diff --git a/poetry.lock b/poetry.lock
index 70d9e79c3..3b0e56370 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1618,19 +1618,19 @@ files = [
 
 [[package]]
 name = "mypy-protobuf"
-version = "3.3.0"
+version = "3.4.0"
 description = "Generate mypy stub files from protobuf specs"
 category = "dev"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "mypy-protobuf-3.3.0.tar.gz", hash = "sha256:24f3b0aecb06656e983f58e07c732a90577b9d7af3e1066fc2b663bbf0370248"},
-    {file = "mypy_protobuf-3.3.0-py3-none-any.whl", hash = "sha256:15604f6943b16c05db646903261e3b3e775cf7f7990b7c37b03d043a907b650d"},
+    {file = "mypy-protobuf-3.4.0.tar.gz", hash = "sha256:7d75a079651b105076776a35a5405e3fa773b8a167118f1b712e443e9a6c18a2"},
+    {file = "mypy_protobuf-3.4.0-py3-none-any.whl", hash = "sha256:da33dfde7547ff57e5ba5564126cbfa114f14413b2fa50759b1fa5de1e4ab511"},
 ]
 
 [package.dependencies]
-protobuf = ">=3.19.4"
-types-protobuf = ">=3.19.12"
+protobuf = ">=4.21.8"
+types-protobuf = ">=3.20.4"
 
 [[package]]
 name = "myst-nb"
@@ -2121,34 +2121,26 @@ wcwidth = "*"
 
 [[package]]
 name = "protobuf"
-version = "3.20.3"
-description = "Protocol Buffers"
+version = "4.21.12"
+description = ""
 category = "main"
 optional = false
 python-versions = ">=3.7"
 files = [
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+    {file = "protobuf-4.21.12-py3-none-any.whl", hash = "sha256:b98d0148f84e3a3c569e19f52103ca1feacdac0d2df8d6533cf983d1fda28462"},
+    {file = "protobuf-4.21.12.tar.gz", hash = "sha256:7cd532c4566d0e6feafecc1059d04c7915aec8e182d1cf7adee8b24ef1e2e6ab"},
 ]
 
 [[package]]
@@ -3463,4 +3455,4 @@ testing = ["flake8 (<5)", "func-timeout", "jaraco.functools", "jaraco.itertools"
 [metadata]
 lock-version = "2.0"
   python-versions = ">=3.8,<=3.11"
-content-hash = "a8eb3ec3e36432a13be6f346b23a944d55aaf1c908f783533e8d8d8424e3bc20"
+content-hash = "55ac51935ae04a436dd89ca36c066a4c9c8f587061efb9ae664b107376044386"
diff --git a/pyproject.toml b/pyproject.toml
index 068890449..5565adcef 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -16,7 +16,6 @@ include = ["LICENSE", "src/viam/rpc/libviam_rust_utils.*"]
   googleapis-common-protos = "^1.57.0"
   typing-extensions = "^4.4.0"
   Pillow = "^9.3.0"
-  protobuf = "3.20.3"
 
 [tool.poetry.group.dev.dependencies]
 pytest = "^7.2.0"
@@ -32,7 +31,7 @@ autopep8 = "^2.0.0"
 black = "^22.10.0"
 nbmake = "1.3.0"
 types-pillow = "^9.3.0.1"
-mypy-protobuf = "3.3.0"
+mypy-protobuf = "^3.3.0"
 tox = "^3.27.1"
 
 [tool.pytest.ini_options]
diff --git a/src/viam/gen/common/v1/common_pb2.py b/src/viam/gen/common/v1/common_pb2.py
index 006c04089..bb3409b5e 100644
--- a/src/viam/gen/common/v1/common_pb2.py
+++ b/src/viam/gen/common/v1/common_pb2.py
@@ -5,7 +5,7 @@
 from google.protobuf import symbol_database as _symbol_database
 _sym_db = _symbol_database.Default()
 from google.protobuf import descriptor_pb2 as google_dot_protobuf_dot_descriptor__pb2
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x16common/v1/common.proto\x12\x0eviam.common.v1\x1a google/protobuf/descriptor.proto"n\n\x0cResourceName\x12\x1c\n\tnamespace\x18\x01 \x01(\tR\tnamespace\x12\x12\n\x04type\x18\x02 \x01(\tR\x04type\x12\x18\n\x07subtype\x18\x03 \x01(\tR\x07subtype\x12\x12\n\x04name\x18\x04 \x01(\tR\x04name"\xfc\x02\n\x0bBoardStatus\x12B\n\x07analogs\x18\x01 \x03(\x0b2(.viam.common.v1.BoardStatus.AnalogsEntryR\x07analogs\x12a\n\x12digital_interrupts\x18\x02 \x03(\x0b22.viam.common.v1.BoardStatus.DigitalInterruptsEntryR\x11digitalInterrupts\x1aX\n\x0cAnalogsEntry\x12\x10\n\x03key\x18\x01 \x01(\tR\x03key\x122\n\x05value\x18\x02 \x01(\x0b2\x1c.viam.common.v1.AnalogStatusR\x05value:\x028\x01\x1al\n\x16DigitalInterruptsEntry\x12\x10\n\x03key\x18\x01 \x01(\tR\x03key\x12<\n\x05value\x18\x02 \x01(\x0b2&.viam.common.v1.DigitalInterruptStatusR\x05value:\x028\x01"$\n\x0cAnalogStatus\x12\x14\n\x05value\x18\x01 \x01(\x05R\x05value".\n\x16DigitalInterruptStatus\x12\x14\n\x05value\x18\x01 \x01(\x03R\x05value"y\n\x04Pose\x12\x0c\n\x01x\x18\x01 \x01(\x01R\x01x\x12\x0c\n\x01y\x18\x02 \x01(\x01R\x01y\x12\x0c\n\x01z\x18\x03 \x01(\x01R\x01z\x12\x0f\n\x03o_x\x18\x04 \x01(\x01R\x02oX\x12\x0f\n\x03o_y\x18\x05 \x01(\x01R\x02oY\x12\x0f\n\x03o_z\x18\x06 \x01(\x01R\x02oZ\x12\x14\n\x05theta\x18\x07 \x01(\x01R\x05theta"V\n\x0bOrientation\x12\x0f\n\x03o_x\x18\x01 \x01(\x01R\x02oX\x12\x0f\n\x03o_y\x18\x02 \x01(\x01R\x02oY\x12\x0f\n\x03o_z\x18\x03 \x01(\x01R\x02oZ\x12\x14\n\x05theta\x18\x04 \x01(\x01R\x05theta"`\n\x0bPoseInFrame\x12\'\n\x0freference_frame\x18\x01 \x01(\tR\x0ereferenceFrame\x12(\n\x04pose\x18\x02 \x01(\x0b2\x14.viam.common.v1.PoseR\x04pose"3\n\x07Vector3\x12\x0c\n\x01x\x18\x01 \x01(\x01R\x01x\x12\x0c\n\x01y\x18\x02 \x01(\x01R\x01y\x12\x0c\n\x01z\x18\x03 \x01(\x01R\x01z"%\n\x06Sphere\x12\x1b\n\tradius_mm\x18\x01 \x01(\x01R\x08radiusMm"D\n\x10RectangularPrism\x120\n\x07dims_mm\x18\x01 \x01(\x0b2\x17.viam.common.v1.Vector3R\x06dimsMm"\xc7\x01\n\x08Geometry\x12,\n\x06center\x18\x01 \x01(\x0b2\x14.viam.common.v1.PoseR\x06center\x120\n\x06sphere\x18\x02 \x01(\x0b2\x16.viam.common.v1.SphereH\x00R\x06sphere\x124\n\x03box\x18\x03 \x01(\x0b2 .viam.common.v1.RectangularPrismH\x00R\x03box\x12\x14\n\x05label\x18\x04 \x01(\tR\x05labelB\x0f\n\rgeometry_type"v\n\x11GeometriesInFrame\x12\'\n\x0freference_frame\x18\x01 \x01(\tR\x0ereferenceFrame\x128\n\ngeometries\x18\x02 \x03(\x0b2\x18.viam.common.v1.GeometryR\ngeometries"v\n\x10PointCloudObject\x12\x1f\n\x0bpoint_cloud\x18\x01 \x01(\x0cR\npointCloud\x12A\n\ngeometries\x18\x02 \x01(\x0b2!.viam.common.v1.GeometriesInFrameR\ngeometries"D\n\x08GeoPoint\x12\x1a\n\x08latitude\x18\x01 \x01(\x01R\x08latitude\x12\x1c\n\tlongitude\x18\x02 \x01(\x01R\tlongitude"\x86\x01\n\tTransform\x12\'\n\x0freference_frame\x18\x01 \x01(\tR\x0ereferenceFrame\x12P\n\x16pose_in_observer_frame\x18\x02 \x01(\x0b2\x1b.viam.common.v1.PoseInFrameR\x13poseInObserverFrame"\xda\x01\n\nWorldState\x12?\n\tobstacles\x18\x01 \x03(\x0b2!.viam.common.v1.GeometriesInFrameR\tobstacles\x12P\n\x12interaction_spaces\x18\x02 \x03(\x0b2!.viam.common.v1.GeometriesInFrameR\x11interactionSpaces\x129\n\ntransforms\x18\x03 \x03(\x0b2\x19.viam.common.v1.TransformR\ntransforms"-\n\x0eActuatorStatus\x12\x1b\n\tis_moving\x18\x01 \x01(\x08R\x08isMoving:a\n\x1asafety_heartbeat_monitored\x12\x1e.google.protobuf.MethodOptions\x18\xa4\x92\x05 \x01(\x08R\x18safetyHeartbeatMonitored\x88\x01\x01B/\n\x12com.viam.common.v1Z\x19go.viam.com/api/common/v1b\x06proto3')
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x16common/v1/common.proto\x12\x0eviam.common.v1\x1a google/protobuf/descriptor.proto"n\n\x0cResourceName\x12\x1c\n\tnamespace\x18\x01 \x01(\tR\tnamespace\x12\x12\n\x04type\x18\x02 \x01(\tR\x04type\x12\x18\n\x07subtype\x18\x03 \x01(\tR\x07subtype\x12\x12\n\x04name\x18\x04 \x01(\tR\x04name"\xfc\x02\n\x0bBoardStatus\x12B\n\x07analogs\x18\x01 \x03(\x0b2(.viam.common.v1.BoardStatus.AnalogsEntryR\x07analogs\x12a\n\x12digital_interrupts\x18\x02 \x03(\x0b22.viam.common.v1.BoardStatus.DigitalInterruptsEntryR\x11digitalInterrupts\x1aX\n\x0cAnalogsEntry\x12\x10\n\x03key\x18\x01 \x01(\tR\x03key\x122\n\x05value\x18\x02 \x01(\x0b2\x1c.viam.common.v1.AnalogStatusR\x05value:\x028\x01\x1al\n\x16DigitalInterruptsEntry\x12\x10\n\x03key\x18\x01 \x01(\tR\x03key\x12<\n\x05value\x18\x02 \x01(\x0b2&.viam.common.v1.DigitalInterruptStatusR\x05value:\x028\x01"$\n\x0cAnalogStatus\x12\x14\n\x05value\x18\x01 \x01(\x05R\x05value".\n\x16DigitalInterruptStatus\x12\x14\n\x05value\x18\x01 \x01(\x03R\x05value"y\n\x04Pose\x12\x0c\n\x01x\x18\x01 \x01(\x01R\x01x\x12\x0c\n\x01y\x18\x02 \x01(\x01R\x01y\x12\x0c\n\x01z\x18\x03 \x01(\x01R\x01z\x12\x0f\n\x03o_x\x18\x04 \x01(\x01R\x02oX\x12\x0f\n\x03o_y\x18\x05 \x01(\x01R\x02oY\x12\x0f\n\x03o_z\x18\x06 \x01(\x01R\x02oZ\x12\x14\n\x05theta\x18\x07 \x01(\x01R\x05theta"V\n\x0bOrientation\x12\x0f\n\x03o_x\x18\x01 \x01(\x01R\x02oX\x12\x0f\n\x03o_y\x18\x02 \x01(\x01R\x02oY\x12\x0f\n\x03o_z\x18\x03 \x01(\x01R\x02oZ\x12\x14\n\x05theta\x18\x04 \x01(\x01R\x05theta"`\n\x0bPoseInFrame\x12\'\n\x0freference_frame\x18\x01 \x01(\tR\x0ereferenceFrame\x12(\n\x04pose\x18\x02 \x01(\x0b2\x14.viam.common.v1.PoseR\x04pose"3\n\x07Vector3\x12\x0c\n\x01x\x18\x01 \x01(\x01R\x01x\x12\x0c\n\x01y\x18\x02 \x01(\x01R\x01y\x12\x0c\n\x01z\x18\x03 \x01(\x01R\x01z"%\n\x06Sphere\x12\x1b\n\tradius_mm\x18\x01 \x01(\x01R\x08radiusMm"D\n\x10RectangularPrism\x120\n\x07dims_mm\x18\x01 \x01(\x0b2\x17.viam.common.v1.Vector3R\x06dimsMm"\xc7\x01\n\x08Geometry\x12,\n\x06center\x18\x01 \x01(\x0b2\x14.viam.common.v1.PoseR\x06center\x120\n\x06sphere\x18\x02 \x01(\x0b2\x16.viam.common.v1.SphereH\x00R\x06sphere\x124\n\x03box\x18\x03 \x01(\x0b2 .viam.common.v1.RectangularPrismH\x00R\x03box\x12\x14\n\x05label\x18\x04 \x01(\tR\x05labelB\x0f\n\rgeometry_type"v\n\x11GeometriesInFrame\x12\'\n\x0freference_frame\x18\x01 \x01(\tR\x0ereferenceFrame\x128\n\ngeometries\x18\x02 \x03(\x0b2\x18.viam.common.v1.GeometryR\ngeometries"v\n\x10PointCloudObject\x12\x1f\n\x0bpoint_cloud\x18\x01 \x01(\x0cR\npointCloud\x12A\n\ngeometries\x18\x02 \x01(\x0b2!.viam.common.v1.GeometriesInFrameR\ngeometries"D\n\x08GeoPoint\x12\x1a\n\x08latitude\x18\x01 \x01(\x01R\x08latitude\x12\x1c\n\tlongitude\x18\x02 \x01(\x01R\tlongitude"\xe2\x01\n\tTransform\x12\'\n\x0freference_frame\x18\x01 \x01(\tR\x0ereferenceFrame\x12P\n\x16pose_in_observer_frame\x18\x02 \x01(\x0b2\x1b.viam.common.v1.PoseInFrameR\x13poseInObserverFrame\x12F\n\x0fphysical_object\x18\x03 \x01(\x0b2\x18.viam.common.v1.GeometryH\x00R\x0ephysicalObject\x88\x01\x01B\x12\n\x10_physical_object"\xda\x01\n\nWorldState\x12?\n\tobstacles\x18\x01 \x03(\x0b2!.viam.common.v1.GeometriesInFrameR\tobstacles\x12P\n\x12interaction_spaces\x18\x02 \x03(\x0b2!.viam.common.v1.GeometriesInFrameR\x11interactionSpaces\x129\n\ntransforms\x18\x03 \x03(\x0b2\x19.viam.common.v1.TransformR\ntransforms"-\n\x0eActuatorStatus\x12\x1b\n\tis_moving\x18\x01 \x01(\x08R\x08isMoving:a\n\x1asafety_heartbeat_monitored\x12\x1e.google.protobuf.MethodOptions\x18\xa4\x92\x05 \x01(\x08R\x18safetyHeartbeatMonitored\x88\x01\x01B/\n\x12com.viam.common.v1Z\x19go.viam.com/api/common/v1b\x06proto3')
 _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
 _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'common.v1.common_pb2', globals())
 if _descriptor._USE_C_DESCRIPTORS == False:
@@ -49,8 +49,8 @@
     _GEOPOINT._serialized_start = 1570
     _GEOPOINT._serialized_end = 1638
     _TRANSFORM._serialized_start = 1641
-    _TRANSFORM._serialized_end = 1775
-    _WORLDSTATE._serialized_start = 1778
-    _WORLDSTATE._serialized_end = 1996
-    _ACTUATORSTATUS._serialized_start = 1998
-    _ACTUATORSTATUS._serialized_end = 2043
\ No newline at end of file
+    _TRANSFORM._serialized_end = 1867
+    _WORLDSTATE._serialized_start = 1870
+    _WORLDSTATE._serialized_end = 2088
+    _ACTUATORSTATUS._serialized_start = 2090
+    _ACTUATORSTATUS._serialized_end = 2135
\ No newline at end of file
diff --git a/src/viam/gen/common/v1/common_pb2.pyi b/src/viam/gen/common/v1/common_pb2.pyi
index cd3a35b02..9aaddf107 100644
--- a/src/viam/gen/common/v1/common_pb2.pyi
+++ b/src/viam/gen/common/v1/common_pb2.pyi
@@ -16,6 +16,7 @@ else:
     import typing_extensions
 DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
 
+@typing_extensions.final
 class ResourceName(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAMESPACE_FIELD_NUMBER: builtins.int
@@ -34,9 +35,11 @@ class ResourceName(google.protobuf.message.Message):
         ...
 global___ResourceName = ResourceName
 
+@typing_extensions.final
 class BoardStatus(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
+    @typing_extensions.final
     class AnalogsEntry(google.protobuf.message.Message):
         DESCRIPTOR: google.protobuf.descriptor.Descriptor
         KEY_FIELD_NUMBER: builtins.int
@@ -56,6 +59,7 @@ class BoardStatus(google.protobuf.message.Message):
         def ClearField(self, field_name: typing_extensions.Literal['key', b'key', 'value', b'value']) -> None:
             ...
 
