++-
 src/viam/proto/app/__init__.py             |   6 +
 src/viam/proto/app/robot.py                |   2 +
 src/viam/proto/robot/__init__.py           |   6 +
 src/viam/services/motion/__init__.py       |  19 +-
 src/viam/services/motion/client.py         | 309 +----------
 src/viam/services/motion/motion.py         | 376 +++++++++++++
 src/viam/services/motion/service.py        | 132 +++++
 src/viam/services/navigation/navigation.py |  16 +-
 src/viam/services/service_base.py          |   4 +-
 src/viam/services/vision/service.py        |   2 +-
 src/viam/services/vision/vision.py         |  40 +-
 tests/test_motion_service.py               | 564 ++++++++++---------
 tests/test_robot.py                        |  11 +-
 tests/test_vision_service.py               |   2 +
 29 files changed, 1717 insertions(+), 1197 deletions(-)
 create mode 100644 src/viam/services/motion/motion.py
 create mode 100644 src/viam/services/motion/service.py

diff --git a/docs/conf.py b/docs/conf.py
index b8461f66a..54528133e 100755
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -7,7 +7,7 @@
 # -- Project information -----------------------------------------------------
 
 project = "Viam Python SDK"
-copyright = "2022-2023, Viam Inc"
+copyright = "2022-2024, Viam Inc"
 author = "Viam Inc"
 
 # -- General configuration ---------------------------------------------------
diff --git a/poetry.lock b/poetry.lock
index ef9e7c878..02f621a30 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -581,63 +581,63 @@ test = ["pytest"]
 
 [[package]]
 name = "coverage"
-version = "7.5.3"
+version = "7.5.4"
 description = "Code coverage measurement for Python"
 optional = false
 python-versions = ">=3.8"
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 [[package]]
@@ -759,13 +759,13 @@ tests = ["asttokens (>=2.1.0)", "coverage", "coverage-enable-subprocess", "ipyth
 
 [[package]]
 name = "fastjsonschema"
-version = "2.19.1"
+version = "2.20.0"
 description = "Fastest Python implementation of JSON schema"
 optional = false
 python-versions = "*"
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 [package.extras]
@@ -773,18 +773,18 @@ devel = ["colorama", "json-spec", "jsonschema", "pylint", "pytest", "pytest-benc
 
 [[package]]
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 [package.extras]
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 typing = ["typing-extensions (>=4.8)"]
 
 [[package]]
@@ -816,17 +816,17 @@ files = [
 
 [[package]]
 name = "googleapis-common-protos"
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+version = "1.63.2"
 description = "Common protobufs used in Google APIs"
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 python-versions = ">=3.7"
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 [package.extras]
 grpc = ["grpcio (>=1.44.0,<2.0.0.dev0)"]
@@ -1036,22 +1036,22 @@ files = [
 
 [[package]]
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 description = "Read metadata from Python packages"
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 python-versions = ">=3.8"
 files = [
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 [package.dependencies]
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 [package.extras]
@@ -2685,32 +2697,32 @@ windows-terminal = ["colorama (>=0.4.6)"]
 
 [[package]]
 name = "pyproject-api"
-version = "1.6.1"
+version = "1.7.1"
 description = "API to interact with the python pyproject.toml based projects"
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.dependencies]
-packaging = ">=23.1"
+packaging = ">=24.1"
 tomli = {version = ">=2.0.1", markers = "python_version < \"3.11\""}
 
 [package.extras]
-docs = ["furo (>=2023.8.19)", "sphinx (<7.2)", "sphinx-autodoc-typehints (>=1.24)"]
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+docs = ["furo (>=2024.5.6)", "sphinx-autodoc-typehints (>=2.2.1)"]
+testing = ["covdefaults (>=2.3)", "pytest (>=8.2.2)", "pytest-cov (>=5)", "pytest-mock (>=3.14)", "setuptools (>=70.1)"]
 
 [[package]]
 name = "pyright"
-version = "1.1.367"
+version = "1.1.370"
 description = "Command line wrapper for pyright"
 optional = false
 python-versions = ">=3.7"
 files = [
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 ]
 
 [package.dependencies]
@@ -2760,6 +2772,23 @@ pytest = ">=7.0.0,<9"
 docs = ["sphinx (>=5.3)", "sphinx-rtd-theme (>=1.0)"]
 testing = ["coverage (>=6.2)", "hypothesis (>=5.7.1)"]
 
+[[package]]
+name = "pytest-mock"
+version = "3.14.0"
+description = "Thin-wrapper around the mock package for easier use with pytest"
+optional = false
+python-versions = ">=3.8"
+files = [
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+]
+
+[package.dependencies]
+pytest = ">=6.2.5"
+
+[package.extras]
+dev = ["pre-commit", "pytest-asyncio", "tox"]
+
 [[package]]
 name = "pytest-watcher"
 version = "0.3.5"
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@@ -2869,16 +2897,8 @@ files = [
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@@ -2895,7 +2915,6 @@ files = [
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@@ -2903,7 +2922,6 @@ files = [
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@@ -3238,18 +3256,18 @@ win32 = ["pywin32"]
 
 [[package]]
 name = "setuptools"
-version = "70.0.0"
+version = "70.2.0"
 description = "Easily download, build, install, upgrade, and uninstall Python packages"
 optional = false
 python-versions = ">=3.8"
 files = [
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+    {file = "setuptools-70.2.0-py3-none-any.whl", hash = "sha256:b8b8060bb426838fbe942479c90296ce976249451118ef566a5a0b7d8b78fb05"},
+    {file = "setuptools-70.2.0.tar.gz", hash = "sha256:bd63e505105011b25c3c11f753f7e3b8465ea739efddaccef8f0efac2137bac1"},
 ]
 
 [package.extras]
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-testing = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "importlib-metadata", "ini2toml[lite] (>=0.14)", "jaraco.develop (>=7.21)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "mypy (==1.9)", "packaging (>=23.2)", "pip (>=19.1)", "pyproject-hooks (!=1.1)", "pytest (>=6,!=8.1.1)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-home (>=0.5)", "pytest-mypy", "pytest-perf", "pytest-ruff (>=0.2.1)", "pytest-subprocess", "pytest-timeout", "pytest-xdist (>=3)", "tomli", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
+doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "pyproject-hooks (!=1.1)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-inline-tabs", "sphinx-lint", "sphinx-notfound-page (>=1,<2)", "sphinx-reredirects", "sphinxcontrib-towncrier"]
+test = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "importlib-metadata", "ini2toml[lite] (>=0.14)", "jaraco.develop (>=7.21)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "jaraco.test", "mypy (==1.10.0)", "packaging (>=23.2)", "pip (>=19.1)", "pyproject-hooks (!=1.1)", "pytest (>=6,!=8.1.*)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-home (>=0.5)", "pytest-mypy", "pytest-perf", "pytest-ruff (>=0.3.2)", "pytest-subprocess", "pytest-timeout", "pytest-xdist (>=3)", "tomli", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
 
 [[package]]
 name = "six"
@@ -3390,13 +3408,13 @@ go = ["sphinxcontrib-golangdomain"]
 
 [[package]]
 name = "sphinx-autoapi"
-version = "3.1.1"
+version = "3.1.2"
 description = "Sphinx API documentation generator"
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.dependencies]
@@ -3535,64 +3553,64 @@ test = ["pytest"]
 
 [[package]]
 name = "sqlalchemy"
-version = "2.0.30"
+version = "2.0.31"
 description = "Database Abstraction Library"
 optional = false
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+    {file = "SQLAlchemy-2.0.31-cp39-cp39-win32.whl", hash = "sha256:fc6b14e8602f59c6ba893980bea96571dd0ed83d8ebb9c4479d9ed5425d562e9"},
+    {file = "SQLAlchemy-2.0.31-cp39-cp39-win_amd64.whl", hash = "sha256:3cb8a66b167b033ec72c3812ffc8441d4e9f5f78f5e31e54dcd4c90a4ca5bebc"},
+    {file = "SQLAlchemy-2.0.31-py3-none-any.whl", hash = "sha256:69f3e3c08867a8e4856e92d7afb618b95cdee18e0bc1647b77599722c9a28911"},
+    {file = "SQLAlchemy-2.0.31.tar.gz", hash = "sha256:b607489dd4a54de56984a0c7656247504bd5523d9d0ba799aef59d4add009484"},
+]
+
+[package.dependencies]
+greenlet = {version = "!=0.4.17", markers = "python_version < \"3.13\" and (platform_machine == \"aarch64\" or platform_machine == \"ppc64le\" or platform_machine == \"x86_64\" or platform_machine == \"amd64\" or platform_machine == \"AMD64\" or platform_machine == \"win32\" or platform_machine == \"WIN32\")"}
 typing-extensions = ">=4.6.0"
 
 [package.extras]
@@ -3736,30 +3754,30 @@ files = [
 
 [[package]]
 name = "tox"
-version = "4.15.1"
+version = "4.16.0"
 description = "tox is a generic virtualenv management and test command line tool"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "tox-4.15.1-py3-none-any.whl", hash = "sha256:f00a5dc4222b358e69694e47e3da0227ac41253509bca9f45aa8f012053e8d9d"},
-    {file = "tox-4.15.1.tar.gz", hash = "sha256:53a092527d65e873e39213ebd4bd027a64623320b6b0326136384213f95b7076"},
+    {file = "tox-4.16.0-py3-none-any.whl", hash = "sha256:61e101061b977b46cf00093d4319438055290ad0009f84497a07bf2d2d7a06d0"},
+    {file = "tox-4.16.0.tar.gz", hash = "sha256:43499656f9949edb681c0f907f86fbfee98677af9919d8b11ae5ad77cb800748"},
 ]
 
 [package.dependencies]
-cachetools = ">=5.3.2"
+cachetools = ">=5.3.3"
 chardet = ">=5.2"
 colorama = ">=0.4.6"
-filelock = ">=3.13.1"
-packaging = ">=23.2"
-platformdirs = ">=4.1"
-pluggy = ">=1.3"
-pyproject-api = ">=1.6.1"
+filelock = ">=3.15.4"
+packaging = ">=24.1"
+platformdirs = ">=4.2.2"
+pluggy = ">=1.5"
+pyproject-api = ">=1.7.1"
 tomli = {version = ">=2.0.1", markers = "python_version < \"3.11\""}
-virtualenv = ">=20.25"
+virtualenv = ">=20.26.3"
 
 [package.extras]
-docs = ["furo (>=2023.9.10)", "sphinx (>=7.2.6)", "sphinx-argparse-cli (>=1.11.1)", "sphinx-autodoc-typehints (>=1.25.2)", "sphinx-copybutton (>=0.5.2)", "sphinx-inline-tabs (>=2023.4.21)", "sphinxcontrib-towncrier (>=0.2.1a0)", "towncrier (>=23.11)"]
-testing = ["build[virtualenv] (>=1.0.3)", "covdefaults (>=2.3)", "detect-test-pollution (>=1.2)", "devpi-process (>=1)", "diff-cover (>=8.0.2)", "distlib (>=0.3.8)", "flaky (>=3.7)", "hatch-vcs (>=0.4)", "hatchling (>=1.21)", "psutil (>=5.9.7)", "pytest (>=7.4.4)", "pytest-cov (>=4.1)", "pytest-mock (>=3.12)", "pytest-xdist (>=3.5)", "re-assert (>=1.1)", "time-machine (>=2.13)", "wheel (>=0.42)"]
+docs = ["furo (>=2024.5.6)", "sphinx (>=7.3.7)", "sphinx-argparse-cli (>=1.16)", "sphinx-autodoc-typehints (>=2.2.2)", "sphinx-copybutton (>=0.5.2)", "sphinx-inline-tabs (>=2023.4.21)", "sphinxcontrib-towncrier (>=0.2.1a0)", "towncrier (>=23.11)"]
+testing = ["build[virtualenv] (>=1.2.1)", "covdefaults (>=2.3)", "detect-test-pollution (>=1.2)", "devpi-process (>=1)", "diff-cover (>=9.1)", "distlib (>=0.3.8)", "flaky (>=3.8.1)", "hatch-vcs (>=0.4)", "hatchling (>=1.25)", "psutil (>=6)", "pytest (>=8.2.2)", "pytest-cov (>=5)", "pytest-mock (>=3.14)", "pytest-xdist (>=3.6.1)", "re-assert (>=1.1)", "setuptools (>=70.2)", "time-machine (>=2.14.2)", "wheel (>=0.43)"]
 
 [[package]]
 name = "traitlets"
@@ -3789,13 +3807,13 @@ files = [
 
 [[package]]
 name = "types-protobuf"
-version = "5.26.0.20240422"
+version = "5.27.0.20240626"
 description = "Typing stubs for protobuf"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "types-protobuf-5.26.0.20240422.tar.gz", hash = "sha256:e6074178109f97efe9f0b20a035ba61d7c3b03e867eb47d254d2b2ab6a805e36"},
-    {file = "types_protobuf-5.26.0.20240422-py3-none-any.whl", hash = "sha256:e4dc2554d342501d5aebc3c71203868b51118340e105fc190e3a64ca1be43831"},
+    {file = "types-protobuf-5.27.0.20240626.tar.gz", hash = "sha256:683ba14043bade6785e3f937a7498f243b37881a91ac8d81b9202ecf8b191e9c"},
+    {file = "types_protobuf-5.27.0.20240626-py3-none-any.whl", hash = "sha256:688e8f7e8d9295db26bc560df01fb731b27a25b77cbe4c1ce945647f7024f5c1"},
 ]
 
 [[package]]
@@ -3836,13 +3854,13 @@ dev = ["flake8", "flake8-annotations", "flake8-bandit", "flake8-bugbear", "flake
 
 [[package]]
 name = "urllib3"
-version = "2.2.1"
+version = "2.2.2"
 description = "HTTP library with thread-safe connection pooling, file post, and more."
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "urllib3-2.2.1-py3-none-any.whl", hash = "sha256:450b20ec296a467077128bff42b73080516e71b56ff59a60a02bef2232c4fa9d"},
-    {file = "urllib3-2.2.1.tar.gz", hash = "sha256:d0570876c61ab9e520d776c38acbbb5b05a776d3f9ff98a5c8fd5162a444cf19"},
+    {file = "urllib3-2.2.2-py3-none-any.whl", hash = "sha256:a448b2f64d686155468037e1ace9f2d2199776e17f0a46610480d311f73e3472"},
+    {file = "urllib3-2.2.2.tar.gz", hash = "sha256:dd505485549a7a552833da5e6063639d0d177c04f23bc3864e41e5dc5f612168"},
 ]
 
 [package.extras]
@@ -3853,13 +3871,13 @@ zstd = ["zstandard (>=0.18.0)"]
 
 [[package]]
 name = "virtualenv"
-version = "20.26.2"
+version = "20.26.3"
 description = "Virtual Python Environment builder"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "virtualenv-20.26.2-py3-none-any.whl", hash = "sha256:a624db5e94f01ad993d476b9ee5346fdf7b9de43ccaee0e0197012dc838a0e9b"},
-    {file = "virtualenv-20.26.2.tar.gz", hash = "sha256:82bf0f4eebbb78d36ddaee0283d43fe5736b53880b8a8cdcd37390a07ac3741c"},
+    {file = "virtualenv-20.26.3-py3-none-any.whl", hash = "sha256:8cc4a31139e796e9a7de2cd5cf2489de1217193116a8fd42328f1bd65f434589"},
+    {file = "virtualenv-20.26.3.tar.gz", hash = "sha256:4c43a2a236279d9ea36a0d76f98d84bd6ca94ac4e0f4a3b9d46d05e10fea542a"},
 ]
 
 [package.dependencies]
@@ -4014,4 +4032,4 @@ mlmodel = ["numpy"]
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.8.1,<3.13"
-content-hash = "841a9e48df79fbac4288d5edf4b93d080cf69e1b056158bff8f9a79054af6540"
+content-hash = "aed2c42b49eae516ed1f0752247a8a455df634d10b55862e8f650edf986ca737"
diff --git a/pyproject.toml b/pyproject.toml
index 336195ddc..a28e921a0 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -15,7 +15,7 @@ include = ["LICENSE", "src/viam/rpc/libviam_rust_utils.*"]
   grpclib = ">=0.4.7,<1"
   googleapis-common-protos = ">=1.60.0,<2"
   typing-extensions = ">=4.8.0,<5"
-  protobuf = ">=4.24.3,<5"
+  protobuf = ">=4.24.3"
   numpy = { version = ">=1.21,<2", optional = true }
 
   [tool.poetry.group.dev.dependencies]
@@ -48,6 +48,7 @@ include = ["LICENSE", "src/viam/rpc/libviam_rust_utils.*"]
   ]
   Pillow = ">=9.1.0,<11"
   pyright = "^1.1.339"
+  pytest-mock = "^3.14.0"
 
   [tool.poetry.extras]
   mlmodel = ["numpy"]
diff --git a/src/viam/components/arm/arm.py b/src/viam/components/arm/arm.py
index d2a4357d4..41f170080 100644
--- a/src/viam/components/arm/arm.py
+++ b/src/viam/components/arm/arm.py
@@ -47,7 +47,7 @@ async def get_end_position(
             pos = await my_arm.get_end_position()
 
         Returns:
-            Pose: A representation of the arm’s current position as a 6 DOF (six degrees of freedom) pose.
+            Pose: A representation of the arm's current position as a 6 DOF (six degrees of freedom) pose.
             The ``Pose`` is composed of values for location and orientation with respect to the origin.
             Location is expressed as distance, which is represented by x, y, and z coordinate values.
             Orientation is expressed as an orientation vector, which is represented by o_x, o_y, o_z, and theta values.
diff --git a/src/viam/components/audio_input/service.py b/src/viam/components/audio_input/service.py
index 6d19242b9..41acd2257 100644
--- a/src/viam/components/audio_input/service.py
+++ b/src/viam/components/audio_input/service.py
@@ -2,7 +2,7 @@
 from datetime import timedelta
 from io import BytesIO
 
-from google.api.httpbody_pb2 import HttpBody
+from google.api.httpbody_pb2 import HttpBody  # type: ignore
 from grpclib import GRPCError, Status
 from grpclib.server import Stream
 
diff --git a/src/viam/components/camera/service.py b/src/viam/components/camera/service.py
index 34bb6ba4f..568f85237 100644
--- a/src/viam/components/camera/service.py
+++ b/src/viam/components/camera/service.py
@@ -1,6 +1,6 @@
 # TODO: Update type checking based with RSDK-4089
 # pyright: reportGeneralTypeIssues=false
-from google.api.httpbody_pb2 import HttpBody
+from google.api.httpbody_pb2 import HttpBody  # type: ignore
 from grpclib.server import Stream
 
 from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse
diff --git a/src/viam/gen/app/data/v1/data_pb2.pyi b/src/viam/gen/app/data/v1/data_pb2.pyi
index 953e24beb..f62fcec71 100644
--- a/src/viam/gen/app/data/v1/data_pb2.pyi
+++ b/src/viam/gen/app/data/v1/data_pb2.pyi
@@ -642,9 +642,12 @@ global___BinaryMetadata = BinaryMetadata
 
 @typing.final
 class DeleteTabularDataRequest(google.protobuf.message.Message):
-    """DeleteTabularDataRequest deletes the data from the organization that is older than `delete_older_than_days`.
-    For example if `delete_older_than_days` is 10, this deletes any data that was captured up to 10 days ago.
-    If it is 0, all existing data is deleted.
+    """DeleteTabularDataRequest deletes the data from the organization that is older than `delete_older_than_days`
+    in UTC time. For example, if delete_older_than_days=1 and the request is made at 1AM EST on March 11
+    (March 11 5AM UTC), this deletes all data captured through March 10 11:59:59PM UTC.
+    If the request is at 10PM EST on March 11 (March 12 2AM UTC), this deletes all data captured
+    through March 11 11:59:59PM UTC.
+    If delete_older_than_days is 0, all existing data is deleted.
     """
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     ORGANIZATION_ID_FIELD_NUMBER: builtins.int
diff --git a/src/viam/gen/app/v1/app_grpc.py b/src/viam/gen/app/v1/app_grpc.py
index 97aa23239..4f2045b07 100644
--- a/src/viam/gen/app/v1/app_grpc.py
+++ b/src/viam/gen/app/v1/app_grpc.py
@@ -209,6 +209,10 @@ async def UpdateFragment(self, stream: 'grpclib.server.Stream[app.v1.app_pb2.Upd
     async def DeleteFragment(self, stream: 'grpclib.server.Stream[app.v1.app_pb2.DeleteFragmentRequest, app.v1.app_pb2.DeleteFragmentResponse]') -> None:
         pass
 
+    @abc.abstractmethod
+    async def GetFragmentHistory(self, stream: 'grpclib.server.Stream[app.v1.app_pb2.GetFragmentHistoryRequest, app.v1.app_pb2.GetFragmentHistoryResponse]') -> None:
+        pass
+
     @abc.abstractmethod
     async def AddRole(self, stream: 'grpclib.server.Stream[app.v1.app_pb2.AddRoleRequest, app.v1.app_pb2.AddRoleResponse]') -> None:
         pass
@@ -298,7 +302,7 @@ async def CreateKeyFromExistingKeyAuthorizations(self, stream: 'grpclib.server.S
         pass
 
