diff --git a/common/v1/common.pb.go b/common/v1/common.pb.go
index 3a07097d9..99761de94 100644
--- a/common/v1/common.pb.go
+++ b/common/v1/common.pb.go
@@ -889,21 +889,20 @@ func (x *GeoPoint) GetLongitude() float64 {
 	return 0
 }
 
-// GeoObstacle contains information about the geometric structure of an obstacle and the location of the obstacle,
-// captured in latitude and longitude.
-type GeoObstacle struct {
+// GeoGeometry contains information describing Geometry(s) that is located at a GeoPoint
+type GeoGeometry struct {
 	state         protoimpl.MessageState
 	sizeCache     protoimpl.SizeCache
 	unknownFields protoimpl.UnknownFields
 
-	// Location of the obstacle
+	// Location of the geometry
 	Location *GeoPoint `protobuf:"bytes,1,opt,name=location,proto3" json:"location,omitempty"`
-	// Geometries that describe the obstacle, where embedded Pose data is with respect to the specified location
+	// Geometries associated with the location, where embedded Pose data is with respect to the specified location
 	Geometries []*Geometry `protobuf:"bytes,2,rep,name=geometries,proto3" json:"geometries,omitempty"`
 }
 
-func (x *GeoObstacle) Reset() {
-	*x = GeoObstacle{}
+func (x *GeoGeometry) Reset() {
+	*x = GeoGeometry{}
 	if protoimpl.UnsafeEnabled {
 		mi := &file_common_v1_common_proto_msgTypes[12]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
@@ -911,13 +910,13 @@ func (x *GeoObstacle) Reset() {
 	}
 }
 
-func (x *GeoObstacle) String() string {
+func (x *GeoGeometry) String() string {
 	return protoimpl.X.MessageStringOf(x)
 }
 
-func (*GeoObstacle) ProtoMessage() {}
+func (*GeoGeometry) ProtoMessage() {}
 
-func (x *GeoObstacle) ProtoReflect() protoreflect.Message {
+func (x *GeoGeometry) ProtoReflect() protoreflect.Message {
 	mi := &file_common_v1_common_proto_msgTypes[12]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
@@ -929,19 +928,19 @@ func (x *GeoObstacle) ProtoReflect() protoreflect.Message {
 	return mi.MessageOf(x)
 }
 
-// Deprecated: Use GeoObstacle.ProtoReflect.Descriptor instead.
-func (*GeoObstacle) Descriptor() ([]byte, []int) {
+// Deprecated: Use GeoGeometry.ProtoReflect.Descriptor instead.
+func (*GeoGeometry) Descriptor() ([]byte, []int) {
 	return file_common_v1_common_proto_rawDescGZIP(), []int{12}
 }
 
-func (x *GeoObstacle) GetLocation() *GeoPoint {
+func (x *GeoGeometry) GetLocation() *GeoPoint {
 	if x != nil {
 		return x.Location
 	}
 	return nil
 }
 
-func (x *GeoObstacle) GetGeometries() []*Geometry {
+func (x *GeoGeometry) GetGeometries() []*Geometry {
 	if x != nil {
 		return x.Geometries
 	}
@@ -1026,7 +1025,8 @@ type WorldState struct {
 
 	// a list of obstacles expressed as a geometry and the reference frame in which it was observed; this field is optional
 	Obstacles []*GeometriesInFrame `protobuf:"bytes,1,rep,name=obstacles,proto3" json:"obstacles,omitempty"`
-	// a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to another, or to attach moving geometries to the frame system. This field is optional
+	// a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
+	// another, or to attach moving geometries to the frame system. This field is optional
 	Transforms []*Transform `protobuf:"bytes,3,rep,name=transforms,proto3" json:"transforms,omitempty"`
 }
 
@@ -1815,7 +1815,7 @@ var file_common_v1_common_proto_rawDesc = []byte{
 	0x28, 0x01, 0x52, 0x08, 0x6c, 0x61, 0x74, 0x69, 0x74, 0x75, 0x64, 0x65, 0x12, 0x1c, 0x0a, 0x09,
 	0x6c, 0x6f, 0x6e, 0x67, 0x69, 0x74, 0x75, 0x64, 0x65, 0x18, 0x02, 0x20, 0x01, 0x28, 0x01, 0x52,
 	0x09, 0x6c, 0x6f, 0x6e, 0x67, 0x69, 0x74, 0x75, 0x64, 0x65, 0x22, 0x7d, 0x0a, 0x0b, 0x47, 0x65,
-	0x6f, 0x4f, 0x62, 0x73, 0x74, 0x61, 0x63, 0x6c, 0x65, 0x12, 0x34, 0x0a, 0x08, 0x6c, 0x6f, 0x63,
+	0x6f, 0x47, 0x65, 0x6f, 0x6d, 0x65, 0x74, 0x72, 0x79, 0x12, 0x34, 0x0a, 0x08, 0x6c, 0x6f, 0x63,
 	0x61, 0x74, 0x69, 0x6f, 0x6e, 0x18, 0x01, 0x20, 0x01, 0x28, 0x0b, 0x32, 0x18, 0x2e, 0x76, 0x69,
 	0x61, 0x6d, 0x2e, 0x63, 0x6f, 0x6d, 0x6d, 0x6f, 0x6e, 0x2e, 0x76, 0x31, 0x2e, 0x47, 0x65, 0x6f,
 	0x50, 0x6f, 0x69, 0x6e, 0x74, 0x52, 0x08, 0x6c, 0x6f, 0x63, 0x61, 0x74, 0x69, 0x6f, 0x6e, 0x12,
@@ -1973,7 +1973,7 @@ var file_common_v1_common_proto_goTypes = []interface{}{
 	(*GeometriesInFrame)(nil),          // 10: viam.common.v1.GeometriesInFrame
 	(*PointCloudObject)(nil),           // 11: viam.common.v1.PointCloudObject
 	(*GeoPoint)(nil),                   // 12: viam.common.v1.GeoPoint
-	(*GeoObstacle)(nil),                // 13: viam.common.v1.GeoObstacle
+	(*GeoGeometry)(nil),                // 13: viam.common.v1.GeoGeometry
 	(*Transform)(nil),                  // 14: viam.common.v1.Transform
 	(*WorldState)(nil),                 // 15: viam.common.v1.WorldState
 	(*ActuatorStatus)(nil),             // 16: viam.common.v1.ActuatorStatus
@@ -2002,8 +2002,8 @@ var file_common_v1_common_proto_depIdxs = []int32{
 	7,  // 5: viam.common.v1.Geometry.capsule:type_name -> viam.common.v1.Capsule
 	9,  // 6: viam.common.v1.GeometriesInFrame.geometries:type_name -> viam.common.v1.Geometry
 	10, // 7: viam.common.v1.PointCloudObject.geometries:type_name -> viam.common.v1.GeometriesInFrame
-	12, // 8: viam.common.v1.GeoObstacle.location:type_name -> viam.common.v1.GeoPoint
-	9,  // 9: viam.common.v1.GeoObstacle.geometries:type_name -> viam.common.v1.Geometry
+	12, // 8: viam.common.v1.GeoGeometry.location:type_name -> viam.common.v1.GeoPoint
+	9,  // 9: viam.common.v1.GeoGeometry.geometries:type_name -> viam.common.v1.Geometry
 	4,  // 10: viam.common.v1.Transform.pose_in_observer_frame:type_name -> viam.common.v1.PoseInFrame
 	9,  // 11: viam.common.v1.Transform.physical_object:type_name -> viam.common.v1.Geometry
 	10, // 12: viam.common.v1.WorldState.obstacles:type_name -> viam.common.v1.GeometriesInFrame
@@ -2180,7 +2180,7 @@ func file_common_v1_common_proto_init() {
 			}
 		}
 		file_common_v1_common_proto_msgTypes[12].Exporter = func(v interface{}, i int) interface{} {
-			switch v := v.(*GeoObstacle); i {
+			switch v := v.(*GeoGeometry); i {
 			case 0:
 				return &v.state
 			case 1:
diff --git a/component/base/v1/base.pb.gw.go b/component/base/v1/base.pb.gw.go
index faa48e8b0..185bd31aa 100644
--- a/component/base/v1/base.pb.gw.go
+++ b/component/base/v1/base.pb.gw.go
@@ -15,7 +15,7 @@ import (
 
 	"github.com/grpc-ecosystem/grpc-gateway/v2/runtime"
 	"github.com/grpc-ecosystem/grpc-gateway/v2/utilities"
-	v1_0 "go.viam.com/api/common/v1"
+	"go.viam.com/api/common/v1"
 	"google.golang.org/grpc"
 	"google.golang.org/grpc/codes"
 	"google.golang.org/grpc/grpclog"
@@ -439,7 +439,7 @@ var (
 )
 
 func request_BaseService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client BaseServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.DoCommandRequest
+	var protoReq v1.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -472,7 +472,7 @@ func request_BaseService_DoCommand_0(ctx context.Context, marshaler runtime.Mars
 }
 
 func local_request_BaseService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server BaseServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.DoCommandRequest
+	var protoReq v1.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -509,7 +509,7 @@ var (
 )
 
 func request_BaseService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, client BaseServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.GetGeometriesRequest
+	var protoReq v1.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -542,7 +542,7 @@ func request_BaseService_GetGeometries_0(ctx context.Context, marshaler runtime.
 }
 
 func local_request_BaseService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, server BaseServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.GetGeometriesRequest
+	var protoReq v1.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
diff --git a/component/gantry/v1/gantry.pb.gw.go b/component/gantry/v1/gantry.pb.gw.go
index e78f11c29..13a62b8f4 100644
--- a/component/gantry/v1/gantry.pb.gw.go
+++ b/component/gantry/v1/gantry.pb.gw.go
@@ -15,7 +15,7 @@ import (
 
 	"github.com/grpc-ecosystem/grpc-gateway/v2/runtime"
 	"github.com/grpc-ecosystem/grpc-gateway/v2/utilities"
-	v1_0 "go.viam.com/api/common/v1"
+	"go.viam.com/api/common/v1"
 	"google.golang.org/grpc"
 	"google.golang.org/grpc/codes"
 	"google.golang.org/grpc/grpclog"
@@ -439,7 +439,7 @@ var (
 )
 
 func request_GantryService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client GantryServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.DoCommandRequest
+	var protoReq v1.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -472,7 +472,7 @@ func request_GantryService_DoCommand_0(ctx context.Context, marshaler runtime.Ma
 }
 
 func local_request_GantryService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server GantryServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.DoCommandRequest
+	var protoReq v1.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -509,7 +509,7 @@ var (
 )
 
 func request_GantryService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, client GantryServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.GetGeometriesRequest
+	var protoReq v1.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -542,7 +542,7 @@ func request_GantryService_GetGeometries_0(ctx context.Context, marshaler runtim
 }
 
 func local_request_GantryService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, server GantryServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.GetGeometriesRequest
+	var protoReq v1.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
diff --git a/component/gripper/v1/gripper.pb.gw.go b/component/gripper/v1/gripper.pb.gw.go
index d732daf0a..b432b0c7e 100644
--- a/component/gripper/v1/gripper.pb.gw.go
+++ b/component/gripper/v1/gripper.pb.gw.go
@@ -15,7 +15,7 @@ import (
 