+    @typing_extensions.final
     class DigitalInterruptsEntry(google.protobuf.message.Message):
         DESCRIPTOR: google.protobuf.descriptor.Descriptor
         KEY_FIELD_NUMBER: builtins.int
@@ -92,6 +96,7 @@ class BoardStatus(google.protobuf.message.Message):
         ...
 global___BoardStatus = BoardStatus
 
+@typing_extensions.final
 class AnalogStatus(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     VALUE_FIELD_NUMBER: builtins.int
@@ -105,6 +110,7 @@ class AnalogStatus(google.protobuf.message.Message):
         ...
 global___AnalogStatus = AnalogStatus
 
+@typing_extensions.final
 class DigitalInterruptStatus(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     VALUE_FIELD_NUMBER: builtins.int
@@ -118,6 +124,7 @@ class DigitalInterruptStatus(google.protobuf.message.Message):
         ...
 global___DigitalInterruptStatus = DigitalInterruptStatus
 
+@typing_extensions.final
 class Pose(google.protobuf.message.Message):
     """Pose is a combination of location and orientation.
     Location is expressed as distance which is represented by x , y, z coordinates. Orientation is expressed as an orientation vector which
@@ -158,6 +165,7 @@ class Pose(google.protobuf.message.Message):
         ...
 global___Pose = Pose
 
+@typing_extensions.final
 class Orientation(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     O_X_FIELD_NUMBER: builtins.int
@@ -180,6 +188,7 @@ class Orientation(google.protobuf.message.Message):
         ...
 global___Orientation = Orientation
 
+@typing_extensions.final
 class PoseInFrame(google.protobuf.message.Message):
     """PoseInFrame contains a pose and the and the reference frame in which it was observed"""
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
@@ -201,6 +210,7 @@ class PoseInFrame(google.protobuf.message.Message):
         ...
 global___PoseInFrame = PoseInFrame
 
+@typing_extensions.final
 class Vector3(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     X_FIELD_NUMBER: builtins.int
@@ -217,6 +227,7 @@ class Vector3(google.protobuf.message.Message):
         ...
 global___Vector3 = Vector3
 
+@typing_extensions.final
 class Sphere(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     RADIUS_MM_FIELD_NUMBER: builtins.int
@@ -229,6 +240,7 @@ class Sphere(google.protobuf.message.Message):
         ...
 global___Sphere = Sphere
 
+@typing_extensions.final
 class RectangularPrism(google.protobuf.message.Message):
     """RectangularPrism contains a Vector3 field corresponding to the X, Y, Z dimensions of the prism in mms
     These dimensions are with respect to the referenceframe in which the RectangularPrism is defined
@@ -250,6 +262,7 @@ class RectangularPrism(google.protobuf.message.Message):
         ...
 global___RectangularPrism = RectangularPrism
 
+@typing_extensions.final
 class Geometry(google.protobuf.message.Message):
     """Geometry contains the dimensions of a given geometry and the pose of its center. The geometry is one of either a sphere or a box."""
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
@@ -285,6 +298,7 @@ class Geometry(google.protobuf.message.Message):
         ...
 global___Geometry = Geometry
 
+@typing_extensions.final
 class GeometriesInFrame(google.protobuf.message.Message):
     """GeometriesinFrame contains the dimensions of a given geometry, pose of its center point, and the reference frame by which it was
     observed.
@@ -306,6 +320,7 @@ class GeometriesInFrame(google.protobuf.message.Message):
         ...
 global___GeometriesInFrame = GeometriesInFrame
 
+@typing_extensions.final
 class PointCloudObject(google.protobuf.message.Message):
     """PointCloudObject contains an image in bytes with point cloud data of all of the objects captured by a given observer as well as a
     repeated list of geometries which respresents the center point and geometry of each of the objects within the point cloud
@@ -330,6 +345,7 @@ class PointCloudObject(google.protobuf.message.Message):
         ...
 global___PointCloudObject = PointCloudObject
 
+@typing_extensions.final
 class GeoPoint(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     LATITUDE_FIELD_NUMBER: builtins.int
@@ -344,6 +360,7 @@ class GeoPoint(google.protobuf.message.Message):
         ...
 global___GeoPoint = GeoPoint
 
+@typing_extensions.final
 class Transform(google.protobuf.message.Message):
     """Transform contains a pose and two reference frames. The first reference frame is the starting reference frame, and the second reference
     frame is the observer reference frame. The second reference frame has a pose which represents the pose of an object in the first
@@ -352,6 +369,7 @@ class Transform(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     REFERENCE_FRAME_FIELD_NUMBER: builtins.int
     POSE_IN_OBSERVER_FRAME_FIELD_NUMBER: builtins.int
+    PHYSICAL_OBJECT_FIELD_NUMBER: builtins.int
     reference_frame: builtins.str
     'the name of a given reference frame'
 
@@ -359,16 +377,24 @@ class Transform(google.protobuf.message.Message):
     def pose_in_observer_frame(self) -> global___PoseInFrame:
         """the pose of the above reference frame with respect to a different observer reference frame"""
 
-    def __init__(self, *, reference_frame: builtins.str=..., pose_in_observer_frame: global___PoseInFrame | None=...) -> None:
+    @property
+    def physical_object(self) -> global___Geometry:
+        ...
+
+    def __init__(self, *, reference_frame: builtins.str=..., pose_in_observer_frame: global___PoseInFrame | None=..., physical_object: global___Geometry | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing_extensions.Literal['_physical_object', b'_physical_object', 'physical_object', b'physical_object', 'pose_in_observer_frame', b'pose_in_observer_frame']) -> builtins.bool:
         ...
 
-    def HasField(self, field_name: typing_extensions.Literal['pose_in_observer_frame', b'pose_in_observer_frame']) -> builtins.bool:
+    def ClearField(self, field_name: typing_extensions.Literal['_physical_object', b'_physical_object', 'physical_object', b'physical_object', 'pose_in_observer_frame', b'pose_in_observer_frame', 'reference_frame', b'reference_frame']) -> None:
         ...
 
-    def ClearField(self, field_name: typing_extensions.Literal['pose_in_observer_frame', b'pose_in_observer_frame', 'reference_frame', b'reference_frame']) -> None:
+    def WhichOneof(self, oneof_group: typing_extensions.Literal['_physical_object', b'_physical_object']) -> typing_extensions.Literal['physical_object'] | None:
         ...
 global___Transform = Transform
 
+@typing_extensions.final
 class WorldState(google.protobuf.message.Message):
     """WorldState contains information about the physical environment around a given robot. All of the fields within this message are optional,
     they can include information about the physical dimensions of an obstacle, the freespace of a robot, and any desired transforms between a
@@ -385,13 +411,13 @@ class WorldState(google.protobuf.message.Message):
 
     @property
     def interaction_spaces(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___GeometriesInFrame]:
-        """a list of spaces the robot is allowed to operate within expressed as a geometry and the reference frame it is measured fom;
+        """a list of spaces the robot is allowed to operate within expressed as a geometry and the reference frame it is measured from;
         this field is optional
         """
 
     @property
     def transforms(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___Transform]:
-        """a list of Transforms needed to transform a pose from one reference frame to another; this field is optional"""
+        """a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to another, or to attach moving geometries to the frame system. This field is optional"""
 
     def __init__(self, *, obstacles: collections.abc.Iterable[global___GeometriesInFrame] | None=..., interaction_spaces: collections.abc.Iterable[global___GeometriesInFrame] | None=..., transforms: collections.abc.Iterable[global___Transform] | None=...) -> None:
         ...
@@ -400,6 +426,7 @@ class WorldState(google.protobuf.message.Message):
         ...
 global___WorldState = WorldState
 
+@typing_extensions.final
 class ActuatorStatus(google.protobuf.message.Message):
     """ActuatorStatus is a generic status for resources that only need to return actuator status."""
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
diff --git a/src/viam/gen/component/arm/v1/arm_pb2.pyi b/src/viam/gen/component/arm/v1/arm_pb2.pyi
index beb4eff50..ea883ee10 100644
--- a/src/viam/gen/component/arm/v1/arm_pb2.pyi
+++ b/src/viam/gen/component/arm/v1/arm_pb2.pyi
@@ -16,6 +16,7 @@ else:
     import typing_extensions
 DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
 
+@typing_extensions.final
 class GetEndPositionRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -37,6 +38,7 @@ class GetEndPositionRequest(google.protobuf.message.Message):
         ...
 global___GetEndPositionRequest = GetEndPositionRequest
 
+@typing_extensions.final
 class GetEndPositionResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     POSE_FIELD_NUMBER: builtins.int
@@ -57,6 +59,7 @@ class GetEndPositionResponse(google.protobuf.message.Message):
         ...
 global___GetEndPositionResponse = GetEndPositionResponse
 
+@typing_extensions.final
 class JointPositions(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     VALUES_FIELD_NUMBER: builtins.int
@@ -75,6 +78,7 @@ class JointPositions(google.protobuf.message.Message):
         ...
 global___JointPositions = JointPositions
 
+@typing_extensions.final
 class GetJointPositionsRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -96,6 +100,7 @@ class GetJointPositionsRequest(google.protobuf.message.Message):
         ...
 global___GetJointPositionsRequest = GetJointPositionsRequest
 
+@typing_extensions.final
 class GetJointPositionsResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     POSITIONS_FIELD_NUMBER: builtins.int
@@ -114,6 +119,7 @@ class GetJointPositionsResponse(google.protobuf.message.Message):
         ...
 global___GetJointPositionsResponse = GetJointPositionsResponse
 
+@typing_extensions.final
 class MoveToPositionRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -148,6 +154,7 @@ class MoveToPositionRequest(google.protobuf.message.Message):
         ...
 global___MoveToPositionRequest = MoveToPositionRequest
 
+@typing_extensions.final
 class MoveToPositionResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
@@ -155,6 +162,7 @@ class MoveToPositionResponse(google.protobuf.message.Message):
         ...
 global___MoveToPositionResponse = MoveToPositionResponse
 
+@typing_extensions.final
 class MoveToJointPositionsRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -183,6 +191,7 @@ class MoveToJointPositionsRequest(google.protobuf.message.Message):
         ...
 global___MoveToJointPositionsRequest = MoveToJointPositionsRequest
 
+@typing_extensions.final
 class MoveToJointPositionsResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
@@ -190,6 +199,7 @@ class MoveToJointPositionsResponse(google.protobuf.message.Message):
         ...
 global___MoveToJointPositionsResponse = MoveToJointPositionsResponse
 
+@typing_extensions.final
 class StopRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -211,6 +221,7 @@ class StopRequest(google.protobuf.message.Message):
         ...
 global___StopRequest = StopRequest
 
+@typing_extensions.final
 class StopResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
@@ -218,6 +229,7 @@ class StopResponse(google.protobuf.message.Message):
         ...
 global___StopResponse = StopResponse
 
+@typing_extensions.final
 class Status(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     END_POSITION_FIELD_NUMBER: builtins.int
diff --git a/src/viam/gen/component/audioinput/v1/audioinput_pb2.pyi b/src/viam/gen/component/audioinput/v1/audioinput_pb2.pyi
index d572a09a3..11c95fb10 100644
--- a/src/viam/gen/component/audioinput/v1/audioinput_pb2.pyi
+++ b/src/viam/gen/component/audioinput/v1/audioinput_pb2.pyi
@@ -32,6 +32,7 @@ SAMPLE_FORMAT_INT16_INTERLEAVED: SampleFormat.ValueType
 SAMPLE_FORMAT_FLOAT32_INTERLEAVED: SampleFormat.ValueType
 global___SampleFormat = SampleFormat
 
+@typing_extensions.final
 class RecordRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -53,6 +54,7 @@ class RecordRequest(google.protobuf.message.Message):
         ...
 global___RecordRequest = RecordRequest
 
+@typing_extensions.final
 class AudioChunkInfo(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     SAMPLE_FORMAT_FIELD_NUMBER: builtins.int
@@ -70,6 +72,7 @@ class AudioChunkInfo(google.protobuf.message.Message):
         ...
 global___AudioChunkInfo = AudioChunkInfo
 
+@typing_extensions.final
 class AudioChunk(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     DATA_FIELD_NUMBER: builtins.int
@@ -86,6 +89,7 @@ class AudioChunk(google.protobuf.message.Message):
         ...
 global___AudioChunk = AudioChunk
 
+@typing_extensions.final
 class ChunksRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -102,6 +106,7 @@ class ChunksRequest(google.protobuf.message.Message):
         ...
 global___ChunksRequest = ChunksRequest
 
+@typing_extensions.final
 class ChunksResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     INFO_FIELD_NUMBER: builtins.int
@@ -128,6 +133,7 @@ class ChunksResponse(google.protobuf.message.Message):
         ...
 global___ChunksResponse = ChunksResponse
 
+@typing_extensions.final
 class PropertiesRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -141,6 +147,7 @@ class PropertiesRequest(google.protobuf.message.Message):
         ...
 global___PropertiesRequest = PropertiesRequest
 
+@typing_extensions.final
 class PropertiesResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     CHANNEL_COUNT_FIELD_NUMBER: builtins.int
diff --git a/src/viam/gen/component/base/v1/base_pb2.pyi b/src/viam/gen/component/base/v1/base_pb2.pyi
index 52fe72a3a..252fcb6da 100644
--- a/src/viam/gen/component/base/v1/base_pb2.pyi
+++ b/src/viam/gen/component/base/v1/base_pb2.pyi
@@ -14,6 +14,7 @@ else:
     import typing_extensions
 DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
 
+@typing_extensions.final
 class MoveStraightRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -41,6 +42,7 @@ class MoveStraightRequest(google.protobuf.message.Message):
         ...
 global___MoveStraightRequest = MoveStraightRequest
 
+@typing_extensions.final
 class MoveStraightResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
@@ -48,6 +50,7 @@ class MoveStraightResponse(google.protobuf.message.Message):
         ...
 global___MoveStraightResponse = MoveStraightResponse
 
+@typing_extensions.final
 class SpinRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -75,6 +78,7 @@ class SpinRequest(google.protobuf.message.Message):
         ...
 global___SpinRequest = SpinRequest
 
+@typing_extensions.final
 class SpinResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
@@ -82,6 +86,7 @@ class SpinResponse(google.protobuf.message.Message):
         ...
 global___SpinResponse = SpinResponse
 
+@typing_extensions.final
 class StopRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -103,6 +108,7 @@ class StopRequest(google.protobuf.message.Message):
         ...
 global___StopRequest = StopRequest
 
+@typing_extensions.final
 class StopResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
@@ -110,6 +116,7 @@ class StopResponse(google.protobuf.message.Message):
         ...
 global___StopResponse = StopResponse
 
+@typing_extensions.final
 class SetPowerRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -141,6 +148,7 @@ class SetPowerRequest(google.protobuf.message.Message):
         ...
 global___SetPowerRequest = SetPowerRequest
 
+@typing_extensions.final
 class SetPowerResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
@@ -148,6 +156,7 @@ class SetPowerResponse(google.protobuf.message.Message):
         ...
 global___SetPowerResponse = SetPowerResponse
 
+@typing_extensions.final
 class SetVelocityRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -179,6 +188,7 @@ class SetVelocityRequest(google.protobuf.message.Message):
         ...
 global___SetVelocityRequest = SetVelocityRequest
 
+@typing_extensions.final
 class SetVelocityResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
diff --git a/src/viam/gen/component/board/v1/board_pb2.pyi b/src/viam/gen/component/board/v1/board_pb2.pyi
index 67f701231..64cdc0b9a 100644
--- a/src/viam/gen/component/board/v1/board_pb2.pyi
+++ b/src/viam/gen/component/board/v1/board_pb2.pyi
@@ -14,6 +14,7 @@ else:
     import typing_extensions
 DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
 
+@typing_extensions.final
 class StatusRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -34,6 +35,7 @@ class StatusRequest(google.protobuf.message.Message):
         ...
 global___StatusRequest = StatusRequest
 
+@typing_extensions.final
 class StatusResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     STATUS_FIELD_NUMBER: builtins.int
@@ -52,6 +54,7 @@ class StatusResponse(google.protobuf.message.Message):
         ...
 global___StatusResponse = StatusResponse
 
+@typing_extensions.final
 class SetGPIORequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -76,6 +79,7 @@ class SetGPIORequest(google.protobuf.message.Message):
         ...
 global___SetGPIORequest = SetGPIORequest
 
+@typing_extensions.final
 class SetGPIOResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
@@ -83,6 +87,7 @@ class SetGPIOResponse(google.protobuf.message.Message):
         ...
 global___SetGPIOResponse = SetGPIOResponse
 
+@typing_extensions.final
 class GetGPIORequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -105,6 +110,7 @@ class GetGPIORequest(google.protobuf.message.Message):
         ...
 global___GetGPIORequest = GetGPIORequest
 
+@typing_extensions.final
 class GetGPIOResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     HIGH_FIELD_NUMBER: builtins.int
@@ -117,6 +123,7 @@ class GetGPIOResponse(google.protobuf.message.Message):
         ...
 global___GetGPIOResponse = GetGPIOResponse
 
+@typing_extensions.final
 class PWMRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -139,6 +146,7 @@ class PWMRequest(google.protobuf.message.Message):
         ...
 global___PWMRequest = PWMRequest
 
+@typing_extensions.final
 class PWMResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     DUTY_CYCLE_PCT_FIELD_NUMBER: builtins.int
@@ -152,6 +160,7 @@ class PWMResponse(google.protobuf.message.Message):
         ...
 global___PWMResponse = PWMResponse
 
+@typing_extensions.final
 class SetPWMRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -177,6 +186,7 @@ class SetPWMRequest(google.protobuf.message.Message):
         ...
 global___SetPWMRequest = SetPWMRequest
 
+@typing_extensions.final
 class SetPWMResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
@@ -184,6 +194,7 @@ class SetPWMResponse(google.protobuf.message.Message):
         ...
 global___SetPWMResponse = SetPWMResponse
 