     def __mapping__(self) -> typing.Dict[str, grpclib.const.Handler]:
-        return {'/viam.app.v1.AppService/GetUserIDByEmail': grpclib.const.Handler(self.GetUserIDByEmail, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.GetUserIDByEmailRequest, app.v1.app_pb2.GetUserIDByEmailResponse), '/viam.app.v1.AppService/CreateOrganization': grpclib.const.Handler(self.CreateOrganization, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.CreateOrganizationRequest, app.v1.app_pb2.CreateOrganizationResponse), '/viam.app.v1.AppService/ListOrganizations': grpclib.const.Handler(self.ListOrganizations, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.ListOrganizationsRequest, app.v1.app_pb2.ListOrganizationsResponse), '/viam.app.v1.AppService/GetOrganizationsWithAccessToLocation': grpclib.const.Handler(self.GetOrganizationsWithAccessToLocation, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.GetOrganizationsWithAccessToLocationRequest, app.v1.app_pb2.GetOrganizationsWithAccessToLocationResponse), '/viam.app.v1.AppService/ListOrganizationsByUser': grpclib.const.Handler(self.ListOrganizationsByUser, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.ListOrganizationsByUserRequest, app.v1.app_pb2.ListOrganizationsByUserResponse), '/viam.app.v1.AppService/GetOrganization': grpclib.const.Handler(self.GetOrganization, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.GetOrganizationRequest, app.v1.app_pb2.GetOrganizationResponse), '/viam.app.v1.AppService/GetOrganizationNamespaceAvailability': grpclib.const.Handler(self.GetOrganizationNamespaceAvailability, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.GetOrganizationNamespaceAvailabilityRequest, app.v1.app_pb2.GetOrganizationNamespaceAvailabilityResponse), '/viam.app.v1.AppService/UpdateOrganization': grpclib.const.Handler(self.UpdateOrganization, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.UpdateOrganizationRequest, app.v1.app_pb2.UpdateOrganizationResponse), '/viam.app.v1.AppService/DeleteOrganization': grpclib.const.Handler(self.DeleteOrganization, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.DeleteOrganizationRequest, app.v1.app_pb2.DeleteOrganizationResponse), '/viam.app.v1.AppService/ListOrganizationMembers': grpclib.const.Handler(self.ListOrganizationMembers, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.ListOrganizationMembersRequest, app.v1.app_pb2.ListOrganizationMembersResponse), '/viam.app.v1.AppService/CreateOrganizationInvite': grpclib.const.Handler(self.CreateOrganizationInvite, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.CreateOrganizationInviteRequest, app.v1.app_pb2.CreateOrganizationInviteResponse), '/viam.app.v1.AppService/UpdateOrganizationInviteAuthorizations': grpclib.const.Handler(self.UpdateOrganizationInviteAuthorizations, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.UpdateOrganizationInviteAuthorizationsRequest, app.v1.app_pb2.UpdateOrganizationInviteAuthorizationsResponse), '/viam.app.v1.AppService/DeleteOrganizationMember': grpclib.const.Handler(self.DeleteOrganizationMember, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.DeleteOrganizationMemberRequest, app.v1.app_pb2.DeleteOrganizationMemberResponse), '/viam.app.v1.AppService/DeleteOrganizationInvite': grpclib.const.Handler(self.DeleteOrganizationInvite, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.DeleteOrganizationInviteRequest, app.v1.app_pb2.DeleteOrganizationInviteResponse), '/viam.app.v1.AppService/ResendOrganizationInvite': grpclib.const.Handler(self.ResendOrganizationInvite, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.ResendOrganizationInviteRequest, app.v1.app_pb2.ResendOrganizationInviteResponse), '/viam.app.v1.AppService/CreateLocation': grpclib.const.Handler(self.CreateLocation, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.CreateLocationRequest, app.v1.app_pb2.CreateLocationResponse), '/viam.app.v1.AppService/GetLocation': grpclib.const.Handler(self.GetLocation, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.GetLocationRequest, app.v1.app_pb2.GetLocationResponse), '/viam.app.v1.AppService/UpdateLocation': grpclib.const.Handler(self.UpdateLocation, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.UpdateLocationRequest, app.v1.app_pb2.UpdateLocationResponse), '/viam.app.v1.AppService/DeleteLocation': grpclib.const.Handler(self.DeleteLocation, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.DeleteLocationRequest, app.v1.app_pb2.DeleteLocationResponse), '/viam.app.v1.AppService/ListLocations': grpclib.const.Handler(self.ListLocations, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.ListLocationsRequest, app.v1.app_pb2.ListLocationsResponse), '/viam.app.v1.AppService/ShareLocation': grpclib.const.Handler(self.ShareLocation, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.ShareLocationRequest, app.v1.app_pb2.ShareLocationResponse), '/viam.app.v1.AppService/UnshareLocation': grpclib.const.Handler(self.UnshareLocation, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.UnshareLocationRequest, app.v1.app_pb2.UnshareLocationResponse), '/viam.app.v1.AppService/LocationAuth': grpclib.const.Handler(self.LocationAuth, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.LocationAuthRequest, app.v1.app_pb2.LocationAuthResponse), '/viam.app.v1.AppService/CreateLocationSecret': grpclib.const.Handler(self.CreateLocationSecret, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.CreateLocationSecretRequest, app.v1.app_pb2.CreateLocationSecretResponse), '/viam.app.v1.AppService/DeleteLocationSecret': grpclib.const.Handler(self.DeleteLocationSecret, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.DeleteLocationSecretRequest, app.v1.app_pb2.DeleteLocationSecretResponse), '/viam.app.v1.AppService/GetRobot': grpclib.const.Handler(self.GetRobot, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.GetRobotRequest, app.v1.app_pb2.GetRobotResponse), '/viam.app.v1.AppService/GetRoverRentalRobots': grpclib.const.Handler(self.GetRoverRentalRobots, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.GetRoverRentalRobotsRequest, app.v1.app_pb2.GetRoverRentalRobotsResponse), '/viam.app.v1.AppService/GetRobotParts': grpclib.const.Handler(self.GetRobotParts, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.GetRobotPartsRequest, app.v1.app_pb2.GetRobotPartsResponse), '/viam.app.v1.AppService/GetRobotPart': grpclib.const.Handler(self.GetRobotPart, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.GetRobotPartRequest, app.v1.app_pb2.GetRobotPartResponse), '/viam.app.v1.AppService/GetRobotPartLogs': grpclib.const.Handler(self.GetRobotPartLogs, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.GetRobotPartLogsRequest, app.v1.app_pb2.GetRobotPartLogsResponse), '/viam.app.v1.AppService/TailRobotPartLogs': grpclib.const.Handler(self.TailRobotPartLogs, grpclib.const.Cardinality.UNARY_STREAM, app.v1.app_pb2.TailRobotPartLogsRequest, app.v1.app_pb2.TailRobotPartLogsResponse), '/viam.app.v1.AppService/GetRobotPartHistory': grpclib.const.Handler(self.GetRobotPartHistory, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.GetRobotPartHistoryRequest, app.v1.app_pb2.GetRobotPartHistoryResponse), '/viam.app.v1.AppService/UpdateRobotPart': grpclib.const.Handler(self.UpdateRobotPart, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.UpdateRobotPartRequest, app.v1.app_pb2.UpdateRobotPartResponse), '/viam.app.v1.AppService/NewRobotPart': grpclib.const.Handler(self.NewRobotPart, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.NewRobotPartRequest, app.v1.app_pb2.NewRobotPartResponse), '/viam.app.v1.AppService/DeleteRobotPart': grpclib.const.Handler(self.DeleteRobotPart, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.DeleteRobotPartRequest, app.v1.app_pb2.DeleteRobotPartResponse), '/viam.app.v1.AppService/GetRobotAPIKeys': grpclib.const.Handler(self.GetRobotAPIKeys, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.GetRobotAPIKeysRequest, app.v1.app_pb2.GetRobotAPIKeysResponse), '/viam.app.v1.AppService/MarkPartAsMain': grpclib.const.Handler(self.MarkPartAsMain, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.MarkPartAsMainRequest, app.v1.app_pb2.MarkPartAsMainResponse), '/viam.app.v1.AppService/MarkPartForRestart': grpclib.const.Handler(self.MarkPartForRestart, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.MarkPartForRestartRequest, app.v1.app_pb2.MarkPartForRestartResponse), '/viam.app.v1.AppService/CreateRobotPartSecret': grpclib.const.Handler(self.CreateRobotPartSecret, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.CreateRobotPartSecretRequest, app.v1.app_pb2.CreateRobotPartSecretResponse), '/viam.app.v1.AppService/DeleteRobotPartSecret': grpclib.const.Handler(self.DeleteRobotPartSecret, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.DeleteRobotPartSecretRequest, app.v1.app_pb2.DeleteRobotPartSecretResponse), '/viam.app.v1.AppService/ListRobots': grpclib.const.Handler(self.ListRobots, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.ListRobotsRequest, app.v1.app_pb2.ListRobotsResponse), '/viam.app.v1.AppService/NewRobot': grpclib.const.Handler(self.NewRobot, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.NewRobotRequest, app.v1.app_pb2.NewRobotResponse), '/viam.app.v1.AppService/UpdateRobot': grpclib.const.Handler(self.UpdateRobot, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.UpdateRobotRequest, app.v1.app_pb2.UpdateRobotResponse), '/viam.app.v1.AppService/DeleteRobot': grpclib.const.Handler(self.DeleteRobot, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.DeleteRobotRequest, app.v1.app_pb2.DeleteRobotResponse), '/viam.app.v1.AppService/ListFragments': grpclib.const.Handler(self.ListFragments, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.ListFragmentsRequest, app.v1.app_pb2.ListFragmentsResponse), '/viam.app.v1.AppService/GetFragment': grpclib.const.Handler(self.GetFragment, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.GetFragmentRequest, app.v1.app_pb2.GetFragmentResponse), '/viam.app.v1.AppService/CreateFragment': grpclib.const.Handler(self.CreateFragment, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.CreateFragmentRequest, app.v1.app_pb2.CreateFragmentResponse), '/viam.app.v1.AppService/UpdateFragment': grpclib.const.Handler(self.UpdateFragment, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.UpdateFragmentRequest, app.v1.app_pb2.UpdateFragmentResponse), '/viam.app.v1.AppService/DeleteFragment': grpclib.const.Handler(self.DeleteFragment, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.DeleteFragmentRequest, app.v1.app_pb2.DeleteFragmentResponse), '/viam.app.v1.AppService/AddRole': grpclib.const.Handler(self.AddRole, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.AddRoleRequest, app.v1.app_pb2.AddRoleResponse), '/viam.app.v1.AppService/RemoveRole': grpclib.const.Handler(self.RemoveRole, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.RemoveRoleRequest, app.v1.app_pb2.RemoveRoleResponse), '/viam.app.v1.AppService/ChangeRole': grpclib.const.Handler(self.ChangeRole, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.ChangeRoleRequest, app.v1.app_pb2.ChangeRoleResponse), '/viam.app.v1.AppService/ListAuthorizations': grpclib.const.Handler(self.ListAuthorizations, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.ListAuthorizationsRequest, app.v1.app_pb2.ListAuthorizationsResponse), '/viam.app.v1.AppService/CheckPermissions': grpclib.const.Handler(self.CheckPermissions, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.CheckPermissionsRequest, app.v1.app_pb2.CheckPermissionsResponse), '/viam.app.v1.AppService/GetRegistryItem': grpclib.const.Handler(self.GetRegistryItem, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.GetRegistryItemRequest, app.v1.app_pb2.GetRegistryItemResponse), '/viam.app.v1.AppService/CreateRegistryItem': grpclib.const.Handler(self.CreateRegistryItem, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.CreateRegistryItemRequest, app.v1.app_pb2.CreateRegistryItemResponse), '/viam.app.v1.AppService/UpdateRegistryItem': grpclib.const.Handler(self.UpdateRegistryItem, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.UpdateRegistryItemRequest, app.v1.app_pb2.UpdateRegistryItemResponse), '/viam.app.v1.AppService/ListRegistryItems': grpclib.const.Handler(self.ListRegistryItems, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.ListRegistryItemsRequest, app.v1.app_pb2.ListRegistryItemsResponse), '/viam.app.v1.AppService/DeleteRegistryItem': grpclib.const.Handler(self.DeleteRegistryItem, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.DeleteRegistryItemRequest, app.v1.app_pb2.DeleteRegistryItemResponse), '/viam.app.v1.AppService/TransferRegistryItem': grpclib.const.Handler(self.TransferRegistryItem, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.TransferRegistryItemRequest, app.v1.app_pb2.TransferRegistryItemResponse), '/viam.app.v1.AppService/CreateModule': grpclib.const.Handler(self.CreateModule, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.CreateModuleRequest, app.v1.app_pb2.CreateModuleResponse), '/viam.app.v1.AppService/UpdateModule': grpclib.const.Handler(self.UpdateModule, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.UpdateModuleRequest, app.v1.app_pb2.UpdateModuleResponse), '/viam.app.v1.AppService/UploadModuleFile': grpclib.const.Handler(self.UploadModuleFile, grpclib.const.Cardinality.STREAM_UNARY, app.v1.app_pb2.UploadModuleFileRequest, app.v1.app_pb2.UploadModuleFileResponse), '/viam.app.v1.AppService/GetModule': grpclib.const.Handler(self.GetModule, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.GetModuleRequest, app.v1.app_pb2.GetModuleResponse), '/viam.app.v1.AppService/ListModules': grpclib.const.Handler(self.ListModules, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.ListModulesRequest, app.v1.app_pb2.ListModulesResponse), '/viam.app.v1.AppService/CreateKey': grpclib.const.Handler(self.CreateKey, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.CreateKeyRequest, app.v1.app_pb2.CreateKeyResponse), '/viam.app.v1.AppService/DeleteKey': grpclib.const.Handler(self.DeleteKey, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.DeleteKeyRequest, app.v1.app_pb2.DeleteKeyResponse), '/viam.app.v1.AppService/ListKeys': grpclib.const.Handler(self.ListKeys, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.ListKeysRequest, app.v1.app_pb2.ListKeysResponse), '/viam.app.v1.AppService/RenameKey': grpclib.const.Handler(self.RenameKey, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.RenameKeyRequest, app.v1.app_pb2.RenameKeyResponse), '/viam.app.v1.AppService/RotateKey': grpclib.const.Handler(self.RotateKey, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.RotateKeyRequest, app.v1.app_pb2.RotateKeyResponse), '/viam.app.v1.AppService/CreateKeyFromExistingKeyAuthorizations': grpclib.const.Handler(self.CreateKeyFromExistingKeyAuthorizations, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.CreateKeyFromExistingKeyAuthorizationsRequest, app.v1.app_pb2.CreateKeyFromExistingKeyAuthorizationsResponse)}
+        return {'/viam.app.v1.AppService/GetUserIDByEmail': grpclib.const.Handler(self.GetUserIDByEmail, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.GetUserIDByEmailRequest, app.v1.app_pb2.GetUserIDByEmailResponse), '/viam.app.v1.AppService/CreateOrganization': grpclib.const.Handler(self.CreateOrganization, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.CreateOrganizationRequest, app.v1.app_pb2.CreateOrganizationResponse), '/viam.app.v1.AppService/ListOrganizations': grpclib.const.Handler(self.ListOrganizations, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.ListOrganizationsRequest, app.v1.app_pb2.ListOrganizationsResponse), '/viam.app.v1.AppService/GetOrganizationsWithAccessToLocation': grpclib.const.Handler(self.GetOrganizationsWithAccessToLocation, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.GetOrganizationsWithAccessToLocationRequest, app.v1.app_pb2.GetOrganizationsWithAccessToLocationResponse), '/viam.app.v1.AppService/ListOrganizationsByUser': grpclib.const.Handler(self.ListOrganizationsByUser, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.ListOrganizationsByUserRequest, app.v1.app_pb2.ListOrganizationsByUserResponse), '/viam.app.v1.AppService/GetOrganization': grpclib.const.Handler(self.GetOrganization, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.GetOrganizationRequest, app.v1.app_pb2.GetOrganizationResponse), '/viam.app.v1.AppService/GetOrganizationNamespaceAvailability': grpclib.const.Handler(self.GetOrganizationNamespaceAvailability, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.GetOrganizationNamespaceAvailabilityRequest, app.v1.app_pb2.GetOrganizationNamespaceAvailabilityResponse), '/viam.app.v1.AppService/UpdateOrganization': grpclib.const.Handler(self.UpdateOrganization, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.UpdateOrganizationRequest, app.v1.app_pb2.UpdateOrganizationResponse), '/viam.app.v1.AppService/DeleteOrganization': grpclib.const.Handler(self.DeleteOrganization, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.DeleteOrganizationRequest, app.v1.app_pb2.DeleteOrganizationResponse), '/viam.app.v1.AppService/ListOrganizationMembers': grpclib.const.Handler(self.ListOrganizationMembers, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.ListOrganizationMembersRequest, app.v1.app_pb2.ListOrganizationMembersResponse), '/viam.app.v1.AppService/CreateOrganizationInvite': grpclib.const.Handler(self.CreateOrganizationInvite, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.CreateOrganizationInviteRequest, app.v1.app_pb2.CreateOrganizationInviteResponse), '/viam.app.v1.AppService/UpdateOrganizationInviteAuthorizations': grpclib.const.Handler(self.UpdateOrganizationInviteAuthorizations, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.UpdateOrganizationInviteAuthorizationsRequest, app.v1.app_pb2.UpdateOrganizationInviteAuthorizationsResponse), '/viam.app.v1.AppService/DeleteOrganizationMember': grpclib.const.Handler(self.DeleteOrganizationMember, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.DeleteOrganizationMemberRequest, app.v1.app_pb2.DeleteOrganizationMemberResponse), '/viam.app.v1.AppService/DeleteOrganizationInvite': grpclib.const.Handler(self.DeleteOrganizationInvite, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.DeleteOrganizationInviteRequest, app.v1.app_pb2.DeleteOrganizationInviteResponse), '/viam.app.v1.AppService/ResendOrganizationInvite': grpclib.const.Handler(self.ResendOrganizationInvite, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.ResendOrganizationInviteRequest, app.v1.app_pb2.ResendOrganizationInviteResponse), '/viam.app.v1.AppService/CreateLocation': grpclib.const.Handler(self.CreateLocation, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.CreateLocationRequest, app.v1.app_pb2.CreateLocationResponse), '/viam.app.v1.AppService/GetLocation': grpclib.const.Handler(self.GetLocation, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.GetLocationRequest, app.v1.app_pb2.GetLocationResponse), '/viam.app.v1.AppService/UpdateLocation': grpclib.const.Handler(self.UpdateLocation, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.UpdateLocationRequest, app.v1.app_pb2.UpdateLocationResponse), '/viam.app.v1.AppService/DeleteLocation': grpclib.const.Handler(self.DeleteLocation, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.DeleteLocationRequest, app.v1.app_pb2.DeleteLocationResponse), '/viam.app.v1.AppService/ListLocations': grpclib.const.Handler(self.ListLocations, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.ListLocationsRequest, app.v1.app_pb2.ListLocationsResponse), '/viam.app.v1.AppService/ShareLocation': grpclib.const.Handler(self.ShareLocation, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.ShareLocationRequest, app.v1.app_pb2.ShareLocationResponse), '/viam.app.v1.AppService/UnshareLocation': grpclib.const.Handler(self.UnshareLocation, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.UnshareLocationRequest, app.v1.app_pb2.UnshareLocationResponse), '/viam.app.v1.AppService/LocationAuth': grpclib.const.Handler(self.LocationAuth, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.LocationAuthRequest, app.v1.app_pb2.LocationAuthResponse), '/viam.app.v1.AppService/CreateLocationSecret': grpclib.const.Handler(self.CreateLocationSecret, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.CreateLocationSecretRequest, app.v1.app_pb2.CreateLocationSecretResponse), '/viam.app.v1.AppService/DeleteLocationSecret': grpclib.const.Handler(self.DeleteLocationSecret, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.DeleteLocationSecretRequest, app.v1.app_pb2.DeleteLocationSecretResponse), '/viam.app.v1.AppService/GetRobot': grpclib.const.Handler(self.GetRobot, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.GetRobotRequest, app.v1.app_pb2.GetRobotResponse), '/viam.app.v1.AppService/GetRoverRentalRobots': grpclib.const.Handler(self.GetRoverRentalRobots, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.GetRoverRentalRobotsRequest, app.v1.app_pb2.GetRoverRentalRobotsResponse), '/viam.app.v1.AppService/GetRobotParts': grpclib.const.Handler(self.GetRobotParts, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.GetRobotPartsRequest, app.v1.app_pb2.GetRobotPartsResponse), '/viam.app.v1.AppService/GetRobotPart': grpclib.const.Handler(self.GetRobotPart, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.GetRobotPartRequest, app.v1.app_pb2.GetRobotPartResponse), '/viam.app.v1.AppService/GetRobotPartLogs': grpclib.const.Handler(self.GetRobotPartLogs, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.GetRobotPartLogsRequest, app.v1.app_pb2.GetRobotPartLogsResponse), '/viam.app.v1.AppService/TailRobotPartLogs': grpclib.const.Handler(self.TailRobotPartLogs, grpclib.const.Cardinality.UNARY_STREAM, app.v1.app_pb2.TailRobotPartLogsRequest, app.v1.app_pb2.TailRobotPartLogsResponse), '/viam.app.v1.AppService/GetRobotPartHistory': grpclib.const.Handler(self.GetRobotPartHistory, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.GetRobotPartHistoryRequest, app.v1.app_pb2.GetRobotPartHistoryResponse), '/viam.app.v1.AppService/UpdateRobotPart': grpclib.const.Handler(self.UpdateRobotPart, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.UpdateRobotPartRequest, app.v1.app_pb2.UpdateRobotPartResponse), '/viam.app.v1.AppService/NewRobotPart': grpclib.const.Handler(self.NewRobotPart, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.NewRobotPartRequest, app.v1.app_pb2.NewRobotPartResponse), '/viam.app.v1.AppService/DeleteRobotPart': grpclib.const.Handler(self.DeleteRobotPart, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.DeleteRobotPartRequest, app.v1.app_pb2.DeleteRobotPartResponse), '/viam.app.v1.AppService/GetRobotAPIKeys': grpclib.const.Handler(self.GetRobotAPIKeys, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.GetRobotAPIKeysRequest, app.v1.app_pb2.GetRobotAPIKeysResponse), '/viam.app.v1.AppService/MarkPartAsMain': grpclib.const.Handler(self.MarkPartAsMain, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.MarkPartAsMainRequest, app.v1.app_pb2.MarkPartAsMainResponse), '/viam.app.v1.AppService/MarkPartForRestart': grpclib.const.Handler(self.MarkPartForRestart, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.MarkPartForRestartRequest, app.v1.app_pb2.MarkPartForRestartResponse), '/viam.app.v1.AppService/CreateRobotPartSecret': grpclib.const.Handler(self.CreateRobotPartSecret, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.CreateRobotPartSecretRequest, app.v1.app_pb2.CreateRobotPartSecretResponse), '/viam.app.v1.AppService/DeleteRobotPartSecret': grpclib.const.Handler(self.DeleteRobotPartSecret, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.DeleteRobotPartSecretRequest, app.v1.app_pb2.DeleteRobotPartSecretResponse), '/viam.app.v1.AppService/ListRobots': grpclib.const.Handler(self.ListRobots, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.ListRobotsRequest, app.v1.app_pb2.ListRobotsResponse), '/viam.app.v1.AppService/NewRobot': grpclib.const.Handler(self.NewRobot, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.NewRobotRequest, app.v1.app_pb2.NewRobotResponse), '/viam.app.v1.AppService/UpdateRobot': grpclib.const.Handler(self.UpdateRobot, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.UpdateRobotRequest, app.v1.app_pb2.UpdateRobotResponse), '/viam.app.v1.AppService/DeleteRobot': grpclib.const.Handler(self.DeleteRobot, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.DeleteRobotRequest, app.v1.app_pb2.DeleteRobotResponse), '/viam.app.v1.AppService/ListFragments': grpclib.const.Handler(self.ListFragments, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.ListFragmentsRequest, app.v1.app_pb2.ListFragmentsResponse), '/viam.app.v1.AppService/GetFragment': grpclib.const.Handler(self.GetFragment, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.GetFragmentRequest, app.v1.app_pb2.GetFragmentResponse), '/viam.app.v1.AppService/CreateFragment': grpclib.const.Handler(self.CreateFragment, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.CreateFragmentRequest, app.v1.app_pb2.CreateFragmentResponse), '/viam.app.v1.AppService/UpdateFragment': grpclib.const.Handler(self.UpdateFragment, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.UpdateFragmentRequest, app.v1.app_pb2.UpdateFragmentResponse), '/viam.app.v1.AppService/DeleteFragment': grpclib.const.Handler(self.DeleteFragment, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.DeleteFragmentRequest, app.v1.app_pb2.DeleteFragmentResponse), '/viam.app.v1.AppService/GetFragmentHistory': grpclib.const.Handler(self.GetFragmentHistory, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.GetFragmentHistoryRequest, app.v1.app_pb2.GetFragmentHistoryResponse), '/viam.app.v1.AppService/AddRole': grpclib.const.Handler(self.AddRole, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.AddRoleRequest, app.v1.app_pb2.AddRoleResponse), '/viam.app.v1.AppService/RemoveRole': grpclib.const.Handler(self.RemoveRole, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.RemoveRoleRequest, app.v1.app_pb2.RemoveRoleResponse), '/viam.app.v1.AppService/ChangeRole': grpclib.const.Handler(self.ChangeRole, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.ChangeRoleRequest, app.v1.app_pb2.ChangeRoleResponse), '/viam.app.v1.AppService/ListAuthorizations': grpclib.const.Handler(self.ListAuthorizations, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.ListAuthorizationsRequest, app.v1.app_pb2.ListAuthorizationsResponse), '/viam.app.v1.AppService/CheckPermissions': grpclib.const.Handler(self.CheckPermissions, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.CheckPermissionsRequest, app.v1.app_pb2.CheckPermissionsResponse), '/viam.app.v1.AppService/GetRegistryItem': grpclib.const.Handler(self.GetRegistryItem, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.GetRegistryItemRequest, app.v1.app_pb2.GetRegistryItemResponse), '/viam.app.v1.AppService/CreateRegistryItem': grpclib.const.Handler(self.CreateRegistryItem, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.CreateRegistryItemRequest, app.v1.app_pb2.CreateRegistryItemResponse), '/viam.app.v1.AppService/UpdateRegistryItem': grpclib.const.Handler(self.UpdateRegistryItem, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.UpdateRegistryItemRequest, app.v1.app_pb2.UpdateRegistryItemResponse), '/viam.app.v1.AppService/ListRegistryItems': grpclib.const.Handler(self.ListRegistryItems, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.ListRegistryItemsRequest, app.v1.app_pb2.ListRegistryItemsResponse), '/viam.app.v1.AppService/DeleteRegistryItem': grpclib.const.Handler(self.DeleteRegistryItem, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.DeleteRegistryItemRequest, app.v1.app_pb2.DeleteRegistryItemResponse), '/viam.app.v1.AppService/TransferRegistryItem': grpclib.const.Handler(self.TransferRegistryItem, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.TransferRegistryItemRequest, app.v1.app_pb2.TransferRegistryItemResponse), '/viam.app.v1.AppService/CreateModule': grpclib.const.Handler(self.CreateModule, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.CreateModuleRequest, app.v1.app_pb2.CreateModuleResponse), '/viam.app.v1.AppService/UpdateModule': grpclib.const.Handler(self.UpdateModule, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.UpdateModuleRequest, app.v1.app_pb2.UpdateModuleResponse), '/viam.app.v1.AppService/UploadModuleFile': grpclib.const.Handler(self.UploadModuleFile, grpclib.const.Cardinality.STREAM_UNARY, app.v1.app_pb2.UploadModuleFileRequest, app.v1.app_pb2.UploadModuleFileResponse), '/viam.app.v1.AppService/GetModule': grpclib.const.Handler(self.GetModule, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.GetModuleRequest, app.v1.app_pb2.GetModuleResponse), '/viam.app.v1.AppService/ListModules': grpclib.const.Handler(self.ListModules, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.ListModulesRequest, app.v1.app_pb2.ListModulesResponse), '/viam.app.v1.AppService/CreateKey': grpclib.const.Handler(self.CreateKey, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.CreateKeyRequest, app.v1.app_pb2.CreateKeyResponse), '/viam.app.v1.AppService/DeleteKey': grpclib.const.Handler(self.DeleteKey, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.DeleteKeyRequest, app.v1.app_pb2.DeleteKeyResponse), '/viam.app.v1.AppService/ListKeys': grpclib.const.Handler(self.ListKeys, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.ListKeysRequest, app.v1.app_pb2.ListKeysResponse), '/viam.app.v1.AppService/RenameKey': grpclib.const.Handler(self.RenameKey, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.RenameKeyRequest, app.v1.app_pb2.RenameKeyResponse), '/viam.app.v1.AppService/RotateKey': grpclib.const.Handler(self.RotateKey, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.RotateKeyRequest, app.v1.app_pb2.RotateKeyResponse), '/viam.app.v1.AppService/CreateKeyFromExistingKeyAuthorizations': grpclib.const.Handler(self.CreateKeyFromExistingKeyAuthorizations, grpclib.const.Cardinality.UNARY_UNARY, app.v1.app_pb2.CreateKeyFromExistingKeyAuthorizationsRequest, app.v1.app_pb2.CreateKeyFromExistingKeyAuthorizationsResponse)}
 
 class UnimplementedAppServiceBase(AppServiceBase):
 
@@ -449,6 +453,9 @@ async def UpdateFragment(self, stream: 'grpclib.server.Stream[app.v1.app_pb2.Upd
     async def DeleteFragment(self, stream: 'grpclib.server.Stream[app.v1.app_pb2.DeleteFragmentRequest, app.v1.app_pb2.DeleteFragmentResponse]') -> None:
         raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
 
+    async def GetFragmentHistory(self, stream: 'grpclib.server.Stream[app.v1.app_pb2.GetFragmentHistoryRequest, app.v1.app_pb2.GetFragmentHistoryResponse]') -> None:
+        raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
+
     async def AddRole(self, stream: 'grpclib.server.Stream[app.v1.app_pb2.AddRoleRequest, app.v1.app_pb2.AddRoleResponse]') -> None:
         raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
 