 	"github.com/grpc-ecosystem/grpc-gateway/v2/runtime"
 	"github.com/grpc-ecosystem/grpc-gateway/v2/utilities"
-	v1_0 "go.viam.com/api/common/v1"
+	"go.viam.com/api/common/v1"
 	"google.golang.org/grpc"
 	"google.golang.org/grpc/codes"
 	"google.golang.org/grpc/grpclog"
@@ -299,7 +299,7 @@ var (
 )
 
 func request_GripperService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client GripperServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.DoCommandRequest
+	var protoReq v1.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -332,7 +332,7 @@ func request_GripperService_DoCommand_0(ctx context.Context, marshaler runtime.M
 }
 
 func local_request_GripperService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server GripperServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.DoCommandRequest
+	var protoReq v1.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -369,7 +369,7 @@ var (
 )
 
 func request_GripperService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, client GripperServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.GetGeometriesRequest
+	var protoReq v1.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -402,7 +402,7 @@ func request_GripperService_GetGeometries_0(ctx context.Context, marshaler runti
 }
 
 func local_request_GripperService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, server GripperServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.GetGeometriesRequest
+	var protoReq v1.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
diff --git a/component/inputcontroller/v1/input_controller.pb.gw.go b/component/inputcontroller/v1/input_controller.pb.gw.go
index 199f00f1d..65d0cf631 100644
--- a/component/inputcontroller/v1/input_controller.pb.gw.go
+++ b/component/inputcontroller/v1/input_controller.pb.gw.go
@@ -15,7 +15,7 @@ import (
 
 	"github.com/grpc-ecosystem/grpc-gateway/v2/runtime"
 	"github.com/grpc-ecosystem/grpc-gateway/v2/utilities"
-	"go.viam.com/api/common/v1"
+	v1_0 "go.viam.com/api/common/v1"
 	"google.golang.org/grpc"
 	"google.golang.org/grpc/codes"
 	"google.golang.org/grpc/grpclog"
@@ -292,7 +292,7 @@ var (
 )
 
 func request_InputControllerService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client InputControllerServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.DoCommandRequest
+	var protoReq v1_0.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -325,7 +325,7 @@ func request_InputControllerService_DoCommand_0(ctx context.Context, marshaler r
 }
 
 func local_request_InputControllerService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server InputControllerServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.DoCommandRequest
+	var protoReq v1_0.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -362,7 +362,7 @@ var (
 )
 
 func request_InputControllerService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, client InputControllerServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.GetGeometriesRequest
+	var protoReq v1_0.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -395,7 +395,7 @@ func request_InputControllerService_GetGeometries_0(ctx context.Context, marshal
 }
 
 func local_request_InputControllerService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, server InputControllerServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.GetGeometriesRequest
+	var protoReq v1_0.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
diff --git a/component/movementsensor/v1/movementsensor.pb.gw.go b/component/movementsensor/v1/movementsensor.pb.gw.go
index a2cd12d55..8530c6d94 100644
--- a/component/movementsensor/v1/movementsensor.pb.gw.go
+++ b/component/movementsensor/v1/movementsensor.pb.gw.go
@@ -15,7 +15,7 @@ import (
 
 	"github.com/grpc-ecosystem/grpc-gateway/v2/runtime"
 	"github.com/grpc-ecosystem/grpc-gateway/v2/utilities"
-	v1_0 "go.viam.com/api/common/v1"
+	"go.viam.com/api/common/v1"
 	"google.golang.org/grpc"
 	"google.golang.org/grpc/codes"
 	"google.golang.org/grpc/grpclog"
@@ -597,7 +597,7 @@ var (
 )
 
 func request_MovementSensorService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client MovementSensorServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.DoCommandRequest
+	var protoReq v1.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -630,7 +630,7 @@ func request_MovementSensorService_DoCommand_0(ctx context.Context, marshaler ru
 }
 
 func local_request_MovementSensorService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server MovementSensorServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.DoCommandRequest
+	var protoReq v1.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -667,7 +667,7 @@ var (
 )
 
 func request_MovementSensorService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, client MovementSensorServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.GetGeometriesRequest
+	var protoReq v1.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -700,7 +700,7 @@ func request_MovementSensorService_GetGeometries_0(ctx context.Context, marshale
 }
 
 func local_request_MovementSensorService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, server MovementSensorServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.GetGeometriesRequest
+	var protoReq v1.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -737,7 +737,7 @@ var (
 )
 
 func request_MovementSensorService_GetReadings_0(ctx context.Context, marshaler runtime.Marshaler, client MovementSensorServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.GetReadingsRequest
+	var protoReq v1.GetReadingsRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -770,7 +770,7 @@ func request_MovementSensorService_GetReadings_0(ctx context.Context, marshaler
 }
 
 func local_request_MovementSensorService_GetReadings_0(ctx context.Context, marshaler runtime.Marshaler, server MovementSensorServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.GetReadingsRequest
+	var protoReq v1.GetReadingsRequest
 	var metadata runtime.ServerMetadata
 
 	var (
diff --git a/component/posetracker/v1/pose_tracker.pb.gw.go b/component/posetracker/v1/pose_tracker.pb.gw.go
index 7eda59b7b..0007c002d 100644
--- a/component/posetracker/v1/pose_tracker.pb.gw.go
+++ b/component/posetracker/v1/pose_tracker.pb.gw.go
@@ -15,7 +15,7 @@ import (
 
 	"github.com/grpc-ecosystem/grpc-gateway/v2/runtime"
 	"github.com/grpc-ecosystem/grpc-gateway/v2/utilities"
-	"go.viam.com/api/common/v1"
+	v1_0 "go.viam.com/api/common/v1"
 	"google.golang.org/grpc"
 	"google.golang.org/grpc/codes"
 	"google.golang.org/grpc/grpclog"
@@ -107,7 +107,7 @@ var (
 )
 
 func request_PoseTrackerService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client PoseTrackerServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.DoCommandRequest
+	var protoReq v1_0.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -140,7 +140,7 @@ func request_PoseTrackerService_DoCommand_0(ctx context.Context, marshaler runti
 }
 
 func local_request_PoseTrackerService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server PoseTrackerServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.DoCommandRequest
+	var protoReq v1_0.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -177,7 +177,7 @@ var (
 )
 
 func request_PoseTrackerService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, client PoseTrackerServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.GetGeometriesRequest
+	var protoReq v1_0.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -210,7 +210,7 @@ func request_PoseTrackerService_GetGeometries_0(ctx context.Context, marshaler r
 }
 
 func local_request_PoseTrackerService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, server PoseTrackerServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.GetGeometriesRequest
+	var protoReq v1_0.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
diff --git a/component/powersensor/v1/powersensor.pb.gw.go b/component/powersensor/v1/powersensor.pb.gw.go
index c60c7e312..9a80a7e4a 100644
--- a/component/powersensor/v1/powersensor.pb.gw.go
+++ b/component/powersensor/v1/powersensor.pb.gw.go
@@ -15,7 +15,7 @@ import (
 
 	"github.com/grpc-ecosystem/grpc-gateway/v2/runtime"
 	"github.com/grpc-ecosystem/grpc-gateway/v2/utilities"
-	"go.viam.com/api/common/v1"
+	v1_0 "go.viam.com/api/common/v1"
 	"google.golang.org/grpc"
 	"google.golang.org/grpc/codes"
 	"google.golang.org/grpc/grpclog"
@@ -247,7 +247,7 @@ var (
 )
 
 func request_PowerSensorService_GetReadings_0(ctx context.Context, marshaler runtime.Marshaler, client PowerSensorServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.GetReadingsRequest
+	var protoReq v1_0.GetReadingsRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -280,7 +280,7 @@ func request_PowerSensorService_GetReadings_0(ctx context.Context, marshaler run
 }
 
 func local_request_PowerSensorService_GetReadings_0(ctx context.Context, marshaler runtime.Marshaler, server PowerSensorServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.GetReadingsRequest
+	var protoReq v1_0.GetReadingsRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -317,7 +317,7 @@ var (
 )
 
 func request_PowerSensorService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client PowerSensorServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.DoCommandRequest
+	var protoReq v1_0.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -350,7 +350,7 @@ func request_PowerSensorService_DoCommand_0(ctx context.Context, marshaler runti
 }
 
 func local_request_PowerSensorService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server PowerSensorServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.DoCommandRequest
+	var protoReq v1_0.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
diff --git a/component/servo/v1/servo.pb.gw.go b/component/servo/v1/servo.pb.gw.go
index 75e698cc0..fd6e0a9d1 100644
--- a/component/servo/v1/servo.pb.gw.go
+++ b/component/servo/v1/servo.pb.gw.go
@@ -15,7 +15,7 @@ import (
 
 	"github.com/grpc-ecosystem/grpc-gateway/v2/runtime"
 	"github.com/grpc-ecosystem/grpc-gateway/v2/utilities"
-	v1_0 "go.viam.com/api/common/v1"
+	"go.viam.com/api/common/v1"
 	"google.golang.org/grpc"
 	"google.golang.org/grpc/codes"
 	"google.golang.org/grpc/grpclog"
@@ -299,7 +299,7 @@ var (
 )
 
 func request_ServoService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client ServoServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.DoCommandRequest
+	var protoReq v1.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -332,7 +332,7 @@ func request_ServoService_DoCommand_0(ctx context.Context, marshaler runtime.Mar
 }
 
 func local_request_ServoService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server ServoServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.DoCommandRequest
+	var protoReq v1.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -369,7 +369,7 @@ var (
 )
 
 func request_ServoService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, client ServoServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.GetGeometriesRequest
+	var protoReq v1.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -402,7 +402,7 @@ func request_ServoService_GetGeometries_0(ctx context.Context, marshaler runtime
 }
 
 func local_request_ServoService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, server ServoServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.GetGeometriesRequest
+	var protoReq v1.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
diff --git a/gen/js/common/v1/common_pb.d.ts b/gen/js/common/v1/common_pb.d.ts
index 882c11372..6e223fd59 100644
--- a/gen/js/common/v1/common_pb.d.ts
+++ b/gen/js/common/v1/common_pb.d.ts
@@ -364,7 +364,7 @@ export namespace GeoPoint {
   }
 }
 