+@typing_extensions.final
 class PWMFrequencyRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -206,6 +217,7 @@ class PWMFrequencyRequest(google.protobuf.message.Message):
         ...
 global___PWMFrequencyRequest = PWMFrequencyRequest
 
+@typing_extensions.final
 class PWMFrequencyResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     FREQUENCY_HZ_FIELD_NUMBER: builtins.int
@@ -218,6 +230,7 @@ class PWMFrequencyResponse(google.protobuf.message.Message):
         ...
 global___PWMFrequencyResponse = PWMFrequencyResponse
 
+@typing_extensions.final
 class SetPWMFrequencyRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -242,6 +255,7 @@ class SetPWMFrequencyRequest(google.protobuf.message.Message):
         ...
 global___SetPWMFrequencyRequest = SetPWMFrequencyRequest
 
+@typing_extensions.final
 class SetPWMFrequencyResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
@@ -249,6 +263,7 @@ class SetPWMFrequencyResponse(google.protobuf.message.Message):
         ...
 global___SetPWMFrequencyResponse = SetPWMFrequencyResponse
 
+@typing_extensions.final
 class ReadAnalogReaderRequest(google.protobuf.message.Message):
     """Analog Reader"""
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
@@ -272,6 +287,7 @@ class ReadAnalogReaderRequest(google.protobuf.message.Message):
         ...
 global___ReadAnalogReaderRequest = ReadAnalogReaderRequest
 
+@typing_extensions.final
 class ReadAnalogReaderResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     VALUE_FIELD_NUMBER: builtins.int
@@ -284,6 +300,7 @@ class ReadAnalogReaderResponse(google.protobuf.message.Message):
         ...
 global___ReadAnalogReaderResponse = ReadAnalogReaderResponse
 
+@typing_extensions.final
 class GetDigitalInterruptValueRequest(google.protobuf.message.Message):
     """Digital Interrupt"""
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
@@ -307,6 +324,7 @@ class GetDigitalInterruptValueRequest(google.protobuf.message.Message):
         ...
 global___GetDigitalInterruptValueRequest = GetDigitalInterruptValueRequest
 
+@typing_extensions.final
 class GetDigitalInterruptValueResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     VALUE_FIELD_NUMBER: builtins.int
diff --git a/src/viam/gen/component/camera/v1/camera_pb2.pyi b/src/viam/gen/component/camera/v1/camera_pb2.pyi
index 53d2ef41b..47ab72afc 100644
--- a/src/viam/gen/component/camera/v1/camera_pb2.pyi
+++ b/src/viam/gen/component/camera/v1/camera_pb2.pyi
@@ -14,6 +14,7 @@ else:
     import typing_extensions
 DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
 
+@typing_extensions.final
 class GetImageRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -30,6 +31,7 @@ class GetImageRequest(google.protobuf.message.Message):
         ...
 global___GetImageRequest = GetImageRequest
 
+@typing_extensions.final
 class GetImageResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     MIME_TYPE_FIELD_NUMBER: builtins.int
@@ -46,6 +48,7 @@ class GetImageResponse(google.protobuf.message.Message):
         ...
 global___GetImageResponse = GetImageResponse
 
+@typing_extensions.final
 class RenderFrameRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -62,6 +65,7 @@ class RenderFrameRequest(google.protobuf.message.Message):
         ...
 global___RenderFrameRequest = RenderFrameRequest
 
+@typing_extensions.final
 class GetPointCloudRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -78,6 +82,7 @@ class GetPointCloudRequest(google.protobuf.message.Message):
         ...
 global___GetPointCloudRequest = GetPointCloudRequest
 
+@typing_extensions.final
 class GetPointCloudResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     MIME_TYPE_FIELD_NUMBER: builtins.int
@@ -94,6 +99,7 @@ class GetPointCloudResponse(google.protobuf.message.Message):
         ...
 global___GetPointCloudResponse = GetPointCloudResponse
 
+@typing_extensions.final
 class GetPropertiesRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -107,6 +113,7 @@ class GetPropertiesRequest(google.protobuf.message.Message):
         ...
 global___GetPropertiesRequest = GetPropertiesRequest
 
+@typing_extensions.final
 class GetPropertiesResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     SUPPORTS_PCD_FIELD_NUMBER: builtins.int
@@ -133,6 +140,7 @@ class GetPropertiesResponse(google.protobuf.message.Message):
         ...
 global___GetPropertiesResponse = GetPropertiesResponse
 
+@typing_extensions.final
 class Webcams(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     WEBCAMS_FIELD_NUMBER: builtins.int
@@ -148,6 +156,7 @@ class Webcams(google.protobuf.message.Message):
         ...
 global___Webcams = Webcams
 
+@typing_extensions.final
 class Webcam(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     LABEL_FIELD_NUMBER: builtins.int
@@ -169,6 +178,7 @@ class Webcam(google.protobuf.message.Message):
         ...
 global___Webcam = Webcam
 
+@typing_extensions.final
 class Property(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     WIDTH_PX_FIELD_NUMBER: builtins.int
@@ -188,6 +198,7 @@ class Property(google.protobuf.message.Message):
         ...
 global___Property = Property
 
+@typing_extensions.final
 class IntrinsicParameters(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     WIDTH_PX_FIELD_NUMBER: builtins.int
@@ -210,6 +221,7 @@ class IntrinsicParameters(google.protobuf.message.Message):
         ...
 global___IntrinsicParameters = IntrinsicParameters
 
+@typing_extensions.final
 class DistortionParameters(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     MODEL_FIELD_NUMBER: builtins.int
diff --git a/src/viam/gen/component/gantry/v1/gantry_pb2.pyi b/src/viam/gen/component/gantry/v1/gantry_pb2.pyi
index 0f627bd28..62b43b2ad 100644
--- a/src/viam/gen/component/gantry/v1/gantry_pb2.pyi
+++ b/src/viam/gen/component/gantry/v1/gantry_pb2.pyi
@@ -16,6 +16,7 @@ else:
     import typing_extensions
 DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
 
+@typing_extensions.final
 class GetPositionRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -36,6 +37,7 @@ class GetPositionRequest(google.protobuf.message.Message):
         ...
 global___GetPositionRequest = GetPositionRequest
 
+@typing_extensions.final
 class GetPositionResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     POSITIONS_MM_FIELD_NUMBER: builtins.int
@@ -51,6 +53,7 @@ class GetPositionResponse(google.protobuf.message.Message):
         ...
 global___GetPositionResponse = GetPositionResponse
 
+@typing_extensions.final
 class MoveToPositionRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -84,6 +87,7 @@ class MoveToPositionRequest(google.protobuf.message.Message):
         ...
 global___MoveToPositionRequest = MoveToPositionRequest
 
+@typing_extensions.final
 class MoveToPositionResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
@@ -91,6 +95,7 @@ class MoveToPositionResponse(google.protobuf.message.Message):
         ...
 global___MoveToPositionResponse = MoveToPositionResponse
 
+@typing_extensions.final
 class GetLengthsRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -111,6 +116,7 @@ class GetLengthsRequest(google.protobuf.message.Message):
         ...
 global___GetLengthsRequest = GetLengthsRequest
 
+@typing_extensions.final
 class GetLengthsResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     LENGTHS_MM_FIELD_NUMBER: builtins.int
@@ -126,6 +132,7 @@ class GetLengthsResponse(google.protobuf.message.Message):
         ...
 global___GetLengthsResponse = GetLengthsResponse
 
+@typing_extensions.final
 class StopRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -147,6 +154,7 @@ class StopRequest(google.protobuf.message.Message):
         ...
 global___StopRequest = StopRequest
 
+@typing_extensions.final
 class StopResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
@@ -154,6 +162,7 @@ class StopResponse(google.protobuf.message.Message):
         ...
 global___StopResponse = StopResponse
 
+@typing_extensions.final
 class Status(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     POSITIONS_MM_FIELD_NUMBER: builtins.int
diff --git a/src/viam/gen/component/generic/v1/generic_pb2.pyi b/src/viam/gen/component/generic/v1/generic_pb2.pyi
index 876f24e5c..03e4f594b 100644
--- a/src/viam/gen/component/generic/v1/generic_pb2.pyi
+++ b/src/viam/gen/component/generic/v1/generic_pb2.pyi
@@ -13,6 +13,7 @@ else:
     import typing_extensions
 DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
 
+@typing_extensions.final
 class DoCommandRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -33,6 +34,7 @@ class DoCommandRequest(google.protobuf.message.Message):
         ...
 global___DoCommandRequest = DoCommandRequest
 
+@typing_extensions.final
 class DoCommandResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     RESULT_FIELD_NUMBER: builtins.int
diff --git a/src/viam/gen/component/gripper/v1/gripper_pb2.pyi b/src/viam/gen/component/gripper/v1/gripper_pb2.pyi
index 6cddba476..e6cd42b15 100644
--- a/src/viam/gen/component/gripper/v1/gripper_pb2.pyi
+++ b/src/viam/gen/component/gripper/v1/gripper_pb2.pyi
@@ -13,6 +13,7 @@ else:
     import typing_extensions
 DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
 
+@typing_extensions.final
 class OpenRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -33,6 +34,7 @@ class OpenRequest(google.protobuf.message.Message):
         ...
 global___OpenRequest = OpenRequest
 
+@typing_extensions.final
 class OpenResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
@@ -40,6 +42,7 @@ class OpenResponse(google.protobuf.message.Message):
         ...
 global___OpenResponse = OpenResponse
 
+@typing_extensions.final
 class GrabRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -60,6 +63,7 @@ class GrabRequest(google.protobuf.message.Message):
         ...
 global___GrabRequest = GrabRequest
 
+@typing_extensions.final
 class GrabResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     SUCCESS_FIELD_NUMBER: builtins.int
@@ -80,6 +84,7 @@ class GrabResponse(google.protobuf.message.Message):
         ...
 global___GrabResponse = GrabResponse
 
+@typing_extensions.final
 class StopRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -101,6 +106,7 @@ class StopRequest(google.protobuf.message.Message):
         ...
 global___StopRequest = StopRequest
 
+@typing_extensions.final
 class StopResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
diff --git a/src/viam/gen/component/inputcontroller/v1/input_controller_pb2.pyi b/src/viam/gen/component/inputcontroller/v1/input_controller_pb2.pyi
index 4271f4b2b..a1490b001 100644
--- a/src/viam/gen/component/inputcontroller/v1/input_controller_pb2.pyi
+++ b/src/viam/gen/component/inputcontroller/v1/input_controller_pb2.pyi
@@ -16,6 +16,7 @@ else:
     import typing_extensions
 DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
 
+@typing_extensions.final
 class GetControlsRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     CONTROLLER_FIELD_NUMBER: builtins.int
@@ -37,6 +38,7 @@ class GetControlsRequest(google.protobuf.message.Message):
         ...
 global___GetControlsRequest = GetControlsRequest
 
+@typing_extensions.final
 class GetControlsResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     CONTROLS_FIELD_NUMBER: builtins.int
@@ -54,6 +56,7 @@ class GetControlsResponse(google.protobuf.message.Message):
         ...
 global___GetControlsResponse = GetControlsResponse
 
+@typing_extensions.final
 class GetEventsRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     CONTROLLER_FIELD_NUMBER: builtins.int
@@ -75,6 +78,7 @@ class GetEventsRequest(google.protobuf.message.Message):
         ...
 global___GetEventsRequest = GetEventsRequest
 
+@typing_extensions.final
 class GetEventsResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     EVENTS_FIELD_NUMBER: builtins.int
@@ -92,6 +96,7 @@ class GetEventsResponse(google.protobuf.message.Message):
         ...
 global___GetEventsResponse = GetEventsResponse
 
+@typing_extensions.final
 class TriggerEventRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     CONTROLLER_FIELD_NUMBER: builtins.int
@@ -118,6 +123,7 @@ class TriggerEventRequest(google.protobuf.message.Message):
         ...
 global___TriggerEventRequest = TriggerEventRequest
 
+@typing_extensions.final
 class TriggerEventResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
@@ -125,6 +131,7 @@ class TriggerEventResponse(google.protobuf.message.Message):
         ...
 global___TriggerEventResponse = TriggerEventResponse
 
+@typing_extensions.final
 class Event(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     TIME_FIELD_NUMBER: builtins.int
@@ -152,9 +159,11 @@ class Event(google.protobuf.message.Message):
         ...
 global___Event = Event
 
+@typing_extensions.final
 class StreamEventsRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
+    @typing_extensions.final
     class Events(google.protobuf.message.Message):
         DESCRIPTOR: google.protobuf.descriptor.Descriptor
         CONTROL_FIELD_NUMBER: builtins.int
@@ -202,6 +211,7 @@ class StreamEventsRequest(google.protobuf.message.Message):
         ...
 global___StreamEventsRequest = StreamEventsRequest
 
+@typing_extensions.final
 class StreamEventsResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     EVENT_FIELD_NUMBER: builtins.int
@@ -220,6 +230,7 @@ class StreamEventsResponse(google.protobuf.message.Message):
         ...
 global___StreamEventsResponse = StreamEventsResponse
 
+@typing_extensions.final
 class Status(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     EVENTS_FIELD_NUMBER: builtins.int
diff --git a/src/viam/gen/component/motor/v1/motor_pb2.pyi b/src/viam/gen/component/motor/v1/motor_pb2.pyi
index d0f50f7e0..3283376f8 100644
--- a/src/viam/gen/component/motor/v1/motor_pb2.pyi
+++ b/src/viam/gen/component/motor/v1/motor_pb2.pyi
@@ -13,6 +13,7 @@ else:
     import typing_extensions
 DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
 
+@typing_extensions.final
 class SetPowerRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -37,6 +38,7 @@ class SetPowerRequest(google.protobuf.message.Message):
         ...
 global___SetPowerRequest = SetPowerRequest
 
+@typing_extensions.final
 class SetPowerResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
@@ -44,6 +46,7 @@ class SetPowerResponse(google.protobuf.message.Message):
         ...
 global___SetPowerResponse = SetPowerResponse
 
+@typing_extensions.final
 class GoForRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -71,6 +74,7 @@ class GoForRequest(google.protobuf.message.Message):
         ...
 global___GoForRequest = GoForRequest
 
+@typing_extensions.final
 class GoForResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
@@ -78,6 +82,7 @@ class GoForResponse(google.protobuf.message.Message):
         ...
 global___GoForResponse = GoForResponse
 
+@typing_extensions.final
 class GoToRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -105,6 +110,7 @@ class GoToRequest(google.protobuf.message.Message):
         ...
 global___GoToRequest = GoToRequest
 
+@typing_extensions.final
 class GoToResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
@@ -112,6 +118,7 @@ class GoToResponse(google.protobuf.message.Message):
         ...
 global___GoToResponse = GoToResponse
 
+@typing_extensions.final
 class ResetZeroPositionRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -136,6 +143,7 @@ class ResetZeroPositionRequest(google.protobuf.message.Message):
         ...
 global___ResetZeroPositionRequest = ResetZeroPositionRequest
 
+@typing_extensions.final
 class ResetZeroPositionResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
@@ -143,6 +151,7 @@ class ResetZeroPositionResponse(google.protobuf.message.Message):
         ...
 global___ResetZeroPositionResponse = ResetZeroPositionResponse
 
+@typing_extensions.final
 class GetPositionRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -164,6 +173,7 @@ class GetPositionRequest(google.protobuf.message.Message):
         ...
 global___GetPositionRequest = GetPositionRequest
 
+@typing_extensions.final
 class GetPositionResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     POSITION_FIELD_NUMBER: builtins.int
@@ -177,6 +187,7 @@ class GetPositionResponse(google.protobuf.message.Message):
         ...
 global___GetPositionResponse = GetPositionResponse
 
+@typing_extensions.final
 class StopRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -198,6 +209,7 @@ class StopRequest(google.protobuf.message.Message):
         ...
 global___StopRequest = StopRequest
 
+@typing_extensions.final
 class StopResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
@@ -205,6 +217,7 @@ class StopResponse(google.protobuf.message.Message):
         ...
 global___StopResponse = StopResponse
 
+@typing_extensions.final
 class IsPoweredRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -226,6 +239,7 @@ class IsPoweredRequest(google.protobuf.message.Message):
         ...
 global___IsPoweredRequest = IsPoweredRequest
 
+@typing_extensions.final
 class IsPoweredResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     IS_ON_FIELD_NUMBER: builtins.int
@@ -242,6 +256,7 @@ class IsPoweredResponse(google.protobuf.message.Message):
         ...
 global___IsPoweredResponse = IsPoweredResponse
 
+@typing_extensions.final
 class GetPropertiesRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -263,6 +278,7 @@ class GetPropertiesRequest(google.protobuf.message.Message):
         ...
 global___GetPropertiesRequest = GetPropertiesRequest
 
+@typing_extensions.final
 class GetPropertiesResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     POSITION_REPORTING_FIELD_NUMBER: builtins.int
@@ -276,6 +292,7 @@ class GetPropertiesResponse(google.protobuf.message.Message):
         ...
 global___GetPropertiesResponse = GetPropertiesResponse
 
+@typing_extensions.final
 class Status(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     IS_POWERED_FIELD_NUMBER: builtins.int
diff --git a/src/viam/gen/component/movementsensor/v1/movementsensor_pb2.pyi b/src/viam/gen/component/movementsensor/v1/movementsensor_pb2.pyi
index 466c1ff5a..c5011bdbe 100644
--- a/src/viam/gen/component/movementsensor/v1/movementsensor_pb2.pyi
+++ b/src/viam/gen/component/movementsensor/v1/movementsensor_pb2.pyi
@@ -16,6 +16,7 @@ else:
     import typing_extensions
 DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
 
+@typing_extensions.final
 class GetLinearVelocityRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -37,6 +38,7 @@ class GetLinearVelocityRequest(google.protobuf.message.Message):
         ...
 global___GetLinearVelocityRequest = GetLinearVelocityRequest
 