@@ -567,6 +574,7 @@ def __init__(self, channel: grpclib.client.Channel) -> None:
         self.CreateFragment = grpclib.client.UnaryUnaryMethod(channel, '/viam.app.v1.AppService/CreateFragment', app.v1.app_pb2.CreateFragmentRequest, app.v1.app_pb2.CreateFragmentResponse)
         self.UpdateFragment = grpclib.client.UnaryUnaryMethod(channel, '/viam.app.v1.AppService/UpdateFragment', app.v1.app_pb2.UpdateFragmentRequest, app.v1.app_pb2.UpdateFragmentResponse)
         self.DeleteFragment = grpclib.client.UnaryUnaryMethod(channel, '/viam.app.v1.AppService/DeleteFragment', app.v1.app_pb2.DeleteFragmentRequest, app.v1.app_pb2.DeleteFragmentResponse)
+        self.GetFragmentHistory = grpclib.client.UnaryUnaryMethod(channel, '/viam.app.v1.AppService/GetFragmentHistory', app.v1.app_pb2.GetFragmentHistoryRequest, app.v1.app_pb2.GetFragmentHistoryResponse)
         self.AddRole = grpclib.client.UnaryUnaryMethod(channel, '/viam.app.v1.AppService/AddRole', app.v1.app_pb2.AddRoleRequest, app.v1.app_pb2.AddRoleResponse)
         self.RemoveRole = grpclib.client.UnaryUnaryMethod(channel, '/viam.app.v1.AppService/RemoveRole', app.v1.app_pb2.RemoveRoleRequest, app.v1.app_pb2.RemoveRoleResponse)
         self.ChangeRole = grpclib.client.UnaryUnaryMethod(channel, '/viam.app.v1.AppService/ChangeRole', app.v1.app_pb2.ChangeRoleRequest, app.v1.app_pb2.ChangeRoleResponse)
diff --git a/src/viam/gen/app/v1/app_pb2.py b/src/viam/gen/app/v1/app_pb2.py
index e90fd8ded..470238966 100644
--- a/src/viam/gen/app/v1/app_pb2.py
+++ b/src/viam/gen/app/v1/app_pb2.py
@@ -10,7 +10,7 @@
 from google.protobuf import struct_pb2 as google_dot_protobuf_dot_struct__pb2
 from google.protobuf import timestamp_pb2 as google_dot_protobuf_dot_timestamp__pb2
 from ...tagger.v1 import tagger_pb2 as tagger_dot_v1_dot_tagger__pb2
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x10app/v1/app.proto\x12\x0bviam.app.v1\x1a#app/mltraining/v1/ml_training.proto\x1a\x1eapp/packages/v1/packages.proto\x1a\x16common/v1/common.proto\x1a\x1cgoogle/protobuf/struct.proto\x1a\x1fgoogle/protobuf/timestamp.proto\x1a\x16tagger/v1/tagger.proto"\xec\x02\n\x05Robot\x123\n\x02id\x18\x01 \x01(\tB#\x9a\x84\x9e\x03\x1ebson:"_id" json:"id,omitempty"R\x02id\x120\n\x04name\x18\x02 \x01(\tB\x1c\x9a\x84\x9e\x03\x17bson:"name" json:"name"R\x04name\x12@\n\x08location\x18\x03 \x01(\tB$\x9a\x84\x9e\x03\x1fbson:"location" json:"location"R\x08location\x12g\n\x0blast_access\x18\x04 \x01(\x0b2\x1a.google.protobuf.TimestampB*\x9a\x84\x9e\x03%bson:"last_access" json:"last_access"R\nlastAccess\x12Q\n\ncreated_on\x18\x05 \x01(\x0b2\x1a.google.protobuf.TimestampB\x16\x9a\x84\x9e\x03\x11bson:"created_on"R\tcreatedOn"\xd3\x07\n\tRobotPart\x123\n\x02id\x18\x01 \x01(\tB#\x9a\x84\x9e\x03\x1ebson:"_id" json:"id,omitempty"R\x02id\x120\n\x04name\x18\x02 \x01(\tB\x1c\x9a\x84\x9e\x03\x17bson:"name" json:"name"R\x04name\x12?\n\x08dns_name\x18\n \x01(\tB$\x9a\x84\x9e\x03\x1fbson:"dns_name" json:"dns_name"R\x07dnsName\x12B\n\x06secret\x18\x03 \x01(\tB*\x9a\x84\x9e\x03%bson:"secret" json:"secret,omitempty"R\x06secret\x124\n\x05robot\x18\x04 \x01(\tB\x1e\x9a\x84\x9e\x03\x19bson:"robot" json:"robot"R\x05robot\x12A\n\x0blocation_id\x18\x0c \x01(\tB \x9a\x84\x9e\x03\x1bbson:"location_id" json:"-"R\nlocationId\x12b\n\x0crobot_config\x18\x05 \x01(\x0b2\x17.google.protobuf.StructB&\x9a\x84\x9e\x03!bson:"config" json:"robot_config"R\x0brobotConfig\x12g\n\x0blast_access\x18\x06 \x01(\x0b2\x1a.google.protobuf.TimestampB*\x9a\x84\x9e\x03%bson:"last_access" json:"last_access"R\nlastAccess\x12\x7f\n\x12user_supplied_info\x18\x07 \x01(\x0b2\x17.google.protobuf.StructB8\x9a\x84\x9e\x033bson:"user_supplied_info" json:"user_supplied_info"R\x10userSuppliedInfo\x12C\n\tmain_part\x18\x08 \x01(\x08B&\x9a\x84\x9e\x03!bson:"main_part" json:"main_part"R\x08mainPart\x12\x12\n\x04fqdn\x18\t \x01(\tR\x04fqdn\x12\x1d\n\nlocal_fqdn\x18\x0b \x01(\tR\tlocalFqdn\x12Q\n\ncreated_on\x18\r \x01(\x0b2\x1a.google.protobuf.TimestampB\x16\x9a\x84\x9e\x03\x11bson:"created_on"R\tcreatedOn\x12H\n\x07secrets\x18\x0e \x03(\x0b2\x19.viam.app.v1.SharedSecretB\x13\x9a\x84\x9e\x03\x0ebson:"secrets"R\x07secrets"\xf8\x02\n\x15RobotPartHistoryEntry\x120\n\x04part\x18\x01 \x01(\tB\x1c\x9a\x84\x9e\x03\x17bson:"part" json:"part"R\x04part\x124\n\x05robot\x18\x02 \x01(\tB\x1e\x9a\x84\x9e\x03\x19bson:"robot" json:"robot"R\x05robot\x12L\n\x04when\x18\x03 \x01(\x0b2\x1a.google.protobuf.TimestampB\x1c\x9a\x84\x9e\x03\x17bson:"when" json:"when"R\x04when\x12D\n\x03old\x18\x04 \x01(\x0b2\x16.viam.app.v1.RobotPartB\x1a\x9a\x84\x9e\x03\x15bson:"old" json:"old"R\x03old\x12c\n\tedited_by\x18\x05 \x01(\x0b2\x1e.viam.app.v1.AuthenticatorInfoB&\x9a\x84\x9e\x03!bson:"edited_by" json:"edited_by"R\x08editedBy"\x85\x01\n\x11AuthenticatorInfo\x123\n\x04type\x18\x01 \x01(\x0e2\x1f.viam.app.v1.AuthenticationTypeR\x04type\x12\x14\n\x05value\x18\x02 \x01(\tR\x05value\x12%\n\x0eis_deactivated\x18\x03 \x01(\x08R\risDeactivated"\x1a\n\x18ListOrganizationsRequest"\xde\x01\n\x0cOrganization\x12\x0e\n\x02id\x18\x01 \x01(\tR\x02id\x12\x12\n\x04name\x18\x02 \x01(\tR\x04name\x129\n\ncreated_on\x18\x03 \x01(\x0b2\x1a.google.protobuf.TimestampR\tcreatedOn\x12)\n\x10public_namespace\x18\x04 \x01(\tR\x0fpublicNamespace\x12%\n\x0edefault_region\x18\x05 \x01(\tR\rdefaultRegion\x12\x15\n\x03cid\x18\x06 \x01(\tH\x00R\x03cid\x88\x01\x01B\x06\n\x04_cid"\xcf\x01\n\x12OrganizationMember\x12\x17\n\x07user_id\x18\x01 \x01(\tR\x06userId\x12\x16\n\x06emails\x18\x02 \x03(\tR\x06emails\x129\n\ndate_added\x18\x03 \x01(\x0b2\x1a.google.protobuf.TimestampR\tdateAdded\x12>\n\nlast_login\x18\x04 \x01(\x0b2\x1a.google.protobuf.TimestampH\x00R\tlastLogin\x88\x01\x01B\r\n\x0b_last_login"\\\n\x19ListOrganizationsResponse\x12?\n\rorganizations\x18\x01 \x03(\x0b2\x19.viam.app.v1.OrganizationR\rorganizations"\xd2\x01\n\x12OrganizationInvite\x12\'\n\x0forganization_id\x18\x01 \x01(\tR\x0eorganizationId\x12\x14\n\x05email\x18\x02 \x01(\tR\x05email\x129\n\ncreated_on\x18\x03 \x01(\x0b2\x1a.google.protobuf.TimestampR\tcreatedOn\x12B\n\x0eauthorizations\x18\x04 \x03(\x0b2\x1a.viam.app.v1.AuthorizationR\x0eauthorizations"/\n\x19CreateOrganizationRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name"[\n\x1aCreateOrganizationResponse\x12=\n\x0corganization\x18\x01 \x01(\x0b2\x19.viam.app.v1.OrganizationR\x0corganization"A\n\x16GetOrganizationRequest\x12\'\n\x0forganization_id\x18\x01 \x01(\tR\x0eorganizationId"X\n\x17GetOrganizationResponse\x12=\n\x0corganization\x18\x01 \x01(\x0b2\x19.viam.app.v1.OrganizationR\x0corganization"X\n+GetOrganizationNamespaceAvailabilityRequest\x12)\n\x10public_namespace\x18\x01 \x01(\tR\x0fpublicNamespace"L\n,GetOrganizationNamespaceAvailabilityResponse\x12\x1c\n\tavailable\x18\x01 \x01(\x08R\tavailable"\xf2\x01\n\x19UpdateOrganizationRequest\x12\'\n\x0forganization_id\x18\x01 \x01(\tR\x0eorganizationId\x12\x17\n\x04name\x18\x02 \x01(\tH\x00R\x04name\x88\x01\x01\x12.\n\x10public_namespace\x18\x03 \x01(\tH\x01R\x0fpublicNamespace\x88\x01\x01\x12\x1b\n\x06region\x18\x04 \x01(\tH\x02R\x06region\x88\x01\x01\x12\x15\n\x03cid\x18\x05 \x01(\tH\x03R\x03cid\x88\x01\x01B\x07\n\x05_nameB\x13\n\x11_public_namespaceB\t\n\x07_regionB\x06\n\x04_cid"[\n\x1aUpdateOrganizationResponse\x12=\n\x0corganization\x18\x01 \x01(\x0b2\x19.viam.app.v1.OrganizationR\x0corganization"D\n\x19DeleteOrganizationRequest\x12\'\n\x0forganization_id\x18\x01 \x01(\tR\x0eorganizationId"\x1c\n\x1aDeleteOrganizationResponse"I\n\x1eListOrganizationMembersRequest\x12\'\n\x0forganization_id\x18\x01 \x01(\tR\x0eorganizationId"\xc0\x01\n\x1fListOrganizationMembersResponse\x12\'\n\x0forganization_id\x18\x01 \x01(\tR\x0eorganizationId\x129\n\x07members\x18\x02 \x03(\x0b2\x1f.viam.app.v1.OrganizationMemberR\x07members\x129\n\x07invites\x18\x03 \x03(\x0b2\x1f.viam.app.v1.OrganizationInviteR\x07invites"\xeb\x01\n\x1fCreateOrganizationInviteRequest\x12\'\n\x0forganization_id\x18\x01 \x01(\tR\x0eorganizationId\x12\x14\n\x05email\x18\x02 \x01(\tR\x05email\x12B\n\x0eauthorizations\x18\x03 \x03(\x0b2\x1a.viam.app.v1.AuthorizationR\x0eauthorizations\x12/\n\x11send_email_invite\x18\x04 \x01(\x08H\x00R\x0fsendEmailInvite\x88\x01\x01B\x14\n\x12_send_email_invite"[\n CreateOrganizationInviteResponse\x127\n\x06invite\x18\x01 \x01(\x0b2\x1f.viam.app.v1.OrganizationInviteR\x06invite"\x8a\x02\n-UpdateOrganizationInviteAuthorizationsRequest\x12\'\n\x0forganization_id\x18\x01 \x01(\tR\x0eorganizationId\x12\x14\n\x05email\x18\x02 \x01(\tR\x05email\x12I\n\x12add_authorizations\x18\x03 \x03(\x0b2\x1a.viam.app.v1.AuthorizationR\x11addAuthorizations\x12O\n\x15remove_authorizations\x18\x04 \x03(\x0b2\x1a.viam.app.v1.AuthorizationR\x14removeAuthorizations"i\n.UpdateOrganizationInviteAuthorizationsResponse\x127\n\x06invite\x18\x01 \x01(\x0b2\x1f.viam.app.v1.OrganizationInviteR\x06invite"`\n\x1fDeleteOrganizationInviteRequest\x12\'\n\x0forganization_id\x18\x01 \x01(\tR\x0eorganizationId\x12\x14\n\x05email\x18\x02 \x01(\tR\x05email""\n DeleteOrganizationInviteResponse"`\n\x1fResendOrganizationInviteRequest\x12\'\n\x0forganization_id\x18\x01 \x01(\tR\x0eorganizationId\x12\x14\n\x05email\x18\x02 \x01(\tR\x05email"[\n ResendOrganizationInviteResponse\x127\n\x06invite\x18\x01 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.viam.app.v1.ListModulesResponse\x12J\n\tCreateKey\x12\x1d.viam.app.v1.CreateKeyRequest\x1a\x1e.viam.app.v1.CreateKeyResponse\x12J\n\tDeleteKey\x12\x1d.viam.app.v1.DeleteKeyRequest\x1a\x1e.viam.app.v1.DeleteKeyResponse\x12G\n\x08ListKeys\x12\x1c.viam.app.v1.ListKeysRequest\x1a\x1d.viam.app.v1.ListKeysResponse\x12J\n\tRenameKey\x12\x1d.viam.app.v1.RenameKeyRequest\x1a\x1e.viam.app.v1.RenameKeyResponse\x12J\n\tRotateKey\x12\x1d.viam.app.v1.RotateKeyRequest\x1a\x1e.viam.app.v1.RotateKeyResponse\x12\xa1\x01\n&CreateKeyFromExistingKeyAuthorizations\x12:.viam.app.v1.CreateKeyFromExistingKeyAuthorizationsRequest\x1a;.viam.app.v1.CreateKeyFromExistingKeyAuthorizationsResponseB\x18Z\x16go.viam.com/api/app/v1b\x06proto3')
 _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
 _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'app.v1.app_pb2', globals())
 if _descriptor._USE_C_DESCRIPTORS == False:
@@ -84,14 +84,22 @@
     _FRAGMENT.fields_by_name['public']._serialized_options = b'\x9a\x84\x9e\x03\x1bbson:"public" json:"public"'
     _FRAGMENT.fields_by_name['created_on']._options = None
     _FRAGMENT.fields_by_name['created_on']._serialized_options = b'\x9a\x84\x9e\x03\x11bson:"created_on"'
-    _AUTHENTICATIONTYPE._serialized_start = 19888
-    _AUTHENTICATIONTYPE._serialized_end = 20097
-    _FRAGMENTVISIBILITY._serialized_start = 20100
-    _FRAGMENTVISIBILITY._serialized_end = 20263
-    _REGISTRYITEMSTATUS._serialized_start = 20266
-    _REGISTRYITEMSTATUS._serialized_end = 20401
-    _VISIBILITY._serialized_start = 20403
-    _VISIBILITY._serialized_end = 20490
+    _FRAGMENTHISTORYENTRY.fields_by_name['fragment']._options = None
+    _FRAGMENTHISTORYENTRY.fields_by_name['fragment']._serialized_options = b'\x9a\x84\x9e\x03\x1fbson:"fragment" json:"fragment"'
+    _FRAGMENTHISTORYENTRY.fields_by_name['edited_on']._options = None
+    _FRAGMENTHISTORYENTRY.fields_by_name['edited_on']._serialized_options = b'\x9a\x84\x9e\x03!bson:"edited_on" json:"edited_on"'
+    _FRAGMENTHISTORYENTRY.fields_by_name['old']._options = None
+    _FRAGMENTHISTORYENTRY.fields_by_name['old']._serialized_options = b'\x9a\x84\x9e\x03\x15bson:"old" json:"old"'
+    _FRAGMENTHISTORYENTRY.fields_by_name['edited_by']._options = None
+    _FRAGMENTHISTORYENTRY.fields_by_name['edited_by']._serialized_options = b'\x9a\x84\x9e\x03!bson:"edited_by" json:"edited_by"'
+    _AUTHENTICATIONTYPE._serialized_start = 20526
+    _AUTHENTICATIONTYPE._serialized_end = 20735
+    _FRAGMENTVISIBILITY._serialized_start = 20738
+    _FRAGMENTVISIBILITY._serialized_end = 20901
+    _REGISTRYITEMSTATUS._serialized_start = 20904
+    _REGISTRYITEMSTATUS._serialized_end = 21039
+    _VISIBILITY._serialized_start = 21041
+    _VISIBILITY._serialized_end = 21128
     _ROBOT._serialized_start = 214
     _ROBOT._serialized_end = 578
     _ROBOTPART._serialized_start = 581
@@ -262,185 +270,191 @@
     _DELETEROBOTPARTRESPONSE._serialized_end = 9920
     _FRAGMENT._serialized_start = 9923
     _FRAGMENT._serialized_end = 10604
-    _LISTFRAGMENTSREQUEST._serialized_start = 10607
-    _LISTFRAGMENTSREQUEST._serialized_end = 10785
-    _LISTFRAGMENTSRESPONSE._serialized_start = 10787
-    _LISTFRAGMENTSRESPONSE._serialized_end = 10863
-    _GETFRAGMENTREQUEST._serialized_start = 10865
-    _GETFRAGMENTREQUEST._serialized_end = 10901
-    _GETFRAGMENTRESPONSE._serialized_start = 10903
-    _GETFRAGMENTRESPONSE._serialized_end = 10975
-    _CREATEFRAGMENTREQUEST._serialized_start = 10978
-    _CREATEFRAGMENTREQUEST._serialized_end = 11111
-    _CREATEFRAGMENTRESPONSE._serialized_start = 11113
-    _CREATEFRAGMENTRESPONSE._serialized_end = 11188
-    _UPDATEFRAGMENTREQUEST._serialized_start = 11191
-    _UPDATEFRAGMENTREQUEST._serialized_end = 11424
-    _UPDATEFRAGMENTRESPONSE._serialized_start = 11426
-    _UPDATEFRAGMENTRESPONSE._serialized_end = 11501
-    _DELETEFRAGMENTREQUEST._serialized_start = 11503
-    _DELETEFRAGMENTREQUEST._serialized_end = 11542
-    _DELETEFRAGMENTRESPONSE._serialized_start = 11544
-    _DELETEFRAGMENTRESPONSE._serialized_end = 11568
-    _LISTROBOTSREQUEST._serialized_start = 11570
-    _LISTROBOTSREQUEST._serialized_end = 11622
-    _LISTROBOTSRESPONSE._serialized_start = 11624
-    _LISTROBOTSRESPONSE._serialized_end = 11688
-    _NEWROBOTREQUEST._serialized_start = 11690
-    _NEWROBOTREQUEST._serialized_end = 11755
-    _NEWROBOTRESPONSE._serialized_start = 11757
-    _NEWROBOTRESPONSE._serialized_end = 11791
-    _UPDATEROBOTREQUEST._serialized_start = 11793
-    _UPDATEROBOTREQUEST._serialized_end = 11877
-    _UPDATEROBOTRESPONSE._serialized_start = 11879
-    _UPDATEROBOTRESPONSE._serialized_end = 11942
-    _DELETEROBOTREQUEST._serialized_start = 11944
-    _DELETEROBOTREQUEST._serialized_end = 11980
-    _DELETEROBOTRESPONSE._serialized_start = 11982
-    _DELETEROBOTRESPONSE._serialized_end = 12003
-    _MARKPARTASMAINREQUEST._serialized_start = 12005
-    _MARKPARTASMAINREQUEST._serialized_end = 12053
-    _MARKPARTASMAINRESPONSE._serialized_start = 12055
-    _MARKPARTASMAINRESPONSE._serialized_end = 12079
-    _MARKPARTFORRESTARTREQUEST._serialized_start = 12081
-    _MARKPARTFORRESTARTREQUEST._serialized_end = 12133
-    _MARKPARTFORRESTARTRESPONSE._serialized_start = 12135
-    _MARKPARTFORRESTARTRESPONSE._serialized_end = 12163
-    _CREATEROBOTPARTSECRETREQUEST._serialized_start = 12165
-    _CREATEROBOTPARTSECRETREQUEST._serialized_end = 12220
-    _CREATEROBOTPARTSECRETRESPONSE._serialized_start = 12222
-    _CREATEROBOTPARTSECRETRESPONSE._serialized_end = 12297
-    _DELETEROBOTPARTSECRETREQUEST._serialized_start = 12299
-    _DELETEROBOTPARTSECRETREQUEST._serialized_end = 12383
-    _DELETEROBOTPARTSECRETRESPONSE._serialized_start = 12385
-    _DELETEROBOTPARTSECRETRESPONSE._serialized_end = 12416
-    _AUTHORIZATION._serialized_start = 12419
-    _AUTHORIZATION._serialized_end = 12705
-    _ADDROLEREQUEST._serialized_start = 12707
-    _ADDROLEREQUEST._serialized_end = 12789
-    _ADDROLERESPONSE._serialized_start = 12791
-    _ADDROLERESPONSE._serialized_end = 12808
-    _REMOVEROLEREQUEST._serialized_start = 12810
-    _REMOVEROLEREQUEST._serialized_end = 12895
-    _REMOVEROLERESPONSE._serialized_start = 12897
-    _REMOVEROLERESPONSE._serialized_end = 12917
-    _CHANGEROLEREQUEST._serialized_start = 12920
-    _CHANGEROLEREQUEST._serialized_end = 13085
-    _CHANGEROLERESPONSE._serialized_start = 13087
-    _CHANGEROLERESPONSE._serialized_end = 13107
-    _LISTAUTHORIZATIONSREQUEST._serialized_start = 13109
-    _LISTAUTHORIZATIONSREQUEST._serialized_end = 13212
-    _LISTAUTHORIZATIONSRESPONSE._serialized_start = 13214
-    _LISTAUTHORIZATIONSRESPONSE._serialized_end = 13310
-    _CHECKPERMISSIONSREQUEST._serialized_start = 13312
-    _CHECKPERMISSIONSREQUEST._serialized_end = 13407
-    _AUTHORIZEDPERMISSIONS._serialized_start = 13409
-    _AUTHORIZEDPERMISSIONS._serialized_end = 13536
-    _CHECKPERMISSIONSRESPONSE._serialized_start = 13538
-    _CHECKPERMISSIONSRESPONSE._serialized_end = 13655
-    _MODULEVERSION._serialized_start = 13658
-    _MODULEVERSION._serialized_end = 13819
-    _MODULEMETADATA._serialized_start = 13822
-    _MODULEMETADATA._serialized_end = 13970
-    _MLMODELMETADATA._serialized_start = 13973
-    _MLMODELMETADATA._serialized_end = 14165
-    _MLTRAININGVERSION._serialized_start = 14167
-    _MLTRAININGVERSION._serialized_end = 14271
-    _MLTRAININGMETADATA._serialized_start = 14274
-    _MLTRAININGMETADATA._serialized_end = 14529
-    _REGISTRYITEM._serialized_start = 14532
-    _REGISTRYITEM._serialized_end = 15440
-    _GETREGISTRYITEMREQUEST._serialized_start = 15442
-    _GETREGISTRYITEMREQUEST._serialized_end = 15491
-    _GETREGISTRYITEMRESPONSE._serialized_start = 15493
-    _GETREGISTRYITEMRESPONSE._serialized_end = 15565
-    _CREATEREGISTRYITEMREQUEST._serialized_start = 15568
-    _CREATEREGISTRYITEMREQUEST._serialized_end = 15711
-    _CREATEREGISTRYITEMRESPONSE._serialized_start = 15713
-    _CREATEREGISTRYITEMRESPONSE._serialized_end = 15741
-    _UPDATEREGISTRYITEMREQUEST._serialized_start = 15744
-    _UPDATEREGISTRYITEMREQUEST._serialized_end = 15942
-    _UPDATEREGISTRYITEMRESPONSE._serialized_start = 15944
-    _UPDATEREGISTRYITEMRESPONSE._serialized_end = 15972
-    _LISTREGISTRYITEMSREQUEST._serialized_start = 15975
-    _LISTREGISTRYITEMSREQUEST._serialized_end = 16426
-    _LISTREGISTRYITEMSRESPONSE._serialized_start = 16428
-    _LISTREGISTRYITEMSRESPONSE._serialized_end = 16504
-    _DELETEREGISTRYITEMREQUEST._serialized_start = 16506
-    _DELETEREGISTRYITEMREQUEST._serialized_end = 16558
-    _DELETEREGISTRYITEMRESPONSE._serialized_start = 16560
-    _DELETEREGISTRYITEMRESPONSE._serialized_end = 16588
-    _TRANSFERREGISTRYITEMREQUEST._serialized_start = 16590
-    _TRANSFERREGISTRYITEMREQUEST._serialized_end = 16694
-    _TRANSFERREGISTRYITEMRESPONSE._serialized_start = 16696
-    _TRANSFERREGISTRYITEMRESPONSE._serialized_end = 16726
-    _CREATEMODULEREQUEST._serialized_start = 16728
-    _CREATEMODULEREQUEST._serialized_end = 16810
-    _CREATEMODULERESPONSE._serialized_start = 16812
-    _CREATEMODULERESPONSE._serialized_end = 16881
-    _UPDATEMODULEREQUEST._serialized_start = 16884
-    _UPDATEMODULEREQUEST._serialized_end = 17119
-    _UPDATEMODULERESPONSE._serialized_start = 17121
-    _UPDATEMODULERESPONSE._serialized_end = 17161
-    _MODEL._serialized_start = 17163
-    _MODEL._serialized_end = 17210
-    _MODULEFILEINFO._serialized_start = 17212
-    _MODULEFILEINFO._serialized_end = 17311
-    _UPLOADMODULEFILEREQUEST._serialized_start = 17314
-    _UPLOADMODULEFILEREQUEST._serialized_end = 17449
-    _UPLOADMODULEFILERESPONSE._serialized_start = 17451
-    _UPLOADMODULEFILERESPONSE._serialized_end = 17495
-    _GETMODULEREQUEST._serialized_start = 17497
-    _GETMODULEREQUEST._serialized_end = 17544
-    _GETMODULERESPONSE._serialized_start = 17546
-    _GETMODULERESPONSE._serialized_end = 17610
-    _MODULE._serialized_start = 17613
-    _MODULE._serialized_end = 18098
-    _VERSIONHISTORY._serialized_start = 18101
-    _VERSIONHISTORY._serialized_end = 18263
-    _UPLOADS._serialized_start = 18265
-    _UPLOADS._serialized_end = 18363
-    _LISTMODULESREQUEST._serialized_start = 18365
-    _LISTMODULESREQUEST._serialized_end = 18451
-    _LISTMODULESRESPONSE._serialized_start = 18453
-    _LISTMODULESRESPONSE._serialized_end = 18521
-    _GETUSERIDBYEMAILREQUEST._serialized_start = 18523
-    _GETUSERIDBYEMAILREQUEST._serialized_end = 18570
-    _GETUSERIDBYEMAILRESPONSE._serialized_start = 18572
-    _GETUSERIDBYEMAILRESPONSE._serialized_end = 18623
-    _LISTORGANIZATIONSBYUSERREQUEST._serialized_start = 18625
-    _LISTORGANIZATIONSBYUSERREQUEST._serialized_end = 18682
-    _ORGDETAILS._serialized_start = 18684
-    _ORGDETAILS._serialized_end = 18746
-    _LISTORGANIZATIONSBYUSERRESPONSE._serialized_start = 18748
-    _LISTORGANIZATIONSBYUSERRESPONSE._serialized_end = 18826
-    _CREATEKEYREQUEST._serialized_start = 18828
-    _CREATEKEYREQUEST._serialized_end = 18934
-    _CREATEKEYRESPONSE._serialized_start = 18936
-    _CREATEKEYRESPONSE._serialized_end = 18989
-    _DELETEKEYREQUEST._serialized_start = 18991
-    _DELETEKEYREQUEST._serialized_end = 19025
-    _DELETEKEYRESPONSE._serialized_start = 19027
-    _DELETEKEYRESPONSE._serialized_end = 19046
-    _RENAMEKEYREQUEST._serialized_start = 19048
-    _RENAMEKEYREQUEST._serialized_end = 19102
-    _RENAMEKEYRESPONSE._serialized_start = 19104
-    _RENAMEKEYRESPONSE._serialized_end = 19159
-    _AUTHORIZATIONDETAILS._serialized_start = 19162
-    _AUTHORIZATIONDETAILS._serialized_end = 19367
-    _APIKEYWITHAUTHORIZATIONS._serialized_start = 19370
-    _APIKEYWITHAUTHORIZATIONS._serialized_end = 19517
-    _LISTKEYSREQUEST._serialized_start = 19519
-    _LISTKEYSREQUEST._serialized_end = 19559
-    _LISTKEYSRESPONSE._serialized_start = 19561
-    _LISTKEYSRESPONSE._serialized_end = 19645
-    _ROTATEKEYREQUEST._serialized_start = 19647
-    _ROTATEKEYREQUEST._serialized_end = 19681
-    _ROTATEKEYRESPONSE._serialized_start = 19683
-    _ROTATEKEYRESPONSE._serialized_end = 19736
-    _CREATEKEYFROMEXISTINGKEYAUTHORIZATIONSREQUEST._serialized_start = 19738
-    _CREATEKEYFROMEXISTINGKEYAUTHORIZATIONSREQUEST._serialized_end = 19801
-    _CREATEKEYFROMEXISTINGKEYAUTHORIZATIONSRESPONSE._serialized_start = 19803
-    _CREATEKEYFROMEXISTINGKEYAUTHORIZATIONSRESPONSE._serialized_end = 19885
-    _APPSERVICE._serialized_start = 20493
-    _APPSERVICE._serialized_end = 27445
\ No newline at end of file
+    _FRAGMENTHISTORYENTRY._serialized_start = 10607
+    _FRAGMENTHISTORYENTRY._serialized_end = 10962
+    _LISTFRAGMENTSREQUEST._serialized_start = 10965
+    _LISTFRAGMENTSREQUEST._serialized_end = 11143
+    _LISTFRAGMENTSRESPONSE._serialized_start = 11145
+    _LISTFRAGMENTSRESPONSE._serialized_end = 11221
+    _GETFRAGMENTREQUEST._serialized_start = 11223
+    _GETFRAGMENTREQUEST._serialized_end = 11259
+    _GETFRAGMENTRESPONSE._serialized_start = 11261
+    _GETFRAGMENTRESPONSE._serialized_end = 11333
+    _CREATEFRAGMENTREQUEST._serialized_start = 11336
+    _CREATEFRAGMENTREQUEST._serialized_end = 11469
+    _CREATEFRAGMENTRESPONSE._serialized_start = 11471
+    _CREATEFRAGMENTRESPONSE._serialized_end = 11546
+    _UPDATEFRAGMENTREQUEST._serialized_start = 11549
+    _UPDATEFRAGMENTREQUEST._serialized_end = 11782
+    _UPDATEFRAGMENTRESPONSE._serialized_start = 11784
+    _UPDATEFRAGMENTRESPONSE._serialized_end = 11859
+    _DELETEFRAGMENTREQUEST._serialized_start = 11861
+    _DELETEFRAGMENTREQUEST._serialized_end = 11900
+    _DELETEFRAGMENTRESPONSE._serialized_start = 11902
+    _DELETEFRAGMENTRESPONSE._serialized_end = 11926
+    _GETFRAGMENTHISTORYREQUEST._serialized_start = 11929
+    _GETFRAGMENTHISTORYREQUEST._serialized_end = 12074
+    _GETFRAGMENTHISTORYRESPONSE._serialized_start = 12077
+    _GETFRAGMENTHISTORYRESPONSE._serialized_end = 12206
+    _LISTROBOTSREQUEST._serialized_start = 12208
+    _LISTROBOTSREQUEST._serialized_end = 12260
+    _LISTROBOTSRESPONSE._serialized_start = 12262
+    _LISTROBOTSRESPONSE._serialized_end = 12326
+    _NEWROBOTREQUEST._serialized_start = 12328
+    _NEWROBOTREQUEST._serialized_end = 12393
+    _NEWROBOTRESPONSE._serialized_start = 12395
+    _NEWROBOTRESPONSE._serialized_end = 12429
+    _UPDATEROBOTREQUEST._serialized_start = 12431
+    _UPDATEROBOTREQUEST._serialized_end = 12515
+    _UPDATEROBOTRESPONSE._serialized_start = 12517
+    _UPDATEROBOTRESPONSE._serialized_end = 12580
+    _DELETEROBOTREQUEST._serialized_start = 12582
+    _DELETEROBOTREQUEST._serialized_end = 12618
+    _DELETEROBOTRESPONSE._serialized_start = 12620
+    _DELETEROBOTRESPONSE._serialized_end = 12641
+    _MARKPARTASMAINREQUEST._serialized_start = 12643
+    _MARKPARTASMAINREQUEST._serialized_end = 12691
+    _MARKPARTASMAINRESPONSE._serialized_start = 12693
+    _MARKPARTASMAINRESPONSE._serialized_end = 12717
+    _MARKPARTFORRESTARTREQUEST._serialized_start = 12719
+    _MARKPARTFORRESTARTREQUEST._serialized_end = 12771
+    _MARKPARTFORRESTARTRESPONSE._serialized_start = 12773
+    _MARKPARTFORRESTARTRESPONSE._serialized_end = 12801
+    _CREATEROBOTPARTSECRETREQUEST._serialized_start = 12803
+    _CREATEROBOTPARTSECRETREQUEST._serialized_end = 12858
+    _CREATEROBOTPARTSECRETRESPONSE._serialized_start = 12860
+    _CREATEROBOTPARTSECRETRESPONSE._serialized_end = 12935
+    _DELETEROBOTPARTSECRETREQUEST._serialized_start = 12937
+    _DELETEROBOTPARTSECRETREQUEST._serialized_end = 13021
+    _DELETEROBOTPARTSECRETRESPONSE._serialized_start = 13023
+    _DELETEROBOTPARTSECRETRESPONSE._serialized_end = 13054
+    _AUTHORIZATION._serialized_start = 13057
+    _AUTHORIZATION._serialized_end = 13343
+    _ADDROLEREQUEST._serialized_start = 13345
+    _ADDROLEREQUEST._serialized_end = 13427
+    _ADDROLERESPONSE._serialized_start = 13429
+    _ADDROLERESPONSE._serialized_end = 13446
+    _REMOVEROLEREQUEST._serialized_start = 13448
+    _REMOVEROLEREQUEST._serialized_end = 13533
+    _REMOVEROLERESPONSE._serialized_start = 13535
+    _REMOVEROLERESPONSE._serialized_end = 13555
+    _CHANGEROLEREQUEST._serialized_start = 13558
+    _CHANGEROLEREQUEST._serialized_end = 13723
+    _CHANGEROLERESPONSE._serialized_start = 13725
+    _CHANGEROLERESPONSE._serialized_end = 13745
+    _LISTAUTHORIZATIONSREQUEST._serialized_start = 13747
+    _LISTAUTHORIZATIONSREQUEST._serialized_end = 13850
+    _LISTAUTHORIZATIONSRESPONSE._serialized_start = 13852
+    _LISTAUTHORIZATIONSRESPONSE._serialized_end = 13948
+    _CHECKPERMISSIONSREQUEST._serialized_start = 13950
+    _CHECKPERMISSIONSREQUEST._serialized_end = 14045
+    _AUTHORIZEDPERMISSIONS._serialized_start = 14047
+    _AUTHORIZEDPERMISSIONS._serialized_end = 14174
+    _CHECKPERMISSIONSRESPONSE._serialized_start = 14176
+    _CHECKPERMISSIONSRESPONSE._serialized_end = 14293
+    _MODULEVERSION._serialized_start = 14296
+    _MODULEVERSION._serialized_end = 14457
+    _MODULEMETADATA._serialized_start = 14460
+    _MODULEMETADATA._serialized_end = 14608
+    _MLMODELMETADATA._serialized_start = 14611
+    _MLMODELMETADATA._serialized_end = 14803
+    _MLTRAININGVERSION._serialized_start = 14805
+    _MLTRAININGVERSION._serialized_end = 14909
+    _MLTRAININGMETADATA._serialized_start = 14912
+    _MLTRAININGMETADATA._serialized_end = 15167
+    _REGISTRYITEM._serialized_start = 15170
+    _REGISTRYITEM._serialized_end = 16078
+    _GETREGISTRYITEMREQUEST._serialized_start = 16080
+    _GETREGISTRYITEMREQUEST._serialized_end = 16129
+    _GETREGISTRYITEMRESPONSE._serialized_start = 16131
+    _GETREGISTRYITEMRESPONSE._serialized_end = 16203
+    _CREATEREGISTRYITEMREQUEST._serialized_start = 16206
+    _CREATEREGISTRYITEMREQUEST._serialized_end = 16349
+    _CREATEREGISTRYITEMRESPONSE._serialized_start = 16351
+    _CREATEREGISTRYITEMRESPONSE._serialized_end = 16379
+    _UPDATEREGISTRYITEMREQUEST._serialized_start = 16382
+    _UPDATEREGISTRYITEMREQUEST._serialized_end = 16580
+    _UPDATEREGISTRYITEMRESPONSE._serialized_start = 16582
+    _UPDATEREGISTRYITEMRESPONSE._serialized_end = 16610
+    _LISTREGISTRYITEMSREQUEST._serialized_start = 16613
+    _LISTREGISTRYITEMSREQUEST._serialized_end = 17064
+    _LISTREGISTRYITEMSRESPONSE._serialized_start = 17066
+    _LISTREGISTRYITEMSRESPONSE._serialized_end = 17142
+    _DELETEREGISTRYITEMREQUEST._serialized_start = 17144
+    _DELETEREGISTRYITEMREQUEST._serialized_end = 17196
+    _DELETEREGISTRYITEMRESPONSE._serialized_start = 17198
+    _DELETEREGISTRYITEMRESPONSE._serialized_end = 17226
+    _TRANSFERREGISTRYITEMREQUEST._serialized_start = 17228
+    _TRANSFERREGISTRYITEMREQUEST._serialized_end = 17332
+    _TRANSFERREGISTRYITEMRESPONSE._serialized_start = 17334
+    _TRANSFERREGISTRYITEMRESPONSE._serialized_end = 17364
+    _CREATEMODULEREQUEST._serialized_start = 17366
+    _CREATEMODULEREQUEST._serialized_end = 17448
+    _CREATEMODULERESPONSE._serialized_start = 17450
+    _CREATEMODULERESPONSE._serialized_end = 17519
+    _UPDATEMODULEREQUEST._serialized_start = 17522
+    _UPDATEMODULEREQUEST._serialized_end = 17757
+    _UPDATEMODULERESPONSE._serialized_start = 17759
+    _UPDATEMODULERESPONSE._serialized_end = 17799
+    _MODEL._serialized_start = 17801
+    _MODEL._serialized_end = 17848
+    _MODULEFILEINFO._serialized_start = 17850
+    _MODULEFILEINFO._serialized_end = 17949
+    _UPLOADMODULEFILEREQUEST._serialized_start = 17952
+    _UPLOADMODULEFILEREQUEST._serialized_end = 18087
+    _UPLOADMODULEFILERESPONSE._serialized_start = 18089
+    _UPLOADMODULEFILERESPONSE._serialized_end = 18133
+    _GETMODULEREQUEST._serialized_start = 18135
+    _GETMODULEREQUEST._serialized_end = 18182
+    _GETMODULERESPONSE._serialized_start = 18184
+    _GETMODULERESPONSE._serialized_end = 18248
+    _MODULE._serialized_start = 18251
+    _MODULE._serialized_end = 18736
+    _VERSIONHISTORY._serialized_start = 18739
+    _VERSIONHISTORY._serialized_end = 18901
+    _UPLOADS._serialized_start = 18903
+    _UPLOADS._serialized_end = 19001
+    _LISTMODULESREQUEST._serialized_start = 19003
+    _LISTMODULESREQUEST._serialized_end = 19089
+    _LISTMODULESRESPONSE._serialized_start = 19091
+    _LISTMODULESRESPONSE._serialized_end = 19159
+    _GETUSERIDBYEMAILREQUEST._serialized_start = 19161
+    _GETUSERIDBYEMAILREQUEST._serialized_end = 19208
+    _GETUSERIDBYEMAILRESPONSE._serialized_start = 19210
+    _GETUSERIDBYEMAILRESPONSE._serialized_end = 19261
+    _LISTORGANIZATIONSBYUSERREQUEST._serialized_start = 19263
+    _LISTORGANIZATIONSBYUSERREQUEST._serialized_end = 19320
+    _ORGDETAILS._serialized_start = 19322
+    _ORGDETAILS._serialized_end = 19384
+    _LISTORGANIZATIONSBYUSERRESPONSE._serialized_start = 19386
+    _LISTORGANIZATIONSBYUSERRESPONSE._serialized_end = 19464
+    _CREATEKEYREQUEST._serialized_start = 19466
+    _CREATEKEYREQUEST._serialized_end = 19572
+    _CREATEKEYRESPONSE._serialized_start = 19574
+    _CREATEKEYRESPONSE._serialized_end = 19627
+    _DELETEKEYREQUEST._serialized_start = 19629
+    _DELETEKEYREQUEST._serialized_end = 19663
+    _DELETEKEYRESPONSE._serialized_start = 19665
+    _DELETEKEYRESPONSE._serialized_end = 19684
+    _RENAMEKEYREQUEST._serialized_start = 19686
+    _RENAMEKEYREQUEST._serialized_end = 19740
+    _RENAMEKEYRESPONSE._serialized_start = 19742
+    _RENAMEKEYRESPONSE._serialized_end = 19797
+    _AUTHORIZATIONDETAILS._serialized_start = 19800
+    _AUTHORIZATIONDETAILS._serialized_end = 20005
+    _APIKEYWITHAUTHORIZATIONS._serialized_start = 20008
+    _APIKEYWITHAUTHORIZATIONS._serialized_end = 20155
+    _LISTKEYSREQUEST._serialized_start = 20157
+    _LISTKEYSREQUEST._serialized_end = 20197
+    _LISTKEYSRESPONSE._serialized_start = 20199
+    _LISTKEYSRESPONSE._serialized_end = 20283
+    _ROTATEKEYREQUEST._serialized_start = 20285
+    _ROTATEKEYREQUEST._serialized_end = 20319
+    _ROTATEKEYRESPONSE._serialized_start = 20321
+    _ROTATEKEYRESPONSE._serialized_end = 20374
+    _CREATEKEYFROMEXISTINGKEYAUTHORIZATIONSREQUEST._serialized_start = 20376
+    _CREATEKEYFROMEXISTINGKEYAUTHORIZATIONSREQUEST._serialized_end = 20439
+    _CREATEKEYFROMEXISTINGKEYAUTHORIZATIONSRESPONSE._serialized_start = 20441
+    _CREATEKEYFROMEXISTINGKEYAUTHORIZATIONSRESPONSE._serialized_end = 20523
+    _APPSERVICE._serialized_start = 21131
+    _APPSERVICE._serialized_end = 28186
\ No newline at end of file
diff --git a/src/viam/gen/app/v1/app_pb2.pyi b/src/viam/gen/app/v1/app_pb2.pyi
index fb82ff96a..ac50ae83e 100644
--- a/src/viam/gen/app/v1/app_pb2.pyi
+++ b/src/viam/gen/app/v1/app_pb2.pyi
@@ -1714,6 +1714,37 @@ class Fragment(google.protobuf.message.Message):
         ...
 global___Fragment = Fragment
 