-export class GeoObstacle extends jspb.Message {
+export class GeoGeometry extends jspb.Message {
   hasLocation(): boolean;
   clearLocation(): void;
   getLocation(): GeoPoint | undefined;
@@ -376,16 +376,16 @@ export class GeoObstacle extends jspb.Message {
   addGeometries(value?: Geometry, index?: number): Geometry;
 
   serializeBinary(): Uint8Array;
-  toObject(includeInstance?: boolean): GeoObstacle.AsObject;
-  static toObject(includeInstance: boolean, msg: GeoObstacle): GeoObstacle.AsObject;
+  toObject(includeInstance?: boolean): GeoGeometry.AsObject;
+  static toObject(includeInstance: boolean, msg: GeoGeometry): GeoGeometry.AsObject;
   static extensions: {[key: number]: jspb.ExtensionFieldInfo<jspb.Message>};
   static extensionsBinary: {[key: number]: jspb.ExtensionFieldBinaryInfo<jspb.Message>};
-  static serializeBinaryToWriter(message: GeoObstacle, writer: jspb.BinaryWriter): void;
-  static deserializeBinary(bytes: Uint8Array): GeoObstacle;
-  static deserializeBinaryFromReader(message: GeoObstacle, reader: jspb.BinaryReader): GeoObstacle;
+  static serializeBinaryToWriter(message: GeoGeometry, writer: jspb.BinaryWriter): void;
+  static deserializeBinary(bytes: Uint8Array): GeoGeometry;
+  static deserializeBinaryFromReader(message: GeoGeometry, reader: jspb.BinaryReader): GeoGeometry;
 }
 
-export namespace GeoObstacle {
+export namespace GeoGeometry {
   export type AsObject = {
     location?: GeoPoint.AsObject,
     geometriesList: Array<Geometry.AsObject>,
diff --git a/gen/js/common/v1/common_pb.js b/gen/js/common/v1/common_pb.js
index e8240ee90..1e019de50 100644
--- a/gen/js/common/v1/common_pb.js
+++ b/gen/js/common/v1/common_pb.js
@@ -25,7 +25,7 @@ goog.exportSymbol('proto.viam.common.v1.ActuatorStatus', null, global);
 goog.exportSymbol('proto.viam.common.v1.Capsule', null, global);
 goog.exportSymbol('proto.viam.common.v1.DoCommandRequest', null, global);
 goog.exportSymbol('proto.viam.common.v1.DoCommandResponse', null, global);
-goog.exportSymbol('proto.viam.common.v1.GeoObstacle', null, global);
+goog.exportSymbol('proto.viam.common.v1.GeoGeometry', null, global);
 goog.exportSymbol('proto.viam.common.v1.GeoPoint', null, global);
 goog.exportSymbol('proto.viam.common.v1.GeometriesInFrame', null, global);
 goog.exportSymbol('proto.viam.common.v1.Geometry', null, global);
@@ -312,16 +312,16 @@ if (goog.DEBUG && !COMPILED) {
  * @extends {jspb.Message}
  * @constructor
  */
-proto.viam.common.v1.GeoObstacle = function(opt_data) {
-  jspb.Message.initialize(this, opt_data, 0, -1, proto.viam.common.v1.GeoObstacle.repeatedFields_, null);
+proto.viam.common.v1.GeoGeometry = function(opt_data) {
+  jspb.Message.initialize(this, opt_data, 0, -1, proto.viam.common.v1.GeoGeometry.repeatedFields_, null);
 };
-goog.inherits(proto.viam.common.v1.GeoObstacle, jspb.Message);
+goog.inherits(proto.viam.common.v1.GeoGeometry, jspb.Message);
 if (goog.DEBUG && !COMPILED) {
   /**
    * @public
    * @override
    */
-  proto.viam.common.v1.GeoObstacle.displayName = 'proto.viam.common.v1.GeoObstacle';
+  proto.viam.common.v1.GeoGeometry.displayName = 'proto.viam.common.v1.GeoGeometry';
 }
 /**
  * Generated by JsPbCodeGenerator.
@@ -3080,7 +3080,7 @@ proto.viam.common.v1.GeoPoint.prototype.setLongitude = function(value) {
  * @private {!Array<number>}
  * @const
  */
-proto.viam.common.v1.GeoObstacle.repeatedFields_ = [2];
+proto.viam.common.v1.GeoGeometry.repeatedFields_ = [2];
 
 
 
@@ -3097,8 +3097,8 @@ if (jspb.Message.GENERATE_TO_OBJECT) {
  *     http://goto/soy-param-migration
  * @return {!Object}
  */
-proto.viam.common.v1.GeoObstacle.prototype.toObject = function(opt_includeInstance) {
-  return proto.viam.common.v1.GeoObstacle.toObject(opt_includeInstance, this);
+proto.viam.common.v1.GeoGeometry.prototype.toObject = function(opt_includeInstance) {
+  return proto.viam.common.v1.GeoGeometry.toObject(opt_includeInstance, this);
 };
 
 
@@ -3107,11 +3107,11 @@ proto.viam.common.v1.GeoObstacle.prototype.toObject = function(opt_includeInstan
  * @param {boolean|undefined} includeInstance Deprecated. Whether to include
  *     the JSPB instance for transitional soy proto support:
  *     http://goto/soy-param-migration
- * @param {!proto.viam.common.v1.GeoObstacle} msg The msg instance to transform.
+ * @param {!proto.viam.common.v1.GeoGeometry} msg The msg instance to transform.
  * @return {!Object}
  * @suppress {unusedLocalVariables} f is only used for nested messages
  */
-proto.viam.common.v1.GeoObstacle.toObject = function(includeInstance, msg) {
+proto.viam.common.v1.GeoGeometry.toObject = function(includeInstance, msg) {
   var f, obj = {
     location: (f = msg.getLocation()) && proto.viam.common.v1.GeoPoint.toObject(includeInstance, f),
     geometriesList: jspb.Message.toObjectList(msg.getGeometriesList(),
@@ -3129,23 +3129,23 @@ proto.viam.common.v1.GeoObstacle.toObject = function(includeInstance, msg) {
 /**
  * Deserializes binary data (in protobuf wire format).
  * @param {jspb.ByteSource} bytes The bytes to deserialize.
- * @return {!proto.viam.common.v1.GeoObstacle}
+ * @return {!proto.viam.common.v1.GeoGeometry}
  */
-proto.viam.common.v1.GeoObstacle.deserializeBinary = function(bytes) {
+proto.viam.common.v1.GeoGeometry.deserializeBinary = function(bytes) {
   var reader = new jspb.BinaryReader(bytes);
-  var msg = new proto.viam.common.v1.GeoObstacle;
-  return proto.viam.common.v1.GeoObstacle.deserializeBinaryFromReader(msg, reader);
+  var msg = new proto.viam.common.v1.GeoGeometry;
+  return proto.viam.common.v1.GeoGeometry.deserializeBinaryFromReader(msg, reader);
 };
 
 
 /**
  * Deserializes binary data (in protobuf wire format) from the
  * given reader into the given message object.
- * @param {!proto.viam.common.v1.GeoObstacle} msg The message object to deserialize into.
+ * @param {!proto.viam.common.v1.GeoGeometry} msg The message object to deserialize into.
  * @param {!jspb.BinaryReader} reader The BinaryReader to use.
- * @return {!proto.viam.common.v1.GeoObstacle}
+ * @return {!proto.viam.common.v1.GeoGeometry}
  */
-proto.viam.common.v1.GeoObstacle.deserializeBinaryFromReader = function(msg, reader) {
+proto.viam.common.v1.GeoGeometry.deserializeBinaryFromReader = function(msg, reader) {
   while (reader.nextField()) {
     if (reader.isEndGroup()) {
       break;
@@ -3175,9 +3175,9 @@ proto.viam.common.v1.GeoObstacle.deserializeBinaryFromReader = function(msg, rea
  * Serializes the message to binary data (in protobuf wire format).
  * @return {!Uint8Array}
  */
-proto.viam.common.v1.GeoObstacle.prototype.serializeBinary = function() {
+proto.viam.common.v1.GeoGeometry.prototype.serializeBinary = function() {
   var writer = new jspb.BinaryWriter();
-  proto.viam.common.v1.GeoObstacle.serializeBinaryToWriter(this, writer);
+  proto.viam.common.v1.GeoGeometry.serializeBinaryToWriter(this, writer);
   return writer.getResultBuffer();
 };
 
@@ -3185,11 +3185,11 @@ proto.viam.common.v1.GeoObstacle.prototype.serializeBinary = function() {
 /**
  * Serializes the given message to binary data (in protobuf wire
  * format), writing to the given BinaryWriter.
- * @param {!proto.viam.common.v1.GeoObstacle} message
+ * @param {!proto.viam.common.v1.GeoGeometry} message
  * @param {!jspb.BinaryWriter} writer
  * @suppress {unusedLocalVariables} f is only used for nested messages
  */
-proto.viam.common.v1.GeoObstacle.serializeBinaryToWriter = function(message, writer) {
+proto.viam.common.v1.GeoGeometry.serializeBinaryToWriter = function(message, writer) {
   var f = undefined;
   f = message.getLocation();
   if (f != null) {
@@ -3214,7 +3214,7 @@ proto.viam.common.v1.GeoObstacle.serializeBinaryToWriter = function(message, wri
  * optional GeoPoint location = 1;
  * @return {?proto.viam.common.v1.GeoPoint}
  */
-proto.viam.common.v1.GeoObstacle.prototype.getLocation = function() {
+proto.viam.common.v1.GeoGeometry.prototype.getLocation = function() {
   return /** @type{?proto.viam.common.v1.GeoPoint} */ (
     jspb.Message.getWrapperField(this, proto.viam.common.v1.GeoPoint, 1));
 };
@@ -3222,18 +3222,18 @@ proto.viam.common.v1.GeoObstacle.prototype.getLocation = function() {
 
 /**
  * @param {?proto.viam.common.v1.GeoPoint|undefined} value
- * @return {!proto.viam.common.v1.GeoObstacle} returns this
+ * @return {!proto.viam.common.v1.GeoGeometry} returns this
 */
-proto.viam.common.v1.GeoObstacle.prototype.setLocation = function(value) {
+proto.viam.common.v1.GeoGeometry.prototype.setLocation = function(value) {
   return jspb.Message.setWrapperField(this, 1, value);
 };
 