+@typing_extensions.final
 class GetLinearVelocityResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     LINEAR_VELOCITY_FIELD_NUMBER: builtins.int
@@ -55,6 +57,7 @@ class GetLinearVelocityResponse(google.protobuf.message.Message):
         ...
 global___GetLinearVelocityResponse = GetLinearVelocityResponse
 
+@typing_extensions.final
 class GetAngularVelocityRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -76,6 +79,7 @@ class GetAngularVelocityRequest(google.protobuf.message.Message):
         ...
 global___GetAngularVelocityRequest = GetAngularVelocityRequest
 
+@typing_extensions.final
 class GetAngularVelocityResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     ANGULAR_VELOCITY_FIELD_NUMBER: builtins.int
@@ -94,6 +98,7 @@ class GetAngularVelocityResponse(google.protobuf.message.Message):
         ...
 global___GetAngularVelocityResponse = GetAngularVelocityResponse
 
+@typing_extensions.final
 class GetCompassHeadingRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -115,6 +120,7 @@ class GetCompassHeadingRequest(google.protobuf.message.Message):
         ...
 global___GetCompassHeadingRequest = GetCompassHeadingRequest
 
+@typing_extensions.final
 class GetCompassHeadingResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     VALUE_FIELD_NUMBER: builtins.int
@@ -128,6 +134,7 @@ class GetCompassHeadingResponse(google.protobuf.message.Message):
         ...
 global___GetCompassHeadingResponse = GetCompassHeadingResponse
 
+@typing_extensions.final
 class GetOrientationRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -149,6 +156,7 @@ class GetOrientationRequest(google.protobuf.message.Message):
         ...
 global___GetOrientationRequest = GetOrientationRequest
 
+@typing_extensions.final
 class GetOrientationResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     ORIENTATION_FIELD_NUMBER: builtins.int
@@ -167,6 +175,7 @@ class GetOrientationResponse(google.protobuf.message.Message):
         ...
 global___GetOrientationResponse = GetOrientationResponse
 
+@typing_extensions.final
 class GetPositionRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -188,6 +197,7 @@ class GetPositionRequest(google.protobuf.message.Message):
         ...
 global___GetPositionRequest = GetPositionRequest
 
+@typing_extensions.final
 class GetPositionResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     COORDINATE_FIELD_NUMBER: builtins.int
@@ -208,6 +218,7 @@ class GetPositionResponse(google.protobuf.message.Message):
         ...
 global___GetPositionResponse = GetPositionResponse
 
+@typing_extensions.final
 class GetPropertiesRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -229,6 +240,7 @@ class GetPropertiesRequest(google.protobuf.message.Message):
         ...
 global___GetPropertiesRequest = GetPropertiesRequest
 
+@typing_extensions.final
 class GetPropertiesResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     LINEAR_VELOCITY_SUPPORTED_FIELD_NUMBER: builtins.int
@@ -249,6 +261,7 @@ class GetPropertiesResponse(google.protobuf.message.Message):
         ...
 global___GetPropertiesResponse = GetPropertiesResponse
 
+@typing_extensions.final
 class GetAccuracyRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -270,9 +283,11 @@ class GetAccuracyRequest(google.protobuf.message.Message):
         ...
 global___GetAccuracyRequest = GetAccuracyRequest
 
+@typing_extensions.final
 class GetAccuracyResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
+    @typing_extensions.final
     class AccuracyMmEntry(google.protobuf.message.Message):
         DESCRIPTOR: google.protobuf.descriptor.Descriptor
         KEY_FIELD_NUMBER: builtins.int
diff --git a/src/viam/gen/component/posetracker/v1/pose_tracker_pb2.pyi b/src/viam/gen/component/posetracker/v1/pose_tracker_pb2.pyi
index abba2ad4c..b25f13437 100644
--- a/src/viam/gen/component/posetracker/v1/pose_tracker_pb2.pyi
+++ b/src/viam/gen/component/posetracker/v1/pose_tracker_pb2.pyi
@@ -16,6 +16,7 @@ else:
     import typing_extensions
 DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
 
+@typing_extensions.final
 class GetPosesRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -45,9 +46,11 @@ class GetPosesRequest(google.protobuf.message.Message):
         ...
 global___GetPosesRequest = GetPosesRequest
 
+@typing_extensions.final
 class GetPosesResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
+    @typing_extensions.final
     class BodyPosesEntry(google.protobuf.message.Message):
         DESCRIPTOR: google.protobuf.descriptor.Descriptor
         KEY_FIELD_NUMBER: builtins.int
diff --git a/src/viam/gen/component/sensor/v1/sensor_pb2.pyi b/src/viam/gen/component/sensor/v1/sensor_pb2.pyi
index 4ee942aa5..973bd8496 100644
--- a/src/viam/gen/component/sensor/v1/sensor_pb2.pyi
+++ b/src/viam/gen/component/sensor/v1/sensor_pb2.pyi
@@ -15,6 +15,7 @@ else:
     import typing_extensions
 DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
 
+@typing_extensions.final
 class GetReadingsRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -36,9 +37,11 @@ class GetReadingsRequest(google.protobuf.message.Message):
         ...
 global___GetReadingsRequest = GetReadingsRequest
 
+@typing_extensions.final
 class GetReadingsResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
+    @typing_extensions.final
     class ReadingsEntry(google.protobuf.message.Message):
         DESCRIPTOR: google.protobuf.descriptor.Descriptor
         KEY_FIELD_NUMBER: builtins.int
diff --git a/src/viam/gen/component/servo/v1/servo_pb2.pyi b/src/viam/gen/component/servo/v1/servo_pb2.pyi
index fd1625e89..e6e954bbc 100644
--- a/src/viam/gen/component/servo/v1/servo_pb2.pyi
+++ b/src/viam/gen/component/servo/v1/servo_pb2.pyi
@@ -13,6 +13,7 @@ else:
     import typing_extensions
 DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
 
+@typing_extensions.final
 class MoveRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -37,6 +38,7 @@ class MoveRequest(google.protobuf.message.Message):
         ...
 global___MoveRequest = MoveRequest
 
+@typing_extensions.final
 class MoveResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
@@ -44,6 +46,7 @@ class MoveResponse(google.protobuf.message.Message):
         ...
 global___MoveResponse = MoveResponse
 
+@typing_extensions.final
 class GetPositionRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -65,6 +68,7 @@ class GetPositionRequest(google.protobuf.message.Message):
         ...
 global___GetPositionRequest = GetPositionRequest
 
+@typing_extensions.final
 class GetPositionResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     POSITION_DEG_FIELD_NUMBER: builtins.int
@@ -78,6 +82,7 @@ class GetPositionResponse(google.protobuf.message.Message):
         ...
 global___GetPositionResponse = GetPositionResponse
 
+@typing_extensions.final
 class StopRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -99,6 +104,7 @@ class StopRequest(google.protobuf.message.Message):
         ...
 global___StopRequest = StopRequest
 
+@typing_extensions.final
 class StopResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
@@ -106,6 +112,7 @@ class StopResponse(google.protobuf.message.Message):
         ...
 global___StopResponse = StopResponse
 
+@typing_extensions.final
 class Status(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     POSITION_DEG_FIELD_NUMBER: builtins.int
diff --git a/src/viam/gen/component/testecho/__init__.py b/src/viam/gen/component/testecho/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/src/viam/gen/component/testecho/v1/__init__.py b/src/viam/gen/component/testecho/v1/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/src/viam/gen/component/testecho/v1/testecho_grpc.py b/src/viam/gen/component/testecho/v1/testecho_grpc.py
new file mode 100644
index 000000000..d7c936977
--- /dev/null
+++ b/src/viam/gen/component/testecho/v1/testecho_grpc.py
@@ -0,0 +1,37 @@
+import abc
+import typing
+import grpclib.const
+import grpclib.client
+if typing.TYPE_CHECKING:
+    import grpclib.server
+from .... import common
+from .... import component
+
+class TestEchoServiceBase(abc.ABC):
+
+    @abc.abstractmethod
+    async def Echo(self, stream: 'grpclib.server.Stream[component.testecho.v1.testecho_pb2.EchoRequest, component.testecho.v1.testecho_pb2.EchoResponse]') -> None:
+        pass
+
+    @abc.abstractmethod
+    async def EchoMultiple(self, stream: 'grpclib.server.Stream[component.testecho.v1.testecho_pb2.EchoMultipleRequest, component.testecho.v1.testecho_pb2.EchoMultipleResponse]') -> None:
+        pass
+
+    @abc.abstractmethod
+    async def EchoBiDi(self, stream: 'grpclib.server.Stream[component.testecho.v1.testecho_pb2.EchoBiDiRequest, component.testecho.v1.testecho_pb2.EchoBiDiResponse]') -> None:
+        pass
+
+    @abc.abstractmethod
+    async def Stop(self, stream: 'grpclib.server.Stream[component.testecho.v1.testecho_pb2.StopRequest, component.testecho.v1.testecho_pb2.StopResponse]') -> None:
+        pass
+
+    def __mapping__(self) -> typing.Dict[str, grpclib.const.Handler]:
+        return {'/viam.component.testecho.v1.TestEchoService/Echo': grpclib.const.Handler(self.Echo, grpclib.const.Cardinality.UNARY_UNARY, component.testecho.v1.testecho_pb2.EchoRequest, component.testecho.v1.testecho_pb2.EchoResponse), '/viam.component.testecho.v1.TestEchoService/EchoMultiple': grpclib.const.Handler(self.EchoMultiple, grpclib.const.Cardinality.UNARY_STREAM, component.testecho.v1.testecho_pb2.EchoMultipleRequest, component.testecho.v1.testecho_pb2.EchoMultipleResponse), '/viam.component.testecho.v1.TestEchoService/EchoBiDi': grpclib.const.Handler(self.EchoBiDi, grpclib.const.Cardinality.STREAM_STREAM, component.testecho.v1.testecho_pb2.EchoBiDiRequest, component.testecho.v1.testecho_pb2.EchoBiDiResponse), '/viam.component.testecho.v1.TestEchoService/Stop': grpclib.const.Handler(self.Stop, grpclib.const.Cardinality.UNARY_UNARY, component.testecho.v1.testecho_pb2.StopRequest, component.testecho.v1.testecho_pb2.StopResponse)}
+
+class TestEchoServiceStub:
+
+    def __init__(self, channel: grpclib.client.Channel) -> None:
+        self.Echo = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.testecho.v1.TestEchoService/Echo', component.testecho.v1.testecho_pb2.EchoRequest, component.testecho.v1.testecho_pb2.EchoResponse)
+        self.EchoMultiple = grpclib.client.UnaryStreamMethod(channel, '/viam.component.testecho.v1.TestEchoService/EchoMultiple', component.testecho.v1.testecho_pb2.EchoMultipleRequest, component.testecho.v1.testecho_pb2.EchoMultipleResponse)
+        self.EchoBiDi = grpclib.client.StreamStreamMethod(channel, '/viam.component.testecho.v1.TestEchoService/EchoBiDi', component.testecho.v1.testecho_pb2.EchoBiDiRequest, component.testecho.v1.testecho_pb2.EchoBiDiResponse)
+        self.Stop = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.testecho.v1.TestEchoService/Stop', component.testecho.v1.testecho_pb2.StopRequest, component.testecho.v1.testecho_pb2.StopResponse)
\ No newline at end of file
diff --git a/src/viam/gen/component/testecho/v1/testecho_pb2.py b/src/viam/gen/component/testecho/v1/testecho_pb2.py
new file mode 100644
index 000000000..6334f58a3
--- /dev/null
+++ b/src/viam/gen/component/testecho/v1/testecho_pb2.py
@@ -0,0 +1,33 @@
+"""Generated protocol buffer code."""
+from google.protobuf.internal import builder as _builder
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import symbol_database as _symbol_database
+_sym_db = _symbol_database.Default()
+from ....common.v1 import common_pb2 as common_dot_v1_dot_common__pb2
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n$component/testecho/v1/testecho.proto\x12\x1aviam.component.testecho.v1\x1a\x16common/v1/common.proto";\n\x0bEchoRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12\x18\n\x07message\x18\x02 \x01(\tR\x07message"(\n\x0cEchoResponse\x12\x18\n\x07message\x18\x01 \x01(\tR\x07message"C\n\x13EchoMultipleRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12\x18\n\x07message\x18\x02 \x01(\tR\x07message"0\n\x14EchoMultipleResponse\x12\x18\n\x07message\x18\x01 \x01(\tR\x07message"?\n\x0fEchoBiDiRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12\x18\n\x07message\x18\x02 \x01(\tR\x07message",\n\x10EchoBiDiResponse\x12\x18\n\x07message\x18\x01 \x01(\tR\x07message"!\n\x0bStopRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name"\x0e\n\x0cStopResponse2\xb3\x03\n\x0fTestEchoService\x12[\n\x04Echo\x12\'.viam.component.testecho.v1.EchoRequest\x1a(.viam.component.testecho.v1.EchoResponse"\x00\x12y\n\x0cEchoMultiple\x12/.viam.component.testecho.v1.EchoMultipleRequest\x1a0.viam.component.testecho.v1.EchoMultipleResponse"\x04\xa0\x92)\x010\x01\x12k\n\x08EchoBiDi\x12+.viam.component.testecho.v1.EchoBiDiRequest\x1a,.viam.component.testecho.v1.EchoBiDiResponse"\x00(\x010\x01\x12[\n\x04Stop\x12\'.viam.component.testecho.v1.StopRequest\x1a(.viam.component.testecho.v1.StopResponse"\x00BG\n\x1ecom.viam.component.testecho.v1Z%go.viam.com/api/component/testecho/v1b\x06proto3')
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'component.testecho.v1.testecho_pb2', globals())
+if _descriptor._USE_C_DESCRIPTORS == False:
+    DESCRIPTOR._options = None
+    DESCRIPTOR._serialized_options = b'\n\x1ecom.viam.component.testecho.v1Z%go.viam.com/api/component/testecho/v1'
+    _TESTECHOSERVICE.methods_by_name['EchoMultiple']._options = None
+    _TESTECHOSERVICE.methods_by_name['EchoMultiple']._serialized_options = b'\xa0\x92)\x01'
+    _ECHOREQUEST._serialized_start = 92
+    _ECHOREQUEST._serialized_end = 151
+    _ECHORESPONSE._serialized_start = 153
+    _ECHORESPONSE._serialized_end = 193
+    _ECHOMULTIPLEREQUEST._serialized_start = 195
+    _ECHOMULTIPLEREQUEST._serialized_end = 262
+    _ECHOMULTIPLERESPONSE._serialized_start = 264
+    _ECHOMULTIPLERESPONSE._serialized_end = 312
+    _ECHOBIDIREQUEST._serialized_start = 314
+    _ECHOBIDIREQUEST._serialized_end = 377
+    _ECHOBIDIRESPONSE._serialized_start = 379
+    _ECHOBIDIRESPONSE._serialized_end = 423
+    _STOPREQUEST._serialized_start = 425
+    _STOPREQUEST._serialized_end = 458
+    _STOPRESPONSE._serialized_start = 460
+    _STOPRESPONSE._serialized_end = 474
+    _TESTECHOSERVICE._serialized_start = 477
+    _TESTECHOSERVICE._serialized_end = 912
\ No newline at end of file
diff --git a/src/viam/gen/component/testecho/v1/testecho_pb2.pyi b/src/viam/gen/component/testecho/v1/testecho_pb2.pyi
new file mode 100644
index 000000000..fa287b6ab
--- /dev/null
+++ b/src/viam/gen/component/testecho/v1/testecho_pb2.pyi
@@ -0,0 +1,118 @@
+"""
+@generated by mypy-protobuf.  Do not edit manually!
+isort:skip_file
+"""
+import builtins
+import google.protobuf.descriptor
+import google.protobuf.message
+import sys
+if sys.version_info >= (3, 8):
+    import typing as typing_extensions
+else:
+    import typing_extensions
+DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
+
+@typing_extensions.final
+class EchoRequest(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    NAME_FIELD_NUMBER: builtins.int
+    MESSAGE_FIELD_NUMBER: builtins.int
+    name: builtins.str
+    message: builtins.str
+
+    def __init__(self, *, name: builtins.str=..., message: builtins.str=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing_extensions.Literal['message', b'message', 'name', b'name']) -> None:
+        ...
+global___EchoRequest = EchoRequest
+
+@typing_extensions.final
+class EchoResponse(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    MESSAGE_FIELD_NUMBER: builtins.int
+    message: builtins.str
+
+    def __init__(self, *, message: builtins.str=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing_extensions.Literal['message', b'message']) -> None:
+        ...
+global___EchoResponse = EchoResponse
+
+@typing_extensions.final
+class EchoMultipleRequest(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    NAME_FIELD_NUMBER: builtins.int
+    MESSAGE_FIELD_NUMBER: builtins.int
+    name: builtins.str
+    message: builtins.str
+
+    def __init__(self, *, name: builtins.str=..., message: builtins.str=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing_extensions.Literal['message', b'message', 'name', b'name']) -> None:
+        ...
+global___EchoMultipleRequest = EchoMultipleRequest
+
+@typing_extensions.final
+class EchoMultipleResponse(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    MESSAGE_FIELD_NUMBER: builtins.int
+    message: builtins.str
+
+    def __init__(self, *, message: builtins.str=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing_extensions.Literal['message', b'message']) -> None:
+        ...
+global___EchoMultipleResponse = EchoMultipleResponse
+
+@typing_extensions.final
+class EchoBiDiRequest(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    NAME_FIELD_NUMBER: builtins.int
+    MESSAGE_FIELD_NUMBER: builtins.int
+    name: builtins.str
+    message: builtins.str
+
+    def __init__(self, *, name: builtins.str=..., message: builtins.str=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing_extensions.Literal['message', b'message', 'name', b'name']) -> None:
+        ...
+global___EchoBiDiRequest = EchoBiDiRequest
+
+@typing_extensions.final
+class EchoBiDiResponse(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    MESSAGE_FIELD_NUMBER: builtins.int
+    message: builtins.str
+
+    def __init__(self, *, message: builtins.str=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing_extensions.Literal['message', b'message']) -> None:
+        ...
+global___EchoBiDiResponse = EchoBiDiResponse
+
+@typing_extensions.final
+class StopRequest(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    NAME_FIELD_NUMBER: builtins.int
+    name: builtins.str
+
+    def __init__(self, *, name: builtins.str=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing_extensions.Literal['name', b'name']) -> None:
+        ...
+global___StopRequest = StopRequest
+
+@typing_extensions.final
+class StopResponse(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    def __init__(self) -> None:
+        ...
+global___StopResponse = StopResponse
\ No newline at end of file
diff --git a/src/viam/gen/proto/rpc/examples/echo/v1/echo_pb2.py b/src/viam/gen/proto/rpc/examples/echo/v1/echo_pb2.py
index 814a1b6e3..a2056c96f 100644
--- a/src/viam/gen/proto/rpc/examples/echo/v1/echo_pb2.py
+++ b/src/viam/gen/proto/rpc/examples/echo/v1/echo_pb2.py
@@ -5,14 +5,14 @@
 from google.protobuf import symbol_database as _symbol_database
 _sym_db = _symbol_database.Default()
 from google.api import annotations_pb2 as google_dot_api_dot_annotations__pb2
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n%proto/rpc/examples/echo/v1/echo.proto\x12\x1aproto.rpc.examples.echo.v1\x1a\x1cgoogle/api/annotations.proto"\'\n\x0bEchoRequest\x12\x18\n\x07message\x18\x01 \x01(\tR\x07message"(\n\x0cEchoResponse\x12\x18\n\x07message\x18\x01 \x01(\tR\x07message"/\n\x13EchoMultipleRequest\x12\x18\n\x07message\x18\x01 \x01(\tR\x07message"0\n\x14EchoMultipleResponse\x12\x18\n\x07message\x18\x01 \x01(\tR\x07message"+\n\x0fEchoBiDiRequest\x12\x18\n\x07message\x18\x01 \x01(\tR\x07message",\n\x10EchoBiDiResponse\x12\x18\n\x07message\x18\x01 \x01(\tR\x07message2\xf4\x02\n\x0bEchoService\x12\x80\x01\n\x04Echo\x12\'.proto.rpc.examples.echo.v1.EchoRequest\x1a(.proto.rpc.examples.echo.v1.EchoResponse"%\x82\xd3\xe4\x93\x02\x1f"\x1a/rpc/examples/echo/v1/echo:\x01*\x12u\n\x0cEchoMultiple\x12/.proto.rpc.examples.echo.v1.EchoMultipleRequest\x1a0.proto.rpc.examples.echo.v1.EchoMultipleResponse"\x000\x01\x12k\n\x08EchoBiDi\x12+.proto.rpc.examples.echo.v1.EchoBiDiRequest\x1a,.proto.rpc.examples.echo.v1.EchoBiDiResponse"\x00(\x010\x01B.Z,go.viam.com/utils/proto/rpc/examples/echo/v1b\x06proto3')
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n%proto/rpc/examples/echo/v1/echo.proto\x12\x1aproto.rpc.examples.echo.v1\x1a\x1cgoogle/api/annotations.proto"\'\n\x0bEchoRequest\x12\x18\n\x07message\x18\x01 \x01(\tR\x07message"(\n\x0cEchoResponse\x12\x18\n\x07message\x18\x01 \x01(\tR\x07message"/\n\x13EchoMultipleRequest\x12\x18\n\x07message\x18\x01 \x01(\tR\x07message"0\n\x14EchoMultipleResponse\x12\x18\n\x07message\x18\x01 \x01(\tR\x07message"+\n\x0fEchoBiDiRequest\x12\x18\n\x07message\x18\x01 \x01(\tR\x07message",\n\x10EchoBiDiResponse\x12\x18\n\x07message\x18\x01 \x01(\tR\x07message2\xf4\x02\n\x0bEchoService\x12\x80\x01\n\x04Echo\x12\'.proto.rpc.examples.echo.v1.EchoRequest\x1a(.proto.rpc.examples.echo.v1.EchoResponse"%\x82\xd3\xe4\x93\x02\x1f:\x01*"\x1a/rpc/examples/echo/v1/echo\x12u\n\x0cEchoMultiple\x12/.proto.rpc.examples.echo.v1.EchoMultipleRequest\x1a0.proto.rpc.examples.echo.v1.EchoMultipleResponse"\x000\x01\x12k\n\x08EchoBiDi\x12+.proto.rpc.examples.echo.v1.EchoBiDiRequest\x1a,.proto.rpc.examples.echo.v1.EchoBiDiResponse"\x00(\x010\x01B.Z,go.viam.com/utils/proto/rpc/examples/echo/v1b\x06proto3')
 _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
 _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'proto.rpc.examples.echo.v1.echo_pb2', globals())
 if _descriptor._USE_C_DESCRIPTORS == False:
     DESCRIPTOR._options = None
     DESCRIPTOR._serialized_options = b'Z,go.viam.com/utils/proto/rpc/examples/echo/v1'
     _ECHOSERVICE.methods_by_name['Echo']._options = None
-    _ECHOSERVICE.methods_by_name['Echo']._serialized_options = b'\x82\xd3\xe4\x93\x02\x1f"\x1a/rpc/examples/echo/v1/echo:\x01*'
+    _ECHOSERVICE.methods_by_name['Echo']._serialized_options = b'\x82\xd3\xe4\x93\x02\x1f:\x01*"\x1a/rpc/examples/echo/v1/echo'
     _ECHOREQUEST._serialized_start = 99
     _ECHOREQUEST._serialized_end = 138
     _ECHORESPONSE._serialized_start = 140
diff --git a/src/viam/gen/proto/rpc/examples/echo/v1/echo_pb2.pyi b/src/viam/gen/proto/rpc/examples/echo/v1/echo_pb2.pyi
index 7e99af2cd..5a93f1bf6 100644
--- a/src/viam/gen/proto/rpc/examples/echo/v1/echo_pb2.pyi
+++ b/src/viam/gen/proto/rpc/examples/echo/v1/echo_pb2.pyi
@@ -12,6 +12,7 @@ else:
     import typing_extensions
 DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
 