+@typing.final
+class FragmentHistoryEntry(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    FRAGMENT_FIELD_NUMBER: builtins.int
+    EDITED_ON_FIELD_NUMBER: builtins.int
+    OLD_FIELD_NUMBER: builtins.int
+    EDITED_BY_FIELD_NUMBER: builtins.int
+    fragment: builtins.str
+
+    @property
+    def edited_on(self) -> google.protobuf.timestamp_pb2.Timestamp:
+        ...
+
+    @property
+    def old(self) -> global___Fragment:
+        ...
+
+    @property
+    def edited_by(self) -> global___AuthenticatorInfo:
+        ...
+
+    def __init__(self, *, fragment: builtins.str=..., edited_on: google.protobuf.timestamp_pb2.Timestamp | None=..., old: global___Fragment | None=..., edited_by: global___AuthenticatorInfo | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['edited_by', b'edited_by', 'edited_on', b'edited_on', 'old', b'old']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['edited_by', b'edited_by', 'edited_on', b'edited_on', 'fragment', b'fragment', 'old', b'old']) -> None:
+        ...
+global___FragmentHistoryEntry = FragmentHistoryEntry
+
 @typing.final
 class ListFragmentsRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
@@ -1899,6 +1930,52 @@ class DeleteFragmentResponse(google.protobuf.message.Message):
         ...
 global___DeleteFragmentResponse = DeleteFragmentResponse
 
+@typing.final
+class GetFragmentHistoryRequest(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    ID_FIELD_NUMBER: builtins.int
+    PAGE_TOKEN_FIELD_NUMBER: builtins.int
+    PAGE_LIMIT_FIELD_NUMBER: builtins.int
+    id: builtins.str
+    page_token: builtins.str
+    page_limit: builtins.int
+
+    def __init__(self, *, id: builtins.str=..., page_token: builtins.str | None=..., page_limit: builtins.int | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['_page_limit', b'_page_limit', '_page_token', b'_page_token', 'page_limit', b'page_limit', 'page_token', b'page_token']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['_page_limit', b'_page_limit', '_page_token', b'_page_token', 'id', b'id', 'page_limit', b'page_limit', 'page_token', b'page_token']) -> None:
+        ...
+
+    @typing.overload
+    def WhichOneof(self, oneof_group: typing.Literal['_page_limit', b'_page_limit']) -> typing.Literal['page_limit'] | None:
+        ...
+
+    @typing.overload
+    def WhichOneof(self, oneof_group: typing.Literal['_page_token', b'_page_token']) -> typing.Literal['page_token'] | None:
+        ...
+global___GetFragmentHistoryRequest = GetFragmentHistoryRequest
+
+@typing.final
+class GetFragmentHistoryResponse(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    HISTORY_FIELD_NUMBER: builtins.int
+    NEXT_PAGE_TOKEN_FIELD_NUMBER: builtins.int
+    next_page_token: builtins.str
+
+    @property
+    def history(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___FragmentHistoryEntry]:
+        ...
+
+    def __init__(self, *, history: collections.abc.Iterable[global___FragmentHistoryEntry] | None=..., next_page_token: builtins.str=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['history', b'history', 'next_page_token', b'next_page_token']) -> None:
+        ...
+global___GetFragmentHistoryResponse = GetFragmentHistoryResponse
+
 @typing.final
 class ListRobotsRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
diff --git a/src/viam/gen/app/v1/robot_pb2.py b/src/viam/gen/app/v1/robot_pb2.py
index b12a28b52..da0f26224 100644
--- a/src/viam/gen/app/v1/robot_pb2.py
+++ b/src/viam/gen/app/v1/robot_pb2.py
@@ -8,7 +8,7 @@
 from google.protobuf import duration_pb2 as google_dot_protobuf_dot_duration__pb2
 from google.protobuf import struct_pb2 as google_dot_protobuf_dot_struct__pb2
 from ...tagger.v1 import tagger_pb2 as tagger_dot_v1_dot_tagger__pb2
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\x01(\tR\x06secret"\xc6\x01\n\nRemoteAuth\x12E\n\x0bcredentials\x18\x01 \x01(\x0b2#.viam.app.v1.RemoteAuth.CredentialsR\x0bcredentials\x12\x16\n\x06entity\x18\x02 \x01(\tR\x06entity\x1aY\n\x0bCredentials\x120\n\x04type\x18\x01 \x01(\x0e2\x1c.viam.app.v1.CredentialsTypeR\x04type\x12\x18\n\x07payload\x18\x02 \x01(\tR\x07payload"\xac\x01\n\tAgentInfo\x12\x12\n\x04host\x18\x01 \x01(\tR\x04host\x12\x0e\n\x02os\x18\x02 \x01(\tR\x02os\x12\x10\n\x03ips\x18\x03 \x03(\tR\x03ips\x12\x18\n\x07version\x18\x04 \x01(\tR\x07version\x12!\n\x0cgit_revision\x18\x05 \x01(\tR\x0bgitRevision\x12\x1f\n\x08platform\x18\x06 \x01(\tH\x00R\x08platform\x88\x01\x01B\x0b\n\t_platform"j\n\rConfigRequest\x12\x0e\n\x02id\x18\x01 \x01(\tR\x02id\x12:\n\nagent_info\x18\x02 \x01(\x0b2\x16.viam.app.v1.AgentInfoH\x00R\tagentInfo\x88\x01\x01B\r\n\x0b_agent_info"B\n\x0eConfigResponse\x120\n\x06config\x18\x01 \x01(\x0b2\x18.viam.app.v1.RobotConfigR\x06config"$\n\x12CertificateRequest\x12\x0e\n\x02id\x18\x01 \x01(\tR\x02id"v\n\x13CertificateResponse\x12\x0e\n\x02id\x18\x01 \x01(\tR\x02id\x12\'\n\x0ftls_certificate\x18\x02 \x01(\tR\x0etlsCertificate\x12&\n\x0ftls_private_key\x18\x03 \x01(\tR\rtlsPrivateKey"J\n\nLogRequest\x12\x0e\n\x02id\x18\x01 \x01(\tR\x02id\x12,\n\x04logs\x18\x02 \x03(\x0b2\x18.viam.common.v1.LogEntryR\x04logs"\r\n\x0bLogResponse"%\n\x13NeedsRestartRequest\x12\x0e\n\x02id\x18\x01 \x01(\tR\x02id"\x9a\x01\n\x14NeedsRestartResponse\x12\x0e\n\x02id\x18\x01 \x01(\tR\x02id\x12!\n\x0cmust_restart\x18\x02 \x01(\x08R\x0bmustRestart\x12O\n\x16restart_check_interval\x18\x03 \x01(\x0b2\x19.google.protobuf.DurationR\x14restartCheckInterval"\xac\x02\n\x0cModuleConfig\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12\x12\n\x04path\x18\x02 \x01(\tR\x04path\x12\x1b\n\tlog_level\x18\x03 \x01(\tR\x08logLevel\x12\x12\n\x04type\x18\x04 \x01(\tR\x04type\x12\x1b\n\tmodule_id\x18\x05 \x01(\tR\x08moduleId\x124\n\x03env\x18\x06 \x03(\x0b2".viam.app.v1.ModuleConfig.EnvEntryR\x03env\x128\n\x06status\x18\x07 \x01(\x0b2 .viam.app.v1.AppValidationStatusR\x06status\x1a6\n\x08EnvEntry\x12\x10\n\x03key\x18\x01 \x01(\tR\x03key\x12\x14\n\x05value\x18\x02 \x01(\tR\x05value:\x028\x01"\xa5\x01\n\rPackageConfig\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12\x18\n\x07package\x18\x02 \x01(\tR\x07package\x12\x18\n\x07version\x18\x03 \x01(\tR\x07version\x12\x12\n\x04type\x18\x04 \x01(\tR\x04type\x128\n\x06status\x18\x05 \x01(\x0b2 .viam.app.v1.AppValidationStatusR\x06status*\xbf\x01\n\x0fCredentialsType\x12 \n\x1cCREDENTIALS_TYPE_UNSPECIFIED\x10\x00\x12\x1d\n\x19CREDENTIALS_TYPE_INTERNAL\x10\x01\x12\x1c\n\x18CREDENTIALS_TYPE_API_KEY\x10\x02\x12!\n\x1dCREDENTIALS_TYPE_ROBOT_SECRET\x10\x03\x12*\n&CREDENTIALS_TYPE_ROBOT_LOCATION_SECRET\x10\x042\xb2\x02\n\x0cRobotService\x12A\n\x06Config\x12\x1a.viam.app.v1.ConfigRequest\x1a\x1b.viam.app.v1.ConfigResponse\x12P\n\x0bCertificate\x12\x1f.viam.app.v1.CertificateRequest\x1a .viam.app.v1.CertificateResponse\x128\n\x03Log\x12\x17.viam.app.v1.LogRequest\x1a\x18.viam.app.v1.LogResponse\x12S\n\x0cNeedsRestart\x12 .viam.app.v1.NeedsRestartRequest\x1a!.viam.app.v1.NeedsRestartResponseB\x18Z\x16go.viam.com/api/app/v1b\x06proto3')
 _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
 _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'app.v1.robot_pb2', globals())
 if _descriptor._USE_C_DESCRIPTORS == False:
@@ -32,87 +32,89 @@
     _REMOTECONFIG.fields_by_name['service_configs']._serialized_options = b'\x9a\x84\x9e\x03\x15json:"service_config"'
     _MODULECONFIG_ENVENTRY._options = None
     _MODULECONFIG_ENVENTRY._serialized_options = b'8\x01'
-    _CREDENTIALSTYPE._serialized_start = 6808
-    _CREDENTIALSTYPE._serialized_end = 6999
+    _CREDENTIALSTYPE._serialized_start = 6925
+    _CREDENTIALSTYPE._serialized_end = 7116
     _ROBOTCONFIG._serialized_start = 146
-    _ROBOTCONFIG._serialized_end = 935
-    _LOCATIONSECRET._serialized_start = 937
-    _LOCATIONSECRET._serialized_end = 993
-    _APPVALIDATIONSTATUS._serialized_start = 995
-    _APPVALIDATIONSTATUS._serialized_end = 1038
-    _CLOUDCONFIG._serialized_start = 1041
-    _CLOUDCONFIG._serialized_end = 1487
-    _COMPONENTCONFIG._serialized_start = 1490
-    _COMPONENTCONFIG._serialized_end = 1933
-    _RESOURCELEVELSERVICECONFIG._serialized_start = 1935
-    _RESOURCELEVELSERVICECONFIG._serialized_end = 2040
-    _PROCESSCONFIG._serialized_start = 2043
-    _PROCESSCONFIG._serialized_end = 2383
-    _PROCESSCONFIG_ENVENTRY._serialized_start = 2329
-    _PROCESSCONFIG_ENVENTRY._serialized_end = 2383
-    _SERVICECONFIG._serialized_start = 2386
-    _SERVICECONFIG._serialized_end = 2785
-    _NETWORKCONFIG._serialized_start = 2788
-    _NETWORKCONFIG._serialized_end = 2985
-    _SESSIONSCONFIG._serialized_start = 2987
-    _SESSIONSCONFIG._serialized_end = 3073
-    _AUTHCONFIG._serialized_start = 3076
-    _AUTHCONFIG._serialized_end = 3305
-    _JWKSFILE._serialized_start = 3307
-    _JWKSFILE._serialized_end = 3362
-    _EXTERNALAUTHCONFIG._serialized_start = 3364
-    _EXTERNALAUTHCONFIG._serialized_end = 3427
-    _AUTHHANDLERCONFIG._serialized_start = 3429
-    _AUTHHANDLERCONFIG._serialized_end = 3547
-    _FRAME._serialized_start = 3550
-    _FRAME._serialized_end = 3755
-    _LOGCONFIGURATION._serialized_start = 3757
-    _LOGCONFIGURATION._serialized_end = 3797
-    _TRANSLATION._serialized_start = 3799
-    _TRANSLATION._serialized_end = 3854
-    _ORIENTATION._serialized_start = 3857
-    _ORIENTATION._serialized_end = 4833
-    _ORIENTATION_NOORIENTATION._serialized_start = 4355
-    _ORIENTATION_NOORIENTATION._serialized_end = 4370
-    _ORIENTATION_ORIENTATIONVECTORRADIANS._serialized_start = 4372
-    _ORIENTATION_ORIENTATIONVECTORRADIANS._serialized_end = 4478
-    _ORIENTATION_ORIENTATIONVECTORDEGREES._serialized_start = 4480
-    _ORIENTATION_ORIENTATIONVECTORDEGREES._serialized_end = 4586
-    _ORIENTATION_EULERANGLES._serialized_start = 4588
-    _ORIENTATION_EULERANGLES._serialized_end = 4661
-    _ORIENTATION_AXISANGLES._serialized_start = 4663
-    _ORIENTATION_AXISANGLES._serialized_end = 4755
-    _ORIENTATION_QUATERNION._serialized_start = 4757
-    _ORIENTATION_QUATERNION._serialized_end = 4825
-    _REMOTECONFIG._serialized_start = 4836
-    _REMOTECONFIG._serialized_end = 5337
-    _REMOTEAUTH._serialized_start = 5340
-    _REMOTEAUTH._serialized_end = 5538
-    _REMOTEAUTH_CREDENTIALS._serialized_start = 5449
-    _REMOTEAUTH_CREDENTIALS._serialized_end = 5538
-    _AGENTINFO._serialized_start = 5541
-    _AGENTINFO._serialized_end = 5713
-    _CONFIGREQUEST._serialized_start = 5715
-    _CONFIGREQUEST._serialized_end = 5821
-    _CONFIGRESPONSE._serialized_start = 5823
-    _CONFIGRESPONSE._serialized_end = 5889
-    _CERTIFICATEREQUEST._serialized_start = 5891
-    _CERTIFICATEREQUEST._serialized_end = 5927
-    _CERTIFICATERESPONSE._serialized_start = 5929
-    _CERTIFICATERESPONSE._serialized_end = 6047
-    _LOGREQUEST._serialized_start = 6049
-    _LOGREQUEST._serialized_end = 6123
-    _LOGRESPONSE._serialized_start = 6125
-    _LOGRESPONSE._serialized_end = 6138
-    _NEEDSRESTARTREQUEST._serialized_start = 6140
-    _NEEDSRESTARTREQUEST._serialized_end = 6177
-    _NEEDSRESTARTRESPONSE._serialized_start = 6180
-    _NEEDSRESTARTRESPONSE._serialized_end = 6334
-    _MODULECONFIG._serialized_start = 6337
-    _MODULECONFIG._serialized_end = 6637
-    _MODULECONFIG_ENVENTRY._serialized_start = 2329
-    _MODULECONFIG_ENVENTRY._serialized_end = 2383
-    _PACKAGECONFIG._serialized_start = 6640
-    _PACKAGECONFIG._serialized_end = 6805
-    _ROBOTSERVICE._serialized_start = 7002
-    _ROBOTSERVICE._serialized_end = 7308
\ No newline at end of file
+    _ROBOTCONFIG._serialized_end = 984
+    _LOGPATTERNCONFIG._serialized_start = 986
+    _LOGPATTERNCONFIG._serialized_end = 1052
+    _LOCATIONSECRET._serialized_start = 1054
+    _LOCATIONSECRET._serialized_end = 1110
+    _APPVALIDATIONSTATUS._serialized_start = 1112
+    _APPVALIDATIONSTATUS._serialized_end = 1155
+    _CLOUDCONFIG._serialized_start = 1158
+    _CLOUDCONFIG._serialized_end = 1604
+    _COMPONENTCONFIG._serialized_start = 1607
+    _COMPONENTCONFIG._serialized_end = 2050
+    _RESOURCELEVELSERVICECONFIG._serialized_start = 2052
+    _RESOURCELEVELSERVICECONFIG._serialized_end = 2157
+    _PROCESSCONFIG._serialized_start = 2160
+    _PROCESSCONFIG._serialized_end = 2500
+    _PROCESSCONFIG_ENVENTRY._serialized_start = 2446
+    _PROCESSCONFIG_ENVENTRY._serialized_end = 2500
+    _SERVICECONFIG._serialized_start = 2503
+    _SERVICECONFIG._serialized_end = 2902
+    _NETWORKCONFIG._serialized_start = 2905
+    _NETWORKCONFIG._serialized_end = 3102
+    _SESSIONSCONFIG._serialized_start = 3104
+    _SESSIONSCONFIG._serialized_end = 3190
+    _AUTHCONFIG._serialized_start = 3193
+    _AUTHCONFIG._serialized_end = 3422
+    _JWKSFILE._serialized_start = 3424
+    _JWKSFILE._serialized_end = 3479
+    _EXTERNALAUTHCONFIG._serialized_start = 3481
+    _EXTERNALAUTHCONFIG._serialized_end = 3544
+    _AUTHHANDLERCONFIG._serialized_start = 3546
+    _AUTHHANDLERCONFIG._serialized_end = 3664
+    _FRAME._serialized_start = 3667
+    _FRAME._serialized_end = 3872
+    _LOGCONFIGURATION._serialized_start = 3874
+    _LOGCONFIGURATION._serialized_end = 3914
+    _TRANSLATION._serialized_start = 3916
+    _TRANSLATION._serialized_end = 3971
+    _ORIENTATION._serialized_start = 3974
+    _ORIENTATION._serialized_end = 4950
+    _ORIENTATION_NOORIENTATION._serialized_start = 4472
+    _ORIENTATION_NOORIENTATION._serialized_end = 4487
+    _ORIENTATION_ORIENTATIONVECTORRADIANS._serialized_start = 4489
+    _ORIENTATION_ORIENTATIONVECTORRADIANS._serialized_end = 4595
+    _ORIENTATION_ORIENTATIONVECTORDEGREES._serialized_start = 4597
+    _ORIENTATION_ORIENTATIONVECTORDEGREES._serialized_end = 4703
+    _ORIENTATION_EULERANGLES._serialized_start = 4705
+    _ORIENTATION_EULERANGLES._serialized_end = 4778
+    _ORIENTATION_AXISANGLES._serialized_start = 4780
+    _ORIENTATION_AXISANGLES._serialized_end = 4872
+    _ORIENTATION_QUATERNION._serialized_start = 4874
+    _ORIENTATION_QUATERNION._serialized_end = 4942
+    _REMOTECONFIG._serialized_start = 4953
+    _REMOTECONFIG._serialized_end = 5454
+    _REMOTEAUTH._serialized_start = 5457
+    _REMOTEAUTH._serialized_end = 5655
+    _REMOTEAUTH_CREDENTIALS._serialized_start = 5566
+    _REMOTEAUTH_CREDENTIALS._serialized_end = 5655
+    _AGENTINFO._serialized_start = 5658
+    _AGENTINFO._serialized_end = 5830
+    _CONFIGREQUEST._serialized_start = 5832
+    _CONFIGREQUEST._serialized_end = 5938
+    _CONFIGRESPONSE._serialized_start = 5940
+    _CONFIGRESPONSE._serialized_end = 6006
+    _CERTIFICATEREQUEST._serialized_start = 6008
+    _CERTIFICATEREQUEST._serialized_end = 6044
+    _CERTIFICATERESPONSE._serialized_start = 6046
+    _CERTIFICATERESPONSE._serialized_end = 6164
+    _LOGREQUEST._serialized_start = 6166
+    _LOGREQUEST._serialized_end = 6240
+    _LOGRESPONSE._serialized_start = 6242
+    _LOGRESPONSE._serialized_end = 6255
+    _NEEDSRESTARTREQUEST._serialized_start = 6257
+    _NEEDSRESTARTREQUEST._serialized_end = 6294
+    _NEEDSRESTARTRESPONSE._serialized_start = 6297
+    _NEEDSRESTARTRESPONSE._serialized_end = 6451
+    _MODULECONFIG._serialized_start = 6454
+    _MODULECONFIG._serialized_end = 6754
+    _MODULECONFIG_ENVENTRY._serialized_start = 2446
+    _MODULECONFIG_ENVENTRY._serialized_end = 2500
+    _PACKAGECONFIG._serialized_start = 6757
+    _PACKAGECONFIG._serialized_end = 6922
+    _ROBOTSERVICE._serialized_start = 7119
+    _ROBOTSERVICE._serialized_end = 7425
\ No newline at end of file
diff --git a/src/viam/gen/app/v1/robot_pb2.pyi b/src/viam/gen/app/v1/robot_pb2.pyi
index 7dea53ed3..c966e6c00 100644
--- a/src/viam/gen/app/v1/robot_pb2.pyi
+++ b/src/viam/gen/app/v1/robot_pb2.pyi
@@ -56,6 +56,7 @@ class RobotConfig(google.protobuf.message.Message):
     PACKAGES_FIELD_NUMBER: builtins.int
     OVERWRITE_FRAGMENT_STATUS_FIELD_NUMBER: builtins.int
     ENABLE_WEB_PROFILE_FIELD_NUMBER: builtins.int
+    LOG_FIELD_NUMBER: builtins.int
     debug: builtins.bool
     'Turns on debug mode for robot, adding an echo server and more logging and tracing. Only works after restart'
     disable_partial_start: builtins.bool
@@ -102,13 +103,17 @@ class RobotConfig(google.protobuf.message.Message):
     def overwrite_fragment_status(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___AppValidationStatus]:
         ...
 
-    def __init__(self, *, cloud: global___CloudConfig | None=..., remotes: collections.abc.Iterable[global___RemoteConfig] | None=..., components: collections.abc.Iterable[global___ComponentConfig] | None=..., processes: collections.abc.Iterable[global___ProcessConfig] | None=..., services: collections.abc.Iterable[global___ServiceConfig] | None=..., network: global___NetworkConfig | None=..., auth: global___AuthConfig | None=..., debug: builtins.bool | None=..., modules: collections.abc.Iterable[global___ModuleConfig] | None=..., disable_partial_start: builtins.bool | None=..., packages: collections.abc.Iterable[global___PackageConfig] | None=..., overwrite_fragment_status: collections.abc.Iterable[global___AppValidationStatus] | None=..., enable_web_profile: builtins.bool=...) -> None:
+    @property
+    def log(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___LogPatternConfig]:
+        ...
+
+    def __init__(self, *, cloud: global___CloudConfig | None=..., remotes: collections.abc.Iterable[global___RemoteConfig] | None=..., components: collections.abc.Iterable[global___ComponentConfig] | None=..., processes: collections.abc.Iterable[global___ProcessConfig] | None=..., services: collections.abc.Iterable[global___ServiceConfig] | None=..., network: global___NetworkConfig | None=..., auth: global___AuthConfig | None=..., debug: builtins.bool | None=..., modules: collections.abc.Iterable[global___ModuleConfig] | None=..., disable_partial_start: builtins.bool | None=..., packages: collections.abc.Iterable[global___PackageConfig] | None=..., overwrite_fragment_status: collections.abc.Iterable[global___AppValidationStatus] | None=..., enable_web_profile: builtins.bool=..., log: collections.abc.Iterable[global___LogPatternConfig] | None=...) -> None:
         ...
 
     def HasField(self, field_name: typing.Literal['_auth', b'_auth', '_debug', b'_debug', '_disable_partial_start', b'_disable_partial_start', '_network', b'_network', 'auth', b'auth', 'cloud', b'cloud', 'debug', b'debug', 'disable_partial_start', b'disable_partial_start', 'network', b'network']) -> builtins.bool:
         ...
 
-    def ClearField(self, field_name: typing.Literal['_auth', b'_auth', '_debug', b'_debug', '_disable_partial_start', b'_disable_partial_start', '_network', b'_network', 'auth', b'auth', 'cloud', b'cloud', 'components', b'components', 'debug', b'debug', 'disable_partial_start', b'disable_partial_start', 'enable_web_profile', b'enable_web_profile', 'modules', b'modules', 'network', b'network', 'overwrite_fragment_status', b'overwrite_fragment_status', 'packages', b'packages', 'processes', b'processes', 'remotes', b'remotes', 'services', b'services']) -> None:
+    def ClearField(self, field_name: typing.Literal['_auth', b'_auth', '_debug', b'_debug', '_disable_partial_start', b'_disable_partial_start', '_network', b'_network', 'auth', b'auth', 'cloud', b'cloud', 'components', b'components', 'debug', b'debug', 'disable_partial_start', b'disable_partial_start', 'enable_web_profile', b'enable_web_profile', 'log', b'log', 'modules', b'modules', 'network', b'network', 'overwrite_fragment_status', b'overwrite_fragment_status', 'packages', b'packages', 'processes', b'processes', 'remotes', b'remotes', 'services', b'services']) -> None:
         ...
 
     @typing.overload
@@ -128,6 +133,24 @@ class RobotConfig(google.protobuf.message.Message):
         ...
 global___RobotConfig = RobotConfig
 
+@typing.final
+class LogPatternConfig(google.protobuf.message.Message):
+    """LogPatternConfig allows you to specify a 2-tuple consisting
+    of a logger name and its corresponding log level.
+    """
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    PATTERN_FIELD_NUMBER: builtins.int
+    LEVEL_FIELD_NUMBER: builtins.int
+    pattern: builtins.str
+    level: builtins.str
+
+    def __init__(self, *, pattern: builtins.str=..., level: builtins.str=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['level', b'level', 'pattern', b'pattern']) -> None:
+        ...
+global___LogPatternConfig = LogPatternConfig
+
 @typing.final
 class LocationSecret(google.protobuf.message.Message):
     """Valid location secret that can be used for authentication to the robot."""
diff --git a/src/viam/gen/robot/v1/robot_grpc.py b/src/viam/gen/robot/v1/robot_grpc.py
index 049c5753e..3d9217c2c 100644
--- a/src/viam/gen/robot/v1/robot_grpc.py
+++ b/src/viam/gen/robot/v1/robot_grpc.py
@@ -90,8 +90,12 @@ async def RestartModule(self, stream: 'grpclib.server.Stream[robot.v1.robot_pb2.
     async def Shutdown(self, stream: 'grpclib.server.Stream[robot.v1.robot_pb2.ShutdownRequest, robot.v1.robot_pb2.ShutdownResponse]') -> None:
         pass
 
+    @abc.abstractmethod
+    async def GetMachineStatus(self, stream: 'grpclib.server.Stream[robot.v1.robot_pb2.GetMachineStatusRequest, robot.v1.robot_pb2.GetMachineStatusResponse]') -> None:
+        pass
+
     def __mapping__(self) -> typing.Dict[str, grpclib.const.Handler]:
-        return {'/viam.robot.v1.RobotService/GetOperations': grpclib.const.Handler(self.GetOperations, grpclib.const.Cardinality.UNARY_UNARY, robot.v1.robot_pb2.GetOperationsRequest, robot.v1.robot_pb2.GetOperationsResponse), '/viam.robot.v1.RobotService/GetSessions': grpclib.const.Handler(self.GetSessions, grpclib.const.Cardinality.UNARY_UNARY, robot.v1.robot_pb2.GetSessionsRequest, robot.v1.robot_pb2.GetSessionsResponse), '/viam.robot.v1.RobotService/ResourceNames': grpclib.const.Handler(self.ResourceNames, grpclib.const.Cardinality.UNARY_UNARY, robot.v1.robot_pb2.ResourceNamesRequest, robot.v1.robot_pb2.ResourceNamesResponse), '/viam.robot.v1.RobotService/ResourceRPCSubtypes': grpclib.const.Handler(self.ResourceRPCSubtypes, grpclib.const.Cardinality.UNARY_UNARY, robot.v1.robot_pb2.ResourceRPCSubtypesRequest, robot.v1.robot_pb2.ResourceRPCSubtypesResponse), '/viam.robot.v1.RobotService/CancelOperation': grpclib.const.Handler(self.CancelOperation, grpclib.const.Cardinality.UNARY_UNARY, robot.v1.robot_pb2.CancelOperationRequest, robot.v1.robot_pb2.CancelOperationResponse), '/viam.robot.v1.RobotService/BlockForOperation': grpclib.const.Handler(self.BlockForOperation, grpclib.const.Cardinality.UNARY_UNARY, robot.v1.robot_pb2.BlockForOperationRequest, robot.v1.robot_pb2.BlockForOperationResponse), '/viam.robot.v1.RobotService/DiscoverComponents': grpclib.const.Handler(self.DiscoverComponents, grpclib.const.Cardinality.UNARY_UNARY, robot.v1.robot_pb2.DiscoverComponentsRequest, robot.v1.robot_pb2.DiscoverComponentsResponse), '/viam.robot.v1.RobotService/FrameSystemConfig': grpclib.const.Handler(self.FrameSystemConfig, grpclib.const.Cardinality.UNARY_UNARY, robot.v1.robot_pb2.FrameSystemConfigRequest, robot.v1.robot_pb2.FrameSystemConfigResponse), '/viam.robot.v1.RobotService/TransformPose': grpclib.const.Handler(self.TransformPose, grpclib.const.Cardinality.UNARY_UNARY, robot.v1.robot_pb2.TransformPoseRequest, robot.v1.robot_pb2.TransformPoseResponse), '/viam.robot.v1.RobotService/TransformPCD': grpclib.const.Handler(self.TransformPCD, grpclib.const.Cardinality.UNARY_UNARY, robot.v1.robot_pb2.TransformPCDRequest, robot.v1.robot_pb2.TransformPCDResponse), '/viam.robot.v1.RobotService/GetStatus': grpclib.const.Handler(self.GetStatus, grpclib.const.Cardinality.UNARY_UNARY, robot.v1.robot_pb2.GetStatusRequest, robot.v1.robot_pb2.GetStatusResponse), '/viam.robot.v1.RobotService/StreamStatus': grpclib.const.Handler(self.StreamStatus, grpclib.const.Cardinality.UNARY_STREAM, robot.v1.robot_pb2.StreamStatusRequest, robot.v1.robot_pb2.StreamStatusResponse), '/viam.robot.v1.RobotService/StopAll': grpclib.const.Handler(self.StopAll, grpclib.const.Cardinality.UNARY_UNARY, robot.v1.robot_pb2.StopAllRequest, robot.v1.robot_pb2.StopAllResponse), '/viam.robot.v1.RobotService/StartSession': grpclib.const.Handler(self.StartSession, grpclib.const.Cardinality.UNARY_UNARY, robot.v1.robot_pb2.StartSessionRequest, robot.v1.robot_pb2.StartSessionResponse), '/viam.robot.v1.RobotService/SendSessionHeartbeat': grpclib.const.Handler(self.SendSessionHeartbeat, grpclib.const.Cardinality.UNARY_UNARY, robot.v1.robot_pb2.SendSessionHeartbeatRequest, robot.v1.robot_pb2.SendSessionHeartbeatResponse), '/viam.robot.v1.RobotService/Log': grpclib.const.Handler(self.Log, grpclib.const.Cardinality.UNARY_UNARY, robot.v1.robot_pb2.LogRequest, robot.v1.robot_pb2.LogResponse), '/viam.robot.v1.RobotService/GetCloudMetadata': grpclib.const.Handler(self.GetCloudMetadata, grpclib.const.Cardinality.UNARY_UNARY, robot.v1.robot_pb2.GetCloudMetadataRequest, robot.v1.robot_pb2.GetCloudMetadataResponse), '/viam.robot.v1.RobotService/RestartModule': grpclib.const.Handler(self.RestartModule, grpclib.const.Cardinality.UNARY_UNARY, robot.v1.robot_pb2.RestartModuleRequest, robot.v1.robot_pb2.RestartModuleResponse), '/viam.robot.v1.RobotService/Shutdown': grpclib.const.Handler(self.Shutdown, grpclib.const.Cardinality.UNARY_UNARY, robot.v1.robot_pb2.ShutdownRequest, robot.v1.robot_pb2.ShutdownResponse)}
+        return {'/viam.robot.v1.RobotService/GetOperations': grpclib.const.Handler(self.GetOperations, grpclib.const.Cardinality.UNARY_UNARY, robot.v1.robot_pb2.GetOperationsRequest, robot.v1.robot_pb2.GetOperationsResponse), '/viam.robot.v1.RobotService/GetSessions': grpclib.const.Handler(self.GetSessions, grpclib.const.Cardinality.UNARY_UNARY, robot.v1.robot_pb2.GetSessionsRequest, robot.v1.robot_pb2.GetSessionsResponse), '/viam.robot.v1.RobotService/ResourceNames': grpclib.const.Handler(self.ResourceNames, grpclib.const.Cardinality.UNARY_UNARY, robot.v1.robot_pb2.ResourceNamesRequest, robot.v1.robot_pb2.ResourceNamesResponse), '/viam.robot.v1.RobotService/ResourceRPCSubtypes': grpclib.const.Handler(self.ResourceRPCSubtypes, grpclib.const.Cardinality.UNARY_UNARY, robot.v1.robot_pb2.ResourceRPCSubtypesRequest, robot.v1.robot_pb2.ResourceRPCSubtypesResponse), '/viam.robot.v1.RobotService/CancelOperation': grpclib.const.Handler(self.CancelOperation, grpclib.const.Cardinality.UNARY_UNARY, robot.v1.robot_pb2.CancelOperationRequest, robot.v1.robot_pb2.CancelOperationResponse), '/viam.robot.v1.RobotService/BlockForOperation': grpclib.const.Handler(self.BlockForOperation, grpclib.const.Cardinality.UNARY_UNARY, robot.v1.robot_pb2.BlockForOperationRequest, robot.v1.robot_pb2.BlockForOperationResponse), '/viam.robot.v1.RobotService/DiscoverComponents': grpclib.const.Handler(self.DiscoverComponents, grpclib.const.Cardinality.UNARY_UNARY, robot.v1.robot_pb2.DiscoverComponentsRequest, robot.v1.robot_pb2.DiscoverComponentsResponse), '/viam.robot.v1.RobotService/FrameSystemConfig': grpclib.const.Handler(self.FrameSystemConfig, grpclib.const.Cardinality.UNARY_UNARY, robot.v1.robot_pb2.FrameSystemConfigRequest, robot.v1.robot_pb2.FrameSystemConfigResponse), '/viam.robot.v1.RobotService/TransformPose': grpclib.const.Handler(self.TransformPose, grpclib.const.Cardinality.UNARY_UNARY, robot.v1.robot_pb2.TransformPoseRequest, robot.v1.robot_pb2.TransformPoseResponse), '/viam.robot.v1.RobotService/TransformPCD': grpclib.const.Handler(self.TransformPCD, grpclib.const.Cardinality.UNARY_UNARY, robot.v1.robot_pb2.TransformPCDRequest, robot.v1.robot_pb2.TransformPCDResponse), '/viam.robot.v1.RobotService/GetStatus': grpclib.const.Handler(self.GetStatus, grpclib.const.Cardinality.UNARY_UNARY, robot.v1.robot_pb2.GetStatusRequest, robot.v1.robot_pb2.GetStatusResponse), '/viam.robot.v1.RobotService/StreamStatus': grpclib.const.Handler(self.StreamStatus, grpclib.const.Cardinality.UNARY_STREAM, robot.v1.robot_pb2.StreamStatusRequest, robot.v1.robot_pb2.StreamStatusResponse), '/viam.robot.v1.RobotService/StopAll': grpclib.const.Handler(self.StopAll, grpclib.const.Cardinality.UNARY_UNARY, robot.v1.robot_pb2.StopAllRequest, robot.v1.robot_pb2.StopAllResponse), '/viam.robot.v1.RobotService/StartSession': grpclib.const.Handler(self.StartSession, grpclib.const.Cardinality.UNARY_UNARY, robot.v1.robot_pb2.StartSessionRequest, robot.v1.robot_pb2.StartSessionResponse), '/viam.robot.v1.RobotService/SendSessionHeartbeat': grpclib.const.Handler(self.SendSessionHeartbeat, grpclib.const.Cardinality.UNARY_UNARY, robot.v1.robot_pb2.SendSessionHeartbeatRequest, robot.v1.robot_pb2.SendSessionHeartbeatResponse), '/viam.robot.v1.RobotService/Log': grpclib.const.Handler(self.Log, grpclib.const.Cardinality.UNARY_UNARY, robot.v1.robot_pb2.LogRequest, robot.v1.robot_pb2.LogResponse), '/viam.robot.v1.RobotService/GetCloudMetadata': grpclib.const.Handler(self.GetCloudMetadata, grpclib.const.Cardinality.UNARY_UNARY, robot.v1.robot_pb2.GetCloudMetadataRequest, robot.v1.robot_pb2.GetCloudMetadataResponse), '/viam.robot.v1.RobotService/RestartModule': grpclib.const.Handler(self.RestartModule, grpclib.const.Cardinality.UNARY_UNARY, robot.v1.robot_pb2.RestartModuleRequest, robot.v1.robot_pb2.RestartModuleResponse), '/viam.robot.v1.RobotService/Shutdown': grpclib.const.Handler(self.Shutdown, grpclib.const.Cardinality.UNARY_UNARY, robot.v1.robot_pb2.ShutdownRequest, robot.v1.robot_pb2.ShutdownResponse), '/viam.robot.v1.RobotService/GetMachineStatus': grpclib.const.Handler(self.GetMachineStatus, grpclib.const.Cardinality.UNARY_UNARY, robot.v1.robot_pb2.GetMachineStatusRequest, robot.v1.robot_pb2.GetMachineStatusResponse)}
 
 class UnimplementedRobotServiceBase(RobotServiceBase):
 
@@ -152,6 +156,9 @@ async def RestartModule(self, stream: 'grpclib.server.Stream[robot.v1.robot_pb2.
     async def Shutdown(self, stream: 'grpclib.server.Stream[robot.v1.robot_pb2.ShutdownRequest, robot.v1.robot_pb2.ShutdownResponse]') -> None:
         raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
 
+    async def GetMachineStatus(self, stream: 'grpclib.server.Stream[robot.v1.robot_pb2.GetMachineStatusRequest, robot.v1.robot_pb2.GetMachineStatusResponse]') -> None:
+        raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
+
 class RobotServiceStub:
 
     def __init__(self, channel: grpclib.client.Channel) -> None:
@@ -173,4 +180,5 @@ def __init__(self, channel: grpclib.client.Channel) -> None:
         self.Log = grpclib.client.UnaryUnaryMethod(channel, '/viam.robot.v1.RobotService/Log', robot.v1.robot_pb2.LogRequest, robot.v1.robot_pb2.LogResponse)
         self.GetCloudMetadata = grpclib.client.UnaryUnaryMethod(channel, '/viam.robot.v1.RobotService/GetCloudMetadata', robot.v1.robot_pb2.GetCloudMetadataRequest, robot.v1.robot_pb2.GetCloudMetadataResponse)
         self.RestartModule = grpclib.client.UnaryUnaryMethod(channel, '/viam.robot.v1.RobotService/RestartModule', robot.v1.robot_pb2.RestartModuleRequest, robot.v1.robot_pb2.RestartModuleResponse)
-        self.Shutdown = grpclib.client.UnaryUnaryMethod(channel, '/viam.robot.v1.RobotService/Shutdown', robot.v1.robot_pb2.ShutdownRequest, robot.v1.robot_pb2.ShutdownResponse)
\ No newline at end of file
+        self.Shutdown = grpclib.client.UnaryUnaryMethod(channel, '/viam.robot.v1.RobotService/Shutdown', robot.v1.robot_pb2.ShutdownRequest, robot.v1.robot_pb2.ShutdownResponse)
+        self.GetMachineStatus = grpclib.client.UnaryUnaryMethod(channel, '/viam.robot.v1.RobotService/GetMachineStatus', robot.v1.robot_pb2.GetMachineStatusRequest, robot.v1.robot_pb2.GetMachineStatusResponse)
\ No newline at end of file
diff --git a/src/viam/gen/robot/v1/robot_pb2.py b/src/viam/gen/robot/v1/robot_pb2.py
index baf897ea2..9c851cf39 100644
--- a/src/viam/gen/robot/v1/robot_pb2.py
+++ b/src/viam/gen/robot/v1/robot_pb2.py
@@ -9,7 +9,7 @@
 from google.protobuf import duration_pb2 as google_dot_protobuf_dot_duration__pb2
 from google.protobuf import struct_pb2 as google_dot_protobuf_dot_struct__pb2
 from google.protobuf import timestamp_pb2 as google_dot_protobuf_dot_timestamp__pb2
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x14robot/v1/robot.proto\x12\rviam.robot.v1\x1a\x16common/v1/common.proto\x1a\x1cgoogle/api/annotations.proto\x1a\x1egoogle/protobuf/duration.proto\x1a\x1cgoogle/protobuf/struct.proto\x1a\x1fgoogle/protobuf/timestamp.proto"}\n\x11FrameSystemConfig\x12/\n\x05frame\x18\x01 \x01(\x0b2\x19.viam.common.v1.TransformR\x05frame\x127\n\nkinematics\x18\x02 \x01(\x0b2\x17.google.protobuf.StructR\nkinematics"n\n\x18FrameSystemConfigRequest\x12R\n\x17supplemental_transforms\x18\x01 \x03(\x0b2\x19.viam.common.v1.TransformR\x16supplementalTransforms"o\n\x19FrameSystemConfigResponse\x12R\n\x14frame_system_configs\x18\x01 \x03(\x0b2 .viam.robot.v1.FrameSystemConfigR\x12frameSystemConfigs"\xc1\x01\n\x14TransformPoseRequest\x123\n\x06source\x18\x01 \x01(\x0b2\x1b.viam.common.v1.PoseInFrameR\x06source\x12 \n\x0bdestination\x18\x02 \x01(\tR\x0bdestination\x12R\n\x17supplemental_transforms\x18\x03 \x03(\x0b2\x19.viam.common.v1.TransformR\x16supplementalTransforms"H\n\x15TransformPoseResponse\x12/\n\x04pose\x18\x01 \x01(\x0b2\x1b.viam.common.v1.PoseInFrameR\x04pose"w\n\x13TransformPCDRequest\x12&\n\x0fpoint_cloud_pcd\x18\x01 \x01(\x0cR\rpointCloudPcd\x12\x16\n\x06source\x18\x02 \x01(\tR\x06source\x12 \n\x0bdestination\x18\x03 \x01(\tR\x0bdestination">\n\x14TransformPCDResponse\x12&\n\x0fpoint_cloud_pcd\x18\x01 \x01(\x0cR\rpointCloudPcd"\x16\n\x14ResourceNamesRequest"S\n\x15ResourceNamesResponse\x12:\n\tresources\x18\x01 \x03(\x0b2\x1c.viam.common.v1.ResourceNameR\tresources"q\n\x12ResourceRPCSubtype\x126\n\x07subtype\x18\x01 \x01(\x0b2\x1c.viam.common.v1.ResourceNameR\x07subtype\x12#\n\rproto_service\x18\x02 \x01(\tR\x0cprotoService"\x1c\n\x1aResourceRPCSubtypesRequest"t\n\x1bResourceRPCSubtypesResponse\x12U\n\x15resource_rpc_subtypes\x18\x01 \x03(\x0b2!.viam.robot.v1.ResourceRPCSubtypeR\x13resourceRpcSubtypes"\xd3\x01\n\tOperation\x12\x0e\n\x02id\x18\x01 \x01(\tR\x02id\x12\x16\n\x06method\x18\x02 \x01(\tR\x06method\x125\n\targuments\x18\x03 \x01(\x0b2\x17.google.protobuf.StructR\targuments\x124\n\x07started\x18\x04 \x01(\x0b2\x1a.google.protobuf.TimestampR\x07started\x12"\n\nsession_id\x18\x05 \x01(\tH\x00R\tsessionId\x88\x01\x01B\r\n\x0b_session_id"\x16\n\x14GetOperationsRequest"Q\n\x15GetOperationsResponse\x128\n\noperations\x18\x01 \x03(\x0b2\x18.viam.robot.v1.OperationR\noperations"(\n\x16CancelOperationRequest\x12\x0e\n\x02id\x18\x01 \x01(\tR\x02id"\x19\n\x17CancelOperationResponse"*\n\x18BlockForOperationRequest\x12\x0e\n\x02id\x18\x01 \x01(\tR\x02id"\x1b\n\x19BlockForOperationResponse"\xc6\x01\n\x12PeerConnectionInfo\x125\n\x04type\x18\x01 \x01(\x0e2!.viam.robot.v1.PeerConnectionTypeR\x04type\x12*\n\x0eremote_address\x18\x02 \x01(\tH\x00R\rremoteAddress\x88\x01\x01\x12(\n\rlocal_address\x18\x03 \x01(\tH\x01R\x0clocalAddress\x88\x01\x01B\x11\n\x0f_remote_addressB\x10\n\x0e_local_address"\x8c\x01\n\x07Session\x12\x0e\n\x02id\x18\x01 \x01(\tR\x02id\x12X\n\x14peer_connection_info\x18\x02 \x01(\x0b2!.viam.robot.v1.PeerConnectionInfoH\x00R\x12peerConnectionInfo\x88\x01\x01B\x17\n\x15_peer_connection_info"\x14\n\x12GetSessionsRequest"I\n\x13GetSessionsResponse\x122\n\x08sessions\x18\x01 \x03(\x0b2\x16.viam.robot.v1.SessionR\x08sessions"@\n\x0eDiscoveryQuery\x12\x18\n\x07subtype\x18\x01 \x01(\tR\x07subtype\x12\x14\n\x05model\x18\x02 \x01(\tR\x05model"s\n\tDiscovery\x123\n\x05query\x18\x01 \x01(\x0b2\x1d.viam.robot.v1.DiscoveryQueryR\x05query\x121\n\x07results\x18\x02 \x01(\x0b2\x17.google.protobuf.StructR\x07results"T\n\x19DiscoverComponentsRequest\x127\n\x07queries\x18\x01 \x03(\x0b2\x1d.viam.robot.v1.DiscoveryQueryR\x07queries"T\n\x1aDiscoverComponentsResponse\x126\n\tdiscovery\x18\x01 \x03(\x0b2\x18.viam.robot.v1.DiscoveryR\tdiscovery"\xb4\x01\n\x06Status\x120\n\x04name\x18\x01 \x01(\x0b2\x1c.viam.common.v1.ResourceNameR\x04name\x12/\n\x06status\x18\x02 \x01(\x0b2\x17.google.protobuf.StructR\x06status\x12G\n\x11last_reconfigured\x18\x03 \x01(\x0b2\x1a.google.protobuf.TimestampR\x10lastReconfigured"W\n\x10GetStatusRequest\x12C\n\x0eresource_names\x18\x01 \x03(\x0b2\x1c.viam.common.v1.ResourceNameR\rresourceNames"B\n\x11GetStatusResponse\x12-\n\x06status\x18\x01 \x03(\x0b2\x15.viam.robot.v1.StatusR\x06status"\x8b\x01\n\x13StreamStatusRequest\x12C\n\x0eresource_names\x18\x01 \x03(\x0b2\x1c.viam.common.v1.ResourceNameR\rresourceNames\x12/\n\x05every\x18\x02 \x01(\x0b2\x19.google.protobuf.DurationR\x05every"E\n\x14StreamStatusResponse\x12-\n\x06status\x18\x01 \x03(\x0b2\x15.viam.robot.v1.StatusR\x06status"x\n\x13StopExtraParameters\x120\n\x04name\x18\x01 \x01(\x0b2\x1c.viam.common.v1.ResourceNameR\x04name\x12/\n\x06params\x18\x02 \x01(\x0b2\x17.google.protobuf.StructR\x06params"J\n\x0eStopAllRequest\x128\n\x05extra\x18c 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.viam.robot.v1.GetStatusResponse"\x1e\x88\x02\x01\x82\xd3\xe4\x93\x02\x15\x12\x13/viam/api/v1/status\x12\x80\x01\n\x0cStreamStatus\x12".viam.robot.v1.StreamStatusRequest\x1a#.viam.robot.v1.StreamStatusResponse"%\x88\x02\x01\x82\xd3\xe4\x93\x02\x1c\x12\x1a/viam/api/v1/status/stream0\x01\x12g\n\x07StopAll\x12\x1d.viam.robot.v1.StopAllRequest\x1a\x1e.viam.robot.v1.StopAllResponse"\x1d\x82\xd3\xe4\x93\x02\x17\x12\x15/viam/api/v1/stop_all\x12v\n\x0cStartSession\x12".viam.robot.v1.StartSessionRequest\x1a#.viam.robot.v1.StartSessionResponse"\x1d\x82\xd3\xe4\x93\x02\x17"\x15/viam/api/v1/sessions\x12\x9d\x01\n\x14SendSessionHeartbeat\x12*.viam.robot.v1.SendSessionHeartbeatRequest\x1a+.viam.robot.v1.SendSessionHeartbeatResponse",\x82\xd3\xe4\x93\x02&"$/viam/api/v1/sessions/{id}/heartbeat\x12V\n\x03Log\x12\x19.viam.robot.v1.LogRequest\x1a\x1a.viam.robot.v1.LogResponse"\x18\x82\xd3\xe4\x93\x02\x12"\x10/viam/api/v1/log\x12\x88\x01\n\x10GetCloudMetadata\x12&.viam.robot.v1.GetCloudMetadataRequest\x1a\'.viam.robot.v1.GetCloudMetadataResponse"#\x82\xd3\xe4\x93\x02\x1d\x12\x1b/viam/api/v1/cloud_metadata\x12\x7f\n\rRestartModule\x12#.viam.robot.v1.RestartModuleRequest\x1a$.viam.robot.v1.RestartModuleResponse"#\x82\xd3\xe4\x93\x02\x1d"\x1b/viam/api/v1/restart_module\x12j\n\x08Shutdown\x12\x1e.viam.robot.v1.ShutdownRequest\x1a\x1f.viam.robot.v1.ShutdownResponse"\x1d\x82\xd3\xe4\x93\x02\x17"\x15/viam/api/v1/shutdownB-\n\x11com.viam.robot.v1Z\x18go.viam.com/api/robot/v1b\x06proto3')
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x14robot/v1/robot.proto\x12\rviam.robot.v1\x1a\x16common/v1/common.proto\x1a\x1cgoogle/api/annotations.proto\x1a\x1egoogle/protobuf/duration.proto\x1a\x1cgoogle/protobuf/struct.proto\x1a\x1fgoogle/protobuf/timestamp.proto"}\n\x11FrameSystemConfig\x12/\n\x05frame\x18\x01 \x01(\x0b2\x19.viam.common.v1.TransformR\x05frame\x127\n\nkinematics\x18\x02 \x01(\x0b2\x17.google.protobuf.StructR\nkinematics"n\n\x18FrameSystemConfigRequest\x12R\n\x17supplemental_transforms\x18\x01 \x03(\x0b2\x19.viam.common.v1.TransformR\x16supplementalTransforms"o\n\x19FrameSystemConfigResponse\x12R\n\x14frame_system_configs\x18\x01 \x03(\x0b2 .viam.robot.v1.FrameSystemConfigR\x12frameSystemConfigs"\xc1\x01\n\x14TransformPoseRequest\x123\n\x06source\x18\x01 \x01(\x0b2\x1b.viam.common.v1.PoseInFrameR\x06source\x12 \n\x0bdestination\x18\x02 \x01(\tR\x0bdestination\x12R\n\x17supplemental_transforms\x18\x03 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\x01(\tH\x01R\x0clocalAddress\x88\x01\x01B\x11\n\x0f_remote_addressB\x10\n\x0e_local_address"\x8c\x01\n\x07Session\x12\x0e\n\x02id\x18\x01 \x01(\tR\x02id\x12X\n\x14peer_connection_info\x18\x02 \x01(\x0b2!.viam.robot.v1.PeerConnectionInfoH\x00R\x12peerConnectionInfo\x88\x01\x01B\x17\n\x15_peer_connection_info"\x14\n\x12GetSessionsRequest"I\n\x13GetSessionsResponse\x122\n\x08sessions\x18\x01 \x03(\x0b2\x16.viam.robot.v1.SessionR\x08sessions"@\n\x0eDiscoveryQuery\x12\x18\n\x07subtype\x18\x01 \x01(\tR\x07subtype\x12\x14\n\x05model\x18\x02 \x01(\tR\x05model"s\n\tDiscovery\x123\n\x05query\x18\x01 \x01(\x0b2\x1d.viam.robot.v1.DiscoveryQueryR\x05query\x121\n\x07results\x18\x02 \x01(\x0b2\x17.google.protobuf.StructR\x07results"T\n\x19DiscoverComponentsRequest\x127\n\x07queries\x18\x01 \x03(\x0b2\x1d.viam.robot.v1.DiscoveryQueryR\x07queries"T\n\x1aDiscoverComponentsResponse\x126\n\tdiscovery\x18\x01 \x03(\x0b2\x18.viam.robot.v1.DiscoveryR\tdiscovery"\xb4\x01\n\x06Status\x120\n\x04name\x18\x01 \x01(\x0b2\x1c.viam.common.v1.ResourceNameR\x04name\x12/\n\x06status\x18\x02 \x01(\x0b2\x17.google.protobuf.StructR\x06status\x12G\n\x11last_reconfigured\x18\x03 \x01(\x0b2\x1a.google.protobuf.TimestampR\x10lastReconfigured"W\n\x10GetStatusRequest\x12C\n\x0eresource_names\x18\x01 \x03(\x0b2\x1c.viam.common.v1.ResourceNameR\rresourceNames"B\n\x11GetStatusResponse\x12-\n\x06status\x18\x01 \x03(\x0b2\x15.viam.robot.v1.StatusR\x06status"\x8b\x01\n\x13StreamStatusRequest\x12C\n\x0eresource_names\x18\x01 \x03(\x0b2\x1c.viam.common.v1.ResourceNameR\rresourceNames\x12/\n\x05every\x18\x02 \x01(\x0b2\x19.google.protobuf.DurationR\x05every"E\n\x14StreamStatusResponse\x12-\n\x06status\x18\x01 \x03(\x0b2\x15.viam.robot.v1.StatusR\x06status"x\n\x13StopExtraParameters\x120\n\x04name\x18\x01 \x01(\x0b2\x1c.viam.common.v1.ResourceNameR\x04name\x12/\n\x06params\x18\x02 \x01(\x0b2\x17.google.protobuf.StructR\x06params"J\n\x0eStopAllRequest\x128\n\x05extra\x18c \x03(\x0b2".viam.robot.v1.StopExtraParametersR\x05extra"\x11\n\x0fStopAllResponse"-\n\x13StartSessionRequest\x12\x16\n\x06resume\x18\x01 \x01(\tR\x06resume"l\n\x14StartSessionResponse\x12\x0e\n\x02id\x18\x01 \x01(\tR\x02id\x12D\n\x10heartbeat_window\x18\x02 \x01(\x0b2\x19.google.protobuf.DurationR\x0fheartbeatWindow"-\n\x1bSendSessionHeartbeatRequest\x12\x0e\n\x02id\x18\x01 \x01(\tR\x02id"\x1e\n\x1cSendSessionHeartbeatResponse":\n\nLogRequest\x12,\n\x04logs\x18\x01 \x03(\x0b2\x18.viam.common.v1.LogEntryR\x04logs"\r\n\x0bLogResponse"\x19\n\x17GetCloudMetadataRequest"\xd0\x01\n\x18GetCloudMetadataResponse\x12&\n\rrobot_part_id\x18\x01 \x01(\tB\x02\x18\x01R\x0brobotPartId\x12$\n\x0eprimary_org_id\x18\x02 \x01(\tR\x0cprimaryOrgId\x12\x1f\n\x0blocation_id\x18\x03 \x01(\tR\nlocationId\x12\x1d\n\nmachine_id\x18\x04 \x01(\tR\tmachineId\x12&\n\x0fmachine_part_id\x18\x05 \x01(\tR\rmachinePartId"f\n\x14RestartModuleRequest\x12\x1d\n\tmodule_id\x18\x01 \x01(\tH\x00R\x08moduleId\x12!\n\x0bmodule_name\x18\x02 \x01(\tH\x00R\nmoduleNameB\x0c\n\nid_or_name"\x17\n\x15RestartModuleResponse"\x11\n\x0fShutdownRequest"\x12\n\x10ShutdownResponse"\x19\n\x17GetMachineStatusRequest"W\n\x18GetMachineStatusResponse\x12;\n\tresources\x18\x01 \x03(\x0b2\x1d.viam.robot.v1.ResourceStatusR\tresources"\xb0\x02\n\x0eResourceStatus\x120\n\x04name\x18\x01 \x01(\x0b2\x1c.viam.common.v1.ResourceNameR\x04name\x129\n\x05state\x18\x02 \x01(\x0e2#.viam.robot.v1.ResourceStatus.StateR\x05state\x12=\n\x0clast_updated\x18\x03 \x01(\x0b2\x1a.google.protobuf.TimestampR\x0blastUpdated"r\n\x05State\x12\x15\n\x11STATE_UNSPECIFIED\x10\x00\x12\x16\n\x12STATE_UNCONFIGURED\x10\x01\x12\x15\n\x11STATE_CONFIGURING\x10\x02\x12\x0f\n\x0bSTATE_READY\x10\x03\x12\x12\n\x0eSTATE_REMOVING\x10\x04*z\n\x12PeerConnectionType\x12$\n PEER_CONNECTION_TYPE_UNSPECIFIED\x10\x00\x12\x1d\n\x19PEER_CONNECTION_TYPE_GRPC\x10\x01\x12\x1f\n\x1bPEER_CONNECTION_TYPE_WEBRTC\x10\x022\xda\x14\n\x0cRobotService\x12\x80\x01\n\rGetOperations\x12#.viam.robot.v1.GetOperationsRequest\x1a$.viam.robot.v1.GetOperationsResponse"$\x82\xd3\xe4\x93\x02\x1e\x12\x1c/viam/api/v1/operations/list\x12x\n\x0bGetSessions\x12!.viam.robot.v1.GetSessionsRequest\x1a".viam.robot.v1.GetSessionsResponse""\x82\xd3\xe4\x93\x02\x1c\x12\x1a/viam/api/v1/sessions/list\x12\x7f\n\rResourceNames\x12#.viam.robot.v1.ResourceNamesRequest\x1a$.viam.robot.v1.ResourceNamesResponse"#\x82\xd3\xe4\x93\x02\x1d\x12\x1b/viam/api/v1/resources/list\x12\x9d\x01\n\x13ResourceRPCSubtypes\x12).viam.robot.v1.ResourceRPCSubtypesRequest\x1a*.viam.robot.v1.ResourceRPCSubtypesResponse"/\x82\xd3\xe4\x93\x02)\x12\'/viam/api/v1/resource_rpc_subtypes/list\x12\x88\x01\n\x0fCancelOperation\x12%.viam.robot.v1.CancelOperationRequest\x1a&.viam.robot.v1.CancelOperationResponse"&\x82\xd3\xe4\x93\x02 "\x1e/viam/api/v1/operations/cancel\x12\x8d\x01\n\x11BlockForOperation\x12\'.viam.robot.v1.BlockForOperationRequest\x1a(.viam.robot.v1.BlockForOperationResponse"%\x82\xd3\xe4\x93\x02\x1f"\x1d/viam/api/v1/operations/block\x12\x94\x01\n\x12DiscoverComponents\x12(.viam.robot.v1.DiscoverComponentsRequest\x1a).viam.robot.v1.DiscoverComponentsResponse")\x82\xd3\xe4\x93\x02#\x12!/viam/api/v1/discovery/components\x12\x90\x01\n\x11FrameSystemConfig\x12\'.viam.robot.v1.FrameSystemConfigRequest\x1a(.viam.robot.v1.FrameSystemConfigResponse"(\x82\xd3\xe4\x93\x02"\x12 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.viam.robot.v1.GetStatusResponse"\x1e\x88\x02\x01\x82\xd3\xe4\x93\x02\x15\x12\x13/viam/api/v1/status\x12\x80\x01\n\x0cStreamStatus\x12".viam.robot.v1.StreamStatusRequest\x1a#.viam.robot.v1.StreamStatusResponse"%\x88\x02\x01\x82\xd3\xe4\x93\x02\x1c\x12\x1a/viam/api/v1/status/stream0\x01\x12g\n\x07StopAll\x12\x1d.viam.robot.v1.StopAllRequest\x1a\x1e.viam.robot.v1.StopAllResponse"\x1d\x82\xd3\xe4\x93\x02\x17\x12\x15/viam/api/v1/stop_all\x12v\n\x0cStartSession\x12".viam.robot.v1.StartSessionRequest\x1a#.viam.robot.v1.StartSessionResponse"\x1d\x82\xd3\xe4\x93\x02\x17"\x15/viam/api/v1/sessions\x12\x9d\x01\n\x14SendSessionHeartbeat\x12*.viam.robot.v1.SendSessionHeartbeatRequest\x1a+.viam.robot.v1.SendSessionHeartbeatResponse",\x82\xd3\xe4\x93\x02&"$/viam/api/v1/sessions/{id}/heartbeat\x12V\n\x03Log\x12\x19.viam.robot.v1.LogRequest\x1a\x1a.viam.robot.v1.LogResponse"\x18\x82\xd3\xe4\x93\x02\x12"\x10/viam/api/v1/log\x12\x88\x01\n\x10GetCloudMetadata\x12&.viam.robot.v1.GetCloudMetadataRequest\x1a\'.viam.robot.v1.GetCloudMetadataResponse"#\x82\xd3\xe4\x93\x02\x1d\x12\x1b/viam/api/v1/cloud_metadata\x12\x7f\n\rRestartModule\x12#.viam.robot.v1.RestartModuleRequest\x1a$.viam.robot.v1.RestartModuleResponse"#\x82\xd3\xe4\x93\x02\x1d"\x1b/viam/api/v1/restart_module\x12j\n\x08Shutdown\x12\x1e.viam.robot.v1.ShutdownRequest\x1a\x1f.viam.robot.v1.ShutdownResponse"\x1d\x82\xd3\xe4\x93\x02\x17"\x15/viam/api/v1/shutdown\x12\x88\x01\n\x10GetMachineStatus\x12&.viam.robot.v1.GetMachineStatusRequest\x1a\'.viam.robot.v1.GetMachineStatusResponse"#\x82\xd3\xe4\x93\x02\x1d\x12\x1b/viam/api/v1/machine_statusB-\n\x11com.viam.robot.v1Z\x18go.viam.com/api/robot/v1b\x06proto3')
 _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
 _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'robot.v1.robot_pb2', globals())
 if _descriptor._USE_C_DESCRIPTORS == False:
@@ -55,8 +55,10 @@
     _ROBOTSERVICE.methods_by_name['RestartModule']._serialized_options = b'\x82\xd3\xe4\x93\x02\x1d"\x1b/viam/api/v1/restart_module'
     _ROBOTSERVICE.methods_by_name['Shutdown']._options = None
     _ROBOTSERVICE.methods_by_name['Shutdown']._serialized_options = b'\x82\xd3\xe4\x93\x02\x17"\x15/viam/api/v1/shutdown'
-    _PEERCONNECTIONTYPE._serialized_start = 4113
-    _PEERCONNECTIONTYPE._serialized_end = 4235
+    _ROBOTSERVICE.methods_by_name['GetMachineStatus']._options = None
+    _ROBOTSERVICE.methods_by_name['GetMachineStatus']._serialized_options = b'\x82\xd3\xe4\x93\x02\x1d\x12\x1b/viam/api/v1/machine_status'
+    _PEERCONNECTIONTYPE._serialized_start = 4536
+    _PEERCONNECTIONTYPE._serialized_end = 4658
     _FRAMESYSTEMCONFIG._serialized_start = 188
     _FRAMESYSTEMCONFIG._serialized_end = 313
     _FRAMESYSTEMCONFIGREQUEST._serialized_start = 315
@@ -151,5 +153,13 @@
     _SHUTDOWNREQUEST._serialized_end = 4091
     _SHUTDOWNRESPONSE._serialized_start = 4093
     _SHUTDOWNRESPONSE._serialized_end = 4111
-    _ROBOTSERVICE._serialized_start = 4238
-    _ROBOTSERVICE._serialized_end = 6749
\ No newline at end of file
+    _GETMACHINESTATUSREQUEST._serialized_start = 4113
+    _GETMACHINESTATUSREQUEST._serialized_end = 4138
+    _GETMACHINESTATUSRESPONSE._serialized_start = 4140
+    _GETMACHINESTATUSRESPONSE._serialized_end = 4227
+    _RESOURCESTATUS._serialized_start = 4230
+    _RESOURCESTATUS._serialized_end = 4534
+    _RESOURCESTATUS_STATE._serialized_start = 4420
+    _RESOURCESTATUS_STATE._serialized_end = 4534
+    _ROBOTSERVICE._serialized_start = 4661
+    _ROBOTSERVICE._serialized_end = 7311
\ No newline at end of file
diff --git a/src/viam/gen/robot/v1/robot_pb2.pyi b/src/viam/gen/robot/v1/robot_pb2.pyi
index 7cc58a266..df3d8e994 100644
--- a/src/viam/gen/robot/v1/robot_pb2.pyi
+++ b/src/viam/gen/robot/v1/robot_pb2.pyi
@@ -798,4 +798,83 @@ class ShutdownResponse(google.protobuf.message.Message):
 