 
 /**
  * Clears the message field making it undefined.
- * @return {!proto.viam.common.v1.GeoObstacle} returns this
+ * @return {!proto.viam.common.v1.GeoGeometry} returns this
  */
-proto.viam.common.v1.GeoObstacle.prototype.clearLocation = function() {
+proto.viam.common.v1.GeoGeometry.prototype.clearLocation = function() {
   return this.setLocation(undefined);
 };
 
@@ -3242,7 +3242,7 @@ proto.viam.common.v1.GeoObstacle.prototype.clearLocation = function() {
  * Returns whether this field is set.
  * @return {boolean}
  */
-proto.viam.common.v1.GeoObstacle.prototype.hasLocation = function() {
+proto.viam.common.v1.GeoGeometry.prototype.hasLocation = function() {
   return jspb.Message.getField(this, 1) != null;
 };
 
@@ -3251,7 +3251,7 @@ proto.viam.common.v1.GeoObstacle.prototype.hasLocation = function() {
  * repeated Geometry geometries = 2;
  * @return {!Array<!proto.viam.common.v1.Geometry>}
  */
-proto.viam.common.v1.GeoObstacle.prototype.getGeometriesList = function() {
+proto.viam.common.v1.GeoGeometry.prototype.getGeometriesList = function() {
   return /** @type{!Array<!proto.viam.common.v1.Geometry>} */ (
     jspb.Message.getRepeatedWrapperField(this, proto.viam.common.v1.Geometry, 2));
 };
@@ -3259,9 +3259,9 @@ proto.viam.common.v1.GeoObstacle.prototype.getGeometriesList = function() {
 
 /**
  * @param {!Array<!proto.viam.common.v1.Geometry>} value
- * @return {!proto.viam.common.v1.GeoObstacle} returns this
+ * @return {!proto.viam.common.v1.GeoGeometry} returns this
 */
-proto.viam.common.v1.GeoObstacle.prototype.setGeometriesList = function(value) {
+proto.viam.common.v1.GeoGeometry.prototype.setGeometriesList = function(value) {
   return jspb.Message.setRepeatedWrapperField(this, 2, value);
 };
 
@@ -3271,16 +3271,16 @@ proto.viam.common.v1.GeoObstacle.prototype.setGeometriesList = function(value) {
  * @param {number=} opt_index
  * @return {!proto.viam.common.v1.Geometry}
  */
-proto.viam.common.v1.GeoObstacle.prototype.addGeometries = function(opt_value, opt_index) {
+proto.viam.common.v1.GeoGeometry.prototype.addGeometries = function(opt_value, opt_index) {
   return jspb.Message.addToRepeatedWrapperField(this, 2, opt_value, proto.viam.common.v1.Geometry, opt_index);
 };
 
 
 /**
  * Clears the list making it empty but non-null.
- * @return {!proto.viam.common.v1.GeoObstacle} returns this
+ * @return {!proto.viam.common.v1.GeoGeometry} returns this
  */
-proto.viam.common.v1.GeoObstacle.prototype.clearGeometriesList = function() {
+proto.viam.common.v1.GeoGeometry.prototype.clearGeometriesList = function() {
   return this.setGeometriesList([]);
 };
 
diff --git a/gen/js/service/motion/v1/motion_pb.d.ts b/gen/js/service/motion/v1/motion_pb.d.ts
index 1156b76cc..6daf3a21f 100644
--- a/gen/js/service/motion/v1/motion_pb.d.ts
+++ b/gen/js/service/motion/v1/motion_pb.d.ts
@@ -258,15 +258,20 @@ export class MoveOnGlobeRequest extends jspb.Message {
   setMovementSensorName(value?: common_v1_common_pb.ResourceName): void;
 
   clearObstaclesList(): void;
-  getObstaclesList(): Array<common_v1_common_pb.GeoObstacle>;
-  setObstaclesList(value: Array<common_v1_common_pb.GeoObstacle>): void;
-  addObstacles(value?: common_v1_common_pb.GeoObstacle, index?: number): common_v1_common_pb.GeoObstacle;
+  getObstaclesList(): Array<common_v1_common_pb.GeoGeometry>;
+  setObstaclesList(value: Array<common_v1_common_pb.GeoGeometry>): void;
+  addObstacles(value?: common_v1_common_pb.GeoGeometry, index?: number): common_v1_common_pb.GeoGeometry;
 
   hasMotionConfiguration(): boolean;
   clearMotionConfiguration(): void;
   getMotionConfiguration(): MotionConfiguration | undefined;
   setMotionConfiguration(value?: MotionConfiguration): void;
 
+  clearBoundingRegionsList(): void;
+  getBoundingRegionsList(): Array<common_v1_common_pb.GeoGeometry>;
+  setBoundingRegionsList(value: Array<common_v1_common_pb.GeoGeometry>): void;
+  addBoundingRegions(value?: common_v1_common_pb.GeoGeometry, index?: number): common_v1_common_pb.GeoGeometry;
+
   hasExtra(): boolean;
   clearExtra(): void;
   getExtra(): google_protobuf_struct_pb.Struct | undefined;
@@ -289,8 +294,9 @@ export namespace MoveOnGlobeRequest {
     heading: number,
     componentName?: common_v1_common_pb.ResourceName.AsObject,
     movementSensorName?: common_v1_common_pb.ResourceName.AsObject,
-    obstaclesList: Array<common_v1_common_pb.GeoObstacle.AsObject>,
+    obstaclesList: Array<common_v1_common_pb.GeoGeometry.AsObject>,
     motionConfiguration?: MotionConfiguration.AsObject,
+    boundingRegionsList: Array<common_v1_common_pb.GeoGeometry.AsObject>,
     extra?: google_protobuf_struct_pb.Struct.AsObject,
   }
 }
diff --git a/gen/js/service/motion/v1/motion_pb.js b/gen/js/service/motion/v1/motion_pb.js
index 4ea5519e6..bc5adc897 100644
--- a/gen/js/service/motion/v1/motion_pb.js
+++ b/gen/js/service/motion/v1/motion_pb.js
@@ -2316,7 +2316,7 @@ proto.viam.service.motion.v1.MotionConfiguration.prototype.hasAngularDegsPerSec
  * @private {!Array<number>}
  * @const
  */
-proto.viam.service.motion.v1.MoveOnGlobeRequest.repeatedFields_ = [6];
+proto.viam.service.motion.v1.MoveOnGlobeRequest.repeatedFields_ = [6,8];
 
 
 
@@ -2355,8 +2355,10 @@ proto.viam.service.motion.v1.MoveOnGlobeRequest.toObject = function(includeInsta
     componentName: (f = msg.getComponentName()) && common_v1_common_pb.ResourceName.toObject(includeInstance, f),
     movementSensorName: (f = msg.getMovementSensorName()) && common_v1_common_pb.ResourceName.toObject(includeInstance, f),
     obstaclesList: jspb.Message.toObjectList(msg.getObstaclesList(),
-    common_v1_common_pb.GeoObstacle.toObject, includeInstance),
+    common_v1_common_pb.GeoGeometry.toObject, includeInstance),
     motionConfiguration: (f = msg.getMotionConfiguration()) && proto.viam.service.motion.v1.MotionConfiguration.toObject(includeInstance, f),
+    boundingRegionsList: jspb.Message.toObjectList(msg.getBoundingRegionsList(),
+    common_v1_common_pb.GeoGeometry.toObject, includeInstance),
     extra: (f = msg.getExtra()) && google_protobuf_struct_pb.Struct.toObject(includeInstance, f)
   };
 
@@ -2418,8 +2420,8 @@ proto.viam.service.motion.v1.MoveOnGlobeRequest.deserializeBinaryFromReader = fu
       msg.setMovementSensorName(value);
       break;
     case 6:
-      var value = new common_v1_common_pb.GeoObstacle;
-      reader.readMessage(value,common_v1_common_pb.GeoObstacle.deserializeBinaryFromReader);
+      var value = new common_v1_common_pb.GeoGeometry;
+      reader.readMessage(value,common_v1_common_pb.GeoGeometry.deserializeBinaryFromReader);
       msg.addObstacles(value);
       break;
     case 7:
@@ -2427,6 +2429,11 @@ proto.viam.service.motion.v1.MoveOnGlobeRequest.deserializeBinaryFromReader = fu
       reader.readMessage(value,proto.viam.service.motion.v1.MotionConfiguration.deserializeBinaryFromReader);
       msg.setMotionConfiguration(value);
       break;
+    case 8:
+      var value = new common_v1_common_pb.GeoGeometry;
+      reader.readMessage(value,common_v1_common_pb.GeoGeometry.deserializeBinaryFromReader);
+      msg.addBoundingRegions(value);
+      break;
     case 99:
       var value = new google_protobuf_struct_pb.Struct;
       reader.readMessage(value,google_protobuf_struct_pb.Struct.deserializeBinaryFromReader);
@@ -2504,7 +2511,7 @@ proto.viam.service.motion.v1.MoveOnGlobeRequest.serializeBinaryToWriter = functi
     writer.writeRepeatedMessage(
       6,
       f,
-      common_v1_common_pb.GeoObstacle.serializeBinaryToWriter
+      common_v1_common_pb.GeoGeometry.serializeBinaryToWriter
     );
   }
   f = message.getMotionConfiguration();
@@ -2515,6 +2522,14 @@ proto.viam.service.motion.v1.MoveOnGlobeRequest.serializeBinaryToWriter = functi
       proto.viam.service.motion.v1.MotionConfiguration.serializeBinaryToWriter
     );
   }
+  f = message.getBoundingRegionsList();
+  if (f.length > 0) {
+    writer.writeRepeatedMessage(
+      8,
+      f,
+      common_v1_common_pb.GeoGeometry.serializeBinaryToWriter
+    );
+  }
   f = message.getExtra();
   if (f != null) {
     writer.writeMessage(
@@ -2692,17 +2707,17 @@ proto.viam.service.motion.v1.MoveOnGlobeRequest.prototype.hasMovementSensorName
 
 
 /**
- * repeated viam.common.v1.GeoObstacle obstacles = 6;
- * @return {!Array<!proto.viam.common.v1.GeoObstacle>}
+ * repeated viam.common.v1.GeoGeometry obstacles = 6;
+ * @return {!Array<!proto.viam.common.v1.GeoGeometry>}
  */
 proto.viam.service.motion.v1.MoveOnGlobeRequest.prototype.getObstaclesList = function() {
-  return /** @type{!Array<!proto.viam.common.v1.GeoObstacle>} */ (
-    jspb.Message.getRepeatedWrapperField(this, common_v1_common_pb.GeoObstacle, 6));
+  return /** @type{!Array<!proto.viam.common.v1.GeoGeometry>} */ (
+    jspb.Message.getRepeatedWrapperField(this, common_v1_common_pb.GeoGeometry, 6));
 };
 
