diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 9ea62f8..ce67cbb 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -47,7 +47,7 @@ jobs:
 
       - name: Validate Flatbuffer definitions
         run: |
-          output=$(flatc --ts -o /dev/null ./schemas/flatbuffer/*.fbs)
+          output=$(flatc --require-explicit-ids --ts -o /dev/null ./schemas/flatbuffer/*.fbs)
           if [ -n "$output" ]; then
             echo "::error::Flatbuffer schema compilation had warnings or errors. Fix them to proceed:"
             echo "$output"
diff --git a/internal/generateFlatbufferSchema.test.ts b/internal/generateFlatbufferSchema.test.ts
index a93a298..3f734a1 100644
--- a/internal/generateFlatbufferSchema.test.ts
+++ b/internal/generateFlatbufferSchema.test.ts
@@ -24,83 +24,83 @@ describe("generateFlatbuffers", () => {
       /// An example type
       table ExampleMessage {
         /// duration field
-        field_duration:Duration;
+        field_duration:Duration (id: 0);
 
         /// time field
-        field_time:Time;
+        field_time:Time (id: 1);
 
         /// boolean field
-        field_boolean:bool = true;
+        field_boolean:bool = true (id: 2);
 
         /// bytes field
-        field_bytes:[uint8];
+        field_bytes:[uint8] (id: 3);
 
         /// float64 field
-        field_float64:double = 1.0;
+        field_float64:double = 1.0 (id: 4);
 
         /// uint32 field
-        field_uint32:uint32 = 5;
+        field_uint32:uint32 = 5 (id: 5);
 
         /// string field
-        field_string:string = "string-type";
+        field_string:string = "string-type" (id: 6);
 
         /// duration array field
-        field_duration_array:[Duration];
+        field_duration_array:[Duration] (id: 7);
 
         /// time array field
-        field_time_array:[Time];
+        field_time_array:[Time] (id: 8);
 
         /// boolean array field
-        field_boolean_array:[bool];
+        field_boolean_array:[bool] (id: 9);
 
         /// bytes array field
-        field_bytes_array:[ByteVector];
+        field_bytes_array:[ByteVector] (id: 10);
 
         /// float64 array field
-        field_float64_array:[double];
+        field_float64_array:[double] (id: 11);
 
         /// uint32 array field
-        field_uint32_array:[uint32];
+        field_uint32_array:[uint32] (id: 12);
 
         /// string array field
-        field_string_array:[string];
+        field_string_array:[string] (id: 13);
 
         /// duration fixed-length array field
         /// length 3
-        field_duration_fixed_array:[Duration];
+        field_duration_fixed_array:[Duration] (id: 14);
 
         /// time fixed-length array field
         /// length 3
-        field_time_fixed_array:[Time];
+        field_time_fixed_array:[Time] (id: 15);
 
         /// boolean fixed-length array field
         /// length 3
-        field_boolean_fixed_array:[bool];
+        field_boolean_fixed_array:[bool] (id: 16);
 
         /// bytes fixed-length array field
         /// length 3
-        field_bytes_fixed_array:[ByteVector];
+        field_bytes_fixed_array:[ByteVector] (id: 17);
 
         /// float64 fixed-length array field
         /// length 3
-        field_float64_fixed_array:[double];
+        field_float64_fixed_array:[double] (id: 18);
 
         /// uint32 fixed-length array field
         /// length 3
-        field_uint32_fixed_array:[uint32];
+        field_uint32_fixed_array:[uint32] (id: 19);
 
         /// string fixed-length array field
         /// length 3
-        field_string_fixed_array:[string];
+        field_string_fixed_array:[string] (id: 20);
 
         /// An enum field
-        field_enum:ExampleEnum;
+        field_enum:ExampleEnum (id: 21);
 
         /// An enum array field
-        field_enum_array:[ExampleEnum];
+        field_enum_array:[ExampleEnum] (id: 22);
 
         /// A nested field
-        field_nested:foxglove.NestedMessage;
+        field_nested:foxglove.NestedMessage (id: 23);
 
         /// A nested array field
         /// With
@@ -108,7 +108,7 @@ describe("generateFlatbuffers", () => {
         /// very
         /// long
         /// description
-        field_nested_array:[foxglove.NestedMessage];
+        field_nested_array:[foxglove.NestedMessage] (id: 24);
       }
 
       root_type ExampleMessage;
diff --git a/internal/generateFlatbufferSchema.ts b/internal/generateFlatbufferSchema.ts
index 149ea49..b38b4aa 100644
--- a/internal/generateFlatbufferSchema.ts
+++ b/internal/generateFlatbufferSchema.ts
@@ -6,7 +6,7 @@ namespace foxglove;
 
 /// Used for nesting byte vectors
 table ByteVector {
-  data:[uint8];
+  data:[uint8] (id: 0);
 }
 root_type ByteVector;
 `;
@@ -29,7 +29,7 @@ namespace foxglove;
 struct Duration {
   /// Signed seconds of the span of time. Must be from -315,576,000,000 to +315,576,000,000 inclusive.
   sec:int32;
-  /// if sec === 0 : -999,999,999 <= nsec <= +999,999,999 
+  /// if sec === 0 : -999,999,999 <= nsec <= +999,999,999
   /// otherwise sign of sec must match sign of nsec or be 0 and abs(nsec) <= 999,999,999
   nsec:int32;
 }
@@ -90,7 +90,7 @@ export function generateFlatbuffers(
       break;
     }
     case "message": {
-      const fields = schema.fields.map((field) => {
+      const fields = schema.fields.map((field, fieldId) => {
         const isArray = field.array != undefined;
 
         let type;
@@ -162,7 +162,7 @@ export function generateFlatbuffers(
           // convert field.name to lowercase for flatbuffer compilation compliance
         }  ${field.name.toLowerCase()}:${isArray ? `[${type}]` : type}${
           defaultValue ? ` = ${defaultValue}` : ""
-        };`;
+        } (id: ${fieldId});`;
       });
 
       definition = `${enumDefinitions.join("\n\n")}/// ${schema.description}\ntable ${
diff --git a/python/Makefile b/python/Makefile
index 4d594e9..e199c04 100644
--- a/python/Makefile
+++ b/python/Makefile
@@ -12,6 +12,7 @@ endif
 generate-flatbuffer:
 	find foxglove-schemas-flatbuffer/foxglove_schemas_flatbuffer ! -name '__init__.py' -type f -exec rm -f {} +
 	pipenv run flatc \
+		--require-explicit-ids \
 		--python \
 		-o foxglove-schemas-flatbuffer/foxglove_schemas_flatbuffer \
 		../schemas/flatbuffer/*.fbs
diff --git a/schemas/flatbuffer/ArrowPrimitive.fbs b/schemas/flatbuffer/ArrowPrimitive.fbs
index 7a7f104..92bf47e 100644
--- a/schemas/flatbuffer/ArrowPrimitive.fbs
+++ b/schemas/flatbuffer/ArrowPrimitive.fbs
@@ -8,22 +8,22 @@ namespace foxglove;
 /// A primitive representing an arrow
 table ArrowPrimitive {
   /// Position of the arrow's tail and orientation of the arrow. Identity orientation means the arrow points in the +x direction.
-  pose:foxglove.Pose;
+  pose:foxglove.Pose (id: 0);
 