+@typing_extensions.final
 class EchoRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     MESSAGE_FIELD_NUMBER: builtins.int
@@ -24,6 +25,7 @@ class EchoRequest(google.protobuf.message.Message):
         ...
 global___EchoRequest = EchoRequest
 
+@typing_extensions.final
 class EchoResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     MESSAGE_FIELD_NUMBER: builtins.int
@@ -36,6 +38,7 @@ class EchoResponse(google.protobuf.message.Message):
         ...
 global___EchoResponse = EchoResponse
 
+@typing_extensions.final
 class EchoMultipleRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     MESSAGE_FIELD_NUMBER: builtins.int
@@ -48,6 +51,7 @@ class EchoMultipleRequest(google.protobuf.message.Message):
         ...
 global___EchoMultipleRequest = EchoMultipleRequest
 
+@typing_extensions.final
 class EchoMultipleResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     MESSAGE_FIELD_NUMBER: builtins.int
@@ -60,6 +64,7 @@ class EchoMultipleResponse(google.protobuf.message.Message):
         ...
 global___EchoMultipleResponse = EchoMultipleResponse
 
+@typing_extensions.final
 class EchoBiDiRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     MESSAGE_FIELD_NUMBER: builtins.int
@@ -72,6 +77,7 @@ class EchoBiDiRequest(google.protobuf.message.Message):
         ...
 global___EchoBiDiRequest = EchoBiDiRequest
 
+@typing_extensions.final
 class EchoBiDiResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     MESSAGE_FIELD_NUMBER: builtins.int
diff --git a/src/viam/gen/proto/rpc/examples/echoresource/v1/echoresource_pb2.pyi b/src/viam/gen/proto/rpc/examples/echoresource/v1/echoresource_pb2.pyi
index 87bbb3316..185961098 100644
--- a/src/viam/gen/proto/rpc/examples/echoresource/v1/echoresource_pb2.pyi
+++ b/src/viam/gen/proto/rpc/examples/echoresource/v1/echoresource_pb2.pyi
@@ -12,6 +12,7 @@ else:
     import typing_extensions
 DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
 
+@typing_extensions.final
 class EchoResourceRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -26,6 +27,7 @@ class EchoResourceRequest(google.protobuf.message.Message):
         ...
 global___EchoResourceRequest = EchoResourceRequest
 
+@typing_extensions.final
 class EchoResourceResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     MESSAGE_FIELD_NUMBER: builtins.int
@@ -38,6 +40,7 @@ class EchoResourceResponse(google.protobuf.message.Message):
         ...
 global___EchoResourceResponse = EchoResourceResponse
 
+@typing_extensions.final
 class EchoResourceMultipleRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -52,6 +55,7 @@ class EchoResourceMultipleRequest(google.protobuf.message.Message):
         ...
 global___EchoResourceMultipleRequest = EchoResourceMultipleRequest
 
+@typing_extensions.final
 class EchoResourceMultipleResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     MESSAGE_FIELD_NUMBER: builtins.int
@@ -64,6 +68,7 @@ class EchoResourceMultipleResponse(google.protobuf.message.Message):
         ...
 global___EchoResourceMultipleResponse = EchoResourceMultipleResponse
 
+@typing_extensions.final
 class EchoResourceBiDiRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -78,6 +83,7 @@ class EchoResourceBiDiRequest(google.protobuf.message.Message):
         ...
 global___EchoResourceBiDiRequest = EchoResourceBiDiRequest
 
+@typing_extensions.final
 class EchoResourceBiDiResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     MESSAGE_FIELD_NUMBER: builtins.int
diff --git a/src/viam/gen/proto/rpc/examples/fileupload/v1/fileupload_pb2.pyi b/src/viam/gen/proto/rpc/examples/fileupload/v1/fileupload_pb2.pyi
index f44bddd57..2ad18bb76 100644
--- a/src/viam/gen/proto/rpc/examples/fileupload/v1/fileupload_pb2.pyi
+++ b/src/viam/gen/proto/rpc/examples/fileupload/v1/fileupload_pb2.pyi
@@ -12,6 +12,7 @@ else:
     import typing_extensions
 DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
 
+@typing_extensions.final
 class UploadFileRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -32,6 +33,7 @@ class UploadFileRequest(google.protobuf.message.Message):
         ...
 global___UploadFileRequest = UploadFileRequest
 
+@typing_extensions.final
 class UploadFileResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
diff --git a/src/viam/gen/proto/rpc/v1/auth_pb2.pyi b/src/viam/gen/proto/rpc/v1/auth_pb2.pyi
index 7a2a8d6c2..209d2cb7a 100644
--- a/src/viam/gen/proto/rpc/v1/auth_pb2.pyi
+++ b/src/viam/gen/proto/rpc/v1/auth_pb2.pyi
@@ -12,6 +12,7 @@ else:
     import typing_extensions
 DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
 
+@typing_extensions.final
 class Credentials(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     TYPE_FIELD_NUMBER: builtins.int
@@ -28,6 +29,7 @@ class Credentials(google.protobuf.message.Message):
         ...
 global___Credentials = Credentials
 
+@typing_extensions.final
 class AuthenticateRequest(google.protobuf.message.Message):
     """An AuthenticateRequest contains the credentials used to authenticate."""
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
@@ -49,6 +51,7 @@ class AuthenticateRequest(google.protobuf.message.Message):
         ...
 global___AuthenticateRequest = AuthenticateRequest
 
+@typing_extensions.final
 class AuthenticateResponse(google.protobuf.message.Message):
     """An AuthenticateResponse is returned after successful authentication."""
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
@@ -63,6 +66,7 @@ class AuthenticateResponse(google.protobuf.message.Message):
         ...
 global___AuthenticateResponse = AuthenticateResponse
 
+@typing_extensions.final
 class AuthenticateToRequest(google.protobuf.message.Message):
     """An AuthenticateToRequest contains the entity to authenticate to."""
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
@@ -76,6 +80,7 @@ class AuthenticateToRequest(google.protobuf.message.Message):
         ...
 global___AuthenticateToRequest = AuthenticateToRequest
 
+@typing_extensions.final
 class AuthenticateToResponse(google.protobuf.message.Message):
     """An AuthenticateResponse is returned after successful authentication."""
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
diff --git a/src/viam/gen/proto/rpc/webrtc/v1/grpc_pb2.pyi b/src/viam/gen/proto/rpc/webrtc/v1/grpc_pb2.pyi
index 267afb13e..9164e5b4d 100644
--- a/src/viam/gen/proto/rpc/webrtc/v1/grpc_pb2.pyi
+++ b/src/viam/gen/proto/rpc/webrtc/v1/grpc_pb2.pyi
@@ -16,6 +16,7 @@ else:
     import typing_extensions
 DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
 
+@typing_extensions.final
 class PacketMessage(google.protobuf.message.Message):
     """A PacketMessage is used to packetize large messages (> 64KiB) to be able to safely
     transmit over WebRTC data channels.
@@ -33,6 +34,7 @@ class PacketMessage(google.protobuf.message.Message):
         ...
 global___PacketMessage = PacketMessage
 
+@typing_extensions.final
 class Stream(google.protobuf.message.Message):
     """A Stream represents an instance of a gRPC stream between
     a client and a server.
@@ -48,6 +50,7 @@ class Stream(google.protobuf.message.Message):
         ...
 global___Stream = Stream
 
+@typing_extensions.final
 class Request(google.protobuf.message.Message):
     """A Request is a frame coming from a client. It is always
     associated with a stream where the client assigns the stream
@@ -86,6 +89,7 @@ class Request(google.protobuf.message.Message):
         ...
 global___Request = Request
 
+@typing_extensions.final
 class RequestHeaders(google.protobuf.message.Message):
     """RequestHeaders describe the unary or streaming call to make."""
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
@@ -112,6 +116,7 @@ class RequestHeaders(google.protobuf.message.Message):
         ...
 global___RequestHeaders = RequestHeaders
 
+@typing_extensions.final
 class RequestMessage(google.protobuf.message.Message):
     """A RequestMessage contains individual gRPC messages and a potential
     end-of-stream (EOS) marker.
@@ -137,6 +142,7 @@ class RequestMessage(google.protobuf.message.Message):
         ...
 global___RequestMessage = RequestMessage
 
+@typing_extensions.final
 class Response(google.protobuf.message.Message):
     """A Response is a frame coming from a server. It is always
     associated with a stream where the client assigns the stream
@@ -178,6 +184,7 @@ class Response(google.protobuf.message.Message):
         ...
 global___Response = Response
 
+@typing_extensions.final
 class ResponseHeaders(google.protobuf.message.Message):
     """ResponseHeaders contain custom metadata that are sent to the client
     before any message or trailers (unless only trailers are sent).
@@ -199,6 +206,7 @@ class ResponseHeaders(google.protobuf.message.Message):
         ...
 global___ResponseHeaders = ResponseHeaders
 
+@typing_extensions.final
 class ResponseMessage(google.protobuf.message.Message):
     """ResponseMessage contains the data of a response to a call."""
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
@@ -218,6 +226,7 @@ class ResponseMessage(google.protobuf.message.Message):
         ...
 global___ResponseMessage = ResponseMessage
 
+@typing_extensions.final
 class ResponseTrailers(google.protobuf.message.Message):
     """ResponseTrailers contain the status of a response and any custom metadata."""
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
@@ -242,6 +251,7 @@ class ResponseTrailers(google.protobuf.message.Message):
         ...
 global___ResponseTrailers = ResponseTrailers
 
+@typing_extensions.final
 class Strings(google.protobuf.message.Message):
     """Strings are a series of values."""
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
@@ -258,12 +268,14 @@ class Strings(google.protobuf.message.Message):
         ...
 global___Strings = Strings
 
+@typing_extensions.final
 class Metadata(google.protobuf.message.Message):
     """Metadata is for custom key values provided by a client or server
     during a stream.
     """
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
+    @typing_extensions.final
     class MdEntry(google.protobuf.message.Message):
         DESCRIPTOR: google.protobuf.descriptor.Descriptor
         KEY_FIELD_NUMBER: builtins.int
diff --git a/src/viam/gen/proto/rpc/webrtc/v1/signaling_pb2.pyi b/src/viam/gen/proto/rpc/webrtc/v1/signaling_pb2.pyi
index d817e071a..a3de25266 100644
--- a/src/viam/gen/proto/rpc/webrtc/v1/signaling_pb2.pyi
+++ b/src/viam/gen/proto/rpc/webrtc/v1/signaling_pb2.pyi
@@ -17,6 +17,7 @@ else:
     import typing_extensions
 DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
 
+@typing_extensions.final
 class ICECandidate(google.protobuf.message.Message):
     """ICECandidate represents an ICE candidate.
     From https://github.com/pion/webrtc/blob/5f6baf73255598a7b4a7c9400bb0381acc9aa3dc/icecandidateinit.go
@@ -53,6 +54,7 @@ class ICECandidate(google.protobuf.message.Message):
         ...
 global___ICECandidate = ICECandidate
 
+@typing_extensions.final
 class CallRequest(google.protobuf.message.Message):
     """CallRequest is the SDP offer that the controlling side is making."""
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
@@ -69,6 +71,7 @@ class CallRequest(google.protobuf.message.Message):
         ...
 global___CallRequest = CallRequest
 
+@typing_extensions.final
 class CallResponseInitStage(google.protobuf.message.Message):
     """CallResponseInitStage is the first and a one time stage that represents
     the initial response to starting a call.
@@ -84,6 +87,7 @@ class CallResponseInitStage(google.protobuf.message.Message):
         ...
 global___CallResponseInitStage = CallResponseInitStage
 