 
 /**
- * @param {!Array<!proto.viam.common.v1.GeoObstacle>} value
+ * @param {!Array<!proto.viam.common.v1.GeoGeometry>} value
  * @return {!proto.viam.service.motion.v1.MoveOnGlobeRequest} returns this
 */
 proto.viam.service.motion.v1.MoveOnGlobeRequest.prototype.setObstaclesList = function(value) {
@@ -2711,12 +2726,12 @@ proto.viam.service.motion.v1.MoveOnGlobeRequest.prototype.setObstaclesList = fun
 
 
 /**
- * @param {!proto.viam.common.v1.GeoObstacle=} opt_value
+ * @param {!proto.viam.common.v1.GeoGeometry=} opt_value
  * @param {number=} opt_index
- * @return {!proto.viam.common.v1.GeoObstacle}
+ * @return {!proto.viam.common.v1.GeoGeometry}
  */
 proto.viam.service.motion.v1.MoveOnGlobeRequest.prototype.addObstacles = function(opt_value, opt_index) {
-  return jspb.Message.addToRepeatedWrapperField(this, 6, opt_value, proto.viam.common.v1.GeoObstacle, opt_index);
+  return jspb.Message.addToRepeatedWrapperField(this, 6, opt_value, proto.viam.common.v1.GeoGeometry, opt_index);
 };
 
 
@@ -2766,6 +2781,44 @@ proto.viam.service.motion.v1.MoveOnGlobeRequest.prototype.hasMotionConfiguration
 };
 
 
+/**
+ * repeated viam.common.v1.GeoGeometry bounding_regions = 8;
+ * @return {!Array<!proto.viam.common.v1.GeoGeometry>}
+ */
+proto.viam.service.motion.v1.MoveOnGlobeRequest.prototype.getBoundingRegionsList = function() {
+  return /** @type{!Array<!proto.viam.common.v1.GeoGeometry>} */ (
+    jspb.Message.getRepeatedWrapperField(this, common_v1_common_pb.GeoGeometry, 8));
+};
+
+
+/**
+ * @param {!Array<!proto.viam.common.v1.GeoGeometry>} value
+ * @return {!proto.viam.service.motion.v1.MoveOnGlobeRequest} returns this
+*/
+proto.viam.service.motion.v1.MoveOnGlobeRequest.prototype.setBoundingRegionsList = function(value) {
+  return jspb.Message.setRepeatedWrapperField(this, 8, value);
+};
+
+
+/**
+ * @param {!proto.viam.common.v1.GeoGeometry=} opt_value
+ * @param {number=} opt_index
+ * @return {!proto.viam.common.v1.GeoGeometry}
+ */
+proto.viam.service.motion.v1.MoveOnGlobeRequest.prototype.addBoundingRegions = function(opt_value, opt_index) {
+  return jspb.Message.addToRepeatedWrapperField(this, 8, opt_value, proto.viam.common.v1.GeoGeometry, opt_index);
+};
+
+
+/**
+ * Clears the list making it empty but non-null.
+ * @return {!proto.viam.service.motion.v1.MoveOnGlobeRequest} returns this
+ */
+proto.viam.service.motion.v1.MoveOnGlobeRequest.prototype.clearBoundingRegionsList = function() {
+  return this.setBoundingRegionsList([]);
+};
+
+
 /**
  * optional google.protobuf.Struct extra = 99;
  * @return {?proto.google.protobuf.Struct}
diff --git a/gen/js/service/navigation/v1/navigation_pb.d.ts b/gen/js/service/navigation/v1/navigation_pb.d.ts
index 60900879a..81cab997e 100644
--- a/gen/js/service/navigation/v1/navigation_pb.d.ts
+++ b/gen/js/service/navigation/v1/navigation_pb.d.ts
@@ -346,9 +346,9 @@ export namespace GetObstaclesRequest {
 
 export class GetObstaclesResponse extends jspb.Message {
   clearObstaclesList(): void;
-  getObstaclesList(): Array<common_v1_common_pb.GeoObstacle>;
-  setObstaclesList(value: Array<common_v1_common_pb.GeoObstacle>): void;
-  addObstacles(value?: common_v1_common_pb.GeoObstacle, index?: number): common_v1_common_pb.GeoObstacle;
+  getObstaclesList(): Array<common_v1_common_pb.GeoGeometry>;
+  setObstaclesList(value: Array<common_v1_common_pb.GeoGeometry>): void;
+  addObstacles(value?: common_v1_common_pb.GeoGeometry, index?: number): common_v1_common_pb.GeoGeometry;
 
   serializeBinary(): Uint8Array;
   toObject(includeInstance?: boolean): GetObstaclesResponse.AsObject;
@@ -362,7 +362,7 @@ export class GetObstaclesResponse extends jspb.Message {
 
 export namespace GetObstaclesResponse {
   export type AsObject = {
-    obstaclesList: Array<common_v1_common_pb.GeoObstacle.AsObject>,
+    obstaclesList: Array<common_v1_common_pb.GeoGeometry.AsObject>,
   }
 }
 
diff --git a/gen/js/service/navigation/v1/navigation_pb.js b/gen/js/service/navigation/v1/navigation_pb.js
index 8b8afe184..b7f4dcc8f 100644
--- a/gen/js/service/navigation/v1/navigation_pb.js
+++ b/gen/js/service/navigation/v1/navigation_pb.js
@@ -2836,7 +2836,7 @@ proto.viam.service.navigation.v1.GetObstaclesResponse.prototype.toObject = funct
 proto.viam.service.navigation.v1.GetObstaclesResponse.toObject = function(includeInstance, msg) {
   var f, obj = {
     obstaclesList: jspb.Message.toObjectList(msg.getObstaclesList(),
-    common_v1_common_pb.GeoObstacle.toObject, includeInstance)
+    common_v1_common_pb.GeoGeometry.toObject, includeInstance)
   };
 
   if (includeInstance) {
@@ -2874,8 +2874,8 @@ proto.viam.service.navigation.v1.GetObstaclesResponse.deserializeBinaryFromReade
     var field = reader.getFieldNumber();
     switch (field) {
     case 1:
-      var value = new common_v1_common_pb.GeoObstacle;
-      reader.readMessage(value,common_v1_common_pb.GeoObstacle.deserializeBinaryFromReader);
+      var value = new common_v1_common_pb.GeoGeometry;
+      reader.readMessage(value,common_v1_common_pb.GeoGeometry.deserializeBinaryFromReader);
       msg.addObstacles(value);
       break;
     default:
@@ -2912,24 +2912,24 @@ proto.viam.service.navigation.v1.GetObstaclesResponse.serializeBinaryToWriter =
     writer.writeRepeatedMessage(
       1,
       f,
-      common_v1_common_pb.GeoObstacle.serializeBinaryToWriter
+      common_v1_common_pb.GeoGeometry.serializeBinaryToWriter
     );
   }
 };
 
 
 /**
- * repeated viam.common.v1.GeoObstacle obstacles = 1;
- * @return {!Array<!proto.viam.common.v1.GeoObstacle>}
+ * repeated viam.common.v1.GeoGeometry obstacles = 1;
+ * @return {!Array<!proto.viam.common.v1.GeoGeometry>}
  */
 proto.viam.service.navigation.v1.GetObstaclesResponse.prototype.getObstaclesList = function() {
-  return /** @type{!Array<!proto.viam.common.v1.GeoObstacle>} */ (
-    jspb.Message.getRepeatedWrapperField(this, common_v1_common_pb.GeoObstacle, 1));
+  return /** @type{!Array<!proto.viam.common.v1.GeoGeometry>} */ (
+    jspb.Message.getRepeatedWrapperField(this, common_v1_common_pb.GeoGeometry, 1));
 };
 
 
 /**
- * @param {!Array<!proto.viam.common.v1.GeoObstacle>} value
+ * @param {!Array<!proto.viam.common.v1.GeoGeometry>} value
  * @return {!proto.viam.service.navigation.v1.GetObstaclesResponse} returns this
 */
 proto.viam.service.navigation.v1.GetObstaclesResponse.prototype.setObstaclesList = function(value) {
@@ -2938,12 +2938,12 @@ proto.viam.service.navigation.v1.GetObstaclesResponse.prototype.setObstaclesList
 
 
 /**
- * @param {!proto.viam.common.v1.GeoObstacle=} opt_value
+ * @param {!proto.viam.common.v1.GeoGeometry=} opt_value
  * @param {number=} opt_index
- * @return {!proto.viam.common.v1.GeoObstacle}
+ * @return {!proto.viam.common.v1.GeoGeometry}
  */
 proto.viam.service.navigation.v1.GetObstaclesResponse.prototype.addObstacles = function(opt_value, opt_index) {
-  return jspb.Message.addToRepeatedWrapperField(this, 1, opt_value, proto.viam.common.v1.GeoObstacle, opt_index);
+  return jspb.Message.addToRepeatedWrapperField(this, 1, opt_value, proto.viam.common.v1.GeoGeometry, opt_index);
 };
 
 
diff --git a/proto/viam/common/v1/common.proto b/proto/viam/common/v1/common.proto
index c86d504d5..832789099 100644
--- a/proto/viam/common/v1/common.proto
+++ b/proto/viam/common/v1/common.proto
@@ -117,12 +117,11 @@ message GeoPoint {
   double longitude = 2;
 }
 
-// GeoObstacle contains information about the geometric structure of an obstacle and the location of the obstacle,
-// captured in latitude and longitude.
-message GeoObstacle {
-  // Location of the obstacle
+// GeoGeometry contains information describing Geometry(s) that is located at a GeoPoint
+message GeoGeometry {
+  // Location of the geometry
   GeoPoint location = 1;
-  // Geometries that describe the obstacle, where embedded Pose data is with respect to the specified location
+  // Geometries associated with the location, where embedded Pose data is with respect to the specified location
   repeated Geometry geometries = 2;
 }
 