   /// Length of the arrow shaft
-  shaft_length:double;
+  shaft_length:double (id: 1);
 
   /// Diameter of the arrow shaft
-  shaft_diameter:double;
+  shaft_diameter:double (id: 2);
 
   /// Length of the arrow head
-  head_length:double;
+  head_length:double (id: 3);
 
   /// Diameter of the arrow head
-  head_diameter:double;
+  head_diameter:double (id: 4);
 
   /// Color of the arrow
-  color:foxglove.Color;
+  color:foxglove.Color (id: 5);
 }
 
 root_type ArrowPrimitive;
diff --git a/schemas/flatbuffer/ByteVector.fbs b/schemas/flatbuffer/ByteVector.fbs
index 513df43..805d380 100644
--- a/schemas/flatbuffer/ByteVector.fbs
+++ b/schemas/flatbuffer/ByteVector.fbs
@@ -3,6 +3,6 @@ namespace foxglove;
 
 /// Used for nesting byte vectors
 table ByteVector {
-  data:[uint8];
+  data:[uint8] (id: 0);
 }
 root_type ByteVector;
diff --git a/schemas/flatbuffer/CameraCalibration.fbs b/schemas/flatbuffer/CameraCalibration.fbs
index 235ad63..6c54c82 100644
--- a/schemas/flatbuffer/CameraCalibration.fbs
+++ b/schemas/flatbuffer/CameraCalibration.fbs
@@ -7,24 +7,24 @@ namespace foxglove;
 /// Camera calibration parameters
 table CameraCalibration {
   /// Timestamp of calibration data
-  timestamp:Time;
+  timestamp:Time (id: 0);
 
   /// Frame of reference for the camera. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image.
-  frame_id:string;
+  frame_id:string (id: 1);
 
   /// Image width
-  width:uint32;
+  width:uint32 (id: 2);
 
   /// Image height
-  height:uint32;
+  height:uint32 (id: 3);
 
   /// Name of distortion model
   /// 
   /// Supported parameters: `plumb_bob` (k1, k2, p1, p2, k3) and `rational_polynomial` (k1, k2, p1, p2, k3, k4, k5, k6). Distortion models are based on [OpenCV's](https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html) [pinhole camera model](https://en.wikipedia.org/wiki/Distortion_%28optics%29#Software_correction). This is the same [implementation used by ROS](http://docs.ros.org/en/diamondback/api/image_geometry/html/c++/pinhole__camera__model_8cpp_source.html)
-  distortion_model:string;
+  distortion_model:string (id: 4);
 
   /// Distortion parameters
-  d:[double];
+  d:[double] (id: 5);
 
   /// Intrinsic camera matrix (3x3 row-major matrix)
   /// 
@@ -38,13 +38,13 @@ table CameraCalibration {
   ///     [ 0  0  1]
   /// ```
   /// length 9
-  k:[double];
+  k:[double] (id: 6);
 
   /// Rectification matrix (stereo cameras only, 3x3 row-major matrix)
   /// 
   /// A rotation matrix aligning the camera coordinate system to the ideal stereo image plane so that epipolar lines in both stereo images are parallel.
   /// length 9
-  r:[double];
+  r:[double] (id: 7);
 
   /// Projection/camera matrix (3x4 row-major matrix)
   /// 
@@ -72,7 +72,7 @@ table CameraCalibration {
   /// 
   /// This holds for both images of a stereo pair.
   /// length 12
-  p:[double];
+  p:[double] (id: 8);
 }
 
 root_type CameraCalibration;
diff --git a/schemas/flatbuffer/CircleAnnotation.fbs b/schemas/flatbuffer/CircleAnnotation.fbs
index 843b087..312624e 100644
--- a/schemas/flatbuffer/CircleAnnotation.fbs
+++ b/schemas/flatbuffer/CircleAnnotation.fbs
@@ -9,22 +9,22 @@ namespace foxglove;
 /// A circle annotation on a 2D image
 table CircleAnnotation {
   /// Timestamp of circle
-  timestamp:Time;
+  timestamp:Time (id: 0);
 
   /// Center of the circle in 2D image coordinates (pixels)
-  position:foxglove.Point2;
+  position:foxglove.Point2 (id: 1);
 
   /// Circle diameter in pixels
-  diameter:double;
+  diameter:double (id: 2);
 
   /// Line thickness in pixels
-  thickness:double;
+  thickness:double (id: 3);
 
   /// Fill color
-  fill_color:foxglove.Color;
+  fill_color:foxglove.Color (id: 4);
 
   /// Outline color
-  outline_color:foxglove.Color;
+  outline_color:foxglove.Color (id: 5);
 }
 
 root_type CircleAnnotation;
diff --git a/schemas/flatbuffer/Color.fbs b/schemas/flatbuffer/Color.fbs
index 9c48fed..12e160a 100644
--- a/schemas/flatbuffer/Color.fbs
+++ b/schemas/flatbuffer/Color.fbs
@@ -5,16 +5,16 @@ namespace foxglove;
 /// A color in RGBA format
 table Color {
   /// Red value between 0 and 1
-  r:double = 1.0;
+  r:double = 1.0 (id: 0);
 
   /// Green value between 0 and 1
-  g:double = 1.0;
+  g:double = 1.0 (id: 1);
 
   /// Blue value between 0 and 1
-  b:double = 1.0;
+  b:double = 1.0 (id: 2);
 