+@typing_extensions.final
 class CallResponseUpdateStage(google.protobuf.message.Message):
     """CallResponseUpdateStage is multiply used to trickle in ICE candidates from
     the controlled (answering) side.
@@ -105,6 +109,7 @@ class CallResponseUpdateStage(google.protobuf.message.Message):
         ...
 global___CallResponseUpdateStage = CallResponseUpdateStage
 
+@typing_extensions.final
 class CallResponse(google.protobuf.message.Message):
     """CallResponse is the SDP answer that the controlled side responds with."""
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
@@ -134,6 +139,7 @@ class CallResponse(google.protobuf.message.Message):
         ...
 global___CallResponse = CallResponse
 
+@typing_extensions.final
 class CallUpdateRequest(google.protobuf.message.Message):
     """CallUpdateRequest updates the call with additional info to the controlled side."""
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
@@ -165,6 +171,7 @@ class CallUpdateRequest(google.protobuf.message.Message):
         ...
 global___CallUpdateRequest = CallUpdateRequest
 
+@typing_extensions.final
 class CallUpdateResponse(google.protobuf.message.Message):
     """CallUpdateResponse contains nothing in response to a call update."""
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
@@ -173,6 +180,7 @@ class CallUpdateResponse(google.protobuf.message.Message):
         ...
 global___CallUpdateResponse = CallUpdateResponse
 
+@typing_extensions.final
 class ICEServer(google.protobuf.message.Message):
     """ICEServer describes an ICE server."""
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
@@ -193,6 +201,7 @@ class ICEServer(google.protobuf.message.Message):
         ...
 global___ICEServer = ICEServer
 
+@typing_extensions.final
 class WebRTCConfig(google.protobuf.message.Message):
     """WebRTCConfig represents parts of a WebRTC config."""
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
@@ -212,6 +221,7 @@ class WebRTCConfig(google.protobuf.message.Message):
         ...
 global___WebRTCConfig = WebRTCConfig
 
+@typing_extensions.final
 class AnswerRequestInitStage(google.protobuf.message.Message):
     """AnswerRequestInitStage is the first and a one time stage that represents the
     callers initial SDP request to the controlled (answerer) side.
@@ -243,6 +253,7 @@ class AnswerRequestInitStage(google.protobuf.message.Message):
         ...
 global___AnswerRequestInitStage = AnswerRequestInitStage
 
+@typing_extensions.final
 class AnswerRequestUpdateStage(google.protobuf.message.Message):
     """AnswerRequestUpdateStage is multiply used to trickle in ICE candidates to
     the controlled (answerer) side.
@@ -264,6 +275,7 @@ class AnswerRequestUpdateStage(google.protobuf.message.Message):
         ...
 global___AnswerRequestUpdateStage = AnswerRequestUpdateStage
 
+@typing_extensions.final
 class AnswerRequestDoneStage(google.protobuf.message.Message):
     """AnswerRequestDoneStage indicates the controller is done responding with candidates."""
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
@@ -272,6 +284,7 @@ class AnswerRequestDoneStage(google.protobuf.message.Message):
         ...
 global___AnswerRequestDoneStage = AnswerRequestDoneStage
 
+@typing_extensions.final
 class AnswerRequestErrorStage(google.protobuf.message.Message):
     """AnswerRequestErrorStage indicates the exchange has failed with an error."""
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
@@ -291,6 +304,7 @@ class AnswerRequestErrorStage(google.protobuf.message.Message):
         ...
 global___AnswerRequestErrorStage = AnswerRequestErrorStage
 
+@typing_extensions.final
 class AnswerRequest(google.protobuf.message.Message):
     """AnswerRequest is the SDP offer that the controlling side is making via the answering
     stream.
@@ -332,6 +346,7 @@ class AnswerRequest(google.protobuf.message.Message):
         ...
 global___AnswerRequest = AnswerRequest
 
+@typing_extensions.final
 class AnswerResponseInitStage(google.protobuf.message.Message):
     """AnswerResponseInitStage is the first and a one time stage that represents the
     answerers initial SDP response to the controlling side.
@@ -347,6 +362,7 @@ class AnswerResponseInitStage(google.protobuf.message.Message):
         ...
 global___AnswerResponseInitStage = AnswerResponseInitStage
 
+@typing_extensions.final
 class AnswerResponseUpdateStage(google.protobuf.message.Message):
     """AnswerResponseUpdateStage is multiply used to trickle in ICE candidates to
     the controlling side.
@@ -368,6 +384,7 @@ class AnswerResponseUpdateStage(google.protobuf.message.Message):
         ...
 global___AnswerResponseUpdateStage = AnswerResponseUpdateStage
 
+@typing_extensions.final
 class AnswerResponseDoneStage(google.protobuf.message.Message):
     """AnswerResponseDoneStage indicates the answerer is done responding with candidates."""
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
@@ -376,6 +393,7 @@ class AnswerResponseDoneStage(google.protobuf.message.Message):
         ...
 global___AnswerResponseDoneStage = AnswerResponseDoneStage
 
+@typing_extensions.final
 class AnswerResponseErrorStage(google.protobuf.message.Message):
     """AnswerResponseErrorStage indicates the exchange has failed with an error."""
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
@@ -395,6 +413,7 @@ class AnswerResponseErrorStage(google.protobuf.message.Message):
         ...
 global___AnswerResponseErrorStage = AnswerResponseErrorStage
 
+@typing_extensions.final
 class AnswerResponse(google.protobuf.message.Message):
     """AnswerResponse is the SDP answer that an answerer responds with."""
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
@@ -434,6 +453,7 @@ class AnswerResponse(google.protobuf.message.Message):
         ...
 global___AnswerResponse = AnswerResponse
 
+@typing_extensions.final
 class OptionalWebRTCConfigRequest(google.protobuf.message.Message):
     """OptionalWebRTCConfigRequest is the request for getting an optional WebRTC config
     to use for the peer connection.
@@ -444,6 +464,7 @@ class OptionalWebRTCConfigRequest(google.protobuf.message.Message):
         ...
 global___OptionalWebRTCConfigRequest = OptionalWebRTCConfigRequest
 
+@typing_extensions.final
 class OptionalWebRTCConfigResponse(google.protobuf.message.Message):
     """OptionalWebRTCConfigResponse contains the optional WebRTC config
     to use for the peer connection.
diff --git a/src/viam/gen/robot/v1/robot_pb2.py b/src/viam/gen/robot/v1/robot_pb2.py
index 975ce687b..4aced6b6f 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"\x94\x01\n\x11FrameSystemConfig\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12L\n\x14pose_in_parent_frame\x18\x02 \x01(\x0b2\x1b.viam.common.v1.PoseInFrameR\x11poseInParentFrame\x12\x1d\n\nmodel_json\x18\x03 \x01(\x0cR\tmodelJson"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"\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"k\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"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*z\n\x12PeerConnectionType\x12$\n PEER_CONNECTION_TYPE_UNSPECIFIED\x10\x00\x12\x1d\n\x19PEER_CONNECTION_TYPE_GRPC\x10\x01\x12\x1f\n\x1bPEER_CONNECTION_TYPE_WEBRTC\x10\x022\xed\x0e\n\x0cRobotService\x12\x80\x01\n\rGetOperations\x12#.viam.robot.v1.GetOperationsRequest\x1a$.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 /viam/api/v1/frame_system/config\x12\x8c\x01\n\rTransformPose\x12#.viam.robot.v1.TransformPoseRequest\x1a$.viam.robot.v1.TransformPoseResponse"0\x82\xd3\xe4\x93\x02*\x12(/viam/api/v1/frame_system/transform_pose\x12k\n\tGetStatus\x12\x1f.viam.robot.v1.GetStatusRequest\x1a .viam.robot.v1.GetStatusResponse"\x1b\x82\xd3\xe4\x93\x02\x15\x12\x13/viam/api/v1/status\x12}\n\x0cStreamStatus\x12".viam.robot.v1.StreamStatusRequest\x1a#.viam.robot.v1.StreamStatusResponse""\x82\xd3\xe4\x93\x02\x1c\x12\x1a/viam/api/v1/status/stream0\x01\x12g\n\x07StopAll\x12\x1d.viam.robot.v1.StopAllRequest\x1a\x1e.viam.robot.v1.StopAllResponse"\x1d\x82\xd3\xe4\x93\x02\x17\x12\x15/viam/api/v1/stop_all\x12v\n\x0cStartSession\x12".viam.robot.v1.StartSessionRequest\x1a#.viam.robot.v1.StartSessionResponse"\x1d\x82\xd3\xe4\x93\x02\x17"\x15/viam/api/v1/sessions\x12\x9d\x01\n\x14SendSessionHeartbeat\x12*.viam.robot.v1.SendSessionHeartbeatRequest\x1a+.viam.robot.v1.SendSessionHeartbeatResponse",\x82\xd3\xe4\x93\x02&"$/viam/api/v1/sessions/{id}/heartbeatB-\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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.viam.robot.v1.GetStatusResponse"\x1b\x82\xd3\xe4\x93\x02\x15\x12\x13/viam/api/v1/status\x12}\n\x0cStreamStatus\x12".viam.robot.v1.StreamStatusRequest\x1a#.viam.robot.v1.StreamStatusResponse""\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&"$/viam/api/v1/sessions/{id}/heartbeatB-\n\x11com.viam.robot.v1Z\x18go.viam.com/api/robot/v1b\x06proto3')
 _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
 _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'robot.v1.robot_pb2', globals())
 if _descriptor._USE_C_DESCRIPTORS == False:
@@ -43,81 +43,81 @@
     _ROBOTSERVICE.methods_by_name['StartSession']._serialized_options = b'\x82\xd3\xe4\x93\x02\x17"\x15/viam/api/v1/sessions'
     _ROBOTSERVICE.methods_by_name['SendSessionHeartbeat']._options = None
     _ROBOTSERVICE.methods_by_name['SendSessionHeartbeat']._serialized_options = b'\x82\xd3\xe4\x93\x02&"$/viam/api/v1/sessions/{id}/heartbeat'
-    _PEERCONNECTIONTYPE._serialized_start = 3397
-    _PEERCONNECTIONTYPE._serialized_end = 3519
-    _FRAMESYSTEMCONFIG._serialized_start = 189
-    _FRAMESYSTEMCONFIG._serialized_end = 337
-    _FRAMESYSTEMCONFIGREQUEST._serialized_start = 339
-    _FRAMESYSTEMCONFIGREQUEST._serialized_end = 449
-    _FRAMESYSTEMCONFIGRESPONSE._serialized_start = 451
-    _FRAMESYSTEMCONFIGRESPONSE._serialized_end = 562
-    _TRANSFORMPOSEREQUEST._serialized_start = 565
-    _TRANSFORMPOSEREQUEST._serialized_end = 758
-    _TRANSFORMPOSERESPONSE._serialized_start = 760
-    _TRANSFORMPOSERESPONSE._serialized_end = 832
-    _RESOURCENAMESREQUEST._serialized_start = 834
-    _RESOURCENAMESREQUEST._serialized_end = 856
-    _RESOURCENAMESRESPONSE._serialized_start = 858
-    _RESOURCENAMESRESPONSE._serialized_end = 941
-    _RESOURCERPCSUBTYPE._serialized_start = 943
-    _RESOURCERPCSUBTYPE._serialized_end = 1056
-    _RESOURCERPCSUBTYPESREQUEST._serialized_start = 1058
-    _RESOURCERPCSUBTYPESREQUEST._serialized_end = 1086
-    _RESOURCERPCSUBTYPESRESPONSE._serialized_start = 1088
-    _RESOURCERPCSUBTYPESRESPONSE._serialized_end = 1204
-    _OPERATION._serialized_start = 1207
-    _OPERATION._serialized_end = 1418
-    _GETOPERATIONSREQUEST._serialized_start = 1420
-    _GETOPERATIONSREQUEST._serialized_end = 1442
-    _GETOPERATIONSRESPONSE._serialized_start = 1444
-    _GETOPERATIONSRESPONSE._serialized_end = 1525
-    _CANCELOPERATIONREQUEST._serialized_start = 1527
-    _CANCELOPERATIONREQUEST._serialized_end = 1567
-    _CANCELOPERATIONRESPONSE._serialized_start = 1569
-    _CANCELOPERATIONRESPONSE._serialized_end = 1594
-    _BLOCKFOROPERATIONREQUEST._serialized_start = 1596
-    _BLOCKFOROPERATIONREQUEST._serialized_end = 1638
-    _BLOCKFOROPERATIONRESPONSE._serialized_start = 1640
-    _BLOCKFOROPERATIONRESPONSE._serialized_end = 1667
-    _PEERCONNECTIONINFO._serialized_start = 1670
-    _PEERCONNECTIONINFO._serialized_end = 1868
-    _SESSION._serialized_start = 1871
-    _SESSION._serialized_end = 2011
-    _GETSESSIONSREQUEST._serialized_start = 2013
-    _GETSESSIONSREQUEST._serialized_end = 2033
-    _GETSESSIONSRESPONSE._serialized_start = 2035
-    _GETSESSIONSRESPONSE._serialized_end = 2108
-    _DISCOVERYQUERY._serialized_start = 2110
-    _DISCOVERYQUERY._serialized_end = 2174
-    _DISCOVERY._serialized_start = 2176
-    _DISCOVERY._serialized_end = 2291
-    _DISCOVERCOMPONENTSREQUEST._serialized_start = 2293
-    _DISCOVERCOMPONENTSREQUEST._serialized_end = 2377
-    _DISCOVERCOMPONENTSRESPONSE._serialized_start = 2379
-    _DISCOVERCOMPONENTSRESPONSE._serialized_end = 2463
-    _STATUS._serialized_start = 2465
-    _STATUS._serialized_end = 2572
-    _GETSTATUSREQUEST._serialized_start = 2574
-    _GETSTATUSREQUEST._serialized_end = 2661
-    _GETSTATUSRESPONSE._serialized_start = 2663
-    _GETSTATUSRESPONSE._serialized_end = 2729
-    _STREAMSTATUSREQUEST._serialized_start = 2732
-    _STREAMSTATUSREQUEST._serialized_end = 2871
-    _STREAMSTATUSRESPONSE._serialized_start = 2873
-    _STREAMSTATUSRESPONSE._serialized_end = 2942
-    _STOPEXTRAPARAMETERS._serialized_start = 2944
-    _STOPEXTRAPARAMETERS._serialized_end = 3064
-    _STOPALLREQUEST._serialized_start = 3066
-    _STOPALLREQUEST._serialized_end = 3140
-    _STOPALLRESPONSE._serialized_start = 3142
-    _STOPALLRESPONSE._serialized_end = 3159
-    _STARTSESSIONREQUEST._serialized_start = 3161
-    _STARTSESSIONREQUEST._serialized_end = 3206
-    _STARTSESSIONRESPONSE._serialized_start = 3208
-    _STARTSESSIONRESPONSE._serialized_end = 3316
-    _SENDSESSIONHEARTBEATREQUEST._serialized_start = 3318
-    _SENDSESSIONHEARTBEATREQUEST._serialized_end = 3363
-    _SENDSESSIONHEARTBEATRESPONSE._serialized_start = 3365
-    _SENDSESSIONHEARTBEATRESPONSE._serialized_end = 3395
-    _ROBOTSERVICE._serialized_start = 3522
-    _ROBOTSERVICE._serialized_end = 5423
\ No newline at end of file
+    _PEERCONNECTIONTYPE._serialized_start = 3373
+    _PEERCONNECTIONTYPE._serialized_end = 3495
+    _FRAMESYSTEMCONFIG._serialized_start = 188
+    _FRAMESYSTEMCONFIG._serialized_end = 313
+    _FRAMESYSTEMCONFIGREQUEST._serialized_start = 315
+    _FRAMESYSTEMCONFIGREQUEST._serialized_end = 425
+    _FRAMESYSTEMCONFIGRESPONSE._serialized_start = 427
+    _FRAMESYSTEMCONFIGRESPONSE._serialized_end = 538
+    _TRANSFORMPOSEREQUEST._serialized_start = 541
+    _TRANSFORMPOSEREQUEST._serialized_end = 734
+    _TRANSFORMPOSERESPONSE._serialized_start = 736
+    _TRANSFORMPOSERESPONSE._serialized_end = 808
+    _RESOURCENAMESREQUEST._serialized_start = 810
+    _RESOURCENAMESREQUEST._serialized_end = 832
+    _RESOURCENAMESRESPONSE._serialized_start = 834
+    _RESOURCENAMESRESPONSE._serialized_end = 917
+    _RESOURCERPCSUBTYPE._serialized_start = 919
+    _RESOURCERPCSUBTYPE._serialized_end = 1032
+    _RESOURCERPCSUBTYPESREQUEST._serialized_start = 1034
+    _RESOURCERPCSUBTYPESREQUEST._serialized_end = 1062
+    _RESOURCERPCSUBTYPESRESPONSE._serialized_start = 1064
+    _RESOURCERPCSUBTYPESRESPONSE._serialized_end = 1180
+    _OPERATION._serialized_start = 1183
+    _OPERATION._serialized_end = 1394
+    _GETOPERATIONSREQUEST._serialized_start = 1396
+    _GETOPERATIONSREQUEST._serialized_end = 1418
+    _GETOPERATIONSRESPONSE._serialized_start = 1420
+    _GETOPERATIONSRESPONSE._serialized_end = 1501
+    _CANCELOPERATIONREQUEST._serialized_start = 1503
+    _CANCELOPERATIONREQUEST._serialized_end = 1543
+    _CANCELOPERATIONRESPONSE._serialized_start = 1545
+    _CANCELOPERATIONRESPONSE._serialized_end = 1570
+    _BLOCKFOROPERATIONREQUEST._serialized_start = 1572
+    _BLOCKFOROPERATIONREQUEST._serialized_end = 1614
+    _BLOCKFOROPERATIONRESPONSE._serialized_start = 1616
+    _BLOCKFOROPERATIONRESPONSE._serialized_end = 1643
+    _PEERCONNECTIONINFO._serialized_start = 1646
+    _PEERCONNECTIONINFO._serialized_end = 1844
+    _SESSION._serialized_start = 1847
+    _SESSION._serialized_end = 1987
+    _GETSESSIONSREQUEST._serialized_start = 1989
+    _GETSESSIONSREQUEST._serialized_end = 2009
+    _GETSESSIONSRESPONSE._serialized_start = 2011
+    _GETSESSIONSRESPONSE._serialized_end = 2084
+    _DISCOVERYQUERY._serialized_start = 2086
+    _DISCOVERYQUERY._serialized_end = 2150
+    _DISCOVERY._serialized_start = 2152
+    _DISCOVERY._serialized_end = 2267
+    _DISCOVERCOMPONENTSREQUEST._serialized_start = 2269
+    _DISCOVERCOMPONENTSREQUEST._serialized_end = 2353
+    _DISCOVERCOMPONENTSRESPONSE._serialized_start = 2355
+    _DISCOVERCOMPONENTSRESPONSE._serialized_end = 2439
+    _STATUS._serialized_start = 2441
+    _STATUS._serialized_end = 2548
+    _GETSTATUSREQUEST._serialized_start = 2550
+    _GETSTATUSREQUEST._serialized_end = 2637
+    _GETSTATUSRESPONSE._serialized_start = 2639
+    _GETSTATUSRESPONSE._serialized_end = 2705
+    _STREAMSTATUSREQUEST._serialized_start = 2708
+    _STREAMSTATUSREQUEST._serialized_end = 2847
+    _STREAMSTATUSRESPONSE._serialized_start = 2849
+    _STREAMSTATUSRESPONSE._serialized_end = 2918
+    _STOPEXTRAPARAMETERS._serialized_start = 2920
+    _STOPEXTRAPARAMETERS._serialized_end = 3040
+    _STOPALLREQUEST._serialized_start = 3042
+    _STOPALLREQUEST._serialized_end = 3116
+    _STOPALLRESPONSE._serialized_start = 3118
+    _STOPALLRESPONSE._serialized_end = 3135
+    _STARTSESSIONREQUEST._serialized_start = 3137
+    _STARTSESSIONREQUEST._serialized_end = 3182
+    _STARTSESSIONRESPONSE._serialized_start = 3184
+    _STARTSESSIONRESPONSE._serialized_end = 3292
+    _SENDSESSIONHEARTBEATREQUEST._serialized_start = 3294
+    _SENDSESSIONHEARTBEATREQUEST._serialized_end = 3339
+    _SENDSESSIONHEARTBEATRESPONSE._serialized_start = 3341
+    _SENDSESSIONHEARTBEATRESPONSE._serialized_end = 3371
+    _ROBOTSERVICE._serialized_start = 3498
+    _ROBOTSERVICE._serialized_end = 5399
\ 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 35133a17c..c01008def 100644
--- a/src/viam/gen/robot/v1/robot_pb2.pyi
+++ b/src/viam/gen/robot/v1/robot_pb2.pyi
@@ -37,28 +37,32 @@ PEER_CONNECTION_TYPE_GRPC: PeerConnectionType.ValueType
 PEER_CONNECTION_TYPE_WEBRTC: PeerConnectionType.ValueType
 global___PeerConnectionType = PeerConnectionType
 