@@ -143,7 +142,8 @@ message Transform {
 message WorldState {
   // a list of obstacles expressed as a geometry and the reference frame in which it was observed; this field is optional
   repeated GeometriesInFrame obstacles = 1;
-  // a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to another, or to attach moving geometries to the frame system. This field is optional
+  // a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
+  // another, or to attach moving geometries to the frame system. This field is optional
   repeated Transform transforms = 3;
 }
 
diff --git a/proto/viam/service/motion/v1/motion.proto b/proto/viam/service/motion/v1/motion.proto
index 4b7426304..8d5a7b322 100644
--- a/proto/viam/service/motion/v1/motion.proto
+++ b/proto/viam/service/motion/v1/motion.proto
@@ -159,9 +159,11 @@ message MoveOnGlobeRequest {
   // Name of the movement sensor which will be used to check robot location
   common.v1.ResourceName movement_sensor_name = 5;
   // Obstacles to be considered for motion planning
-  repeated common.v1.GeoObstacle obstacles = 6;
+  repeated common.v1.GeoGeometry obstacles = 6;
   // Optional set of motion configuration options
   optional MotionConfiguration motion_configuration = 7;
+  // Set of obstacles which the robot must remain within while navigating
+  repeated common.v1.GeoGeometry bounding_regions = 8;
   // Additional arguments to the method
   google.protobuf.Struct extra = 99;
 }
diff --git a/proto/viam/service/navigation/v1/navigation.proto b/proto/viam/service/navigation/v1/navigation.proto
index 605fe1924..42cb7003e 100644
--- a/proto/viam/service/navigation/v1/navigation.proto
+++ b/proto/viam/service/navigation/v1/navigation.proto
@@ -166,7 +166,7 @@ message GetObstaclesRequest {
 
 message GetObstaclesResponse {
   // List of all known geometries
-  repeated common.v1.GeoObstacle obstacles = 1;
+  repeated common.v1.GeoGeometry obstacles = 1;
 }
 
 // A user provided destination and the set of geopoints that
diff --git a/service/datamanager/v1/data_manager.pb.gw.go b/service/datamanager/v1/data_manager.pb.gw.go
index 5f497f653..5a7e61ab2 100644
--- a/service/datamanager/v1/data_manager.pb.gw.go
+++ b/service/datamanager/v1/data_manager.pb.gw.go
@@ -15,7 +15,7 @@ import (
 
 	"github.com/grpc-ecosystem/grpc-gateway/v2/runtime"
 	"github.com/grpc-ecosystem/grpc-gateway/v2/utilities"
-	"go.viam.com/api/common/v1"
+	v1_0 "go.viam.com/api/common/v1"
 	"google.golang.org/grpc"
 	"google.golang.org/grpc/codes"
 	"google.golang.org/grpc/grpclog"
@@ -107,7 +107,7 @@ var (
 )
 
 func request_DataManagerService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client DataManagerServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.DoCommandRequest
+	var protoReq v1_0.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -140,7 +140,7 @@ func request_DataManagerService_DoCommand_0(ctx context.Context, marshaler runti
 }
 
 func local_request_DataManagerService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server DataManagerServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.DoCommandRequest
+	var protoReq v1_0.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
diff --git a/service/motion/v1/motion.pb.go b/service/motion/v1/motion.pb.go
index 89000c149..6ab46fd95 100644
--- a/service/motion/v1/motion.pb.go
+++ b/service/motion/v1/motion.pb.go
@@ -543,9 +543,11 @@ type MoveOnGlobeRequest struct {
 	// Name of the movement sensor which will be used to check robot location
 	MovementSensorName *v1.ResourceName `protobuf:"bytes,5,opt,name=movement_sensor_name,json=movementSensorName,proto3" json:"movement_sensor_name,omitempty"`
 	// Obstacles to be considered for motion planning
-	Obstacles []*v1.GeoObstacle `protobuf:"bytes,6,rep,name=obstacles,proto3" json:"obstacles,omitempty"`
+	Obstacles []*v1.GeoGeometry `protobuf:"bytes,6,rep,name=obstacles,proto3" json:"obstacles,omitempty"`
 	// Optional set of motion configuration options
 	MotionConfiguration *MotionConfiguration `protobuf:"bytes,7,opt,name=motion_configuration,json=motionConfiguration,proto3,oneof" json:"motion_configuration,omitempty"`
+	// Set of obstacles which the robot must remain within while navigating
+	BoundingRegions []*v1.GeoGeometry `protobuf:"bytes,8,rep,name=bounding_regions,json=boundingRegions,proto3" json:"bounding_regions,omitempty"`
 	// Additional arguments to the method
 	Extra *structpb.Struct `protobuf:"bytes,99,opt,name=extra,proto3" json:"extra,omitempty"`
 }
@@ -617,7 +619,7 @@ func (x *MoveOnGlobeRequest) GetMovementSensorName() *v1.ResourceName {
 	return nil
 }
 
-func (x *MoveOnGlobeRequest) GetObstacles() []*v1.GeoObstacle {
+func (x *MoveOnGlobeRequest) GetObstacles() []*v1.GeoGeometry {
 	if x != nil {
 		return x.Obstacles
 	}
@@ -631,6 +633,13 @@ func (x *MoveOnGlobeRequest) GetMotionConfiguration() *MotionConfiguration {
 	return nil
 }
 
+func (x *MoveOnGlobeRequest) GetBoundingRegions() []*v1.GeoGeometry {
+	if x != nil {
+		return x.BoundingRegions
+	}
+	return nil
+}
+
 func (x *MoveOnGlobeRequest) GetExtra() *structpb.Struct {
 	if x != nil {
 		return x.Extra
@@ -1981,7 +1990,7 @@ var file_service_motion_v1_motion_proto_rawDesc = []byte{
 	0x74, 0x69, 0x6f, 0x6e, 0x5f, 0x6d, 0x42, 0x13, 0x0a, 0x11, 0x5f, 0x6c, 0x69, 0x6e, 0x65, 0x61,
 	0x72, 0x5f, 0x6d, 0x5f, 0x70, 0x65, 0x72, 0x5f, 0x73, 0x65, 0x63, 0x42, 0x17, 0x0a, 0x15, 0x5f,
 	0x61, 0x6e, 0x67, 0x75, 0x6c, 0x61, 0x72, 0x5f, 0x64, 0x65, 0x67, 0x73, 0x5f, 0x70, 0x65, 0x72,
-	0x5f, 0x73, 0x65, 0x63, 0x22, 0x8c, 0x04, 0x0a, 0x12, 0x4d, 0x6f, 0x76, 0x65, 0x4f, 0x6e, 0x47,
+	0x5f, 0x73, 0x65, 0x63, 0x22, 0xd4, 0x04, 0x0a, 0x12, 0x4d, 0x6f, 0x76, 0x65, 0x4f, 0x6e, 0x47,
 	0x6c, 0x6f, 0x62, 0x65, 0x52, 0x65, 0x71, 0x75, 0x65, 0x73, 0x74, 0x12, 0x12, 0x0a, 0x04, 0x6e,
 	0x61, 0x6d, 0x65, 0x18, 0x01, 0x20, 0x01, 0x28, 0x09, 0x52, 0x04, 0x6e, 0x61, 0x6d, 0x65, 0x12,
 	0x3a, 0x0a, 0x0b, 0x64, 0x65, 0x73, 0x74, 0x69, 0x6e, 0x61, 0x74, 0x69, 0x6f, 0x6e, 0x18, 0x02,
@@ -2001,7 +2010,7 @@ var file_service_motion_v1_motion_proto_rawDesc = []byte{
 	0x65, 0x6d, 0x65, 0x6e, 0x74, 0x53, 0x65, 0x6e, 0x73, 0x6f, 0x72, 0x4e, 0x61, 0x6d, 0x65, 0x12,
 	0x39, 0x0a, 0x09, 0x6f, 0x62, 0x73, 0x74, 0x61, 0x63, 0x6c, 0x65, 0x73, 0x18, 0x06, 0x20, 0x03,
 	0x28, 0x0b, 0x32, 0x1b, 0x2e, 0x76, 0x69, 0x61, 0x6d, 0x2e, 0x63, 0x6f, 0x6d, 0x6d, 0x6f, 0x6e,
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+	0x2e, 0x76, 0x31, 0x2e, 0x47, 0x65, 0x6f, 0x47, 0x65, 0x6f, 0x6d, 0x65, 0x74, 0x72, 0x79, 0x52,
 	0x09, 0x6f, 0x62, 0x73, 0x74, 0x61, 0x63, 0x6c, 0x65, 0x73, 0x12, 0x63, 0x0a, 0x14, 0x6d, 0x6f,
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@@ -2009,297 +2018,301 @@ var file_service_motion_v1_motion_proto_rawDesc = []byte{
 	0x31, 0x2e, 0x4d, 0x6f, 0x74, 0x69, 0x6f, 0x6e, 0x43, 0x6f, 0x6e, 0x66, 0x69, 0x67, 0x75, 0x72,
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+	0x69, 0x2f, 0x73, 0x65, 0x72, 0x76, 0x69, 0x63, 0x65, 0x2f, 0x6d, 0x6f, 0x74, 0x69, 0x6f, 0x6e,
+	0x2f, 0x76, 0x31, 0x62, 0x06, 0x70, 0x72, 0x6f, 0x74, 0x6f, 0x33,
 }
 