   /// Alpha value between 0 and 1
-  a:double = 1.0;
+  a:double = 1.0 (id: 3);
 }
 
 root_type Color;
diff --git a/schemas/flatbuffer/CompressedImage.fbs b/schemas/flatbuffer/CompressedImage.fbs
index 7e8acc5..e5314ea 100644
--- a/schemas/flatbuffer/CompressedImage.fbs
+++ b/schemas/flatbuffer/CompressedImage.fbs
@@ -7,18 +7,18 @@ namespace foxglove;
 /// A compressed image
 table CompressedImage {
   /// Timestamp of image
-  timestamp:Time;
+  timestamp:Time (id: 0);
 
   /// Frame of reference for the image. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image.
-  frame_id:string;
+  frame_id:string (id: 1);
 
   /// Compressed image data
-  data:[uint8];
+  data:[uint8] (id: 2);
 
   /// Image format
   /// 
   /// Supported values: image media types supported by Chrome, such as `webp`, `jpeg`, `png`
-  format:string;
+  format:string (id: 3);
 }
 
 root_type CompressedImage;
diff --git a/schemas/flatbuffer/CompressedVideo.fbs b/schemas/flatbuffer/CompressedVideo.fbs
index 8d1a67f..0a9a1a6 100644
--- a/schemas/flatbuffer/CompressedVideo.fbs
+++ b/schemas/flatbuffer/CompressedVideo.fbs
@@ -7,22 +7,22 @@ namespace foxglove;
 /// A single frame of a compressed video bitstream
 table CompressedVideo {
   /// Timestamp of video frame
-  timestamp:Time;
+  timestamp:Time (id: 0);
 
   /// Frame of reference for the video.
   /// 
   /// The origin of the frame is the optical center of the camera. +x points to the right in the video, +y points down, and +z points into the plane of the video.
-  frame_id:string;
+  frame_id:string (id: 1);
 
   /// Compressed video frame data.
   /// 
   /// For packet-based video codecs this data must begin and end on packet boundaries (no partial packets), and must contain enough video packets to decode exactly one image (either a keyframe or delta frame). Note: Foxglove does not support video streams that include B frames because they require lookahead.
-  data:[uint8];
+  data:[uint8] (id: 2);
 
   /// Video format.
   /// 
   /// Supported values: `h264` (Annex B formatted data only)
-  format:string;
+  format:string (id: 3);
 }
 
 root_type CompressedVideo;
diff --git a/schemas/flatbuffer/CubePrimitive.fbs b/schemas/flatbuffer/CubePrimitive.fbs
index 392a568..580ce05 100644
--- a/schemas/flatbuffer/CubePrimitive.fbs
+++ b/schemas/flatbuffer/CubePrimitive.fbs
@@ -9,13 +9,13 @@ namespace foxglove;
 /// A primitive representing a cube or rectangular prism
 table CubePrimitive {
   /// Position of the center of the cube and orientation of the cube
-  pose:foxglove.Pose;
+  pose:foxglove.Pose (id: 0);
 
   /// Size of the cube along each axis
-  size:foxglove.Vector3;
+  size:foxglove.Vector3 (id: 1);
 
   /// Color of the cube
-  color:foxglove.Color;
+  color:foxglove.Color (id: 2);
 }
 
 root_type CubePrimitive;
diff --git a/schemas/flatbuffer/CylinderPrimitive.fbs b/schemas/flatbuffer/CylinderPrimitive.fbs
index 0b5391a..c13c13e 100644
--- a/schemas/flatbuffer/CylinderPrimitive.fbs
+++ b/schemas/flatbuffer/CylinderPrimitive.fbs
@@ -9,19 +9,19 @@ namespace foxglove;
 /// A primitive representing a cylinder, elliptic cylinder, or truncated cone
 table CylinderPrimitive {
   /// Position of the center of the cylinder and orientation of the cylinder. The flat face(s) are perpendicular to the z-axis.
-  pose:foxglove.Pose;
+  pose:foxglove.Pose (id: 0);
 
   /// Size of the cylinder's bounding box
-  size:foxglove.Vector3;
+  size:foxglove.Vector3 (id: 1);
 
   /// 0-1, ratio of the diameter of the cylinder's bottom face (min z) to the bottom of the bounding box
-  bottom_scale:double;
+  bottom_scale:double (id: 2);
 
   /// 0-1, ratio of the diameter of the cylinder's top face (max z) to the top of the bounding box
-  top_scale:double;
+  top_scale:double (id: 3);
 
   /// Color of the cylinder
-  color:foxglove.Color;
+  color:foxglove.Color (id: 4);
 }
 
 root_type CylinderPrimitive;
diff --git a/schemas/flatbuffer/Duration.fbs b/schemas/flatbuffer/Duration.fbs
index 72c0a02..001f21c 100644
--- a/schemas/flatbuffer/Duration.fbs
+++ b/schemas/flatbuffer/Duration.fbs
@@ -4,7 +4,7 @@ namespace foxglove;
 struct Duration {
   /// Signed seconds of the span of time. Must be from -315,576,000,000 to +315,576,000,000 inclusive.
   sec:int32;
-  /// if sec === 0 : -999,999,999 <= nsec <= +999,999,999 
+  /// if sec === 0 : -999,999,999 <= nsec <= +999,999,999
   /// otherwise sign of sec must match sign of nsec or be 0 and abs(nsec) <= 999,999,999
   nsec:int32;
 }
diff --git a/schemas/flatbuffer/FrameTransform.fbs b/schemas/flatbuffer/FrameTransform.fbs
index 129a85a..bb828d9 100644
--- a/schemas/flatbuffer/FrameTransform.fbs
+++ b/schemas/flatbuffer/FrameTransform.fbs
@@ -9,19 +9,19 @@ namespace foxglove;
 /// A transform between two reference frames in 3D space
 table FrameTransform {
   /// Timestamp of transform
-  timestamp:Time;
+  timestamp:Time (id: 0);
 
   /// Name of the parent frame
-  parent_frame_id:string;
+  parent_frame_id:string (id: 1);
 
   /// Name of the child frame
-  child_frame_id:string;
+  child_frame_id:string (id: 2);
 
   /// Translation component of the transform
-  translation:foxglove.Vector3;
+  translation:foxglove.Vector3 (id: 3);
 
   /// Rotation component of the transform
-  rotation:foxglove.Quaternion;
+  rotation:foxglove.Quaternion (id: 4);
 }
 
 root_type FrameTransform;
diff --git a/schemas/flatbuffer/FrameTransforms.fbs b/schemas/flatbuffer/FrameTransforms.fbs
index ac52764..620110a 100644
--- a/schemas/flatbuffer/FrameTransforms.fbs
+++ b/schemas/flatbuffer/FrameTransforms.fbs
@@ -7,7 +7,7 @@ namespace foxglove;
 /// An array of FrameTransform messages
 table FrameTransforms {
   /// Array of transforms
-  transforms:[foxglove.FrameTransform];
+  transforms:[foxglove.FrameTransform] (id: 0);
 }
 
 root_type FrameTransforms;
diff --git a/schemas/flatbuffer/GeoJSON.fbs b/schemas/flatbuffer/GeoJSON.fbs
index c571c48..8e68980 100644
--- a/schemas/flatbuffer/GeoJSON.fbs
+++ b/schemas/flatbuffer/GeoJSON.fbs
@@ -5,7 +5,7 @@ namespace foxglove;
 /// GeoJSON data for annotating maps
 table GeoJSON {
   /// GeoJSON data encoded as a UTF-8 string
-  geojson:string;
+  geojson:string (id: 0);
 }
 
 root_type GeoJSON;
diff --git a/schemas/flatbuffer/Grid.fbs b/schemas/flatbuffer/Grid.fbs
index 49d79d1..e9f1c17 100644
--- a/schemas/flatbuffer/Grid.fbs
+++ b/schemas/flatbuffer/Grid.fbs
@@ -10,31 +10,31 @@ namespace foxglove;
 /// A 2D grid of data
 table Grid {
   /// Timestamp of grid
-  timestamp:Time;
+  timestamp:Time (id: 0);
 
   /// Frame of reference
-  frame_id:string;
+  frame_id:string (id: 1);
 
   /// Origin of grid's corner relative to frame of reference; grid is positioned in the x-y plane relative to this origin
-  pose:foxglove.Pose;
+  pose:foxglove.Pose (id: 2);
 
   /// Number of grid columns
-  column_count:uint32;
+  column_count:uint32 (id: 3);
 
   /// Size of single grid cell along x and y axes, relative to `pose`
-  cell_size:foxglove.Vector2;
+  cell_size:foxglove.Vector2 (id: 4);
 
   /// Number of bytes between rows in `data`
-  row_stride:uint32;
+  row_stride:uint32 (id: 5);
 
   /// Number of bytes between cells within a row in `data`
-  cell_stride:uint32;
+  cell_stride:uint32 (id: 6);
 
   /// Fields in `data`. `red`, `green`, `blue`, and `alpha` are optional for customizing the grid's color.
-  fields:[foxglove.PackedElementField];
+  fields:[foxglove.PackedElementField] (id: 7);
 
   /// Grid cell data, interpreted using `fields`, in row-major (y-major) order
-  data:[uint8];
+  data:[uint8] (id: 8);
 }
 
 root_type Grid;
diff --git a/schemas/flatbuffer/ImageAnnotations.fbs b/schemas/flatbuffer/ImageAnnotations.fbs
index 5eb331c..cddd82f 100644
--- a/schemas/flatbuffer/ImageAnnotations.fbs
+++ b/schemas/flatbuffer/ImageAnnotations.fbs
@@ -9,13 +9,13 @@ namespace foxglove;
 /// Array of annotations for a 2D image
 table ImageAnnotations {
   /// Circle annotations
-  circles:[foxglove.CircleAnnotation];
+  circles:[foxglove.CircleAnnotation] (id: 0);
 
   /// Points annotations
-  points:[foxglove.PointsAnnotation];
+  points:[foxglove.PointsAnnotation] (id: 1);
 
   /// Text annotations
-  texts:[foxglove.TextAnnotation];
+  texts:[foxglove.TextAnnotation] (id: 2);
 }
 
 root_type ImageAnnotations;
diff --git a/schemas/flatbuffer/KeyValuePair.fbs b/schemas/flatbuffer/KeyValuePair.fbs
index 3c24830..786b6e0 100644
--- a/schemas/flatbuffer/KeyValuePair.fbs
+++ b/schemas/flatbuffer/KeyValuePair.fbs
@@ -5,10 +5,10 @@ namespace foxglove;
 /// A key with its associated value
 table KeyValuePair {
   /// Key
-  key:string;
+  key:string (id: 0);
 
   /// Value
-  value:string;
+  value:string (id: 1);
 }
 
 root_type KeyValuePair;
diff --git a/schemas/flatbuffer/LaserScan.fbs b/schemas/flatbuffer/LaserScan.fbs
index 2a7e651..c7cf3da 100644
--- a/schemas/flatbuffer/LaserScan.fbs
+++ b/schemas/flatbuffer/LaserScan.fbs
@@ -8,25 +8,25 @@ namespace foxglove;
 /// A single scan from a planar laser range-finder
 table LaserScan {
   /// Timestamp of scan
-  timestamp:Time;
+  timestamp:Time (id: 0);
 
   /// Frame of reference
-  frame_id:string;
+  frame_id:string (id: 1);
 
   /// Origin of scan relative to frame of reference; points are positioned in the x-y plane relative to this origin; angles are interpreted as counterclockwise rotations around the z axis with 0 rad being in the +x direction
-  pose:foxglove.Pose;
+  pose:foxglove.Pose (id: 2);
 
   /// Bearing of first point, in radians
-  start_angle:double;
+  start_angle:double (id: 3);
 
   /// Bearing of last point, in radians
-  end_angle:double;
+  end_angle:double (id: 4);
 
   /// Distance of detections from origin; assumed to be at equally-spaced angles between `start_angle` and `end_angle`
-  ranges:[double];
+  ranges:[double] (id: 5);
 
   /// Intensity of detections
-  intensities:[double];
+  intensities:[double] (id: 6);
 }
 
 root_type LaserScan;
diff --git a/schemas/flatbuffer/LinePrimitive.fbs b/schemas/flatbuffer/LinePrimitive.fbs
index 6978c3a..ab67676 100644
--- a/schemas/flatbuffer/LinePrimitive.fbs
+++ b/schemas/flatbuffer/LinePrimitive.fbs
@@ -20,30 +20,30 @@ enum LineType : ubyte {
 /// A primitive representing a series of points connected by lines
 table LinePrimitive {
   /// Drawing primitive to use for lines
-  type:LineType;
+  type:LineType (id: 0);
 
   /// Origin of lines relative to reference frame
-  pose:foxglove.Pose;
+  pose:foxglove.Pose (id: 1);
 
   /// Line thickness
-  thickness:double;
+  thickness:double (id: 2);
 
   /// Indicates whether `thickness` is a fixed size in screen pixels (true), or specified in world coordinates and scales with distance from the camera (false)
-  scale_invariant:bool;
+  scale_invariant:bool (id: 3);
 
   /// Points along the line
-  points:[foxglove.Point3];
+  points:[foxglove.Point3] (id: 4);
 
   /// Solid color to use for the whole line. One of `color` or `colors` must be provided.
-  color:foxglove.Color;
+  color:foxglove.Color (id: 5);
 
   /// Per-point colors (if specified, must have the same length as `points`). One of `color` or `colors` must be provided.
-  colors:[foxglove.Color];
+  colors:[foxglove.Color] (id: 6);
 
   /// Indices into the `points` and `colors` attribute arrays, which can be used to avoid duplicating attribute data.
   /// 
   /// If omitted or empty, indexing will not be used. This default behavior is equivalent to specifying [0, 1, ..., N-1] for the indices (where N is the number of `points` provided).
-  indices:[uint32];
+  indices:[uint32] (id: 7);
 }
 
 root_type LinePrimitive;
diff --git a/schemas/flatbuffer/LocationFix.fbs b/schemas/flatbuffer/LocationFix.fbs
index 9db5a59..147a507 100644
--- a/schemas/flatbuffer/LocationFix.fbs
+++ b/schemas/flatbuffer/LocationFix.fbs
@@ -17,26 +17,26 @@ enum PositionCovarianceType : ubyte {
 /// A navigation satellite fix for any Global Navigation Satellite System
 table LocationFix {
   /// Timestamp of the message
-  timestamp:Time;
+  timestamp:Time (id: 0);
 
   /// Frame for the sensor. Latitude and longitude readings are at the origin of the frame.
-  frame_id:string;
+  frame_id:string (id: 1);
 
   /// Latitude in degrees
-  latitude:double;
+  latitude:double (id: 2);
 
   /// Longitude in degrees
-  longitude:double;
+  longitude:double (id: 3);
 
   /// Altitude in meters
-  altitude:double;
+  altitude:double (id: 4);
 
   /// Position covariance (m^2) defined relative to a tangential plane through the reported position. The components are East, North, and Up (ENU), in row-major order.
   /// length 9
-  position_covariance:[double];
+  position_covariance:[double] (id: 5);
 
   /// If `position_covariance` is available, `position_covariance_type` must be set to indicate the type of covariance.
-  position_covariance_type:PositionCovarianceType;
+  position_covariance_type:PositionCovarianceType (id: 6);
 }
 
 root_type LocationFix;
diff --git a/schemas/flatbuffer/Log.fbs b/schemas/flatbuffer/Log.fbs
index d1f2f19..3abee4c 100644
--- a/schemas/flatbuffer/Log.fbs
+++ b/schemas/flatbuffer/Log.fbs
@@ -21,22 +21,22 @@ enum LogLevel : ubyte {
 /// A log message
 table Log {
   /// Timestamp of log message
-  timestamp:Time;
+  timestamp:Time (id: 0);
 
   /// Log level
-  level:LogLevel;
+  level:LogLevel (id: 1);
 
   /// Log message
-  message:string;
+  message:string (id: 2);
 
   /// Process or node name
-  name:string;
+  name:string (id: 3);
 
   /// Filename
-  file:string;
+  file:string (id: 4);
 
   /// Line number in the file
-  line:uint32;
+  line:uint32 (id: 5);
 }
 
 root_type Log;
diff --git a/schemas/flatbuffer/ModelPrimitive.fbs b/schemas/flatbuffer/ModelPrimitive.fbs
index c6493f8..d1c85b4 100644
--- a/schemas/flatbuffer/ModelPrimitive.fbs
+++ b/schemas/flatbuffer/ModelPrimitive.fbs
@@ -9,25 +9,25 @@ namespace foxglove;
 /// A primitive representing a 3D model file loaded from an external URL or embedded data
 table ModelPrimitive {
   /// Origin of model relative to reference frame
-  pose:foxglove.Pose;
+  pose:foxglove.Pose (id: 0);
 
   /// Scale factor to apply to the model along each axis
-  scale:foxglove.Vector3;
+  scale:foxglove.Vector3 (id: 1);
 
   /// Solid color to use for the whole model if `override_color` is true.
-  color:foxglove.Color;
+  color:foxglove.Color (id: 2);
 
   /// Whether to use the color specified in `color` instead of any materials embedded in the original model.
-  override_color:bool;
+  override_color:bool (id: 3);
 
   /// URL pointing to model file. One of `url` or `data` should be provided.
-  url:string;
+  url:string (id: 4);
 
   /// [Media type](https://developer.mozilla.org/en-US/docs/Web/HTTP/Basics_of_HTTP/MIME_types) of embedded model (e.g. `model/gltf-binary`). Required if `data` is provided instead of `url`. Overrides the inferred media type if `url` is provided.
-  media_type:string;
+  media_type:string (id: 5);
 
   /// Embedded model. One of `url` or `data` should be provided. If `data` is provided, `media_type` must be set to indicate the type of the data.
-  data:[uint8];
+  data:[uint8] (id: 6);
 }
 
 root_type ModelPrimitive;
diff --git a/schemas/flatbuffer/PackedElementField.fbs b/schemas/flatbuffer/PackedElementField.fbs
index a25f5a9..621b0f7 100644
--- a/schemas/flatbuffer/PackedElementField.fbs
+++ b/schemas/flatbuffer/PackedElementField.fbs
@@ -25,13 +25,13 @@ enum NumericType : ubyte {
 /// A field present within each element in a byte array of packed elements.
 table PackedElementField {
   /// Name of the field
-  name:string;
+  name:string (id: 0);
 
   /// Byte offset from start of data buffer
-  offset:uint32;
+  offset:uint32 (id: 1);
 
   /// Type of data in the field. Integers are stored using little-endian byte order.
-  type:NumericType;
+  type:NumericType (id: 2);
 }
 
 root_type PackedElementField;
diff --git a/schemas/flatbuffer/Point2.fbs b/schemas/flatbuffer/Point2.fbs
index 17dd980..0d5e3f1 100644
--- a/schemas/flatbuffer/Point2.fbs
+++ b/schemas/flatbuffer/Point2.fbs
@@ -5,10 +5,10 @@ namespace foxglove;
 /// A point representing a position in 2D space
 table Point2 {
   /// x coordinate position
-  x:double;
+  x:double (id: 0);
 
   /// y coordinate position
-  y:double;
+  y:double (id: 1);
 }
 
 root_type Point2;
diff --git a/schemas/flatbuffer/Point3.fbs b/schemas/flatbuffer/Point3.fbs
index c497bd1..0b44e5d 100644
--- a/schemas/flatbuffer/Point3.fbs
+++ b/schemas/flatbuffer/Point3.fbs
@@ -5,13 +5,13 @@ namespace foxglove;
 /// A point representing a position in 3D space
 table Point3 {
   /// x coordinate position
-  x:double;
+  x:double (id: 0);
 
   /// y coordinate position
-  y:double;
+  y:double (id: 1);
 
   /// z coordinate position
-  z:double;
+  z:double (id: 2);
 }
 
 root_type Point3;
diff --git a/schemas/flatbuffer/PointCloud.fbs b/schemas/flatbuffer/PointCloud.fbs
index a26616c..369f5bc 100644
--- a/schemas/flatbuffer/PointCloud.fbs
+++ b/schemas/flatbuffer/PointCloud.fbs
@@ -9,22 +9,22 @@ namespace foxglove;
 /// A collection of N-dimensional points, which may contain additional fields with information like normals, intensity, etc.
 table PointCloud {
   /// Timestamp of point cloud
-  timestamp:Time;
+  timestamp:Time (id: 0);
 
   /// Frame of reference
-  frame_id:string;
+  frame_id:string (id: 1);
 
   /// The origin of the point cloud relative to the frame of reference
-  pose:foxglove.Pose;
+  pose:foxglove.Pose (id: 2);
 
   /// Number of bytes between points in the `data`
-  point_stride:uint32;
+  point_stride:uint32 (id: 3);
 
   /// Fields in `data`. At least 2 coordinate fields from `x`, `y`, and `z` are required for each point's position; `red`, `green`, `blue`, and `alpha` are optional for customizing each point's color.
-  fields:[foxglove.PackedElementField];
+  fields:[foxglove.PackedElementField] (id: 4);
 
   /// Point data, interpreted using `fields`
-  data:[uint8];
+  data:[uint8] (id: 5);
 }
 
 root_type PointCloud;
diff --git a/schemas/flatbuffer/PointsAnnotation.fbs b/schemas/flatbuffer/PointsAnnotation.fbs
index 69da73b..e5559dc 100644
--- a/schemas/flatbuffer/PointsAnnotation.fbs
+++ b/schemas/flatbuffer/PointsAnnotation.fbs
@@ -25,25 +25,25 @@ enum PointsAnnotationType : ubyte {
 /// An array of points on a 2D image
 table PointsAnnotation {
   /// Timestamp of annotation
-  timestamp:Time;
+  timestamp:Time (id: 0);
 
   /// Type of points annotation to draw
-  type:PointsAnnotationType;
+  type:PointsAnnotationType (id: 1);
 
   /// Points in 2D image coordinates (pixels)
-  points:[foxglove.Point2];
+  points:[foxglove.Point2] (id: 2);
 
   /// Outline color
-  outline_color:foxglove.Color;
+  outline_color:foxglove.Color (id: 3);
 
   /// Per-point colors, if `type` is `POINTS`, or per-segment stroke colors, if `type` is `LINE_LIST`, `LINE_STRIP` or `LINE_LOOP`.
-  outline_colors:[foxglove.Color];
+  outline_colors:[foxglove.Color] (id: 4);
 
   /// Fill color
-  fill_color:foxglove.Color;
+  fill_color:foxglove.Color (id: 5);
 
   /// Stroke thickness in pixels
-  thickness:double;
+  thickness:double (id: 6);
 }
 
 root_type PointsAnnotation;
diff --git a/schemas/flatbuffer/Pose.fbs b/schemas/flatbuffer/Pose.fbs
index 688a80c..4f415bd 100644
--- a/schemas/flatbuffer/Pose.fbs
+++ b/schemas/flatbuffer/Pose.fbs
@@ -8,10 +8,10 @@ namespace foxglove;
 /// A position and orientation for an object or reference frame in 3D space
 table Pose {
   /// Point denoting position in 3D space
-  position:foxglove.Vector3;
+  position:foxglove.Vector3 (id: 0);
 
   /// Quaternion denoting orientation in 3D space
-  orientation:foxglove.Quaternion;
+  orientation:foxglove.Quaternion (id: 1);
 }
 
 root_type Pose;
diff --git a/schemas/flatbuffer/PoseInFrame.fbs b/schemas/flatbuffer/PoseInFrame.fbs
index 0642564..31aec35 100644
--- a/schemas/flatbuffer/PoseInFrame.fbs
+++ b/schemas/flatbuffer/PoseInFrame.fbs
@@ -8,13 +8,13 @@ namespace foxglove;
 /// A timestamped pose for an object or reference frame in 3D space
 table PoseInFrame {
   /// Timestamp of pose
-  timestamp:Time;
+  timestamp:Time (id: 0);
 
   /// Frame of reference for pose position and orientation
-  frame_id:string;
+  frame_id:string (id: 1);
 
   /// Pose in 3D space
-  pose:foxglove.Pose;
+  pose:foxglove.Pose (id: 2);
 }
 
 root_type PoseInFrame;
diff --git a/schemas/flatbuffer/PosesInFrame.fbs b/schemas/flatbuffer/PosesInFrame.fbs
index b98e64a..f0cb1cc 100644
--- a/schemas/flatbuffer/PosesInFrame.fbs
+++ b/schemas/flatbuffer/PosesInFrame.fbs
@@ -8,13 +8,13 @@ namespace foxglove;
 /// An array of timestamped poses for an object or reference frame in 3D space
 table PosesInFrame {
   /// Timestamp of pose
-  timestamp:Time;
+  timestamp:Time (id: 0);
 
   /// Frame of reference for pose position and orientation
-  frame_id:string;
+  frame_id:string (id: 1);
 
   /// Poses in 3D space
-  poses:[foxglove.Pose];
+  poses:[foxglove.Pose] (id: 2);
 }
 
 root_type PosesInFrame;
diff --git a/schemas/flatbuffer/Quaternion.fbs b/schemas/flatbuffer/Quaternion.fbs
index 409d24f..869c168 100644
--- a/schemas/flatbuffer/Quaternion.fbs
+++ b/schemas/flatbuffer/Quaternion.fbs
@@ -5,16 +5,16 @@ namespace foxglove;
 /// A [quaternion](https://eater.net/quaternions) representing a rotation in 3D space
 table Quaternion {
   /// x value
-  x:double;
+  x:double (id: 0);
 
   /// y value
-  y:double;
+  y:double (id: 1);
 
   /// z value
-  z:double;
+  z:double (id: 2);
 
   /// w value
-  w:double = 1.0;
+  w:double = 1.0 (id: 3);
 }
 
 root_type Quaternion;
diff --git a/schemas/flatbuffer/RawImage.fbs b/schemas/flatbuffer/RawImage.fbs
index 2dbb879..e1e1e21 100644
--- a/schemas/flatbuffer/RawImage.fbs
+++ b/schemas/flatbuffer/RawImage.fbs
@@ -7,27 +7,27 @@ namespace foxglove;
 /// A raw image
 table RawImage {
   /// Timestamp of image
-  timestamp:Time;
+  timestamp:Time (id: 0);
 
   /// Frame of reference for the image. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image.
-  frame_id:string;
+  frame_id:string (id: 1);
 
   /// Image width
-  width:uint32;
+  width:uint32 (id: 2);
 
   /// Image height
-  height:uint32;
+  height:uint32 (id: 3);
 
   /// Encoding of the raw image data
   /// 
   /// Supported values: `8UC1`, `8UC3`, `16UC1`, `32FC1`, `bayer_bggr8`, `bayer_gbrg8`, `bayer_grbg8`, `bayer_rggb8`, `bgr8`, `bgra8`, `mono8`, `mono16`, `rgb8`, `rgba8`, `uyvy` or `yuv422`, `yuyv` or `yuv422_yuy2`
-  encoding:string;
+  encoding:string (id: 4);
 
   /// Byte length of a single row
-  step:uint32;
+  step:uint32 (id: 5);
 
   /// Raw image data
-  data:[uint8];
+  data:[uint8] (id: 6);
 }
 
 root_type RawImage;
diff --git a/schemas/flatbuffer/SceneEntity.fbs b/schemas/flatbuffer/SceneEntity.fbs
index d2f1cfc..4b638a9 100644
--- a/schemas/flatbuffer/SceneEntity.fbs
+++ b/schemas/flatbuffer/SceneEntity.fbs
@@ -17,46 +17,46 @@ namespace foxglove;
 /// A visual element in a 3D scene. An entity may be composed of multiple primitives which all share the same frame of reference.
 table SceneEntity {
   /// Timestamp of the entity
-  timestamp:Time;
+  timestamp:Time (id: 0);
 
   /// Frame of reference
-  frame_id:string;
+  frame_id:string (id: 1);
 
   /// Identifier for the entity. A entity will replace any prior entity on the same topic with the same `id`.
-  id:string;
+  id:string (id: 2);
 
   /// Length of time (relative to `timestamp`) after which the entity should be automatically removed. Zero value indicates the entity should remain visible until it is replaced or deleted.
-  lifetime:Duration;
+  lifetime:Duration (id: 3);
 
   /// Whether the entity should keep its location in the fixed frame (false) or follow the frame specified in `frame_id` as it moves relative to the fixed frame (true)
-  frame_locked:bool;
+  frame_locked:bool (id: 4);
 
   /// Additional user-provided metadata associated with the entity. Keys must be unique.
-  metadata:[foxglove.KeyValuePair];
+  metadata:[foxglove.KeyValuePair] (id: 5);
 
   /// Arrow primitives
-  arrows:[foxglove.ArrowPrimitive];
+  arrows:[foxglove.ArrowPrimitive] (id: 6);
 
   /// Cube primitives
-  cubes:[foxglove.CubePrimitive];
+  cubes:[foxglove.CubePrimitive] (id: 7);
 
   /// Sphere primitives
-  spheres:[foxglove.SpherePrimitive];
+  spheres:[foxglove.SpherePrimitive] (id: 8);
 
   /// Cylinder primitives
-  cylinders:[foxglove.CylinderPrimitive];
+  cylinders:[foxglove.CylinderPrimitive] (id: 9);
 
   /// Line primitives
-  lines:[foxglove.LinePrimitive];
+  lines:[foxglove.LinePrimitive] (id: 10);
 
   /// Triangle list primitives
-  triangles:[foxglove.TriangleListPrimitive];
+  triangles:[foxglove.TriangleListPrimitive] (id: 11);
 
   /// Text primitives
-  texts:[foxglove.TextPrimitive];
+  texts:[foxglove.TextPrimitive] (id: 12);
 
   /// Model primitives
-  models:[foxglove.ModelPrimitive];
+  models:[foxglove.ModelPrimitive] (id: 13);
 }
 
 root_type SceneEntity;
diff --git a/schemas/flatbuffer/SceneEntityDeletion.fbs b/schemas/flatbuffer/SceneEntityDeletion.fbs
index 8cec716..b679310 100644
--- a/schemas/flatbuffer/SceneEntityDeletion.fbs
+++ b/schemas/flatbuffer/SceneEntityDeletion.fbs
@@ -15,13 +15,13 @@ enum SceneEntityDeletionType : ubyte {
 /// Command to remove previously published entities
 table SceneEntityDeletion {
   /// Timestamp of the deletion. Only matching entities earlier than this timestamp will be deleted.
-  timestamp:Time;
+  timestamp:Time (id: 0);
 
   /// Type of deletion action to perform
-  type:SceneEntityDeletionType;
+  type:SceneEntityDeletionType (id: 1);
 
   /// Identifier which must match if `type` is `MATCHING_ID`.
-  id:string;
+  id:string (id: 2);
 }
 
 root_type SceneEntityDeletion;
diff --git a/schemas/flatbuffer/SceneUpdate.fbs b/schemas/flatbuffer/SceneUpdate.fbs
index 8d7dbe6..1abe919 100644
--- a/schemas/flatbuffer/SceneUpdate.fbs
+++ b/schemas/flatbuffer/SceneUpdate.fbs
@@ -8,10 +8,10 @@ namespace foxglove;
 /// An update to the entities displayed in a 3D scene
 table SceneUpdate {
   /// Scene entities to delete
-  deletions:[foxglove.SceneEntityDeletion];
+  deletions:[foxglove.SceneEntityDeletion] (id: 0);
 