     def __init__(self) -> None:
         ...
-global___ShutdownResponse = ShutdownResponse
\ No newline at end of file
+global___ShutdownResponse = ShutdownResponse
+
+@typing.final
+class GetMachineStatusRequest(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    def __init__(self) -> None:
+        ...
+global___GetMachineStatusRequest = GetMachineStatusRequest
+
+@typing.final
+class GetMachineStatusResponse(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    RESOURCES_FIELD_NUMBER: builtins.int
+
+    @property
+    def resources(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___ResourceStatus]:
+        ...
+
+    def __init__(self, *, resources: collections.abc.Iterable[global___ResourceStatus] | None=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['resources', b'resources']) -> None:
+        ...
+global___GetMachineStatusResponse = GetMachineStatusResponse
+
+@typing.final
+class ResourceStatus(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    class _State:
+        ValueType = typing.NewType('ValueType', builtins.int)
+        V: typing_extensions.TypeAlias = ValueType
+
+    class _StateEnumTypeWrapper(google.protobuf.internal.enum_type_wrapper._EnumTypeWrapper[ResourceStatus._State.ValueType], builtins.type):
+        DESCRIPTOR: google.protobuf.descriptor.EnumDescriptor
+        STATE_UNSPECIFIED: ResourceStatus._State.ValueType
+        STATE_UNCONFIGURED: ResourceStatus._State.ValueType
+        'a newly created resource.'
+        STATE_CONFIGURING: ResourceStatus._State.ValueType
+        'a resource that is being configured.'
+        STATE_READY: ResourceStatus._State.ValueType
+        'a resource that has been successfully configured once and is not being\n        re-configured or removed.\n        '
+        STATE_REMOVING: ResourceStatus._State.ValueType
+        'a resource that is being removed from the robot.'
+
+    class State(_State, metaclass=_StateEnumTypeWrapper):
+        ...
+    STATE_UNSPECIFIED: ResourceStatus.State.ValueType
+    STATE_UNCONFIGURED: ResourceStatus.State.ValueType
+    'a newly created resource.'
+    STATE_CONFIGURING: ResourceStatus.State.ValueType
+    'a resource that is being configured.'
+    STATE_READY: ResourceStatus.State.ValueType
+    'a resource that has been successfully configured once and is not being\n    re-configured or removed.\n    '
+    STATE_REMOVING: ResourceStatus.State.ValueType
+    'a resource that is being removed from the robot.'
+    NAME_FIELD_NUMBER: builtins.int
+    STATE_FIELD_NUMBER: builtins.int
+    LAST_UPDATED_FIELD_NUMBER: builtins.int
+    state: global___ResourceStatus.State.ValueType
+    'current state.'
+
+    @property
+    def name(self) -> common.v1.common_pb2.ResourceName:
+        """resource name."""
+
+    @property
+    def last_updated(self) -> google.protobuf.timestamp_pb2.Timestamp:
+        """state transition timestamp."""
+
+    def __init__(self, *, name: common.v1.common_pb2.ResourceName | None=..., state: global___ResourceStatus.State.ValueType=..., last_updated: google.protobuf.timestamp_pb2.Timestamp | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['last_updated', b'last_updated', 'name', b'name']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['last_updated', b'last_updated', 'name', b'name', 'state', b'state']) -> None:
+        ...
+global___ResourceStatus = ResourceStatus
\ No newline at end of file
diff --git a/src/viam/proto/app/__init__.py b/src/viam/proto/app/__init__.py
index 67d5012b8..c6f7227e1 100644
--- a/src/viam/proto/app/__init__.py
+++ b/src/viam/proto/app/__init__.py
@@ -60,7 +60,10 @@
     DeleteRobotRequest,
     DeleteRobotResponse,
     Fragment,
+    FragmentHistoryEntry,
     FragmentVisibility,
+    GetFragmentHistoryRequest,
+    GetFragmentHistoryResponse,
     GetFragmentRequest,
     GetFragmentResponse,
     GetLocationRequest,
@@ -244,7 +247,10 @@
     "DeleteRobotRequest",
     "DeleteRobotResponse",
     "Fragment",
+    "FragmentHistoryEntry",
     "FragmentVisibility",
+    "GetFragmentHistoryRequest",
+    "GetFragmentHistoryResponse",
     "GetFragmentRequest",
     "GetFragmentResponse",
     "GetLocationRequest",
diff --git a/src/viam/proto/app/robot.py b/src/viam/proto/app/robot.py
index cbe4edf60..03bcd1010 100644
--- a/src/viam/proto/app/robot.py
+++ b/src/viam/proto/app/robot.py
@@ -20,6 +20,7 @@
     JWKSFile,
     LocationSecret,
     LogConfiguration,
+    LogPatternConfig,
     LogRequest,
     LogResponse,
     ModuleConfig,
@@ -58,6 +59,7 @@
     "JWKSFile",
     "LocationSecret",
     "LogConfiguration",
+    "LogPatternConfig",
     "LogRequest",
     "LogResponse",
     "ModuleConfig",
diff --git a/src/viam/proto/robot/__init__.py b/src/viam/proto/robot/__init__.py
index a327cb8bf..270f44a3e 100644
--- a/src/viam/proto/robot/__init__.py
+++ b/src/viam/proto/robot/__init__.py
@@ -17,6 +17,8 @@
     FrameSystemConfigResponse,
     GetCloudMetadataRequest,
     GetCloudMetadataResponse,
+    GetMachineStatusRequest,
+    GetMachineStatusResponse,
     GetOperationsRequest,
     GetOperationsResponse,
     GetSessionsRequest,
@@ -33,6 +35,7 @@
     ResourceRPCSubtype,
     ResourceRPCSubtypesRequest,
     ResourceRPCSubtypesResponse,
+    ResourceStatus,
     RestartModuleRequest,
     RestartModuleResponse,
     SendSessionHeartbeatRequest,
@@ -71,6 +74,8 @@
     "FrameSystemConfigResponse",
     "GetCloudMetadataRequest",
     "GetCloudMetadataResponse",
+    "GetMachineStatusRequest",
+    "GetMachineStatusResponse",
     "GetOperationsRequest",
     "GetOperationsResponse",
     "GetSessionsRequest",
@@ -87,6 +92,7 @@
     "ResourceRPCSubtype",
     "ResourceRPCSubtypesRequest",
     "ResourceRPCSubtypesResponse",
+    "ResourceStatus",
     "RestartModuleRequest",
     "RestartModuleResponse",
     "SendSessionHeartbeatRequest",
diff --git a/src/viam/services/motion/__init__.py b/src/viam/services/motion/__init__.py
index 1412d0b3d..bbc1ef938 100644
--- a/src/viam/services/motion/__init__.py
+++ b/src/viam/services/motion/__init__.py
@@ -1,8 +1,17 @@
-from viam.proto.service.motion import MotionConfiguration
+from viam.proto.service.motion import Constraints, MotionConfiguration
+from viam.resource.registry import Registry, ResourceRegistration
 
 from .client import MotionClient
+from .motion import Motion
+from .service import MotionRPCService
 
-__all__ = [
-    "MotionClient",
-    "MotionConfiguration",
-]
+__all__ = ["MotionClient", "MotionConfiguration", "Constraints"]
+
+
+Registry.register_subtype(
+    ResourceRegistration(
+        Motion,
+        MotionRPCService,
+        lambda name, channel: MotionClient(name, channel),
+    )
+)
diff --git a/src/viam/services/motion/client.py b/src/viam/services/motion/client.py
index 558ed012f..907aa0973 100644
--- a/src/viam/services/motion/client.py
+++ b/src/viam/services/motion/client.py
@@ -1,4 +1,4 @@
-from typing import Any, Final, Iterable, List, Mapping, Optional, Sequence
+from typing import Any, Mapping, Optional, Sequence
 
 from grpclib.client import Channel
 
@@ -30,32 +30,27 @@
     MoveOnMapResponse,
     MoveRequest,
     MoveResponse,
+    PlanStatusWithID,
     StopPlanRequest,
     StopPlanResponse,
 )
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
-from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_SERVICE, Subtype
-from viam.services.service_client_base import ServiceClientBase
 from viam.utils import ValueTypes, dict_to_struct, struct_to_dict
 
+from .motion import Motion
 
-class MotionClient(ServiceClientBase, ReconfigurableResourceRPCClientBase):
-    """Motion is a Viam service that coordinates motion planning across all of the components in a given robot.
 
-    The motion planning service calculates a valid path that avoids self collision by default. If additional constraints are supplied in the
-    ``world_state`` message, the motion planning service will also account for those.
-
-    For more information, see `Motion service <https://docs.viam.com/services/motion/>`_.
+class MotionClient(Motion, ReconfigurableResourceRPCClientBase):
+    """
+    gRPC client for the Motion service.
     """
 
-    SUBTYPE: Final = Subtype(  # pyright: ignore [reportIncompatibleVariableOverride]
-        RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_SERVICE, "motion"
-    )
     client: MotionServiceStub
 
     def __init__(self, name: str, channel: Channel):
-        super().__init__(name, channel)
+        self.channel = channel
         self.client = MotionServiceStub(channel)
+        super().__init__(name)
 
     async def move(
         self,
@@ -67,47 +62,6 @@ async def move(
         extra: Optional[Mapping[str, Any]] = None,
         timeout: Optional[float] = None,
     ) -> bool:
-        """Plan and execute a movement to move the component specified to its goal destination.
-
-        Note: Frames designated with respect to components can also be used as the ``component_name`` when calling for a move. This
-        technique allows for planning and moving the frame itself to the ``destination``. To do so, simply create a resource name with
-        originating ReferenceFrame's name. Then pass in the resource name into ``component_name``. Ex::
-
-            resource_name = Arm.get_resource_name("externalFrame")
-            success = await MotionServiceClient.move(resource_name, ...)
-
-        ::
-
-            motion = MotionClient.from_robot(robot=robot, name="builtin")
-
-            # Assumes a gripper configured with name "my_gripper" on the machine
-            gripper_name = Gripper.get_resource_name("my_gripper")
-            my_frame = "my_gripper_offset"
-
-            goal_pose = Pose(x=0, y=0, z=300, o_x=0, o_y=0, o_z=1, theta=0)
-
-            # Move the gripper
-            moved = await motion.move(component_name=gripper_name,
-                                  destination=PoseInFrame(reference_frame="myFrame",
-                                                          pose=goal_pose),
-                                  world_state=worldState,
-                                  constraints={},
-                                  extra={})
-
-        Args:
-            component_name (viam.proto.common.ResourceName): Name of a component on a given robot.
-            destination (viam.proto.common.PoseInFrame): The destination to move to, expressed as a ``Pose`` and the frame in which it was
-                observed.
-            world_state (viam.proto.common.WorldState): When supplied, the motion service will create a plan that obeys any constraints
-                expressed in the WorldState message.
-            constraints (viam.proto.service.motion.Constraints): When supplied, the motion service will create a plan that obeys any
-                specified constraints.
-
-        Returns:
-            bool: Whether the move was successful.
-
-        For more information, see `Motion service <https://docs.viam.com/services/motion/>`_.
-        """
         if extra is None:
             extra = {}
         request = MoveRequest(
@@ -134,65 +88,6 @@ async def move_on_globe(
         extra: Optional[Mapping[str, ValueTypes]] = None,
         timeout: Optional[float] = None,
     ) -> str:
-        """Move a component to a specific latitude and longitude, using a ``MovementSensor`` to check the location.
-
-        ``move_on_globe()`` is non blocking, meaning the motion service will move the component to the destination
-        GPS point after ``move_on_globe()`` returns.
-
-        Each successful ``move_on_globe()`` call returns a unique ExecutionID which you can use to identify all plans
-        generated during the ``move_on_globe()`` call.
-
-        You can monitor the progress of the ``move_on_globe()`` call by querying ``get_plan()`` and ``list_plan_statuses()``.
-
-        ::
-
-            motion = MotionClient.from_robot(robot=robot, name="builtin")
-
-            # Get the ResourceNames of the base and movement sensor
-            my_base_resource_name = Base.get_resource_name("my_base")
-            mvmnt_sensor_resource_name = MovementSensor.get_resource_name(
-                "my_movement_sensor")
-            #  Define a destination GeoPoint at the GPS coordinates [0, 0]
-            my_destination = movement_sensor.GeoPoint(latitude=0, longitude=0)
-
-            # Move the base component to the designated geographic location, as reported by the movement sensor
-            execution_id = await motion.move_on_globe(
-                component_name=my_base_resource_name,
-                destination=my_destination,
-                movement_sensor_name=mvmnt_sensor_resource_name)
-
-        Args:
-            component_name (ResourceName): The ResourceName of the base to move.
-            destination (GeoPoint): The location of the component’s destination, represented in geographic notation as a
-                GeoPoint (lat, lng).
-            movement_sensor_name (ResourceName): The ResourceName of the movement sensor that you want to use to check
-                the machine’s location.
-            obstacles (Optional[Sequence[GeoGeometry]]): Obstacles to consider when planning the motion of the component,
-                with each represented as a GeoGeometry. Default: None
-            heading (Optional[float]): The compass heading, in degrees, that the machine’s movement sensor should report
-                at the destination point. Range: [0-360) 0: North, 90: East, 180: South, 270: West. Default: None
-            configuration (Optional[MotionConfiguration]): The configuration you want to set across this machine for this
-                motion service. This parameter and each of its fields are optional.
-
-                - obstacle_detectors (Iterable[ObstacleDetector]): The names of each vision service and camera resource pair
-                you want to use for transient obstacle avoidance.
-
-                - position_polling_frequency_hz (float): The frequency in Hz to poll the position of the machine.
-                - obstacle_polling_frequency_hz (float): The frequency in Hz to poll the vision service for new obstacles.
-                - plan_deviation_m (float): The distance in meters that the machine can deviate from the motion plan.
-                - linear_m_per_sec (float): Linear velocity this machine should target when moving.
-                - angular_degs_per_sec (float): Angular velocity this machine should target when turning.
-            bounding_regions (Optional[Sequence[GeoGeometry]]): Set of obstacles which the robot must remain within while navigating
-            extra (Optional[Dict[str, Any]]): Extra options to pass to the underlying RPC call.
-            timeout (Optional[float]): An option to set how long to wait (in seconds) before calling a time-out and closing
-                the underlying RPC call.
-
-
-        Returns:
-            str: ExecutionID of the ``move_on_globe()`` call, which can be used to track execution progress.
-
-        For more information, see `Motion service <https://docs.viam.com/services/motion/>`_.
-        """
         if extra is None:
             extra = {}
         request = MoveOnGlobeRequest(
@@ -215,64 +110,11 @@ async def move_on_map(
         destination: Pose,
         slam_service_name: ResourceName,
         configuration: Optional[MotionConfiguration] = None,
-        obstacles: Optional[Iterable[Geometry]] = None,
+        obstacles: Optional[Sequence[Geometry]] = None,
         *,
         extra: Optional[Mapping[str, ValueTypes]] = None,
         timeout: Optional[float] = None,
     ) -> str:
-        """
-        Move a component to a specific pose, using a ``SlamService`` for the SLAM map, using a ``SLAM Service`` to check the location.
-
-        ``move_on_map()`` is non blocking, meaning the motion service will move the component to the destination
-        Pose point after ``move_on_map()`` returns.
-
-        Each successful ``move_on_map()`` call returns a unique ExecutionID which you can use to identify all plans
-        generated during the ``move_on_map()`` call.
-
-        You can monitor the progress of the ``move_on_map()`` call by querying ``get_plan()`` and ``list_plan_statuses()``.
-
-        ::
-
-            motion = MotionClient.from_robot(robot=robot, name="builtin")
-
-            # Get the ResourceNames of the base component and SLAM service
-            my_base_resource_name = Base.get_resource_name("my_base")
-            my_slam_service_name = SLAMClient.get_resource_name("my_slam_service")
-
-            # Define a destination pose with respect to the origin of the map from the SLAM service "my_slam_service"
-            my_pose = Pose(y=10)
-
-            # Move the base component to the destination pose of Y=10, a location of
-            # (0, 10, 0) in respect to the origin of the map
-            execution_id = await motion.move_on_map(component_name=my_base_resource_name,
-                                                    destination=my_pose,
-                                                    slam_service_name=my_slam_service_name)
-
-        Args:
-            component_name (ResourceName): The ResourceName of the base to move.
-            destination (Pose): The destination, which can be any Pose with respect to the SLAM map’s origin.
-            slam_service_name (ResourceName): The ResourceName of the SLAM service from which the SLAM map is requested.
-            configuration (Optional[MotionConfiguration]): The configuration you want to set across this machine for this motion service.
-                This parameter and each of its fields are optional.
-
-                - obstacle_detectors (Iterable[ObstacleDetector]): The names of each vision service and camera resource pair you want to use
-                for transient obstacle avoidance.
-
-                - position_polling_frequency_hz (float): The frequency in hz to poll the position of the machine.
-                - obstacle_polling_frequency_hz (float): The frequency in hz to poll the vision service for new obstacles.
-                - plan_deviation_m (float): The distance in meters that the machine can deviate from the motion plan.
-                - linear_m_per_sec (float): Linear velocity this machine should target when moving.
-                - angular_degs_per_sec (float): Angular velocity this machine should target when turning.
-            obstacles (Optional[Iterable[Geometry]]): Obstacles to be considered for motion planning.
-            extra (Optional[Dict[str, Any]]): Extra options to pass to the underlying RPC call.
-            timeout (Optional[float]): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying
-                RPC call.
-
-        Returns:
-            str: ExecutionID of the ``move_on_map()`` call, which can be used to track execution progress.
-
-        For more information, see `Motion service <https://docs.viam.com/services/motion/>`_.
-        """
         if extra is None:
             extra = {}
         request = MoveOnMapRequest(
@@ -294,21 +136,6 @@ async def stop_plan(
         extra: Optional[Mapping[str, ValueTypes]] = None,
         timeout: Optional[float] = None,
     ):
-        """Stop a component being moved by an in progress ``move_on_globe()`` or ``move_on_map()`` call.
-
-        ::
-
-            # Assuming a `move_on_globe()` started the execution
-            # Stop the base component which was instructed to move by `move_on_globe()`
-            # or `move_on_map()`
-            my_base_resource_name = Base.get_resource_name("my_base")
-            await motion.stop_plan(component_name=mvmnt_sensor)
-
-        Args:
-            component_name (ResourceName): The component to stop
-
-        For more information, see `Motion service <https://docs.viam.com/services/motion/>`_.
-        """
         if extra is None:
             extra = {}
 
@@ -329,40 +156,6 @@ async def get_plan(
         extra: Optional[Mapping[str, ValueTypes]] = None,
         timeout: Optional[float] = None,
     ) -> GetPlanResponse:
-        """By default: returns the plan history of the most recent ``move_on_globe()`` or ``move_on_map()`` call to move a component.
-
-        The plan history for executions before the most recent can be requested by providing an ExecutionID in the request.
-
-        Returns a result if both of the following conditions are met:
-
-        - the execution (call to ``move_on_globe()`` or ``move_on_map()``) is still executing **or** changed state within the last 24 hours
-        - the robot has not reinitialized
-
-        Plans never change.
-
-        Replans always create new plans.
-
-        Replans share the ExecutionID of the previously executing plan.
-
-        All repeated fields are in time ascending order.
-
-        ::
-
-            motion = MotionClient.from_robot(robot=robot, name="builtin")
-            my_base_resource_name = Base.get_resource_name("my_base")
-            # Get the plan(s) of the base component which was instructed to move by `MoveOnGlobe()` or `MoveOnMap()`
-            resp = await motion.get_plan(component_name=my_base_resource_name)
-
-        Args:
-            component_name (ResourceName): The component to stop
-            last_plan_only (Optional[bool]): If supplied, the response will only return the last plan for the component / execution.
-            execution_id (Optional[str]): If supplied, the response will only return plans with the provided execution_id.
-
-        Returns:
-            ``GetPlanResponse`` (GetPlanResponse): The current PlanWithStatus & replan history which matches the request
-
-        For more information, see `Motion service <https://docs.viam.com/services/motion/>`_.
-        """
         if extra is None:
             extra = {}
 
@@ -382,30 +175,7 @@ async def list_plan_statuses(
         *,
         extra: Optional[Mapping[str, ValueTypes]] = None,
         timeout: Optional[float] = None,
-    ) -> ListPlanStatusesResponse:
-        """Returns the statuses of plans created by `move_on_globe()` or ``move_on_map()`` calls that meet at least one of the following
-        conditions since the motion service initialized:
-
-        - the plan's status is in progress
-        - the plan's status changed state within the last 24 hours
-
-        All repeated fields are in chronological order.
-
-        ::
-
-            motion = MotionClient.from_robot(robot=robot, name="builtin")
-            # List the plan statuses of the motion service within the TTL
-            resp = await motion.list_plan_statuses()
-
-        Args:
-            only_active_plans (Optional[bool]):  If supplied, the response will filter out any plans that are not executing.
-
-        Returns:
-            ``ListPlanStatusesResponse`` (ListPlanStatusesResponse): List of last known statuses with the
-            associated IDs of all plans within the TTL ordered by timestamp in ascending order.
-
-        For more information, see `Motion service <https://docs.viam.com/services/motion/>`_.
-        """
+    ) -> Sequence[PlanStatusWithID]:
         if extra is None:
             extra = {}
 
@@ -415,50 +185,17 @@ async def list_plan_statuses(
             extra=dict_to_struct(extra),
         )
         response: ListPlanStatusesResponse = await self.client.ListPlanStatuses(request, timeout=timeout)
-        return response
+        return response.plan_statuses_with_ids
 
     async def get_pose(
         self,
         component_name: ResourceName,
         destination_frame: str,
-        supplemental_transforms: Optional[List[Transform]] = None,
+        supplemental_transforms: Optional[Sequence[Transform]] = None,
         *,
         extra: Optional[Mapping[str, Any]] = None,
         timeout: Optional[float] = None,
     ) -> PoseInFrame:
-        """
-        Get the Pose and observer frame for any given component on a robot.
-
-        ::
-
-            # Note that the example uses the ``Arm`` class, but any component class that inherits from ``ComponentBase`` will work
-            # (``Base``, ``Gripper``, etc).
-
-            # Create a `component_name`:
-            component_name = Arm.get_resource_name("arm")
-
-            from viam.components.gripper import Gripper
-            from viam.services.motion import MotionClient
-
-            # Assume that the connect function is written and will return a valid machine.
-            robot = await connect()
-
-            motion = MotionClient.from_robot(robot=robot, name="builtin")
-            gripperName = Gripper.get_resource_name("my_gripper")
-            gripperPoseInWorld = await motion.get_pose(component_name=gripperName,
-                                                    destination_frame="world")
-
-        Args:
-            component_name (viam.proto.common.ResourceName): Name of a component on a robot.
-            destination_frame (str): Name of the desired reference frame.
-            supplemental_transforms (Optional[List[viam.proto.common.Transform]]): Transforms used to augment the robot's frame while
-                calculating pose.
-
-        Returns:
-            ``Pose`` (PoseInFrame): Pose of the given component and the frame in which it was observed.
-
-        For more information, see `Motion service <https://docs.viam.com/services/motion/>`_.
-        """
         if extra is None:
             extra = {}
         request = GetPoseRequest(
@@ -472,28 +209,6 @@ async def get_pose(
         return response.pose
 
     async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **__) -> Mapping[str, ValueTypes]:
-        """Send/receive arbitrary commands
-
-        ::
-
-            # Access the motion service
-            motion = MotionClient.from_robot(robot=robot, name="builtin")
-
-            my_command = {
-              "command": "dosomething",
-              "someparameter": 52
-            }
-
-            await motion.do_command(my_command)
-
-        Args:
-            command (Dict[str, ValueTypes]): The command to execute.
-
-        Returns:
-            Dict[str, ValueTypes]: Result of the executed command.
-
-        For more information, see `Motion service <https://docs.viam.com/services/motion/>`_.
-        """
         request = DoCommandRequest(name=self.name, command=dict_to_struct(command))
         response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout)
         return struct_to_dict(response.result)
diff --git a/src/viam/services/motion/motion.py b/src/viam/services/motion/motion.py
new file mode 100644
index 000000000..9b4cdfd4d
--- /dev/null
+++ b/src/viam/services/motion/motion.py
@@ -0,0 +1,376 @@
+import abc
+import sys
+from typing import Any, Final, Mapping, Optional, Sequence
+
+if sys.version_info >= (3, 10):
+    from typing import TypeAlias
+else:
+    from typing_extensions import TypeAlias
+
+from viam.proto.common import GeoGeometry, Geometry, GeoPoint, Pose, PoseInFrame, ResourceName, Transform, WorldState
+from viam.proto.service.motion import Constraints, GetPlanResponse, MotionConfiguration, PlanStatusWithID
+from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_SERVICE, Subtype
+from viam.utils import ValueTypes
+
+from ..service_base import ServiceBase
+
+
+class Motion(ServiceBase):
+    """Motion is a Viam service that coordinates motion planning across all of the components in a given robot.
+
+    The motion planning service calculates a valid path that avoids self collision by default. If additional constraints are supplied in the
+    ``world_state`` message, the motion planning service will also account for those.
+
+    For more information, see `Motion service <https://docs.viam.com/services/motion/>`_.
+    """
+
+    Plan: "TypeAlias" = GetPlanResponse
+
+    SUBTYPE: Final = Subtype(  # pyright: ignore [reportIncompatibleVariableOverride]
+        RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_SERVICE, "motion"
+    )
+
+    @abc.abstractmethod
+    async def move(
+        self,
+        component_name: ResourceName,
+        destination: PoseInFrame,
+        world_state: Optional[WorldState] = None,
+        constraints: Optional[Constraints] = None,
+        *,
+        extra: Optional[Mapping[str, Any]] = None,
+        timeout: Optional[float] = None,
+    ) -> bool:
+        """Plan and execute a movement to move the component specified to its goal destination.
+
+        Note: Frames designated with respect to components can also be used as the ``component_name`` when calling for a move. This
+        technique allows for planning and moving the frame itself to the ``destination``. To do so, simply create a resource name with
+        originating ReferenceFrame's name. Then pass in the resource name into ``component_name``. Ex::
+
+            resource_name = Arm.get_resource_name("externalFrame")
+            success = await MotionServiceClient.move(resource_name, ...)
+
+        ::
+
+            motion = MotionClient.from_robot(robot=robot, name="builtin")
+
+            # Assumes a gripper configured with name "my_gripper" on the machine
+            gripper_name = Gripper.get_resource_name("my_gripper")
+            my_frame = "my_gripper_offset"
+
+            goal_pose = Pose(x=0, y=0, z=300, o_x=0, o_y=0, o_z=1, theta=0)
+
+            # Move the gripper
+            moved = await motion.move(component_name=gripper_name,
+                                  destination=PoseInFrame(reference_frame="myFrame",
+                                                          pose=goal_pose),
+                                  world_state=worldState,
+                                  constraints={},
+                                  extra={})
+
+        Args:
+            component_name (viam.proto.common.ResourceName): Name of a component on a given robot.
+            destination (viam.proto.common.PoseInFrame): The destination to move to, expressed as a ``Pose`` and the frame in which it was
+                observed.
+            world_state (viam.proto.common.WorldState): When supplied, the motion service will create a plan that obeys any constraints
+                expressed in the WorldState message.
+            constraints (viam.proto.service.motion.Constraints): When supplied, the motion service will create a plan that obeys any
+                specified constraints.
+
+        Returns:
+            bool: Whether the move was successful.
+
+        For more information, see `Motion service <https://docs.viam.com/services/motion/>`_.
+        """
+        ...
+
+    @abc.abstractmethod
+    async def move_on_globe(
+        self,
+        component_name: ResourceName,
+        destination: GeoPoint,
+        movement_sensor_name: ResourceName,
+        obstacles: Optional[Sequence[GeoGeometry]] = None,
+        heading: Optional[float] = None,
+        configuration: Optional[MotionConfiguration] = None,
+        *,
+        bounding_regions: Optional[Sequence[GeoGeometry]] = None,
+        extra: Optional[Mapping[str, ValueTypes]] = None,
+        timeout: Optional[float] = None,
+    ) -> str:
+        """Move a component to a specific latitude and longitude, using a ``MovementSensor`` to check the location.
+
+        ``move_on_globe()`` is non blocking, meaning the motion service will move the component to the destination
+        GPS point after ``move_on_globe()`` returns.
+
+        Each successful ``move_on_globe()`` call returns a unique ExecutionID which you can use to identify all plans
+        generated during the ``move_on_globe()`` call.
+
+        You can monitor the progress of the ``move_on_globe()`` call by querying ``get_plan()`` and ``list_plan_statuses()``.
+
+        ::
+
+            motion = MotionClient.from_robot(robot=robot, name="builtin")
+
+            # Get the ResourceNames of the base and movement sensor
+            my_base_resource_name = Base.get_resource_name("my_base")
+            mvmnt_sensor_resource_name = MovementSensor.get_resource_name(
+                "my_movement_sensor")
+            #  Define a destination GeoPoint at the GPS coordinates [0, 0]
+            my_destination = movement_sensor.GeoPoint(latitude=0, longitude=0)
+
+            # Move the base component to the designated geographic location, as reported by the movement sensor
+            execution_id = await motion.move_on_globe(
+                component_name=my_base_resource_name,
+                destination=my_destination,
+                movement_sensor_name=mvmnt_sensor_resource_name)
+
+        Args:
+            component_name (ResourceName): The ResourceName of the base to move.
+            destination (GeoPoint): The location of the component's destination, represented in geographic notation as a
+                GeoPoint (lat, lng).
+            movement_sensor_name (ResourceName): The ResourceName of the movement sensor that you want to use to check
+                the machine's location.
+            obstacles (Optional[Sequence[GeoGeometry]]): Obstacles to consider when planning the motion of the component,
+                with each represented as a GeoGeometry. Default: None
+            heading (Optional[float]): The compass heading, in degrees, that the machine's movement sensor should report
+                at the destination point. Range: [0-360) 0: North, 90: East, 180: South, 270: West. Default: None
+            configuration (Optional[MotionConfiguration]): The configuration you want to set across this machine for this
+                motion service. This parameter and each of its fields are optional.
+
+                - obstacle_detectors (Sequence[ObstacleDetector]): The names of each vision service and camera resource pair
+                you want to use for transient obstacle avoidance.
+
+                - position_polling_frequency_hz (float): The frequency in Hz to poll the position of the machine.
+                - obstacle_polling_frequency_hz (float): The frequency in Hz to poll the vision service for new obstacles.
+                - plan_deviation_m (float): The distance in meters that the machine can deviate from the motion plan.
+                - linear_m_per_sec (float): Linear velocity this machine should target when moving.
+                - angular_degs_per_sec (float): Angular velocity this machine should target when turning.
+            bounding_regions (Optional[Sequence[GeoGeometry]]): Set of obstacles which the robot must remain within while navigating
+            extra (Optional[Dict[str, Any]]): Extra options to pass to the underlying RPC call.
+            timeout (Optional[float]): An option to set how long to wait (in seconds) before calling a time-out and closing
+                the underlying RPC call.
+
+
+        Returns:
+            str: ExecutionID of the ``move_on_globe()`` call, which can be used to track execution progress.
+
+        For more information, see `Motion service <https://docs.viam.com/services/motion/>`_.
+        """
+        ...
+
+    @abc.abstractmethod
+    async def move_on_map(
+        self,
+        component_name: ResourceName,
+        destination: Pose,
+        slam_service_name: ResourceName,
+        configuration: Optional[MotionConfiguration] = None,
+        obstacles: Optional[Sequence[Geometry]] = None,
+        *,
+        extra: Optional[Mapping[str, ValueTypes]] = None,
+        timeout: Optional[float] = None,
+    ) -> str:
+        """
+        Move a component to a specific pose, using a ``SlamService`` for the SLAM map, using a ``SLAM Service`` to check the location.
+
+        ``move_on_map()`` is non blocking, meaning the motion service will move the component to the destination
+        Pose point after ``move_on_map()`` returns.
+
+        Each successful ``move_on_map()`` call returns a unique ExecutionID which you can use to identify all plans
+        generated during the ``move_on_map()`` call.
+
+        You can monitor the progress of the ``move_on_map()`` call by querying ``get_plan()`` and ``list_plan_statuses()``.
+
+        ::
+
+            motion = MotionClient.from_robot(robot=robot, name="builtin")
+
+            # Get the ResourceNames of the base component and SLAM service
+            my_base_resource_name = Base.get_resource_name("my_base")
+            my_slam_service_name = SLAMClient.get_resource_name("my_slam_service")
+
+            # Define a destination pose with respect to the origin of the map from the SLAM service "my_slam_service"
+            my_pose = Pose(y=10)
+
+            # Move the base component to the destination pose of Y=10, a location of
+            # (0, 10, 0) in respect to the origin of the map
+            execution_id = await motion.move_on_map(component_name=my_base_resource_name,
+                                                    destination=my_pose,
+                                                    slam_service_name=my_slam_service_name)
+
+        Args:
+            component_name (ResourceName): The ResourceName of the base to move.
+            destination (Pose): The destination, which can be any Pose with respect to the SLAM map's origin.
+            slam_service_name (ResourceName): The ResourceName of the SLAM service from which the SLAM map is requested.
+            configuration (Optional[MotionConfiguration]): The configuration you want to set across this machine for this motion service.
+                This parameter and each of its fields are optional.
+
+                - obstacle_detectors (Sequence[ObstacleDetector]): The names of each vision service and camera resource pair you want to use
+                for transient obstacle avoidance.
+
+                - position_polling_frequency_hz (float): The frequency in hz to poll the position of the machine.
+                - obstacle_polling_frequency_hz (float): The frequency in hz to poll the vision service for new obstacles.
+                - plan_deviation_m (float): The distance in meters that the machine can deviate from the motion plan.
+                - linear_m_per_sec (float): Linear velocity this machine should target when moving.
+                - angular_degs_per_sec (float): Angular velocity this machine should target when turning.
+            obstacles (Optional[Sequence[Geometry]]): Obstacles to be considered for motion planning.
+            extra (Optional[Dict[str, Any]]): Extra options to pass to the underlying RPC call.
+            timeout (Optional[float]): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying
+                RPC call.
+
+        Returns:
+            str: ExecutionID of the ``move_on_map()`` call, which can be used to track execution progress.
+
+        For more information, see `Motion service <https://docs.viam.com/services/motion/>`_.
+        """
+        ...
+
+    @abc.abstractmethod
+    async def stop_plan(
+        self,
+        component_name: ResourceName,
+        *,
+        extra: Optional[Mapping[str, ValueTypes]] = None,
+        timeout: Optional[float] = None,
+    ):
+        """Stop a component being moved by an in progress ``move_on_globe()`` or ``move_on_map()`` call.
+
+        ::
+
+            # Assuming a `move_on_globe()` started the execution
+            # Stop the base component which was instructed to move by `move_on_globe()`
+            # or `move_on_map()`
+            my_base_resource_name = Base.get_resource_name("my_base")
+            await motion.stop_plan(component_name=mvmnt_sensor)
+
+        Args:
+            component_name (ResourceName): The component to stop
+
+        For more information, see `Motion service <https://docs.viam.com/services/motion/>`_.
+        """
+        ...
+
+    @abc.abstractmethod
+    async def get_plan(
+        self,
+        component_name: ResourceName,
+        last_plan_only: bool = False,
+        execution_id: Optional[str] = None,
+        *,
+        extra: Optional[Mapping[str, ValueTypes]] = None,
+        timeout: Optional[float] = None,
+    ) -> Plan:
+        """By default: returns the plan history of the most recent ``move_on_globe()`` or ``move_on_map()`` call to move a component.
+
+        The plan history for executions before the most recent can be requested by providing an ExecutionID in the request.
+
+        Returns a result if both of the following conditions are met:
+
+        - the execution (call to ``move_on_globe()`` or ``move_on_map()``) is still executing **or** changed state within the last 24 hours
+        - the robot has not reinitialized
+
+        Plans never change.
+
+        Replans always create new plans.
+
+        Replans share the ExecutionID of the previously executing plan.
+
+        All repeated fields are in time ascending order.
+
+        ::
+
+            motion = MotionClient.from_robot(robot=robot, name="builtin")
+            my_base_resource_name = Base.get_resource_name("my_base")
+            # Get the plan(s) of the base component which was instructed to move by `MoveOnGlobe()` or `MoveOnMap()`
+            resp = await motion.get_plan(component_name=my_base_resource_name)
+
+        Args:
+            component_name (ResourceName): The component to stop
+            last_plan_only (Optional[bool]): If supplied, the response will only return the last plan for the component / execution.
+            execution_id (Optional[str]): If supplied, the response will only return plans with the provided execution_id.
+
+        Returns:
+            ``GetPlanResponse`` (GetPlanResponse): The current PlanWithStatus & replan history which matches the request
+
+        For more information, see `Motion service <https://docs.viam.com/services/motion/>`_.
+        """
+        ...
+
+    @abc.abstractmethod
+    async def list_plan_statuses(
+        self,
+        only_active_plans: bool = False,
+        *,
+        extra: Optional[Mapping[str, ValueTypes]] = None,
+        timeout: Optional[float] = None,
+    ) -> Sequence[PlanStatusWithID]:
+        """Returns the statuses of plans created by `move_on_globe()` or ``move_on_map()`` calls that meet at least one of the following
+        conditions since the motion service initialized:
+
+        - the plan's status is in progress
+        - the plan's status changed state within the last 24 hours
+
+        All repeated fields are in chronological order.
+
+        ::
+
+            motion = MotionClient.from_robot(robot=robot, name="builtin")
+            # List the plan statuses of the motion service within the TTL
+            resp = await motion.list_plan_statuses()
+
+        Args:
+            only_active_plans (Optional[bool]):  If supplied, the response will filter out any plans that are not executing.
+
+        Returns:
+            ``ListPlanStatusesResponse`` (ListPlanStatusesResponse): List of last known statuses with the
+            associated IDs of all plans within the TTL ordered by timestamp in ascending order.
+
+        For more information, see `Motion service <https://docs.viam.com/services/motion/>`_.
+        """
+        ...
+
+    @abc.abstractmethod
+    async def get_pose(
+        self,
+        component_name: ResourceName,
+        destination_frame: str,
+        supplemental_transforms: Optional[Sequence[Transform]] = None,
+        *,
+        extra: Optional[Mapping[str, Any]] = None,
+        timeout: Optional[float] = None,
+    ) -> PoseInFrame:
+        """
+        Get the Pose and observer frame for any given component on a robot.
+
+        ::
+
+            # Note that the example uses the ``Arm`` class, but any component class that inherits from ``ComponentBase`` will work
+            # (``Base``, ``Gripper``, etc).
+
+            # Create a `component_name`:
+            component_name = Arm.get_resource_name("arm")
+
+            from viam.components.gripper import Gripper
+            from viam.services.motion import MotionClient
+
+            # Assume that the connect function is written and will return a valid machine.
+            robot = await connect()
+
+            motion = MotionClient.from_robot(robot=robot, name="builtin")
+            gripperName = Gripper.get_resource_name("my_gripper")
+            gripperPoseInWorld = await motion.get_pose(component_name=gripperName,
+                                                    destination_frame="world")
+
+        Args:
+            component_name (viam.proto.common.ResourceName): Name of a component on a robot.
+            destination_frame (str): Name of the desired reference frame.
+            supplemental_transforms (Optional[List[viam.proto.common.Transform]]): Transforms used to augment the robot's frame while
+                calculating pose.
+
+        Returns:
+            ``Pose`` (PoseInFrame): Pose of the given component and the frame in which it was observed.
+
+        For more information, see `Motion service <https://docs.viam.com/services/motion/>`_.
+        """
+        ...
diff --git a/src/viam/services/motion/service.py b/src/viam/services/motion/service.py
new file mode 100644
index 000000000..bcc71d19c
--- /dev/null
+++ b/src/viam/services/motion/service.py
@@ -0,0 +1,132 @@
+from grpclib.server import Stream
+
+from viam.proto.common import DoCommandRequest, DoCommandResponse
+from viam.proto.service.motion import (
+    GetPlanRequest,
+    GetPlanResponse,
+    GetPoseRequest,
+    GetPoseResponse,
+    ListPlanStatusesRequest,
+    ListPlanStatusesResponse,
+    MoveOnGlobeRequest,
+    MoveOnGlobeResponse,
+    MoveOnMapRequest,
+    MoveOnMapResponse,
+    MoveRequest,
+    MoveResponse,
+    StopPlanRequest,
+    StopPlanResponse,
+    UnimplementedMotionServiceBase,
+)
+from viam.resource.rpc_service_base import ResourceRPCServiceBase
+from viam.utils import dict_to_struct, struct_to_dict
+
+from .motion import Motion
+
+
+class MotionRPCService(UnimplementedMotionServiceBase, ResourceRPCServiceBase[Motion]):
+    RESOURCE_TYPE = Motion
+
+    async def Move(self, stream: Stream[MoveRequest, MoveResponse]) -> None:
+        request = await stream.recv_message()
+        assert request is not None
+        service = self.get_resource(request.name)
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        result = await service.move(
+            request.component_name,
+            request.destination,
+            request.world_state,
+            request.constraints,
+            extra=struct_to_dict(request.extra),
+            timeout=timeout,
+        )
+        response = MoveResponse(success=result)
+        await stream.send_message(response)
+
+    async def MoveOnMap(self, stream: Stream[MoveOnMapRequest, MoveOnMapResponse]) -> None:
+        request = await stream.recv_message()
+        assert request is not None
+        service = self.get_resource(request.name)
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        result = await service.move_on_map(
+            request.component_name,
+            request.destination,
+            request.slam_service_name,
+            request.motion_configuration,
+            request.obstacles,
+            extra=struct_to_dict(request.extra),
+            timeout=timeout,
+        )
+        response = MoveOnMapResponse(execution_id=result)
+        await stream.send_message(response)
+
+    async def MoveOnGlobe(self, stream: Stream[MoveOnGlobeRequest, MoveOnGlobeResponse]) -> None:
+        request = await stream.recv_message()
+        assert request is not None
+        service = self.get_resource(request.name)
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        result = await service.move_on_globe(
+            request.component_name,
+            request.destination,
+            request.movement_sensor_name,
+            request.obstacles,
+            request.heading,
+            request.motion_configuration,
+            bounding_regions=request.bounding_regions,
+            extra=struct_to_dict(request.extra),
+            timeout=timeout,
+        )
+        response = MoveOnGlobeResponse(execution_id=result)
+        await stream.send_message(response)
+
+    async def GetPose(self, stream: Stream[GetPoseRequest, GetPoseResponse]) -> None:
+        request = await stream.recv_message()
+        assert request is not None
+        service = self.get_resource(request.name)
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        result = await service.get_pose(
+            request.component_name,
+            request.destination_frame,
+            request.supplemental_transforms,
+            extra=struct_to_dict(request.extra),
+            timeout=timeout,
+        )
+        response = GetPoseResponse(pose=result)
+        await stream.send_message(response)
+
+    async def StopPlan(self, stream: Stream[StopPlanRequest, StopPlanResponse]) -> None:
+        request = await stream.recv_message()
+        assert request is not None
+        service = self.get_resource(request.name)
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        await service.stop_plan(request.component_name, extra=struct_to_dict(request.extra), timeout=timeout)
+        response = StopPlanResponse()
+        await stream.send_message(response)
+
+    async def ListPlanStatuses(self, stream: Stream[ListPlanStatusesRequest, ListPlanStatusesResponse]) -> None:
+        request = await stream.recv_message()
+        assert request is not None
+        service = self.get_resource(request.name)
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        result = await service.list_plan_statuses(request.only_active_plans, extra=struct_to_dict(request.extra), timeout=timeout)
+        response = ListPlanStatusesResponse(plan_statuses_with_ids=result)
+        await stream.send_message(response)
+
+    async def GetPlan(self, stream: Stream[GetPlanRequest, GetPlanResponse]) -> None:
+        request = await stream.recv_message()
+        assert request is not None
+        service = self.get_resource(request.name)
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        result = await service.get_plan(
+            request.component_name, request.last_plan_only, request.execution_id, extra=struct_to_dict(request.extra), timeout=timeout
+        )
+        await stream.send_message(result)
+
+    async def DoCommand(self, stream: Stream[DoCommandRequest, DoCommandResponse]) -> None:
+        request = await stream.recv_message()
+        assert request is not None
+        service = self.get_resource(request.name)
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        result = await service.do_command(struct_to_dict(request.command), timeout=timeout, metadata=stream.metadata)
+        response = DoCommandResponse(result=dict_to_struct(result))
+        await stream.send_message(response)
diff --git a/src/viam/services/navigation/navigation.py b/src/viam/services/navigation/navigation.py
index 8b9499904..0b57833c5 100644
--- a/src/viam/services/navigation/navigation.py
+++ b/src/viam/services/navigation/navigation.py
@@ -26,7 +26,7 @@ class Navigation(ServiceBase):
     async def get_paths(self, *, timeout: Optional[float]) -> List[Path]:
         """
         Get each path, the series of geo points the robot plans to travel through
-        to get to a destination waypoint, in the machine’s motion planning.
+        to get to a destination waypoint, in the machine's motion planning.
 
         ::
 
@@ -75,7 +75,7 @@ async def get_location(self, *, timeout: Optional[float]) -> GeoPoint:
     @abc.abstractmethod
     async def get_obstacles(self, *, timeout: Optional[float]) -> List[GeoGeometry]:
         """
-        Get an array or list of the obstacles currently in the service’s data storage.
+        Get an array or list of the obstacles currently in the service's data storage.
         These are objects designated for the robot to avoid when navigating.
         These include all transient obstacles which are discovered by the vision services configured for the navigation service,
         in addition to the obstacles that are configured as a part of the service.
@@ -92,7 +92,7 @@ async def get_obstacles(self, *, timeout: Optional[float]) -> List[GeoGeometry]:
                 before calling a time-out and closing the underlying RPC call.
 
         Returns:
-            List[navigation.GeoGeometry]: A list comprised of each GeoGeometry in the service’s data storage.
+            List[navigation.GeoGeometry]: A list comprised of each GeoGeometry in the service's data storage.
             These are objects designated for the robot to avoid when navigating.
 
         For more information, see `Navigation service <https://docs.viam.com/services/navigation/>`_.
@@ -102,7 +102,7 @@ async def get_obstacles(self, *, timeout: Optional[float]) -> List[GeoGeometry]:
     @abc.abstractmethod
     async def get_waypoints(self, *, timeout: Optional[float]) -> List[Waypoint]:
         """
-        Get an array of waypoints currently in the service’s data storage.
+        Get an array of waypoints currently in the service's data storage.
         These are locations designated within a path for the robot to navigate to.
 
         ::
@@ -117,7 +117,7 @@ async def get_waypoints(self, *, timeout: Optional[float]) -> List[Waypoint]:
                 before calling a time-out and closing the underlying RPC call.
 
         Returns:
-            List[navigation.Waypoint]: An array comprised of each Waypoint in the service’s data storage.
+            List[navigation.Waypoint]: An array comprised of each Waypoint in the service's data storage.
             These are locations designated within a path for the robot to navigate to.
 
         For more information, see `Navigation service <https://docs.viam.com/services/navigation/>`_.
@@ -127,7 +127,7 @@ async def get_waypoints(self, *, timeout: Optional[float]) -> List[Waypoint]:
     @abc.abstractmethod
     async def add_waypoint(self, point: GeoPoint, *, timeout: Optional[float]):
         """
-        Add a waypoint to the service’s data storage.
+        Add a waypoint to the service's data storage.
 
         ::
 
@@ -153,7 +153,7 @@ async def add_waypoint(self, point: GeoPoint, *, timeout: Optional[float]):
     @abc.abstractmethod
     async def remove_waypoint(self, id: str, *, timeout: Optional[float]):
         """
-        Remove a waypoint from the service’s data storage. If the robot is currently navigating to this waypoint,
+        Remove a waypoint from the service's data storage. If the robot is currently navigating to this waypoint,
         the motion will be canceled, and the robot will proceed to the next waypoint.
 
         ::
@@ -164,7 +164,7 @@ async def remove_waypoint(self, id: str, *, timeout: Optional[float]):
             await my_nav.remove_waypoint(waypoint_id)
 
         Args:
-            id (str): The MongoDB ObjectID of the Waypoint to remove from the service’s data storage.
+            id (str): The MongoDB ObjectID of the Waypoint to remove from the service's data storage.
             timeout (Optional[float]): An option to set how long to wait (in seconds)
                 before calling a time-out and closing the underlying RPC call.
 
diff --git a/src/viam/services/service_base.py b/src/viam/services/service_base.py
index f1bbd7afe..d70c20acf 100644
--- a/src/viam/services/service_base.py
+++ b/src/viam/services/service_base.py
@@ -55,7 +55,7 @@ async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Option
 
         ::
 
-            motion = MotionClient.from_robot(robot, "builtin")
+            service = SERVICE.from_robot(robot, "builtin")  # replace SERVICE with the appropriate class
 
             my_command = {
               "cmnd": "dosomething",
@@ -63,7 +63,7 @@ async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Option
             }
 
             # Can be used with any resource, using the motion service as an example
-            await motion.do_command(command=my_command)
+            await service.do_command(command=my_command)
 
         Args:
             command (Dict[str, ValueTypes]): The command to execute
diff --git a/src/viam/services/vision/service.py b/src/viam/services/vision/service.py
index 60d01d655..3dd61dc6f 100644
--- a/src/viam/services/vision/service.py
+++ b/src/viam/services/vision/service.py
@@ -58,7 +58,7 @@ async def CaptureAllFromCamera(self, stream: Stream[CaptureAllFromCameraRequest,
             detections=result.detections,
             classifications=result.classifications,
             objects=result.objects,
-            extra=dict_to_struct(result.extra),
+            extra=dict_to_struct(result.extra if result.extra else {}),
         )
         await stream.send_message(response)
 
diff --git a/src/viam/services/vision/vision.py b/src/viam/services/vision/vision.py
index c8f30bf4b..27e83d03a 100644
--- a/src/viam/services/vision/vision.py
+++ b/src/viam/services/vision/vision.py
@@ -1,19 +1,20 @@
 import abc
 import sys
-from typing import Any, Final, List, Mapping, Optional, Union
+from typing import Final, List, Mapping, Optional
 
 from viam.media.video import ViamImage
 from viam.proto.common import PointCloudObject
 from viam.proto.service.vision import Classification, Detection, GetPropertiesResponse
 from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_SERVICE, Subtype
+from viam.utils import ValueTypes
+
+from ..service_base import ServiceBase
 
 if sys.version_info >= (3, 10):
     from typing import TypeAlias
 else:
     from typing_extensions import TypeAlias
 
-from ..service_base import ServiceBase
-
 
 class CaptureAllResult:
     """
@@ -25,7 +26,14 @@ class CaptureAllResult:
     "the classifier/detector was requested, but there were no results".
     """
 
-    def __init__(self, image=None, classifications=None, detections=None, objects=None, extra={}):
+    def __init__(
+        self,
+        image: Optional[ViamImage] = None,
+        classifications: Optional[List[Classification]] = None,
+        detections: Optional[List[Detection]] = None,
+        objects: Optional[List[PointCloudObject]] = None,
+        extra: Optional[Mapping[str, ValueTypes]] = None,
+    ):
         """
         Args:
             image (ViamImage|None): The image from the GetImage request of the camera, if it was requested.
@@ -37,11 +45,11 @@ def __init__(self, image=None, classifications=None, detections=None, objects=No
         Returns:
             None
         """
-        self.image: Union[ViamImage, None] = image
-        self.detections: Union[List[Detection], None] = detections
-        self.classifications: Union[List[Classification], None] = classifications
-        self.objects: Union[List[PointCloudObject], None] = objects
-        self.extra: dict = extra
+        self.image = image
+        self.classifications = classifications
+        self.detections = detections
+        self.objects = objects
+        self.extra = extra
 
 
 class Vision(ServiceBase):
@@ -77,7 +85,7 @@ async def capture_all_from_camera(
         return_detections: bool = False,
         return_object_point_clouds: bool = False,
         *,
-        extra: Optional[Mapping[str, Any]] = None,
+        extra: Optional[Mapping[str, ValueTypes]] = None,
         timeout: Optional[float] = None,
     ) -> CaptureAllResult:
         """Get the next image, detections, classifications, and objects all together,
@@ -118,7 +126,7 @@ async def get_detections_from_camera(
         self,
         camera_name: str,
         *,
-        extra: Optional[Mapping[str, Any]] = None,
+        extra: Optional[Mapping[str, ValueTypes]] = None,
         timeout: Optional[float] = None,
     ) -> List[Detection]:
         """Get a list of detections in the next image given a camera and a detector
@@ -153,7 +161,7 @@ async def get_detections(
         self,
         image: ViamImage,
         *,
-        extra: Optional[Mapping[str, Any]] = None,
+        extra: Optional[Mapping[str, ValueTypes]] = None,
         timeout: Optional[float] = None,
     ) -> List[Detection]:
         """Get a list of detections in the given image using the specified detector
@@ -193,7 +201,7 @@ async def get_classifications_from_camera(
         camera_name: str,
         count: int,
         *,
-        extra: Optional[Mapping[str, Any]] = None,
+        extra: Optional[Mapping[str, ValueTypes]] = None,
         timeout: Optional[float] = None,
     ) -> List[Classification]:
         """Get a list of classifications in the next image given a camera and a classifier
@@ -226,7 +234,7 @@ async def get_classifications(
         image: ViamImage,
         count: int,
         *,
-        extra: Optional[Mapping[str, Any]] = None,
+        extra: Optional[Mapping[str, ValueTypes]] = None,
         timeout: Optional[float] = None,
     ) -> List[Classification]:
         """Get a list of classifications in the given image using the specified classifier
@@ -261,7 +269,7 @@ async def get_object_point_clouds(
         self,
         camera_name: str,
         *,
-        extra: Optional[Mapping[str, Any]] = None,
+        extra: Optional[Mapping[str, ValueTypes]] = None,
         timeout: Optional[float] = None,
     ) -> List[PointCloudObject]:
         """
@@ -301,7 +309,7 @@ async def get_object_point_clouds(
     async def get_properties(
         self,
         *,
-        extra: Optional[Mapping[str, Any]] = None,
+        extra: Optional[Mapping[str, ValueTypes]] = None,
         timeout: Optional[float] = None,
     ) -> Properties:
         """
diff --git a/tests/test_motion_service.py b/tests/test_motion_service.py
index 969f3ee3c..decf7e891 100644
--- a/tests/test_motion_service.py
+++ b/tests/test_motion_service.py
@@ -1,14 +1,15 @@
+from typing import Any, Mapping, Optional, Sequence
+from unittest.mock import patch
+
 import pytest
 from google.protobuf.timestamp_pb2 import Timestamp
 from grpclib.testing import ChannelFor
 
 from viam.components.arm import Arm
 from viam.components.base import Base
-from viam.components.gantry import Gantry
 from viam.gen.service.motion.v1.motion_pb2 import (
     PLAN_STATE_FAILED,
     PLAN_STATE_IN_PROGRESS,
-    PLAN_STATE_STOPPED,
     PLAN_STATE_SUCCEEDED,
     ComponentState,
     GetPlanResponse,
@@ -19,301 +20,322 @@
     PlanStep,
     PlanWithStatus,
 )
-from viam.proto.common import GeoGeometry, GeoPoint, Pose, PoseInFrame, ResourceName
-from viam.proto.service.motion import Constraints, LinearConstraint, MotionConfiguration, ObstacleDetector
+from viam.proto.common import GeoGeometry, Geometry, GeoPoint, Pose, PoseInFrame, ResourceName, Transform, WorldState
+from viam.proto.service.motion import Constraints, LinearConstraint, MotionConfiguration
+from viam.resource.manager import ResourceManager
 from viam.services.motion import MotionClient
+from viam.services.motion.motion import Motion
+from viam.services.motion.service import MotionRPCService
+from viam.utils import ValueTypes
 
 from . import loose_approx
-from .mocks.services import MockMotion
 
-MOVE_CONSTRAINTS = Constraints(linear_constraint=[LinearConstraint(), LinearConstraint(line_tolerance_mm=2)])
-MOVE_RESPONSES = {"arm": False, "gantry": True}
-GET_POSE_RESPONSES = {
-    "arm": PoseInFrame(reference_frame="arm", pose=Pose(x=1, y=2, z=3, o_x=2, o_y=3, o_z=4, theta=20)),
-    "gantry": PoseInFrame(reference_frame="gantry", pose=Pose(x=2, y=3, z=4, o_x=3, o_y=4, o_z=5, theta=21)),
-}
+MOTION_SERVICE_NAME = "motion1"
 
-GET_PLAN_RESPONSE = GetPlanResponse(
-    current_plan_with_status=PlanWithStatus(
-        plan=Plan(
-            id="plan_id2",
-            component_name=Base.get_resource_name("get_plan_base"),
-            execution_id="execution_id",
-            steps=[
-                PlanStep(step={"get_plan_base": ComponentState(pose=Pose(x=2, y=3, z=4, o_x=3, o_y=4, o_z=5, theta=21))}),
-                PlanStep(step={"get_plan_base": ComponentState(pose=Pose(x=6, y=7, z=8, o_x=9, o_y=10, o_z=11, theta=23))}),
-            ],
-        ),
-        status=PlanStatus(state=PLAN_STATE_SUCCEEDED, timestamp=Timestamp(seconds=4)),
-        status_history=[PlanStatus(state=PLAN_STATE_IN_PROGRESS, timestamp=Timestamp(seconds=3))],
-    ),
-    replan_history=[
-        PlanWithStatus(
-            plan=Plan(
-                id="plan_id1",
-                component_name=Base.get_resource_name("get_plan_base"),
-                execution_id="execution_id",
-                steps=[
-                    PlanStep(step={"get_plan_base": ComponentState(pose=Pose(x=1, y=1, z=1, o_x=1, o_y=1, o_z=1, theta=20))}),
-                    PlanStep(step={"get_plan_base": ComponentState(pose=Pose(x=2, y=3, z=4, o_x=3, o_y=4, o_z=5, theta=21))}),
-                    PlanStep(step={"get_plan_base": ComponentState(pose=Pose(x=6, y=7, z=8, o_x=9, o_y=10, o_z=11, theta=23))}),
-                ],
-            ),
-            status=PlanStatus(state=PLAN_STATE_FAILED, reason="failure reason", timestamp=Timestamp(seconds=2)),
-            status_history=[PlanStatus(state=PLAN_STATE_IN_PROGRESS, timestamp=Timestamp(seconds=1))],
-        )
-    ],
-)
 
-LIST_PLAN_STATUSES_RESPONSE = ListPlanStatusesResponse(
-    plan_statuses_with_ids=[
-        PlanStatusWithID(
-            plan_id="plan 5",
-            component_name=Base.get_resource_name("list_plan_statuses_base"),
-            execution_id="execution_id 3",
-            status=PlanStatus(state=PLAN_STATE_IN_PROGRESS, timestamp=Timestamp(seconds=10)),
-        ),
-        PlanStatusWithID(
-            plan_id="plan 4",
-            component_name=Base.get_resource_name("list_plan_statuses_base"),
-            execution_id="execution_id 2",
-            status=PlanStatus(state=PLAN_STATE_SUCCEEDED, timestamp=Timestamp(seconds=9)),
-        ),
-        PlanStatusWithID(
-            plan_id="plan 3",
-            component_name=Base.get_resource_name("list_plan_statuses_base"),
-            execution_id="execution_id 2",
-            status=PlanStatus(state=PLAN_STATE_FAILED, reason="other failure reason", timestamp=Timestamp(seconds=8)),
-        ),
-        PlanStatusWithID(
-            plan_id="plan 2",
-            component_name=Base.get_resource_name("list_plan_statuses_base"),
-            execution_id="execution_id 2",
-            status=PlanStatus(state=PLAN_STATE_FAILED, reason="failure reason", timestamp=Timestamp(seconds=7)),
-        ),
-        PlanStatusWithID(
-            plan_id="plan 1",
-            component_name=Base.get_resource_name("list_plan_statuses_base"),
-            execution_id="execution_id 1",
-            status=PlanStatus(state=PLAN_STATE_STOPPED, timestamp=Timestamp(seconds=6)),
-        ),
-    ]
-)
+@pytest.fixture(scope="function")
+def motion():
+    class MockMotion(Motion):
+        async def move(
+            self,
+            component_name: ResourceName,
+            destination: PoseInFrame,
+            world_state: Optional[WorldState] = None,
+            constraints: Optional[Constraints] = None,
+            *,
+            extra: Optional[Mapping[str, Any]] = None,
+            timeout: Optional[float] = None
+        ) -> bool:
+            raise NotImplementedError
 
-MOTION_CONFIGURATION = MotionConfiguration(
-    obstacle_detectors=[
-        ObstacleDetector(
-            vision_service=ResourceName(namespace="rdk", type="service", subtype="vision", name="viz1"),
-            camera=ResourceName(namespace="rdk", type="component", subtype="camera", name="cam1"),
-        )
-    ],
-    position_polling_frequency_hz=144,
-    obstacle_polling_frequency_hz=182,
-    plan_deviation_m=41,
-    linear_m_per_sec=44,
-    angular_degs_per_sec=10,
-)
+        async def move_on_globe(
+            self,
+            component_name: ResourceName,
+            destination: GeoPoint,
+            movement_sensor_name: ResourceName,
+            obstacles: Optional[Sequence[GeoGeometry]] = None,
+            heading: Optional[float] = None,
+            configuration: Optional[MotionConfiguration] = None,
+            *,
+            bounding_regions: Optional[Sequence[GeoGeometry]] = None,
+            extra: Optional[Mapping[str, ValueTypes]] = None,
+            timeout: Optional[float] = None
+        ) -> str:
+            raise NotImplementedError
 
-MOTION_SERVICE_NAME = "motion1"
+        async def move_on_map(
+            self,
+            component_name: ResourceName,
+            destination: Pose,
+            slam_service_name: ResourceName,
+            configuration: Optional[MotionConfiguration] = None,
+            obstacles: Optional[Sequence[Geometry]] = None,
+            *,
+            extra: Optional[Mapping[str, ValueTypes]] = None,
+            timeout: Optional[float] = None
+        ) -> str:
+            raise NotImplementedError
+
+        async def stop_plan(
+            self, component_name: ResourceName, *, extra: Optional[Mapping[str, ValueTypes]] = None, timeout: Optional[float] = None
+        ):
+            raise NotImplementedError
+
+        async def get_plan(
+            self,
+            component_name: ResourceName,
+            last_plan_only: bool = False,
+            execution_id: Optional[str] = None,
+            *,
+            extra: Optional[Mapping[str, ValueTypes]] = None,
+            timeout: Optional[float] = None
+        ) -> GetPlanResponse:
+            raise NotImplementedError
+
+        async def list_plan_statuses(
+            self, only_active_plans: bool = False, *, extra: Optional[Mapping[str, ValueTypes]] = None, timeout: Optional[float] = None
+        ) -> ListPlanStatusesResponse:
+            raise NotImplementedError
+
+        async def get_pose(
+            self,
+            component_name: ResourceName,
+            destination_frame: str,
+            supplemental_transforms: Optional[Sequence[Transform]] = None,
+            *,
+            extra: Optional[Mapping[str, Any]] = None,
+            timeout: Optional[float] = None
+        ) -> PoseInFrame:
+            raise NotImplementedError
+
+    return MockMotion(MOTION_SERVICE_NAME)
 
 
 @pytest.fixture(scope="function")
-def service() -> MockMotion:
-    return MockMotion(
-        move_responses=MOVE_RESPONSES,
-        get_pose_responses=GET_POSE_RESPONSES,
-        get_plan_response=GET_PLAN_RESPONSE,
-        list_plan_statuses_response=LIST_PLAN_STATUSES_RESPONSE,
-    )
+def service(motion: Motion) -> MotionRPCService:
+    return MotionRPCService(ResourceManager([motion]))
 
 
-class TestClient:
+class TestMotionService:
     @pytest.mark.asyncio
-    async def test_plan_and_move(self, service: MockMotion):
-        async with ChannelFor([service]) as channel:
-            client = MotionClient(MOTION_SERVICE_NAME, channel)
-            assert service.timeout is None
-            assert service.constraints is None
-            timeout = 1.4
-            success = await client.move(
-                Arm.get_resource_name("arm"), PoseInFrame(), constraints=MOVE_CONSTRAINTS, extra={"foo": "bar"}, timeout=timeout
-            )
-            assert success == MOVE_RESPONSES["arm"]
-            assert service.extra == {"foo": "bar"}
-            assert service.timeout == loose_approx(timeout)
-            assert service.constraints is not None
-            assert service.constraints.linear_constraint == [LinearConstraint(), LinearConstraint(line_tolerance_mm=2)]
-            success = await client.move(Gantry.get_resource_name("gantry"), PoseInFrame())
-            assert success == MOVE_RESPONSES["gantry"]
-            assert service.extra == {}
-            assert service.timeout is None
+    async def test_move(self, motion: Motion, service: MotionRPCService):
+        with patch.object(motion, "move") as patched_method:
+            patched_method.return_value = True
+            async with ChannelFor([service]) as channel:
+                client = MotionClient(MOTION_SERVICE_NAME, channel)
+                resource_name = Arm.get_resource_name("arm")
+                destination = PoseInFrame(reference_frame="refframe")
+                world_state = WorldState(transforms=[Transform(reference_frame="ws_tfrm_rf")])
+                constraints = Constraints(linear_constraint=[LinearConstraint(), LinearConstraint(line_tolerance_mm=2)])
+                extra = {"foo": "bar"}
+                timeout = 2
+                success = await client.move(
+                    resource_name,
+                    destination,
+                    world_state,
+                    constraints,
+                    extra=extra,
+                    timeout=timeout,
+                )
+                assert success is True
+                patched_method.assert_called_once()
+                assert patched_method.call_args.args[0] == resource_name
+                assert patched_method.call_args.args[1] == destination
+                assert patched_method.call_args.args[2] == world_state
+                assert patched_method.call_args.args[3] == constraints
+                assert patched_method.call_args.kwargs["extra"] == extra
+                assert patched_method.call_args.kwargs["timeout"] == loose_approx(timeout)
 
     @pytest.mark.asyncio
-    async def test_get_pose(self, service: MockMotion):
-        async with ChannelFor([service]) as channel:
-            client = MotionClient(MOTION_SERVICE_NAME, channel)
-            pose = await client.get_pose(Arm.get_resource_name("arm"), "x", extra={"foo": "bar"})
-            assert pose == GET_POSE_RESPONSES["arm"]
-            assert service.extra == {"foo": "bar"}
-            pose = await client.get_pose(Gantry.get_resource_name("gantry"), "y")
-            assert pose == GET_POSE_RESPONSES["gantry"]
-            assert service.extra == {}
+    async def test_get_pose(self, motion: Motion, service: MotionRPCService):
+        with patch.object(motion, "get_pose") as patched_method:
+            response = PoseInFrame(reference_frame="arm", pose=Pose(x=1, y=2, z=3, o_x=2, o_y=3, o_z=4, theta=20))
+            patched_method.return_value = response
+            async with ChannelFor([service]) as channel:
+                client = MotionClient(MOTION_SERVICE_NAME, channel)
+                rn = Arm.get_resource_name("arm")
+                destination_frame = "x"
+                transforms = [Transform(reference_frame="y")]
+                extra = {"foo": "bar"}
+                timeout = 4
+                pose = await client.get_pose(rn, destination_frame, transforms, extra=extra, timeout=timeout)
+                assert pose == response
+                patched_method.assert_called_once()
+                assert patched_method.call_args.args[0] == rn
+                assert patched_method.call_args.args[1] == destination_frame
+                assert patched_method.call_args.args[2] == transforms
+                assert patched_method.call_args.kwargs["extra"] == extra
+                assert patched_method.call_args.kwargs["timeout"] == loose_approx(timeout)
 
     @pytest.mark.asyncio
-    async def test_move_on_map(self, service: MockMotion):
-        component_rn = Base.get_resource_name("move_on_globe_base")
-        slam_rn = ResourceName(namespace="rdk", type="service", subtype="slam", name="move_on_map_slam")
-        async with ChannelFor([service]) as channel:
-            client = MotionClient(MOTION_SERVICE_NAME, channel)
-            execution_id = await client.move_on_map(
-                component_rn,
-                Pose(),
-                slam_service_name=slam_rn,
-                configuration=MOTION_CONFIGURATION,
-            )
-            assert service.component_name == component_rn
-            assert service.slam_service == slam_rn
-            assert service.execution_id == execution_id
-            assert service.extra == {}
-            assert service.timeout is None
-            timeout = 50
-            extra = {"max_iter": 1}
-            execution_id = await client.move_on_map(
-                component_rn,
-                Pose(),
-                slam_service_name=slam_rn,
-                configuration=MOTION_CONFIGURATION,
-                extra=extra,
-                timeout=timeout,
-            )
-            assert service.component_name == component_rn
-            assert service.slam_service == slam_rn
-            assert service.execution_id == execution_id
-            assert service.extra == extra
-            assert service.timeout == loose_approx(timeout)
+    async def test_move_on_map(self, motion: Motion, service: MotionRPCService):
+        with patch.object(motion, "move_on_map") as patched_method:
+            resopnse = "Move On Map Response"
+            patched_method.return_value = resopnse
+            async with ChannelFor([service]) as channel:
+                client = MotionClient(MOTION_SERVICE_NAME, channel)
+                component_rn = Base.get_resource_name("move_on_globe_base")
+                destination = Pose(x=1, y=2, z=3, theta=4)
+                slam_rn = ResourceName(namespace="rdk", type="service", subtype="slam", name="move_on_map_slam")
+                configuration = MotionConfiguration(position_polling_frequency_hz=4.44)
+                obstacles = [Geometry(center=Pose(x=9, y=8, z=7, theta=6))]
+                extra = {"foo": "bar"}
+                timeout = 4
+                execution_id = await client.move_on_map(
+                    component_rn,
+                    destination,
+                    slam_service_name=slam_rn,
+                    configuration=configuration,
+                    obstacles=obstacles,
+                    extra=extra,
+                    timeout=timeout,
+                )
+                assert execution_id == resopnse
+                patched_method.assert_called_once()
+                assert patched_method.call_args.args[0] == component_rn
+                assert patched_method.call_args.args[1] == destination
+                assert patched_method.call_args.args[2] == slam_rn
+                assert patched_method.call_args.args[3] == configuration
+                assert patched_method.call_args.args[4] == obstacles
+                assert patched_method.call_args.kwargs["extra"] == extra
+                assert patched_method.call_args.kwargs["timeout"] == loose_approx(timeout)
 
     @pytest.mark.asyncio
-    async def test_move_on_globe(self, service: MockMotion):
-        component_rn = Base.get_resource_name("move_on_globe_base")
-        movement_rn = ResourceName(namespace="rdk", type="component", subtype="movement_sensor", name="move_on_globe_ms")
-        destination = GeoPoint(latitude=123, longitude=456)
-        obstacles = [GeoGeometry(location=GeoPoint(latitude=111, longitude=222))]
-        bounding_regions = [GeoGeometry(location=GeoPoint(latitude=3, longitude=4))]
-        async with ChannelFor([service]) as channel:
-            client = MotionClient(MOTION_SERVICE_NAME, channel)
-            execution_id = await client.move_on_globe(
-                component_rn,
-                destination,
-                movement_rn,
-                obstacles,
-                heading=182,
-                configuration=MOTION_CONFIGURATION,
-            )
-            assert service.component_name == component_rn
-            assert service.movement_sensor == movement_rn
-            assert service.destination == destination
-            assert service.obstacles == obstacles
-            assert service.heading == 182
-            assert service.configuration == MOTION_CONFIGURATION
-            assert service.execution_id == execution_id
-            assert service.extra == {}
-            assert service.timeout is None
-            timeout = 50
-            extra = {"max_iter": 1}
-            execution_id = await client.move_on_globe(
-                component_rn,
-                destination,
-                movement_rn,
-                obstacles,
-                heading=182,
-                configuration=MOTION_CONFIGURATION,
-                extra=extra,
-                bounding_regions=bounding_regions,
-                timeout=timeout,
-            )
-            assert service.component_name == component_rn
-            assert service.movement_sensor == movement_rn
-            assert service.destination == destination
-            assert service.obstacles == obstacles
-            assert service.heading == 182
-            assert service.configuration == MOTION_CONFIGURATION
-            assert service.bounding_regions == bounding_regions
-            assert service.execution_id == execution_id
-            assert service.extra == extra
-            assert service.timeout == loose_approx(timeout)
+    async def test_move_on_globe(self, motion: Motion, service: MotionRPCService):
+        with patch.object(motion, "move_on_globe") as patched_method:
+            response = "Move On Globe Response"
+            patched_method.return_value = response
+            async with ChannelFor([service]) as channel:
+                client = MotionClient(MOTION_SERVICE_NAME, channel)
+                component_rn = Base.get_resource_name("move_on_globe_base")
+                destination = GeoPoint(latitude=123, longitude=456)
+                movement_rn = ResourceName(namespace="rdk", type="component", subtype="movement_sensor", name="move_on_globe_ms")
+                obstacles = [GeoGeometry(location=GeoPoint(latitude=44, longitude=786))]
+                heading = 5.55
+                configuration = MotionConfiguration(position_polling_frequency_hz=4.44)
+                bounding_regions = [GeoGeometry(location=GeoPoint(latitude=182, longitude=41))]
+                extra = {"foo": "bar"}
+                timeout = 3
+                execution_id = await client.move_on_globe(
+                    component_rn,
+                    destination,
+                    movement_rn,
+                    obstacles,
+                    heading,
+                    configuration,
+                    bounding_regions=bounding_regions,
+                    extra=extra,
+                    timeout=timeout,
+                )
+                assert execution_id == response
+                patched_method.assert_called_once()
+                assert patched_method.call_args.args[0] == component_rn
+                assert patched_method.call_args.args[1] == destination
+                assert patched_method.call_args.args[2] == movement_rn
+                assert patched_method.call_args.args[3] == obstacles
+                assert patched_method.call_args.args[4] == heading
+                assert patched_method.call_args.args[5] == configuration
+                assert patched_method.call_args.kwargs["bounding_regions"] == bounding_regions
+                assert patched_method.call_args.kwargs["extra"] == extra
+                assert patched_method.call_args.kwargs["timeout"] == loose_approx(timeout)
 
     @pytest.mark.asyncio
-    async def test_stop_plan(self, service: MockMotion):
-        component_rn = Base.get_resource_name("stop_plan_base")
-        async with ChannelFor([service]) as channel:
-            client = MotionClient(MOTION_SERVICE_NAME, channel)
-            await client.stop_plan(component_rn)
-            assert service.component_name == component_rn
-            assert service.extra == {}
-            assert service.timeout is None
-            timeout = 50
-            extra = {"max_iter": 1}
-            await client.stop_plan(component_rn, extra=extra, timeout=timeout)
-            assert service.component_name == component_rn
-            assert service.extra == extra
-            assert service.timeout == loose_approx(timeout)
+    async def test_stop_plan(self, motion: Motion, service: MotionRPCService):
+        with patch.object(motion, "stop_plan") as patched_method:
+            async with ChannelFor([service]) as channel:
+                client = MotionClient(MOTION_SERVICE_NAME, channel)
+                component_rn = Base.get_resource_name("stop_plan_base")
+                extra = {"foo": "bar"}
+                timeout = 4
+                await client.stop_plan(component_rn, extra=extra, timeout=timeout)
+                patched_method.assert_called_once()
+                assert patched_method.call_args.args[0] == component_rn
+                assert patched_method.call_args.kwargs["extra"] == extra
+                assert patched_method.call_args.kwargs["timeout"] == loose_approx(timeout)
 
     @pytest.mark.asyncio
-    async def test_get_plan(self, service: MockMotion):
-        component_rn = Base.get_resource_name("get_plan_base")
-        async with ChannelFor([service]) as channel:
-            client = MotionClient(MOTION_SERVICE_NAME, channel)
-            response = await client.get_plan(component_rn)
-            assert service.component_name == component_rn
-            assert not service.last_plan_only
-            assert service.execution_id == ""
-            assert service.extra == {}
-            assert service.timeout is None
-            assert response == GET_PLAN_RESPONSE
-            last_plan_only = True
-            execution_id = "execution_id"
-            timeout = 50
-            extra = {"some": "extra"}
-            response = await client.get_plan(
-                component_rn,
-                last_plan_only=last_plan_only,
-                execution_id=execution_id,
-                extra=extra,
-                timeout=timeout,
+    async def test_get_plan(self, motion: Motion, service: MotionRPCService):
+        with patch.object(motion, "get_plan") as patched_method:
+            response = GetPlanResponse(
+                current_plan_with_status=PlanWithStatus(
+                    plan=Plan(
+                        id="plan_id2",
+                        component_name=Base.get_resource_name("get_plan_base"),
+                        execution_id="execution_id",
+                        steps=[
+                            PlanStep(step={"get_plan_base": ComponentState(pose=Pose(x=2, y=3, z=4, o_x=3, o_y=4, o_z=5, theta=21))}),
+                            PlanStep(step={"get_plan_base": ComponentState(pose=Pose(x=6, y=7, z=8, o_x=9, o_y=10, o_z=11, theta=23))}),
+                        ],
+                    ),
+                    status=PlanStatus(state=PLAN_STATE_SUCCEEDED, timestamp=Timestamp(seconds=4)),
+                    status_history=[PlanStatus(state=PLAN_STATE_IN_PROGRESS, timestamp=Timestamp(seconds=3))],
+                ),
+                replan_history=[
+                    PlanWithStatus(
+                        plan=Plan(
+                            id="plan_id1",
+                            component_name=Base.get_resource_name("get_plan_base"),
+                            execution_id="execution_id",
+                            steps=[
+                                PlanStep(step={"get_plan_base": ComponentState(pose=Pose(x=1, y=1, z=1, o_x=1, o_y=1, o_z=1, theta=20))}),
+                                PlanStep(step={"get_plan_base": ComponentState(pose=Pose(x=2, y=3, z=4, o_x=3, o_y=4, o_z=5, theta=21))}),
+                                PlanStep(step={"get_plan_base": ComponentState(pose=Pose(x=6, y=7, z=8, o_x=9, o_y=10, o_z=11, theta=23))}),
+                            ],
+                        ),
+                        status=PlanStatus(state=PLAN_STATE_FAILED, reason="failure reason", timestamp=Timestamp(seconds=2)),
+                        status_history=[PlanStatus(state=PLAN_STATE_IN_PROGRESS, timestamp=Timestamp(seconds=1))],
+                    )
+                ],
             )
-            assert service.component_name == component_rn
-            assert service.last_plan_only == last_plan_only
-            assert service.execution_id == execution_id
-            assert service.extra == extra
-            assert service.timeout == loose_approx(timeout)
-            assert response == GET_PLAN_RESPONSE
+            patched_method.return_value = response
+            async with ChannelFor([service]) as channel:
+                client = MotionClient(MOTION_SERVICE_NAME, channel)
+                component_rn = Base.get_resource_name("get_plan_base")
+                last_plan_only = True
+                execution_id = "ex_id"
+                extra = {"foo": "bar"}
+                timeout = 4
+
+                plan = await client.get_plan(component_rn, last_plan_only, execution_id, extra=extra, timeout=timeout)
+                assert plan == response
+                patched_method.assert_called_once()
+                assert patched_method.call_args.args[0] == component_rn
+                assert patched_method.call_args.args[1] == last_plan_only
+                assert patched_method.call_args.args[2] == execution_id
+                assert patched_method.call_args.kwargs["extra"] == extra
+                assert patched_method.call_args.kwargs["timeout"] == loose_approx(timeout)
 
     @pytest.mark.asyncio
-    async def test_list_plan_statuses(self, service: MockMotion):
-        async with ChannelFor([service]) as channel:
-            client = MotionClient(MOTION_SERVICE_NAME, channel)
-            response = await client.list_plan_statuses()
-            assert not service.only_active_plans
-            assert service.extra == {}
-            assert service.timeout is None
-            assert response == LIST_PLAN_STATUSES_RESPONSE
-            only_active_plans = True
-            timeout = 50
-            extra = {"some": "extra"}
-            response = await client.list_plan_statuses(
-                only_active_plans=only_active_plans,
-                extra=extra,
-                timeout=timeout,
-            )
-            assert service.only_active_plans == only_active_plans
-            assert service.extra == extra
-            assert service.timeout == loose_approx(timeout)
-            assert response == LIST_PLAN_STATUSES_RESPONSE
+    async def test_list_plan_statuses(self, motion: Motion, service: MotionRPCService):
+        with patch.object(motion, "list_plan_statuses") as patched_method:
+            response = [PlanStatusWithID(plan_id="lpsr_pswid")]
+            patched_method.return_value = response
+            async with ChannelFor([service]) as channel:
+                client = MotionClient(MOTION_SERVICE_NAME, channel)
+
+                only_active_plans = True
+                extra = {"foo": "bar"}
+                timeout = 5
+
+                plan_statuses = await client.list_plan_statuses(only_active_plans, extra=extra, timeout=timeout)
+
+                assert plan_statuses == response
+                patched_method.assert_called_once()
+                assert patched_method.call_args.args[0] == only_active_plans
+                assert patched_method.call_args.kwargs["extra"] == extra
+                assert patched_method.call_args.kwargs["timeout"] == loose_approx(timeout)
 
     @pytest.mark.asyncio
-    async def test_do(self, service: MockMotion):
-        async with ChannelFor([service]) as channel:
-            client = MotionClient(MOTION_SERVICE_NAME, channel)
-            command = {"command": "args"}
-            response = await client.do_command(command)
-            assert response == command
+    async def test_do(self, motion: Motion, service: MotionRPCService):
+        with patch.object(motion, "do_command") as patched_method:
+            response = {"do": "command"}
+            patched_method.return_value = response
+            async with ChannelFor([service]) as channel:
+                client = MotionClient(MOTION_SERVICE_NAME, channel)
+                command = {"command": "args"}
+                timeout = 5
+                dc_response = await client.do_command(command, timeout=timeout)
+                assert dc_response == response
+                patched_method.assert_called_once()
+                assert patched_method.call_args.args[0] == command
+                assert patched_method.call_args.kwargs["timeout"] == loose_approx(timeout)
diff --git a/tests/test_robot.py b/tests/test_robot.py
index bb345b2e6..5dcc2a220 100644
--- a/tests/test_robot.py
+++ b/tests/test_robot.py
@@ -54,7 +54,7 @@
 from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, RESOURCE_TYPE_SERVICE
 from viam.robot.client import RobotClient
 from viam.robot.service import RobotService
-from viam.services.motion.client import MotionClient
+from viam.services.mlmodel.client import MLModelClient
 from viam.utils import dict_to_struct, message_to_struct, struct_to_message
 
 from .mocks.components import MockArm, MockCamera, MockMotor, MockMovementSensor, MockSensor
@@ -177,7 +177,7 @@ def service() -> RobotService:
                 position_supported=True,
                 compass_heading_supported=False,
             ),
-            accuracy={"foo": 0.1, "bar": 2, "baz": 3.14},
+            accuracy=MovementSensor.Accuracy(accuracy={"foo": 0.1, "bar": 2, "baz": 3.14}),
             readings={"a": 1, "b": 2, "c": 3},
         ),
         MockMLModel("mlmodel1"),
@@ -403,10 +403,9 @@ async def test_get_status(self, service: RobotService):
     async def test_get_service(self, service: RobotService):
         async with ChannelFor([service]) as channel:
             client = await RobotClient.with_channel(channel, RobotClient.Options())
-            client._resource_names.append(ResourceName(namespace=RESOURCE_NAMESPACE_RDK, type="service", subtype="motion", name="motion1"))
             with pytest.raises(ResourceNotFoundError):
-                MotionClient.from_robot(client)
-            MotionClient.from_robot(client, "motion1")
+                MLModelClient.from_robot(client, "mlmodel")
+            MLModelClient.from_robot(client, "mlmodel1")
             await client.close()
 
     @pytest.mark.asyncio
@@ -501,7 +500,7 @@ async def test_stop_all(self, service: RobotService):
             assert await motor.is_moving() is True
 
             extra = {"foo": "bar", "baz": [1, 2, 3]}
-            await client.stop_all({arm.get_resource_name(arm.name): extra})
+            await client.stop_all({arm.get_resource_name(arm.name): extra})  # type: ignore
 
             assert await arm.is_moving() is False
             assert arm.extra == extra
diff --git a/tests/test_vision_service.py b/tests/test_vision_service.py
index 643355ec9..c780f7264 100644
--- a/tests/test_vision_service.py
+++ b/tests/test_vision_service.py
@@ -154,6 +154,7 @@ async def test_capture_all_from_camera(self, vision: MockVision):
             return_detections=True,
             extra=extra,
         )
+        assert response.image is not None
         assert response.image.data == VISION_IMAGE.data
         assert response.image.mime_type == VISION_IMAGE.mime_type
         assert response.detections == DETECTIONS
@@ -333,6 +334,7 @@ async def test_capture_all_from_camera(self, vision: MockVision, service: Vision
                 return_object_point_clouds=True,
                 extra=extra,
             )
+            assert response.image is not None
             assert response.image.data == VISION_IMAGE.data
             assert response.image.mime_type == VISION_IMAGE.mime_type
             assert response.detections is None