 var (
@@ -2353,7 +2366,7 @@ var file_service_motion_v1_motion_proto_goTypes = []interface{}{
 	(*v1.Pose)(nil),               // 33: viam.common.v1.Pose
 	(*v1.Geometry)(nil),           // 34: viam.common.v1.Geometry
 	(*v1.GeoPoint)(nil),           // 35: viam.common.v1.GeoPoint
-	(*v1.GeoObstacle)(nil),        // 36: viam.common.v1.GeoObstacle
+	(*v1.GeoGeometry)(nil),        // 36: viam.common.v1.GeoGeometry
 	(*v1.Transform)(nil),          // 37: viam.common.v1.Transform
 	(*timestamppb.Timestamp)(nil), // 38: google.protobuf.Timestamp
 	(*v1.DoCommandRequest)(nil),   // 39: viam.common.v1.DoCommandRequest
@@ -2377,58 +2390,59 @@ var file_service_motion_v1_motion_proto_depIdxs = []int32{
 	35, // 14: viam.service.motion.v1.MoveOnGlobeRequest.destination:type_name -> viam.common.v1.GeoPoint
 	30, // 15: viam.service.motion.v1.MoveOnGlobeRequest.component_name:type_name -> viam.common.v1.ResourceName
 	30, // 16: viam.service.motion.v1.MoveOnGlobeRequest.movement_sensor_name:type_name -> viam.common.v1.ResourceName
-	36, // 17: viam.service.motion.v1.MoveOnGlobeRequest.obstacles:type_name -> viam.common.v1.GeoObstacle
+	36, // 17: viam.service.motion.v1.MoveOnGlobeRequest.obstacles:type_name -> viam.common.v1.GeoGeometry
 	6,  // 18: viam.service.motion.v1.MoveOnGlobeRequest.motion_configuration:type_name -> viam.service.motion.v1.MotionConfiguration
-	32, // 19: viam.service.motion.v1.MoveOnGlobeRequest.extra:type_name -> google.protobuf.Struct
-	30, // 20: viam.service.motion.v1.GetPoseRequest.component_name:type_name -> viam.common.v1.ResourceName
-	37, // 21: viam.service.motion.v1.GetPoseRequest.supplemental_transforms:type_name -> viam.common.v1.Transform
-	32, // 22: viam.service.motion.v1.GetPoseRequest.extra:type_name -> google.protobuf.Struct
-	29, // 23: viam.service.motion.v1.GetPoseResponse.pose:type_name -> viam.common.v1.PoseInFrame
-	30, // 24: viam.service.motion.v1.StopPlanRequest.component_name:type_name -> viam.common.v1.ResourceName
-	32, // 25: viam.service.motion.v1.StopPlanRequest.extra:type_name -> google.protobuf.Struct
-	32, // 26: viam.service.motion.v1.ListPlanStatusesRequest.extra:type_name -> google.protobuf.Struct
-	22, // 27: viam.service.motion.v1.ListPlanStatusesResponse.plan_statuses_with_ids:type_name -> viam.service.motion.v1.PlanStatusWithID
-	30, // 28: viam.service.motion.v1.GetPlanRequest.component_name:type_name -> viam.common.v1.ResourceName
-	32, // 29: viam.service.motion.v1.GetPlanRequest.extra:type_name -> google.protobuf.Struct
-	21, // 30: viam.service.motion.v1.GetPlanResponse.current_plan_with_status:type_name -> viam.service.motion.v1.PlanWithStatus
-	21, // 31: viam.service.motion.v1.GetPlanResponse.replan_history:type_name -> viam.service.motion.v1.PlanWithStatus
-	18, // 32: viam.service.motion.v1.Constraints.linear_constraint:type_name -> viam.service.motion.v1.LinearConstraint
-	19, // 33: viam.service.motion.v1.Constraints.orientation_constraint:type_name -> viam.service.motion.v1.OrientationConstraint
-	20, // 34: viam.service.motion.v1.Constraints.collision_specification:type_name -> viam.service.motion.v1.CollisionSpecification
-	27, // 35: viam.service.motion.v1.CollisionSpecification.allows:type_name -> viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions
-	24, // 36: viam.service.motion.v1.PlanWithStatus.plan:type_name -> viam.service.motion.v1.Plan
-	23, // 37: viam.service.motion.v1.PlanWithStatus.status:type_name -> viam.service.motion.v1.PlanStatus
-	23, // 38: viam.service.motion.v1.PlanWithStatus.status_history:type_name -> viam.service.motion.v1.PlanStatus
-	30, // 39: viam.service.motion.v1.PlanStatusWithID.component_name:type_name -> viam.common.v1.ResourceName
-	23, // 40: viam.service.motion.v1.PlanStatusWithID.status:type_name -> viam.service.motion.v1.PlanStatus
-	0,  // 41: viam.service.motion.v1.PlanStatus.state:type_name -> viam.service.motion.v1.PlanState
-	38, // 42: viam.service.motion.v1.PlanStatus.timestamp:type_name -> google.protobuf.Timestamp
-	30, // 43: viam.service.motion.v1.Plan.component_name:type_name -> viam.common.v1.ResourceName
-	25, // 44: viam.service.motion.v1.Plan.steps:type_name -> viam.service.motion.v1.PlanStep
-	28, // 45: viam.service.motion.v1.PlanStep.step:type_name -> viam.service.motion.v1.PlanStep.StepEntry
-	33, // 46: viam.service.motion.v1.ComponentState.pose:type_name -> viam.common.v1.Pose
-	26, // 47: viam.service.motion.v1.PlanStep.StepEntry.value:type_name -> viam.service.motion.v1.ComponentState
-	1,  // 48: viam.service.motion.v1.MotionService.Move:input_type -> viam.service.motion.v1.MoveRequest
-	3,  // 49: viam.service.motion.v1.MotionService.MoveOnMap:input_type -> viam.service.motion.v1.MoveOnMapRequest
-	7,  // 50: viam.service.motion.v1.MotionService.MoveOnGlobe:input_type -> viam.service.motion.v1.MoveOnGlobeRequest
-	9,  // 51: viam.service.motion.v1.MotionService.GetPose:input_type -> viam.service.motion.v1.GetPoseRequest
-	11, // 52: viam.service.motion.v1.MotionService.StopPlan:input_type -> viam.service.motion.v1.StopPlanRequest
-	13, // 53: viam.service.motion.v1.MotionService.ListPlanStatuses:input_type -> viam.service.motion.v1.ListPlanStatusesRequest
-	15, // 54: viam.service.motion.v1.MotionService.GetPlan:input_type -> viam.service.motion.v1.GetPlanRequest
-	39, // 55: viam.service.motion.v1.MotionService.DoCommand:input_type -> viam.common.v1.DoCommandRequest
-	2,  // 56: viam.service.motion.v1.MotionService.Move:output_type -> viam.service.motion.v1.MoveResponse
-	4,  // 57: viam.service.motion.v1.MotionService.MoveOnMap:output_type -> viam.service.motion.v1.MoveOnMapResponse
-	8,  // 58: viam.service.motion.v1.MotionService.MoveOnGlobe:output_type -> viam.service.motion.v1.MoveOnGlobeResponse
-	10, // 59: viam.service.motion.v1.MotionService.GetPose:output_type -> viam.service.motion.v1.GetPoseResponse
-	12, // 60: viam.service.motion.v1.MotionService.StopPlan:output_type -> viam.service.motion.v1.StopPlanResponse
-	14, // 61: viam.service.motion.v1.MotionService.ListPlanStatuses:output_type -> viam.service.motion.v1.ListPlanStatusesResponse
-	16, // 62: viam.service.motion.v1.MotionService.GetPlan:output_type -> viam.service.motion.v1.GetPlanResponse
-	40, // 63: viam.service.motion.v1.MotionService.DoCommand:output_type -> viam.common.v1.DoCommandResponse
-	56, // [56:64] is the sub-list for method output_type
-	48, // [48:56] is the sub-list for method input_type
-	48, // [48:48] is the sub-list for extension type_name
-	48, // [48:48] is the sub-list for extension extendee
-	0,  // [0:48] is the sub-list for field type_name
+	36, // 19: viam.service.motion.v1.MoveOnGlobeRequest.bounding_regions:type_name -> viam.common.v1.GeoGeometry
+	32, // 20: viam.service.motion.v1.MoveOnGlobeRequest.extra:type_name -> google.protobuf.Struct
+	30, // 21: viam.service.motion.v1.GetPoseRequest.component_name:type_name -> viam.common.v1.ResourceName
+	37, // 22: viam.service.motion.v1.GetPoseRequest.supplemental_transforms:type_name -> viam.common.v1.Transform
+	32, // 23: viam.service.motion.v1.GetPoseRequest.extra:type_name -> google.protobuf.Struct
+	29, // 24: viam.service.motion.v1.GetPoseResponse.pose:type_name -> viam.common.v1.PoseInFrame
+	30, // 25: viam.service.motion.v1.StopPlanRequest.component_name:type_name -> viam.common.v1.ResourceName
+	32, // 26: viam.service.motion.v1.StopPlanRequest.extra:type_name -> google.protobuf.Struct
+	32, // 27: viam.service.motion.v1.ListPlanStatusesRequest.extra:type_name -> google.protobuf.Struct
+	22, // 28: viam.service.motion.v1.ListPlanStatusesResponse.plan_statuses_with_ids:type_name -> viam.service.motion.v1.PlanStatusWithID
+	30, // 29: viam.service.motion.v1.GetPlanRequest.component_name:type_name -> viam.common.v1.ResourceName
+	32, // 30: viam.service.motion.v1.GetPlanRequest.extra:type_name -> google.protobuf.Struct
+	21, // 31: viam.service.motion.v1.GetPlanResponse.current_plan_with_status:type_name -> viam.service.motion.v1.PlanWithStatus
+	21, // 32: viam.service.motion.v1.GetPlanResponse.replan_history:type_name -> viam.service.motion.v1.PlanWithStatus
+	18, // 33: viam.service.motion.v1.Constraints.linear_constraint:type_name -> viam.service.motion.v1.LinearConstraint
+	19, // 34: viam.service.motion.v1.Constraints.orientation_constraint:type_name -> viam.service.motion.v1.OrientationConstraint
+	20, // 35: viam.service.motion.v1.Constraints.collision_specification:type_name -> viam.service.motion.v1.CollisionSpecification
+	27, // 36: viam.service.motion.v1.CollisionSpecification.allows:type_name -> viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions
+	24, // 37: viam.service.motion.v1.PlanWithStatus.plan:type_name -> viam.service.motion.v1.Plan
+	23, // 38: viam.service.motion.v1.PlanWithStatus.status:type_name -> viam.service.motion.v1.PlanStatus
+	23, // 39: viam.service.motion.v1.PlanWithStatus.status_history:type_name -> viam.service.motion.v1.PlanStatus
+	30, // 40: viam.service.motion.v1.PlanStatusWithID.component_name:type_name -> viam.common.v1.ResourceName
+	23, // 41: viam.service.motion.v1.PlanStatusWithID.status:type_name -> viam.service.motion.v1.PlanStatus
+	0,  // 42: viam.service.motion.v1.PlanStatus.state:type_name -> viam.service.motion.v1.PlanState
+	38, // 43: viam.service.motion.v1.PlanStatus.timestamp:type_name -> google.protobuf.Timestamp
+	30, // 44: viam.service.motion.v1.Plan.component_name:type_name -> viam.common.v1.ResourceName
+	25, // 45: viam.service.motion.v1.Plan.steps:type_name -> viam.service.motion.v1.PlanStep
+	28, // 46: viam.service.motion.v1.PlanStep.step:type_name -> viam.service.motion.v1.PlanStep.StepEntry
+	33, // 47: viam.service.motion.v1.ComponentState.pose:type_name -> viam.common.v1.Pose
+	26, // 48: viam.service.motion.v1.PlanStep.StepEntry.value:type_name -> viam.service.motion.v1.ComponentState
+	1,  // 49: viam.service.motion.v1.MotionService.Move:input_type -> viam.service.motion.v1.MoveRequest
+	3,  // 50: viam.service.motion.v1.MotionService.MoveOnMap:input_type -> viam.service.motion.v1.MoveOnMapRequest
+	7,  // 51: viam.service.motion.v1.MotionService.MoveOnGlobe:input_type -> viam.service.motion.v1.MoveOnGlobeRequest
+	9,  // 52: viam.service.motion.v1.MotionService.GetPose:input_type -> viam.service.motion.v1.GetPoseRequest
+	11, // 53: viam.service.motion.v1.MotionService.StopPlan:input_type -> viam.service.motion.v1.StopPlanRequest
+	13, // 54: viam.service.motion.v1.MotionService.ListPlanStatuses:input_type -> viam.service.motion.v1.ListPlanStatusesRequest
+	15, // 55: viam.service.motion.v1.MotionService.GetPlan:input_type -> viam.service.motion.v1.GetPlanRequest
+	39, // 56: viam.service.motion.v1.MotionService.DoCommand:input_type -> viam.common.v1.DoCommandRequest
+	2,  // 57: viam.service.motion.v1.MotionService.Move:output_type -> viam.service.motion.v1.MoveResponse
+	4,  // 58: viam.service.motion.v1.MotionService.MoveOnMap:output_type -> viam.service.motion.v1.MoveOnMapResponse
+	8,  // 59: viam.service.motion.v1.MotionService.MoveOnGlobe:output_type -> viam.service.motion.v1.MoveOnGlobeResponse
+	10, // 60: viam.service.motion.v1.MotionService.GetPose:output_type -> viam.service.motion.v1.GetPoseResponse
+	12, // 61: viam.service.motion.v1.MotionService.StopPlan:output_type -> viam.service.motion.v1.StopPlanResponse
+	14, // 62: viam.service.motion.v1.MotionService.ListPlanStatuses:output_type -> viam.service.motion.v1.ListPlanStatusesResponse
+	16, // 63: viam.service.motion.v1.MotionService.GetPlan:output_type -> viam.service.motion.v1.GetPlanResponse
+	40, // 64: viam.service.motion.v1.MotionService.DoCommand:output_type -> viam.common.v1.DoCommandResponse
+	57, // [57:65] is the sub-list for method output_type
+	49, // [49:57] is the sub-list for method input_type
+	49, // [49:49] is the sub-list for extension type_name
+	49, // [49:49] is the sub-list for extension extendee
+	0,  // [0:49] is the sub-list for field type_name
 }
 