+@typing_extensions.final
 class FrameSystemConfig(google.protobuf.message.Message):
+    """this is an experimental API message"""
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
-    NAME_FIELD_NUMBER: builtins.int
-    POSE_IN_PARENT_FRAME_FIELD_NUMBER: builtins.int
-    MODEL_JSON_FIELD_NUMBER: builtins.int
-    name: builtins.str
+    FRAME_FIELD_NUMBER: builtins.int
+    KINEMATICS_FIELD_NUMBER: builtins.int
+
+    @property
+    def frame(self) -> common.v1.common_pb2.Transform:
+        ...
 
     @property
-    def pose_in_parent_frame(self) -> common.v1.common_pb2.PoseInFrame:
+    def kinematics(self) -> google.protobuf.struct_pb2.Struct:
         ...
-    model_json: builtins.bytes
 
-    def __init__(self, *, name: builtins.str=..., pose_in_parent_frame: common.v1.common_pb2.PoseInFrame | None=..., model_json: builtins.bytes=...) -> None:
+    def __init__(self, *, frame: common.v1.common_pb2.Transform | None=..., kinematics: google.protobuf.struct_pb2.Struct | None=...) -> None:
         ...
 
-    def HasField(self, field_name: typing_extensions.Literal['pose_in_parent_frame', b'pose_in_parent_frame']) -> builtins.bool:
+    def HasField(self, field_name: typing_extensions.Literal['frame', b'frame', 'kinematics', b'kinematics']) -> builtins.bool:
         ...
 
-    def ClearField(self, field_name: typing_extensions.Literal['model_json', b'model_json', 'name', b'name', 'pose_in_parent_frame', b'pose_in_parent_frame']) -> None:
+    def ClearField(self, field_name: typing_extensions.Literal['frame', b'frame', 'kinematics', b'kinematics']) -> None:
         ...
 global___FrameSystemConfig = FrameSystemConfig
 
+@typing_extensions.final
 class FrameSystemConfigRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     SUPPLEMENTAL_TRANSFORMS_FIELD_NUMBER: builtins.int
@@ -76,6 +80,7 @@ class FrameSystemConfigRequest(google.protobuf.message.Message):
         ...
 global___FrameSystemConfigRequest = FrameSystemConfigRequest
 
+@typing_extensions.final
 class FrameSystemConfigResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     FRAME_SYSTEM_CONFIGS_FIELD_NUMBER: builtins.int
@@ -91,6 +96,7 @@ class FrameSystemConfigResponse(google.protobuf.message.Message):
         ...
 global___FrameSystemConfigResponse = FrameSystemConfigResponse
 
+@typing_extensions.final
 class TransformPoseRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     SOURCE_FIELD_NUMBER: builtins.int
@@ -121,6 +127,7 @@ class TransformPoseRequest(google.protobuf.message.Message):
         ...
 global___TransformPoseRequest = TransformPoseRequest
 
+@typing_extensions.final
 class TransformPoseResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     POSE_FIELD_NUMBER: builtins.int
@@ -139,6 +146,7 @@ class TransformPoseResponse(google.protobuf.message.Message):
         ...
 global___TransformPoseResponse = TransformPoseResponse
 
+@typing_extensions.final
 class ResourceNamesRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
@@ -146,6 +154,7 @@ class ResourceNamesRequest(google.protobuf.message.Message):
         ...
 global___ResourceNamesRequest = ResourceNamesRequest
 
+@typing_extensions.final
 class ResourceNamesResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     RESOURCES_FIELD_NUMBER: builtins.int
@@ -161,6 +170,7 @@ class ResourceNamesResponse(google.protobuf.message.Message):
         ...
 global___ResourceNamesResponse = ResourceNamesResponse
 
+@typing_extensions.final
 class ResourceRPCSubtype(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     SUBTYPE_FIELD_NUMBER: builtins.int
@@ -181,6 +191,7 @@ class ResourceRPCSubtype(google.protobuf.message.Message):
         ...
 global___ResourceRPCSubtype = ResourceRPCSubtype
 
+@typing_extensions.final
 class ResourceRPCSubtypesRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
@@ -188,6 +199,7 @@ class ResourceRPCSubtypesRequest(google.protobuf.message.Message):
         ...
 global___ResourceRPCSubtypesRequest = ResourceRPCSubtypesRequest
 
+@typing_extensions.final
 class ResourceRPCSubtypesResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     RESOURCE_RPC_SUBTYPES_FIELD_NUMBER: builtins.int
@@ -203,6 +215,7 @@ class ResourceRPCSubtypesResponse(google.protobuf.message.Message):
         ...
 global___ResourceRPCSubtypesResponse = ResourceRPCSubtypesResponse
 
+@typing_extensions.final
 class Operation(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     ID_FIELD_NUMBER: builtins.int
@@ -235,6 +248,7 @@ class Operation(google.protobuf.message.Message):
         ...
 global___Operation = Operation
 
+@typing_extensions.final
 class GetOperationsRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
@@ -242,6 +256,7 @@ class GetOperationsRequest(google.protobuf.message.Message):
         ...
 global___GetOperationsRequest = GetOperationsRequest
 
+@typing_extensions.final
 class GetOperationsResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     OPERATIONS_FIELD_NUMBER: builtins.int
@@ -257,6 +272,7 @@ class GetOperationsResponse(google.protobuf.message.Message):
         ...
 global___GetOperationsResponse = GetOperationsResponse
 
+@typing_extensions.final
 class CancelOperationRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     ID_FIELD_NUMBER: builtins.int
@@ -269,6 +285,7 @@ class CancelOperationRequest(google.protobuf.message.Message):
         ...
 global___CancelOperationRequest = CancelOperationRequest
 
+@typing_extensions.final
 class CancelOperationResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
@@ -276,6 +293,7 @@ class CancelOperationResponse(google.protobuf.message.Message):
         ...
 global___CancelOperationResponse = CancelOperationResponse
 
+@typing_extensions.final
 class BlockForOperationRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     ID_FIELD_NUMBER: builtins.int
@@ -288,6 +306,7 @@ class BlockForOperationRequest(google.protobuf.message.Message):
         ...
 global___BlockForOperationRequest = BlockForOperationRequest
 
+@typing_extensions.final
 class BlockForOperationResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
@@ -295,6 +314,7 @@ class BlockForOperationResponse(google.protobuf.message.Message):
         ...
 global___BlockForOperationResponse = BlockForOperationResponse
 
+@typing_extensions.final
 class PeerConnectionInfo(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     TYPE_FIELD_NUMBER: builtins.int
@@ -322,6 +342,7 @@ class PeerConnectionInfo(google.protobuf.message.Message):
         ...
 global___PeerConnectionInfo = PeerConnectionInfo
 
+@typing_extensions.final
 class Session(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     ID_FIELD_NUMBER: builtins.int
@@ -345,6 +366,7 @@ class Session(google.protobuf.message.Message):
         ...
 global___Session = Session
 
+@typing_extensions.final
 class GetSessionsRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
@@ -352,6 +374,7 @@ class GetSessionsRequest(google.protobuf.message.Message):
         ...
 global___GetSessionsRequest = GetSessionsRequest
 
+@typing_extensions.final
 class GetSessionsResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     SESSIONS_FIELD_NUMBER: builtins.int
@@ -367,6 +390,7 @@ class GetSessionsResponse(google.protobuf.message.Message):
         ...
 global___GetSessionsResponse = GetSessionsResponse
 
+@typing_extensions.final
 class DiscoveryQuery(google.protobuf.message.Message):
     """Discovery"""
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
@@ -382,6 +406,7 @@ class DiscoveryQuery(google.protobuf.message.Message):
         ...
 global___DiscoveryQuery = DiscoveryQuery
 
+@typing_extensions.final
 class Discovery(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     QUERY_FIELD_NUMBER: builtins.int
@@ -405,6 +430,7 @@ class Discovery(google.protobuf.message.Message):
         ...
 global___Discovery = Discovery
 
+@typing_extensions.final
 class DiscoverComponentsRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     QUERIES_FIELD_NUMBER: builtins.int
@@ -420,6 +446,7 @@ class DiscoverComponentsRequest(google.protobuf.message.Message):
         ...
 global___DiscoverComponentsRequest = DiscoverComponentsRequest
 
+@typing_extensions.final
 class DiscoverComponentsResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     DISCOVERY_FIELD_NUMBER: builtins.int
@@ -435,6 +462,7 @@ class DiscoverComponentsResponse(google.protobuf.message.Message):
         ...
 global___DiscoverComponentsResponse = DiscoverComponentsResponse
 
+@typing_extensions.final
 class Status(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -458,6 +486,7 @@ class Status(google.protobuf.message.Message):
         ...
 global___Status = Status
 
+@typing_extensions.final
 class GetStatusRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     RESOURCE_NAMES_FIELD_NUMBER: builtins.int
@@ -473,6 +502,7 @@ class GetStatusRequest(google.protobuf.message.Message):
         ...
 global___GetStatusRequest = GetStatusRequest
 
+@typing_extensions.final
 class GetStatusResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     STATUS_FIELD_NUMBER: builtins.int
@@ -488,6 +518,7 @@ class GetStatusResponse(google.protobuf.message.Message):
         ...
 global___GetStatusResponse = GetStatusResponse
 
+@typing_extensions.final
 class StreamStatusRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     RESOURCE_NAMES_FIELD_NUMBER: builtins.int
@@ -511,6 +542,7 @@ class StreamStatusRequest(google.protobuf.message.Message):
         ...
 global___StreamStatusRequest = StreamStatusRequest
 
+@typing_extensions.final
 class StreamStatusResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     STATUS_FIELD_NUMBER: builtins.int
@@ -526,6 +558,7 @@ class StreamStatusResponse(google.protobuf.message.Message):
         ...
 global___StreamStatusResponse = StreamStatusResponse
 
+@typing_extensions.final
 class StopExtraParameters(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -549,6 +582,7 @@ class StopExtraParameters(google.protobuf.message.Message):
         ...
 global___StopExtraParameters = StopExtraParameters
 
+@typing_extensions.final
 class StopAllRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     EXTRA_FIELD_NUMBER: builtins.int
@@ -564,6 +598,7 @@ class StopAllRequest(google.protobuf.message.Message):
         ...
 global___StopAllRequest = StopAllRequest
 
+@typing_extensions.final
 class StopAllResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
@@ -571,6 +606,7 @@ class StopAllResponse(google.protobuf.message.Message):
         ...
 global___StopAllResponse = StopAllResponse
 
+@typing_extensions.final
 class StartSessionRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     RESUME_FIELD_NUMBER: builtins.int
@@ -584,6 +620,7 @@ class StartSessionRequest(google.protobuf.message.Message):
         ...
 global___StartSessionRequest = StartSessionRequest
 
+@typing_extensions.final
 class StartSessionResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     ID_FIELD_NUMBER: builtins.int
@@ -604,6 +641,7 @@ class StartSessionResponse(google.protobuf.message.Message):
         ...
 global___StartSessionResponse = StartSessionResponse
 
+@typing_extensions.final
 class SendSessionHeartbeatRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     ID_FIELD_NUMBER: builtins.int
@@ -616,6 +654,7 @@ class SendSessionHeartbeatRequest(google.protobuf.message.Message):
         ...
 global___SendSessionHeartbeatRequest = SendSessionHeartbeatRequest
 
+@typing_extensions.final
 class SendSessionHeartbeatResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
diff --git a/src/viam/gen/service/datamanager/v1/data_manager_pb2.pyi b/src/viam/gen/service/datamanager/v1/data_manager_pb2.pyi
index 37ee0437f..e7d504ff8 100644
--- a/src/viam/gen/service/datamanager/v1/data_manager_pb2.pyi
+++ b/src/viam/gen/service/datamanager/v1/data_manager_pb2.pyi
@@ -13,6 +13,7 @@ else:
     import typing_extensions
 DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
 
+@typing_extensions.final
 class SyncRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -33,6 +34,7 @@ class SyncRequest(google.protobuf.message.Message):
         ...
 global___SyncRequest = SyncRequest
 
+@typing_extensions.final
 class SyncResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
diff --git a/src/viam/gen/service/motion/v1/motion_pb2.pyi b/src/viam/gen/service/motion/v1/motion_pb2.pyi
index f452159fa..6dc625a2f 100644
--- a/src/viam/gen/service/motion/v1/motion_pb2.pyi
+++ b/src/viam/gen/service/motion/v1/motion_pb2.pyi
@@ -16,6 +16,7 @@ else:
     import typing_extensions
 DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
 
+@typing_extensions.final
 class MoveRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -54,6 +55,7 @@ class MoveRequest(google.protobuf.message.Message):
         ...
 global___MoveRequest = MoveRequest
 
+@typing_extensions.final
 class MoveResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     SUCCESS_FIELD_NUMBER: builtins.int
@@ -66,6 +68,7 @@ class MoveResponse(google.protobuf.message.Message):
         ...
 global___MoveResponse = MoveResponse
 
+@typing_extensions.final
 class MoveSingleComponentRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -104,6 +107,7 @@ class MoveSingleComponentRequest(google.protobuf.message.Message):
         ...
 global___MoveSingleComponentRequest = MoveSingleComponentRequest
 
+@typing_extensions.final
 class MoveSingleComponentResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     SUCCESS_FIELD_NUMBER: builtins.int
@@ -116,6 +120,7 @@ class MoveSingleComponentResponse(google.protobuf.message.Message):
         ...
 global___MoveSingleComponentResponse = MoveSingleComponentResponse
 
+@typing_extensions.final
 class GetPoseRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -151,6 +156,7 @@ class GetPoseRequest(google.protobuf.message.Message):
         ...
 global___GetPoseRequest = GetPoseRequest
 
+@typing_extensions.final
 class GetPoseResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     POSE_FIELD_NUMBER: builtins.int
diff --git a/src/viam/gen/service/navigation/v1/navigation_pb2.pyi b/src/viam/gen/service/navigation/v1/navigation_pb2.pyi
index fe5cccdd6..064c9524e 100644
--- a/src/viam/gen/service/navigation/v1/navigation_pb2.pyi
+++ b/src/viam/gen/service/navigation/v1/navigation_pb2.pyi
@@ -35,6 +35,7 @@ MODE_MANUAL: Mode.ValueType
 MODE_WAYPOINT: Mode.ValueType
 global___Mode = Mode
 
+@typing_extensions.final
 class GetModeRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -55,6 +56,7 @@ class GetModeRequest(google.protobuf.message.Message):
         ...
 global___GetModeRequest = GetModeRequest
 
+@typing_extensions.final
 class GetModeResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     MODE_FIELD_NUMBER: builtins.int
@@ -67,6 +69,7 @@ class GetModeResponse(google.protobuf.message.Message):
         ...
 global___GetModeResponse = GetModeResponse
 
+@typing_extensions.final
 class SetModeRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -89,6 +92,7 @@ class SetModeRequest(google.protobuf.message.Message):
         ...
 global___SetModeRequest = SetModeRequest
 
+@typing_extensions.final
 class SetModeResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
@@ -96,6 +100,7 @@ class SetModeResponse(google.protobuf.message.Message):
         ...
 global___SetModeResponse = SetModeResponse
 
+@typing_extensions.final
 class Waypoint(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     ID_FIELD_NUMBER: builtins.int
@@ -116,6 +121,7 @@ class Waypoint(google.protobuf.message.Message):
         ...
 global___Waypoint = Waypoint
 
+@typing_extensions.final
 class GetLocationRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -136,6 +142,7 @@ class GetLocationRequest(google.protobuf.message.Message):
         ...
 global___GetLocationRequest = GetLocationRequest
 
+@typing_extensions.final
 class GetLocationResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     LOCATION_FIELD_NUMBER: builtins.int
@@ -154,6 +161,7 @@ class GetLocationResponse(google.protobuf.message.Message):
         ...
 global___GetLocationResponse = GetLocationResponse
 
+@typing_extensions.final
 class GetWaypointsRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -174,6 +182,7 @@ class GetWaypointsRequest(google.protobuf.message.Message):
         ...
 global___GetWaypointsRequest = GetWaypointsRequest
 
+@typing_extensions.final
 class GetWaypointsResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     WAYPOINTS_FIELD_NUMBER: builtins.int
@@ -189,6 +198,7 @@ class GetWaypointsResponse(google.protobuf.message.Message):
         ...
 global___GetWaypointsResponse = GetWaypointsResponse
 
+@typing_extensions.final
 class AddWaypointRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -214,6 +224,7 @@ class AddWaypointRequest(google.protobuf.message.Message):
         ...
 global___AddWaypointRequest = AddWaypointRequest
 
+@typing_extensions.final
 class AddWaypointResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
@@ -221,6 +232,7 @@ class AddWaypointResponse(google.protobuf.message.Message):
         ...
 global___AddWaypointResponse = AddWaypointResponse
 
+@typing_extensions.final
 class RemoveWaypointRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -243,6 +255,7 @@ class RemoveWaypointRequest(google.protobuf.message.Message):
         ...
 global___RemoveWaypointRequest = RemoveWaypointRequest
 
+@typing_extensions.final
 class RemoveWaypointResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
diff --git a/src/viam/gen/service/sensors/v1/sensors_pb2.pyi b/src/viam/gen/service/sensors/v1/sensors_pb2.pyi
index 58747d45e..c607bb896 100644
--- a/src/viam/gen/service/sensors/v1/sensors_pb2.pyi
+++ b/src/viam/gen/service/sensors/v1/sensors_pb2.pyi
@@ -16,6 +16,7 @@ else:
     import typing_extensions
 DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
 
+@typing_extensions.final
 class GetSensorsRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -36,6 +37,7 @@ class GetSensorsRequest(google.protobuf.message.Message):
         ...
 global___GetSensorsRequest = GetSensorsRequest
 
+@typing_extensions.final
 class GetSensorsResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     SENSOR_NAMES_FIELD_NUMBER: builtins.int
@@ -51,6 +53,7 @@ class GetSensorsResponse(google.protobuf.message.Message):
         ...
 global___GetSensorsResponse = GetSensorsResponse
 
+@typing_extensions.final
 class GetReadingsRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -76,9 +79,11 @@ class GetReadingsRequest(google.protobuf.message.Message):
         ...
 global___GetReadingsRequest = GetReadingsRequest
 
+@typing_extensions.final
 class Readings(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
+    @typing_extensions.final
     class ReadingsEntry(google.protobuf.message.Message):
         DESCRIPTOR: google.protobuf.descriptor.Descriptor
         KEY_FIELD_NUMBER: builtins.int
@@ -118,6 +123,7 @@ class Readings(google.protobuf.message.Message):
         ...
 global___Readings = Readings
 
+@typing_extensions.final
 class GetReadingsResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     READINGS_FIELD_NUMBER: builtins.int
diff --git a/src/viam/gen/service/shell/v1/shell_pb2.pyi b/src/viam/gen/service/shell/v1/shell_pb2.pyi
index c2adf9689..35fee2edd 100644
--- a/src/viam/gen/service/shell/v1/shell_pb2.pyi
+++ b/src/viam/gen/service/shell/v1/shell_pb2.pyi
@@ -13,6 +13,7 @@ else:
     import typing_extensions
 DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
 
+@typing_extensions.final
 class ShellRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -35,6 +36,7 @@ class ShellRequest(google.protobuf.message.Message):
         ...
 global___ShellRequest = ShellRequest
 
+@typing_extensions.final
 class ShellResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     DATA_OUT_FIELD_NUMBER: builtins.int
diff --git a/src/viam/gen/service/slam/v1/slam_pb2.pyi b/src/viam/gen/service/slam/v1/slam_pb2.pyi
index e3e381ab5..e153248fa 100644
--- a/src/viam/gen/service/slam/v1/slam_pb2.pyi
+++ b/src/viam/gen/service/slam/v1/slam_pb2.pyi
@@ -14,6 +14,7 @@ else:
     import typing_extensions
 DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
 
+@typing_extensions.final
 class GetPositionRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -35,6 +36,7 @@ class GetPositionRequest(google.protobuf.message.Message):
         ...
 global___GetPositionRequest = GetPositionRequest
 
+@typing_extensions.final
 class GetPositionResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     POSE_FIELD_NUMBER: builtins.int
@@ -58,6 +60,7 @@ class GetPositionResponse(google.protobuf.message.Message):
         ...
 global___GetPositionResponse = GetPositionResponse
 
+@typing_extensions.final
 class GetMapRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -95,6 +98,7 @@ class GetMapRequest(google.protobuf.message.Message):
         ...
 global___GetMapRequest = GetMapRequest
 
+@typing_extensions.final
 class GetMapResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     POINT_CLOUD_FIELD_NUMBER: builtins.int
diff --git a/src/viam/gen/service/vision/v1/vision_pb2.pyi b/src/viam/gen/service/vision/v1/vision_pb2.pyi
index 9b64ff520..776a6dda1 100644
--- a/src/viam/gen/service/vision/v1/vision_pb2.pyi
+++ b/src/viam/gen/service/vision/v1/vision_pb2.pyi
@@ -17,6 +17,7 @@ else:
     import typing_extensions
 DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
 
+@typing_extensions.final
 class GetModelParameterSchemaRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -41,6 +42,7 @@ class GetModelParameterSchemaRequest(google.protobuf.message.Message):
         ...
 global___GetModelParameterSchemaRequest = GetModelParameterSchemaRequest
 
+@typing_extensions.final
 class GetModelParameterSchemaResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     MODEL_PARAMETER_SCHEMA_FIELD_NUMBER: builtins.int
@@ -54,6 +56,7 @@ class GetModelParameterSchemaResponse(google.protobuf.message.Message):
         ...
 global___GetModelParameterSchemaResponse = GetModelParameterSchemaResponse
 
+@typing_extensions.final
 class GetDetectorNamesRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -74,6 +77,7 @@ class GetDetectorNamesRequest(google.protobuf.message.Message):
         ...
 global___GetDetectorNamesRequest = GetDetectorNamesRequest
 
+@typing_extensions.final
 class GetDetectorNamesResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     DETECTOR_NAMES_FIELD_NUMBER: builtins.int
@@ -89,6 +93,7 @@ class GetDetectorNamesResponse(google.protobuf.message.Message):
         ...
 global___GetDetectorNamesResponse = GetDetectorNamesResponse
 
+@typing_extensions.final
 class AddDetectorRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -118,6 +123,7 @@ class AddDetectorRequest(google.protobuf.message.Message):
         ...
 global___AddDetectorRequest = AddDetectorRequest
 
+@typing_extensions.final
 class AddDetectorResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
@@ -125,6 +131,7 @@ class AddDetectorResponse(google.protobuf.message.Message):
         ...
 global___AddDetectorResponse = AddDetectorResponse
 
+@typing_extensions.final
 class RemoveDetectorRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -149,6 +156,7 @@ class RemoveDetectorRequest(google.protobuf.message.Message):
         ...
 global___RemoveDetectorRequest = RemoveDetectorRequest
 
+@typing_extensions.final
 class RemoveDetectorResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
@@ -156,6 +164,7 @@ class RemoveDetectorResponse(google.protobuf.message.Message):
         ...
 global___RemoveDetectorResponse = RemoveDetectorResponse
 
+@typing_extensions.final
 class GetDetectionsRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -192,6 +201,7 @@ class GetDetectionsRequest(google.protobuf.message.Message):
         ...
 global___GetDetectionsRequest = GetDetectionsRequest
 
+@typing_extensions.final
 class GetDetectionsResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     DETECTIONS_FIELD_NUMBER: builtins.int
@@ -207,6 +217,7 @@ class GetDetectionsResponse(google.protobuf.message.Message):
         ...
 global___GetDetectionsResponse = GetDetectionsResponse
 
+@typing_extensions.final
 class GetDetectionsFromCameraRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -234,6 +245,7 @@ class GetDetectionsFromCameraRequest(google.protobuf.message.Message):
         ...
 global___GetDetectionsFromCameraRequest = GetDetectionsFromCameraRequest
 
+@typing_extensions.final
 class GetDetectionsFromCameraResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     DETECTIONS_FIELD_NUMBER: builtins.int
@@ -249,6 +261,7 @@ class GetDetectionsFromCameraResponse(google.protobuf.message.Message):
         ...
 global___GetDetectionsFromCameraResponse = GetDetectionsFromCameraResponse
 
+@typing_extensions.final
 class Detection(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     X_MIN_FIELD_NUMBER: builtins.int
@@ -293,6 +306,7 @@ class Detection(google.protobuf.message.Message):
         ...
 global___Detection = Detection
 
+@typing_extensions.final
 class GetClassifierNamesRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -314,6 +328,7 @@ class GetClassifierNamesRequest(google.protobuf.message.Message):
         ...
 global___GetClassifierNamesRequest = GetClassifierNamesRequest
 
+@typing_extensions.final
 class GetClassifierNamesResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     CLASSIFIER_NAMES_FIELD_NUMBER: builtins.int
@@ -329,6 +344,7 @@ class GetClassifierNamesResponse(google.protobuf.message.Message):
         ...
 global___GetClassifierNamesResponse = GetClassifierNamesResponse
 
+@typing_extensions.final
 class AddClassifierRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -361,6 +377,7 @@ class AddClassifierRequest(google.protobuf.message.Message):
         ...
 global___AddClassifierRequest = AddClassifierRequest
 
+@typing_extensions.final
 class AddClassifierResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
@@ -368,6 +385,7 @@ class AddClassifierResponse(google.protobuf.message.Message):
         ...
 global___AddClassifierResponse = AddClassifierResponse
 
+@typing_extensions.final
 class RemoveClassifierRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -392,6 +410,7 @@ class RemoveClassifierRequest(google.protobuf.message.Message):
         ...
 global___RemoveClassifierRequest = RemoveClassifierRequest
 
+@typing_extensions.final
 class RemoveClassifierResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
@@ -399,6 +418,7 @@ class RemoveClassifierResponse(google.protobuf.message.Message):
         ...
 global___RemoveClassifierResponse = RemoveClassifierResponse
 
+@typing_extensions.final
 class GetClassificationsRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -438,6 +458,7 @@ class GetClassificationsRequest(google.protobuf.message.Message):
         ...
 global___GetClassificationsRequest = GetClassificationsRequest
 
+@typing_extensions.final
 class GetClassificationsResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     CLASSIFICATIONS_FIELD_NUMBER: builtins.int
@@ -453,6 +474,7 @@ class GetClassificationsResponse(google.protobuf.message.Message):
         ...
 global___GetClassificationsResponse = GetClassificationsResponse
 
+@typing_extensions.final
 class GetClassificationsFromCameraRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -483,6 +505,7 @@ class GetClassificationsFromCameraRequest(google.protobuf.message.Message):
         ...
 global___GetClassificationsFromCameraRequest = GetClassificationsFromCameraRequest
 
+@typing_extensions.final
 class GetClassificationsFromCameraResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     CLASSIFICATIONS_FIELD_NUMBER: builtins.int
@@ -498,6 +521,7 @@ class GetClassificationsFromCameraResponse(google.protobuf.message.Message):
         ...
 global___GetClassificationsFromCameraResponse = GetClassificationsFromCameraResponse
 
+@typing_extensions.final
 class Classification(google.protobuf.message.Message):
     """the general form of the output from a classifier"""
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
@@ -515,6 +539,7 @@ class Classification(google.protobuf.message.Message):
         ...
 global___Classification = Classification
 
+@typing_extensions.final
 class GetSegmenterNamesRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -535,6 +560,7 @@ class GetSegmenterNamesRequest(google.protobuf.message.Message):
         ...
 global___GetSegmenterNamesRequest = GetSegmenterNamesRequest
 
+@typing_extensions.final
 class GetSegmenterNamesResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     SEGMENTER_NAMES_FIELD_NUMBER: builtins.int
@@ -550,6 +576,7 @@ class GetSegmenterNamesResponse(google.protobuf.message.Message):
         ...
 global___GetSegmenterNamesResponse = GetSegmenterNamesResponse
 
+@typing_extensions.final
 class AddSegmenterRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -582,6 +609,7 @@ class AddSegmenterRequest(google.protobuf.message.Message):
         ...
 global___AddSegmenterRequest = AddSegmenterRequest
 
+@typing_extensions.final
 class AddSegmenterResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
@@ -589,6 +617,7 @@ class AddSegmenterResponse(google.protobuf.message.Message):
         ...
 global___AddSegmenterResponse = AddSegmenterResponse
 
+@typing_extensions.final
 class RemoveSegmenterRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -613,6 +642,7 @@ class RemoveSegmenterRequest(google.protobuf.message.Message):
         ...
 global___RemoveSegmenterRequest = RemoveSegmenterRequest
 
+@typing_extensions.final
 class RemoveSegmenterResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
@@ -620,6 +650,7 @@ class RemoveSegmenterResponse(google.protobuf.message.Message):
         ...
 global___RemoveSegmenterResponse = RemoveSegmenterResponse
 
+@typing_extensions.final
 class GetObjectPointCloudsRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -649,6 +680,7 @@ class GetObjectPointCloudsRequest(google.protobuf.message.Message):
         ...
 global___GetObjectPointCloudsRequest = GetObjectPointCloudsRequest
 
+@typing_extensions.final
 class GetObjectPointCloudsResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     MIME_TYPE_FIELD_NUMBER: builtins.int
diff --git a/src/viam/proto/component/testecho/__init__.py b/src/viam/proto/component/testecho/__init__.py
new file mode 100644
index 000000000..eca4f956f
--- /dev/null
+++ b/src/viam/proto/component/testecho/__init__.py
@@ -0,0 +1,28 @@
+"""
+@generated by Viam.
+Do not edit manually!
+"""
+from ....gen.component.testecho.v1.testecho_grpc import TestEchoServiceBase, TestEchoServiceStub
+from ....gen.component.testecho.v1.testecho_pb2 import (
+    EchoBiDiRequest,
+    EchoBiDiResponse,
+    EchoMultipleRequest,
+    EchoMultipleResponse,
+    EchoRequest,
+    EchoResponse,
+    StopRequest,
+    StopResponse,
+)
+
+__all__ = [
+    "TestEchoServiceBase",
+    "TestEchoServiceStub",
+    "EchoBiDiRequest",
+    "EchoBiDiResponse",
+    "EchoMultipleRequest",
+    "EchoMultipleResponse",
+    "EchoRequest",
+    "EchoResponse",
+    "StopRequest",
+    "StopResponse",
+]
diff --git a/tests/test_robot.py b/tests/test_robot.py
index 26ff6383c..7bfe39331 100644
--- a/tests/test_robot.py
+++ b/tests/test_robot.py
@@ -11,7 +11,7 @@
 from viam.components.motor import Motor
 from viam.components.resource_manager import ResourceManager
 from viam.errors import ComponentNotFoundError, ServiceNotImplementedError, ViamError
-from viam.proto.common import Pose, PoseInFrame, ResourceName
+from viam.proto.common import Pose, PoseInFrame, ResourceName, Transform
 from viam.proto.component.arm import JointPositions
 from viam.proto.component.arm import Status as ArmStatus
 from viam.proto.component.motor import Status as MotorStatus
@@ -85,14 +85,16 @@
 
 CONFIG_RESPONSE = [
     FrameSystemConfig(
-        name="config0",
-        pose_in_parent_frame=PoseInFrame(reference_frame="reference0", pose=Pose(x=1, y=2, z=3, o_x=2, o_y=3, o_z=4, theta=20)),
-        model_json=b"some fake json",
+        frame=Transform(
+            reference_frame="frame0",
+            pose_in_observer_frame=PoseInFrame(reference_frame="reference0", pose=Pose(x=1, y=2, z=3, o_x=2, o_y=3, o_z=4, theta=20)),
+        )
     ),
     FrameSystemConfig(
-        name="config1",
-        pose_in_parent_frame=PoseInFrame(reference_frame="reference1", pose=Pose(x=2, y=3, z=4, o_x=3, o_y=4, o_z=5, theta=21)),
-        model_json=b"some fake json part 2",
+        frame=Transform(
+            reference_frame="frame1",
+            pose_in_observer_frame=PoseInFrame(reference_frame="reference1", pose=Pose(x=2, y=3, z=4, o_x=3, o_y=4, o_z=5, theta=21)),
+        )
     ),
 ]