   /// Scene entities to add or replace
-  entities:[foxglove.SceneEntity];
+  entities:[foxglove.SceneEntity] (id: 1);
 }
 
 root_type SceneUpdate;
diff --git a/schemas/flatbuffer/SpherePrimitive.fbs b/schemas/flatbuffer/SpherePrimitive.fbs
index 5f51499..8a704c1 100644
--- a/schemas/flatbuffer/SpherePrimitive.fbs
+++ b/schemas/flatbuffer/SpherePrimitive.fbs
@@ -9,13 +9,13 @@ namespace foxglove;
 /// A primitive representing a sphere or ellipsoid
 table SpherePrimitive {
   /// Position of the center of the sphere and orientation of the sphere
-  pose:foxglove.Pose;
+  pose:foxglove.Pose (id: 0);
 
   /// Size (diameter) of the sphere along each axis
-  size:foxglove.Vector3;
+  size:foxglove.Vector3 (id: 1);
 
   /// Color of the sphere
-  color:foxglove.Color;
+  color:foxglove.Color (id: 2);
 }
 
 root_type SpherePrimitive;
diff --git a/schemas/flatbuffer/TextAnnotation.fbs b/schemas/flatbuffer/TextAnnotation.fbs
index 6555e1b..94d406a 100644
--- a/schemas/flatbuffer/TextAnnotation.fbs
+++ b/schemas/flatbuffer/TextAnnotation.fbs
@@ -9,22 +9,22 @@ namespace foxglove;
 /// A text label on a 2D image
 table TextAnnotation {
   /// Timestamp of annotation
-  timestamp:Time;
+  timestamp:Time (id: 0);
 
   /// Bottom-left origin of the text label in 2D image coordinates (pixels)
-  position:foxglove.Point2;
+  position:foxglove.Point2 (id: 1);
 
   /// Text to display
-  text:string;
+  text:string (id: 2);
 
   /// Font size in pixels
-  font_size:double = 12.0;
+  font_size:double = 12.0 (id: 3);
 
   /// Text color
-  text_color:foxglove.Color;
+  text_color:foxglove.Color (id: 4);
 
   /// Background fill color
-  background_color:foxglove.Color;
+  background_color:foxglove.Color (id: 5);
 }
 
 root_type TextAnnotation;
diff --git a/schemas/flatbuffer/TextPrimitive.fbs b/schemas/flatbuffer/TextPrimitive.fbs
index 742affc..77f17a2 100644
--- a/schemas/flatbuffer/TextPrimitive.fbs
+++ b/schemas/flatbuffer/TextPrimitive.fbs
@@ -8,22 +8,22 @@ namespace foxglove;
 /// A primitive representing a text label
 table TextPrimitive {
   /// Position of the center of the text box and orientation of the text. Identity orientation means the text is oriented in the xy-plane and flows from -x to +x.
-  pose:foxglove.Pose;
+  pose:foxglove.Pose (id: 0);
 
   /// Whether the text should respect `pose.orientation` (false) or always face the camera (true)
-  billboard:bool;
+  billboard:bool (id: 1);
 
   /// Font size (height of one line of text)
-  font_size:double;
+  font_size:double (id: 2);
 
   /// Indicates whether `font_size` is a fixed size in screen pixels (true), or specified in world coordinates and scales with distance from the camera (false)
-  scale_invariant:bool;
+  scale_invariant:bool (id: 3);
 
   /// Color of the text
-  color:foxglove.Color;
+  color:foxglove.Color (id: 4);
 
   /// Text
-  text:string;
+  text:string (id: 5);
 }
 
 root_type TextPrimitive;
diff --git a/schemas/flatbuffer/TriangleListPrimitive.fbs b/schemas/flatbuffer/TriangleListPrimitive.fbs
index f0233ac..658f43b 100644
--- a/schemas/flatbuffer/TriangleListPrimitive.fbs
+++ b/schemas/flatbuffer/TriangleListPrimitive.fbs
@@ -9,21 +9,21 @@ namespace foxglove;
 /// A primitive representing a set of triangles or a surface tiled by triangles
 table TriangleListPrimitive {
   /// Origin of triangles relative to reference frame
-  pose:foxglove.Pose;
+  pose:foxglove.Pose (id: 0);
 
   /// Vertices to use for triangles, interpreted as a list of triples (0-1-2, 3-4-5, ...)
-  points:[foxglove.Point3];
+  points:[foxglove.Point3] (id: 1);
 
   /// Solid color to use for the whole shape. One of `color` or `colors` must be provided.
-  color:foxglove.Color;
+  color:foxglove.Color (id: 2);
 
   /// Per-vertex colors (if specified, must have the same length as `points`). One of `color` or `colors` must be provided.
-  colors:[foxglove.Color];
+  colors:[foxglove.Color] (id: 3);
 
   /// Indices into the `points` and `colors` attribute arrays, which can be used to avoid duplicating attribute data.
   /// 
   /// If omitted or empty, indexing will not be used. This default behavior is equivalent to specifying [0, 1, ..., N-1] for the indices (where N is the number of `points` provided).
-  indices:[uint32];
+  indices:[uint32] (id: 4);
 }
 
 root_type TriangleListPrimitive;
diff --git a/schemas/flatbuffer/Vector2.fbs b/schemas/flatbuffer/Vector2.fbs
index 0c21dca..d3e1a31 100644
--- a/schemas/flatbuffer/Vector2.fbs
+++ b/schemas/flatbuffer/Vector2.fbs
@@ -5,10 +5,10 @@ namespace foxglove;
 /// A vector in 2D space that represents a direction only
 table Vector2 {
   /// x coordinate length
-  x:double = 1.0;
+  x:double = 1.0 (id: 0);
 
   /// y coordinate length
-  y:double = 1.0;
+  y:double = 1.0 (id: 1);
 }
 
 root_type Vector2;
diff --git a/schemas/flatbuffer/Vector3.fbs b/schemas/flatbuffer/Vector3.fbs
index 1555c31..f3c7fa6 100644
--- a/schemas/flatbuffer/Vector3.fbs
+++ b/schemas/flatbuffer/Vector3.fbs
@@ -5,13 +5,13 @@ namespace foxglove;
 /// A vector in 3D space that represents a direction only
 table Vector3 {
   /// x coordinate length
-  x:double = 1.0;
+  x:double = 1.0 (id: 0);
 
   /// y coordinate length
-  y:double = 1.0;
+  y:double = 1.0 (id: 1);
 
   /// z coordinate length
-  z:double = 1.0;
+  z:double = 1.0 (id: 2);
 }
 
 root_type Vector3;