 func init() { file_service_motion_v1_motion_proto_init() }
diff --git a/service/motion/v1/motion.pb.gw.go b/service/motion/v1/motion.pb.gw.go
index 1b1262cea..64bb4bed0 100644
--- a/service/motion/v1/motion.pb.gw.go
+++ b/service/motion/v1/motion.pb.gw.go
@@ -15,7 +15,7 @@ import (
 
 	"github.com/grpc-ecosystem/grpc-gateway/v2/runtime"
 	"github.com/grpc-ecosystem/grpc-gateway/v2/utilities"
-	v1_0 "go.viam.com/api/common/v1"
+	"go.viam.com/api/common/v1"
 	"google.golang.org/grpc"
 	"google.golang.org/grpc/codes"
 	"google.golang.org/grpc/grpclog"
@@ -527,7 +527,7 @@ var (
 )
 
 func request_MotionService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client MotionServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.DoCommandRequest
+	var protoReq v1.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -560,7 +560,7 @@ func request_MotionService_DoCommand_0(ctx context.Context, marshaler runtime.Ma
 }
 
 func local_request_MotionService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server MotionServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.DoCommandRequest
+	var protoReq v1.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
diff --git a/service/navigation/v1/navigation.pb.go b/service/navigation/v1/navigation.pb.go
index 3b80b4939..5d6ba5906 100644
--- a/service/navigation/v1/navigation.pb.go
+++ b/service/navigation/v1/navigation.pb.go
@@ -871,7 +871,7 @@ type GetObstaclesResponse struct {
 	unknownFields protoimpl.UnknownFields
 
 	// List of all known geometries
-	Obstacles []*v1.GeoObstacle `protobuf:"bytes,1,rep,name=obstacles,proto3" json:"obstacles,omitempty"`
+	Obstacles []*v1.GeoGeometry `protobuf:"bytes,1,rep,name=obstacles,proto3" json:"obstacles,omitempty"`
 }
 
 func (x *GetObstaclesResponse) Reset() {
@@ -906,7 +906,7 @@ func (*GetObstaclesResponse) Descriptor() ([]byte, []int) {
 	return file_service_navigation_v1_navigation_proto_rawDescGZIP(), []int{14}
 }
 
-func (x *GetObstaclesResponse) GetObstacles() []*v1.GeoObstacle {
+func (x *GetObstaclesResponse) GetObstacles() []*v1.GeoGeometry {
 	if x != nil {
 		return x.Obstacles
 	}
@@ -1263,7 +1263,7 @@ var file_service_navigation_v1_navigation_proto_rawDesc = []byte{
 	0x6c, 0x65, 0x73, 0x52, 0x65, 0x73, 0x70, 0x6f, 0x6e, 0x73, 0x65, 0x12, 0x39, 0x0a, 0x09, 0x6f,
 	0x62, 0x73, 0x74, 0x61, 0x63, 0x6c, 0x65, 0x73, 0x18, 0x01, 0x20, 0x03, 0x28, 0x0b, 0x32, 0x1b,
 	0x2e, 0x76, 0x69, 0x61, 0x6d, 0x2e, 0x63, 0x6f, 0x6d, 0x6d, 0x6f, 0x6e, 0x2e, 0x76, 0x31, 0x2e,
-	0x47, 0x65, 0x6f, 0x4f, 0x62, 0x73, 0x74, 0x61, 0x63, 0x6c, 0x65, 0x52, 0x09, 0x6f, 0x62, 0x73,
+	0x47, 0x65, 0x6f, 0x47, 0x65, 0x6f, 0x6d, 0x65, 0x74, 0x72, 0x79, 0x52, 0x09, 0x6f, 0x62, 0x73,
 	0x74, 0x61, 0x63, 0x6c, 0x65, 0x73, 0x22, 0x76, 0x0a, 0x04, 0x50, 0x61, 0x74, 0x68, 0x12, 0x36,
 	0x0a, 0x17, 0x64, 0x65, 0x73, 0x74, 0x69, 0x6e, 0x61, 0x74, 0x69, 0x6f, 0x6e, 0x5f, 0x77, 0x61,
 	0x79, 0x70, 0x6f, 0x69, 0x6e, 0x74, 0x5f, 0x69, 0x64, 0x18, 0x01, 0x20, 0x01, 0x28, 0x09, 0x52,
@@ -1452,7 +1452,7 @@ var file_service_navigation_v1_navigation_proto_goTypes = []interface{}{
 	(*GetPropertiesResponse)(nil),  // 21: viam.service.navigation.v1.GetPropertiesResponse
 	(*structpb.Struct)(nil),        // 22: google.protobuf.Struct
 	(*v1.GeoPoint)(nil),            // 23: viam.common.v1.GeoPoint
-	(*v1.GeoObstacle)(nil),         // 24: viam.common.v1.GeoObstacle
+	(*v1.GeoGeometry)(nil),         // 24: viam.common.v1.GeoGeometry
 	(*v1.DoCommandRequest)(nil),    // 25: viam.common.v1.DoCommandRequest
 	(*v1.DoCommandResponse)(nil),   // 26: viam.common.v1.DoCommandResponse
 }
@@ -1470,7 +1470,7 @@ var file_service_navigation_v1_navigation_proto_depIdxs = []int32{
 	22, // 10: viam.service.navigation.v1.AddWaypointRequest.extra:type_name -> google.protobuf.Struct
 	22, // 11: viam.service.navigation.v1.RemoveWaypointRequest.extra:type_name -> google.protobuf.Struct
 	22, // 12: viam.service.navigation.v1.GetObstaclesRequest.extra:type_name -> google.protobuf.Struct
-	24, // 13: viam.service.navigation.v1.GetObstaclesResponse.obstacles:type_name -> viam.common.v1.GeoObstacle
+	24, // 13: viam.service.navigation.v1.GetObstaclesResponse.obstacles:type_name -> viam.common.v1.GeoGeometry
 	23, // 14: viam.service.navigation.v1.Path.geopoints:type_name -> viam.common.v1.GeoPoint
 	22, // 15: viam.service.navigation.v1.GetPathsRequest.extra:type_name -> google.protobuf.Struct
 	17, // 16: viam.service.navigation.v1.GetPathsResponse.paths:type_name -> viam.service.navigation.v1.Path
diff --git a/service/shell/v1/shell.pb.gw.go b/service/shell/v1/shell.pb.gw.go
index 660e30a8b..288e3d8b2 100644
--- a/service/shell/v1/shell.pb.gw.go
+++ b/service/shell/v1/shell.pb.gw.go
@@ -15,7 +15,7 @@ import (
 
 	"github.com/grpc-ecosystem/grpc-gateway/v2/runtime"
 	"github.com/grpc-ecosystem/grpc-gateway/v2/utilities"
-	v1_0 "go.viam.com/api/common/v1"
+	"go.viam.com/api/common/v1"
 	"google.golang.org/grpc"
 	"google.golang.org/grpc/codes"
 	"google.golang.org/grpc/grpclog"
@@ -166,7 +166,7 @@ var (
 )
 
 func request_ShellService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client ShellServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.DoCommandRequest
+	var protoReq v1.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -199,7 +199,7 @@ func request_ShellService_DoCommand_0(ctx context.Context, marshaler runtime.Mar
 }
 
 func local_request_ShellService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server ShellServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.DoCommandRequest
+	var protoReq v1.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
diff --git a/service/vision/v1/vision.pb.gw.go b/service/vision/v1/vision.pb.gw.go
index ad78f24c3..ca0af0132 100644
--- a/service/vision/v1/vision.pb.gw.go
+++ b/service/vision/v1/vision.pb.gw.go
@@ -15,7 +15,7 @@ import (
 
 	"github.com/grpc-ecosystem/grpc-gateway/v2/runtime"
 	"github.com/grpc-ecosystem/grpc-gateway/v2/utilities"
-	v1_0 "go.viam.com/api/common/v1"
+	"go.viam.com/api/common/v1"
 	"google.golang.org/grpc"
 	"google.golang.org/grpc/codes"
 	"google.golang.org/grpc/grpclog"
@@ -527,7 +527,7 @@ var (
 )
 
 func request_VisionService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client VisionServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.DoCommandRequest
+	var protoReq v1.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -560,7 +560,7 @@ func request_VisionService_DoCommand_0(ctx context.Context, marshaler runtime.Ma
 }
 
 func local_request_VisionService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server VisionServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.DoCommandRequest
+	var protoReq v1.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (